Cleaning mechanism, cleaning equipment and control method of cleaning equipment

Abstract

The invention relates to the technical field of cleaning equipment, and discloses a cleaning mechanism, cleaning equipment and a control method of the cleaning equipment, and the cleaning mechanism comprises a first rotating part, a second rotating part and a cleaning part; the cleaning mechanism further comprises a driving assembly used for driving the second rotating part to rotate from the first position to the second position around the axis of the first rotating part in the first direction. When the second rotating piece is located at the first position, the cleaning piece arranged on the first rotating piece in a sleeving mode and the cleaning piece arranged on the second rotating piece in a sleeving mode are both used for making contact with the ground. When the second rotating part is located at the second position, the cleaning part arranged on the first rotating part in a sleeving mode is used for making contact with the ground, and the cleaning part arranged on the second rotating part in a sleeving mode is used for being spaced from the ground. The cleaning mechanism, the cleaning equipment and the control method of the cleaning equipment are used for solving the problem that in the related technology, when encountering an obstacle, the cleaning mechanism is not prone to crossing the obstacle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, in particular to a cleaning mechanism, a cleaning equipment and a control method of the cleaning equipment. BACKGROUND

[0002] With the rapid development of science and technology, various types of cleaning equipment have emerged, such as sweeping robots and floor washing machines. These cleaning equipment greatly reduces the cleaning burden of people and allows more people to enjoy the convenience brought by technology.

[0003] In the related art, the cleaning equipment generally includes a cleaning mechanism. During use of the cleaning equipment, the cleaning mechanism rotates continuously to clean the dirty ground. However, when encountering an obstacle, the cleaning mechanism is not easy to pass over the obstacle, and manual lifting of the cleaning equipment is required, which is relatively inconvenient. SUMMARY

[0004] The present application provides a cleaning mechanism, a cleaning equipment and a control method of the cleaning equipment, which are used to improve the problem that the cleaning mechanism in the related art is not easy to pass over the obstacle when encountering the obstacle.

[0005] In a first aspect, the embodiments of the present application provide a cleaning mechanism for a cleaning equipment, the cleaning mechanism comprising a first rotating member, a second rotating member and a cleaning member, the first rotating member and the second rotating member being in transmission connection, the cleaning member being sleeved on the first rotating member and the second rotating member, the first rotating member and / or the second rotating member being configured to be in transmission connection with a power assembly; the cleaning mechanism further comprises a driving assembly configured to drive the second rotating member to rotate around an axis of the first rotating member from a first position to a second position in a first direction; wherein,

[0006] When the second rotating member is located at the first position, the second rotating member is located on one side of a forward direction of the first rotating member, and the cleaning member sleeved on the first rotating member and the cleaning member sleeved on the second rotating member are both configured to be in contact with the ground;

[0007] When the second rotating member is located at the second position, the second rotating member is located on the other side of the forward direction of the first rotating member, and the cleaning member sleeved on the first rotating member is configured to be in contact with the ground, and the cleaning member sleeved on the second rotating member is configured to be spaced apart from the ground.

[0008] In some embodiments, the driving assembly is further configured to drive the second rotating member to rotate around the axis of the first rotating member from the first position to a third position in a second direction, the second direction being opposite to the first direction; wherein, when the second rotating member is located at the third position, the second rotating member is located on the lower side of the first rotating member.

[0009] In some embodiments, the cleaning device comprises a structure, and a portion of the outer surface of the cleaning member is in slidable contact with the structure when the second rotating member is in the third position.

[0010] In some embodiments, the diameter of the second rotating member is smaller than the diameter of the first rotating member.

[0011] In some embodiments, the first rotating member and the second rotating member are drivingly connected through the cleaning member.

[0012] In some embodiments, the outer circumferential side of the first rotating member is provided with first driving teeth, the outer circumferential side of the second rotating member is provided with second driving teeth, and the cleaning member is provided with third driving teeth, the first driving teeth being engaged with a portion of the third driving teeth, and the second driving teeth being engaged with another portion of the third driving teeth.

[0013] In some embodiments, the outer circumferential side of the first rotating member is provided with first driving teeth, the first driving teeth and the first anti-skid teeth are sequentially arranged along the axial direction of the first rotating member, the outer circumferential side of the second rotating member is provided with second anti-skid teeth corresponding to the first anti-skid teeth, and the cleaning member is provided with third anti-skid teeth, the first anti-skid teeth being engaged with a portion of the third anti-skid teeth, and the second anti-skid teeth being engaged with another portion of the third anti-skid teeth.

[0014] In some embodiments, the cleaning mechanism comprises a connecting member, a first swing arm, and a second swing arm, the first rotating member is rotationally connected with the connecting member, the first swing arm is rotationally connected with the connecting member, the second rotating member is rotationally connected with the first swing arm, and the driving assembly is connected with the first swing arm.

[0015] In some embodiments, the driving assembly comprises a driving member, a winding member, and a traction member, the driving member is rotationally connected with the winding member, one end of the traction member is wound around the winding member, and the other end of the traction member is connected with the first swing arm and used to pull the first swing arm to rotate around the axis of the first rotating member in the first direction.

[0016] In some embodiments, the first swing arm is provided in at least two, and the two first swing arms are respectively located at the two ends of the first rotating member.

[0017] In some embodiments, the cleaning mechanism further comprises a second swing arm, the second swing arm is rotationally connected with the connecting member, the second rotating member is rotationally connected with the second swing arm, and the second swing arm is located between the two ends of the first rotating member.

[0018] In some embodiments, two connecting members are provided, and the two connecting members are respectively located at two ends of the first rotating member; and two first swing arms are provided, and the two first swing arms are respectively located at two ends of the first rotating member and are rotationally connected with the two connecting members respectively.

[0019] In a second aspect, the embodiments of the present application provide a cleaning device, which comprises a power assembly and a cleaning mechanism as described in the first aspect.

[0020] In a third aspect, the embodiments of the present application provide a control method of a cleaning device as described in the second aspect, which comprises:

[0021] obtaining an obstacle recognition result;

[0022] based on the obstacle recognition result, in a case where it is determined that there is an obstacle, controlling the driving assembly to drive the second rotating member to rotate around an axis of the first rotating member from the first position to the second position in the first direction.

