Cleaning device and motion control method thereof

Abstract

The invention provides a cleaning device and a motion control method thereof. In the cleaning device, a first walking component comprises a rotating disc and a friction piece, the friction piece is located on the side, away from the output end of a transmission mechanism, of the rotating disc, a first included angle is formed between the surface, farthest away from the output end of the transmission mechanism, of the rotating disc and the surface to be cleaned, and the first included angle is larger than 0. The rotating shaft of the driving wheel is parallel to the to-be-cleaned surface, so that movement control of the cleaning device on the to-be-cleaned surface is facilitated, and the cleaning effect is improved.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to a cleaning device and a method for controlling its movement. Background Art

[0002] With the rapid development of modern technology, various household appliances emerge in an endless stream. Cleaning devices for home cleaning include window cleaning robots, floor cleaning robots, etc. Summary of the Invention

[0003] Embodiments of the present disclosure provide a cleaning device and a method for controlling its movement, which are conducive to the movement control of the cleaning device on the surface to be cleaned and improving the cleaning effect.

[0004] Embodiments of the present disclosure provide a cleaning device for cleaning a surface to be cleaned, including: a housing; a first driving unit including a transmission mechanism and a first walking member, the transmission mechanism including an output end, and the first walking member being connected to the output end of the transmission mechanism; a first cleaning unit including a first cleaning frame and a first cleaning element disposed on the first cleaning frame, the first cleaning frame being connected to the output end of the transmission mechanism; a second driving unit including a second walking member, the second walking member being spaced apart from the first walking member; and a second cleaning unit disposed side by side with the first cleaning unit and including a second cleaning frame and a second cleaning element disposed on the second cleaning frame, wherein the second walking member has a driving wheel, a rotation axis of the driving wheel being parallel to the surface to be cleaned, the first walking member including a rotating disc and a friction member, the friction member being located on a side of the rotating disc away from the output end of the transmission mechanism, and a surface of the rotating disc farthest from the output end of the transmission mechanism having a first included angle with the surface to be cleaned, the first included angle being greater than 0.

[0005] For example, the friction member is configured to contact the surface to be cleaned, and the friction member is configured to form a frictional force with the surface to be cleaned.

[0006] For example, a surface of the friction member farthest from the output end of the transmission mechanism has a second included angle with the surface to be cleaned, the second included angle being greater than or equal to 0.

[0007] For example, a friction coefficient between the friction member and the surface to be cleaned is greater than a friction coefficient between the first cleaning element and the surface to be cleaned.

[0008] For example, a surface of the second cleaning frame away from the housing is parallel to the surface to be cleaned.

[0009] Embodiments of the present disclosure also provide a cleaning device, including: a housing; a first driving unit including a transmission mechanism and a first walking member, the transmission mechanism including an output end, the first walking member being connected to the output end of the transmission mechanism; a first cleaning unit including a first cleaning frame and a first cleaning element disposed on the first cleaning frame, the first cleaning frame being connected to the output end of the transmission mechanism; a second driving unit including a second walking member, the second walking member being spaced apart from the first walking member; and a second cleaning unit disposed side by side with the first cleaning unit and including a second cleaning frame and a second cleaning element disposed on the second cleaning frame, wherein the second walking member has a driving wheel, a rotation axis of the driving wheel being parallel to a walking surface of the second walking member, the first walking member including a rotating disk and a friction member, the friction member being located on a side of the rotating disk away from the output end of the transmission mechanism, a surface of the rotating disk farthest from the output end of the transmission mechanism having a first angle with the walking surface of the second walking member, the first angle being greater than 0.

[0010] For example, a surface of the friction member farthest from the output end of the transmission mechanism has a second angle with the walking surface of the second walking member, the second angle being greater than or equal to 0.

[0011] Embodiments of the present disclosure also provide a cleaning device, including: a housing; a first driving unit including a transmission mechanism and a first walking member, the transmission mechanism including an output end, the first walking member being connected to the output end of the transmission mechanism; a first cleaning unit including a first cleaning frame and a first cleaning element disposed on the first cleaning frame, the first cleaning frame being connected to the output end of the transmission mechanism; a second driving unit including a second walking member, the second walking member being spaced apart from the first walking member; and a second cleaning unit disposed side by side with the first cleaning unit and including a second cleaning frame and a second cleaning element disposed on the second cleaning frame, wherein the second walking member has a driving wheel, a rotation axis of the driving wheel being parallel to a surface of the second cleaning frame away from the housing, the first walking member including a rotating disk and a friction member, the friction member being located on a side of the rotating disk away from the output end of the transmission mechanism, a surface of the rotating disk farthest from the output end of the transmission mechanism having a first angle with the surface of the second cleaning frame away from the housing, the first angle being greater than 0.

[0012] For example, a surface of the friction member farthest from the output end of the transmission mechanism has a second angle with the surface of the second cleaning frame away from the housing, the second angle being greater than or equal to 0.

[0013] For example, the first cleaning unit has a first opening on a side away from the output end of the transmission mechanism. The first opening is configured to avoid the first walking member. One side of the first cleaning frame away from the output end of the transmission mechanism has a hollow structure, and the first cleaning element has a hollow structure. The hollow structure of the first cleaning frame and the hollow structure of the first cleaning element constitute the first opening.

[0014] For example, the second cleaning unit has a second opening. The second opening is configured to avoid the second walking member. The second cleaning frame has a hollow structure, and the second cleaning element has a hollow structure. The hollow structure of the second cleaning frame and the hollow structure of the second cleaning element constitute the second opening.

[0015] For example, the first included angle is less than or equal to 10°, and the second included angle is less than or equal to 10°.

[0016] For example, the second included angle is equal to 0°. The ratio of the width of the surface of the friction member farthest from the output end of the transmission mechanism to the ring width of the friction member is greater than or equal to one-fourth and less than 1.

[0017] For example, the friction member is located at the edge of the rotating disk. The friction member is annular, the rotating disk is circular, and the ratio of the ring width of the annulus to the radius of the circle ranges from 0.25 to 0.5.

[0018] For example, the ratio of the maximum diameter of the rotating disk to the maximum diameter of the first cleaning unit ranges from 0.25 to 0.5.

[0019] For example, one side of the rotating disk away from the output end of the transmission mechanism has a groove or notch, and at least part of the friction member is located in the groove or the notch.

[0020] For example, the friction member is flush with the surface of the rotating disk farthest from the output end of the transmission mechanism.

[0021] For example, the friction member protrudes from the surface of the rotating disk farthest from the output end of the transmission mechanism.

