Method for controlling cleaning equipment and cleaning equipment

Abstract

The invention provides a method for controlling cleaning equipment, and the cleaning equipment has a first working mode, a second working mode, a third working mode and a fourth working mode, and can be switched among any working modes. The method comprises the steps that when the cleaning equipment is controlled to be in a first working mode, a first cleaning piece is located at a lifting position, and a second cleaning piece is located at a working position; when the cleaning equipment is controlled to be in the second working mode, the first cleaning piece is in the working position, and the second cleaning piece is in the lifting position; when the cleaning equipment is controlled to be in the third working mode, the first cleaning piece and the second cleaning piece are both located at the working positions; and when the cleaning equipment is controlled to be in the fourth working mode, the first cleaning piece and the second cleaning piece are both located at the lifting position.

Description

Technical Field

[0001] This application belongs to the technical field of cleaning equipment. More specifically, it relates to a method for controlling a cleaning equipment and the cleaning equipment. Background Art

[0002] Intelligent cleaning equipment is used to travel on a surface to be cleaned, and uses the movement of the cleaning parts at the bottom of the cleaning host relative to the surface to be cleaned to clean the surface to be cleaned. Generally, the cleaning parts can be one of a sweeping part or a mopping and sweeping part. For example, the sweeping part can be a sweeping brush, and the mopping and sweeping part can be a rolling brush.

[0003] Currently, cleaning equipment tends to develop towards an all-in-one machine with at least two functions such as mopping, sweeping, etc. Under the design concept of this multi-functional composite mode, the design idea of the existing cleaning equipment cannot meet the requirements for switching multiple cleaning parts in a multi-functional mode. Therefore, there is an urgent need to provide a cleaning equipment that can meet the switching of multiple cleaning parts for multi-mode operation. Summary of the Invention

[0004] The purpose of the embodiments of this application is to provide a method for controlling a cleaning equipment, which can control multiple cleaning parts of the cleaning equipment to meet the switching of multiple working modes.

[0005] To achieve the above purpose, the technical solution adopted in this application is:

[0006] Provide a method for controlling a cleaning equipment, the cleaning equipment has a first cleaning part and a second cleaning part, both the first cleaning part and the second cleaning part have a lifting position and a working position, and can be switched between the lifting position and the working position; wherein, the lifting position is higher than the working position;

[0007] The cleaning equipment has a first working mode, a second working mode, a third working mode and a fourth working mode, and can be switched between any of the working modes; the method includes:

[0008] When controlling the cleaning equipment to be in the first working mode, the first cleaning part is in the lifting position, and the second cleaning part is in the working position;

[0009] When controlling the cleaning equipment to be in the second working mode, the first cleaning part is in the working position, and the second cleaning part is in the lifting position;

[0010] When controlling the cleaning equipment to be in the third working mode, both the first cleaning part and the second cleaning part are in the working position;

[0011] When the cleaning device is controlled to be in the fourth working mode, both the first cleaning member and the second cleaning member are in the raised position.

[0012] In some embodiments, the method further includes:

[0013] Generating a mode switching signal by triggering a cleaning mode switching switch of the cleaning device;

[0014] Obtaining the mode switching signal by a control unit and determining a to-be-switched working mode to be switched according to the mode switching signal;

[0015] Obtaining the current working mode of the cleaning device by the control unit, and controlling at least one of the first cleaning member and the second cleaning member to complete a switch between the raised position and the working position according to the current working mode, so as to switch to the to-be-switched working mode;

[0016] Wherein, the current working mode includes any one of the first working mode, the second working mode, the third working mode, and the fourth working mode, and the to-be-switched working mode includes any one of the first working mode, the second working mode, the third working mode, and the fourth working mode; and, the current working mode and the to-be-switched working mode are different.

[0017] In some embodiments, the method further includes:

[0018] Detecting, by a detection element of the cleaning device, whether the cleaning member is in the raised position, generating a raised-in-place signal when it is detected that the cleaning member is in the raised position, and sending the raised-in-place signal to the control unit;

[0019] The control unit receives the mode switching signal and the raised-in-place signal, judges whether to switch the cleaning member from the raised position to the working position according to the mode switching signal and the raised-in-place signal, and controls the cleaning member to switch from the raised position to the working position when it is judged that the cleaning member needs to be switched from the raised position to the working position.

[0020] In some embodiments, the method further includes:

[0021] When it is judged that the cleaning member needs to be switched from the raised position to the working position, the control unit generates a first driving instruction, increases the current power of the driving member according to the first driving instruction, and controls the driving member to drive the cleaning member to disengage from the raised position along a first direction.

[0022] In some embodiments, the method further includes:

[0023] The detection element of the cleaning device detects whether the cleaning member is in the lifting position, generates a lifting detachment signal when it detects that the cleaning member has detached from the lifting position, and sends the lifting detachment signal to the control unit;

[0024] The control unit receives the lifting detachment signal and stops driving the driving member according to the lifting detachment signal, and allows the cleaning member to drop to the working position by gravity.

[0025] In some embodiments, the method further includes: generating a mode switching signal by triggering a cleaning mode switching switch of the cleaning device;

[0026] The control unit receives the mode switching signal, judges whether to switch the cleaning member from the working position to the lifting position according to the mode switching signal, generates a second driving instruction when it judges that the cleaning member needs to be switched from the working position to the lifting position, and controls the driving member to drive the cleaning member from the working position to the lifting position along the second direction according to the second driving instruction.

[0027] In some embodiments, the method further includes: when it is determined that the to-be-switched working mode is the first working mode, the control unit controls the fan of the cleaning device to conduct with the second cleaning member according to the to-be-switched working mode, and controls the fan to be isolated from the first cleaning member;

[0028] Alternatively, when it is determined that the to-be-switched working mode is the second working mode, the control unit controls the fan of the cleaning device to conduct with the first cleaning member according to the to-be-switched working mode, and controls the fan to be isolated from the second cleaning member;

[0029] Alternatively, when it is determined that the to-be-switched working mode is the third working mode, the control unit controls the fan of the cleaning device to conduct with the first cleaning member and the second cleaning member respectively according to the to-be-switched working mode;

[0030] Alternatively, when it is determined that the to-be-switched working mode is the fourth working mode, the control unit controls the fan of the cleaning device to be isolated from both the first cleaning member and the second cleaning member according to the to-be-switched working mode.

[0031] In some embodiments, the cleaning device includes a magnetic member capable of moving synchronously with the cleaning member, and the detection element is a Hall element; the method further includes:

[0032] When the cleaning member switches from the working position to the lifting position and approaches the detection element, the detection element outputs the lifting-in-place signal by sensing the magnetic field of the magnetic member;

[0033] When the cleaning member switches from the lifted position to the working position and moves away from the detection element, the detection element outputs the lifted-off signal by sensing the magnetic field of the magnetic member.

[0034] In some embodiments, the detection element is a pressure sensing element; the method further includes:

[0035] When the cleaning member switches from the working position to the lifted position and presses against the detection element, the detection element outputs the lifted-in-place signal by sensing whether there is a pressing force and determining that there is a pressing force.

[0036] When the cleaning member switches from the lifted position to the working position and moves away from the detection element, the detection element outputs the lifted-off signal by sensing whether there is a pressing force and determining that there is no pressing force.

[0037] The beneficial effect of the method for controlling a cleaning device provided by this application lies in:

[0038] Compared with the prior art, for the method for controlling a cleaning device provided by this application, when the cleaning device is in the first working mode, the first cleaning member is in the lifted position and the second cleaning member is in the working position; when the cleaning device is in the second working mode, the first cleaning member is in the working position and the second cleaning member is in the lifted position; when the cleaning device is in the third working mode, both the first cleaning member and the second cleaning member are in the working position; when the cleaning device is in the fourth working mode, both the first cleaning member and the second cleaning member are in the lifted position. The cleaning device not only has the first working mode, the second working mode, the third working mode and the fourth working mode, but also can switch between any working modes. When the cleaning device develops in the direction of comprehensive functions such as sweeping, mopping, and washing, it can meet the requirement of switching multiple working modes for multiple cleaning members of the cleaning device.

[0039] Another object of this application is also to provide a cleaning device, which controls the cleaning device according to the method for controlling a cleaning device as described above; the cleaning device includes a device main body, as well as a first cleaning mechanism and a second cleaning mechanism;

[0040] The first cleaning mechanism includes a first cleaning member movably connected to the device main body, and the second cleaning mechanism includes a second cleaning member movably connected to the device main body; both the first cleaning member and the second cleaning member have a lifted position and a working position, and can switch between the lifted position and the working position; wherein, the lifted position is higher than the working position.

[0041] The state where the first cleaning member is in the raised position and the second cleaning member is in the working position is the first working mode of the cleaning device; the state where the first cleaning member is in the working position and the second cleaning member is in the raised position is the second working mode of the cleaning device; the state where both the first cleaning member and the second cleaning member are in the working position is the third working mode of the cleaning device; the state where both the first cleaning member and the second cleaning member are in the raised position is the fourth working mode of the cleaning device.

[0042] In some embodiments, a cleaning mode switching switch and a control unit are provided on the device main body;

[0043] The cleaning mode switching switch is for being triggered and generating a mode switching signal;

[0044] The control unit is for obtaining the mode switching signal and determining the to-be-switched working mode to be switched according to the mode switching signal, and for obtaining the current working mode of the cleaning device to control at least one of the first cleaning member and the second cleaning member to complete a switch between the raised position and the working position according to the current working mode, so as to switch to the to-be-switched working mode;

[0045] Wherein, the current working mode includes any one of the first working mode, the second working mode, the third working mode and the fourth working mode, and the to-be-switched working mode includes any one of the first working mode, the second working mode, the third working mode and the fourth working mode; and, the current working mode and the to-be-switched working mode are different.

