Cleaning device and rag disc swing control method

Abstract

The invention discloses a cleaning device and a rag disc swing control method, the cleaning device comprises a machine body, a rag disc module and a swing module, the swing module comprises a rack, a connecting shaft, a driving motor and a swing assembly, the rack is connected with the machine body, and the rag disc module is rotatably connected to the rack through the connecting shaft; the driving motor is fixed to the rack, and the straight line where a power output shaft of the driving motor is located is roughly parallel to the connecting shaft. One end of the swing assembly is connected with the driving motor, the other end of the swing assembly is connected with the cleaning cloth disc module, and the swing assembly horizontally transmits torque generated by the driving motor to the cleaning cloth disc module to drive the cleaning cloth disc module to rotate around the axis of the connecting shaft, so that a cleaning cloth disc in the cleaning cloth disc module extends out of or retracts into the bottom of the machine body. According to the cleaning device, corner areas can be thoroughly cleaned through the cleaning cloth disc.

Description

Technical Field

[0001] The present application relates to the field of cleaning equipment, and in particular to a cleaning device and a method for controlling the swing of a rag plate. Background Art

[0002] As people's living standards improve, household cleaning work is gradually developing towards intelligence and convenience. More and more families are starting to use sweeping robots to replace traditional manual cleaning to improve efficiency and save time.

[0003] Although these sweeping robots perform well in routine cleaning tasks, due to the structural limitations of traditional sweeping robots, the rag tray at the bottom of the sweeping robot often cannot reach narrow corners such as the corners of furniture and the corners of houses. This means that when the sweeping robot uses the rag tray for cleaning, there are many hard-to-reach dead corners left behind. These areas are prone to accumulate dust and debris, affecting the overall cleaning effect. Summary of the invention

[0004] The purpose of the present application is to provide a cleaning device and a method for controlling the swing of a rag disk, which can use the rag disk to thoroughly clean the corner area.

[0005] To achieve the above-mentioned objectives, the present application provides a cleaning device on the one hand, which comprises at least a body, a rag disc module and a swing module, wherein the swing module comprises a frame, a connecting shaft, a driving motor and a swinging joint, the frame is connected to the body, and the rag disc module is rotatably connected to the frame through the connecting shaft; the driving motor is fixed to the frame, and the straight line where the power output shaft of the driving motor is located is substantially parallel to the connecting shaft; one end of the swinging joint is connected to the driving motor, and the other end of the swinging joint is connected to the rag disc module, and the swinging joint transmits the torque generated by the driving motor to the rag disc module horizontally, thereby driving the rag disc module to rotate around the axis of the connecting shaft, so that the rag disc in the rag disc module extends out or retracts to the bottom of the body.

[0006] To achieve the above-mentioned purpose, the present application also provides a rag plate swing control method, which is applied to a cleaning device, and the cleaning device at least includes a body, an optical coupling module, a rag plate module and a swing module. The method includes: identifying the position of the rag plate in the rag plate module at the bottom of the body according to the detection information fed back by the optical coupling module; based on the cleaning mode of the cleaning device and the position of the rag plate at the bottom of the body, controlling the swing module to extend or retract the rag plate from the bottom of the body.

[0007] It can be seen from this that the technical solution provided by the present application is that a rag plate module and a swinging module are installed at the bottom of the cleaning device, and the swinging module includes a frame, a connecting shaft, a driving motor and a swinging assembly. The rag plate module is rotatably connected to the frame through the connecting shaft, and the rag plate module is also connected to the swinging assembly, and the swinging assembly is connected to the driving motor. When the driving motor is working, the torque generated by the driving motor can be horizontally transmitted to the rag plate module by the swinging assembly, so that the rag plate module can rotate around the axis of the connecting shaft. When the rag plate module rotates around the axis of the connecting shaft, the rag plate in the rag plate module can extend from the bottom of the cleaning device or retract from the bottom of the cleaning device. In this way, when the cleaning device needs to clean the corner area, the cleaning device can control the rag plate to extend from the bottom of the body, so that the rag plate can be as close to the above-mentioned corner area as possible, so that the rag plate can thoroughly clean the corner area. When the cleaning device finishes cleaning the corner area, the cleaning device can control the rag plate to retract to the bottom of the body to prevent the rag plate from colliding with other objects. The cleaning device in this application can flexibly cope with various complex home layouts, thereby ensuring that every corner can be thoroughly cleaned, greatly improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0009] Figure 1 is a schematic structural diagram of a cleaning device in one embodiment provided in the present application;

[0010] Figure 2 It is a structural schematic diagram of an embodiment provided by the present application when the rag tray is in the maximum retracted position;

[0011] Figure 3 It is a structural schematic diagram of an embodiment provided by the present application when the rag tray is in the maximum extended position;

[0012] Figure 4 It is a partial cross-sectional schematic diagram of a rag plate module and a swing module in one embodiment provided by the present application;

[0013] Figure 5 yes Figure 2 A partial cross-sectional schematic diagram of the rag plate module and the swing module in the illustrated embodiment;

[0014] Figure 6 yes Figure 5An enlarged view of the structure of region A in the embodiment shown;

[0015] Figure 7 It is a partial cross-sectional schematic diagram of an embodiment provided by the present application when the rag plate is in a swinging state;

[0016] Figure 8 yes Figure 7 An enlarged view of the structure of region B in the embodiment shown;

[0017] Fig. 9 yes Figure 3 A partial cross-sectional schematic diagram of the rag plate module and the swing module in the illustrated embodiment;

[0018] Fig.10 yes Fig. 9 An enlarged view of the structure of the C region in the embodiment shown;

[0019] Fig.11 yes Figure 2 A schematic diagram of the structure of the optical coupling module in the embodiment shown;

[0020] Fig.12 yes Figure 3 A schematic structural diagram of an optocoupler module in the illustrated embodiment. DETAILED DESCRIPTION

[0021] To make the purpose, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings. Terms such as "upper", "above", "lower", "below", "first end", "second end", "one end", "the other end" used in the present application to represent spatial relative positions are used to describe the relationship between a unit or feature as shown in the accompanying drawings relative to another unit or feature for the purpose of convenience of explanation. Terms of spatial relative position may be intended to include different orientations of the device in use or work other than the orientation shown in the figure. For example, if the device in the figure is turned over, the unit described as being "below" or "below" other units or features will be located "above" other units or features. Therefore, the exemplary term "below" can encompass both the above and below orientations. The device can be oriented in other ways (rotated 90 degrees or other orientations), and the spatially related descriptors used herein are interpreted accordingly.