[0023] In some embodiments, the obstacle recognition result is an artificial recognition result input by a user; or the cleaning device comprises an obstacle recognition device, and the obstacle recognition result is obtained by controlling the obstacle recognition device to recognize.

[0024] In some embodiments, the cleaning device further comprises a base provided with a cleaning tank for placing a cleaning liquid; and the control method of the cleaning device further comprises:

[0025] controlling the driving assembly to drive the second rotating member to rotate around the axis of the first rotating member from the first position to a third position in a second direction, and controlling the cleaning mechanism to enter the base, the second direction being opposite to the first direction, the second rotating member being located at a lower side of the first rotating member, the cleaning member sleeved on the second rotating member being located in the cleaning tank, and part of the cleaning member being in contact with the cleaning liquid.

[0026] In some embodiments, after the controlling the driving assembly to drive the second rotating member to rotate around the axis of the first rotating member from the first position to a third position in a second direction, and controlling the cleaning mechanism to enter the base, the control method of the cleaning device further comprises: controlling the driving assembly to drive the second rotating member to reciprocally swing around the axis of the first rotating member in the second direction and the first direction according to a preset angle, wherein, in the reciprocally swinging process of the second rotating member, the cleaning member sleeved on the second rotating member is always located in the cleaning tank, and part of the cleaning member is always in contact with the cleaning liquid.

[0027] In some embodiments, the control method of the cleaning device further comprises:

[0028] controlling the driving assembly to drive the second rotating member to rotate around the axis of the first rotating member from the first position to a third position in a second direction opposite to the first direction; wherein the cleaning device comprises a structural member, and when the second rotating member is at the third position, the outer surface of part of the cleaning member is in slidable contact with the structural member.

[0029] The cleaning mechanism provided by the embodiments of the present application has the beneficial effects that: when the second rotating member is at the first position, the second rotating member is located on one side of the advancing direction of the first rotating member, and the cleaning member sleeved on the first rotating member and the cleaning member sleeved on the second rotating member are both used to contact the ground, so that the ground can be cleaned, and when an obstacle is encountered, the driving assembly can be controlled to drive the second rotating member to rotate around the axis of the first rotating member from the first position to the second position in the first direction, and since the second rotating member is located on the other side of the advancing direction of the first rotating member at this time, the cleaning member sleeved on the first rotating member is used to contact the ground, and the cleaning member sleeved on the second rotating member is used to be spaced apart from the ground, so that the second rotating member and the first rotating member can pass through the obstacle in turn, and the operation is simple and convenient.

[0030] The cleaning device and the control method of the cleaning device provided by the present application have the beneficial effects compared with the prior art, which can be explained by referring to the beneficial effects of the cleaning mechanism provided by the present application, and will not be described here. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0032] Figure 1 is a structural schematic diagram of a cleaning device in one of the embodiments of the present application;

[0033] Figure 2 is Figure 1 a structural schematic diagram of a cleaning mechanism in the cleaning device shown in FIG. 1;

[0034] Figure 3 is Figure 2 an exploded structural diagram of the cleaning mechanism shown in FIG. 2;

[0035] Figure 4 is Figure 1 a flowchart of a control method of the cleaning device shown in FIG. 3;

[0036] Figure 5 yes Figure 1 The right view of the cleaning equipment shown (the second rotating component is in the first position);

[0037] Figure 6 yes Figure 5 A schematic diagram of the structure of the first rotating component, the second rotating component, and the cleaning component of the cleaning mechanism in the cleaning equipment shown;

[0038] Figure 7 yes Figure 1 The right view of the cleaning equipment shown (the second rotating component is in the second position);

[0039] Figure 8 yes Figure 7 A schematic diagram of the structure of the first rotating component, the second rotating component, and the cleaning component of the cleaning mechanism in the cleaning equipment shown;

[0040] Figure 9 yes Figure 1 The right view of the cleaning equipment shown (the second rotating component is in the third position);

[0041] Figure 10 yes Figure 9 A schematic diagram of the structure of the first rotating component, the second rotating component, and the cleaning component of the cleaning mechanism in the cleaning equipment shown;

[0042] Figure 11 yes Figure 9 The diagram shows the structure of the first rotating component, the second rotating component, and the cleaning component of the cleaning mechanism in the cleaning equipment, and the base of the cleaning equipment.

[0043] Figure 12 yes Figure 11 The diagram shows the second rotating member rotating by a first angle in a first direction around the axis of the first rotating member.

[0044] Figure 13 yes Figure 11 The diagram shows the second rotating component rotating by a second angle about the axis of the first rotating component along a first direction.

[0045] Figure 14 This is an exploded structural diagram of the cleaning mechanism in one embodiment of this application;

[0046] Figure 15 yes Figure 14 A magnified view of a portion of point A in the middle.

[0047] The markings in the diagram mean:

[0048] 00. Ground; 01. Obstacle;

[0049] 1000、cleaning device;

[0050] 100、cleaning mechanism;

[0051] 10、first rotating member; 11、first transmission tooth; 12、first anti-skid tooth; 20、second rotating member; 21、second transmission tooth; 22、second anti-skid tooth; 30、cleaning member; 40、driving assembly; 41、driving member; 42、winding member; 43、pulling member; 44、transmission member; 50、connecting member; 60、first swing arm; 601、second swing arm; 61、avoiding hole; 62、through hole;

[0052] 200、scraping strip;

[0053] 300、housing;

[0054] 400、base;

[0055] 410、cleaning groove; 420、cleaning liquid;

[0056] 500、moving wheel. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0058] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0059] In addition, the terms "first", "second" are only used for descriptive purposes and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0060] Reference within the specification of this application to "one embodiment," "some embodiments," or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in additional embodiments," and so on, in various places in the specification are not necessarily all referring to the same embodiment, unless otherwise specifically specified. Furthermore, the particular features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0061] In order to illustrate the technical solutions of the present application, the following will be described in conjunction with specific drawings and embodiments.

[0062] With the rapid development of science and technology, various cleaning devices have emerged, such as sweeping robots and floor washing machines. These cleaning devices greatly reduce the cleaning burden of people and allow more people to enjoy the convenience brought by technology.

