Cleaning equipment with mode switching function and control method thereof

Abstract

The invention discloses cleaning equipment with a mode switching function and a control method thereof, and the cleaning equipment comprises a machine body, a rolling brush device, a detection device and a control device; the rolling brush device comprises a support, a rolling brush assembly and a rolling brush driving mechanism. The rolling brush assembly comprises a driving roller, an auxiliary roller, a wall corner cleaning roller and cleaning cloth. The cleaning cloth is wound on the driving roller, the auxiliary roller and the wall corner cleaning roller; the output end of the rolling brush driving mechanism is connected with the driving roller; the detection device comprises a distance sensor and an image sensor; the wall corner cleaning device further comprises a position adjusting mechanism, and the position adjusting mechanism drives the wall corner cleaning roller to move so that the rolling brush assembly can be switched between the crawler-type circular state and the local square state. According to the cleaning equipment, switching between a crawler-type circular state and a local square state can be achieved, the cleaning efficiency is higher, and the cleaning effect is better.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and in particular to a cleaning equipment with a mode switching function and a control method thereof. Background Art

[0002] Existing surface cleaning equipment (such as floor scrubbers and robot vacuums) generally use cylindrical roller brush assemblies. These components are simple in structure, operate smoothly, and effectively clean flat surfaces. However, cylindrical roller brushes have significant drawbacks when cleaning corners or edges: the circular contour of the roller brush doesn't fully conform to the wall surface, creating blind spots that require additional manual cleaning, reducing cleaning efficiency and user experience.

[0003] To address the above issues, existing technologies attempt to optimize corner cleaning performance through suspended structures, rolling supports, and anti-drift designs. For example, patent application publication number CN118787287A discloses a "roller brush assembly, cleaning head, and surface cleaning device." While this significantly improves cleaning performance at right-angled corners, it suffers from the following significant drawbacks:

[0004] One is that the life of the cleaning cloth is significantly shortened. The specific reasons are: due to the smaller circumference of the cleaning cloth (compared to the crawler-type circular roller) and the close spacing between the rollers of the front support plate, the pressure often rises suddenly, which significantly affects the life of the cleaning cloth;

[0005] Secondly, the cleaning cloth is not as effective as the crawler-type circular drum in cleaning dirt. The specific reason is: due to the smaller circumference of the rag (compared to the crawler-type circular drum), the weight of the front support plate is limited, and the cleaning area and cleaning pressure on the ground are limited, which leads to the overall cleaning effect of the cleaning cloth on cleaning dirt being reduced. Summary of the Invention

[0006] In order to overcome the deficiencies in the prior art, the present invention provides a cleaning device with a mode switching function, which can switch between a crawler-type circular roller brush and a partial square roller brush, thereby achieving higher cleaning efficiency and better cleaning effect.

[0007] Another object of the present invention is to provide a control method for the cleaning device with a mode switching function.

[0008] The technical solution of the present invention to solve the above technical problems is:

[0009] A cleaning device with a mode switching function includes a body, a roller brush device arranged in the body, a detection device and a control device, wherein:

[0010] The roller brush device includes a bracket arranged in the body, a roller brush assembly arranged on the bracket, and a roller brush driving mechanism for driving the roller brush assembly to work, wherein the roller brush assembly includes an active roller, an auxiliary roller, a corner cleaning roller, and a cleaning cloth arranged on the bracket; the corner cleaning roller is located above or below the auxiliary roller; the cleaning cloth is wrapped around the active roller, the auxiliary roller, and the corner cleaning roller; the output end of the roller brush driving mechanism is connected to the active roller;

[0011] The detection device includes a distance sensor and an image sensor provided on the body, wherein the distance sensor is used to detect obstacles in front of the roller brush device; the image sensor is used to detect the cleaning effect of the roller brush device;

[0012] It also includes a position adjustment mechanism for adjusting the position of the corner cleaning roller. The position adjustment mechanism drives the corner cleaning roller to move, so as to cause the roller brush assembly to switch between a crawler-type circular state and a partial square state.

[0013] Preferably, the bracket is provided with an arcuate groove at the connection between the bracket and the auxiliary roller, and both sides of the central axis of the auxiliary roller extend into the corresponding arcuate grooves respectively.