[0022] In addition, the terms "installed", "set", "provided with", "connected", "slidingly connected", "fixed", and "sleeved" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0023] As people's living standards improve, household cleaning work is gradually developing towards intelligence and convenience. More and more families are starting to use cleaning equipment such as sweeping robots and automatic floor scrubbers to replace traditional manual cleaning to improve efficiency and save time.

[0024] Take a sweeping robot as an example. Usually, a sweeping robot uses a roller brush to sweep the floor, and then uses a rag plate to mop the floor. Although sweeping robots perform well in routine cleaning tasks, due to the structural limitations of traditional sweeping robots, the rag plate is usually hidden at the bottom of the body, which makes it difficult for the rag plate to reach small corners such as furniture corners and house corners. Therefore, when sweeping robots use rag plates to clean, they leave many hard-to-reach dead corners, which are prone to accumulate dust and debris, affecting the overall cleaning effect.

[0025] Therefore, how to improve the structure of the cleaning device so that the cleaning device can use the rag plate to clean the corner area has become an urgent problem to be solved in the art.

[0026] In view of the above problems, this application provides a cleaning device, please refer to Figures 1 to 12 The cleaning device at least includes a body 1, a rag plate module 2 and a swing module 3. The body 1 is used to accommodate and protect internal electronic components, sensors, motors and other equipment. The rag plate module 2 is installed at the bottom of the body 1, and at least includes a rag plate 21 and a driving device 22, wherein the driving device 22 can drive the rag plate 21 to rotate through a motor gear system, thereby allowing the rag plate 21 to wipe and clean the floor. The swing module 3 is used to drive the rag plate module 2 to swing at the bottom of the body 1, so that the rag plate 21 extends out of the bottom of the body 1 or retracts into the bottom of the body 1.

[0027] In this embodiment, the swing module 3 includes a frame 31, a connecting shaft 32, a driving motor 33 and a swinging joint 34. The frame 31 is connected to the body 1, and the connecting shaft 32, the driving motor 33 and the swinging joint 34 are installed on the body 1. The rag plate module 2 is rotatably connected to the frame 31 through the connecting shaft 32. For example, in one embodiment, a bearing can be used as the connecting shaft 32 to fix the rag plate module 2 on the frame 31. The bearing can make the rag plate module 2 rotate easily on the connecting shaft 32, reduce friction and resistance, and improve the smoothness and stability of rotation. In another embodiment, a latch column can be used as the connecting shaft 32, the latch column is fixed on the frame 31, and there is a corresponding pin hole on the rag plate module 2, and the latch column can be inserted into the pin hole to rotatably connect the rag plate module 2 to the frame 31. By appropriately setting the installation position of the rag tray module 2 at the bottom of the machine body 1 (for example, setting the rag tray module 2 at a position close to the bottom edge of the machine body 1), when the rag tray module 2 rotates around the connecting shaft 32, the rag tray 21 can extend out of the bottom of the machine body 1 or retract into the bottom of the machine body 1. Figure 1 The perspective shown is for reference. When the rag plate module 2 rotates counterclockwise around the connecting shaft 32, the rag plate 21 can extend out of the bottom of the body 1; when the rag plate module 2 rotates clockwise around the connecting shaft 32, the rag plate 21 can retract into the bottom of the body 1.

[0028] Since when the rag tray module 2 is installed at the bottom of the machine body 1, the overall structure of the rag tray module 2 is usually vertically connected to the machine body 1, so in order to improve the stability of the rag tray module 2 rotating around the connecting shaft 32, the connecting shaft 32 can be installed on the frame 31 in a substantially vertical state. The above structure can ensure that the center of gravity of the rag tray module 2 is substantially parallel to its rotation axis (i.e., the connecting shaft 32), thereby improving the stability of the rag tray module 2 swinging.

[0029] Furthermore, in order to make full use of the vertical space between the rag tray module 2 and the body 1 and simplify the structure of the torque transmission device, the drive motor 33 can be vertically installed on the frame 31 to ensure that the straight line where the power output shaft 331 of the drive motor 33 is located is roughly parallel to the connecting shaft 32.

[0030] The swing coupling 34 is installed on the frame 31 in a substantially horizontal state, and one end of the swing coupling 34 is connected to the power output shaft 331 of the driving motor 33, and the other end of the swing coupling 34 is connected to the rag plate module 2. The swing coupling 34 can horizontally transmit the torque generated by the power output shaft 331 to the rag plate module 2 to drive the rag plate module 2 to rotate around the axis of the connecting shaft 32, thereby extending or retracting the rag plate 21 to the bottom of the body 1.

[0031] In practical applications, the swing coupling 34 can be constructed as a variety of structural types. In one embodiment, the swing coupling 34 can be constructed as a belt gear structure, for example, the swing coupling 34 includes two gears, one of which is clamped on the power output shaft 331, and the other gear is fixed on the rag plate module 2, and the two gears transmit torque through a belt. In another embodiment, the swing coupling 34 can be constructed as a gear rack structure, for example, the swing coupling 34 includes two gears and a rack, one of which is clamped on the power output shaft 331, and the other gear is fixed on the rag plate module 2, and the two gears transmit torque through the rack. The above structures can achieve the effect of transmitting the torque generated by the power output shaft 331 to the rag plate module 2.

[0032] It should be pointed out that “the rag plate module 2 rotates around the axis of the connecting shaft 32” can be understood as the connecting shaft 32 being stationary while the rag plate module 2 rotates around the connecting shaft 32, or it can be understood as the connecting shaft 32 rotating while the rag plate module 2 rotates synchronously with the connecting shaft 32.

[0033] In a feasible embodiment, the swinging coupling 34 includes a first gear 341 and a second gear 342. The first gear 341 can be sleeved on the power output shaft 331 of the driving motor 33. When the driving motor 33 is working, the power output shaft 331 will rotate, and the rotating power output shaft 331 will drive the first gear 341 to rotate. The rag plate module 2 has a substrate 23, and the rag plate 21 and the driving device 22 are mounted on the substrate 23, and the substrate 23 provides support for the above structure. In this embodiment, the substrate 23 and the second gear 342 are both sleeved on the connecting shaft 32. Specifically, the substrate 23 can have a hole, and the connecting shaft 32 can be inserted into the hole, and the inner hole on the second gear 342 can be sleeved on the connecting shaft 32.