[0022] For example, the size by which the friction member protrudes from the surface of the rotating disk farthest from the output end of the transmission mechanism is less than or equal to one-fifth of the maximum thickness of the friction member.

[0023] For example, the first cleaning frame is connected to the rotating disk.

[0024] For example, the rotating disk and the friction member are fixedly connected.

[0025] For example, the first cleaning rack is connected to the output end of the transmission mechanism through a universal coupling. The input end of the universal coupling is connected to the output end of the transmission mechanism. The input end and the output end of the universal coupling are connected through a connecting member. The connecting member has a hollow channel. The output end of the transmission mechanism has an output shaft. The output shaft is connected to the first walking component. The output shaft passes through the hollow channel.

[0026] For example, the connecting member has an annular structure and a cross-shaped frame connected to the annular structure and located inside the annular structure. The hollow channel penetrates through the intersecting part of the cross-shaped frame.

[0027] Embodiments of the present disclosure further provide a motion control method for a cleaning device, including: controlling the first walking component to move along the surface to be cleaned at a speed V1, rotating the first cleaning unit and following the first walking component to move, controlling the second walking component to move at the speed V1 as well, to implement a linear motion mode of the cleaning device; controlling the first walking component to move along the surface to be cleaned at a speed V2, rotating the first cleaning unit and following the first walking component to move, controlling the second walking component to move at a speed V3, where the speed V2 is not equal to the speed V3, to implement a curve motion mode of the cleaning device; and the conversion between the linear motion mode and the curve motion mode.

[0028] For example, at the same position on the surface to be cleaned, first clean with the first cleaning unit, and then clean with the second cleaning unit. Description of the Drawings

[0029] To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present disclosure and do not limit the present disclosure.

[0030] Figure 1 A schematic diagram of a cleaning device provided for an embodiment of the present disclosure.

[0031] Figure 2 For Figure 1 partial enlarged view of.

[0032] Figure 3 A schematic diagram of the first walking component in a cleaning device provided for an embodiment of the present disclosure.

[0033] Figure 4 A schematic diagram of the first walking component in a cleaning device provided for an embodiment of the present disclosure.

[0034] Figure 5Schematic diagram of a first walking component in a cleaning device provided by an embodiment of the present disclosure.

[0035] Figure 6 Schematic diagram of a first walking component and a first cleaning unit in a cleaning device provided by an embodiment of the present disclosure.

[0036] Figure 7 Side view of a universal coupling in a cleaning device provided by an embodiment of the present disclosure.

[0037] Figure 8 Front view of a universal coupling in a cleaning device provided by an embodiment of the present disclosure.

[0038] Figure 9 Top view of a connecting member in a universal coupling of a cleaning device provided by an embodiment of the present disclosure.

[0039] Figure 10 A motion control method for a cleaning device provided by an embodiment of the present disclosure. Specific embodiments

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present disclosure. Apparently, the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present disclosure without creative efforts shall fall within the scope of protection of the present disclosure.

[0041] Unless otherwise defined, the technical terms or scientific terms used in the present disclosure shall have the ordinary meanings understood by those of ordinary skill in the art to which the present disclosure pertains. The "first", "second", and similar terms used in the present disclosure do not denote any order, quantity, or importance, but are only used to distinguish different components. Similarly, the terms such as "a", "an", or "the" do not denote a quantity limitation, but mean that there is at least one. The terms such as "comprising" or "including" mean that the elements or objects appearing before this term cover the elements or objects listed after this term and their equivalents, without excluding other elements or objects. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms such as "upper", "lower", "left", "right", etc. are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0042] The circular window cleaning robot has a strong cleaning power, but claw-shaped marks (water streaks) will be left on the glass after cleaning. The square window cleaning robot uses a planar pushing and wiping method for cleaning and will not leave marks, but its cleaning power is not as good as the rotary cleaning method.

[0043] Embodiments of the present disclosure provide a cleaning device and a motion control method thereof, so that the cleaning device has a good cleaning effect and is conducive to the motion control of the cleaning device. The cleaning device provided by the embodiments of the present disclosure is provided with two cleaning units in different forms. The first cleaning unit wipes during rotation, and the cleaning effect is good. The second cleaning unit wipes in a planar pushing and wiping manner and can wipe off the water streaks left after the first cleaning unit wipes. The first cleaning unit and the second cleaning unit cooperate to avoid water streaks left after the cleaning device wipes, which is conducive to improving the cleaning effect. The cleaning device provided by the embodiments of the present disclosure not only has a large cleaning power, but also will not leave claw-shaped marks on the glass after cleaning, thus effectively solving the glass cleaning problem. For the cleaning device provided by the embodiments of the present disclosure, the first walking component and the first cleaning unit are both connected to the output end of the same transmission mechanism, which simplifies the structure and reduces the weight of the cleaning device.

[0044] Figure 1 It is a schematic diagram of a cleaning device provided by an embodiment of the present disclosure. Figure 2 is Figure 1 partial enlarged view of

[0045] Such as Figure 1 and Figure 2As shown, an embodiment of the present disclosure further provides a cleaning device for cleaning a surface S0 to be cleaned, including: a housing 100, a first driving unit 101, a first cleaning unit 201, a second driving unit 102, and a second cleaning unit 202. The first driving unit 101 includes a transmission mechanism 501 and a first traveling member 601. The transmission mechanism 501 includes an output end 500, and the first traveling member 601 is connected to the output end 500 of the transmission mechanism 501; the first cleaning unit 201 includes a first cleaning frame 211 and a first cleaning element 221 disposed on the first cleaning frame 211, and the first cleaning frame 211 is connected to the output end 500 of the transmission mechanism 501; the second driving unit 102 includes a second traveling member 602, and the second traveling member 602 is spaced apart from the first traveling member 601; the second cleaning unit 202 is arranged side by side with the first cleaning unit 201 and includes a second cleaning frame 212 and a second cleaning element 222 disposed on the second cleaning frame 212; the second traveling member 602 has a driving wheel Q, and the rotation axis AX of the driving wheel Q is parallel to the surface S0 to be cleaned. The first traveling member 601 includes a rotating disk 66 and a friction member 88. The friction member 88 is located on a side of the rotating disk 66 away from the output end 500 of the transmission mechanism 501. The surface S1 of the rotating disk 66 farthest from the output end 500 of the transmission mechanism 501 forms a first angle A1 with the surface S0 to be cleaned, and the first angle A1 is greater than 0.