[0014] Preferably, the position adjustment mechanism is in two groups, which are respectively arranged on both sides of the corner cleaning roller, each group of position adjustment mechanisms includes a rack and a position adjustment drive mechanism for driving the rack to move, wherein the rack is slidably connected to the machine body; the two ends of the corner cleaning roller are respectively rotatably connected to the racks in the two groups of position adjustment mechanisms; the position adjustment drive mechanism includes a driving motor arranged on a bracket and a transmission shaft connected to the main shaft of the driving motor, wherein the transmission shaft is rotatably connected to the bracket, and one end thereof is connected to the main shaft of the driving motor, and the other end is connected to the rocker through a worm gear transmission mechanism; the lower end of the rocker is rotatably connected to the bracket through a rotating shaft, and the upper end is connected to the central axis of the auxiliary roller; the rotating shaft and the rack are connected through a gear set.

[0015] Preferably, the gear set includes a first gear, a second gear, a third gear and a fourth gear, wherein the first gear is mounted on the rotating shaft; the second gear is mounted on the machine body; the third gear is mounted on the machine body; the fourth gear is coaxially arranged with the third gear; the first gear is meshed with the second gear, the second gear is meshed with the third gear, and the fourth gear is meshed with the rack; wherein the fourth gear is an incomplete gear.

[0016] Preferably, a magnetic coupling structure is provided between the drive motor and the transmission shaft, and the magnetic coupling structure is used to realize power transmission between the main shaft of the drive motor and the transmission shaft.

[0017] Preferably, a return spring is further provided between the rack and the machine body, one end of the return spring is connected to the rack, and the other end is connected to the machine body.

[0018] Preferably, a limiting structure is provided between the rack and the body, and the limiting structure includes a limiting block provided on the rack and a limiting groove provided in the body, wherein the limiting groove extends in a straight line; the limiting block is installed in the limiting groove.

[0019] Preferably, a photoelectric sensor for detecting the position of the corner cleaning roller is further provided in the machine body.

[0020] Preferably, the active roller, the auxiliary roller and the corner cleaning roller are all provided with circumferentially arranged grooves, and the inner side of the cleaning cloth is provided with convex teeth that cooperate with the grooves.

[0021] A method for controlling a cleaning device with a mode switching function comprises the following steps:

[0022] Before working, the roller brush assembly is in a crawler-type circular state;

[0023] When the distance sensor senses that there is a corner of the wall in front, the control device issues a command to prompt the roller brush assembly to switch from the crawler-type circular state to the partial square state to achieve cleaning of the wall surface;

[0024] When the image sensor detects that the stain cleaning effect on the corner of the wall reaches a first predetermined value, and the distance sensor detects that the distance between the roller brush assembly and the wall is greater than or equal to a second preset value, the control device issues an instruction to prompt the roller brush assembly to switch from a local square state to a crawler circular state.

[0025] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0026] 1. The roller brush assembly in the cleaning device with mode switching function of the present invention switches between a crawler-type circular state and a partial square state. In the partial square state, the right-angle edge formed by the corner cleaning roller and the auxiliary roller can fit the non-right-angle (such as acute angle) wall surface, thereby efficiently eliminating cleaning blind spots.

[0027] 2. The roller brush assembly in the cleaning equipment with mode switching function of the present invention can not only effectively clean the corners, but also rely on the special feature of the corner cleaning roller being located between the active roller and the auxiliary roller to evenly distribute the pressure of the cleaning equipment (such as a floor scrubber) on the ground, thereby improving the overall cleaning effect of the cleaning cloth on cleaning dirt.

[0028] 3. The roller brush assembly in the cleaning device with mode switching function of the present invention can switch between a crawler-type circular state and a partial square state, taking into account different cleaning needs while also having the ability to adapt to complex scenes. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a three-dimensional diagram of the cleaning device with mode switching function of the present invention (crawler-type circular state).

[0030] Figure 2 It is a three-dimensional diagram of the cleaning device with mode switching function of the present invention (partial square state).

[0031] Figure 3 It is a three-dimensional diagram of the cleaning device with mode switching function of the present invention (in a crawler-type circular state with the cleaning cloth hidden).

[0032] Figure 4 It is a three-dimensional diagram of the cleaning device with mode switching function of the present invention (partially in square state with the cleaning cloth hidden).

[0033] Figure 5 It is a structural schematic diagram of the roller brush device.

[0034] Figure 6 for Figure 5 A partial enlarged view of point A in the middle.

[0035] Figure 7 It is a schematic diagram of the position adjustment mechanism in the crawler circular state.

[0036] Figure 8 It is a schematic diagram of the position adjustment mechanism in a partially square state.