[0046] In some embodiments, a detection element and a control unit are provided on the device main body;

[0047] The detection element is for detecting whether the cleaning member is in the raised position, generating a raised-in-place signal when detecting that the cleaning member is in the raised position, and sending the raised-in-place signal to the control unit; the control unit is for receiving the mode switching signal and the raised-in-place signal, judging whether to switch the cleaning member from the raised position to the working position according to the mode switching signal and the raised-in-place signal, and when judging that it is necessary to switch the cleaning member from the raised position to the working position, the control unit generates a first driving instruction and increases the current power of the driving member according to the first driving instruction and controls the driving member to drive the cleaning member to disengage from the raised position along a first direction;

[0048] The detection element is also used to detect whether the cleaning member is in the lifting position, generate a lifting detachment signal when it detects that the cleaning member has detached from the lifting position, and send the lifting detachment signal to the control unit; the control unit is also used to receive the lifting detachment signal and stop driving the driving member according to the lifting detachment signal, and allow the cleaning member to drop to the working position by gravity.

[0049] In some embodiments, the device body is provided with a cleaning mode switching switch and a control unit;

[0050] The cleaning mode switching switch is used to be triggered and generate a mode switching signal;

[0051] The control unit is used to receive the mode switching signal, judge whether to switch the cleaning member from the working position to the lifting position according to the mode switching signal, generate a second driving instruction when it is judged that the cleaning member needs to be switched from the working position to the lifting position, and control the driving member to drive the cleaning member to switch from the working position to the lifting position along the second direction according to the second driving instruction.

[0052] In some embodiments, the first cleaning mechanism further includes a first lifting mechanism, the first cleaning member is disposed on the first lifting mechanism, the second cleaning mechanism further includes a second lifting mechanism, and the second cleaning member is disposed on the second lifting mechanism;

[0053] Moreover, the first lifting mechanism and the second lifting mechanism are respectively movably connected to the device body and can be variable in height relative to the device body, so as to respectively drive the first cleaning member and the second cleaning member to move up and down relative to the device body;

[0054] The control unit is used to respectively control at least one of the first cleaning member and the second cleaning member to complete the switching between the lifting position and the working position through the first lifting mechanism and the second lifting mechanism.

[0055] In some embodiments, both the first lifting mechanism and the second lifting mechanism include a swinging assembly and a lifting assembly; the swinging assembly includes a first swinging member and a second swinging member, the lifting assembly includes a driving member having a driving shaft, and the driving shaft is in transmission connection with the cleaning member;

[0056] The first end of the first swinging member is rotatably connected to the device body, and the second end far from the first end is connected to the lifting assembly; the first head of the second swinging member is movably connected to the device body and has a lifting position relative to the device body, and the second head far from the first head can be in transmission connection with the driving shaft;

[0057] The second swing member is configured such that when the driving shaft drives the first head to the lifting position through the second head, the first swing member is fixed relative to the device body, and the lifting assembly is in the lifting position. When the driving shaft drives the first head to move away from the lifting position through the second head, the first swing member is rotatable relative to the device body, and the lifting assembly descends from the lifting position to the working position.

[0058] The control unit is configured to drive the second swing member to move relative to the device body through the driving member, thereby driving the cleaning mechanism to lift and lower relative to the device body.

[0059] In some embodiments, the lifting assembly further includes a one-way bearing, and the one-way bearing is disposed on the transmission path between the driving shaft and the second head.

[0060] The one-way bearing is configured such that when the driving shaft rotates in the first direction, it allows the driving shaft to drive the second head to drive the first head to move relative to the device body, and when the driving shaft rotates in the second direction, it blocks the driving shaft from driving the second head; wherein, the first direction and the second direction are opposite.

[0061] The control unit is configured to increase the current power of the driving member according to a first driving instruction and control the driving member to drive the first cleaning mechanism to move away from the lifting position in the first direction.

[0062] In some embodiments, the lifting assembly further includes a camshaft and a cam; the camshaft is in transmission connection with the driving shaft, and the cam is sleeved on the camshaft through the one-way bearing; the second head is rotatably connected to the camshaft, and the rotation axis of the second head is spaced from the rotation axis of the camshaft.

[0063] The lifting assembly further includes an elastic member, and the elastic member is disposed beside the cam and extends radially along the cam; the cam is configured such that when its convex portion abuts against the elastic member and remains fixed, the first head is in the lifting position, and when driven by the driving shaft in the first direction, it overcomes the elastic force of the elastic member, drives the first head to move away from the lifting position through the second head, and when driven by the driving shaft to continue rotating in the first direction and re-abuts against the elastic member, drives the first head to move back to the lifting position through the second head.

[0064] The control unit is configured to control the driving member to drive the cleaning mechanism to switch from the working position to the lifting position in the second direction according to a second driving instruction.

[0065] The beneficial effects of the cleaning device provided by this application are as follows:

[0066] Compared with the prior art, for the cleaning device provided by this application, the state where the first cleaning member is in the lifted position and the second cleaning member is in the working position is the first working mode of the cleaning device; the state where the first cleaning member is in the working position and the second cleaning member is in the lifted position is the second working mode of the cleaning device; the state where both the first cleaning member and the second cleaning member are in the working position is the third working mode of the cleaning device; the state where both the first cleaning member and the second cleaning member are in the lifted position is the fourth working mode of the cleaning device. The cleaning device not only has the first working mode, the second working mode, the third working mode and the fourth working mode, and can switch between any working modes. When the cleaning device develops in the direction of comprehensive functions such as sweeping, mopping, and washing, it can meet the requirement of controlling multiple cleaning members of the cleaning device to achieve the switching of multiple working modes. Description of the Drawings

[0067] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0068] Figure 1 Schematic diagram of the cleaning device provided by the embodiment of this application without the bottom cover;

[0069] Figure 2 Exploded view of the cleaning device provided by the embodiment of this application, in which the bottom cover is separated;

[0070] Figure 3 Exploded view of the cleaning device provided by the embodiment of this application, in which the bottom cover, the first cleaning mechanism and the second cleaning mechanism are separated;

[0071] Figure 4 Exploded view of the cleaning device provided by the embodiment of this application, in which the bottom cover is separated;

[0072] Figure 5 Cross-sectional view of the second cleaning member provided by the embodiment of this application along the direction perpendicular to the traveling direction;

[0073] Figure 6 Cross-sectional view of the first cleaning member provided by the embodiment of this application along the direction perpendicular to the traveling direction;

[0074] Figure 7 Cross-sectional view of the cleaning device provided by the embodiment of this application along the direction perpendicular to the traveling direction;

[0075] Figure 8Schematic diagrams of the first cleaning mechanism and the second cleaning mechanism provided by the embodiments of the present application;

[0076] Figure 9 Schematic diagram of the first cleaning mechanism provided by the embodiments of the present application from the first perspective;

[0077] Figure 10 Schematic diagram of the first cleaning mechanism provided by the embodiments of the present application from the second perspective;

[0078] Figure 11 Exploded view of the first cleaning mechanism provided by the embodiments of the present application along the axial direction;

[0079] Figure 12 Exploded view of the first cleaning mechanism provided by the embodiments of the present application along the axial direction;

[0080] Figure 13 Schematic diagram of the first cleaning mechanism provided by the embodiments of the present application from the third perspective;

[0081] Figure 14 Exploded view of the first cleaning mechanism provided by the embodiments of the present application along the axial direction;

[0082] Figure 15 Partial exploded view of the first cleaning mechanism provided by the embodiments of the present application along the axial direction;

[0083] Figure 16 Partial exploded view of the first cleaning mechanism provided by the embodiments of the present application along the axial direction;

[0084] Figure 17 Schematic diagram of a part of the first cleaning mechanism provided by the embodiments of the present application;

[0085] Figure 18 Partial exploded view of a part of the first cleaning mechanism provided by the embodiments of the present application along the axial direction;

[0086] Figure 19 Schematic diagram of a part of the first cleaning mechanism provided by the embodiments of the present application;

[0087] Figure 20 Exploded view of the cleaning device provided by the embodiments of the present application, in which the sliding guide structure and the slideway structure are separated;

[0088] Figure 21 Schematic diagram of the cleaning device provided by the embodiments of the present application;

[0089] Figure 22 Schematic diagram of the cleaning device provided by the embodiments of the present application with the slideway structure sectioned along a direction perpendicular to the traveling direction;

[0090] Figure 23Schematic diagram of the first cleaning mechanism and the second cleaning mechanism provided by the embodiment of the present application, where the second swing member is in the lifting position;

[0091] Figure 24 Schematic diagram of the first cleaning mechanism and the second cleaning mechanism provided by the embodiment of the present application, where the second swing member is away from the lifting position;

[0092] Figure 25 Schematic diagram of the cam supported by the limiting structure to make the cleaning mechanism in the lifting position provided by the embodiment of the present application;

[0093] Figure 26 Schematic diagram of the cam about to disengage from the limiting structure provided by the embodiment of the present application;

[0094] Figure 27 Schematic diagram of the convex part of the cam at the lowest point provided by the embodiment of the present application;

[0095] Figure 28 Schematic diagram of the cam rotating in the opposite direction and re - supported by the limiting structure to make the cleaning mechanism in the lifting position provided by the embodiment of the present application;

[0096] Figure 29 Schematic diagram of the cam supported by the limiting member to make the cleaning mechanism in the lifting position provided by the embodiment of the present application;

[0097] Figure 30 Schematic diagram of the cam about to disengage from the limiting member provided by the embodiment of the present application;

[0098] Figure 31 Schematic diagram of the convex part of the cam at the lowest point provided by the embodiment of the present application;

[0099] Figure 32 Schematic diagram of the cam rotating in the original direction and re - supported by the limiting member to make the cleaning mechanism in the lifting position provided by the embodiment of the present application. Detailed implementation manners

[0100] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the following further details the present application with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0101] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0102] It should be understood that the orientation or positional relationship indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0103] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality of" means two or more unless otherwise specifically defined.

[0104] The cleaning device 10 provided by an embodiment of the present application can be controlled according to the method for controlling the cleaning device 10 provided by the present application.

[0105] Among them, the cleaning device 10 includes a device main body 13, a first cleaning mechanism 11, and a second cleaning mechanism 12. The first cleaning mechanism 11 includes a first cleaning member 112 movably connected to the device main body 13, and the second cleaning mechanism 12 includes a second cleaning member 122 movably connected to the device main body 13; both the first cleaning member 112 and the second cleaning member 122 have a lifting position and a working position and can be switched between the lifting position and the working position; wherein, the lifting position is higher than the working position.