[0034] The second gear 342 is meshed with the first gear 341, that is, the gear teeth of the second gear 342 mesh with the gear teeth of the first gear 341. With the above meshing relationship, when the first gear 341 rotates, the second gear 342 will rotate in the opposite direction, that is, the rotation direction of the second gear 342 is opposite to the rotation direction of the first gear 341.

[0035] Further, the first gear 341 and the second gear 342 are fixed on the frame 31 in a substantially horizontal state to ensure that the first gear 341 and the second gear 342 can horizontally transmit the torque generated by the power output shaft 331 to the connecting shaft 32 or the base plate 23. For example, the base plate 23 and the second gear 342 are both sleeved on the connecting shaft 32, and the base plate 23 and the second gear 342 are both engaged / interference connected with the connecting shaft 32, so that when the second gear 342 rotates, the second gear 342 will drive the connecting shaft 32 to rotate, and the connecting shaft 32 will drive the base plate 23 to rotate synchronously. For another example, the base plate 23 and the second gear 342 are both sleeved on the connecting shaft 32, and the base plate 23 and the second gear 342 can both rotate around the connecting shaft 32. By arranging a follower device between the base plate 23 and the second gear 342, when the second gear 342 rotates, the base plate 23 can rotate accordingly. By controlling the rotation direction of the second gear 342 , the rotation direction of the base plate 23 can be controlled, thereby making the rag tray 21 extend out of or retract into the bottom of the machine body 1 .

[0036] In an achievable implementation, the following device can be implemented by the following structure: a sliding groove 3421 is provided on the web of the second gear 342, and a tongue 231 is provided on the base plate 23. The tongue 231 is nested in the sliding groove 3421, and the base plate 23 can be regarded as being clamped in the sliding groove 3421 by the tongue 231. In this way, when the second gear 342 rotates, the second gear 342 will drive the tongue 231 to rotate, thereby driving the base plate 23 to rotate synchronously.

[0037] It should be noted that the sliding groove 3421 can be constructed into a variety of shapes. For example, the sliding groove 3421 can be a circular groove, a rectangular groove, an oval groove, etc. The shape of the tongue 231 needs to be compatible with the shape of the sliding groove 3421 to ensure that the tongue 231 can be nested in the sliding groove 3421.

[0038] In one possible implementation, Figure 5 As shown, both the sliding groove 3421 and the tongue 231 can be constructed as an arc, and the center of the circle where the sliding groove 3421 is located coincides with the center of the circle where the tongue 231 is located, that is, the curvature of the sliding groove 3421 is the same as the curvature of the tongue 231, so that the tongue 231 can be nested in the sliding groove 3421.

[0039] Since the second gear 342 drives the base plate 23 to rotate by applying a force to the tongue 231, and the base plate 23 and the second gear 342 are simultaneously sleeved on the connecting shaft 32, the connecting shaft 32 plays a role in supporting the rotation of the second gear 342 and the base plate 23. Therefore, if the center of the circle where the tongue 231 is located is not located on the axis of the connecting shaft 32, the second gear 342 needs to apply a larger force to drive the base plate 23 to rotate, and when the base plate 23 rotates, the friction between the base plate 23 and the connecting shaft 32 will also increase.

[0040] To solve the above problem, in a feasible implementation, the center of the circle where the tongue 231 is located can be designed to be exactly located on the axis of the connecting shaft 32. Since the center of the circle where the sliding groove 3421 is located coincides with the center of the circle where the tongue 231 is located, the center of the circle where the sliding groove 3421 is located is also located on the axis of the connecting shaft 32. The above structure can not only reduce the magnitude of the force required when the base plate 23 rotates, but also make the second gear 342 and the base plate 23 rotate more smoothly around the connecting shaft 32, thereby reducing the wear of the connecting shaft 32.

[0041] Optionally, the arc length of the sliding groove 3421 is equal to the arc length of the protruding tongue 231. When the protruding tongue 231 is nested in the sliding groove 3421, the two ends of the protruding tongue 231 (i.e. Figure 6 The first end 2311 and the second end 2312 of the sliding groove 3421 are respectively connected to the two sides (i.e. Figure 6 In this structure, no matter the second gear 342 rotates clockwise or counterclockwise, the base plate 23 will immediately follow the second gear 342 and rotate in the same direction. In this way, by controlling the rotation direction of the second gear 342, the rotation direction of the base plate 23 can be controlled, thereby making the rag plate 21 extend or retract to the bottom of the machine body 1.

[0042] It should be noted that the cleaning device can detect the position of the obstacle through the visual sensor, and plan the rotation direction of the rag plate module 22 in advance in combination with the cleaning path, so as to control the rag plate 21 to extend or retract to the bottom of the body 1. Of course, the cleaning device can also use a force sensor to detect whether the rag plate 21 touches the obstacle. If it is detected that the rag plate 21 touches the obstacle, the cleaning device can adjust the rotation direction of the second gear 342 to retract the rag plate 21 to the bottom of the body 1.

[0043] In the actual cleaning process, the rag tray 21 often hits obstacles such as table legs and walls. In order to prevent furniture items from being pushed away by the rag tray 21 or the internal components of the rag tray 21 being damaged due to hard impact, a passive retraction function can be designed for the rag tray module 22, so that when the rag tray 21 encounters an obstacle, the rag tray 21 can be pushed back to the bottom of the machine body 1 by the obstacle. Specifically, the arc length of the sliding groove 3421 can be designed to be greater than the arc length of the tongue 231, and the tongue 231 can slide in the sliding groove 3421. Under this structure, when the tongue 231 is nested in the sliding groove 3421, the tongue 231 will form a clearance fit with the sliding groove 3421, that is, the two ends of the tongue 231 will not abut against the two sides of the sliding groove 3421 at the same time. In this way, when the obstacle applies a force to the rag tray 21, the rag tray module 22 will have a tendency to rotate in the same direction as the above-mentioned force. Since there is a certain gap between the tongue 231 and the sliding groove 3421, the sliding groove 3421 will not immediately hinder the movement of the tongue 231, and the tongue 231 will slide a certain distance in the sliding groove 3421 until one end of the tongue 231 abuts against the sliding groove 3421. It can be understood that the sliding process of the tongue 231 is the rotation process of the base plate 23, and the rotation of the base plate 23 is the rotation of the rag plate 21.