[0037] Figure 9 It is a partial enlarged view of the position adjustment mechanism in the crawler circular state.

[0038] Figure 10 It is a partial enlarged view of the position adjustment mechanism in a partial square state.

[0039] Figure 11 It is the front view of the roller brush device.

[0040] Figure 12 for Figure 11 A partial enlarged view of point B in the middle.

[0041] Figure 13 This is a schematic diagram of the active roller, auxiliary roller, and corner cleaning roller during switching, where red represents the movement trajectory of the roller; the upper one shows the change from the crawler-type circular state to the partial square state; the lower one shows the change from the partial square state to the crawler-type circular state.

[0042] Figure 14 These are pictures of the cleaning effects of a roller brush assembly in a square state and a roller brush assembly in a partially square state facing a non-right-angled corner.

[0043] Figure 15-17 Schematic diagram of the roller brush assembly switching from a crawler-type circular state to a partially square state, wherein: Figure 15 This is a schematic diagram of the roller brush assembly in a crawler-type circular state. Figure 16 This is a schematic diagram of the process of the roller brush assembly switching from a crawler-type circular state to a partially square state. Figure 17 Schematic diagram of the roller brush assembly in a partially square state. DETAILED DESCRIPTION

[0044] The present invention will be described in further detail below with reference to the embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0045] See also Figures 1-17 The cleaning device with mode switching function of the present invention includes a body 1, a roller brush device arranged in the body 1, a detection device and a control device.

[0046] See also Figures 1-17 The roller brush device includes a bracket arranged in a body 1, a roller brush assembly arranged on the bracket, and a roller brush driving mechanism for driving the roller brush assembly to work, wherein the roller brush assembly includes an active roller 5, an auxiliary roller 6, a corner cleaning roller 7 and a cleaning cloth 8 arranged on the bracket; the corner cleaning roller 7 is located above or below the auxiliary roller 6; the cleaning cloth 8 surrounds the active roller 5, the auxiliary roller 6 and the corner cleaning roller 7; the output end of the roller brush driving mechanism is connected to the active roller 5; the active roller 5 is driven to rotate by the roller brush driving mechanism (such as a motor), and when the active roller 5 rotates, the active roller 5 can drive the cleaning cloth 8, the auxiliary roller 6 and the corner cleaning roller 7 to rotate, so that the cleaning cloth 8 can clean the floor; since the cleaning cloth 8 can be simultaneously sleeved on the active roller 5, the auxiliary roller 6 and the corner cleaning roller 7, when the active roller 5 rotates, a driving force can be applied to the cleaning cloth 8, so that the cleaning cloth 8 can rotate around the main roller, the auxiliary roller 6 and the corner cleaning roller 7, so that the side of the cleaning cloth 8 close to the floor can clean the floor.

[0047] In this embodiment, the active roller 5 , the auxiliary roller 6 and the corner cleaning roller 7 are all provided with circumferentially arranged grooves, and the inner side of the cleaning cloth 8 is provided with protruding teeth that match the grooves.

[0048] See also Figures 1-17 The detection device includes a distance sensor 3 and an image sensor 4 provided on the body 1, wherein the distance sensor 3 is used to detect obstacles in front of the roller brush device; and the image sensor 4 is used to detect the cleaning effect of the roller brush device.

[0049] See also Figures 1-17 The cleaning device with mode switching function of the present invention also includes a position adjustment mechanism for adjusting the position of the corner cleaning roller 7. The position adjustment mechanism drives the corner cleaning roller 7 to move, so as to cause the roller brush assembly to switch between the crawler-type circular state and the partial square state; when the roller brush is in the crawler-type circular state, the auxiliary roller 6 is located at the front side in the forward direction, followed by the corner cleaning roller 7, and finally the active roller 5; when the roller brush is in the partial square state, the corner cleaning roller 7 is located at the front side in the forward direction, followed by the auxiliary roller 6, and finally the active roller 5; wherein,

[0050] The bracket is provided with an arc groove 19 at the connection with the auxiliary roller 6, and both sides of the central axis of the auxiliary roller 6 extend into the corresponding arc groove 19 respectively;

[0051] The position adjustment mechanism is divided into two groups, which are respectively arranged on both sides of the corner cleaning roller 7. Each group of position adjustment mechanism includes a rack 11 and a position adjustment driving mechanism for driving the rack 11 to move.