[0106] Among them, the state where the first cleaning member 112 is in the lifting position and the second cleaning member 122 is in the working position is the first working mode of the cleaning device 10; the state where the first cleaning member 112 is in the working position and the second cleaning member 122 is in the lifting position is the second working mode of the cleaning device 10; the state where both the first cleaning member 112 and the second cleaning member 122 are in the working position is the third working mode of the cleaning device 10; the state where both the first cleaning member 112 and the second cleaning member 122 are in the lifting position is the fourth working mode of the cleaning device 10.

[0107] In the embodiment of the present application, the cleaning device 10 is in the first working mode when the first cleaning member 112 is in the raised position and the second cleaning member 122 is in the working position; the cleaning device 10 is in the second working mode when the first cleaning member 112 is in the working position and the second cleaning member 122 is in the raised position; the cleaning device 10 is in the third working mode when both the first cleaning member 112 and the second cleaning member 122 are in the working position; the cleaning device 10 is in the fourth working mode when both the first cleaning member 112 and the second cleaning member 122 are in the raised position. The cleaning device 10 not only has the first working mode, the second working mode, the third working mode and the fourth working mode, but also can switch between any working modes. When the cleaning device 10 develops in the direction of comprehensive functions such as sweeping, mopping and washing, it can meet the requirement of controlling multiple cleaning members of the cleaning device 10 to realize the switching of multiple working modes.

[0108] Furthermore, the first cleaning mechanism 11 further includes a first lifting mechanism 111, the first cleaning member 112 is arranged on the first lifting mechanism 111, the second cleaning mechanism 12 further includes a second lifting mechanism 121, and the second cleaning member 122 is arranged on the second lifting mechanism 121. Moreover, the first lifting mechanism 111 and the second lifting mechanism 121 are respectively movably connected to the device main body 13 and can be variable in height relative to the device main body 13, so as to respectively drive the first cleaning member 112 and the second cleaning member 122 to lift relative to the device main body 13.

[0109] Furthermore, the device main body 13 is provided with a control unit for respectively controlling at least one of the first cleaning member 112 and the second cleaning member 122 to complete the switching between the raised position and the working position through the first lifting mechanism 111 and the second lifting mechanism 121.

[0110] The following is combined with the attached Figures 1 - 32 The cleaning device 10 provided by the embodiment of the present application and the method for controlling the cleaning device 10 will be described.

[0111] Wherein, the cleaning mechanism mentioned separately below may refer to the first cleaning mechanism 11 or the second cleaning mechanism 12, or refer to the first cleaning mechanism 11 and the second cleaning mechanism 12. The cleaning member mentioned separately below may refer to the first cleaning member 112 or the second cleaning member 122, or refer to the first cleaning member 112 and the second cleaning member 122. The swing assembly 101, the lifting assembly 102, and the lifting frame 1027 mentioned separately below may belong to the first lifting mechanism 111 or the second lifting mechanism 121, or the structures of the first lifting mechanism 111 and the second lifting mechanism 121 are the same, and both have the swing assembly 101, the lifting assembly 102, and the lifting frame 1027 respectively.

[0112] Refer to Figures 1 through 32As shown in the figure, the cleaning device 10 provided by the embodiment of the present application includes a device main body 13, a first cleaning mechanism 11, and a second cleaning mechanism 12. The first cleaning mechanism 11 includes a first lifting mechanism 111 and a first cleaning member 112 disposed on the first lifting mechanism 111. The second cleaning mechanism 12 includes a second lifting mechanism 121 and a second cleaning member 122 disposed on the second lifting mechanism 121. Moreover, the first lifting mechanism 111 and the second lifting mechanism 121 are respectively movably connected to the device main body 13 and can be variable in height relative to the device main body 13, so as to respectively drive the first cleaning member 112 and the second cleaning member 122 to lift relative to the device main body 13.

[0113] Compared with the prior art, in the cleaning device 10 provided by the embodiment of the present application, the first cleaning mechanism 11 includes a first lifting mechanism 111 and a first cleaning member 112 disposed on the first lifting mechanism 111, and the second cleaning mechanism 12 includes a second lifting mechanism 121 and a second cleaning member 122 disposed on the second lifting mechanism 121. The first lifting mechanism 111 and the second lifting mechanism 121 are respectively movably connected to the device main body 13, and both can be independently variable in height relative to the device main body 13, and respectively and independently drive the first cleaning member 112 and the second cleaning member 122 to lift relative to the device main body 13.

[0114] The heights of the first cleaning member 112 and the second cleaning member 122 are respectively adjustable, and the two can work independently. Therefore, the cleaning members of the cleaning device 10 can be adjusted according to the specific requirements of the cleaning scene to be cleaned. For example, the first cleaning member 112 is at a low position for cleaning work, while the second cleaning member 122 is at a high position and away from the cleaning ground; or, the second cleaning member 122 is at a low position for cleaning work, while the first cleaning member 112 is at a high position and away from the cleaning ground; or, both the first cleaning member 112 and the second cleaning member 122 are at a low position for cleaning work; or, both the first cleaning member 112 and the second cleaning member 122 are at a high position and away from the cleaning ground.

[0115] In the cleaning device 10 provided by the embodiment of the present application, the first cleaning member 112 and the second cleaning member 122 are respectively provided with a first lifting mechanism 111 and a second lifting mechanism 121 that can be independently adjusted. By the first lifting mechanism 111 and the second lifting mechanism 121, switching adjustment of multiple working modes is realized, so as to meet the user requirements that the cleaning device 10 has multiple working modes.

[0116] In some embodiments, the first lifting mechanism 111 and the second lifting mechanism 121 have the same structure to reduce the design costs of the first lifting mechanism 111 and the second lifting mechanism 121. Of course, in other embodiments, on the basis of being able to independently drive the first cleaning member 112 and the second cleaning member 122 to lift respectively, the structures of the first lifting mechanism 111 and the second lifting mechanism 121 can be completely different, or a part of them is the same and the other part is different.

[0117] In some embodiments, the first cleaning member 112 is a sweeping member, and the second cleaning member 122 is a mopping and washing member. Among them, the sweeping member refers to a cleaning member that can sweep and clean the cleaning ground, including but not limited to a sweeping brush. The mopping and washing member refers to a cleaning member that can wash or mop the cleaning ground. The difference between washing the ground and mopping the ground is that washing the ground requires supplying clean water for washing the ground to the cleaning member, while mopping the ground does not require supplying clean water to the cleaning member, and the dry cleaning member is used to mop the water stains on the cleaning ground to clean it.

[0118] Among them, the second cleaning member 122 is a mopping and washing member. The second cleaning member 122 can independently have the function of washing the ground or the function of mopping the ground. Preferably, the second cleaning member 122 has the functions of washing the ground and mopping the ground. Whether the water tank supplies clean water to the second cleaning member 122 is controlled by the control unit on the device main body 13. Under the condition of supplying clean water, the mopping and washing member has the function of washing the ground, and under the condition that the mopping and washing member is dry, it has the function of mopping the ground.

[0119] In some other embodiments, the first cleaning member 112 is a sweeping member, and the second cleaning member 122 is also a sweeping member. The difference between the first cleaning member 112 and the second cleaning member 122 is that the sweeping bristles of the cleaning member located on the front side of the advancing direction of the device main body 13 can be designed with a larger spacing or a thicker diameter to facilitate the cleaning member located on the front side to clean the larger garbage on the cleaning ground first. And the sweeping bristles of the cleaning member located on the rear side of the advancing direction of the device main body 13 can be designed with a smaller spacing or a thinner diameter to facilitate the cleaning member located on the rear side to perform secondary fine cleaning on the ground cleaned by the front-side cleaning member and clean the smaller garbage on the cleaning ground, and the cleaning ground is fully swept and cleaned by the sweeping bristles with different spacings or thicknesses.

[0120] In some other embodiments, the first cleaning member 112 is a floor washing member, and the second cleaning member 122 is a mopping member. The difference between the first cleaning member 112 and the second cleaning member 122 is that the cleaning member located on the front side of the advancing direction of the device main body 13 is the floor washing member, which has the function of washing the floor under the condition of providing clean water, so as to facilitate the cleaning member located on the front side to first brush the cleaning ground. And the cleaning member located on the rear side of the advancing direction of the device main body 13 is the mopping member, which has the function of mopping the floor under the condition that the mopping member is dry, so as to facilitate the cleaning member located on the rear side to dry the ground cleaned by the front-side cleaning member. The high-cleanliness washing and mopping cleaning of the cleaning ground is completed by two cleaning members with the functions of washing the floor and mopping the floor respectively.

[0121] In some embodiments, along the advancing direction of the device main body 13, the first lifting mechanism 111 and the second lifting mechanism 121 are arranged in parallel and at intervals, and the first cleaning member 112 and the second cleaning member 122 are arranged in parallel and at intervals, which is beneficial to the convenient layout of the first cleaning mechanism 11 and the second cleaning mechanism 12 along the advancing direction of the device main body 13.

[0122] In other embodiments, at least one of the first lifting mechanism 111 and the second lifting mechanism 121 can have a micro angle with the advancing direction, and at least one of the first cleaning member 112 and the second cleaning member 122 can have a micro angle with the advancing direction, which does not affect the implementation and completion of the functions of the first cleaning mechanism 11 and the second cleaning mechanism 12.

[0123] In some embodiments, the lifting mechanism includes a swinging assembly 101 and a lifting assembly 102, and the lifting assembly 102 includes a cleaning member. The swinging assembly 101 is rotatably connected to the device main body 13, and the lifting assembly 102 is connected to the side of the swinging assembly 101 away from the device main body 13. When the swinging assembly 101 rotates relative to the device main body 13, the height of the lifting assembly 102 relative to the device main body 13 is allowed to be variable.