[0044] Since the rag plate 21 generates friction with the ground when cleaning the ground, the friction may cause the rag plate 21 to swing back and forth at the bottom of the machine body 1. To solve the above problem, a torsion spring 343 can be provided in the swinging member 34, and the torsion spring 343 can offset the above friction to prevent the rag plate 21 from swinging back and forth. At the same time, the torsion spring 343 can also help the rotation of the base plate 23. The structure of the torsion spring 343 is described in detail below.

[0045] In a feasible implementation, one end of the torsion spring 343 is connected to the frame 31, and the other end of the torsion spring 343 is connected to the substrate 23. Specifically, the torsion spring 343 can be a cylindrical coil spring having two torsion arms, and the ends of the torsion arms are provided with fixing holes. When installing the torsion spring 343, the torsion spring 343 can be firstly sleeved on the connecting shaft 32, that is, the connecting shaft 32 is passed through the shaft hole of the torsion spring 343, and then the two torsion arms of the torsion spring 343 are respectively fixed on the frame 31 and the substrate 23 by using the above-mentioned fixing holes. At the same time, the positional relationship between the frame 31, the substrate 23 and the torsion arms of the torsion spring 343 is adjusted to ensure that the frame 31 and the substrate 23 continuously apply a compressive force to the torsion spring 343, so that the torsion spring 343 will always be in a compressed state.

[0046] The torsion spring 343 in the compressed state will continue to exert a force on the base plate 23, and by designing the installation direction of the torsion spring 343, the force exerted by the torsion spring 343 on the base plate 23 can be directed in a specified direction, so that the rag tray 21 has a tendency to extend from the bottom of the machine body 1. Figure 1 The angle shown is for reference. By designing the installation direction of the torsion spring 343, the force exerted by the torsion spring 343 on the base plate 23 can be directed to the lower right, so that the base plate 23 will have a tendency to rotate counterclockwise around the axis of the connecting shaft 32. Accordingly, the rag tray 21 has a tendency to extend from the bottom of the machine body 1.

[0047] Furthermore, to ensure that the rag tray 21 can be driven out of the bottom of the body 1 by the second gear 342, and can also be passively retracted when it touches an obstacle, when the two torsion arms of the torsion spring 343 are respectively fixed to the frame 31 and the base plate 23, the relative position relationship between the sliding groove 3421 and the protruding tongue 231 can meet the following conditions:

[0048] When the rag plate 21 is in the maximum retracted position (the maximum retracted position is usually the working position of the rag plate 21 when the cleaning device is in the bow-shaped cleaning mode), the first end 2311 of the tongue 231 abuts against the first end surface 34211 of the sliding groove 3421; when the rag plate 21 is in the maximum extended position (the maximum extended position is usually the working position of the rag plate 21 when the cleaning device is in the edge cleaning mode), there is a gap between the second end 2312 of the tongue 231 and the second end surface 34212 of the sliding groove 3421.

[0049] It should be noted that in actual applications, the designer can set a baffle or a limit groove in the machine body 1 based on the maximum retracted position of the rag tray 21 to prevent the rag tray 21 from further retracting. Correspondingly, the designer can also set a baffle or a limit groove in the machine body 1 based on the maximum extended position of the rag tray 21 to prevent the rag tray 21 from further extending outward from the machine body 1. It can be understood that the maximum retracted position of the rag tray 21 is the extreme position where the rag tray 21 is retracted to the bottom of the machine body 1, and the maximum extended position of the rag tray 21 is the extreme position where the rag tray 21 is extended outward from the machine body 1.

[0050] In an achievable embodiment, the cleaning device further comprises an optical coupling module 4, wherein a light source 41 in the optical coupling module 4 can be arranged on the rag plate module 2, and a first detector 42 and a second detector 43 in the optical coupling module 4 can be arranged on the swing module 3. Specifically, the light source 41 can be arranged at the outer edge of the substrate 23, and the first detector 42 and the second detector 43 can be arranged on the frame 31.

[0051] The installation positions of the light source 41, the first detector 42 and the second detector 43 need to meet the following conditions: when the rag tray 21 is in the maximum retracted position, the light source 41 should be opposite to the first detector 42; when the rag tray 21 is in the maximum extended position, the light source 41 should be opposite to the second detector 43. The light source 41 can continuously emit a light signal outward, and when the first detector 42 and the second detector 43 detect the above light signal, the first detector 42 and the second detector 43 can generate an electrical signal at the output end. Using the above principle, when the first detector 42 detects the light signal emitted by the light source 41, the first detector 42 can generate a first identification information and send the first identification information to the control module (not shown). After the control module receives the first identification information, it can confirm that the rag tray 21 is at the maximum retracted position at the bottom of the body 1, that is, the first identification information can indicate that the rag tray 21 is at the maximum retracted position at the bottom of the body 1. When the second detector 43 detects the light signal emitted by the light source 41, the second detector 43 can generate a second identification information and send the second identification information to the control module. After receiving the second identification information, the control module can confirm that the rag tray 21 is located at the maximum extended position at the bottom of the body 1 , that is, the second identification information can indicate that the rag tray 21 is located at the maximum extended position at the bottom of the body 1 .

[0052] Furthermore, the control module can control the working state of the drive motor 33 based on the detection information (first identification information or second identification information) fed back by the optical coupling module 4, wherein the working state of the drive motor 33 at least includes: motor forward rotation, motor reverse rotation and motor locked.

[0053] In an achievable embodiment, a swinging groove 311 is provided on the frame 31, and the rag tray module 2 can pass through the swinging groove 311 and then be connected to the body 1. At the same time, the swinging groove 311 extends substantially along the swinging path of the rag tray module 2, and the swinging groove 311 can provide an escape space for the rotation of the base plate 23.

[0054] Furthermore, the machine body 1 has a forward direction, a roller brush opening 11 is provided at the bottom of the machine body 1, and a roller brush and other devices are provided inside the roller brush opening 11, and the rag plate module 2 is provided behind the roller brush opening 11 along the forward direction of the machine body 1 to ensure that the cleaning device can achieve the function of sucking first and then mopping. It should be pointed out that the present application defines the forward direction of the machine body 1 as follows: Figure 1 Direction indicated by the arrow.

[0055] Furthermore, the rag plate module 2 can be arranged near the edge of one side of the machine body 1 to ensure that when the cleaning device works along the edge, the rag plate 21 can be exposed from the edge of the machine body 1 as much as possible, thereby cleaning the dead corner.