[0046] In the cleaning device provided by the embodiment of the present disclosure, the first traveling member 601 includes a rotating disk 66 and a friction member 88. The surface S1 of the rotating disk 66 farthest from the output end 500 of the transmission mechanism 501 forms a first angle A1 with the surface S0 to be cleaned, and the first angle A1 is greater than 0. Thus, the surface S1 of the rotating disk 66 farthest from the output end 500 of the transmission mechanism 501 is inclined with respect to the surface S0 to be cleaned. This setting facilitates using the frictional force between the rotating disk 66 and the surface S0 to be cleaned as the traveling power, which is beneficial for the climbing of the cleaning device. The second traveling member 602 has a driving wheel Q, and the rotation axis AX of the driving wheel Q is parallel to the surface S0 to be cleaned. Thus, the first traveling member 601 and the second traveling member 602 can operate simultaneously to control the movement of the cleaning device, which is beneficial for the movement control of the cleaning device and the smooth operation of the cleaning device.

[0047] For example, the rotating disk 66 is configured to rotate while the second traveling member 602 is configured to travel to drive the cleaning device.

[0048] For example, as Figure 1 and Figure 2As shown, the friction member 88 is configured to contact the surface S0 to be cleaned, and the friction member 88 is configured to form a frictional force with the surface S0 to be cleaned. This frictional force serves as the driving force for the movement of the cleaning device. The frictional force can be the frictional force in the tangential direction of the first walking member 601. The friction member 88 is used to provide a frictional force and provide the climbing force of the cleaning device.

[0049] The upward climbing force depends on the friction coefficient between the friction member 88 and the surface S0 to be cleaned, driving the whole machine to move. For example, the walking route includes an N shape (wiping up and down reciprocally) and a Z shape (wiping left and right reciprocally).

[0050] For example, when the motor 701 rotates clockwise, the cleaning device moves upward, and when the motor 701 rotates counterclockwise, the cleaning device moves downward.

[0051] For example, as Figure 1 and Figure 2 shown, the surface S2 of the friction member 88 that is farthest from the output end 500 of the transmission mechanism 501 has a second included angle A2 with the surface S0 to be cleaned, and the second included angle A2 is greater than or equal to 0. Thus, the surface S2 of the friction member 88 that is farthest from the output end 500 of the transmission mechanism 501 is inclined with respect to the surface S0 to be cleaned.

[0052] For example, as Figure 1 and Figure 2 shown, the friction coefficient between the friction member 88 and the surface S0 to be cleaned is greater than the friction coefficient between the first cleaning element 221 and the surface S0 to be cleaned. Thus, it is beneficial to increase the frictional force between the friction member 88 and the surface S0 to be cleaned and beneficial to the movement control of the cleaning device.

[0053] For example, the friction coefficient between the friction member 88 and the surface S0 to be cleaned is 0.5 - 0.7, and the friction coefficient between the first cleaning element 221 and the surface S0 to be cleaned is 0.2 - 0.3.

[0054] The above is described based on the surface S0 to be cleaned. In the cleaning device provided in the embodiments of the present disclosure, as Figure 1As shown in the figure, the surface P2 of the second cleaning rack 212 away from the housing 100 is parallel to the surface S0 to be cleaned, and the running surface P1 of the second running member 602 is parallel to the surface S0 to be cleaned. Thus, the surface S0 to be cleaned can be replaced by the surface P2 of the second cleaning rack 212 away from the housing 100 as a reference, or the running surface P1 of the second running member 602 can be replaced by the surface P2 of the second cleaning rack 212 away from the housing 100 as a reference. The following will be described with the surface P2 of the second cleaning rack 212 away from the housing 100 or the running surface P1 of the second running member 602 as a reference respectively. In the cleaning device provided by the embodiment of the present disclosure, the surface P2 of the second cleaning rack 212 away from the housing 100 is parallel to the running surface P1 of the second running member 602.

[0055] The case with the running surface P1 of the second running member 602 as a reference is described as follows. As Figure 1 shown, the embodiment of the present disclosure further provides a cleaning device, including: a housing 100, a first driving unit 101, a first cleaning unit 201, a second driving unit 102, and a second cleaning unit 202; the first driving unit 101 includes a transmission mechanism 501 and a first running member 601, the transmission mechanism 501 includes an output end 500, and the first running member 601 is connected to the output end 500 of the transmission mechanism 501; the first cleaning unit 201 includes a first cleaning rack 211 and a first cleaning element 221 provided on the first cleaning rack 211, and the first cleaning rack 211 is connected to the output end 500 of the transmission mechanism 501; the second driving unit 102 includes a second running member 602, and the second running member 602 is spaced apart from the first running member 601; the second cleaning unit 202 is arranged side by side with the first cleaning unit 201 and includes a second cleaning rack 212 and a second cleaning element 222 provided on the second cleaning rack 212; the second running member 602 has a driving wheel Q, the rotation axis AX of the driving wheel Q is parallel to the running surface P1 of the second running member 602, the first running member 601 includes a rotating disk 66 and a friction member 88, the friction member 88 is located on the side of the rotating disk 66 away from the output end 500 of the transmission mechanism 501, and the surface S1 of the rotating disk 66 farthest from the output end 500 of the transmission mechanism 501 has a first included angle A1 with the running surface P1 of the second running member 602, and the first included angle A1 is greater than 0.

[0056] As Figure 1 shown, since the running surface P1 of the second running member 602 is parallel to the surface S0 to be cleaned, the first included angle A1 between the surface S1 of the rotating disk 66 farthest from the output end 500 of the transmission mechanism 501 and the running surface P1 of the second running member 602 can be regarded as the first included angle A1 between the surface S1 of the rotating disk 66 farthest from the output end 500 of the transmission mechanism 501 and the surface S0 to be cleaned.

[0057] In the cleaning device provided by an embodiment of the present disclosure, the first traveling member 601 includes a rotating disk 66 and a friction member 88. The surface S1 of the rotating disk 66 that is farthest from the output end 500 of the transmission mechanism 501 forms a first included angle A1 with the traveling surface P1 of the second traveling member 602. The first included angle A1 is greater than 0. Thus, the surface S1 of the rotating disk 66 that is farthest from the output end 500 of the transmission mechanism 501 is inclined with respect to the traveling surface P1 of the second traveling member 602. That is, the surface S1 of the rotating disk 66 that is farthest from the output end 500 of the transmission mechanism 501 is inclined with respect to the surface S0 to be cleaned. This setting facilitates using the frictional force between the rotating disk 66 and the surface S0 to be cleaned as the traveling power, which is beneficial for the climbing of the cleaning device. The second traveling member 602 has a driving wheel Q, and the rotation axis AX of the driving wheel Q is parallel to the traveling surface P1 of the second traveling member 602. That is, the rotation axis AX of the driving wheel Q is parallel to the surface S0 to be cleaned. Thus, the first traveling member 601 and the second traveling member 602 can operate simultaneously to control the movement of the cleaning device, which is beneficial for the movement control of the cleaning device and also beneficial for the stable operation of the cleaning device.