[0124] Compared with directly lifting the lifting assembly 102 linearly in the height direction, the height of the lifting assembly 102 is variable by the rotation of the swinging assembly 101 relative to the device main body 13, that is, the entire cleaning mechanism can occupy some space in the advancing direction, avoiding having to make the cleaning mechanism occupy too much size in the height direction due to the linear lifting in the height direction. Since the space of the cleaning device 10 in the height direction is relatively limited, it is not conducive to arranging most of the components of the cleaning mechanism in the height direction.

[0125] Of course, when the size of the cleaning device 10 in the height direction is relatively sufficient, the cleaning mechanism can be designed to directly lift linearly in the height direction.

[0126] Among them, the bottom cover 133 is used to cover the lower side of the device main body 13 and can be detached or installed on the device main body 13.

[0127] In some embodiments, the first lifting mechanism 111 and the second lifting mechanism 121 both include a swing assembly 101 and a lifting assembly 102. Figure 1 and Figure 2 As shown, along the travel direction of the device body 13, the two swing components 101 are respectively arranged on the two opposite sides of the two lifting components 102. Figures 3 through 8 As shown, along the moving direction of the device body 13 , the two swing assemblies 101 are respectively arranged on the same side of the two lifting assemblies 102 .

[0128] The two swing assemblies 101 are respectively arranged on two opposite sides of the two lifting assemblies 102, that is, the rotation axes of the first cleaning mechanism 11 and the second cleaning mechanism 12 are arranged on two opposite sides of the two lifting assemblies 102, and will not interfere with each other. Compared with the solution in which the two swing assemblies 101 are respectively arranged on two opposite sides of the two lifting assemblies 102, the two swing assemblies 101 are respectively arranged on the same side of the two lifting assemblies 102, which can reduce the occupation of the space extending along the travel direction and reduce the total occupation space of the first cleaning mechanism 11 and the second cleaning mechanism 12 on the cleaning device 10.

[0129] In some embodiments, the swing assembly 101 includes a first swing member 1011 and a second swing member 1012, and the lifting assembly 102 includes a driving member 1021 having a driving shaft 1021a, and the driving shaft 1021a is transmission-connected to the cleaning member. The first end 1011a of the first swing member 1011 is rotationally connected to the device body 13, and the second end 1011b away from the first end 1011a is connected to the lifting assembly 102. The first head 1012a of the second swing member 1012 is movably connected to the device body 13 and has a lifting position relative to the device body 13, and the second head 1012b away from the first head 1012a can be transmission-connected to the driving shaft 1021a. The second swinging member 1012 is configured such that when the driving shaft 1021a drives the first head 1012a through the second head 1012b to be in the raised position, the first swinging member 1011 is fixed relative to the device body 13, so that the lifting assembly 102 is in the raised position, and is configured such that when the driving shaft 1021a drives the first head 1012a through the second head 1012b to be out of the raised position, the first swinging member 1011 is rotatable relative to the device body 13, so that the lifting assembly 102 is lowered from the raised position to the working position.

[0130] Among them, the device main body 13 is fixed. The first end 1011a of the first swing member 1011 is rotatably connected to the device main body 13, and the first swing member 1011 rotates around the first end 1011a. Therefore, the first swing member 1011 can be understood as a fixed-axis swing member. Since the cleaning mechanism as a whole can move up and down relative to the device main body 13, the second head 1012b of the second swing member 1012 can be drivingly connected to the drive shaft 1021a, and the drive shaft 1021a belongs to a part of the lifting assembly 102. Therefore, the central axis of the second head 1012b of the second swing member 1012 can move up and down. Therefore, the second swing member 1012 can be understood as a moving-axis swing member.

[0131] The driving member 1021 can be a driving motor, and the drive shaft 1021a provides the driving force for the rotational cleaning of the cleaning member and the lifting of the cleaning mechanism. The drive shaft 1021a drives the first head 1012a to move relative to the device main body 13 through the second head 1012b. In one aspect, when the first head 1012a moves to the lifting position, the rotation angle of the first swing member 1011 relative to the device main body 13 is fixed, so that the lifting assembly 102 is in the lifting position. At this time, the cleaning mechanism as a whole is in the lifting position. In another aspect, when the first head 1012a leaves the lifting position, the first head 1012a loses its restriction on the first swing member 1011, that is, the angle of the first swing member 1011 relative to the device changes from the fixed state to the released state. At this time, the first swing member 1011 can rotate relative to the device main body 13, so that the lifting assembly 102 descends from the lifting position to the working position.

[0132] In this part, the drive shaft 1021a drives the first head 1012a through the second head 1012b to move the first head 1012a to the lifting position and keep the first head 1012a in the lifting position. At this time, since the cleaning member is in the lifting position and does not need to work, the drive shaft 1021a can be in a stationary state.

[0133] Therefore, in one embodiment, power can be continuously supplied to the drive shaft 1021a to keep the first head 1012a in the lifting position, and further keep the cleaning mechanism as a whole in the lifting position.

[0134] In another embodiment, the second swinging member 1012 is configured such that when the first head 1012a is in the raised position, the first head 1012a, the second head 1012b, and the first end 1011a are respectively located at the three vertices of the same triangle to form self-locking. Since a triangle has stability, the three vertex positions of the same triangle can form a self-locking balance and remain stationary, that is, when the first head 1012a, the second head 1012b, and the first end 1011a are respectively located at the three vertices of the same triangle, they can be held in the raised position by pure mechanical force until the driving shaft 1021a rotates to break the self-locking balance again. In this embodiment, power can also be continuously supplied to the driving shaft 1021a, and the cleaning mechanism can be held in the raised position by electric power and mechanical force.

[0135] As Figure 5 and Figure 6 shown, optionally, the first head 1012a and the first end 1011a are located on the same side of the height plane where the second head 1012b is located. Optionally, the first head 1012a and the first end 1011a can also be located on both sides of the height plane where the second head 1012b is located. Here, the height plane refers to the vertical plane where the central axis of the second head 1012b is located. Compared with the scheme where the first head 1012a and the first end 1011a are located on both sides of the height plane where the second head 1012b is located, when the first head 1012a and the first end 1011a are located on the same side of the height plane where the second head 1012b is located, the stability of the formed triangle is better, which is more conducive to stably holding the cleaning mechanism in the raised position.

[0136] In some embodiments, the driving shaft 1021a and the cleaning member are arranged in parallel from top to bottom. The first swinging member 1011 and the second swinging member 1012 are arranged on the same side of the height plane where the driving shaft 1021a and the cleaning member are located, which is beneficial to the overall non-rejection of the swinging assembly 101 and reduces the size occupied by the swinging assembly 101 in the traveling direction. The first swinging member 1011 and the second swinging member 1012 are arranged staggeredly along the axis of the driving shaft 1021a to prevent interference between the first swinging member 1011 and the second swinging member 1012 during the lifting process.

[0137] In some embodiments, referring to Figures 20 through 24 shown, the device main body 13 is constructed with a slideway structure 131, the slideway structure 131 extends horizontally along the traveling direction of the device main body 13, and the first head 1012a is slidably arranged in the slideway structure 131. Among them, when the first head 1012a is located at the limit position of the slideway structure 131 close to the second head 1012b, the first head 1012a is in the raised position.

[0138] When the first head 1012a is at the limit position of the slideway structure 131 close to the second head 1012b, the first head 1012a is in the lifted position. At this time, there is no space for the first head 1012a to continue sliding. The first head 1012a abuts against the limit position on the slideway structure 131 close to the second head to form a tightened state. At this time, the motor stops rotating, and the position of the second head 1012b remains fixed, so that the first head 1012a, the second head 1012b, and the first end 1011a are respectively located at the three vertices of the same triangle and form self-locking. At this time, the cleaning mechanism as a whole is in the lifted position. Among them, when the first head 1012a is out of the lifted position state, the first head 1012a can freely slide in other areas of the slideway structure 131 that are out of the limit position close to the second head 1012b.

[0139] It should be noted that the extension length of the slideway structure 131 along the traveling direction can be flexibly designed. The longer the extension length of the slideway structure 131 is, the longer the length space that allows the first head 1012a to slide is, that is, the longer the swing space of the second swing member 1012 is, and the smaller the angle between the second swing member 1012 and the slideway structure 131 can be infinitely. In this way, the lifting height of the lifting assembly 102 can be adjusted, and the liftable height of the lifting assembly 102 can be flexibly adjusted according to the height of the equipment main body 13. The lifting height can be increased or decreased.

[0140] Refer to Figure 9 and Figure 19 As shown in some embodiments, the lifting assembly 102 further includes a one-way bearing 1023, and the one-way bearing 1023 is arranged on the transmission path between the drive shaft 1021a and the second head 1012b. The one-way bearing 1023 is configured to allow the drive shaft 1021a to drive the second head 1012b to drive the first head 1012a to move relative to the equipment main body 13 when the drive shaft 1021a rotates in the first direction, and is configured to prevent the drive shaft 1021a from driving the second head 1012b when the drive shaft 1021a rotates in the second direction. Among them, the first direction and the second direction are opposite.

[0141] The one-way bearing 1023 means that it can allow the shaft member sleeved therein to rotate in one direction, and can lock the shaft member in the other direction opposite to one direction, thereby preventing the shaft member from rotating in the other direction. Among them, the one-way bearing 1023 is also called an overrunning clutch. A plurality of rollers, needle rollers or balls are installed in the one-way bearing 1023. The shape of the rolling seat of the one-way bearing 1023 only allows the rollers, needle rollers or balls therein to roll in one direction, and can generate great resistance in the other direction, thereby achieving the above purpose.

[0142] In some embodiments, the lifting assembly 102 further includes a camshaft 1022 and a cam 1024. The camshaft 1022 is in transmission connection with the drive shaft 1021a, and the cam 1024 is sleeved on the camshaft 1022 through a one-way bearing 1023. The second head 1012b is rotatably connected to the camshaft 1022, and the rotation axis of the second head 1012b is spaced from the rotation axis of the camshaft 1022.

[0143] The cam 1024 refers to a wheel body provided with a convex portion 1024a, wherein the convex portion 1024a is provided on the outer peripheral edge of the wheel body. When the cam 1024 rotates around its central axis, the convex portion 1024a is synchronously driven to rotate axially. Therefore, the position of the convex portion 1024a changes with the rotation of the wheel body.