[0052] The rack 11 is slidably connected to the body 1; the two ends of the corner cleaning roller 7 are rotatably connected to the racks 11 in the two sets of position adjustment mechanisms; a return spring 12 is also provided between the rack 11 and the body 1, one end of the return spring 12 is connected to the rack 11, and the other end is connected to the body 1;

[0053] The position adjustment drive mechanism includes a drive motor 9 provided on a bracket and a transmission shaft 10 connected to the main shaft of the drive motor 9, wherein the transmission shaft 10 is rotatably connected to the bracket, and one end of the transmission shaft 10 is connected to the main shaft of the drive motor 9, and the other end is connected to the rocker 13 via a worm gear transmission mechanism 14; the lower end of the rocker 13 is rotatably connected to the bracket via a rotating shaft 20, and the upper end is connected to the central axis of the auxiliary roller 6; the rotating shaft 20 is connected to the rack 11 via a gear set;

[0054] In this embodiment, the gear set includes a first gear 15, a second gear 16, a third gear 17 and a fourth gear 18, wherein the first gear 15 is mounted on the rotating shaft 20; the second gear 16 is mounted on the body 1; the third gear 17 is mounted on the body 1; the fourth gear 18 is coaxially arranged with the third gear 17; the first gear 15 is meshed with the second gear 16, the second gear 16 is meshed with the third gear 17, and the fourth gear 18 is meshed with the rack 11; wherein the fourth gear 18 is an incomplete gear.

[0055] Through the above configuration, the roller brush assembly can be switched between a crawler-type circular state and a partial square state, specifically:

[0056] When the roller brush assembly is transformed into a partial square state, the driving motor 9 first drives the transmission shaft 10 to rotate, thereby driving the worm gear transmission mechanism 14 to work, thereby driving the rotating shaft 20 and the first gear 15 provided on the rotating shaft 20 to rotate clockwise; because the first gear 15 is meshed with the second gear 16, the second gear 16 is meshed with the third gear 17, and the third gear 17 is meshed with the fourth gear 18, the fourth gear 18 also rotates clockwise at this time, thereby driving the rack 11 to move outward, and the rack 11 drives the corner cleaning roller 7 to move outward; as the rotating shaft 20 rotates, the rocker 13 will also swing accordingly, that is, driving the central axis of the auxiliary roller 6 to make a clockwise arc motion in the arc groove 19. After the corner cleaning roller and the auxiliary roller 6 reach the designated position, the roller brush assembly switches from the crawler circular state to the partial square state, so as to clean the corner;

[0057] When the roller brush is transformed into a crawler-type circular shape, the drive motor 9 reverses, and the drive motor 9 drives the transmission shaft 10 to rotate, thereby driving the worm gear transmission mechanism 14 to work, thereby driving the rotating shaft 20 and the first gear 15 arranged on the rotating shaft 20 to rotate counterclockwise. Since the first gear 15 is engaged with the second gear 16, the second gear 16 is engaged with the third gear 17, and the third gear 17 is engaged with the fourth gear 18, the fourth gear 18 also rotates counterclockwise at this time, thereby driving the rack 11 to move inward. The rack 11 drives the corner cleaning roller 7 to move inward under the action of the gear meshing transmission and the return spring 12; as the rotating shaft 20 rotates counterclockwise, the rocker 13 will also swing accordingly, that is, driving the central axis of the auxiliary roller 6 to make a counterclockwise arc motion in the arc groove 19. After the corner cleaning roller 7 and the auxiliary roller 6 reach the specified position, the roller brush assembly switches from the local square state to the crawler-type circular state.

[0058] In the above process, since the fourth gear 18 meshing with the rack 11 is an incomplete gear, that is, the teeth of the fourth gear 18 are not continuous, for example, no teeth are set in a certain area, when the fourth gear 18 rotates to the area, the rack 11 is separated from the fourth gear 18. Without the constraint of the fourth gear 18, the rack 11 can be quickly reset under the action of the reset spring 12.

[0059] See also Figures 1-17 A limiting structure is provided between the rack 11 and the body 1, and the limiting structure includes a limiting block provided on the rack 11 and a limiting groove provided in the body 1, wherein the limiting groove extends in a straight line; the limiting block is installed in the limiting groove; by providing the limiting structure, the movement of the rack 11 can be guided and limited.

[0060] See also Figures 1-17 The outer diameters of the active roller 5 and the auxiliary roller 6 are the same, and the outer diameter of the corner cleaning roller 7 is smaller than the outer diameters of the active roller 5 and the auxiliary roller 6.

