A control method and cleaning device

Abstract

The present invention provides a control method and a cleaning device, the control method is applied to the cleaning device, the cleaning device comprises a body, a rag plate assembly, a driving assembly and an adjustable connecting part, the rag plate assembly is rotatably arranged at the bottom of the body under the drive of the driving assembly, the adjustable connecting part connects the driving assembly and the rag plate assembly, the control method comprises: detecting the dirtiness of the surface to be cleaned; adjusting the output speed of the driving assembly according to the dirtiness, when the output speed is N1, the output speed of the driving assembly drives the length of the adjustable connecting part to be L1, when the output speed is N2, the output speed of the driving assembly drives the length of the adjustable connecting part to be L2, wherein N2 is greater than N1, and L2 is greater than L1. The present invention can improve the technical problem that the cleaning pressure cannot be adjusted according to the dirtiness during the operation of the cleaning device.

Description

Technical Field

[0001] The present invention relates to the field of cleaning technology, and in particular to a control method and cleaning equipment. Background Art

[0002] When existing cleaning equipment is performing cleaning operations, the rag plate assembly usually maintains the same operating height relative to the body of the cleaning device, which causes the cleaning pressure between the rag plate assembly and the surface to be cleaned to be relatively fixed. During operation, only a single pressure can be used for cleaning operations, which also results in the cleaning pressure being unable to be adjusted and controlled according to the degree of dirtiness of the surface to be cleaned. Therefore, the optimization of the control logic during operation of the cleaning equipment is limited, resulting in a poor user experience during use. Summary of the invention

[0003] In view of the above shortcomings of the prior art, the present invention provides a control method and a cleaning device to improve the technical problem that the cleaning pressure cannot be adjusted according to the degree of dirt during the operation of the cleaning device.

[0004] To achieve the above-mentioned purpose and other related purposes, the present invention provides a control method, which is applied to a cleaning device. The cleaning device includes a body, a rag plate assembly, a drive assembly and an adjustable connection part. The rag plate assembly is rotatably arranged at the bottom of the body under the drive of the drive assembly; the adjustable connection part connects the drive assembly and the rag plate assembly, and the control method includes: detecting the degree of dirtiness of the surface to be cleaned; adjusting the output speed of the drive assembly according to the degree of dirtiness, when the output speed is N1, the output speed of the drive assembly drives the length of the adjustable connection part to be L1, and when the output speed is N2, the output speed of the drive assembly drives the length of the adjustable connection part to be L2, wherein N2 is greater than N1, and L2 is greater than L1.

[0005] In an example of the control method of the present invention, the output speed of the driving component is adjusted according to the degree of dirtiness, and also includes: when the output speed is N3, the output speed of the driving component drives the length of the adjustable connection part to be L3, wherein N3 is greater than N2, and L3 is greater than L2.

[0006] In an example of the control method of the present invention, the cleaning equipment also includes a water replenishing device for replenishing water to the rag plate assembly, and the control method also includes: adjusting the amount of water supplied to the rag plate assembly by the water replenishing device according to the output speed, when the output speed is N1, the water replenishment amount of the rag plate assembly is Q1, and when the output speed is N2, the water replenishment amount of the rag plate assembly is Q2, wherein Q1 is greater than Q2.

[0007] In an example of the control method of the present invention, the control method further includes: adjusting the amount of water supplied to the rag plate assembly by the water replenishment device according to the output speed, when the output speed is N3, the amount of water replenishment of the rag plate assembly is Q3, wherein Q2 is greater than Q3.

[0008] In an example of the control method of the present invention, the output speed of the driving component is adjusted according to the degree of dirtiness, and also includes: obtaining the target speed and current speed of the driving component; driving the adjustable connection part to switch between the length L1 and the length L2 according to the speed difference between the target speed and the current speed.

[0009] In an example of the control method of the present invention, the adjustable connection part includes: a connection component and a pressure adjustment component, the connection component includes an elastic member and a first connection member, the first connection member is arranged on the rag plate assembly and is used to connect with the driving end of the driving component, one end of the elastic member is linked to the first connection member, and the other end is linked to the rag plate assembly; the pressure adjustment component includes a lifting surface and an abutment part, one of the lifting surface and the abutment part is arranged on the side of the rag plate assembly facing the first connection member, and the other is arranged on the side of the first connection member facing the rag plate assembly; the rotation speed difference drives the abutment part to slide along the lifting surface to extend or shorten the adjustable connection part.

[0010] In an example of the control method of the present invention, a boss is provided on one of the first connecting member and the rag plate assembly, the lifting surface is located on the top of the boss, the abutment portion is provided on the other of the first connecting member and the rag plate assembly corresponding to the boss, and limiting bodies are provided on both sides of the abutment portion to limit the boss.

[0011] In one example of the control method of the present invention, a groove is provided on one of the first connecting member and the rag plate assembly, the lifting surface is located at the bottom of the groove, and the abutting portion is provided on the other of the first connecting member and the rag plate assembly corresponding to the groove, and extends into the groove to press on the lifting surface.

[0012] In an example of the control method of the present invention, the abutment portion includes an abutment surface that matches the shape of the lifting surface. The abutment surface and the lifting surface cooperate to abut and slide relative to each other when there is a rotation speed difference between the abutment portion and the lifting surface.

[0013] In an example of the control method of the present invention, a plurality of lifting surfaces are provided, the plurality of lifting surfaces are arranged in a circumferential array along the first connecting member, and each lifting surface corresponds to at least one abutting portion.

[0014] In an example of the control method of the present invention, the first connecting member is provided with a accommodating cavity, the rag tray assembly includes a rag mounting frame and a second connecting member, the second connecting member is slidably mounted on the first connecting member, and one end along the sliding direction extends into the accommodating cavity, and the other end is connected to the rag mounting frame; one end of the elastic member is linked to the second connecting member, and the other end of the elastic member is linked to the wall of the accommodating cavity.

[0015] In one example of the control method of the present invention, the second connecting member includes a column portion and a limiting portion, one end of the column portion extends into the accommodating cavity and is connected to the limiting portion, and the other end is connected to the rag mounting bracket; the limiting portion at least partially extends to the outer periphery of the column portion; the elastic member surrounds the circumference of the column portion and is arranged between the limiting portion and the bottom wall of the accommodating cavity.

[0016] In an example of the control method of the present invention, the second connecting member includes a sleeve portion, a column portion and a limiting portion, one end of the sleeve portion is connected to the rag mounting frame, and the other end is detachably connected to the column portion, one end of the column portion extends into the accommodating cavity and is connected to the limiting portion, and the limiting portion at least partially extends to the outer periphery of the sleeve portion.

[0017] In an example of the control method of the present invention, the elastic member stores energy by generating deformation through compression, and the elastic member is any one of a spring, a spring, an elastic ball, a gas pressure support, and a hydraulic support.

[0018] In an example of the control method of the present invention, the elastic member stores energy by deforming through stretching, and the elastic member is any one of a spring, a spring, a gas pressure support, and a hydraulic support.

[0019] In one example of the control method of the present invention, a first connecting component is provided at one end of the first connecting member away from the rag plate assembly, and a second connecting component is provided at the driving end, one of the first connecting component and the second connecting component is a magnet, and the other is a ferromagnet; or, both the first connecting component and the second connecting component are magnets, and the magnetism of the first connecting component and the second connecting component is opposite, and the first connecting component and the second connecting component are connected by magnetic attraction.

[0020] In one example of the control method of the present invention, a mounting groove is provided on the side of the first connecting member facing away from the rag tray assembly, the first connecting member is at least partially accommodated in the mounting groove, and the bottom wall of the mounting groove is at least partially supported by the lower edge of the first connecting member.

[0021] In an example of the control method of the present invention, the inner wall of the accommodating cavity is provided with a stop portion extending toward the center of the accommodating cavity, the stop portion is located below the opening of the accommodating cavity, and the stop portion stops the second connecting member to limit the position when the second connecting member moves downward relative to the accommodating cavity.

[0022] In an example of the control method of the present invention, the outer circumference of the first connecting member is a polygonal cylindrical structure, and the driving end is provided with a polygonal hole structure matching the outer circumference of the first connecting member.

[0023] In an example of the control method of the present invention, the driving assembly further includes a lifting driving mechanism, which can drive the rag tray assembly to descend to the surface to be cleaned and can drive the rag tray assembly to be lifted and moved away from the surface to be cleaned.

[0024] In an example of the control method of the present invention, the lifting drive mechanism includes a threaded lifting mechanism, which includes a first sleeve, a second sleeve and a damping sleeve. The driving assembly is used to drive the first sleeve to rotate, and the second sleeve is coaxially sleeved outside the first sleeve and connected to the rag plate assembly. A spiral mechanism is arranged between the first sleeve and the second sleeve; the damping sleeve is connected to the housing of the driving assembly and is sleeved outside the second sleeve, and is in interference fit with the second sleeve; the second sleeve realizes lifting and lowering movement with the first sleeve through the spiral mechanism to drive the rag plate assembly to descend to and move away from the surface to be cleaned.

[0025] The present invention further provides a cleaning device, which adopts the control method in any of the above examples during a cleaning operation.