[0056] Furthermore, a walking mechanism 12 is provided at the bottom of the machine body 1, and the walking mechanism 12 is used to drive the machine body 1 to move on the ground. The specific form of the walking mechanism 12 can be a crawler drive mechanism or a wheel drive mechanism, and this application does not limit this.

[0057] Furthermore, in order to increase the area of ​​the rag plate 21 as much as possible to improve the cleaning efficiency of the rag plate 21 , the rag plate module 2 can be arranged in the rear half of the whole machine and located behind the traveling mechanism 12 .

[0058] Optionally, in order to prevent dust and moisture from corroding the internal components of the swing module 3, the swing module 3 is also provided with a frame cover 35, which is installed on the top of the frame 31 and can cover components such as the connecting shaft 32 and the swing joint 34 to protect the above components.

[0059] Below Figure 1 The perspective shown is for reference only, and the working principle of the swing module 3 is explained in combination with actual application scenarios.

[0060] For ease of understanding, this application divides the cleaning modes of the cleaning device into edge cleaning mode and non-edge cleaning mode. When the cleaning device starts the edge cleaning mode, it will move along the wall of the room or the edge of the area to be cleaned, so as to effectively clean the corners, furniture edges and other areas. When the cleaning device starts the non-edge cleaning mode, it will clean the ground in a bow-shaped or zigzag path. This mode is usually used to clean large open areas.

[0061] When the cleaning device is started, it defaults to start the non-edge cleaning mode, at which time the rag plate 21 is in the maximum retracted position, that is, the rag plate 21 is located at the bottom of the body 1, and the first end 2311 of the tongue 231 abuts against the first end face 34211 of the sliding groove 3421, and the light source 41 is facing the first detector 42. The cleaning device can move according to the planned cleaning path. During the movement of the cleaning device, the drive motor 33 is in a locked state, so the power output shaft 331 will not rotate at all, and the corresponding first gear 341 will not rotate at all. Since the second gear 342 is meshed and connected with the first gear 341, even if the second gear 342 is subjected to an external force (such as ground friction, the force applied by the torsion spring 343, etc.), the second gear 342 will not rotate at all. In other words, by utilizing the locking effect of the drive motor 33, the position of the sliding groove 3421 on the frame 31 cannot be changed.

[0062] At this time, since the first end 2311 of the tongue 231 abuts against the first end surface 34211 of the sliding groove 3421, the tongue 231 cannot rotate counterclockwise, that is, the base plate 23 in the rag tray module 2 cannot rotate counterclockwise, and accordingly, the rag tray 21 cannot rotate counterclockwise to the outside of the machine body 1. At the same time, in the clockwise direction, the rag tray 21 is restricted by the baffle or the limiting groove in the machine body 1, and it cannot rotate in the clockwise direction. Therefore, the rag tray 21 will be stably fixed at the maximum retracted position, and the rag tray 21 can rotate at a high speed under the drive of the driving device 22 to wipe and clean the floor.

[0063] When the cleaning device is switched to the edge cleaning mode, the driving motor 33 is unlocked and the motor is started to rotate forward, so that the power output shaft 331 rotates in the clockwise direction. Driven by the power output shaft 331, the first gear 341 rotates clockwise. Correspondingly, the second gear 342 rotates counterclockwise, and a gap is generated between the first end 2311 of the tongue 231 and the first end face 34211 of the sliding groove 3421, and the first end face 34211 will no longer hinder the tongue 231 from rotating counterclockwise.

[0064] Since the torsion spring 343 is always in a compressed state, and the base plate 23 has a tendency to rotate counterclockwise around the axis of the connecting shaft 32 under the action of the torsion spring 343, when the first end surface 34211 no longer hinders the counterclockwise rotation of the tongue 231, the base plate 23 will rotate counterclockwise in the swing groove 311, thereby driving the rag plate 21 to rotate counterclockwise. As the driving motor 33 continues to rotate forward, the second gear 342 and the base plate 23 will also continue to rotate counterclockwise, and finally the rag plate 21 will extend out of the bottom of the machine body 1. At the same time, under the action of the torsion spring 343, the first end 2311 of the tongue 231 and the first end surface 34211 of the sliding groove 3421 are always in contact with each other.

[0065] As the substrate 23 rotates, the light source 41 will also rotate. When the light source 41 rotates to a position relative to the second detector 43, the second detector 43 will detect the light signal emitted by the light source 41. After that, the second detector 43 generates second identification information and sends the second identification information to the control module. After receiving the second identification information, the control module will confirm that the rag plate 21 has rotated to the maximum extension position. Therefore, the control module will send a command to the drive motor 33 to stop the forward rotation of the motor, and control the drive motor 33 to enter a locked state.

[0066] When the cleaning device is mopping the floor along the edge, if the rag plate 21 touches an obstacle, then under the action of the obstacle, the rag plate 21 will have a tendency to rotate toward the inside of the machine body 1, that is, the rag plate 21 will rotate in the clockwise direction, and the corresponding base plate 23 will also rotate in the clockwise direction. Since there is a gap between the second end 2312 of the tongue 231 and the second end face 34212 of the sliding groove 3421 when the rag plate 21 is in the maximum extended position, the second end face 34212 of the sliding groove 3421 will not hinder the tongue 231 from rotating clockwise, that is, the second end face 34212 of the sliding groove 3421 will not hinder the base plate 23 from rotating clockwise. In this way, the base plate 23 will start to rotate in the clockwise direction, and finally the rag plate 21 will be passively retracted to the bottom of the machine body 1 under the action of the above-mentioned obstacle, thereby preventing the obstacle from being pushed away by the rag plate 21 or the rag plate 21 from being damaged due to hard impact.

[0067] When the cleaning device passes over the obstacle, the force exerted by the obstacle on the rag plate 21 will disappear. Under the action of the torsion spring 343, the base plate 23 will rotate counterclockwise again, thereby driving the rag plate 21 to rotate counterclockwise, and finally the rag plate 21 will return to the maximum extended position, and the cleaning device will continue to perform the edge cleaning mode.