[0061] See also Figures 1-17 The bracket is made of high-strength corrosion-resistant material, which makes it have good ductility and has a small thickness.

[0062] See also Figures 1-17 The body 1 is further provided with a cover plate 2, which is located above the front end of the body 1 and above the roller brush assembly; the distance sensor 3 and the image sensor 4 are provided on the cover plate 2.

[0063] See also Figures 1-17 The vertical height of the central axis of the auxiliary roller 6 remains unchanged before and after the counterclockwise arc motion in the arc groove 19, that is, the length of the cleaning cloth 8 remains unchanged during the switching of the roller brush assembly between the crawler-type circular state and the partial square state.

[0064] See also Figures 1-17 A photoelectric sensor for detecting the position of the corner cleaning roller 7 is also provided in the machine body 1 .

[0065] See also Figures 1-17 The control method of the cleaning device with mode switching function of the present invention comprises the following steps:

[0066] Before working, the roller brush assembly is in a crawler-type circular state; when the distance sensor 3 senses that there is a wall corner in front, the control device issues an instruction to prompt the roller brush assembly to switch from the crawler-type circular state to a partial square state to clean the wall corner; when the image sensor 4 detects that the stain cleaning effect on the wall corner reaches a first predetermined value, and the distance sensor 3 detects that the distance between the roller brush assembly and the wall is greater than or equal to a second preset value, the control device issues an instruction to prompt the roller brush assembly to switch from the partial square state to the crawler-type circular state.

[0067] In the above process, the steps of switching the roller brush assembly between the crawler-type circular state and the partial square state are:

[0068] When the roller brush assembly is transformed into a partial square state, the driving motor 9 first drives the transmission shaft 10 to rotate, thereby driving the worm gear transmission mechanism 14 to work, thereby driving the rotating shaft 20 and the first gear 15 provided on the rotating shaft 20 to rotate clockwise; because the first gear 15 is meshed with the second gear 16, the second gear 16 is meshed with the third gear 17, and the third gear 17 is meshed with the fourth gear 18, the fourth gear 18 also rotates clockwise at this time, thereby driving the rack 11 to move outward, and the rack 11 drives the corner cleaning roller 7 to move outward; as the rotating shaft 20 rotates, the rocker 13 will also swing accordingly, that is, driving the central axis of the auxiliary roller 6 to make a clockwise arc motion in the arc groove 19. After the corner cleaning roller and the auxiliary roller 6 reach the designated position, the roller brush assembly switches from the crawler circular state to the partial square state, so as to clean the corner;

[0069] When the roller brush is transformed into a crawler-type circular shape, the drive motor 9 reverses, and the drive motor 9 drives the transmission shaft 10 to rotate, thereby driving the worm gear transmission mechanism 14 to work, thereby driving the rotating shaft 20 and the first gear 15 arranged on the rotating shaft 20 to rotate counterclockwise. Since the first gear 15 is engaged with the second gear 16, the second gear 16 is engaged with the third gear 17, and the third gear 17 is engaged with the fourth gear 18, the fourth gear 18 also rotates counterclockwise at this time, thereby driving the rack 11 to move inward. The rack 11 drives the corner cleaning roller 7 to move inward under the action of the gear meshing transmission and the return spring 12; as the rotating shaft 20 rotates counterclockwise, the rocker 13 will also swing accordingly, that is, driving the central axis of the auxiliary roller 6 to make a counterclockwise arc motion in the arc groove 19. After the corner cleaning roller 7 and the auxiliary roller 6 reach the specified position, the roller brush assembly switches from the local square state to the crawler-type circular state.

[0070] Figure 14The figures show the cleaning effects of the roller brush assembly in a square state and the roller brush assembly in a partially square state when facing non-right-angled corners. It can be clearly seen that the cleaning effect of the partially square roller brush assembly is greatly improved when facing non-right-angled corners.

[0071] Example 2

[0072] The difference between this embodiment and embodiment 1 is that:

[0073] A magnetic coupling structure is provided between the drive motor 9 and the transmission shaft 10, and the magnetic coupling structure is used to realize power transmission between the main shaft of the drive motor 9 and the transmission shaft 10; when the roller brush assembly needs to switch between the crawler circular state and the partial square state, the magnetic coupling structure works to transmit the power of the drive motor 9 to the transmission shaft 10: when the switching is completed, the magnetic coupling structure stops working and cuts off the power transmission between the main shaft of the drive motor 9 and the transmission shaft 10.