[0026] The control method provided by the present invention detects the degree of dirtiness of the surface to be cleaned, and adjusts the output speed of the driving component according to the degree of dirtiness. When the output speed is N1, the output speed of the driving component drives the length of the adjustable connection part to be L1, and when the output speed is N2, the output speed of the driving component drives the length of the adjustable connection part to be L2, wherein N2 is greater than N1, and L2 is greater than L1. With this arrangement, the degree of dirtiness of the surface to be cleaned can be linked to the running length of the adjustable connection part. Since the adjustable connection part connects the rag plate assembly with the fuselage, the installation height of the rag plate assembly relative to the fuselage can be adjusted by controlling the running length of the adjustable connection part, thereby adjusting the contact pressure between the rag plate assembly and the surface to be cleaned, improving the problem of the single cleaning pressure of the rag plate assembly, so as to better adapt to cleaning operation conditions with different degrees of dirtiness and take into account the cleaning effects of different operation conditions. At the same time, since L2 is greater than L1 when N2 is greater than N1, the operating speed and operating pressure of the rag plate assembly can be linked to each other. This is beneficial to the optimization of the control logic when the cleaning equipment is in operation. When the surface to be cleaned is lightly dirty, a smaller contact pressure and a lower operating speed are used to clean the surface to be cleaned, thereby saving the output power of the driving component and achieving energy-saving effect. When the surface to be cleaned encounters stubborn stains, a larger contact pressure and a higher operating speed are used to clean the surface to be cleaned, so as to improve the cleaning effect of the rag plate assembly on stubborn stains. Therefore, the user experience of the cleaning equipment can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other embodiments can be obtained based on these drawings without paying creative work.

[0028] Figure 1 A flow chart of an example of a control method of the present invention;

[0029] Figure 2 A schematic flow chart of step S2 provided in an embodiment of a control method of the present invention;

[0030] Figure 3 A three-dimensional schematic diagram of an embodiment of a cleaning device of the present invention;

[0031] Figure 4 It is an exploded schematic diagram of a rag tray assembly and a body of a cleaning device in one embodiment of the present invention;

[0032] Figure 5 A partial cross-sectional view of the rag tray assembly when the abutting portion is located at the second position of the lifting surface in one embodiment of the cleaning device of the present invention;

[0033] Figure 6 for Figure 5 A partial enlarged view of the middle area A;

[0034] Figure 7 A three-dimensional schematic diagram of a rag tray assembly at one angle in an embodiment of a cleaning device of the present invention;

[0035] Figure 8 for Figure 7 A partial enlarged view of the middle area C;

[0036] Fig. 9 It is a structural schematic diagram of an embodiment of a cleaning device of the present invention in which abutting portions are arranged on a first connecting member;

[0037] Fig.10 It is a schematic diagram of the structure in which the lifting surface is arranged on the first connecting member in one embodiment of the cleaning device of the present invention;

[0038] Fig.11 It is a structural schematic diagram of an embodiment of a cleaning device of the present invention in which abutting portions are arranged on a rag mounting frame;

[0039] Fig.12 It is a schematic diagram of the installation structure between the second connecting member and the rag mounting frame in an embodiment of the cleaning device of the present invention;

[0040] Fig.13 This is a schematic diagram of the structure in which the elastic member is a tension spring in one embodiment of the cleaning device of the present invention;

[0041] Fig.14 A three-dimensional schematic diagram of the first connecting member in another angle in an embodiment of the cleaning device of the present invention;

[0042] Fig.15 It is a top view schematic diagram of a first connection in an embodiment of a cleaning device of the present invention;

[0043] Fig.16 for Fig.15 Cross-sectional view in the middle DD direction;

[0044] Fig.17 A partial cross-sectional view of the rag tray assembly when the abutting portion is located at the first position of the lifting surface in one embodiment of the cleaning device of the present invention;

[0045] Fig.18 for Fig.17 A partial enlarged view of the middle B area;

[0046] Fig.19 It is a schematic diagram of the connection structure between the spiral lifting structure and the rag plate assembly of an embodiment of the cleaning device of the present invention;

[0047] Fig. 20 It is a schematic diagram of the partial structure of the spiral lifting structure of an embodiment of the cleaning equipment of the present invention.

[0048] Component number description

[0049] 10. Cleaning device; 11. Body; 12. Driving assembly; 121. Driving end; 1211. Second connecting member; 13. Cloth plate assembly; 131. Second connecting member; 1311. Column; 1312. Limiting portion; 1313. Sleeve portion; 132. Cloth mounting frame; 1321. Accommodating slot; 133. Cloth; 101. Adjustable connecting portion; 14. Connecting assembly; 141. Elastic member; 14 11. upper connecting member; 1412. lower connecting member; 142. first connecting member; 1421. accommodating chamber; 14211. mounting groove; 14212. stopper; 15. pressure regulating assembly; 151. lifting surface; 152. abutting portion; 1521. abutting surface; 153. groove; 154. boss; 155. stopper; 16. first connecting member; 170. threaded lifting mechanism; 171. first sleeve; 1711, first end wall; 1712, first side wall; 1713, first accommodating chamber; 172, second sleeve; 1721, second end wall; 1722, second side wall; 1723, second accommodating chamber; 1724, boss portion; 1725, third accommodating chamber; 173, spiral mechanism; 1731, thread groove; 1732, threaded rib; 174, damping sleeve; 1741, protrusion. DETAILED DESCRIPTION

[0050] The following is an explanation of the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the features in the following embodiments and the embodiments can be combined with each other without conflict. It should also be understood that the terms used in the embodiments of the present invention are intended to describe specific embodiments, rather than to limit the scope of protection of the present invention. The test methods for which specific conditions are not specified in the following examples are usually carried out under conventional conditions or according to the conditions recommended by the manufacturers.

[0051] When numerical ranges are given in the embodiments, it should be understood that, unless otherwise specified in the present invention, both endpoints of each numerical range and any value between the two endpoints can be selected. Unless otherwise defined, all technical and scientific terms used in the present invention are familiar to those skilled in the art and the description of the present invention, and any methods, equipment and materials of the prior art similar or equivalent to the methods, equipment and materials described in the embodiments of the present invention can also be used to implement the present invention.

[0052] It should be noted that the terms such as "upper", "lower", "left", "right", "middle" and "one" etc. used in this specification are only for the convenience of description and are not intended to limit the scope of implementation of the present invention. Changes or adjustments to their relative relationships, without substantially changing the technical content, should also be regarded as the scope of implementation of the present invention.

[0053] See also Figures 1 to 20 The present invention provides a control method and a cleaning device 10. The control method can establish a connection between the degree of dirtiness of the surface to be cleaned and the running length of the adjustable connecting part 101. By controlling the running length of the adjustable connecting part 101, the installation height between the rag plate assembly 13 and the body 11 can be adjusted, thereby adjusting the cleaning pressure of the rag plate assembly 13, so that the cleaning pressure of the cleaning device 10 can be adjusted according to the degree of dirtiness during operation, thereby ensuring the cleaning effect of surfaces to be cleaned with different degrees of dirtiness.

[0054] See also Figures 3 to 5 The control method provided by the present invention is applied to a cleaning device 10 , which includes a body 11 , a rag tray assembly 13 , a driving assembly 12 and an adjustable connecting portion 101 .

[0055] The body 11 is configured to be able to walk on the surface to be cleaned. The interior of the body 11 has a storage space for accommodating various parts of the cleaning device 10. The shape of the body 11 can be any shape, such as cylindrical, elliptical or D-shaped. The cleaning device 10 also includes a driving wheel mechanism conventionally provided on the existing cleaning device 10, and the driving wheel mechanism is provided under the body 11 to drive the body 11 to walk on the surface to be cleaned. The specific structure of the driving wheel mechanism and the connection structure between the driving wheel mechanism and the body 11 can refer to the relevant structural description in the existing cleaning device 10, and will not be repeated here.

[0056] The drive assembly 12 is mounted on the fuselage 11 and has a rotatable drive end 121. The drive assembly 12 can be mounted inside the fuselage 11 or outside the fuselage 11. The drive assembly 12 can be a motor with a speed regulating function, or a combination structure of a motor and a reduction box, etc. Optionally, in the present embodiment, the drive assembly 12 includes a drive motor and a reduction box, the drive motor is connected to the reduction box in a transmission manner, and the drive end 121 of the drive assembly 12 is the output end of the reduction box. The drive end 121 has a first speed N1 and a second speed N2, and the first speed N1 is less than the second speed N2. It should be noted that the drive end 121 can also have other speeds other than the first speed N1 and the second speed N2, which are specifically set according to the use requirements of the drive assembly 12. The specific speed values ​​of the first speed N1 and the second speed N2 can be determined according to conditions such as the cleaning efficiency of the cleaning device 10 and the degree of dirtiness of the surface to be cleaned.

[0057] The rag tray assembly 13 includes a rag 133 and a rag mounting frame 132. The rag mounting frame 132 is arranged at the lower part of the fuselage 11, and the rag 133 is arranged on the side of the rag mounting frame 132 facing the ground. The rag 133 and the rag mounting frame 132 can be detachably connected or fixedly connected. The material of the rag 133 can be sponge, rubber, silicone, or any other material that can produce a certain amount of compression when the contact pressure between the rag tray assembly 13 and the ground changes. The rag mounting frame 132 is connected to the driving end 121 of the driving assembly 12 through the adjustable connecting portion 101, so that the rag tray assembly 13 can be rotated relative to the fuselage 11 under the drive of the driving assembly 12. Along the height direction of the cleaning device 10, the installation length of the adjustable connecting portion 101 relative to the fuselage 11 is adjustable, and the adjustable method can be achieved by a spiral structure, or by a telescopic structure, etc. In this embodiment, the adjustable connecting portion 101 has at least two lengths, L1 and L2, and the length of the adjustable connecting portion 101 can be switched between L1 and L2.

[0058] See also Figure 1 The control method provided by the present invention comprises the following steps:

[0059] S1: Detect the degree of dirtiness of the surface to be cleaned.

[0060] There are many ways to detect the degree of dirtiness of the surface to be cleaned. In one embodiment, the degree of dirtiness of the surface to be cleaned can be determined by detecting the degree of dirtiness of the sewage on the cleaning rag 133. In another embodiment, during the cleaning operation of the rag 133, the surface to be cleaned can be directly photographed and identified by the image acquisition unit to determine the degree of dirtiness of the surface to be cleaned. As long as the accuracy requirements for detecting the degree of dirtiness of the surface to be cleaned can be met, there is no specific limitation in this embodiment.