[0063] In the related art, a cleaning device generally includes a cleaning mechanism. During use of the cleaning device, the cleaning mechanism continuously rotates to clean a dirty floor. However, when an obstacle is encountered, the cleaning mechanism is not easy to pass over the obstacle, and manual lifting of the cleaning device is required, which is relatively inconvenient.

[0064] The present application provides a cleaning mechanism, a cleaning device, and a control method of the cleaning device. The cleaning mechanism includes a first rotating member, a second rotating member, and a cleaning member. The first rotating member and the second rotating member are in transmission connection. The cleaning member is sleeved on the first rotating member and the second rotating member. The first rotating member and / or the second rotating member is used for transmission connection with a power assembly. The cleaning mechanism further includes a driving assembly. The driving assembly is used for driving the second rotating member to rotate around an axis of the first rotating member in a first direction from a first position to a second position. When the second rotating member is located at the first position, the second rotating member is located on one side of a forward direction of the first rotating member. The cleaning member sleeved on the first rotating member and the cleaning member sleeved on the second rotating member are both used for contacting the ground. When the second rotating member is located at the second position, the second rotating member is located on the other side of the forward direction of the first rotating member. The cleaning member sleeved on the first rotating member is used for contacting the ground, and the cleaning member sleeved on the second rotating member is used for being spaced apart from the ground.

[0065] When the second rotating member is located at the first position, the second rotating member is located on one side of the advancing direction of the first rotating member, and the cleaning member sleeved on the first rotating member and the cleaning member sleeved on the second rotating member are both used to contact the ground, so that the ground can be cleaned, and when an obstacle is encountered, the driving assembly can be controlled to drive the second rotating member to rotate around the axis of the first rotating member in the first direction from the first position to the second position. Since the second rotating member is located on one side of the advancing direction of the first rotating member at this time, the cleaning member sleeved on the first rotating member is used to contact the ground, and the cleaning member sleeved on the second rotating member is used to be spaced apart from the ground, so that the second rotating member and the first rotating member can pass the obstacle in turn, and the operation is simple and convenient.

[0066] Please refer to Figure 1 、 Figure 2 and Figure 3 , Figure 1 is a structural schematic diagram of a cleaning device 1000 in an embodiment of the present application, Figure 2 is a structural schematic diagram of a cleaning mechanism 100 in the cleaning device 1000 shown in Figure 1 , Figure 3 is an exploded view of the cleaning mechanism 100 shown in Figure 2 .

[0067] In a first aspect, an embodiment of the present application provides a cleaning mechanism 100 for a cleaning device 1000.

[0068] The cleaning device 1000 can be a scrubber or a sweeping robot.

[0069] The cleaning mechanism 100 includes a first rotating member 10, a second rotating member 20, and a cleaning member 30. The first rotating member 10 and the second rotating member 20 are in transmission connection, the cleaning member 30 is sleeved on the first rotating member 10 and the second rotating member 20, and the first rotating member 10 and / or the second rotating member 20 are used to be in transmission connection with a power assembly.

[0070] The first rotating member 10 and the second rotating member 20 can be provided as a roller or a rolling wheel, etc. The cleaning member 30 can be provided as a mop, a rubber sleeve, or a silica gel sleeve, etc.

[0071] The first rotating member 10 and the second rotating member 20 can be in transmission connection through a gear or a conveyor belt, etc., or the first rotating member 10 and the second rotating member 20 are directly in transmission connection through the cleaning member 30. The first rotating member 10 is in rotating connection with the power assembly, or the second rotating member 20 is in rotating connection with the power assembly, or the first rotating member 10 and the second rotating member 20 are both in rotating connection with the power assembly. The power assembly can include a motor or a rotary air cylinder, etc., and the first rotating member 10 and / or the second rotating member 20 can be sleeved on the power assembly.

[0072] The power assembly is configured to drive the first rotating member 10 to rotate around the axis O of the first rotating member 10 and to drive the second rotating member 20 to rotate around the axis of the second rotating member 20, so that the first rotating member 10 and the second rotating member 20 drive the cleaning member 30 to rotate.

[0073] Please refer to Figures 4 to 8 , Figure 4 is Figure 1 the flow chart of the control method of the cleaning device 1000, Figure 5 is Figure 1 the right view of the cleaning device 1000 (the second rotating member 20 is located at the first position), Figure 6 is Figure 5 the structural schematic view of the first rotating member 10, the second rotating member 20 and the cleaning member 30 of the cleaning mechanism 100 in the cleaning device 1000, Figure 7 is Figure 1 the right view of the cleaning device 1000 (the second rotating member 20 is located at the second position), Figure 8 is Figure 7 the structural schematic view of the first rotating member 10, the second rotating member 20 and the cleaning member 30 of the cleaning mechanism 100 in the cleaning device 1000.

[0074] The cleaning mechanism 100 further comprises a driving assembly 40, which is configured to drive the second rotating member 20 to rotate around the axis O of the first rotating member 10 from the first position to the second position in a first direction. The first direction can be indicated by the arrow M in the figure.

[0075] The driving assembly 40 can comprise a motor or a rotary cylinder, etc. For example, the driving assembly 40 comprises a motor, the output shaft of the motor is connected with a crank, and the second rotating member 20 is rotationally connected with the crank. Alternatively, the driving assembly 40 comprises a rotary cylinder, and the second rotating member 20 is rotationally connected with the rotor of the rotary cylinder.

[0076] It can be understood that the driving assembly 40 can also be configured to drive the second rotating member 20 to rotate around the axis O of the first rotating member 10 from the second position to the first position in a second direction. The second direction is opposite to the first direction, and the second direction can be indicated by the arrow N in the figure.

[0077] When the second rotating member 20 is located at the first position, the second rotating member 20 is located on one side of the advancing direction of the first rotating member 10, and the cleaning member 30 sleeved on the first rotating member 10 and the cleaning member 30 sleeved on the second rotating member 20 are both configured to contact the ground 00.

[0078] The advancing direction of the first rotating member 10 can be the direction away from the user of the cleaning device 1000, which is indicated by the arrow F in the figure.

[0079] It should be noted that when the first rotating member 10 and the second rotating member 20 drive the cleaning member 30 to rotate, the cleaning member 30 is in contact with the ground 00, thereby driving the first rotating member 10 and the second rotating member 20 to jointly advance.