[0068] When the cleaning device switches from the edge cleaning mode to the non-edge cleaning mode, the control module will control the drive motor 33 to release the locking state and start the motor to reverse, so that the power output shaft 331 rotates counterclockwise. Driven by the power output shaft 331, the first gear 341 will rotate counterclockwise, and the corresponding second gear 342 will rotate clockwise. Since the first end 2311 of the tongue 231 and the first end face 34211 of the sliding groove 3421 are always in contact with each other, when the second gear 342 starts to rotate clockwise, the first end face 34211 of the sliding groove 3421 will push the tongue 231 to rotate clockwise, thereby driving the base plate 23 to rotate clockwise, so that the rag plate 21 can rotate inward of the machine body 1 along the clockwise direction.

[0069] As the driving motor 33 continues to reverse, the second gear 342 and the base plate 23 will also continue to rotate clockwise. When the light source 41 rotates to a position opposite to the first detector 42, the first detector 42 will detect the light signal emitted by the light source 41. Afterwards, the first detector 42 generates first identification information and sends the first identification information to the control module. After receiving the first identification information, the control module will confirm that the rag plate 21 has returned to the maximum retracted position. Therefore, the control module will send an instruction to the driving motor 33 to stop the motor from reversing, and control the driving motor 33 to enter a locked state. In this way, the cleaning device can perform a non-edge cleaning mode, and the rag plate 21 can rotate at high speed under the drive of the driving device 22 to wipe and clean the floor.

[0070] Based on the same concept, the present application also provides a method for controlling the oscillation of a rag plate, which is applied to a cleaning device, which at least includes a body 1, a rag plate module 2, an oscillation module 3 and an optical coupling module 4. For the specific structures of the body 1, the rag plate module 2, the oscillation module 3 and the optical coupling module 4, reference can be made to the contents in the above embodiments, which will not be described in detail here. The above method includes the following steps:

[0071] S101: According to the detection information fed back by the optical coupling module, the position of the rag tray in the rag tray module at the bottom of the machine body is identified.

[0072] In this embodiment, the light source 41 in the optical coupling module 4 can be arranged on the rag plate module 2, and the first detector 42 and the second detector 43 in the optical coupling module 4 can be arranged on the swing module 3. The installation positions of the light source 41, the first detector 42 and the second detector 43 must meet the following conditions: when the rag plate 21 is in the maximum retracted position, the light source 41 should be opposite to the first detector 42; when the rag plate 21 is in the maximum extended position, the light source 41 should be opposite to the second detector 43. The light source 41 can continuously emit a light signal outward, and when the first detector 42 and the second detector 43 detect the above light signal, the first detector 42 and the second detector 43 can generate an electrical signal at the output end. Using the above principle, the control module in the cleaning device can identify the sender of the electrical signal based on the received electrical signal, and then identify the position of the rag plate 21 in the rag plate module 2 at the bottom of the body 1.

[0073] In order to distinguish the electrical signals generated by the first detector 42 and the second detector 43, in a feasible implementation, when the first detector 42 detects the light signal emitted by the light source 41, the first detector 42 may generate the first identification information, and when the second detector 43 detects the light signal emitted by the light source 41, the second detector 43 may generate the second identification information. In practical applications, different level values ​​may be used to represent the first identification information and the second identification information to distinguish the first identification information from the second identification information.

[0074] Since the rag tray 21 is exactly at the maximum retracted position when the light source 41 is opposite to the first detector 42, the first identification information can be used to indicate that the rag tray 21 is at the maximum retracted position at the bottom of the machine body 1, that is, when the control module receives the first identification information, the control module can confirm that the rag tray 21 is at the maximum retracted position at the bottom of the machine body 1. Correspondingly, since the rag tray 21 is exactly at the maximum extended position when the light source 41 is opposite to the second detector 43, the second identification information can be used to indicate that the rag tray 21 is at the maximum extended position at the bottom of the machine body 1, that is, when the control module receives the second identification information, the control module can confirm that the rag tray 21 is at the maximum extended position at the bottom of the machine body 1.

[0075] S102: Based on the cleaning mode of the cleaning device and the position of the rag plate at the bottom of the machine body, the swing module is controlled to extend or retract the rag plate from the bottom of the machine body.

[0076] In this embodiment, after the control module identifies the position of the rag plate 21 at the bottom of the machine body 1, the control module can adjust the position of the rag plate 21 at the bottom of the machine body 1 in combination with the actual cleaning scene. Specifically, the control module can control the swing module 3 to extend or retract the rag plate 21 from the bottom of the machine body 1 based on the cleaning mode of the cleaning device and the position of the rag plate 21 at the bottom of the machine body 1.

[0077] In an achievable implementation, when the cleaning device starts the edge cleaning mode, the control module can first determine whether the rag plate 21 is at the maximum extension position. If the control module determines that the rag plate 21 is already at the maximum extension position, the control module can directly start the driving device 22 so that the driving device 22 drives the rag plate 21 to rotate at a high speed to wipe and clean the floor. If the control module determines that the rag plate 21 is not at the maximum extension position, the control module can start the swing module 3 to make the swing module 3 extend the rag plate 21 to the above-mentioned maximum extension position.

[0078] Specifically, the control module can control the driving motor 33 to release the locking state and start the motor to rotate forward, so as to drive the first gear 341 in the swing module 3 to rotate in the first direction, and make the second gear 342 meshing with the first gear 341 rotate in the second direction, wherein the first direction and the second direction are opposite. For example, when the first gear 341 rotates in the clockwise direction, the second gear 342 will rotate in the counterclockwise direction; when the first gear 341 rotates in the counterclockwise direction, the second gear 342 will rotate in the clockwise direction.

[0079] As the second gear 342 rotates, a gap will be generated between the first end 2311 of the tongue 231 and the first end surface 34211 of the sliding groove 3421, so the first end surface 34211 will no longer hinder the tongue 231 from rotating in the second direction. Since the torsion spring 343 is always in a compressed state, and the base plate 23 has a tendency to rotate counterclockwise around the axis of the connecting shaft 32 under the action of the torsion spring 343, when the first end surface 34211 no longer hinders the tongue 231 from rotating in the second direction, the base plate 23 will rotate in the swing groove 311 in the second direction, thereby driving the rag plate 21 to rotate in the second direction. As the driving motor 33 continues to work, the second gear 342 and the base plate 23 will also continue to rotate in the second direction, and finally the rag plate 21 will extend out of the bottom of the machine body 1.