[0061] S2: The output speed of the drive assembly 12 is adjusted according to the degree of dirtiness. When the output speed is N1, the output speed of the drive assembly 12 drives the length of the adjustable connection part 101 to be L1, that is, when the output speed of the drive end 121 is N1, the corresponding length of the adjustable connection part 101 is L1. When the output speed is N2, the output speed of the drive assembly 12 drives the length of the adjustable connection part 101 to be L2, that is, when the output speed of the drive end 121 is N2, the corresponding length of the adjustable connection part 101 is L2; ​​wherein N2 is greater than N1, and L2 is greater than L1. That is, when the output speed of the drive end 121 is large, the corresponding length of the adjustable connection part 101 is also large.

[0062] By adopting the control method of this embodiment, during the cleaning operation of the cleaning device 10, the degree of dirtiness of the surface to be cleaned can be linked to the running length of the adjustable connection part 101. Since the adjustable connection part 101 connects the rag mounting frame 132 and the machine body 11, the installation height of the rag plate assembly 13 relative to the machine body 11 can be adjusted by controlling the running length of the adjustable connection part 101, thereby adjusting the contact pressure between the rag plate assembly 13 and the surface to be cleaned, improving the problem of the single cleaning pressure of the rag plate assembly 13, so as to better apply to cleaning operation conditions with different degrees of dirtiness and take into account the cleaning effects of different operation conditions. At the same time, since L2 is greater than L1 when N2 is greater than N1, the operating speed and operating pressure of the rag plate assembly 13 can be linked to each other. This is beneficial to the optimization of the control logic when the cleaning device 10 is in operation, so that when the surface to be cleaned is lightly dirty, a smaller contact pressure and a lower operating speed are used to clean the surface to be cleaned, thereby saving the output power of the drive assembly 12 and achieving energy-saving effect; and when the surface to be cleaned encounters stubborn stains, a larger contact pressure and a higher operating speed are used to clean the surface to be cleaned, so as to improve the cleaning effect of the rag plate assembly 13 on stubborn stains, thereby improving the user experience of the cleaning device 10.

[0063] In an example of the control method of the present invention, the driving end 121 also has a third speed N3, and in step S2, the output speed of the driving component 12 is adjusted according to the degree of dirtiness, and further includes: when the output speed of the driving end 121 is N3, the output speed of the driving component 12 drives the length of the adjustable connecting part 101 to be L3, that is, when the output speed of the driving end 121 is N3, the corresponding length of the adjustable connecting part 101 is L3; wherein N3 is greater than N2, and L3 is greater than L2. That is, when the speed output by the driving end 121 increases from N2 to N3, the length of the corresponding adjustable connecting part 101 also increases from L2 to L3. This arrangement allows the adjustable connecting part 101 to obtain more length changes, and also enriches the number of types of the output speed of the driving end 121, so as to meet the cleaning equipment 10's requirements for more cleaning pressure gears and operating speed gears for the surface to be cleaned.

[0064] In an example of the control method of the present invention, in order to improve the cleaning effect of the rag disc assembly 13 on the surface to be cleaned, the cleaning device 10 also includes a water replenishing device (not shown in the figure), which is used to replenish water to the rag disc assembly 13 during the cleaning operation. The specific structure of the water replenishing device can refer to the structure of the water replenishing device on the existing cleaning device 10, which will not be repeated here. The control method also includes: adjusting the amount of water replenished by the water replenishing device to the rag disc assembly 13 according to the output speed, when the output speed is N1, the amount of water replenished by the rag disc assembly 13 is Q1, and when the output speed is N2, the amount of water replenished by the rag disc assembly 13 is Q2, wherein Q1 is greater than Q2. Since when the output speed is N1, the length of the adjustable connection part 101 is L1, and when the output speed is N2, the length of the adjustable connection part 101 is L2, and L2 is greater than L1, therefore, when the output speed is N1, the contact pressure between the corresponding rag disc assembly 13 and the surface to be cleaned is relatively small, and when the output speed is N2, the contact pressure between the corresponding rag disc assembly 13 and the surface to be cleaned is relatively large. Since the greater the contact pressure between the rag disc assembly 13 and the surface to be cleaned, the more water will be squeezed out of the rag disc assembly 13 during operation, which will easily cause water accumulation on the ground and affect the user experience. Therefore, in this embodiment, by controlling the replenishment amount of the rag disc assembly 13 at different output speeds, the water replenishment needs of the rag disc assembly 13 at different operating pressure gears can be better met, so as to better balance the cleaning effect and user experience.

[0065] In an example of the control method of the present invention, the control method further includes: adjusting the amount of water supplied to the rag disc assembly 13 by the water replenishing device according to the output speed, and when the output speed is N3, the amount of water supplied to the rag disc assembly 13 is Q3, wherein Q2 is greater than Q3. Since when the output speed is N2, the length of the adjustable connection portion 101 is L3, when the output speed is N3, the length of the adjustable connection portion 101 is L3, and N3 is greater than N2, and L3 is greater than L2, therefore, when the output speed is N2, the contact pressure between the corresponding rag disc assembly 13 and the surface to be cleaned is relatively small, and when the output speed is N3, the contact pressure between the corresponding rag disc assembly 13 and the surface to be cleaned is relatively large. Therefore, when the output speed increases from N2 to N3, the water replenishment amount of the rag disc assembly 13 can be reduced accordingly, so that the water replenishment amount is reduced from Q2 to Q3. In this way, when the cleaning pressure between the rag disc assembly 13 and the surface to be cleaned is further increased, the water replenishment amount of the rag disc assembly 13 can be further reduced, so as to better adapt to the water replenishment needs under different cleaning operation pressure levels.

[0066] See also Figure 2 In an example of the control method of the present invention, the output speed of the driving component 12 is adjusted according to the degree of dirtiness, and the following steps S21 to S22 are also included:

[0067] S21: Obtain the target rotation speed and current rotation speed of the drive component 12. In this step, the target rotation speed of the drive component 12 can be obtained based on the test data of the cleaning operation of the cleaning equipment 10 on surfaces with different degrees of dirtiness, or it can be obtained based on the statistical experience data of previous cleaning equipment operations. The specific values ​​of the target rotation speeds corresponding to different degrees of dirtiness need to be determined by the designer according to actual operational requirements. The current rotation speed of the drive component 12 can be obtained in a variety of ways, for example, it can be obtained through a speed sensor provided on the fuselage 11, or it can be obtained by reading the operating parameters of the drive component 12, etc.

[0068] S22: The adjustable connection part 101 is driven to switch between the length L1 and the length L2 by the speed difference between the target speed and the current speed. When the current speed of the drive component 12 is different from the target speed, the current speed of the drive component 12 will change accordingly. For example, when the current speed is less than the target speed, the current speed will increase accordingly until it is equal to the target speed; when the current speed is greater than the target speed, the current speed will decrease accordingly until it is equal to the target speed. In this step, during the increase or decrease of the current speed, the adjustable connection part 101 will be affected by the speed difference generated by the drive component 12, thereby realizing the conversion of the adjustable connection part 101 between the length L1 and L2. In this way, the length of the adjustable connection part 101 can be adjusted without an additional adjustment structure, so the length adjustment method of the adjustable connection part 101 is more convenient and the structure is simpler. At the same time, the corresponding relationship between the output speed and the change in the length of the adjustable connection part 101 can be better met.

[0069] See also Figures 4 to 6 The present invention also provides a cleaning device 10, which uses the control method in any of the above embodiments to perform cleaning operations. The adjustable connecting part 101 in the cleaning device 10 includes a connecting component 14 and a pressure regulating component 15. The connecting component 14 includes an elastic member 141 and a first connecting member 142. The first connecting member 142 is arranged on the side of the rag mounting frame 132 away from the ground. The first connecting member 142 can be directly connected to the rag mounting frame 132, or it can be indirectly connected through other parts. The connection method between the first connecting member 142 and the rag mounting frame 132 can be any detachable connection method such as plug-in connection, card connection or threaded connection. The side of the first connecting member 142 away from the rag mounting frame 132 is connected to the driving end 121 of the driving component 12, and the first connecting member 142 and the driving end 121 can be plug-in connection, or can be bolted connection, etc., which can realize a variety of ways to achieve fixed connection between the first connecting member 142 and the driving end 121.

[0070] See also Figure 6, one end of the elastic member 141 is linked to the first connecting member 142, and the other end is linked to the rag mounting frame 132. The linkage between the elastic member 141, the first connecting member 142 and the rag mounting frame 132 means that the state change of the elastic member 141 is associated with the position change between the first connecting member 142 and the rag mounting frame 132. There are many options for the linkage between the elastic member 141, the first connecting member 142 and the rag mounting frame 132. For example, when the first connecting member 142 and the rag mounting frame 132 are close to each other in the height direction, the elastic member 141 is compressed and in a compressed state, and when the first connecting member 142 and the rag mounting frame 132 are away from each other in the height direction, the elastic member 141 is reset and restored to an extended state; it can also be that when the first connecting member 142 and the rag mounting frame 132 are close to each other in the height direction, the elastic member 141 is in a stretched retracted state, and when the first connecting member 142 and the rag mounting frame 132 are away from each other in the height direction, the elastic member 141 is in a retracted state, etc.

[0071] See also Figure 5 and Figure 6 The pressure regulating assembly 15 is arranged between the first connecting member 142 and the rag plate assembly 13. The pressure regulating assembly 15 includes a lifting surface 151 and a contact portion 152. The lifting surface 151 is arranged on the side of the rag mounting frame 132 facing the first connecting member 142. The lifting surface 151 can be integrally formed with the rag mounting frame 132, or can be fixedly connected to the first connecting member 142 by bolts or clamping. The contact portion 152 is arranged on the side of the first connecting member 142 facing the rag mounting frame 132. The contact portion 152 can be integrally formed with the first connecting member 142, or can be fixedly connected to the first connecting member 142 by bolts or clamping. Preferably, please refer to Figures 7 to 9 In this embodiment, the lifting surface 151 and the rag mounting frame 132 are integrally connected by injection molding, and the abutment portion 152 and the first connecting member 142 are also integrally connected by injection molding. This arrangement can facilitate the installation of the pressure regulating component 15, simplify the assembly process of the cleaning equipment 10, and improve the assembly efficiency.