[0080] For example, the first rotating member 10 and the second rotating member 20 drive the cleaning member 30 to rotate in the direction indicated by the arrow D in the figure, at this time, the first rotating member 10 and the second rotating member 20 are both counterclockwise around their own axes, and the cleaning member 30 is in contact with the ground 00, thereby driving the first rotating member 10 and the second rotating member 20 to jointly move in the direction indicated by the arrow F.

[0081] It can be understood that since the second rotating member 20 is located at the first position, the cleaning member 30 sleeved on the first rotating member 10 and the cleaning member 30 sleeved on the second rotating member 20 are both used to contact the ground 00, and the contact area of the cleaning member 30 with the ground 00 is large, so the ground 00 can be deeply cleaned, and at this time, the cleaning member 30 between the first rotating member 10 and the second rotating member 20 can be in close contact with the ground 00.

[0082] When the second rotating member 20 is located at the second position, the second rotating member 20 is located on the other side of the advancing direction of the first rotating member 10, and the cleaning member 30 sleeved on the first rotating member 10 is used to contact the ground 00, and the cleaning member 30 sleeved on the second rotating member 20 is used to be spaced apart from the ground 00.

[0083] When encountering an obstacle 01 on the ground 00 (such as a step or other objects on the ground 00), since the cleaning member 30 sleeved on the second rotating member 20 is spaced apart from the ground 00, it has a certain lifting distance before contacting the obstacle 01, so that the second rotating member 20 can easily cross the obstacle 01 on the ground 00, and at the same time, due to the linkage relationship between the first rotating member 10 and the second rotating member 20, the obstacle crossing difficulty of the first rotating member 10 is also indirectly reduced, so that the first rotating member 10 easily crosses the obstacle 01, thereby making the obstacle crossing process of the cleaning mechanism 100 simple and convenient, and only the cleaning member 30 sleeved on the first rotating member 10 is used to contact the ground 00, and the rotating resistance of the cleaning member 30 and the first rotating member 10 is also small, thereby facilitating the advancement of the entire cleaning mechanism 100.

[0084] From the above, the cleaning mechanism 100 provided by the embodiment of the present application, when the second rotating member 20 is located at the first position, the second rotating member 20 is located at one side of the advancing direction of the first rotating member 10, and the cleaning member 30 sleeved on the first rotating member 10 and the cleaning member 30 sleeved on the second rotating member 20 are both used to contact the ground 00, so that the ground 00 can be cleaned, and when encountering the obstacle 01, the driving assembly 40 can be controlled to drive the second rotating member 20 to rotate around the axis O of the first rotating member 10 from the first position to the second position in the first direction, since the second rotating member 20 is located at the other side of the advancing direction of the first rotating member 10 at this time, and the cleaning member 30 sleeved on the first rotating member 10 is used to contact the ground 00, and the cleaning member 30 sleeved on the second rotating member 20 is used to be spaced apart from the ground 00, so that the second rotating member 20 and the first rotating member 10 can pass through the obstacle 01 in turn, which is simple and convenient to operate.

[0085] Please refer to Figure 1 、 Figures 9 to 13 , Figure 9 is Figure 1 the right view of the cleaning equipment 1000 (the second rotating member 20 is located at the third position) shown in FIG. 1, Figure 10 is Figure 9 the structural schematic view of the first rotating member 10, the second rotating member 20 and the cleaning member 30 of the cleaning mechanism 100 in the cleaning equipment 1000 shown in FIG. 1, Figure 11 is Figure 9 the structural schematic view of the first rotating member 10, the second rotating member 20 and the cleaning member 30 of the cleaning mechanism 100 in the cleaning equipment 1000 and the base 400 in the cleaning equipment 1000 shown in FIG. 1, Figure 12 is Figure 11 the schematic view of the second rotating member 20 rotating around the axis O of the first rotating member 10 in the first direction by a first angle shown in FIG. 1, Figure 13 is Figure 11 the schematic view of the second rotating member 20 rotating around the axis O of the first rotating member 10 in the first direction by a second angle shown in FIG. 1.

[0086] In some embodiments, the driving assembly 40 is further used to drive the second rotating member 20 to rotate around the axis O of the first rotating member 10 from the first position to the third position in the second direction, the second direction is opposite to the first direction, the first direction can be indicated by the arrow M, and the second direction can be indicated by the arrow N in the figure; wherein, when the second rotating member 20 is located at the third position, the second rotating member 20 is located at the lower side of the first rotating member 10.

[0087] By adopting the above scheme, when the cleaning mechanism 100 enters the base 400, the contact area of the cleaning liquid 420 in the cleaning groove 410 on the base 400 with the cleaning element 30 sleeved on the second rotating element 20 can be increased, and the cleaning effect of the cleaning element 30 can be improved.

[0088] Optionally, the cleaning device 1000 comprises a structural element, and when the second rotating element 20 is located at the third position, part of the outer surface of the cleaning element 30 is in slidable contact with the structural element.

[0089] In this way, the structural element can be cleaned by the outer surface of the cleaning element 30, and self-cleaning to a certain extent can be achieved.

[0090] The structural element can be a scraping strip 200 or a shell 300.

[0091] In one embodiment, the cleaning device 1000 comprises a scraping strip 200, and when the second rotating element 20 is located at the third position, part of the outer surface of the cleaning element 30 is in slidable contact with the scraping strip 200.

[0092] In this way, the scraping strip 200 can be cleaned by the outer surface of the cleaning element 30.

[0093] It can be understood that part of the outer surface of the cleaning element 30 is in slidable contact with the scraping strip 200.

[0094] In one embodiment, the cleaning device 1000 comprises a shell 300, and when the second rotating element 20 is located at the third position, part of the outer surface of the cleaning element 30 is in slidable contact with the shell 300.

[0095] In this way, the shell 300 can be cleaned by the outer surface of the cleaning element 30.

[0096] It can be understood that part of the outer surface of the cleaning element 30 is in slidable contact with the scraping strip 200. The cleaning device 1000 can simultaneously comprise a scraping strip 200 and a shell 300, and when the second rotating element 20 is located at the third position, the scraping strip 200 and the shell 300 are both in slidable contact with the outer surface of the cleaning element 30.

[0097] Please refer to Figure 1 , Figure 2 and Figure 3 In some embodiments, the diameter of the second rotating element 20 is smaller than the diameter of the first rotating element 10.