[0058] The second traveling member 602 may have at least one driving wheel Q. The surface of the driving wheel Q close to the surface S0 to be cleaned can be regarded as the traveling surface P1 of the second traveling member 602, and the traveling surface P1 is a plane. The second traveling member 602 may also include at least two driving wheels Q and a crawler provided outside the at least two driving wheels Q. In this case, the surface of the crawler close to the surface S0 to be cleaned can be regarded as the traveling surface P1 of the second traveling member 602.

[0059] For example, the surface S2 of the friction member 88 that is farthest from the output end 500 of the transmission mechanism 501 forms a second included angle A2 with the traveling surface P1 of the second traveling member 602, and the second included angle A2 is greater than or equal to 0.

[0060] As Figure 1 shown, since the traveling surface P1 of the second traveling member 602 is parallel to the surface S0 to be cleaned, the second included angle A2 formed by the surface S2 of the friction member 88 that is farthest from the output end 500 of the transmission mechanism 501 and the traveling surface P1 of the second traveling member 602 can be regarded as the second included angle A2 between the surface S2 of the friction member 88 that is farthest from the output end 500 of the transmission mechanism 501 and the surface S0 to be cleaned.

[0061] The description is as follows in the case where the surface P2 of the second cleaning frame 212 away from the housing 100 is used as a reference. As Figure 1As shown, an embodiment of the present disclosure further provides a cleaning device, including: a housing 100; a first driving unit 101, including a transmission mechanism 501 and a first traveling member 601, the transmission mechanism 501 including an output end 500, and the first traveling member 601 being connected to the output end 500 of the transmission mechanism 501; a first cleaning unit 201, including a first cleaning frame 211 and a first cleaning element 221 disposed on the first cleaning frame 211, the first cleaning frame 211 being connected to the output end 500 of the transmission mechanism 501; a second driving unit 102, including a second traveling member 602, the second traveling member 602 being spaced apart from the first traveling member 601; and a second cleaning unit 202, disposed side by side with the first cleaning unit 201, and including a second cleaning frame 212 and a second cleaning element 222 disposed on the second cleaning frame 212, wherein the second traveling member 602 has a driving wheel Q, and a rotation axis AX of the driving wheel Q is parallel to a surface P2 of the second cleaning frame 212 away from the housing 100, the first traveling member 601 includes a rotating disk 66 and a friction member 88, the friction member 88 is located on a side of the rotating disk 66 away from the output end 500 of the transmission mechanism 501, and a surface S1 of the rotating disk 66 farthest from the output end 500 of the transmission mechanism 501 and the surface P2 of the second cleaning frame 212 away from the housing 100 have a first included angle A1, and the first included angle A1 is greater than 0.

[0062] Since the surface P2 of the second cleaning frame 212 away from the housing 100 is parallel to the surface S0 to be cleaned, the first included angle A1 between the surface S1 of the rotating disk 66 farthest from the output end 500 of the transmission mechanism 501 and the surface P2 of the second cleaning frame 212 away from the housing 100 can be regarded as the first included angle A1 between the surface S1 of the rotating disk 66 farthest from the output end 500 of the transmission mechanism 501 and the surface S0 to be cleaned.

[0063] The cleaning device provided by the embodiments of the present disclosure, the first walking member 601 includes a rotating disk 66 and a friction member 88. The surface S1 of the rotating disk 66 that is farthest from the output end 500 of the transmission mechanism 501 forms a first included angle A1 with the surface P2 of the second cleaning frame 212 that is away from the housing 100. The first included angle A1 is greater than 0. Thus, the surface S1 of the rotating disk 66 that is farthest from the output end 500 of the transmission mechanism 501 is inclined with respect to the surface P2 of the second cleaning frame 212 that is away from the housing 100. That is, the surface S1 of the rotating disk 66 that is farthest from the output end 500 of the transmission mechanism 501 is inclined with respect to the surface to be cleaned S0. This setting facilitates the frictional force between the rotating disk 66 and the surface to be cleaned S0 as the traveling power, which is beneficial to the climbing of the cleaning device. The second walking member 602 has a driving wheel Q. The rotation axis AX of the driving wheel Q is parallel to the surface P2 of the second cleaning frame 212 that is away from the housing 100. That is, the rotation axis AX of the driving wheel Q is parallel to the surface to be cleaned S0. Thus, the first walking member 601 and the second walking member 602 can operate simultaneously to control the movement of the cleaning device, which is beneficial to the movement control of the cleaning device and the stable operation of the cleaning device.

[0064] For example, as Figure 1 shown, the surface S2 of the friction member 88 that is farthest from the output end 500 of the transmission mechanism 501 forms a second included angle A2 with the surface P2 of the second cleaning frame 212 that is away from the housing 100. The second included angle A2 is greater than or equal to 0.

[0065] As Figure 1 shown, since the surface P2 of the second cleaning frame 212 that is away from the housing 100 is parallel to the surface to be cleaned S0, the second included angle A2 formed by the surface S2 of the friction member 88 that is farthest from the output end 500 of the transmission mechanism 501 and the surface P2 of the second cleaning frame 212 that is away from the housing 100 can be regarded as the second included angle A2 between the surface S2 of the friction member 88 that is farthest from the output end 500 of the transmission mechanism 501 and the surface to be cleaned S0.

[0066] For example, as Figure 1 shown, the first cleaning unit 201 has a first opening K1 on the side away from the output end 500 of the transmission mechanism 501. The first opening K1 is configured to avoid the first walking member 601. The side of the first cleaning frame 211 away from the output end 500 of the transmission mechanism 501 has a hollow structure, and the first cleaning element 221 has a hollow structure. The hollow structure of the first cleaning frame 211 and the hollow structure of the first cleaning element 221 form the first opening K1.

[0067] For example, as Figure 1As shown, the second cleaning unit 202 has a second opening K2, the second opening K2 is configured to avoid the second traveling member 602, the second cleaning rack 212 has a hollow structure, the second cleaning element 222 has a hollow structure, and the hollow structure of the second cleaning rack 212 and the hollow structure of the second cleaning element 222 constitute the second opening K2.

[0068] As Figure 1 shown, the first cleaning unit 201 is used to clean the surface S0 to be cleaned. The first cleaning unit 201 is arranged at the bottom of the housing 100 and can form a chamber with the surface S0 to be cleaned.