[0144] Specifically, in some embodiments, the first direction may be the counterclockwise direction, and the second direction may be the clockwise direction. Refer to Figures 29 through 31 As shown, in one aspect, the drive shaft 1021a drives the camshaft 1022 to rotate in the first direction, and the one-way bearing 1023 allows the drive shaft 1021a to drive the camshaft 1022 in the first direction. Therefore, the camshaft 1022 can drive the cam 1024 to rotate in the first direction. The second head 1012b is in transmission connection with the camshaft 1022, and the rotation axis of the second head 1012b is spaced from the rotation axis of the camshaft 1022. Then, the second head 1012b is driven by the camshaft 1022, and the second head 1012b moves around the central axis of the cam 1024. The movement track of the second head 1012b is located outside the central axis of the cam 1024. At this time, the triangular self-locking formed by the first head 1012a, the second head 1012b, and the first end 1011a is broken, and the first swing member 1011 rotates downward relative to the device main body 13, and the lifting assembly 102 is switched from the lifting position to the working position.

[0145] During the working process between, for example, Figure 31 and Figure 32 : After the lifting assembly 102 is switched to the working position, the drive shaft 1021a is switched to rotate in the second direction, and the drive shaft 1021a drives the cleaning member to perform a cleaning operation in the second direction. During this process, the drive shaft 1021a drives the camshaft 1022 to rotate in the second direction, and the one-way bearing 1023 does not allow the drive shaft 1021a to drive the camshaft 1022 in the second direction. Therefore, the camshaft 1022 cannot drive the cam 1024 to rotate in the second direction. At this time, the cam 1024 is in a substantially natural state under the action of gravity, and its convex portion 1024a is located at the lowermost end. After the cleaning member completes the cleaning work, the drive shaft 1021a stops rotating in the second direction and switches the rotation direction to rotate in the first direction.

[0146] Refer to Figure 32As shown, on the other hand, the driving shaft 1021a drives the camshaft 1022 again along the first direction, the camshaft 1022 drives the cam 1024, the cam 1024 drives the second head 1012b of the second swinging member 1012 to move, and the second head 1012b drives the first head 1012a to start moving toward the above-mentioned extreme position of the slide structure 131, and when the driving shaft 1021a stops rotating along the first direction, the rotation angle of the cam 1024 is fixed, and the first head 1012a just moves to the above-mentioned extreme position of the slide structure 131, that is, the driving shaft 1021a drives the lifting assembly 102 to switch from the working position to the lifting position again, and after lifting, the first head 1012a, the second head 1012b and the first end 1011a re-form a triangle for self-locking, thereby keeping the lifting assembly 102 in the lifting position.

[0147] In some embodiments, the lifting assembly 102 further includes an elastic member 1028b, which is disposed beside the cam 1024 and extends radially along the cam 1024. The cam 1024 is configured such that the first head 1012a is located in the lifting position when its protrusion 1024a abuts against the elastic member 1028b and remains fixed, and is configured to overcome the elastic force of the elastic member 1028b under the driving of the driving shaft 1021a along the first direction, and drive the first head 1012a to leave the lifting position through the second head 1012b, and is configured to continue to rotate under the driving of the driving shaft 1021a along the first direction and abut against the elastic member 1028b again, and drive the first head 1012a to move to the lifting position again through the second head 1012b.

[0148] The elastic member 1028b serves to keep the protrusion 1024a of the cam 1024 in a fixed position through elastic force, and the cam 1024 can overcome the elastic force and leave the fixed position when the driving shaft 1021a is driven along the first direction.

[0149] Specifically, refer to Figures 14 through 19As shown, the lifting assembly 102 includes a lifting frame body 1027, and all the components in the lifting assembly 102 that can be driven to lift by the swinging assembly 101 are arranged on the lifting frame body 1027. A limiting assembly 1028 is arranged on the lifting frame body 1027. The limiting assembly 1028 includes a limiting bracket 1028d and an elastic member 1028b. The limiting bracket 1028d can be fixed to the lifting frame body 1027 by a screw member. The limiting bracket 1028d is provided with an opening 1028c facing the cam 1024. A limiting member 1028a is movably arranged on the opening 1028c. A part of the limiting member 1028a is arranged inside the limiting bracket 1028d, and another part of the limiting member 1028a is arranged outside the limiting bracket 1028d. The elastic member 1028b is movably arranged inside the elastic member 1028b, and the elastic member 1028b is sleeved on the part of the limiting member 1028a located inside the limiting bracket 1028d. The limiting member 1028a can move inwards or outwards along the opening 1028c, and the limiting member 1028a can compress or relax the elastic member 1028b.

[0150] The above only provides an optional installation method for the elastic member 1028b. The elastic member 1028b can be assembled in other ways, and the present embodiment does not specifically limit the assembly method of the elastic member 1028b.

[0151] Refer to Figure 29 As shown, when in the lifting position, the convex portion 1024a of the cam 1024 just abuts against the limiting member 1028a. The limiting member 1028a forms a support for the convex portion 1024a by the elastic force provided by the elastic member 1028b, so that the convex portion 1024a is kept in this position, that is, the cam 1024 is kept at this angle. At this time, the first head 1012a, the second head 1012b and the first end 1011a form a triangular self-locking to keep the lifting assembly 102 in the lifting position.

[0152] Refer to Figures 29 through 31As shown, in one aspect, the drive shaft 1021a drives the camshaft 1022 to rotate in the first direction. The camshaft 1022 can drive the cam 1024 to rotate in the first direction. The convex portion 1024a of the cam 1024 rotates in the first direction against the elastic force of the elastic member 1028b. The second head 1012b is driven by the camshaft 1022, causing the second head 1012b to move around the central axis of the cam 1024. The movement trajectory of the second head 1012b is located outside the central axis of the cam 1024. At this time, the triangular self-locking formed by the first head 1012a, the second head 1012b, and the first end 1011a is broken, and the first swing member 1011 rotates downward relative to the device body 13, and the lifting assembly 102 is switched from the lifting position to the working position. Among them, after the convex portion 1024a of the cam 1024 passes over the limiting member 1028a, the elastic member 1028b returns to its original position.

[0153] During the working process between, for example Figure 31 and Figure 32 is as follows: After the lifting assembly 102 is switched to the working position, the drive shaft 1021a is switched to rotate in the second direction, and the drive shaft 1021a drives the cleaning member to perform cleaning work in the second direction. During this process, the elastic member 1028b returns to its original position and remains in the original position. The cam 1024 is in a substantially natural state under the action of gravity, and its convex portion 1024a is located at the lowermost end.

[0154] Referring to Figure 32 As shown, in another aspect, the drive shaft 1021a drives the camshaft 1022 again in the first direction. The camshaft 1022 drives the cam 1024 to rotate back to the position where the limiting member 1028a is located in the first direction and re-abuts against the limiting member 1028a. The limiting member 1028a supports the convex portion 1024a again through the elastic force provided by the elastic member 1028b, so that the convex portion 1024a is restricted again. During this process, the cam 1024 drives the second head 1012b of the second swing member 1012 to move. The second head 1012b drives the first head 1012a to start moving towards the above-mentioned limit position of the slideway structure 131. When the drive shaft 1021a stops rotating in the first direction, the rotation angle of the cam 1024 is fixed, and the first head 1012a just moves to the above-mentioned limit position of the slideway structure 131, that is, the drive shaft 1021a drives the lifting assembly 102 to switch from the working position to the lifting position again, and after lifting, the first head 1012a, the second head 1012b, and the first end 1011a form a triangle again to self-lock, thereby keeping the lifting assembly 102 in the lifted position.

[0155] In the previous embodiment, the elastic member 1028b and the limiting member 1028a are dynamic components. In some other embodiments, the limiting assembly 1028 can be replaced by a limiting structure 1029 fixed relative to the lifting frame body. In these two embodiments, the descending driving processes of the lifting assembly 102 are different. In the embodiment using the elastic member 1028b and the limiting member 1028a, the driving shaft 1021a provides power in the first direction, thereby driving the lifting assembly 102 to switch from the lifting position to the working position. In the embodiment using the limiting structure 1029, the driving shaft 1021a rotates in the second direction to provide an inertial force, and the inertial force serves as the driving force, thereby driving the lifting assembly 102 to switch from the lifting position to the working position. In these two embodiments, the ascending driving processes of the lifting assembly 102 are the same.

[0156] In some other embodiments, the lifting assembly 102 further includes a limiting structure 1029. The limiting structure 1029 is arranged beside the cam 1024, and the position of the limiting structure 1029 relative to the cam 1024 is fixed. The cam 1024 is configured such that when its convex portion 1024a abuts against the limiting structure 1029 and remains fixed, the first head 1012a is located at the lifting position. And when the driving shaft 1021a rotates in the second direction, the cam 1024 is driven by the inertial force to disengage from the limiting structure 1029 in the second direction, so that the cam 1024 drives the first head 1012a to disengage from the lifting position through the second head 1012b. And when driven by the driving shaft 1021a in the first direction, the cam 1024 rotates in the reverse direction and abuts against the limiting structure 1029 again, and drives the first head 1012a to move back to the lifting position through the second head 1012b.

[0157] Refer to Figure 25 As shown, when in the lifting position, the convex portion 1024a of the cam 1024 just abuts against the limiting structure 1029. The limiting structure 1029 is stationary, and the limiting structure 1029 forms a support for the convex portion 1024a, so that the convex portion 1024a is kept in this position, that is, the cam 1024 is kept at this angle. At this time, the first head 1012a, the second head 1012b and the first end portion 1011a form a triangular self-locking to keep the lifting assembly 102 in the lifting position.

[0158] Refer to Figures 25 through 27As shown, in one aspect, the driving shaft 1021a drives the camshaft 1022 to rotate along the second direction, and the camshaft 1022 cannot drive the cam 1024 to rotate along the second direction, but can provide driving force through the inertia force generated when the driving shaft 1021a is started, and the inertia force drives the cam 1024 to rotate along the second direction, and the second head 1012b is driven by the camshaft 1022 to move around the central axis of the cam 1024, and the movement trajectory of the second head 1012b is located outside the central axis of the cam 1024. At this time, the triangular self-locking formed by the first head 1012a, the second head 1012b and the first end 1011a is broken, the first swinging member 1011 rotates downward relative to the device body 13, and the lifting assembly 102 switches from the lifting position to the working position.