[0098] By adopting the above scheme, when the second rotating element 20 is located at the first position, the second rotating element 20 can be inserted into a relatively narrow part such as a corner of a wall, so that the cleaning element 30 sleeved on the second rotating element 20 can clean these narrow parts, and the problem that there is a large dead angle that cannot be reached when cleaning the corner of the wall can be avoided.

[0099] Please refer to Figure 14 and Figure 15 In some embodiments, the first rotating member 10 and the second rotating member 20 are drivingly connected through the cleaning member 30.

[0100] By using the above scheme, the ground 00 can be cleaned by the cleaning member 30, and the driving connection of the first rotating member 10 and the second rotating member 20 can be achieved by the cleaning member 30, so that the structure of the cleaning mechanism 100 can be more compact.

[0101] For example, the power assembly is drivingly connected with the first rotating member 10, the first rotating member 10 provides rotary power for the second rotating member 20, and when the first rotating member 10 rotates around its own axis O, the second rotating member 20 is passively rotated under the driving of the cleaning member 30.

[0102] As one way that can be implemented, the outer circumferential side of the first rotating member 10 is provided with first transmission teeth 11, the outer circumferential side of the second rotating member 20 is provided with second transmission teeth 21, and the cleaning member 30 is provided with third transmission teeth, the first transmission teeth 11 are engaged with a part of the third transmission teeth, and the second transmission teeth 21 are engaged with another part of the third transmission teeth.

[0103] In this way, the driving connection of the first rotating member 10 and the second rotating member 20 can be more conveniently achieved through the cleaning member 30, and the structures of the first rotating member 10, the second rotating member 20 and the cleaning member 30 are relatively simple.

[0104] Alternatively, the outer circumferential side of the first rotating member 10 is provided with first anti-skid teeth 12, the first anti-skid teeth 12 and the first transmission teeth 11 are sequentially arranged along the axis O direction of the first rotating member 10, the outer circumferential side of the second rotating member 20 is provided with second anti-skid teeth 22 corresponding to the first anti-skid teeth 12, and the cleaning member 30 is provided with third anti-skid teeth, the first anti-skid teeth 12 are engaged with a part of the third anti-skid teeth, and the second anti-skid teeth 22 are engaged with another part of the third anti-skid teeth.

[0105] In this way, the driving connection of the first rotating member 10 and the second rotating member 20 can be achieved through the cleaning member 30, and the cleaning member 30 can also be prevented from sliding relative to the first rotating member 10 and the second rotating member 20 to avoid the phenomenon of skidding and strengthen the reliability of transmission.

[0106] It can be understood that the first anti-skid teeth 12 and the first transmission teeth 11 are sequentially arranged along the axis O direction of the first rotating member 10, which can make the first transmission teeth 11 only occupy a part of the structure of the first rotating member 10, thereby facilitating the avoidance of other components.

[0107] Please continue to refer to Figure 14 and Figure 15In some embodiments, the cleaning mechanism 100 comprises a connecting member 50, a first swing arm 60, a first rotating member 10 rotatably connected to the connecting member 50, the first swing arm 60 rotatably connected to the connecting member 50, and a second rotating member 20 rotatably connected to the first swing arm 60. The driving assembly 40 is connected to the first swing arm 60.

[0108] By using the above scheme, the driving assembly 40 can drive the second rotating member 20 and the first swing arm 60 to rotate together around the axis O of the first rotating member 10, and make the second rotating member 20 rotate from the first position to the second position in the first direction.

[0109] For example, the driving assembly 40 comprises a motor, a gear and a rack. The motor is drivingly connected to the rack. The first swing arm 60 is fixedly connected to the gear. The gear is coaxially arranged with the first rotating member 10. The gear and the rack are engaged.

[0110] It should be noted that the first rotating member 10 can rotate relative to the connecting member 50. The first swing arm 60 can rotate relative to the connecting member 50. The second rotating member 20 can rotate relative to the first swing arm 60. The first swing arm 60 can be provided with an avoiding hole 61. The first rotating member 10 can be rotatably arranged in the avoiding hole 61, so that the structure is more compact.

[0111] It should be further noted that the first rotating member 10 and the second rotating member 20 can be provided with limiting structures, such as limiting blocks or limiting grooves. When the second rotating member 20 rotates around the axis O of the first rotating member 10 from the first position to the second position in the first direction, the limiting structure on the first rotating member 10 cooperates with the limiting structure on the second rotating member 20 to limit the second rotating member 20 from continuing to rotate in the first direction around the axis O of the first rotating member 10. When the second rotating member 20 rotates around the axis O of the first rotating member 10 from the second position to the first position in the second direction, the limiting structure on the first rotating member 10 cooperates with the limiting structure on the second rotating member 20 to limit the second rotating member 20 from continuing to rotate in the second direction around the axis O of the first rotating member 10. In other embodiments, the limiting structure can also not be provided.

[0112] As one way that can be implemented, the driving assembly 40 comprises a driving member 41, a winding member 42 and a traction member 43. The driving member 41 is rotatably connected to the winding member 42. One end of the traction member 43 is wound on the winding member 42. The other end of the traction member 43 is connected to the first swing arm 60 and used to drive the first swing arm 60 to rotate around the axis O of the first rotating member 10 in the first direction.

[0113] By using the above scheme, the space occupied by the traction member 43 can be smaller, so that other components can be conveniently arranged, and the structure of the cleaning mechanism 100 is more compact.

[0114] The driving member 41 can include a motor or a rotary cylinder, and the winding member 42 can be a winding wheel or a winch. The driving member 41 and the winding member 42 are rotationally connected through a transmission member 44 such as a gear.

[0115] It can be understood that the winding member 42 is arranged inside the connecting member 50 and can move inside the connecting member 50. When it is needed to rotate the second rotating member 20 around the axis O of the first rotating member 10 from the first position to the second position in the first direction, the driving member 41 is controlled to drive the winding member 42 to rotate and continuously wind the traction member 43, so that the end of the traction member 43 away from the winding member 42 pulls the first swing arm 60 to rotate around the axis O of the first rotating member 10 in the first direction. When it is needed to rotate the second rotating member 20 around the axis O of the first rotating member 10 from the second position to the first position in the second direction, the driving member 41 is controlled to drive the winding member 42 to rotate and continuously release the traction member 43, so that the end of the traction member 43 away from the winding member 42 releases the first swing arm 60, and the first swing arm 60 rotates around the axis O of the first rotating member 10 in the second direction under the action of gravity or the traction force of the cleaning member 30.