[0069] As Figure 1 shown, the first traveling member 601 is located at the bottom of the housing 100. The first traveling member 601 can be called the inner ring, and the first cleaning unit 201 can be called the outer ring.

[0070] As Figure 1 shown, the second cleaning unit 202 is used to clean the surface S0 to be cleaned. The second cleaning unit 202 is arranged at the bottom of the housing 100 and can form a chamber with the surface S0 to be cleaned.

[0071] Figure 1 An adsorption unit 80 is also shown. By providing the adsorption unit 80, negative pressure can be generated so that the cleaning device adheres tightly to the surface to be cleaned without falling off. Correspondingly, the cleaning device has a sealing structure and an air cavity to facilitate its adsorption on the surface to be cleaned. For example, the adsorption unit 80 may include a fan. The adsorption unit 80 is communicated with the chamber of the first cleaning unit 201 and is communicated with the chamber of the second cleaning unit 202. By extracting the air in the chamber to form negative pressure, the two cleaning units are adsorbed on the surface S0 to be cleaned.

[0072] For example, a sealing structure is provided on the periphery of the cleaning device. During the vacuum adsorption process, the first cleaning unit 201 (outer ring) is deformed.

[0073] Because the first angle A1 (tilt angle) is relatively small and the first cleaning element 221 has a certain elasticity, a sealed space is formed between the first cleaning unit 201 (outer ring) and the surface S0 to be cleaned. When the adsorption unit 80 works, the cleaning device fits on the surface S0 to be cleaned. At this time, the first angle A1 (tilt angle) still exists.

[0074] Figure 1 A control unit 90, a motor 701, and a motor 702 are also shown. The motor 701 is configured to drive the transmission mechanism 501, and then drive the first cleaning unit 201 and the first traveling member 601. The motor 702 is configured to drive the second traveling member 602. The control unit 90 can be configured to control the motor 701 and the motor 702. The control unit 90 can be configured to control the fan in the adsorption unit 80.

[0075] For example, as Figure 1 shown, the motor 701 is configured to drive the first cleaning unit 201 to rotate and is configured to drive the first traveling member 601 to rotate.

[0076] For example, in some embodiments of the present disclosure, the cleaning device may be a robot for cleaning non-horizontal surfaces, such as a window cleaning robot, and the surface to be cleaned may be a wall surface or a window. For example, the window may be a framed window or a frameless window. For example, the framed window may be a household window, and the frameless window may be a large floor-to-ceiling window, etc. For such a cleaning device, a negative pressure mechanism for ensuring its own adsorption on the surface to be cleaned may be included. In some embodiments, as Figure 1 shown, while the negative pressure mechanism (adsorption unit 80) applies an adsorption force to the cleaning device, it may cause the friction member 88 in the first traveling member 601 to deform, thereby changing the contact mode between the friction member 88 and the surface S0 to be cleaned from point contact to surface contact, or increasing the contact area between the friction member 88 and the surface S0 to be cleaned. In this case, according to the structural form of the cleaning device, it can be known that the inclined output shaft 99 causes different pressures on the inner or outer side of the rotating disk 66, resulting in different frictional forces. Therefore, driven by the motor 701, the first traveling member 601 can drive the cleaning device to travel by rotating.

[0077] Figure 3 Schematic diagram of a first traveling member in a cleaning device provided by an embodiment of the present disclosure. Figure 4 Schematic diagram of a first traveling member in a cleaning device provided by an embodiment of the present disclosure.

[0078] In the embodiments of the present disclosure, the friction member 88 may protrude from or be flush with the surface S1 of the rotating disk 66 that is farthest from the output end 500 of the transmission mechanism 501. Whether it is protruded or flush, a frictional force can be formed between the friction member 88 and the surface to be cleaned.

[0079] For example, as Figure 2 shown, the friction member 88 is flush with the surface S1 of the rotating disk 66 that is farthest from the output end 500 of the transmission mechanism 501.

[0080] For example, as Figure 3 and Figure 4 shown, in order to increase the frictional force or the service life of the friction member 88, the friction member 88 protrudes from the surface S1 of the rotating disk 66 that is farthest from the output end 500 of the transmission mechanism 501.

[0081] As Figure 3 and Figure 4As shown, the dimension of the friction member 88 protruding from the surface S1 of the rotating disk 66 that is farthest from the output end 500 of the transmission mechanism 501 is W0.

[0082] For example, as Figure 3 and Figure 4 shown, in order to balance the connection firmness between the friction member 88 and the rotating disk 66 and improve the frictional force, the ratio of the dimension W0 of the friction member 88 protruding from the surface S1 of the rotating disk 66 that is farthest from the output end 500 of the transmission mechanism 501 to the maximum thickness Ws of the friction member 88 is less than or equal to one-fifth.

[0083] For example, in order to balance the cost, the dimension W0 of the friction member 88 protruding from the surface S1 of the rotating disk 66 that is farthest from the output end 500 of the transmission mechanism 501 is less than or equal to 6 mm, generally about 3 mm. For example, it can be 0.5 - 3 mm.

[0084] For example, as Figure 4 shown, in order to facilitate the improvement of the friction area and the frictional force, the ratio of the width W1 of the surface S2 of the friction member 88 that is farthest from the output end 500 of the transmission mechanism 501 to the ring width W2 of the friction member 88 is greater than or equal to one-fourth and less than 1. Further for example, the ratio of the width W1 of the surface S2 of the friction member 88 that is farthest from the output end 500 of the transmission mechanism 501 to the ring width W2 of the friction member 88 is greater than or equal to one-third and less than or equal to four-fifths. The surface S2 of the friction member 88 that is farthest from the output end 500 of the transmission mechanism 501 is the friction surface of the friction member 88.

[0085] As Figures 1 to 3 shown, the surface S1 of the rotating disk 66 that is farthest from the output end 500 of the transmission mechanism 501 can be parallel to the surface S2 of the friction member 88 that is farthest from the output end 500 of the transmission mechanism 501. Further for example, as Figure 1 and Figure 2 shown, the surface S1 of the rotating disk 66 that is farthest from the output end 500 of the transmission mechanism 501 can be flush with the surface S2 of the friction member 88 that is farthest from the output end 500 of the transmission mechanism 501, but it is not limited to this.

[0086] As Figures 1 to 3 shown, the first traveling member 601 (inner ring) forms a first included angle A1 with the surface to be cleaned S0.

[0087] As Figure 1 shown, the first cleaning unit 201 rotates with an axis perpendicular to the surface to be cleaned S0 as the rotation axis. The axis perpendicular to the surface to be cleaned S0 can be the normal line of the surface to be cleaned S0.