[0159] In between Figure 27 and Figure 28 The working process is as follows: the lifting assembly 102 switches to the working position and the driving shaft 1021a continues to rotate in the second direction, and the driving shaft 1021a drives the cleaning member in the second direction to perform cleaning. During this process, the cam 1024 is in a substantially natural state due to gravity, and its convex portion 1024a is located at the lowest end.

[0160] Reference Figure 28 As shown, on the other hand, after the cleaning member completes the cleaning work, the driving shaft 1021a switches the rotation direction and switches from the second direction to the first direction, and re-drives the camshaft 1022. The camshaft 1022 drives the cam 1024 to rotate back along the first direction to the position of the limiting member 1028a, and re-abuts against the limiting structure 1029. The limiting structure 1029 re-supports the protrusion 1024a so that the protrusion 1024a is restricted again. During this process, the cam 1024 drives the second head 1012b of the second swinging member 1012 to move, and the second head 1012b drives the first head 1012a to start moving toward the above-mentioned extreme position of the slide structure 131. When the driving shaft 1021a stops rotating along the first direction, the rotation angle of the cam 1024 is fixed, and the first head 1012a just moves to the above-mentioned extreme position of the slide structure 131, that is, the driving shaft 1021a drives the lifting assembly 102 from the working position to the lifting position again, and after lifting, the first head 1012a, the second head 1012b and the first end 1011a re-form a triangle for self-locking, thereby keeping the lifting assembly 102 in the lifting position.

[0161] In some embodiments, the drive shaft 1021a, the cam shaft 1022 and the cleaning member are arranged in parallel and spaced apart. The drive shaft 1021a, the cam shaft 1022 and the cleaning member are sequentially connected in transmission. Alternatively, the cam shaft 1022 and the cleaning member are respectively connected in transmission to the drive shaft 1021a.

[0162] As Figure 12 、 Figures 25 through 32 shown, the drive shaft 1021a, the camshaft 1022, and the cleaning member are arranged in parallel at intervals, and the drive shaft 1021a, the camshaft 1022, and the cleaning member are located at the three vertices of a triangle. The drive shaft 1021a and the camshaft 1022 are drivingly connected by a first transmission belt 1025, and the camshaft 1022 and the cleaning member are drivingly connected by a second transmission belt 1026.

[0163] In other embodiments, the camshaft 1022 and the cleaning member are respectively drivingly connected to the drive shaft 1021a. For example, the drive shaft 1021a and the camshaft 1022 are drivingly connected by a first transmission belt 1025, the drive shaft 1021a and the cleaning member are drivingly connected by a second transmission belt 1026, and there is no driving connection between the cleaning member and the camshaft 1022.

[0164] As Figure 14 shown, the lifting frame 1027 is configured with a transmission box 1027a, and the parts where the drive shaft 1021a, the camshaft 1022, and the cleaning member are sequentially drivingly connected are arranged in the transmission box 1027a, and transmission components such as support bearings and synchronous pulleys can be configured therein. The transmission box 1027a can be provided with a transmission cover 1027b, and through the installation or detachment of the transmission cover 1027b, the driving connection part can be repaired or replaced.

[0165] The second swing member 1012 may include a main connecting member, the main connecting member has a first head 1012a and a second head 1012b, two rollers 1012c are installed on the first head 1012a, the two rollers 1012c are coaxially connected, the axes of the two rollers 1012c are consistent with the axis of the first head 1012a, the two rollers 1012c can be fixed to the first head 1012a by screws, and the two rollers 1012c can roll in the slideway structure 131. The second head 1012b can be fixed to a part of the convex portion 1024a away from its central axis by a spacer screw 1012d.

[0166] The above only provides an optional installation method for the second swing member 1012, and the second swing member 1012 can be assembled in other ways, and the embodiment does not specifically limit the assembly method of the second swing member 1012.

[0167] In some embodiments, such as Figure 8As shown, the lifting frame body 1027 of the lifting assembly 102 in the first lifting mechanism 111 includes a first accommodating structure 1027c and a first channel structure 1027d. The device main body 13 includes a dust box structure. The first accommodating structure 1027c, the first channel structure 1027d, and the dust box structure are arranged in sequence from bottom to top. The first accommodating structure 1027c has a first accommodating cavity, and the first accommodating cavity has a top opening and a bottom opening that are open on both sides in the height direction. The first channel structure 1027d communicates with the dust box structure and the top opening, and the first channel structure 1027d is elastic to allow the height of the first accommodating structure 1027c relative to the dust box structure to be variable; the first cleaning member 112 is rotatably arranged in the first accommodating cavity and partially extends out of the bottom opening.

[0168] Among them, the dust box structure is used to collect the garbage cleaned by the first cleaning member 112, such as fallen dust, etc. The dust box structure is fixed relative to the device main body 13, while the first cleaning member 112 can be lifted relative to the device main body 13. Therefore, the channel between the dust box structure and the first cleaning member 112 needs to be designed to be elastic and can deform with the lifting of the first cleaning member 112 to ensure that the first cleaning member 112 can be lifted normally.

[0169] In some embodiments, the lifting frame body 1027 of the lifting assembly 102 in the first lifting mechanism 111 includes a second accommodating structure 1027e and a second channel structure 1027f. The device main body 13 includes a sewage tank. The second accommodating structure 1027e, the second channel structure 1027f, and the sewage tank are arranged in sequence from bottom to top. The second accommodating structure 1027e has a second accommodating cavity, and the second accommodating cavity has an upper opening and a lower opening that are open on both sides in the height direction. The second channel structure 1027f communicates with the sewage tank and the upper opening, and the second channel structure 1027f is elastic to allow the height of the second accommodating structure 1027e relative to the sewage tank to be variable; the second cleaning member 122 is rotatably arranged in the second accommodating cavity and partially extends out of the lower opening.

[0170] Among them, the sewage tank is used to collect the sewage generated by the cleaning of the second cleaning member 122. The sewage tank is fixed relative to the device main body 13, while the second cleaning member 122 can be lifted relative to the device main body 13. Therefore, the channel between the sewage tank and the second cleaning member 122 needs to be designed to be elastic and can deform with the lifting of the second cleaning member 122 to ensure that the second cleaning member 122 can be lifted normally.

[0171] In some embodiments, the device main body 13 is provided with a cleaning mode switching switch and a control unit; among them, the cleaning mode switching switch can be arranged on the outer side wall of the device main body 13 and can be a push-button or a push-type mechanism. The user can select the mode to be switched through the cleaning mode switching switch by himself.

[0172] The cleaning mode switching switch is used to be triggered and generate a mode switching signal.

[0173] The control unit is used to obtain a mode switching signal and determine the working mode to be switched according to the mode switching signal, and is used to obtain the current working mode of the cleaning device 10 to control at least one of the first cleaning member 112 and the second cleaning member 122 to complete a switch between the lifting position and the working position according to the current working mode, thereby switching to the working mode to be switched.

[0174] The control unit is also used to receive a mode switching signal, and determine whether to switch the cleaning member from the working position to the lifted position based on the mode switching signal, and generate a second drive instruction when it is determined that the cleaning member needs to be switched from the working position to the lifted position, and control the drive member 1021 to drive the cleaning member from the working position to the lifted position along a second direction based on the second drive instruction.

[0175] Among them, the current working mode includes any one of the first working mode, the second working mode, the third working mode and the fourth working mode, and the working mode to be switched includes any one of the first working mode, the second working mode, the third working mode and the fourth working mode; and the current working mode and the working mode to be switched are different.

[0176] In some embodiments, the device body 13 is provided with a detection element 132 and a control unit. The detection element 132 is used to detect whether the cleaning member is in the lifting position, and generates a lifting position signal when the cleaning member is detected to be in the lifting position, and sends the lifting position signal to the control unit; the control unit is used to receive the mode switching signal and the lifting position signal, and judge whether to switch the cleaning member from the lifting position to the working position according to the mode switching signal and the lifting position signal, and when it is judged that the cleaning member needs to be switched from the lifting position to the working position, the control unit generates a first driving instruction and increases the current power of the driving member 1021 according to the first driving instruction and controls the driving member 1021 to drive the cleaning member out of the lifting position along the first direction.

[0177] The detection element 132 is also used to detect whether the cleaning member is in the lifted position, and generates a lift-off signal when it detects that the cleaning member has left the lifted position, and sends the lift-off signal to the control unit; the control unit is also used to receive the lift-off signal and stop driving the driving member 1021 according to the lift-off signal, allowing the cleaning member to descend to the working position using gravity.

[0178] In some embodiments, the cleaning device 10 includes a magnetic member that can keep synchronous movement with the cleaning member. For example, the magnetic member can be set on the above-mentioned lifting frame 1027. The detection element 132 is a Hall element, and the detection element 132 can be set on the device body 13.

[0179] When the lifting assembly 102 and the cleaning member therein switch from the working position to the lifting position and approach the detection element 132, the detection element 132 outputs a signal indicating that the lifting is in place by sensing the magnetic field of the magnetic member. Also, when the lifting assembly 102 and the cleaning member therein switch from the lifting position to the working position and move away from the detection element 132, the detection element 132 outputs a signal indicating that the lifting is disengaged by sensing the magnetic field of the magnetic member.

[0180] In some other embodiments, the detection element 132 is a pressure sensing element. The detection element 132 is disposed on the device main body 13 and directly above the lifting assembly 102. When the lifting assembly 102 and the cleaning member therein switch from the working position to the lifting position and press against the detection element 132, the detection element 132 outputs a signal indicating that the lifting is in place by sensing whether there is a pressing force and determining that there is a pressing force. When the cleaning member switches from the lifting position to the working position and moves away from the detection element 132, the detection element 132 outputs a signal indicating that the lifting is disengaged by sensing whether there is a pressing force and determining that there is no pressing force.