[0080] As the substrate 23 rotates, the light source 41 will also rotate. When the light source 41 rotates to a position relative to the second detector 43, the second detector 43 will detect the light signal emitted by the light source 41. Afterwards, the second detector 43 generates second identification information and sends the second identification information to the control module. After receiving the second identification information, the control module will confirm that the rag plate 21 has rotated to the maximum extension position. Therefore, the control module will send an instruction to the drive motor 33 to stop the forward rotation of the motor, and control the drive motor 33 to enter a locked state. In this way, the cleaning device can perform the edge cleaning mode, and the rag plate 21 can rotate at high speed under the drive of the drive device 22 to wipe and clean the floor.

[0081] In an achievable implementation, when the cleaning device starts the non-edge cleaning mode, the control module can first determine whether the rag plate 21 is at the maximum retracted position. If the control module determines that the rag plate 21 is already at the maximum retracted position, the control module can directly start the drive device 22 so that the drive device 22 drives the rag plate 21 to rotate at a high speed to wipe and clean the floor. If the control module determines that the rag plate 21 is not at the maximum retracted position, the control module can start the swing module 3 to make the swing module 3 retract the rag plate 21 to the above-mentioned maximum retracted position.

[0082] Specifically, the control module can control the driving motor 33 to release the locking state and start the motor to reverse, so as to drive the first gear 341 in the swing module 3 to rotate in the second direction, and make the second gear 342 meshing with the first gear 341 rotate in the first direction.

[0083] Since the first end 2311 of the tongue 231 is always in contact with the first end surface 34211 of the sliding groove 3421, when the second gear 342 rotates in the first direction, the first end surface 34211 of the sliding groove 3421 will push the tongue 231 to rotate in the first direction, thereby driving the base plate 23 to rotate in the first direction, so that the rag plate 21 can rotate along the first direction toward the inside of the machine body 1. As the driving motor 33 continues to work, the second gear 342 and the base plate 23 will also continue to rotate in the first direction, and finally the rag plate 21 will retract to the bottom of the machine body 1.

[0084] As the substrate 23 rotates, the light source 41 will also rotate. When the light source 41 rotates to a position relative to the first detector 42, the first detector 42 will detect the light signal emitted by the light source 41. Afterwards, the first detector 42 generates first identification information and sends the first identification information to the control module. After receiving the first identification information, the control module will confirm that the rag plate 21 has returned to the maximum retracted position. Therefore, the control module will send an instruction to the drive motor 33 to stop the motor from reversing, and control the drive motor 33 to enter a locked state. In this way, the cleaning device can perform a non-edge cleaning mode, and the rag plate 21 can rotate at high speed under the drive of the drive device 22 to wipe and clean the floor.

[0085] The working principle of the cleaning device is described in detail below in combination with specific application scenarios.

[0086] Application scenario 1 (taking a sweeping robot as an example)

[0087] User A purchased a sweeping robot, the mop tray of which can be actively extended to the outer edge of the body for edge cleaning, and can also be passively retracted when encountering obstacles.

[0088] When the sweeping robot is started, the non-edge cleaning mode is turned on by default. The control module in the sweeping robot first detects whether the rag plate 21 is in the maximum retracted position. If the control module determines that the rag plate 21 is already in the maximum retracted position, the control module can directly start the drive device 22 so that the drive device 22 drives the rag plate 21 to rotate at a high speed to wipe and clean the floor. If the control module determines that the rag plate 21 is not in the maximum retracted position, the control module can control the drive motor 33 to release the lock state and start the motor reverse to gradually retract the rag plate 21 to the bottom of the body 1.

[0089] When the control module receives the first identification information fed back by the optical coupling module 4, the control module confirms that the rag plate 21 has returned to the maximum retracted position, so the control module sends a command to stop the motor reversal to the drive motor 33, and controls the drive motor 33 to enter a locked state. After that, the sweeping robot will clean the floor in a non-edge cleaning mode.

[0090] When the sweeping robot moves to a corner, the control module controls the drive motor 33 to release the locking state and start the motor to rotate forward, so that the rag plate 21 gradually extends out of the bottom of the body 1. After the control module receives the second identification information fed back by the optical coupling module 4, the control module confirms that the rag plate 21 has rotated to the maximum extension position, so the control module will send a command to stop the motor from rotating forward to the drive motor 33, and control the drive motor 33 to enter the locking state. After that, the sweeping robot will clean the ground in the edge cleaning mode.

[0091] In the edge cleaning mode, when the rag plate 21 touches an obstacle, the obstacle will push the rag plate 21 to make it tend to rotate toward the inside of the machine body 1. Since there is a gap between the second end 2312 of the tongue 231 and the second end surface 34212 of the sliding groove 3421 when the rag plate 21 is at the maximum extension position, the second end surface 34212 of the sliding groove 3421 will not hinder the tongue 231 from rotating clockwise, so the rag plate 21 will be passively retracted to the bottom of the machine body 1 under the action of the above-mentioned obstacle, thereby preventing the obstacle from being pushed away by the rag plate 21 or the rag plate 21 from being damaged due to hard impact.

[0092] It can be seen from this that the technical solution provided by the present application is that a rag plate module and a swinging module are installed at the bottom of the cleaning device, and the swinging module includes a frame, a connecting shaft, a driving motor and a swinging assembly. The rag plate module is rotatably connected to the frame through the connecting shaft, and the rag plate module is also connected to the swinging assembly, and the swinging assembly is connected to the driving motor. When the driving motor is working, the torque generated by the driving motor can be horizontally transmitted to the rag plate module by the swinging assembly, so that the rag plate module can rotate around the axis of the connecting shaft. When the rag plate module rotates around the axis of the connecting shaft, the rag plate in the rag plate module can extend from the bottom of the cleaning device or retract from the bottom of the cleaning device. In this way, when the cleaning device needs to clean the corner area, the cleaning device can control the rag plate to extend from the bottom of the body, so that the rag plate can be as close to the above-mentioned corner area as possible, so that the rag plate can thoroughly clean the corner area. When the cleaning device finishes cleaning the corner area, the cleaning device can control the rag plate to retract to the bottom of the body to prevent the rag plate from colliding with other objects. The cleaning device in this application can flexibly cope with various complex home layouts, thereby ensuring that every corner can be thoroughly cleaned, greatly improving the user experience.