[0088] As Figure 1 shown, the second cleaning unit 202 can run in a straight line parallel to the surface to be cleaned S0.

[0089] For example, as Figures 1 to 4 shown, the first included angle A1 is greater than or equal to the second included angle A2.

[0090] For example, as Figures 1 to 3 shown, the first included angle A1 is less than or equal to 10°, and the second included angle A2 is less than or equal to 10°. When the first included angle A1 and the second included angle A2 are within the above ranges, it is beneficial to the movement control of the cleaning device and improve the movement stability.

[0091] Further for example, the first included angle A1 is less than or equal to 5°, and the second included angle A2 is less than or equal to 5°. As Figures 1 to 3 shown, the first included angle A1 can be 0.5 - 5°.

[0092] For example, the first included angle A1 can be 0.4°, 0.5°, 3°, 5°, 7°, or 10°.

[0093] As Figure 4 shown, the second included angle A2 can be 0°. In this case, the surface S2 of the friction member 88 farthest from the output end 500 of the transmission mechanism 501 is parallel to the surface S0 to be cleaned, so as to be beneficial to increasing the contact area and increasing the frictional force.

[0094] Figure 5 Schematic diagram of a first walking member in a cleaning device provided by an embodiment of the present disclosure. Figure 6 Schematic diagram of a first walking member and a first cleaning unit in a cleaning device provided by an embodiment of the present disclosure. Figure 5 and Figure 6 is a bottom view. Figure 5 and Figure 6 show the center O.

[0095] If the width of the friction member 88 is too narrow, the adhesion between the friction member 88 and the rotating disk 66 is relatively weak. The larger the contact area between the friction member 88 and the surface S0 to be cleaned, the greater the frictional force. The size can be designed to increase the adhesion between the friction member 88 and the rotating disk 66 and the frictional force between the friction member 88 and the surface S0 to be cleaned.

[0096] For example, as Figures 1 to 6 shown, in order to improve the adhesion between the friction member 88 and the rotating disk 66, balance the cost and increase the frictional force, the friction member 88 is located at the edge of the rotating disk 66, the friction member 88 is annular, the rotating disk 66 is circular, and the ratio of the annular width W2 to the radius W11 of the circle ranges from 0.25 to 0.5. Further, in order to reduce the cost, the ratio of the annular width W2 to the radius W11 of the circle ranges from 0.25 to 0.4.

[0097] For example, as Figure 6As shown, in order to balance the improvement of friction and cleaning efficiency, the ratio of the maximum diameter W11 of the rotating disk 66 to the maximum diameter W12 of the first cleaning unit 201 ranges from 0.25 to 0.5.

[0098] In some embodiments, the annular ring width W2 (the width of the friction member 88) is about 10 millimeters.

[0099] In some embodiments, the maximum diameter of the first cleaning frame 211 is 144 - 160 millimeters.

[0100] In some embodiments, the maximum diameter of the rotating disk 66 is 40 - 110 millimeters.

[0101] In one embodiment, the annular ring width W2 (the width of the friction member 88) is about 10 millimeters, the maximum diameter of the first cleaning frame 211 is about 144 millimeters, and the maximum diameter of the rotating disk 66 is about 70 millimeters.

[0102] For example, as Figures 1 to 4 shown, on the side of the rotating disk 66 away from the output end 500 of the transmission mechanism 501, there are grooves or notches 660, and at least part of the friction member 88 is located within the grooves or notches 660. The cleaning device provided by the embodiments of the present disclosure takes the rotating disk 66 having notches as an example.

[0103] For example, as Figure 6 shown, the first cleaning frame 211 and the rotating disk 66 are connected. For example, the first cleaning frame 211 and the rotating disk 66 can be connected by snaps. That is, the inner ring and the outer ring can be connected together by snaps. Of course, the connection method between the inner ring and the outer ring is not limited to snap connection.

[0104] For example, as Figures 1 to 6 shown, the rotating disk 66 and the friction member 88 are fixedly connected. For example, the rotating disk 66 and the friction member 88 can be integrally formed by in - mold injection molding, or can be bonded by a bonding member.

[0105] For example, the rotating disk 66 can be a plastic part. For example, the plastic part includes acrylonitrile - butadiene - styrene (ABS) plastic or polycarbonate (PC), but is not limited thereto.

[0106] For example, the friction member 88 can be a soft rubber part. For example, the soft rubber part includes: rubber, polyurethane (PU), or silicone, but is not limited thereto.

[0107] Figure 7 It is a side view of a universal coupling in a cleaning device provided by an embodiment of the present disclosure. Figure 8 It is a front view of a universal coupling in a cleaning device provided by an embodiment of the present disclosure. Figure 9A top view of a connecting member in a universal coupling in a cleaning device provided by an embodiment of the present disclosure.

[0108] For example, as Figure 1 , Figure 2 , Figures 7 to 9 shown, the first cleaning rack 211 is connected to the output end 500 of the transmission mechanism 501 through the universal coupling 300. The input end 31 of the universal coupling 300 is connected to the output end 500 of the transmission mechanism 501. The input end 31 and the output end 32 of the universal coupling 300 are connected through the connecting member 301. The connecting member 301 has a hollow channel H. The output end 500 of the transmission mechanism 501 has an output shaft 99. The output shaft 99 is connected to the first traveling member 601. The output shaft 99 passes through the hollow channel H. Thus, by providing the universal coupling 300, when the surface S1 of the rotating disk 66 that is farthest from the output end 500 of the transmission mechanism 501 is inclined, the output end 500 of the transmission mechanism 501 is respectively connected to the first traveling member 601 and the first cleaning rack 211. By providing the universal coupling 300, the first traveling member 601 and the first cleaning unit 201 connected to the output end 500 of the transmission mechanism 501 can have different angles, so that the first traveling member 601 and the first cleaning unit 201 connected to the output end 500 of the transmission mechanism 501 have non-parallel rotation axes, and the rotation axes of the first traveling member 601 and the first cleaning unit 201 connected to the output end 500 of the transmission mechanism 501 have an included angle greater than 0.

[0109] Figure 9 It is shown that the connecting member 301 has a first connection end 3011, a second connection end 3012, a third connection end 3013, and a fourth connection end 3014 that are sequentially arranged along its circumference. The first connection end 3011 and the third connection end 3013 are oppositely arranged, and the second connection end 3012 and the fourth connection end 3014 are oppositely arranged.

[0110] For example, the output end 32 of the universal coupling 300 is connected to the first connection end 3011 and the third connection end 3013, and the input end 31 of the universal coupling 300 is connected to the second connection end 3012 and the fourth connection end 3014.