[0074] The above is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited to the above content. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A cleaning device with a mode switching function, characterized in that: It includes a body, a roller brush device arranged in the body, a detection device and a control device, wherein: The roller brush device includes a bracket arranged in the body, a roller brush assembly arranged on the bracket, and a roller brush driving mechanism for driving the roller brush assembly to work, wherein the roller brush assembly includes an active roller, an auxiliary roller, a corner cleaning roller, and a cleaning cloth arranged on the bracket; the corner cleaning roller is located above or below the auxiliary roller; the cleaning cloth is wrapped around the active roller, the auxiliary roller, and the corner cleaning roller; the output end of the roller brush driving mechanism is connected to the active roller; The detection device includes a distance sensor and an image sensor provided on the body, wherein the distance sensor is used to detect obstacles in front of the roller brush device; the image sensor is used to detect the cleaning effect of the roller brush device; It also includes a position adjustment mechanism for adjusting the position of the corner cleaning roller. The position adjustment mechanism drives the corner cleaning roller to move, so as to cause the roller brush assembly to switch between a crawler-type circular state and a partial square state.

2. The cleaning device with mode switching function according to claim 1, characterized in that: The bracket is provided with an arc groove at the connection position with the auxiliary roller, and both sides of the central axis of the auxiliary roller extend into the corresponding arc grooves respectively.

3. The cleaning device with mode switching function according to claim 2, characterized in that: The position adjustment mechanism consists of two groups, which are respectively arranged on both sides of the corner cleaning roller. Each group of position adjustment mechanisms includes a rack and a position adjustment drive mechanism for driving the rack to move, wherein the rack is slidably connected to the machine body; the two ends of the corner cleaning roller are respectively rotatably connected to the racks in the two groups of position adjustment mechanisms; the position adjustment drive mechanism includes a driving motor arranged on a bracket and a transmission shaft connected to the main shaft of the driving motor, wherein the transmission shaft is rotatably connected to the bracket, and one end of the transmission shaft is connected to the main shaft of the driving motor, and the other end is connected to the rocker through a worm gear transmission mechanism; the lower end of the rocker is rotatably connected to the bracket through a rotating shaft, and the upper end is connected to the central axis of the auxiliary roller; the rotating shaft and the rack are connected through a gear set.

4. The cleaning device with mode switching function according to claim 3, characterized in that: The gear set includes a first gear, a second gear, a third gear and a fourth gear, wherein the first gear is mounted on the rotating shaft; the second gear is mounted on the machine body; the third gear is mounted on the machine body; the fourth gear is coaxially arranged with the third gear; the first gear is meshed with the second gear, the second gear is meshed with the third gear, and the fourth gear is meshed with the rack; wherein the fourth gear is an incomplete gear.

5. The cleaning device with mode switching function according to claim 4, characterized in that: A magnetic coupling structure is provided between the drive motor and the transmission shaft, and the magnetic coupling structure is used to realize power transmission between the main shaft of the drive motor and the transmission shaft.

6. The cleaning device with mode switching function according to claim 5, characterized in that: A return spring is further provided between the rack and the machine body, one end of the return spring is connected to the rack, and the other end is connected to the machine body.

7. The cleaning device with mode switching function according to claim 6, characterized in that: A limiting structure is provided between the rack and the body, and the limiting structure includes a limiting block provided on the rack and a limiting groove provided in the body, wherein the limiting groove extends in a straight line; the limiting block is installed in the limiting groove.

8. The cleaning device with mode switching function according to claim 7, characterized in that: A photoelectric sensor for detecting the position of the corner cleaning roller is also provided in the machine body.

9. The cleaning device with mode switching function according to claim 8, characterized in that: The active roller, the auxiliary roller and the corner cleaning roller are all provided with circumferentially arranged grooves, and the inner side of the cleaning cloth is provided with convex teeth that match the grooves.

10. A control method for the cleaning device with mode switching function according to any one of claims 1 to 9, characterized in that: The following steps are involved: Before working, the roller brush assembly is in a crawler-type circular state; When the distance sensor senses that there is a corner of the wall in front, the control device issues a command to prompt the roller brush assembly to switch from the crawler-type circular state to the partial square state to achieve cleaning of the wall surface; When the image sensor detects that the stain cleaning effect on the corner of the wall reaches a first predetermined value, and the distance sensor detects that the distance between the roller brush assembly and the wall is greater than or equal to a second preset value, the control device issues an instruction to prompt the roller brush assembly to switch from a local square state to a crawler circular state.

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