[0072] It should be noted that in some other embodiments, the lifting surface 151 may be disposed on the side of the first connecting member 142 facing the rag mounting frame 132 , and the abutting portion 152 may be disposed on the side of the rag mounting frame 132 facing the first connecting member 142 .

[0073] See also Figure 5 and Figure 6The lifting surface 151 corresponds to the abutting portion 152, and the lifting surface 151 corresponds to the abutting portion 152. Specifically, the abutting portion 152 corresponds to the lifting surface 151 in position and in shape, so as to always press against each other, and when the first connecting member 142 rotates relative to the rag mounting frame 132, the abutting portion 152 can slide along the lifting direction of the lifting surface 151. The lifting direction of the lifting surface 151 is the height direction of the cleaning device 10. The abutting portion 152 slides along the lifting direction of the lifting surface 151, which can drive the rag plate assembly 13 connected to the abutting portion 152 to move up and down, that is, to achieve the height adjustment between the rag 133 and the surface to be cleaned, so as to achieve the contact pressure adjustment between the rag 133 and the surface to be cleaned.

[0074] The specific abutment method between the lifting surface 151 and the abutment portion 152 is not limited. In one embodiment, the lifting surface 151 and the abutment portion 152 may both be sloped surface structures. When the first connecting member 142 rotates relative to the rag mounting frame 132, sliding occurs between the two sloped surfaces, so that the abutment portion 152 slides along the lifting surface 151. In another embodiment, the lifting surface 151 may be a sloped surface structure, and the abutment portion 152 may be a spherical convex portion. When the first connecting member 142 rotates relative to the rag mounting frame 132, the spherical convex portion slides along the sloped surface, so that the abutment portion 152 can be lifted and lowered along the lifting surface 151. In the actual design and production process, the abutment method between the lifting surface 151 and the abutment portion 152 can be specifically selected according to actual needs.

[0075] When the driving end 121 rotates at the first rotation speed N1, the abutting portion 152 abuts against the first position of the lifting surface 151 (eg Figure 8 As shown in the position Ⅰ in the middle Fig.18 As shown, at the first position, the rag plate assembly 13 contacts the surface to be cleaned with a first pressure; when the driving end 121 increases from the first speed N1 to the second speed N2, the speed difference drives the abutment portion 152 to slide to the second position of the lifting surface 151 (such as Figure 8 Ⅱ position shown in the middle), such as Figure 6 As shown, at the second position, the axial distance between the rag disc assembly 13 and the connecting assembly 14 increases, and the rag disc assembly 13 contacts the surface to be cleaned at a second pressure, which is greater than the first pressure.

[0076] It needs to be explained that when the driving end 121 rotates at the first rotation speed N1, a relative rotation tendency will be generated between the abutment portion 152 and the lifting surface 151. At this time, under the elastic force of the elastic member 141, a first abutment force will be generated between the abutment portion 152 and the lifting surface 151. Under the action of the first abutment force, a first friction force is generated between the abutment portion 152 and the lifting surface 151. At this time, the driving force output by the driving end 121 is less than or equal to the first friction force. Therefore, the abutment portion 152 can remain relatively still at the first position of the lifting surface 151, and then the synchronous rotation of the abutment portion 152 and the lifting surface 151 at the first rotation speed N1 can be achieved, and finally the rag 133 can be in contact with the surface to be cleaned at the first pressure to perform the cleaning operation.

[0077] When the driving end 121 is increased from the first speed N1 to the second speed N2, under the action of inertia, a speed difference will be generated between the lifting surface 151 and the abutting portion 152, thereby breaking the equilibrium state of the abutting portion 152 and the lifting surface 151 at the first position. Under the action of the speed difference, relative rotation occurs between the lifting surface 151 and the abutting portion 152, so that the abutting portion 152 slides from the first position to the second position. During the sliding process of the abutting portion 152 relative to the lifting surface 151, with the action of the elastic member 141, the friction between the abutting portion 152 and the lifting surface 151 gradually increases, and the abutting portion 152 gradually slows down relative to the lifting surface 151, and finally stays at the second position of the lifting surface 151. At this time, the relative speed of the abutting portion 152 and the lifting surface 151 is zero, and the two rotate synchronously at the second speed N2, and finally the rag 133 contacts the surface to be cleaned with the second pressure to perform the cleaning operation.

[0078] It is understandable that, in other embodiments, the above-mentioned speed difference can also be generated by the change of the contact friction between the rag 133 and the surface to be cleaned. For example, when the friction between the rag 133 and the surface to be cleaned is greater than the friction between the lifting surface 151 and the abutment 152, the above-mentioned speed difference will also be generated between the lifting surface 151 and the abutment 152. In other embodiments, the above-mentioned speed difference can also be generated when the contact friction between the rag 133 and the surface to be cleaned changes while the rotational inertia is generated between the lifting surface 151 and the abutment 152.

[0079] The cleaning device 10 of this embodiment is provided with a pressure regulating component 15. When the driving end 121 of the driving component 12 rotates at a first rotational speed N1, the abutment portion 152 can be pressed against a first position of the lifting surface 151, and the rag plate assembly 13 contacts the surface to be cleaned with a first pressure; when the driving end 121 increases from the first rotational speed N1 to the second rotational speed N2, the rotational speed difference can drive the abutment portion 152 to slide to a second position of the lifting surface 151, and the rag plate assembly 13 contacts the surface to be cleaned with a second pressure, and the second pressure is greater than the first pressure. Such a setting can realize self-adjustment of the contact pressure between the rag plate assembly 13 and the surface to be cleaned by controlling the rotation speed of the driving end 121, and further realize the linkage setting between the operating speed and the operating pressure during the cleaning operation of the rag plate assembly 13, so that when the surface to be cleaned is lightly dirty, a smaller contact pressure and a lower operating speed can be used to clean the surface to be cleaned, thereby saving the output power of the driving assembly 12 and achieving energy-saving effect; and when the surface to be cleaned encounters stubborn stains, a larger contact pressure and a higher operating speed can be used to clean the surface to be cleaned, thereby improving the cleaning effect of the rag plate assembly 13 on stubborn stains.

[0080] Considering the cleaning pressure requirements of the cleaning device 10 for the surface to be cleaned, in an example of the cleaning device 10 of the present invention, the driving end 121 also has a third rotation speed N3, and the third rotation speed N3 is greater than the second rotation speed N2. When the driving end 121 rises to the third rotation speed N3, the rotation speed difference drives the abutting portion 152 to slide to the third position (such as Figure 8 As shown in the position III in the figure, at the third position, the rag tray assembly 13 contacts the surface to be cleaned with a third pressure; the third pressure is greater than the second pressure. Similar to the working principle of sliding from the first position to the second position in the previous embodiment, the specific action process of the abutment portion 152 sliding from the second position to the third position refers to the relevant description of the first position to the second position, which will not be repeated.

[0081] Since the third pressure is greater than the second pressure, such a setting can enrich the contact pressure gears between the rag 133 in the cleaning device 10 and the surface to be cleaned, so that when stubborn dirt is attached to the surface to be cleaned, the rag 133 can contact the surface to be cleaned with a larger third pressure to perform the cleaning operation, thereby further improving the cleaning effect of the rag disc assembly 13 on stubborn dirt. At the same time, since the third rotation speed N3 is greater than the second rotation speed N2, when cleaning stubborn dirt, the driving assembly 12 can also provide a higher rotation speed, so as to increase the cleaning pressure while also increasing the cleaning speed between the rag disc assembly 13 and the stubborn dirt, thereby further improving the cleaning effect of the rag disc assembly 13 on stubborn dirt attached to the surface to be cleaned.

[0082] It should be noted that the first speed, the second speed, the third speed, the first position, the second position and the third position can be obtained through force analysis or simulation experiments, or through physical experiments, and the specific values ​​are not limited and can be adjusted according to the needs of cleaning. As long as the second pressure is greater than the first pressure, and the third pressure is greater than the second pressure, the specific pressure values ​​can be unlimited, and can be specifically determined by the axial height difference between the first position, the second position and the third position and the compression amount of the rag 133.

[0083] See also Figures 7 to 9 In an example of the cleaning device 10 of the present invention, a boss 154 is provided on the side of the rag mounting frame 132 facing the first connecting member 142, and the lifting surface 151 is located at the top of the boss 154. The boss 154 can be integrally formed and connected with the rag mounting frame 132, or can be fixedly connected by bolts, etc. Optionally, in this embodiment, the boss 154 is provided on the end surface of the rag mounting frame 132 facing the first connecting member 142, and the boss 154 is integrally formed and connected with the rag mounting frame 132. By providing the boss 154, the lifting surface 151 is located at the top of the boss 154, which can facilitate the molding process of the lifting surface 151 on the rag mounting frame 132. The abutment portion 152 is correspondingly provided on the side of the first connecting member 142 facing the rag mounting frame 132, and the two sides of the abutment portion 152 are provided with limiting bodies 155 for limiting the boss 154. The abutment portion 152 may correspond to the lifting surface 151 one-to-one, or one lifting surface 151 may correspond to multiple abutment portions 152, as long as there is always a corresponding abutment portion 152 on the lifting surface 151 to abut against it during the rotation of the lifting surface 151. The abutment portion 152 may be any structure that can achieve abutment contact with the lifting surface 151, such as an inclined surface, an arc surface, a concave-convex surface, etc. The abutment portion 152 may be integrally formed and connected to the first connecting member 142, or it may be connected to the first connecting member 142 by bolts or the like. The limiting body 155 may be integrally formed and connected to the abutment portion 152, or it may be fixedly connected to both sides of the abutment portion 152 by bolts or clamping. During the abutment between the abutment portion 152 and the lifting surface 151, the limiting bodies 155 on both sides can stop the boss 154, so as to play a limiting and guiding role in the movement between the abutment portion 152 and the boss 154 when the abutment portion 152 slides along the lifting surface 151, thereby reducing the probability of the abutment portion 152 deviating from the lifting surface 151 and ensuring that the abutment portion 152 can move smoothly along the lifting surface 151.