[0111] Figure 9 It is shown that the connecting member 301 has an annular structure 332 and a cross-shaped frame 333 connected to the annular structure 332 and located inside the annular structure 332. The hollow channel H penetrates through the cross part of the cross-shaped frame 333. The cross-shaped frame 333 is provided to facilitate improving the stability of the connecting member 301 and extending the service life of the connecting member 301.

[0112] For example, the input end 31 of the universal coupling 300 is the driving shaft, and the output end 32 of the universal coupling 300 is the driven shaft.

[0113] For example, as Figure 1 shown, the output end 32 of the universal coupling 300 is connected to the first cleaning rack 211. That is, the universal coupling 300 is connected to the outer ring to control the first cleaning element 221 on the first cleaning rack 211 to clean the surface S0 to be cleaned.

[0114] For example, as Figure 1 and Figure 2 shown, the output shaft 99 is inclined, and the output shaft 99 is inclined relative to the normal line perpendicular to the surface S0 to be cleaned. That is, the output shaft 99 has an included angle with the normal line of the surface S0 to be cleaned, and this included angle is the same as the first included angle A1.

[0115] The output shaft 99 is inclined. Due to the setting of the universal coupling 300, the first cleaning unit 201 can be substantially parallel to the surface S0 to be cleaned. That is, by setting the universal coupling 300, the output shaft 99 can be inclined.

[0116] As Figure 1 shown, the extending direction of the output shaft 99 is parallel to the extending direction of the rotation axis of the first traveling member 601. The rotation axis of the first traveling member 601 has an included angle with the normal line of the surface S0 to be cleaned, and this included angle is the same as the first included angle A1. The rotation speed of the output shaft 99 is the same as the rotation speed of the first traveling member 601.

[0117] Figure 10 The present disclosure also provides a motion control method for the cleaning device. As Figure 10 shown, the present disclosure also provides a motion control method for any of the above cleaning devices, including: S1: Controlling the first traveling member 601 to move along the surface S0 to be cleaned at a speed V1, rotating the first cleaning unit 201 and following the first traveling member 601 to move, and controlling the second traveling member 602 to move at the same speed V1 to implement the linear motion mode of the cleaning device; S2: Controlling the first traveling member 601 to move along the surface S0 to be cleaned at a speed V2, rotating the first cleaning unit 201 and following the first traveling member 601 to move, and controlling the second traveling member 602 to move at a speed V3, where the speed V2 is not equal to the speed V3, to implement the curvilinear motion mode of the cleaning device; and S3: The conversion between the linear motion mode and the curvilinear motion mode.

[0118] Compared with the way in the conventional technology where the rotating disk is adsorbed and stationary only for cleaning without providing the traveling power, in the motion control method of the cleaning device according to the embodiments of the present disclosure, the first traveling member 601 and the second traveling member 602 jointly provide the traveling power of the cleaning device, which is beneficial to the motion control of the cleaning device.

[0119] The order of the above steps S1 and S2 is not limited. That is, when the cleaning device is operating, step S1 can be executed first, and then step S2, that is, converting from a linear motion mode to a curvilinear motion mode, or step S2 can be executed first, and then step S1, that is, converting from a curvilinear motion mode to a linear motion mode.

[0120] For example, in the motion control method of the cleaning device provided in the embodiments of the present disclosure, at the same position of the surface S0 to be cleaned, the first cleaning unit is used for cleaning first, and then the second cleaning unit is used for cleaning to avoid leaving water streaks and facilitate improving the cleaning effect.

[0121] In the embodiments of the present disclosure, the speed of the first traveling member 601 can be the linear speed of the friction member 88.

[0122] In the embodiments of the present disclosure, the speed of the second traveling member 602 can be the linear speed of the crawler or the driving wheel Q.

[0123] In the embodiments of the present disclosure, the surface S0 to be cleaned includes the surface of glass, but is not limited thereto.

[0124] In the embodiments of the present disclosure, the first cleaning element 221 can be a rag, and the first cleaning rack 211 can be called the first rag rack. For example, the first cleaning element 221 can be sleeved on the first cleaning rack 211, but is not limited thereto, and other methods such as bonding can also be used.

[0125] In the embodiments of the present disclosure, the first cleaning element 221 is only arranged on the first cleaning rack 211, that is, only the outer ring is provided with the first cleaning element 221, and the first traveling member 601 (inner ring) is not provided with the first cleaning element 221 so that the friction member 88 contacts the surface S0 to be cleaned.

[0126] In the embodiments of the present disclosure, the second cleaning element 222 can be a rag, and the second cleaning rack 212 can be called the second rag rack. For example, the second cleaning element 222 can be sleeved on the second cleaning rack 212, but is not limited thereto, and other methods such as bonding can also be used.

[0127] In the embodiments of the present disclosure, the transmission mechanism 501 can be a gearbox.

[0128] In the embodiments of the present disclosure, the second driving unit 102 can also include a transmission structure, and the motor 702 can be connected to the second traveling member 602 through the transmission mechanism, and the transmission mechanism can be a gearbox.

[0129] Without conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other.

[0130] As described above, it is only the specific implementation manner of the present disclosure. However, the protection scope of the present disclosure is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present disclosure can easily think of changes or substitutions, which should all be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. A cleaning device for cleaning a surface to be cleaned, comprising: A housing; A first driving unit, comprising a transmission mechanism and a first walking member, the transmission mechanism comprising an output end, the first walking member being connected to the output end of the transmission mechanism; A first cleaning unit, comprising a first cleaning frame and a first cleaning element provided on the first cleaning frame, the first cleaning frame being connected to the output end of the transmission mechanism; A second driving unit, comprising a second walking member, the second walking member being spaced apart from the first walking member; And A second cleaning unit, arranged side by side with the first cleaning unit, and comprising a second cleaning frame and a second cleaning element provided on the second cleaning frame, wherein the second walking member has a driving wheel, the rotation axis of the driving wheel being parallel to the surface to be cleaned, the first walking member comprises a rotating disk and a friction member, the friction member being located on a side of the rotating disk away from the output end of the transmission mechanism, the surface of the rotating disk furthest from the output end of the transmission mechanism having a first angle with the surface to be cleaned, the first angle being greater than 0.

2. The cleaning device according to claim 1, wherein, The friction member is configured to contact the surface to be cleaned, and the friction member is configured to form a frictional force with the surface to be cleaned.

3. The cleaning device according to claim 1, wherein, The surface of the friction member furthest from the output end of the transmission mechanism has a second angle with the surface to be cleaned, the second angle being greater than or equal to 0.