[0116] It should be noted that when the second rotating member 20 is located at the first position, the second position and the third position, the traction force of the cleaning member 30 and the traction force of the traction member 43 can be balanced to keep the second rotating member 20 at a certain position.

[0117] Optionally, the first swing arm 60 is provided in at least two, and the two first swing arms 60 are respectively located at two ends of the first rotating member 10.

[0118] In this way, the relative position of the first rotating member 10 and the second rotating member 20 can be better limited by the first swing arm 60, and the second rotating member 20 can be prevented from being skewed relative to its own axis.

[0119] Optionally, the cleaning mechanism 100 further comprises a second swing arm 601, the second swing arm 601 is rotationally connected with the connecting member 50, the second rotating member 20 is rotationally connected with the second swing arm 601, and the second swing arm 601 is located between the two ends of the first rotating member 10.

[0120] In this way, the relative position of the part between the two ends of the first rotating member 10 and the part between the two ends of the second rotating member 20 can be better limited by the first swing arm 60 and the second swing arm 601, and the second rotating member 20 can be prevented from being bent.

[0121] As an implementable mode, two connecting pieces 50 are arranged, and the two connecting pieces 50 are respectively located at two ends of the first rotating piece 10; two first swing arms 60 are arranged, and the two first swing arms 60 are respectively located at two ends of the first rotating piece 10 and are respectively rotationally connected with the two connecting pieces 50; and the second swing arm 601 is located between the two ends of the first rotating piece 10.

[0122] By adopting the above scheme, the driving assembly 40 can be controlled to drive the second rotating piece 20 and the first swing arm 60 to rotate around the axis O of the first rotating piece 10 together, and the second rotating piece 20 can be rotated from the first position to the second position in the first direction, and the relative positions of the part between the two ends of the first rotating piece 10 and the part between the two ends of the second rotating piece 20 can be better defined by the first swing arm 60 and the second swing arm 601, so that the second rotating piece 20 is prevented from being bent.

[0123] It should be noted that the two first swing arms 60 can be respectively rotationally connected with the two connecting pieces 50 through bearings or the like, the first swing arm 60 can be provided with an avoidance hole 61, the first rotating piece 10 can be rotationally arranged in the avoidance hole 61, the second swing arm 601 can be provided with a through hole 62, and the second rotating piece 20 can be rotationally arranged in the through hole 62, so that the structure is more compact and convenient to connect.

[0124] Please refer to Figures 1 to 15 , in a second aspect, the embodiments of the present application provide a cleaning device 1000, the cleaning device 1000 comprises a power assembly and a cleaning mechanism 100 as in the first aspect.

[0125] The cleaning device 1000 provided by the embodiments of the present application is used for cleaning the ground 00 when the second rotating piece 20 is located at the first position, the second rotating piece 20 is located on one side of the first rotating piece 10 in the advancing direction, and the cleaning piece 30 sleeved on the first rotating piece 10 and the cleaning piece 30 sleeved on the second rotating piece 20 are used for being in contact with the ground 00, so that the ground 00 can be cleaned, and when the obstacle 01 is encountered, the driving assembly 40 can be controlled to drive the second rotating piece 20 to rotate from the first position to the second position around the axis O of the first rotating piece 10 in the first direction, and since the second rotating piece 20 is located on the other side of the first rotating piece 10 in the advancing direction at this time, the cleaning piece 30 sleeved on the first rotating piece 10 is used for being in contact with the ground 00, and the cleaning piece 30 sleeved on the second rotating piece 20 is used for being spaced apart from the ground 00, so that the second rotating piece 20 and the first rotating piece 10 can be made to pass through the obstacle 01 in turn, and the operation is simple and convenient.

[0126] It should be noted that the cleaning device 1000 provided by the embodiments of the present application can further include a shell 300, a moving wheel 500, and a controller, etc. The power assembly and the controller are both arranged inside the shell 300, the moving wheel 500 is rotationally connected with the shell 300, and the first rotating member 10 and / or the second rotating member 20 are used to be drivingly connected with the power assembly. For example, the power assembly includes a motor, the first rotating member 10 is sleeved on the motor, and the first rotating member 10 is simple to disassemble and assemble, and can be interchanged with the existing cleaning mechanism 100 which is only provided with the first rotating member 10, and has good compatibility.

[0127] For reference Figures 1 to 15 In a third aspect, the embodiments of the present application provide a control method of the cleaning device 1000 according to the second aspect, including:

[0128] S100: obtaining an obstacle identification result.

[0129] The obstacle identification result can be an artificial identification result input by a user, such as an artificial visual identification result, or the cleaning device 1000 includes an obstacle identification device, and the obstacle identification result is obtained by controlling the obstacle identification device to identify, and the obstacle identification device can include an infrared sensor, a laser radar, or a visual sensor, etc. The obstacle identification result can also be obtained by other means.

[0130] S200: based on the obstacle identification result, in a case where it is determined that the obstacle 01 exists, controlling the driving assembly 40 to drive the second rotating member 20 to rotate around the axis O of the first rotating member 10 from the first position to the second position in the first direction.

[0131] The driving assembly 40 can be controlled by manually triggering a physical button or a virtual button, or a controller such as a microprocessor or an embedded chip is arranged to automatically control the driving assembly 40 based on the obstacle identification result.

[0132] For example, the cleaning device 1000 includes an obstacle identification device, and the obstacle identification result is obtained by controlling the obstacle identification device to identify, and the obstacle identification result and the driving assembly 40 are both electrically connected with the controller. In a case where it is determined that the obstacle 01 exists, the obstacle identification device transmits a signal to the controller, and the controller controls the driving assembly 40 to drive the second rotating member 20 to rotate around the axis O of the first rotating member 10 from the first position to the second position in the first direction.