[0084] In other embodiments, the boss 154 may be provided on the first connecting member 142, the abutting portion 152 may be correspondingly provided on the rag mounting frame 132, and the abutting portion 152 may abut against the lifting surface 151. Limiting bodies 155 for limiting the boss 154 may also be provided on both sides of the abutting portion 152. The specific structure of the abutting portion 152 and the boss 154 may refer to the relevant description in the previous embodiment, and will not be repeated here.

[0085] See also Fig.10 and Fig.11 In an example of the cleaning device 10 of the present invention, a groove 153 is provided on the side of the first connecting member 142 facing the rag mounting frame 132, and the lifting surface 151 is located at the bottom of the groove 153. The groove 153 can be an integral annular groove structure circumferentially arranged around the first connecting member 142, or a plurality of partial groove structures dispersedly arranged on the circumference of the first connecting member 142. The abutment portion 152 is provided on the side of the rag mounting frame 132 facing the first connecting member 142, and the abutment portion 152 is provided corresponding to the groove 153. The size of the abutment portion 152 matches the size of the groove 153, so that the abutment portion 152 can extend into the interior of the groove 153 and press against the lifting surface 151. By setting the groove 153, the lifting surface 151 is located at the bottom of the groove 153. In this way, when the abutting portion 152 slides along the lifting surface 151, the abutting portion 152 needs to extend into the groove 153, and then the side wall of the groove 153 can play a limiting and guiding role for the abutting portion 152, so that the abutting portion 152 can slide along the lifting surface 151 more smoothly, so as to improve the accuracy of the contact pressure adjustment between the rag 133 and the surface to be cleaned.

[0086] In some other embodiments, a groove 153 may be provided on one side of the rag mounting frame 132 facing the first connecting member 142, and the lifting surface 151 is located at the bottom of the groove 153. The first connecting member 142 is provided with an abutting portion 152, the abutting portion 152 corresponds to the groove 153, and the abutting portion 152 extends into the groove 153 and presses against the lifting surface 151. This arrangement can also achieve the beneficial effects of the previous embodiment.

[0087] See also Figure 7 and Figure 8In an example of the cleaning device 10 of the present invention, the abutment portion 152 includes an abutment surface 1521 that matches the shape of the lifting surface 151, and the abutment surface 1521 cooperates with the lifting surface 151 to abut. When there is a rotation speed difference between the abutment portion 152 and the lifting surface 151, the abutment surface 1521 can generate relative sliding with the lifting surface 151. By providing the abutment surface 1521 on the abutment portion 152, surface contact between the abutment surface 1521 and the lifting surface 151 can be achieved, so that a relatively stable contact pressure can be obtained between the abutment portion 152 and the lifting surface 151, so as to improve the stability of the contact between the abutment surface 1521 and the lifting surface 151, thereby improving the stability of the contact pressure between the rag 133 and the surface to be cleaned.

[0088] See also Figure 8 and Fig. 9 In an example of the cleaning device 10 of the present invention, the lifting surface 151 is a spiral surface arranged around the axis of rotation of the rag mounting frame 132. The number of turns of the spiral surface is not limited, and can be half a turn, one turn, or multiple turns, depending on the lifting stroke of the abutment portion 152 on the lifting surface 151. By setting the lifting surface 151 as a spiral surface, the continuous sliding of the abutment portion 152 on the lifting surface 151 can be achieved during the rotation process, which facilitates the height adjustment between the abutment portion 152 and the lifting surface 151. At the same time, the spiral surface also helps to reduce the vibration generated between the abutment portion 152 and the lifting surface 151 during the rotation process, which can be more conducive to improving the stability of the abutment between the abutment portion 152 and the lifting surface 151.

[0089] See also Fig.10 and Fig.11 In an example of the cleaning device 10 of the present invention, a plurality of lifting surfaces 151 are provided, and the plurality of lifting surfaces 151 are all spiral surfaces and are arranged in a circumferential array along the first connecting member 142. The plurality of lifting surfaces 151 arranged in an array can be arranged end to end along the circumferential direction of the first connecting member 142, or can be arranged at intervals. The specific number of lifting surfaces 151 can be two or more. A plurality of abutting portions 152 are also correspondingly provided, and the specific number of abutting portions 152 is not limited. Under the condition that each lifting surface 151 corresponds to at least one abutting portion 152, one lifting surface 151 can correspond to one abutting portion 152, or can correspond to multiple abutting portions 152, etc. Each abutting portion 152 is respectively inserted into a groove 153 and pressed against the lifting surface 151 in the groove 153. By providing a plurality of lifting surfaces 151 and arranging the plurality of lifting surfaces 151 along a circumferential array of the first connecting member 142, the plurality of lifting surfaces 151 can provide a plurality of pressing contact points for the abutting portion 152 along the circumferential direction, thereby increasing the stability of the pressing contact between the abutting portion 152 and the lifting surfaces 151 and reducing the probability of relative movement between the abutting portion 152 and the lifting surfaces 151 due to external disturbances.

[0090] See also Figure 8 and Fig. 9 In an example of the cleaning device 10 of the present invention, three bosses 154 are provided on one side of the rag mounting frame 132 facing the first connecting member 142. The three bosses 154 are arranged in an array along the circumference of the rag mounting frame 132. A lifting surface 151 is formed on the top of each boss 154. The three bosses 154 correspond to the three lifting surfaces 151. Three grooves 153 are provided on one side of the first connecting member 142 facing the rag mounting frame 132. The three grooves 153 are arranged in an array along the circumference of the first connecting member 142. The bottom wall of each groove 153 forms a contact surface 1521. Each contact surface 1521 corresponds to a lifting surface 151. Each contact surface 1521 is inserted into a corresponding groove 153 and pressed against the lifting surface 151 in the groove 153.

[0091] See also Figure 6 and Fig.10 In an example of the cleaning device 10 of the present invention, the first connecting member 142 is provided with a accommodating chamber 1421, and the shape of the accommodating chamber 1421 can be various, such as cylindrical, polygonal or rectangular. The accommodating chamber 1421 extends along the height direction of the cleaning device 10, and an opening is provided on the side of the accommodating chamber 1421 away from the rag mounting frame 132. The rag plate assembly 13 also includes a second connecting member 131. The second connecting member 131 is slidably mounted on the first connecting member 142, and the second connecting member 131 slides up and down along the extension direction of the accommodating chamber 1421. One end of the second connecting member 131 is located in the accommodating chamber 1421, and the other end of the second connecting member 131 penetrates the bottom wall of the accommodating chamber 1421 and extends downward to the rag mounting frame 132, and is fixedly connected to the rag mounting frame 132. The second connecting member 131 and the rag mounting frame 132 can be fixedly connected by threads, or can be fixedly connected by integral injection molding, etc. In this embodiment, a circular boss is provided on one side of the second connecting member 131 facing the rag mounting frame 132 . The circular boss extends into the rag mounting frame 132 and is integrally connected to the rag mounting frame 132 by injection molding.

[0092] See also Figure 6 and Fig.18The elastic member 141 is disposed in the accommodating cavity 1421, one end of the elastic member 141 is linked to the second connecting member 131, and the other end of the elastic member 141 is linked to the wall of the accommodating cavity 1421. When the abutting portion 152 slides from the first position to the second position, the elastic member 141 is deformed so that the abutting force between the abutting portion 152 and the lifting surface 151 is gradually increased. The deformation of the elastic member 141 can be elongation deformation or compression deformation. The elastic member 141 can be any elastic structure such as a compression spring, a tension spring, a spring sheet or a hydraulic support that can generate elastic deformation when the abutting portion 152 slides from the first position to the second position so that the abutting force between the abutting portion 152 and the lifting surface 151 is gradually increased. When the abutting portion 152 slides from the first position to the second position, the abutting portion 152 drives the rag mounting frame 132 to move toward the side close to the surface to be cleaned, and at this time, the second connecting member 131 slides downward relative to the accommodating chamber 1421, and the second connecting member 131 slides downward to drive the elastic member 141 to be linked, so that the elastic member 141 is gradually compressed or gradually extended, so that the elastic force of the elastic member 141 is gradually increased, and the elastic force of the elastic member 141 is transmitted to the rag mounting frame 132 through the second connecting member 131, thereby gradually increasing the abutting force between the abutting portion 152 on the rag mounting frame 132 and the lifting surface 151. By providing the accommodating chamber 1421 and the second connecting member 131, the second connecting member 131 slides up and down in the accommodating chamber 1421, which can effectively reduce the height installation space occupied by the second connecting member 131 when sliding up and down, so that the installation between the rag mounting frame 132 and the first connecting member 142 is more compact, which is conducive to reducing the overall external dimensions of the cleaning device 10 in the height direction. At the same time, since the elastic member 141 is linked with the second connecting member 131 and the wall of the accommodating chamber 1421, this arrangement can utilize the second connecting member 131 to slide up and down in the accommodating chamber 1421 to achieve elastic deformation of the elastic member 141, thereby adjusting the abutting force between the abutting portion 152 and the lifting surface 151. Therefore, there is no need to additionally set up a clamping or stretching structure for the deformation of the elastic member 141, thereby simplifying the number of components.