[0093] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A cleaning device, It is characterized in that The cleaning device at least comprises a body, a rag plate module and a swing module, wherein: The swing module comprises a frame, a connecting shaft, a driving motor and a swing assembly, the frame is connected to the machine body, and the rag plate module is rotatably connected to the frame through the connecting shaft; The driving motor is fixed on the frame, and the straight line where the power output shaft of the driving motor is located is substantially parallel to the connecting shaft; One end of the swinging joint is connected to the driving motor, and the other end of the swinging joint is connected to the rag plate module. The swinging joint transmits the torque generated by the driving motor to the rag plate module, thereby driving the rag plate module to rotate around the axis of the connecting shaft, so that the rag plate in the rag plate module extends out or retracts to the bottom of the body.

2. The cleaning device according to claim 1, It is characterized in that The swinging assembly includes a first gear and a second gear, wherein: The first gear is sleeved on the power output shaft of the driving motor so that the first gear rotates under the action of the driving motor; The base plate on the rag tray module and the second gear are both sleeved on the connecting shaft, and the second gear is meshed and connected with the first gear.

3. The cleaning device according to claim 2, It is characterized in that The base plate and the second gear are both clamped on the connecting shaft, so that the second gear drives the base plate to rotate synchronously by driving the connecting shaft.

4. The cleaning device according to claim 2, It is characterized in that A sliding groove is provided on the web plate of the second gear, and a protruding tongue is provided on the base plate of the rag tray module, and the protruding tongue is embedded in the sliding groove.

5. The cleaning device according to claim 4, It is characterized in that The sliding groove and the protruding tongue are both arc-shaped, the center of the circle where the sliding groove is located coincides with the center of the circle where the protruding tongue is located, and the center of the circle where the protruding tongue is located is located on the axis of the connecting shaft.

6. The cleaning device according to claim 5, It is characterized in that The arc length of the sliding groove is equal to the arc length of the protruding tongue.

7. The cleaning device according to claim 5, It is characterized in that The arc length of the sliding groove is greater than the arc length of the protruding tongue, and the protruding tongue can slide in the sliding groove.

8. The cleaning device according to claim 7, It is characterized in that The swinging assembly also includes a torsion spring, wherein: One end of the torsion spring is connected to the frame, the other end of the torsion spring is connected to the base plate, and the connecting shaft passes through the shaft hole of the torsion spring; The torsion spring is always in a compressed state so that the rag tray has a tendency to extend from the bottom of the machine body.

9. The cleaning device according to claim 8, It is characterized in that The relative position relationship between the sliding groove and the protruding tongue satisfies the following conditions: When the rag plate is in the maximum retracted position, the first end of the protruding tongue abuts against the first end surface of the sliding groove; When the rag tray is at the maximum extended position, a gap exists between the second end of the protruding tongue and the second end surface of the sliding groove.

10. The cleaning device according to claim 1, It is characterized in that The cleaning device also includes an optical coupling module, wherein: The light source in the optical coupling module is arranged on the rag tray module, and the first detector and the second detector in the optical coupling module are arranged on the frame; The optical coupling module is constructed such that when the rag tray is in a maximum retracted position, the light source is opposite to the first detector, and when the rag tray is in a maximum extended position, the light source is opposite to the second detector.

11. The cleaning device according to claim 10, It is characterized in that The cleaning device further includes a control module, which is used to control the working state of the drive motor based on the detection information fed back by the optical coupling module, wherein the working state of the drive motor at least includes: motor forward rotation, motor reverse rotation and motor locking.

12. The cleaning device according to claim 1, It is characterized in that The frame is provided with a swinging groove, the rag plate module passes through the swinging groove and is connected with the body, and the swinging groove extends along the swinging path of the rag plate module.

13. The cleaning device according to claim 12, It is characterized in that The machine body has a forward direction, a roller brush opening is arranged at the bottom of the machine body, the rag plate module is located behind the roller brush opening along the forward direction, and the rag plate module is close to a side edge position of the machine body.

14. The cleaning device according to claim 13, It is characterized in that A walking mechanism is arranged at the bottom of the machine body, and the rag tray module is located behind the walking mechanism.

15. The cleaning device according to claim 14, It is characterized in that The swing module also includes a frame cover plate, which is arranged on the top of the frame and is used to cover the swing assembly.

16. A method for controlling the swing of a dishcloth. It is characterized in that The method is applied to a cleaning device, which at least includes a body, an optical coupling module, a rag plate module and a swing module, and the method includes: According to the detection information fed back by the optical coupling module, identifying the position of the rag plate in the rag plate module at the bottom of the machine body; Based on the cleaning mode of the cleaning device and the position of the rag plate at the bottom of the machine body, the swing module is controlled to extend or retract the rag plate from the bottom of the machine body.

17. The method according to claim 16, It is characterized in that According to the detection information fed back by the optical coupling module, identifying the position of the rag tray in the rag tray module at the bottom of the machine body includes: When the light source in the optical coupling module is opposite to the first detector in the optical coupling module, first identification information is generated, and the first identification information is used to indicate that the rag tray is located at the maximum retracted position at the bottom of the machine body; When the light source is opposite to the second detector in the optical coupling module, second identification information is generated, and the second identification information is used to indicate that the rag tray is located at the maximum extended position at the bottom of the machine body.

18. The method according to claim 17, It is characterized in that Based on the cleaning mode of the cleaning device and the position of the rag plate at the bottom of the machine body, controlling the swing module to extend or retract the rag plate from the bottom of the machine body comprises: When the cleaning device starts the edge cleaning mode, it is determined whether the rag plate is located at the maximum extension position, and if not, the swing module is controlled to extend the rag plate to the maximum extension position; When the cleaning device starts the non-edge cleaning mode, it is determined whether the rag plate is located at the maximum retracted position. If not, the swing module is controlled to retract the rag plate to the maximum retracted position.

19. The method according to claim 18, It is characterized in that Controlling the swing module to extend the rag plate to the maximum extension position includes: Controlling the driving motor in the swing module to rotate forward, so that the first gear in the swing module rotates in a first direction, and the second gear meshing with the first gear rotates in a second direction, wherein the first direction and the second direction are opposite; When the second identification information fed back by the optical coupling module is received, the drive motor is controlled to stop forward rotation and is locked.

20. The method according to claim 18, It is characterized in that Controlling the swing module to retract the rag plate to the maximum retracted position includes: Controlling the driving motor to rotate in reverse, so that the first gear rotates in the second direction, and the second gear rotates in the first direction; When the first identification information fed back by the optical coupling module is received, the drive motor is controlled to stop reverse rotation and the drive motor is controlled to lock.

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