[0133] The control method of the cleaning device 1000 provided in the embodiments of the present application can control the driving assembly 40 to drive the second rotating part 20 to rotate around the axis O of the first rotating part 10 from the first position to the second position in the first direction when it is determined that the obstacle 01 exists based on the obstacle recognition result. Since the second rotating part 20 is located on the side of the first rotating part 10 in the advancing direction at this time, and the cleaning part 30 sleeved on the first rotating part 10 is used to contact the ground 00, and the cleaning part 30 sleeved on the second rotating part 20 is used to be spaced apart from the ground 00, the second rotating part 20 and the first rotating part 10 can be made to pass through the obstacle 01 in turn, and the operation is simple and convenient.

[0134] It can be understood that the control method of the cleaning device 1000 provided in the embodiments of the present application can also control the driving assembly 40 to drive the second rotating part 20 to rotate around the axis O of the first rotating part 10 from the second position to the first position in the second direction.

[0135] Optionally, the obstacle recognition result is an artificial recognition result input by a user, or the cleaning device 1000 comprises an obstacle recognition device, and the obstacle recognition result is obtained by controlling the obstacle recognition device to recognize.

[0136] In this way, the obstacle recognition result can be obtained more conveniently.

[0137] For reference Figures 11 to 13 In some embodiments, the cleaning device 1000 further comprises a base 400 provided with a cleaning groove 410 in which a cleaning liquid 420 is placed; and the control method of the cleaning device 1000 further comprises:

[0138] controlling the driving assembly 40 to drive the second rotating part 20 to rotate around the axis O of the first rotating part 10 from the first position to the third position in the second direction, and controlling the cleaning mechanism 100 to enter the base 400, the second direction being opposite to the first direction, the second rotating part 20 being located on the lower side of the first rotating part 10, the cleaning part 30 sleeved on the second rotating part 20 being located in the cleaning groove 410, and part of the cleaning part 30 contacting the cleaning liquid 420.

[0139] By using the above scheme, when the cleaning mechanism 100 enters the base 400, the contact area of the cleaning part 30 sleeved on the second rotating part 20 and the cleaning liquid 420 in the cleaning groove 410 can be increased, and the cleaning effect of the cleaning part 30 can be improved.

[0140] The cleaning liquid 420 can be water, a cleaning agent, alcohol or the like. When the cleaning mechanism 100 enters the base 400, the cleaning mechanism 100 and the power assembly can be controlled to enter the base 400 together.

[0141] It should be noted that the driving assembly 40 can be controlled to drive the second rotating member 20 to rotate around the axis O of the first rotating member 10 from the first position to the third position in the second direction, and then the cleaning mechanism 100 can be controlled to enter the base 400, or the cleaning mechanism 100 can be controlled to enter the base 400, and then the driving assembly 40 can be controlled to drive the second rotating member 20 to rotate around the axis O of the first rotating member 10 from the first position to the third position in the second direction. The driving assembly 40 can be controlled to drive the second rotating member 20 to rotate around the axis O of the first rotating member 10 from the first position to the third position in the second direction and the cleaning mechanism 100 can be controlled to enter the base 400, which can be manually controlled or automatically controlled by a controller.

[0142] Optionally, after the driving assembly 40 is controlled to drive the second rotating member 20 to rotate around the axis O of the first rotating member 10 from the first position to the third position in the second direction and the cleaning mechanism 100 is controlled to enter the base 400, the control method of the cleaning device 1000 further includes: controlling the driving assembly 40 to drive the second rotating member 20 to reciprocate around the axis O of the first rotating member 10 in the second direction and the first direction according to a preset angle, wherein during the reciprocation of the second rotating member 20, the cleaning member 30 sleeved on the second rotating member 20 is always located in the cleaning groove 410, and part of the cleaning member 30 is always in contact with the cleaning liquid 420.

[0143] In this way, the cleaning member 30 sleeved on the second rotating member 20 can reciprocate in the cleaning liquid 420 in the cleaning groove 410, thereby improving the cleaning effect of the cleaning member 30.

[0144] It should be noted that during the reciprocation of the second rotating member 20, the first rotating member 10 and the second rotating member 20 can rotate around their own axes to drive the cleaning member 30 to rotate, so that different parts of the cleaning member 30 are in contact with the cleaning liquid 420.

[0145] It can be understood that the driving assembly 40 is controlled to drive the second rotating member 20 to reciprocate around the axis O of the first rotating member 10 in the second direction and the first direction according to a preset angle, that is, the driving assembly 40 is controlled to drive the second rotating member 20 to rotate in the second direction around the axis O of the first rotating member 10 by a preset angle, then the driving assembly 40 is controlled to drive the second rotating member 20 to rotate in the first direction around the axis O of the first rotating member 10 by a preset angle, and then the driving assembly 40 is controlled to drive the second rotating member 20 to rotate in the second direction around the axis O of the first rotating member 10 by a preset angle, and so on. The preset angle can be any angle that allows the cleaning member 30 sleeved on the second rotating member 20 to be always located in the cleaning groove 410, such as 5 degrees, 10 degrees, or 15 degrees, etc.

[0146] For example, please refer toFigure 11 and Figure 12 The driving assembly 40 drives the second rotating member 20 to swing around the axis O of the first rotating member 10 by a preset angle in the second direction, and then drives the second rotating member 20 to swing around the axis O of the first rotating member 10 by a preset angle in the first direction. For the process of the second rotating member 20 swinging around the axis O of the first rotating member 10 by a preset angle in the first direction, the second rotating member 20 can be considered to first swing around the axis O of the first rotating member 10 by a first angle in the first direction, and then swing around the axis O of the first rotating member 10 by a second angle in the first direction. The preset angle is the sum of the first angle and the second angle.

[0147] Please refer to Figure 1 , Figure 9 and Figure 10 In some embodiments, the control method of the cleaning device 1000 further includes:

[0148] The driving assembly 40 drives the second rotating member 20 to rotate around the axis O of the first rotating member 10 from the first position to the third position in the second direction, and the second direction is opposite to the first direction. The cleaning device 1000 includes a structural member, and when the second rotating member 20 is in the third position, the outer surface of the part of the cleaning member 30 is in slidable contact with the structural member.

[0149] In this way, the structural member can be cleaned by the outer surface of the cleaning member 30.

[0150] The structural member can be a scraping strip 200 or a housing 300, etc.