[0093] See also Fig.12In an example of the cleaning device 10 of the present invention, the second connecting member 131 includes a column 1311 and a limiting portion 1312, one end of the column 1311 extends into the accommodating chamber 1421 and is connected to the limiting portion 1312 accommodated in the accommodating chamber 1421, and the connection method can be any fixed connection method such as an integral molding connection and a threaded fixed connection. The other end of the column 1311 passes through the bottom wall of the accommodating chamber 1421 and is connected to the rag mounting frame 132, and the column 1311 can slide up and down relative to the accommodating chamber 1421. The connection method of the column 1311 and the rag mounting frame 132 can be an integral injection molding connection, a bolted fixed connection, etc. The limiting portion 1312 at least partially extends to the outer periphery of the column 1311. The limiting portion 1312 can be a boss structure arranged around the outer periphery of the column 1311, or a plurality of stopper structures arranged at intervals on the outer periphery of the column 1311, etc. In this embodiment, the limiting portion 1312 is a boss, the outer edge of the boss extends to the outer periphery of the column portion 1311 , and the boss is coaxially arranged with the column portion 1311 .

[0094] The elastic member 141 surrounds the cylindrical portion 1311 in the circumferential direction and is disposed between the limiting portion 1312 and the bottom wall of the accommodating cavity 1421. The bottom wall of the accommodating cavity 1421 has an annular support portion extending toward the center thereof. The elastic member 141 is disposed between the limiting portion 1312 and the annular support portion. Fig.12 , one elastic member 141 is provided, and the elastic member 141 is sleeved on the outer circumference of the column part 1311, thereby forming a circumferential arrangement along the column part 1311, and the two ends of the elastic member 141 are respectively in contact with the limiting portion 1312 and the bottom wall of the accommodating cavity 1421. In other embodiments, a plurality of elastic members 141 may also be provided, and the plurality of elastic members 141 are arranged around the outer circumference of the column part 1311 at intervals to form a circumferential arrangement along the column part 1311, and the two ends of the plurality of elastic members 141 are respectively in contact with the limiting portion 1312 and the bottom wall of the accommodating cavity 1421. The specific arrangement of the elastic member 141 between the second connecting member 131 and the accommodating cavity 1421 can be specifically selected by the staff according to actual conditions.

[0095] See also Figure 6In an example of the cleaning device 10 of the present invention, the second connecting member 131 includes a column 1311, a limiting portion 1312 and a sleeve 1313. One end of the sleeve 1313 penetrates the bottom wall of the accommodating chamber 1421 and is connected to the rag mounting frame 132. The other end of the sleeve 1313 extends into the interior of the accommodating chamber 1421. The sleeve 1313 is slidably connected up and down relative to the bottom wall of the accommodating chamber 1421. One end of the column 1311 extends into the inner hole of the sleeve 1313 and is detachably connected to the inner hole of the sleeve 1313. The detachable connection method can be any detachable connection method such as threaded fixed connection, groove and protrusion clamping. The other end of the column 1311 is connected to the limiting portion 1312, and the limiting portion 1312 is located inside the accommodating chamber 1421. The limiting portion 1312 can be integrally formed with the column 1311, or can be bolted fixedly connected. The limiting portion 1312 at least partially extends to the outer periphery of the sleeve portion 1313. The elastic member 141 is sleeved on the outer periphery of the column portion 1311, and the two ends of the elastic member 141 are respectively against the limiting portion 1312 and the bottom wall of the accommodating cavity 1421. By providing the sleeve portion 1313 and making the column portion 1311 and the sleeve portion 1313 detachably connected, before the first connecting member 142 and the second connecting member 131 are installed, the column portion 1311 and the limiting portion 1312 can be removed from the sleeve portion 1313 first, and when the first connecting member 142 and the second connecting member 131 are installed in place, the column portion 1311 and the limiting portion 1312 are installed on the sleeve portion 1313, thereby reducing the interference problem caused by the limiting portion 1312 in the installation process of the first connecting member 142 and the second connecting member 131, and facilitating the installation between the first connecting member 142 and the second connecting member 131.

[0096] Optionally, see Figure 6 In this embodiment, the second connecting member 131 is a screw, the screw rod of the screw is equivalent to the column part 1311, the nut of the screw is equivalent to the limit part 1312, the inner hole wall of the sleeve is processed with an internal thread matching the screw, and the screw is screwed and connected in the inner hole of the sleeve part 1313 through the thread, thereby realizing the connection between the sleeve part 1313, the column part 1311 and the limit part 1312. Since the screw is a standard part, the manufacturing cost of the second connecting member 131 can be reduced.

[0097] In an example of the cleaning device 10 of the present invention, the elastic member 141 is deformed by compression to store energy to provide abutment between the abutment portion 152 and the lifting surface 151. The elastic member 141 is any one of a spring, a spring, an elastic ball, a gas pressure support, and a hydraulic support. In this embodiment, please refer to Figure 6 , Fig.17 and Fig.18The elastic member 141 is a compression spring, which is sleeved on the outer periphery of the column portion 1311, and the two ends of the compression spring are respectively in contact with the limiting portion 1312 and the bottom wall of the accommodating cavity 1421. When the contact portion 152 is located at the first position of the lifting surface 151, as shown in FIG. Fig.18 As shown in FIG. 1 , the compression amount of the compression spring is small at this time, and the abutment force provided between the abutment portion 152 and the lifting surface 151 is also small. When the abutment portion 152 slides from the first position to the second position, as shown in FIG. Figure 6 As shown, at this time, the compression spring is gradually compressed, the compression amount gradually increases, the stored energy also gradually increases, and the abutting force provided between the abutting portion 152 and the lifting surface 151 also gradually increases. When the abutting portion 152 returns to the first position from the second position, the energy stored in the compression spring is gradually released, the compression amount gradually decreases, and the abutting force provided between the abutting portion 152 and the lifting surface 151 also gradually decreases. This cycle is repeated to achieve the change of the compression deformation amount of the elastic member 141 during use, so as to provide different abutting force requirements for the abutting portion 152 and the lifting surface 151.

[0098] See also Fig.13 In an example of the cleaning device 10 of the present invention, the elastic member 141 stores energy by deforming through stretching to provide abutting force between the abutting portion 152 and the lifting surface 151. The elastic member 141 is any one of a spring, a spring sheet, a gas pressure support, and a hydraulic support. In the present embodiment, the elastic member 141 is a tension spring. The first connecting member 142 is provided with a accommodating chamber 1421, and the lower end of the accommodating chamber 1421 is an open structure, and the rag mounting frame 132 is arranged below the lower end opening of the accommodating chamber 1421. An upper connecting member 1411 is provided in the accommodating chamber 1421, and the upper connecting member 1411 can be fixed in the accommodating chamber 1421, or can be rotatably connected in the accommodating chamber 1421. There are multiple options for the rotatable connection method, for example, it can be a rotatable connection through a slewing bearing, or it can be a rotatable connection through a shaft hole, etc. A receiving groove 1321 is provided on the side of the rag mounting frame 132 facing the first connecting member 142, and a lower connecting member 1412 is provided in the receiving groove 1321. The lower connecting member 1412 can be fixed in the receiving groove 1321, or can be rotatably connected in the receiving groove 1321. There are many options for the rotatable connection method, such as rotatably connected through a slewing bearing, or rotatably connected through a shaft hole, etc. The elastic member 141 is arranged inside the accommodating cavity 1421, and the two ends of the elastic member 141 along the stretching direction are respectively connected to the upper connecting member 1411 and the lower connecting member 1412. There are many options for the connection method, such as hooking or gluing. In other embodiments, the upper connecting member 1411, the receiving groove 1321 and the lower connecting member 1412 may not be provided, and one end of the elastic member 141 is directly connected to the inner side wall of the accommodating cavity 1421, and the other end is directly connected to the rag mounting frame 132.

[0099] When the elastic member 141 is a tension spring, when the abutment 152 is located at the first position of the lifting surface 151, the tension amount received by the tension spring is small, and the tensile force generated on the abutment 152 is also small, and the pressure provided between the abutment 152 and the lifting surface 151 is also small. When the abutment 152 slides from the first position to the second position, the tension spring is gradually stretched, the tension amount gradually increases, and the tensile force generated on the abutment 152 also gradually increases, and the pressure provided between the abutment 152 and the lifting surface 151 also gradually increases, and the energy stored in the tension spring gradually increases. When the abutment 152 returns to the first position from the second position again, the energy stored in the tension spring is gradually released, the tension amount gradually decreases, and the pressure provided between the abutment 152 and the lifting surface 151 also gradually decreases. In this way, the elastic member 141 is cyclically changed during use to provide different pressure requirements for the abutment 152 and the lifting surface 151.

[0100] See also Figure 6 In an example of the cleaning device 10 of the present invention, a first connecting component 16 is provided at one end of the first connecting member 142 away from the rag tray assembly 13. The first connecting component 16 may be located outside the accommodating chamber 1421, directly abutting against the end face of the first connecting member 142 away from the rag mounting frame 132, thereby covering the opening of the accommodating chamber 1421. The first connecting component 16 may also match the shape of the opening of the accommodating chamber 1421, directly extend into the interior of the accommodating chamber 1421, and seal the opening. The first connecting component 16 is fixedly connected to the first connecting member 142, and the fixed connection method may be a variety of detachable connection methods such as screw fixed connection or magnetic fixed connection. By providing the first connecting component 16, not only the probability of external dust and other impurities entering the accommodating chamber 1421 can be reduced, but also a relatively clean working environment can be maintained in the accommodating chamber 1421. At the same time, the first connecting member 16 can also play a limiting role when the limiting portion 1312 moves upward relative to the accommodating cavity 1421, which is conducive to controlling and adjusting the upward movement of the second connecting member 131 in the accommodating cavity 1421.

[0101] See also Figure 4 and Figure 6In an example of the cleaning device 10 of the present invention, the driving end 121 is connected to the second connecting part 1211, the above-mentioned first connecting part 16 is a magnet, and the second connecting part 1211 is a ferromagnet. The side of the second connecting part 1211 facing the first connecting part 16 is in contact with the surface of the first connecting part 16 away from the accommodating chamber 1421, so as to realize the magnetic connection between the first connecting part 16 and the second connecting part 1211, and then realize the axial fixed connection between the first connecting part 142 and the driving end 121. Since the installation process between the first connecting part 16 and the second connecting part 1211 does not require the use of tools, the installation is very convenient. At the same time, when the first connecting part 16 and the second connecting part 1211 need to be disassembled, a pulling force greater than the magnetic attraction force can be directly applied to the side of the first connecting part 16, so the disassembly process is also relatively convenient. In other embodiments, the first connecting part 16 can also be a ferromagnet and the second connecting part 1211 can be a magnet. The side of the second connecting component 1211 facing the first connecting component 16 fits with the surface of the first connecting component 16 away from the accommodating cavity 1421 to achieve a magnetic connection between the first connecting component 16 and the second connecting component 1211, and further achieve an axial fixed connection between the first connecting component 142 and the driving end 121.