4. The cleaning device according to claim 1, wherein, The coefficient of friction between the friction member and the surface to be cleaned is greater than the coefficient of friction between the first cleaning element and the surface to be cleaned.

5. The cleaning device according to claim 1, wherein, The surface of the second cleaning frame away from the housing is parallel to the surface to be cleaned.

6. A cleaning device, comprising: A housing; A first driving unit, comprising a transmission mechanism and a first walking member, the transmission mechanism comprising an output end, the first walking member being connected to the output end of the transmission mechanism; A first cleaning unit, comprising a first cleaning frame and a first cleaning element provided on the first cleaning frame, the first cleaning frame being connected to the output end of the transmission mechanism; A second driving unit, comprising a second walking member, the second walking member being spaced apart from the first walking member; And A second cleaning unit, arranged side by side with the first cleaning unit, and comprising a second cleaning frame and a second cleaning element provided on the second cleaning frame, wherein the second walking member has a driving wheel, the rotation axis of the driving wheel being parallel to the walking surface of the second walking member, the first walking member comprises a rotating disk and a friction member, the friction member being located on a side of the rotating disk away from the output end of the transmission mechanism, the surface of the rotating disk furthest from the output end of the transmission mechanism having a first angle with the walking surface of the second walking member, the first angle being greater than 0.

7. The cleaning device according to claim 6, wherein, The surface of the friction member furthest from the output end of the transmission mechanism has a second angle with the walking surface of the second walking member, the second angle being greater than or equal to 0.

8. A cleaning device, comprising: A housing; The first driving unit includes a transmission mechanism and a first traveling member. The transmission mechanism includes an output end, and the first traveling member is connected to the output end of the transmission mechanism; The first cleaning unit includes a first cleaning frame and a first cleaning element provided on the first cleaning frame. The first cleaning frame is connected to the output end of the transmission mechanism; The second driving unit includes a second traveling member, and the second traveling member is arranged at an interval from the first traveling member; And The second cleaning unit is arranged side by side with the first cleaning unit and includes a second cleaning frame and a second cleaning element provided on the second cleaning frame. Wherein, the second traveling member has a driving wheel, and the rotation axis of the driving wheel is parallel to the surface of the second cleaning frame away from the housing. The first traveling member includes a rotating disk and a friction member. The friction member is located on the side of the rotating disk away from the output end of the transmission mechanism. The surface of the rotating disk farthest from the output end of the transmission mechanism has a first included angle with the surface of the second cleaning frame away from the housing, and the first included angle is greater than 0.

9. The cleaning device according to claim 8, wherein, The surface of the friction member farthest from the output end of the transmission mechanism has a second included angle with the surface of the second cleaning frame away from the housing, and the second included angle is greater than or equal to 0.

10. The cleaning device according to any one of claims 1-9, wherein, The first cleaning unit has a first opening on the side away from the output end of the transmission mechanism. The first opening is configured to avoid the first traveling member. The side of the first cleaning frame away from the output end of the transmission mechanism has a hollow structure, and the first cleaning element has a hollow structure. The hollow structure of the first cleaning frame and the hollow structure of the first cleaning element constitute the first opening.

11. The cleaning device according to any one of claims 1-9, wherein, The second cleaning unit has a second opening. The second opening is configured to avoid the second traveling member. The second cleaning frame has a hollow structure, and the second cleaning element has a hollow structure. The hollow structure of the second cleaning frame and the hollow structure of the second cleaning element constitute the second opening.

12. The cleaning device according to claim 3, 7 or 9, wherein, The first included angle is less than or equal to 10°, and the second included angle is less than or equal to 10°.

13. The cleaning device according to claim 3, 7 or 9, wherein, The second included angle is equal to 0°. The ratio of the width of the surface of the friction member farthest from the output end of the transmission mechanism to the ring width of the friction member is greater than or equal to one-fourth and less than 1.

14. The cleaning device according to any one of claims 1-9, wherein, The friction member is located at the edge of the rotating disk. The friction member is annular, the rotating disk is circular, and the ratio of the ring width of the annulus to the radius of the circle ranges from 0.25 to 0.

5.

15. The cleaning device according to any one of claims 1-9, wherein, The ratio of the maximum diameter of the rotating disk to the maximum diameter of the first cleaning unit ranges from 0.25 to 0.

5.

16. The cleaning device according to any one of claims 1-9, wherein, The side of the rotating disk away from the output end of the transmission mechanism has a groove or a notch, and at least part of the friction member is located in the groove or the notch.

17. The cleaning device according to claim 16, wherein, The friction member is flush with the surface of the rotating disk farthest from the output end of the transmission mechanism.

18. The cleaning device according to claim 16, wherein, The friction member protrudes from the surface of the rotating disk farthest from the output end of the transmission mechanism.

19. The cleaning device according to claim 18, wherein, The dimension by which the friction member protrudes from the surface of the rotary disk that is farthest from the output end of the transmission mechanism is less than or equal to one-fifth of the maximum thickness of the friction member.

20. The cleaning device according to any one of claims 1-9, wherein, The first cleaning rack is connected to the rotary disk.

21. The cleaning device according to any one of claims 1-9, wherein, The rotary disk and the friction member are fixedly connected.

22. The cleaning device according to any one of claims 1-9, wherein, The first cleaning rack is connected to the output end of the transmission mechanism through a universal coupling. The input end of the universal coupling is connected to the output end of the transmission mechanism. The input end and the output end of the universal coupling are connected through a connecting member. The connecting member has a hollow channel. The output end of the transmission mechanism has an output shaft. The output shaft is connected to the first traveling member. The output shaft passes through the hollow channel.

23. The cleaning device according to claim 22, wherein, The connecting member has an annular structure and a cross-shaped frame connected to the annular structure and located inside the annular structure. The hollow channel penetrates through the intersecting part of the cross-shaped frame.

24. The motion control method of the cleaning device according to any one of claims 1-23, comprising: Controlling the first traveling member to move along the surface to be cleaned at a speed V1. The first cleaning unit rotates and moves following the first traveling member. Controlling the second traveling member to move at the same speed V1 to implement the linear motion mode of the cleaning device; Controlling the first traveling member to move along the surface to be cleaned at a speed V2. The first cleaning unit rotates and moves following the first traveling member. Controlling the second traveling member to move at a speed V3. The speed V2 is not equal to the speed V3 to implement the curvilinear motion mode of the cleaning device; and The conversion between the linear motion mode and the curvilinear motion mode.

25. The motion control method of the cleaning device according to claim 24, wherein, At the same position on the surface to be cleaned, first clean with the first cleaning unit and then clean with the second cleaning unit.

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