[0151] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit it. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some technical features. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A cleaning mechanism, characterized by, The application discloses a cleaning mechanism for a cleaning device, which comprises a first rotating member, a second rotating member and a cleaning member, the first rotating member and the second rotating member are in transmission connection, the cleaning member is sleeved on the first rotating member and the second rotating member, and the first rotating member and / or the second rotating member are used for being in transmission connection with a power assembly; the cleaning mechanism further comprises a driving assembly, which is used for driving the second rotating member to rotate around the axis of the first rotating member from a first position to a second position in a first direction; wherein, when the second rotating member is located at the first position, the second rotating member is located on one side of the advancing direction of the first rotating member, and the cleaning member sleeved on the first rotating member and the cleaning member sleeved on the second rotating member are both used for being in contact with the ground; when the second rotating member is located at the second position, the second rotating member is located on the other side of the advancing direction of the first rotating member, and the cleaning member sleeved on the first rotating member is used for being in contact with the ground, and the cleaning member sleeved on the second rotating member is used for being spaced apart from the ground.

2. The cleaning mechanism of claim 1, wherein, The driving assembly is further used for driving the second rotating member to rotate around the axis of the first rotating member from the first position to a third position in a second direction, and the second direction is opposite to the first direction; wherein, when the second rotating member is located at the third position, the second rotating member is located on the lower side of the first rotating member.

3. The cleaning mechanism of claim 2, wherein, The cleaning device comprises a structural member, and when the second rotating member is located at the third position, part of the outer surface of the cleaning member is in slidable contact with the structural member.

4. The cleaning mechanism according to any one of claims 1 to 3, characterized in that The diameter of the second rotating member is smaller than the diameter of the first rotating member.

5. The cleaning mechanism according to any one of claims 1 to 4, wherein The first rotating member and the second rotating member are in transmission connection through the cleaning member.

6. The cleaning mechanism of claim 5, wherein, The outer circumferential side of the first rotating member is provided with first transmission teeth, the outer circumferential side of the second rotating member is provided with second transmission teeth, the cleaning member is provided with third transmission teeth, the first transmission teeth are in meshing connection with part of the third transmission teeth, and the second transmission teeth are in meshing connection with the other part of the third transmission teeth.

7. The cleaning mechanism of claim 6, wherein, The outer circumferential side of the first rotating member is provided with first anti-skid teeth, the first anti-skid teeth and the first transmission teeth are sequentially arranged along the axis direction of the first rotating member, the outer circumferential side of the second rotating member is provided with second anti-skid teeth corresponding to the first anti-skid teeth, the cleaning member is provided with third anti-skid teeth, the first anti-skid teeth are in meshing connection with part of the third anti-skid teeth, and the second anti-skid teeth are in meshing connection with the other part of the third anti-skid teeth.

8. The cleaning mechanism according to any one of claims 1 to 7, wherein The cleaning mechanism comprises a connecting member and a first swing arm, the first rotating member is in transmission connection with the connecting member, the first swing arm is in transmission connection with the connecting member, the second rotating member is in transmission connection with the first swing arm, and the driving assembly is connected with the first swing arm.

9. The cleaning mechanism of claim 8, wherein, The driving assembly comprises a driving member, a winding member and a traction member, the driving member is rotationally connected with the winding member, one end of the traction member is wound on the winding member, and the other end of the traction member is connected with the first swing arm and used to pull the first swing arm to rotate around the axis of the first rotating member in the first direction.

10. The cleaning mechanism of claim 8, wherein, The first swing arm is provided in at least two, and the two first swing arms are respectively located at two ends of the first rotating member.

11. The cleaning mechanism of claim 10, wherein, The cleaning mechanism further comprises a second swing arm, the second swing arm is rotationally connected with the connecting member, the second rotating member is rotationally connected with the second swing arm, and the second swing arm is located between the two ends of the first rotating member.

12. The cleaning mechanism of claim 11, wherein, The connecting member is provided in two, and the two connecting members are respectively located at the two ends of the first rotating member, the first swing arm is provided in two, and the two first swing arms are respectively located at the two ends of the first rotating member and are respectively rotationally connected with the two connecting members.

13. A cleaning apparatus, characterized by The cleaning device comprises a power assembly and the cleaning mechanism as claimed in any one of claims 1 to 12.

14. A control method of the cleaning apparatus according to claim 13, characterized by, Comprise: Obtain an obstacle identification result; Based on the obstacle identification result, in the case where it is determined that there is an obstacle, control the driving assembly to drive the second rotating member to rotate around the axis of the first rotating member in the first direction from the first position to the second position.

15. The control method of the cleaning apparatus according to claim 14, wherein The obstacle identification result is an artificial identification result input by a user; or the cleaning device comprises an obstacle identification device, and the obstacle identification result is obtained by controlling the obstacle identification device to identify.

16. The control method of the cleaning apparatus according to claim 15, wherein The cleaning device further comprises a base, the base is provided with a cleaning tank, and the cleaning tank is used to place a cleaning liquid; The control method of the cleaning device further comprises: Control the driving assembly to drive the second rotating member to rotate around the axis of the first rotating member in a second direction from the first position to a third position, control the cleaning mechanism to enter the base, the second direction is opposite to the first direction, the second rotating member is located at the lower side of the first rotating member, the cleaning member sleeved on the second rotating member is located in the cleaning tank, and part of the cleaning member is in contact with the cleaning liquid.

17. The control method of the cleaning apparatus according to claim 16, wherein After the control of the driving assembly to drive the second rotating member to rotate around the axis of the first rotating member in the second direction from the first position to the third position and the control of the cleaning mechanism to enter the base, the control method of the cleaning device further comprises: controlling the driving assembly to drive the second rotating member to reciprocally swing around the axis of the first rotating member in the second direction and the first direction according to a preset angle, wherein, in the reciprocating swinging process of the second rotating member, the cleaning member sleeved on the second rotating member is always located in the cleaning tank, and part of the cleaning member is always in contact with the cleaning liquid.

18. The control method of the cleaning apparatus according to claim 15, wherein The control method of the cleaning device further comprises: controlling the driving assembly to drive the second rotating member to rotate around the axis of the first rotating member from the first position to a third position in a second direction opposite to the first direction; wherein the cleaning device comprises a structural member, and when the second rotating member is in the third position, the outer surface of the part of the cleaning member is in slidable contact with the structural member.

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