[0102] In some other embodiments, the first connecting member 16 and the second connecting member 1211 may both be magnets, and the first connecting member 16 and the second connecting member 1211 may have opposite magnetic properties, so that the first connecting member 16 and the second connecting member 1211 are connected by magnetic attraction. This may also achieve the beneficial effects of the above embodiments.

[0103] See also Figures 14 to 18In an example of the cleaning device 10 of the present invention, a mounting groove 14211 is provided on the side of the accommodating cavity 1421 away from the rag tray assembly 13, the first connecting member 16 is at least partially accommodated in the mounting groove 14211, and the bottom wall of the mounting groove 14211 is at least partially supported on the lower edge of the first connecting member 16. The mounting groove 14211 can be a shape that matches the profile of the first connecting member 16, or can be other shapes that can accommodate the first connecting member 16. The bottom wall of the mounting groove 14211 can be an integral annular structure, or can be a plurality of local supporting surface structures arranged around the inner wall of the accommodating cavity 1421, etc., as long as it can be supported on the lower edge of the first connecting member 16, the first connecting member 16 can be installed and positioned in the axial direction. Specifically, in this embodiment, a plurality of ribs protruding toward the center side of the accommodating cavity 1421 are arranged around the inner wall of the accommodating cavity 1421, and the plurality of ribs are arranged in an array along the center of the accommodating cavity 1421. The end surface of the plurality of ribs facing the opening side of the accommodating cavity 1421 forms a supporting surface, and the area between the supporting surface and the opening of the accommodating cavity 1421 forms a mounting groove 14211. When the first connecting member 16 is accommodated in the mounting groove 14211, the supporting surface is supported on the lower edge of the first connecting member 16. By providing the mounting groove 14211, the axial positioning installation of the first connecting member 16 in the accommodating cavity 1421 can be realized, and the height installation space occupied by the first connecting member 16 can be reduced, and the compactness of the installation structure between the rag tray assembly 13 and the body 11 can be further improved.

[0104] See also Figures 14 to 18 In an example of the cleaning device 10 of the present invention, the inner wall of the accommodating chamber 1421 is provided with a stopper 14212 extending toward the center of the accommodating chamber 1421, the stopper 14212 is located below the opening of the accommodating chamber 1421, and the stopper 14212 is located below the bottom wall of the mounting groove 14211. The stopper 14212 is formed with a stopper surface on the side of the opening of the accommodating chamber 1421, so as to pneumatically stop and limit the second connecting member 131 when the second connecting member 131 moves downward relative to the accommodating chamber 1421. The stopper surface can be directly stopped by the second connecting member 131, or it can be indirectly stopped by the second connecting member 131 through the elastic member 141, etc. The stopper surface can be an annular structure arranged around the center of the accommodating chamber 1421, or it can be a plurality of local support surface structures arranged around the center of the accommodating chamber 1421, and any supporting structure that can play a role in limiting the downward movement of the second connection. By setting the stopper 14212, the downward movement of the second connecting member 131 can be limited to avoid the elastic member 141 linked between the second connecting member 131 and the wall of the accommodating cavity 1421 from being over-stretched or over-compressed, thereby better protecting the elastic member 141 and increasing the service life of the elastic member 141.

[0105] See also Figure 4 , Fig.14 and Fig.15 In an example of the cleaning device 10 of the present invention, the outer peripheral surface of the first connecting member 142 is a polygonal cylindrical structure, such as a tetrahedral cylindrical structure, a hexagonal cylindrical structure, and other prismatic structures. The driving end 121 is provided with a polygonal hole structure that matches the outer peripheral surface of the first connecting member 142. For example, a tetrahedral cylindrical hole, a hexagonal cylindrical hole, and the like. With this arrangement, when the first connecting member 142 is connected to the driving end 121, the polygonal cylindrical surface is correspondingly inserted into the polygonal deformation hole, so that the first connecting member 142 and the driving end 121 can be positioned in the circumferential direction. The positioning structure is simple and convenient, and is easy to implement.

[0106] In an example of the cleaning device 10 of the present invention, the driving assembly 12 also includes a lifting driving mechanism, which can drive the rag plate assembly 13 to descend to the surface to be cleaned and can drive the rag plate assembly 13 to lift and move away from the surface to be cleaned. The lifting driving mechanism can be any conventionally arranged screw nut transmission mechanism, gear rack transmission mechanism, cylinder, hydraulic cylinder, etc., which can realize the rag plate assembly 13 rising or falling relative to the surface to be cleaned. The specific selection of the lifting driving mechanism can be determined by various parameter conditions such as the specific structure and design size of the cleaning device 10, and this is not specifically limited in this embodiment.

[0107] Optionally, see Fig.19 and Fig. 20 In an example of the cleaning device 10 of the present invention, the lifting drive mechanism includes a threaded lifting mechanism 170, and the action of the threaded lifting mechanism 170 drives the rag plate assembly 13 to descend to and move away from the surface to be cleaned. The threaded lifting mechanism 170 may include a first sleeve 171 and a second sleeve 172. Along the lifting direction of the rag plate assembly 13, the first sleeve 171 includes a first end wall 1711 and a first side wall 1712 arranged around the first end wall 1711. The first end wall 1711 is arranged at the upper end of the first side wall 1712 and is connected to the output end of the reduction box of the driving assembly 12. The lower end of the first side wall 1712 is open, and the first side wall 1712 and the first end wall 1711 are surrounded to form a first accommodating cavity 1713. The second sleeve 172 includes a second end wall 1721 and a second side wall 1722 disposed around the second end wall 1721. The second end wall 1721 is disposed at the lower end of the second side wall 1722. The upper end of the second side wall 1722 is open. The second side wall 1722 and the second end wall 1721 are surrounded to form a second accommodating cavity 1723. Along the lifting direction of the rag tray assembly 13, the lower end of the first side wall 1712 extends into the second accommodating cavity 1723 and moves up and down relative to the second accommodating cavity 1723.

[0108] A spiral mechanism 173 is provided between the outer surface of the first side wall 1712 and the inner surface of the second side wall 1722. The spiral mechanism 173 includes a thread groove 1731 and a thread rib 1732 that engage with each other. The thread groove 1731 is provided on the outer surface of the first side wall 1712, and the thread rib 1732 is provided on the inner surface of the second side wall 1722. In other embodiments, the thread groove 1731 can also be provided on the inner surface of the second side wall 1722, and the thread rib 1732 is correspondingly provided on the outer surface of the first side wall 1712. A damping sleeve 174 is provided on the outer sleeve of the second shaft sleeve 172. One end of the damping sleeve 174 is connected to the reduction box of the driving assembly 12, and the other end of the damping sleeve 174 has an elastic protrusion 1741 protruding toward the inside thereof. The protrusion 1741 is pressed against the outer surface of the second side wall 1722, that is, the protrusion 1741 maintains interference contact with the outer surface of the second side wall 1722. In this embodiment, the driving end 121 of the driving assembly 12 is a second bushing 172 .

[0109] The central area of ​​the second end wall 1721 includes a boss portion 1724 protruding toward the first end wall 1711, and the boss portion 1724 extends into the first accommodating cavity 1713 and moves up and down relative to the first accommodating cavity 1713. A third accommodating cavity 1725 with an opening facing downward is provided on the side of the boss portion 1724 away from the first end wall 1711, and the second connecting member 1211 is fixedly mounted on the top wall of the third accommodating cavity 1725. One end of the first connecting member 142 away from the rag tray assembly 13 extends into the third accommodating cavity 1725, and the first connecting member 16 mounted on the first connecting member 142 is magnetically connected to the second connecting member 1211.

[0110] In this way, when the motor of the driving component 12 rotates forward, the first sleeve 171 rotates forward, and when the motor of the driving component 12 rotates reversely, the first sleeve 171 rotates reversely. By controlling the forward and reverse rotation of the first sleeve 171 and under the action of the protrusion 1741 of the damping sleeve 174, the rotation speed of the second sleeve 172 is hindered, so that relative rotation is formed between the first sleeve 171 and the second sleeve 172, and then the second sleeve 172 generates an upward or downward movement in the height direction. The rag plate assembly 13 is connected to the second sleeve 172, so that the rag plate assembly 13 follows the second sleeve 172 to generate an upward or downward movement in height. When the rag plate assembly 13 is needed for cleaning, the rag plate assembly 13 is driven to descend so that the rag 133 of the rag plate assembly 13 falls to the surface to be cleaned, and under the continuous drive of the driving assembly 12, the rag plate assembly 13 continuously rotates on the surface to be cleaned to clean the floor; when the rag plate assembly 13 is not needed for cleaning, the rag plate assembly 13 is driven to ascend so that the rag 133 of the rag plate assembly 13 is lifted and moved away from the surface to be cleaned.

[0111] In other embodiments, the threaded lifting mechanism 170 may include a conventionally arranged screw, nut, and motor, etc. The screw is rotatably connected to the driving end 121, the motor is fixedly connected to the driving end 121, and the output shaft of the motor is fixedly connected to the screw; the nut is fixedly connected to the rag plate assembly 13, and the nut is threadedly connected to the screw. The motor rotates and drives the screw to rotate, and the screw drives the nut to slide up and down, thereby driving the rag plate assembly 13 to descend or move away from the surface to be cleaned. The structure of the threaded lifting mechanism 170 is relatively simple and the cost is relatively low.