[0181] The method for controlling the cleaning device 10 provided by the embodiments of the present application, the cleaning device 10 has a first cleaning member 112 and a second cleaning member 122. Both the first cleaning member 112 and the second cleaning member 122 have a lifting position and a working position, and can be switched between the lifting position and the working position; wherein, the lifting position is higher than the working position.

[0182] Wherein, the cleaning device 10 has a first working mode, a second working mode, a third working mode and a fourth working mode, and can be switched between any working modes. The method includes:

[0183] When the cleaning device 10 is controlled to be in the first working mode, the first cleaning member 112 is in the lifting position and the second cleaning member 122 is in the working position; when the cleaning device 10 is controlled to be in the second working mode, the first cleaning member 112 is in the working position and the second cleaning member 122 is in the lifting position; when the cleaning device 10 is controlled to be in the third working mode, both the first cleaning member 112 and the second cleaning member 122 are in the working position; when the cleaning device 10 is controlled to be in the fourth working mode, both the first cleaning member 112 and the second cleaning member 122 are in the lifting position.

[0184] The method for controlling the cleaning device 10 provided by the embodiments of the present application is as follows: when the cleaning device 10 is in the first working mode, the first cleaning member 112 is in the raised position and the second cleaning member 122 is in the working position; when the cleaning device 10 is in the second working mode, the first cleaning member 112 is in the working position and the second cleaning member 122 is in the raised position; when the cleaning device 10 is in the third working mode, both the first cleaning member 112 and the second cleaning member 122 are in the working position; when the cleaning device 10 is in the fourth working mode, both the first cleaning member 112 and the second cleaning member 122 are in the raised position. The cleaning device 10 not only has the first working mode, the second working mode, the third working mode and the fourth working mode, but also can switch between any working modes. When the cleaning device 10 develops in the direction of comprehensive functions such as sweeping, mopping and washing, it can meet the requirement of switching multiple working modes for multiple cleaning members of the cleaning device 10.

[0185] In some embodiments, the above method further includes:

[0186] Generating a mode switching signal by triggering the cleaning mode switching switch of the cleaning device 10;

[0187] Obtaining the mode switching signal by the control unit and determining the to-be-switched working mode to be switched according to the mode switching signal;

[0188] Obtaining the current working mode of the cleaning device 10 by the control unit, and controlling at least one of the first cleaning member 112 and the second cleaning member 122 to complete a switch between the raised position and the working position according to the current working mode, so as to switch to the to-be-switched working mode;

[0189] Wherein, the current working mode includes any one of the first working mode, the second working mode, the third working mode and the fourth working mode, and the to-be-switched working mode includes any one of the first working mode, the second working mode, the third working mode and the fourth working mode; and, the current working mode and the to-be-switched working mode are different.

[0190] Wherein, the cleaning mode switching switch can be arranged on the outer side wall of the device main body 13, and can be a push-button or a push-type mechanism. The user can select the mode to be switched by the cleaning mode switching switch by himself.

[0191] Refer to Figures 29 through 31 As shown, in some embodiments, the above method further includes:

[0192] Detecting whether the cleaning member is in the raised position by the detection element 132 of the cleaning device 10, generating a raised-in-place signal when it is detected that the cleaning member is in the raised position, and sending the raised-in-place signal to the control unit;

[0193] The control unit receives the mode switching signal and the lift-to-position signal, and determines whether to switch the cleaning member from the lift position to the working position based on the mode switching signal and the lift-to-position signal, and controls the cleaning member to switch from the lift position to the working position when it is determined that the cleaning member needs to be switched from the lift position to the working position.

[0194] When it is determined that the cleaning member needs to be switched from the lifting position to the working position, the control unit controls the driving member 1021 controller to give the driving member 1021 a certain power, and the driving shaft 1021a of the driving member 1021 drives the lifting assembly 102 to switch from the lifting position to the working position.

[0195] More specifically, the above method further includes:

[0196] When it is determined that the cleaning member needs to be switched from the lifting position to the working position, the control unit generates a first driving instruction and increases the current power of the driving member 1021 according to the first driving instruction and controls the driving member 1021 to drive the cleaning member out of the lifting position along the first direction.

[0197] More specifically, when it is determined that the cleaning member needs to be switched from the lifted position to the working position, the control unit generates a first drive instruction and controls the drive member 1021 controller according to the first drive instruction, and the drive member 1021 controller increases the current power of the drive member 1021 and controls the drive member 1021 to drive the cleaning member out of the lifted position along the first direction.

[0198] Through the above control method, the driving member 1021 can realize the partial process of driving the lifting assembly 102 to switch from the lifting position to the working position, that is, after Figure 29 and Figure 30 process and has not yet arrived Figure 31 process.

[0199] Furthermore, the above method also includes:

[0200] Detecting whether the cleaning member is in the lifting position by the detection element 132 of the cleaning device 10, and generating a lifting separation signal when detecting that the cleaning member has left the lifting position, and sending the lifting separation signal to the control unit;

[0201] The control unit receives the lifting and disengaging signal and stops driving the driving member 1021 according to the lifting and disengaging signal, and allows the cleaning member to descend to the working position by gravity.

[0202] After the driving member 1021 drives the lifting assembly 102 to switch from the lifting position to the working position, that is, Figures 30 through 31During the process, after the convex portion 1024a of the cam 1024 disengages from the limiting member 1028a, the control unit receives the lifting disengagement signal and stops driving the driving member 1021 according to the lifting disengagement signal, that is, removes the driving force in the first direction, and allows the cleaning member to drop to the working position by gravity.

[0203] In some embodiments, the above method further includes: generating a mode switching signal by triggering the cleaning mode switching switch of the cleaning device 10;

[0204] The control unit receives the mode switching signal, determines whether to switch the cleaning member from the working position to the lifting position according to the mode switching signal, generates a second driving instruction when it is determined that the cleaning member needs to be switched from the working position to the lifting position, and controls the driving member 1021 to drive the cleaning member to switch from the working position to the lifting position along the second direction according to the second driving instruction.

[0205] After going through the process as Figures 29 through 31 After that, the cleaning member switches from the lifting position to the working position and always works along the second direction. After the cleaning member completes the cleaning work and a work mode switch is required, at this time, the control unit receives the mode switching signal, generates a second driving instruction when it is determined that the cleaning member needs to be switched from the working position to the lifting position, and controls the driving member 1021 through the driving member 1021 controller, and controls the driving member 1021 to drive the cleaning member to switch from the working position to the lifting position along the second direction according to the second driving instruction.

[0206] In some embodiments, the above method further includes: when it is determined that the working mode to be switched is the first working mode, the control unit controls the fan of the cleaning device 10 to be conducted with the second cleaning member 122 according to the working mode to be switched, and controls the fan to be isolated from the first cleaning member 112;

[0207] Or, when it is determined that the working mode to be switched is the second working mode, the control unit controls the fan of the cleaning device 10 to be conducted with the first cleaning member 112 according to the working mode to be switched, and controls the fan to be isolated from the second cleaning member 122;

[0208] Or, when it is determined that the working mode to be switched is the third working mode, the control unit controls the fan of the cleaning device 10 to be respectively conducted with the first cleaning member 112 and the second cleaning member 122 according to the working mode to be switched;

[0209] Or, when it is determined that the working mode to be switched is the fourth working mode, the control unit controls the fan of the cleaning device 10 to be isolated from both the first cleaning member 112 and the second cleaning member 122 according to the working mode to be switched.

[0210] In some embodiments, the cleaning device 10 includes a magnetic member capable of moving synchronously with the cleaning member, and the detection element 132 is a Hall element; the above method further includes:

[0211] When the cleaning member switches from the working position to the lifting position and approaches the detection element 132, the detection element 132 outputs a signal indicating that the lifting is in place by sensing the magnetic field of the magnetic member.

[0212] When the cleaning member switches from the lifting position to the working position and moves away from the detection element 132, the detection element 132 outputs a signal indicating that the lifting is disengaged by sensing the magnetic field of the magnetic member.

[0213] In some embodiments, the detection element 132 is a pressure sensing element; the above method further includes:

[0214] When the cleaning member switches from the working position to the lifting position and presses against the detection element 132, the detection element 132 outputs a signal indicating that the lifting is in place by sensing whether there is a pressing force and determining that there is a pressing force.

[0215] When the cleaning member switches from the lifting position to the working position and moves away from the detection element 132, the detection element 132 outputs a signal indicating that the lifting is disengaged by sensing whether there is a pressing force and determining that there is no pressing force.

[0216] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling a cleaning device, characterized in that: The cleaning device has a first cleaning member and a second cleaning member, both of which have a raised position and a working position and can be switched between the raised position and the working position; wherein, the raised position is higher than the working position; The cleaning device has a first working mode, a second working mode, a third working mode and a fourth working mode and can be switched between any of the working modes; the method includes: When the cleaning device is controlled to be in the first working mode, the first cleaning member is in the raised position and the second cleaning member is in the working position; When the cleaning device is controlled to be in the second working mode, the first cleaning member is in the working position and the second cleaning member is in the raised position; When the cleaning device is controlled to be in the third working mode, both the first cleaning member and the second cleaning member are in the working position; When the cleaning device is controlled to be in the fourth working mode, both the first cleaning member and the second cleaning member are in the raised position.

2. The method for controlling a cleaning device according to claim 1, wherein, The method further includes: Generating a mode switching signal by triggering a cleaning mode switching switch of the cleaning device; Obtaining the mode switching signal by a control unit and determining a to-be-switched working mode to be switched according to the mode switching signal; Obtaining the current working mode of the cleaning device by the control unit and controlling at least one of the first cleaning member and the second cleaning member to complete a switch between the raised position and the working position according to the current working mode, so as to switch to the to-be-switched working mode; Wherein, the current working mode includes any one of the first working mode, the second working mode, the third working mode and the fourth working mode, and the to-be-switched working mode includes any one of the first working mode, the second working mode, the third working mode and the fourth working mode; and, the current working mode and the to-be-switched working mode are different.