[0112] In the prior art, the interior of the cleaning device 10 usually has a complex internal structure, such as a dust collection mechanism, a walking mechanism, a water replenishment mechanism, a side brush mechanism, a control system, etc., and in order to make the cleaning device 10 have a larger cleaning coverage, the size of the cleaning device 10 needs to be small and short, which places high requirements on the utilization rate of the internal space of the cleaning device 10. After such a setting, a driving assembly 12 can be used to realize the rotation drive of the rag plate assembly 13, the lifting and lowering in the height direction, and the pressure adjustment in the height direction, which has the advantage of a high degree of integration, can greatly save the internal space of the cleaning device 10, and thus provide more layout space for the layout of the internal structure of the cleaning device 10.

[0113] The control method provided by the present invention detects the degree of dirtiness of the surface to be cleaned, and adjusts the output speed of the driving component according to the degree of dirtiness. When the output speed is N1, the output speed of the driving component drives the length of the adjustable connection part to be L1, and when the output speed is N2, the output speed of the driving component drives the length of the adjustable connection part to be L2, wherein N2 is greater than N1, and L2 is greater than L1. With this arrangement, the degree of dirtiness of the surface to be cleaned can be linked to the running length of the adjustable connection part. Since the adjustable connection part connects the rag plate assembly with the fuselage, the installation height of the rag plate assembly relative to the fuselage can be adjusted by controlling the running length of the adjustable connection part, thereby adjusting the contact pressure between the rag plate assembly and the surface to be cleaned, improving the problem of the single cleaning pressure of the rag plate assembly, so as to better adapt to cleaning operation conditions with different degrees of dirtiness and take into account the cleaning effects of different operation conditions. At the same time, since L2 is greater than L1 when N2 is greater than N1, the operating speed and operating pressure of the rag plate assembly can be linked to each other. This is beneficial to the optimization of the control logic when the cleaning equipment is in operation. When the surface to be cleaned is lightly dirty, a smaller contact pressure and a lower operating speed are used to clean the surface to be cleaned, thereby saving the output power of the driving component and achieving energy-saving effect. When the surface to be cleaned encounters stubborn stains, a larger contact pressure and a higher operating speed are used to clean the surface to be cleaned, so as to improve the cleaning effect of the rag plate assembly on stubborn stains. Therefore, the user experience of the cleaning equipment can be improved.

[0114] In summary, the present invention effectively overcomes some practical problems in the prior art and thus has high utilization value and use significance. The above embodiments are only illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology can modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A control method, which is applied to a cleaning device, characterized in that: The cleaning device comprises a body, a rag tray assembly, a driving assembly and an adjustable connection part, wherein the rag tray assembly is rotatably arranged at the bottom of the body under the driving of the driving assembly; The adjustable connection part connects the driving assembly and the rag tray assembly, and the control method includes: Detect the degree of dirtiness of the surface to be cleaned; The output speed of the driving component is adjusted according to the degree of dirtiness. When the output speed is N1, the output speed of the driving component drives the length of the adjustable connection portion to be L1. When the output speed is N2, the output speed of the driving component drives the length of the adjustable connection portion to be L2, wherein N2 is greater than N1, and L2 is greater than L1. The adjustable connection part includes: a connection assembly and a pressure adjustment assembly, the connection assembly includes an elastic member and a first connection member, the first connection member is arranged on the rag plate assembly and is used to connect with the driving end of the driving assembly, one end of the elastic member is linked to the first connection member, and the other end is linked to the rag plate assembly; the pressure adjustment assembly includes a lifting surface and an abutment part, one of the lifting surface and the abutment part is arranged on the side of the rag plate assembly facing the first connection member, and the other is arranged on the side of the first connection member facing the rag plate assembly; the speed difference between the output speed N1 and the output speed N2 drives the abutment part to slide along the lifting surface to extend or shorten the adjustable connection part.

2. The control method according to claim 1, characterized in that: Adjusting the output speed of the driving component according to the degree of dirtiness also includes: when the output speed is N3, the output speed of the driving component drives the length of the adjustable connection part to be L3, wherein N3 is greater than N2, and L3 is greater than L2.

3. The control method according to claim 2, characterized in that: The cleaning equipment also includes a water replenishing device for replenishing water to the rag plate assembly, and the control method also includes: adjusting the amount of water supplied to the rag plate assembly by the water replenishing device according to the output speed, when the output speed is N1, the amount of water replenished to the rag plate assembly is Q1, and when the output speed is N2, the amount of water replenished to the rag plate assembly is Q2, wherein Q1 is greater than Q2.

4. The control method according to claim 3, characterized in that: The control method further includes: adjusting the amount of water supplied by the water replenishing device to the rag plate assembly according to the output rotation speed, and when the output rotation speed is N3, the amount of water supplied to the rag plate assembly is Q3, wherein Q2 is greater than Q3.

5. The control method according to claim 1, characterized in that: The output speed of the driving assembly is adjusted according to the degree of dirtiness, and further comprises: Obtaining a target speed and a current speed of the drive assembly; The adjustable connection portion is driven to switch between the length L1 and the length L2 according to the speed difference between the target speed and the current speed.

6. The control method according to claim 1, characterized in that: A boss is arranged on one of the first connecting member and the rag plate assembly, the lifting surface is located on the top of the boss, the abutting portion is arranged on the other of the first connecting member and the rag plate assembly corresponding to the boss, and limiting bodies are arranged on both sides of the abutting portion to limit the boss.

7. The control method according to claim 1, characterized in that: A groove is provided on one of the first connecting member and the rag tray assembly, the lifting surface is located at the bottom of the groove, and the abutting portion is provided on the other of the first connecting member and the rag tray assembly corresponding to the groove, and extends into the groove to press against the lifting surface.

8. The control method according to claim 1, characterized in that: The abutment portion comprises an abutment surface that matches the shape of the lifting surface. The abutment surface cooperates with the lifting surface to abut against it, and slides relatively when there is a rotation speed difference between the abutment portion and the lifting surface.

9. The control method according to claim 1, characterized in that: The lifting surfaces are provided in plurality, and the plurality of lifting surfaces are arranged in a circumferential array along the first connecting member, and each of the lifting surfaces corresponds to at least one abutting portion.

10. The control method according to claim 1, characterized in that: The first connecting member is provided with a accommodating cavity, and the rag tray assembly includes a rag mounting frame and a second connecting member, the second connecting member is slidably mounted on the first connecting member, and one end of the second connecting member along the sliding direction extends into the accommodating cavity, and the other end is connected to the rag mounting frame; one end of the elastic member is linked to the second connecting member, and the other end of the elastic member is linked to the wall of the accommodating cavity.

11. The control method according to claim 10, characterized in that: The second connecting member includes a column portion and a limiting portion, one end of the column portion extends into the accommodating cavity and is connected to the limiting portion, and the other end is connected to the rag mounting bracket; the limiting portion at least partially extends to the outer periphery of the column portion; the elastic member surrounds the circumference of the column portion and is arranged between the limiting portion and the bottom wall of the accommodating cavity.

12. The control method according to claim 10, characterized in that: The second connecting member includes a sleeve portion, a column portion and a limiting portion, one end of the sleeve portion is connected to the rag mounting frame, and the other end is detachably connected to the column portion, one end of the column portion extends into the accommodating cavity and is connected to the limiting portion, and the limiting portion at least partially extends to the outer periphery of the sleeve portion.

13. The control method according to claim 1, characterized in that: The elastic member generates deformation and stores energy through compression, and the elastic member is any one of a spring, a spring, an elastic ball, a gas pressure support, and a hydraulic support.

14. The control method according to claim 1, characterized in that: The elastic member generates deformation and stores energy by stretching, and the elastic member is any one of a spring, a spring, a gas pressure support, and a hydraulic support.

15. The control method according to claim 1, characterized in that: A first connecting component is provided at one end of the first connecting member away from the rag tray assembly, and a second connecting component is provided at the driving end. One of the first connecting component and the second connecting component is a magnet, and the other is a ferromagnet; or, both the first connecting component and the second connecting component are magnets, and the magnetic properties of the first connecting component and the second connecting component are opposite, and the first connecting component and the second connecting component are magnetically connected.

16. The control method according to claim 15, characterized in that: A mounting groove is provided on a side of the first connecting member facing away from the rag tray assembly, the first connecting member is at least partially accommodated in the mounting groove, and the bottom wall of the mounting groove is at least partially supported by the lower edge of the first connecting member.

17. The control method according to claim 10, characterized in that: The inner wall of the accommodating cavity is provided with a stop portion extending toward the center of the accommodating cavity, and the stop portion is located below the opening of the accommodating cavity. The stop portion stops the second connecting member to limit the position when the second connecting member moves downward relative to the accommodating cavity.

18. The control method according to claim 1, characterized in that: The outer circumference of the first connecting member is a polygonal cylindrical structure, and the driving end is provided with a polygonal hole structure matching the outer circumference of the first connecting member.

19. The control method according to claim 1, characterized in that: The driving assembly further comprises a lifting driving mechanism, which can drive the rag tray assembly to descend to the surface to be cleaned and can drive the rag tray assembly to be lifted and moved away from the surface to be cleaned.

20. The control method according to claim 19, characterized in that: The lifting drive mechanism includes a threaded lifting mechanism, which includes a first sleeve, a second sleeve and a damping sleeve. The driving assembly is used to drive the first sleeve to rotate. The second sleeve is coaxially sleeved outside the first sleeve and connected to the rag plate assembly. A spiral mechanism is provided between the first sleeve and the second sleeve. The damping sleeve is connected to the housing of the driving assembly and sleeved outside the second sleeve, and is in interference fit with the second sleeve. The second sleeve realizes a lifting movement with the first sleeve through the spiral mechanism to drive the rag plate assembly to descend to and move away from the surface to be cleaned.

21. A cleaning device, characterized in that: The control method according to any one of claims 1 to 20 is adopted during the cleaning operation.

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