3. The method for controlling a cleaning device according to claim 1 or 2, characterized in that, The method further includes: Detecting whether the cleaning member is in the raised position by a detection element of the cleaning device, generating a raised-in-place signal when it is detected that the cleaning member is in the raised position, and sending the raised-in-place signal to the control unit; The control unit receives the mode switching signal and the raised-in-place signal, and judges whether to switch the cleaning member from the raised position to the working position according to the mode switching signal and the raised-in-place signal, and controls the cleaning member to switch from the raised position to the working position when it is judged that the cleaning member needs to be switched from the raised position to the working position.

4. The method for controlling a cleaning device according to claim 3, wherein, The method further includes: When it is judged that the cleaning member needs to be switched from the raised position to the working position, the control unit generates a first driving instruction, increases the current power of the driving member according to the first driving instruction, and controls the driving member to drive the cleaning member to disengage from the raised position along a first direction.

5. The method for controlling a cleaning device according to claim 4, wherein, The method further includes: The detection element of the cleaning device detects whether the cleaning member is in the lifting position, generates a lifting detachment signal when it detects that the cleaning member has detached from the lifting position, and sends the lifting detachment signal to the control unit; The control unit receives the lifting detachment signal and stops driving the driving member according to the lifting detachment signal, and allows the cleaning member to descend to the working position by gravity.

6. The method for controlling a cleaning device according to claim 1 or 2, characterized in that, The method further includes: Generating a mode switching signal by triggering the cleaning mode switching switch of the cleaning device; The control unit receives the mode switching signal, judges whether to switch the cleaning member from the working position to the lifting position according to the mode switching signal, generates a second driving instruction when it judges that the cleaning member needs to be switched from the working position to the lifting position, and controls the driving member to drive the cleaning member from the working position to the lifting position along the second direction according to the second driving instruction.

7. The method for controlling a cleaning device according to claim 2, wherein, The method further includes: When it is determined that the to-be-switched working mode is the first working mode, the control unit controls the fan of the cleaning device to be conducted with the second cleaning member according to the to-be-switched working mode, and controls the fan to be isolated from the first cleaning member; Or, when it is determined that the to-be-switched working mode is the second working mode, the control unit controls the fan of the cleaning device to be conducted with the first cleaning member according to the to-be-switched working mode, and controls the fan to be isolated from the second cleaning member; Or, when it is determined that the to-be-switched working mode is the third working mode, the control unit controls the fan of the cleaning device to be respectively conducted with the first cleaning member and the second cleaning member according to the to-be-switched working mode; Or, when it is determined that the to-be-switched working mode is the fourth working mode, the control unit controls the fan of the cleaning device to be isolated from both the first cleaning member and the second cleaning member according to the to-be-switched working mode.

8. The method for controlling a cleaning device according to claim 5, wherein: The cleaning device includes a magnetic member capable of moving synchronously with the cleaning member, and the detection element is a Hall element; the method further includes: When the cleaning member switches from the working position to the lifting position and approaches the detection element, the detection element outputs the lifting-in-place signal by sensing the magnetic field of the magnetic member; When the cleaning member switches from the lifting position to the working position and moves away from the detection element, the detection element outputs the lifting detachment signal by sensing the magnetic field of the magnetic member.

9. The method for controlling a cleaning device according to claim 5, wherein: The detection element is a pressure sensing element; the method further includes: When the cleaning member switches from the working position to the lifting position and presses against the detection element, the detection element outputs the lifting-in-place signal by sensing whether there is a pressing force and judging that there is the pressing force; When the cleaning member switches from the lifted position to the working position and moves away from the detection element, the detection element outputs the lifted detachment signal by sensing whether there is a pressing force and determining that there is no pressing force.

10. A cleaning device, characterized in that: The cleaning device is controlled according to the method for controlling a cleaning device as recited in any one of claims 1-9; the cleaning device includes a device main body, a first cleaning mechanism, and a second cleaning mechanism; The first cleaning mechanism includes a first cleaning member movably connected to the device main body, and the second cleaning mechanism includes a second cleaning member movably connected to the device main body; Both the first cleaning member and the second cleaning member have a lifted position and a working position, and are capable of switching between the lifted position and the working position; wherein, the lifted position is higher than the working position; The state in which the first cleaning member is in the lifted position and the second cleaning member is in the working position is the first working mode of the cleaning device; the state in which the first cleaning member is in the working position and the second cleaning member is in the lifted position is the second working mode of the cleaning device; the state in which both the first cleaning member and the second cleaning member are in the working position is the third working mode of the cleaning device; the state in which both the first cleaning member and the second cleaning member are in the lifted position is the fourth working mode of the cleaning device.

11. The cleaning device as recited in claim 10, characterized in that: The device main body is provided with a cleaning mode switching switch and a control unit; The cleaning mode switching switch is for being triggered and generating a mode switching signal; The control unit is for obtaining the mode switching signal and determining the to-be-switched working mode to be switched according to the mode switching signal, and for obtaining the current working mode of the cleaning device to control at least one of the first cleaning member and the second cleaning member to complete a switch between the lifted position and the working position according to the current working mode, so as to switch to the to-be-switched working mode; Wherein, the current working mode includes any one of the first working mode, the second working mode, the third working mode, and the fourth working mode, and the to-be-switched working mode includes any one of the first working mode, the second working mode, the third working mode, and the fourth working mode; and, the current working mode and the to-be-switched working mode are different.

12. The cleaning device as recited in claim 10, characterized in that: The device main body is provided with a detection element and a control unit; The detection element is used to detect whether the cleaning member is in the lifting position, and generates a lifting-in-place signal when detecting that the cleaning member is in the lifting position, and sends the lifting-in-place signal to the control unit; the control unit is used to receive a mode switching signal and the lifting-in-place signal, and judge whether to switch the cleaning member from the lifting position to the working position according to the mode switching signal and the lifting-in-place signal, and when judging that the cleaning member needs to be switched from the lifting position to the working position, the control unit generates a first driving instruction, increases the current power of the driving member according to the first driving instruction, and controls the driving member to drive the cleaning member to leave the lifting position along a first direction; The detection element is also used to detect whether the cleaning member is in the lifted position, and generate a lift-disengagement signal when detecting that the cleaning member has disengaged from the lifted position, and send the lift-disengagement signal to the control unit; the control unit is also used to receive the lift-disengagement signal and stop driving the driving member according to the lift-disengagement signal, while allowing the cleaning member to descend to the working position by gravity.

13. The cleaning device according to claim 10, characterized in that: The device body is provided with a cleaning mode switching switch and a control unit; The cleaning mode switching switch is configured to be triggered and generate a mode switching signal; The control unit is used to receive a mode switching signal, and determine whether to switch the cleaning member from the working position to the lifting position based on the mode switching signal, and generate a second drive instruction when it is determined that the cleaning member needs to be switched from the working position to the lifting position, and control the drive member to drive the cleaning member along a second direction from the working position to the lifting position based on the second drive instruction.

14. The cleaning device according to any one of claims 11 to 13, characterized in that: The first cleaning mechanism further includes a first lifting mechanism, and the first cleaning member is disposed on the first lifting mechanism; the second cleaning mechanism further includes a second lifting mechanism, and the second cleaning member is disposed on the second lifting mechanism; Furthermore, the first lifting mechanism and the second lifting mechanism are respectively movably connected to the device body and can be changed in height relative to the device body, so as to respectively drive the first cleaning member and the second cleaning member to rise and fall relative to the device body; The control unit is used to control at least one of the first cleaning member and the second cleaning member to switch between the lifting position and the working position through the first lifting mechanism and the second lifting mechanism respectively.

15. The cleaning device according to claim 14, characterized in that: The first lifting mechanism and the second lifting mechanism both include a swing assembly and a lifting assembly; the swing assembly includes a first swing member and a second swing member, and the lifting assembly includes a driving member having a driving shaft, and the driving shaft is drivingly connected to the cleaning member; The first end of the first swinging member is rotatably connected to the device body, and the second end away from the first end is connected to the lifting assembly; the first head of the second swinging member is movably connected to the device body and has a lifting position relative to the device body, and the second head away from the first head can be transmission-connected to the driving shaft; The second swinging member is configured such that when the driving shaft drives the first head portion to be located at the lifting position through the second head portion, the first swinging member is fixed relative to the device body, so that the lifting assembly is in the lifting position, and is configured such that when the driving shaft drives the first head portion to be separated from the lifting position through the second head portion, the first swinging member is rotatable relative to the device body, so that the lifting assembly is lowered from the lifting position to the working position; The control unit is used to drive the second swinging member to move relative to the device body through the driving member, thereby driving the cleaning mechanism to move up and down relative to the device body.

16. The cleaning device according to claim 15, characterized in that: The lifting assembly further includes a one-way bearing, and the one-way bearing is arranged on a transmission path between the driving shaft and the second head; The one-way bearing is configured to allow the drive shaft to drive the second head to move relative to the device body when the drive shaft rotates in a first direction, and is configured to prevent the drive shaft (1021a) from driving the second head when the drive shaft rotates in a second direction; wherein the first direction and the second direction are opposite; The control unit is configured to increase the current power of the driving member according to the first driving instruction and control the driving member to drive the first cleaning mechanism away from the lifting position along the first direction.

17. The cleaning device according to claim 16, characterized in that: The lifting assembly further comprises a camshaft and a cam; the camshaft is in driving connection with the drive shaft, and the cam is sleeved on the camshaft via the one-way bearing; the second head is rotatably connected with the camshaft, and the rotation axis of the second head is spaced apart from the rotation axis of the camshaft; The lifting assembly further comprises an elastic member, which is arranged beside the cam and extends in the radial direction of the cam; the cam is configured such that the first head is located in the lifting position when its protruding portion abuts against the elastic member and remains fixed, and is configured to overcome the elastic force of the elastic member under the driving of the driving shaft along the first direction, and drive the first head to leave the lifting position through the second head, and is configured to continue to rotate under the driving of the driving shaft along the first direction and abut against the elastic member again, and drive the first head to move to the lifting position again through the second head; The control unit is used to control the driving member to drive the cleaning mechanism to switch from the working position to the lifting position along the second direction according to a second driving instruction.

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