Cleaning module, cleaning equipment, cleaning system, control method and storage medium

Abstract

The invention discloses a cleaning module, cleaning equipment, a cleaning system, a control method and a storage medium. The cleaning module comprises a cleaning part, a transmission assembly and a driving part, the cleaning part comprises a mounting support and a rolling brush, an output part of the transmission assembly is connected with the mounting support, the driving part drives the output part of the transmission assembly to ascend and descend, and the output part drives the cleaning part to be switched among a lifting state, a first cleaning state and a second cleaning state. And when the cleaning piece is in the lifting state, the cleaning piece is separated from the to-be-cleaned surface, so that the cleaning piece at least can avoid obstacles on the to-be-cleaned surface. When the cleaning piece is in the first cleaning state, the rolling brush makes contact with the to-be-cleaned face, and the to-be-cleaned face can be cleaned. When the cleaning piece is in the second cleaning state, the rolling brush can still clean the to-be-cleaned face, but the dust collection opening defined by the mounting support and the to-be-cleaned face is smaller than the dust collection opening in the first cleaning state, and the dust collection effect is better.

Description

Technical Field

[0001] This application belongs to the field of cleaning equipment technology, and in particular relates to a cleaning module, cleaning equipment, cleaning system, control method and storage medium. Background Technology

[0002] Cleaning equipment refers to common intelligent cleaning appliances, such as robotic vacuum cleaners and automatic sweeping machines. These devices can operate autonomously and clean carpets or other surfaces requiring cleaning. They are typically used for home cleaning and large-scale venue cleaning.

[0003] Cleaning equipment includes cleaning components (such as rollers, rollers, mops, etc.). Currently, the cleaning components of cleaning equipment can only clean the surface to be cleaned in a simple way, which makes the applicability of cleaning equipment poor and difficult to meet the increasingly higher usage needs of users. Summary of the Invention

[0004] To address the technical problem that current cleaning equipment cannot meet different cleaning needs, this application provides a cleaning module, cleaning equipment, cleaning system, control method, and storage medium.

[0005] In a first aspect of this application, a cleaning module is provided, comprising: a cleaning component including a mounting bracket and a roller brush connected to the mounting bracket; a transmission assembly with an output component connected to the mounting bracket; and a driving component that drives the output component of the transmission assembly to move up and down, thereby switching the cleaning component between a raised state, a first cleaning state, and a second cleaning state; when the cleaning component is in the raised state, the cleaning component is separated from the surface to be cleaned; when the cleaning component is in the first cleaning state, the roller brush contacts the surface to be cleaned; when the cleaning component is in the second cleaning state, the roller brush contacts the surface to be cleaned, and compared to the first cleaning state, the suction port formed by the mounting bracket and the surface to be cleaned is smaller.

[0006] In some embodiments, during the process of the output component driving the cleaning component to switch from the raised state to the first cleaning state and the second cleaning state, the height of the output component relative to the surface to be cleaned decreases.

[0007] In some embodiments, the cleaning module further includes an elastic element; the elastic element is disposed between the output element and the cleaning element; during the process of the output element driving the cleaning element to switch from the first cleaning state to the second cleaning state, the output element presses the cleaning element through the elastic element, the elastic element undergoes elastic deformation, and the deformation amount of the elastic element is not greater than the maximum deformation amount of the elastic element.

[0008] In some embodiments, when the cleaning member is in the second cleaning state, the deformation of the elastic member is less than the maximum deformation of the elastic member; when the cleaning member is in the second cleaning state, the cleaning member rises under the drive of an external force, thereby increasing the deformation of the elastic member.

[0009] In some embodiments, when the cleaning component rises to the maximum obstacle avoidance height, the deformation of the elastic component is not greater than the maximum deformation.

[0010] In some embodiments, the mounting bracket is provided with a connecting post, which is slidably engaged with the output component; the elastic element is a spring, which is sleeved on the connecting post and located between the body of the cleaning component and the output component.

[0011] In some embodiments, the cleaning component is provided with a stop, which is connected to the connecting post and positioned above the output component; when the cleaning component is in the raised state, the output component abuts against the stop; when the cleaning component is in the second cleaning state, the output component separates from the stop to compress the spring.

[0012] In some embodiments, the mounting bracket is provided with a connecting arm; the connecting arm is used to hinge with the main body of the cleaning equipment where the cleaning module is located, so that the cleaning component swings and rises relative to the main body of the equipment.

[0013] In some embodiments, when the cleaning component is in the raised state, the axis of the connecting column is angled to the vertical direction; during the process of the cleaning component switching from the raised state to the first cleaning state, the angle between the axis of the connecting column and the vertical direction decreases.

[0014] In some embodiments, the transmission assembly further includes a movable member that is driveably connected to the drive member; the movable member is movably connected to the output member, and the movable member drives the output member to move up and down.

[0015] In some embodiments, the transmission assembly includes a slide rod and a sleeve; the slide rod extends movably into the sleeve; one of the moving member and the output member includes the slide rod, and the other includes the sleeve.

[0016] In some embodiments, the drive element includes a motor; the movable element is drively connected to the output shaft in an eccentric orientation relative to the output shaft of the motor.

[0017] In some embodiments, the transmission assembly further includes a first transmission member, through which the movable member is driveably connected to the driving member; the output member includes a connected floating bracket and the slide rod, the floating bracket being connected to the cleaning member; the movable member includes the sliding sleeve, the sliding sleeve being rotatably connected to the first transmission member in an eccentric position relative to the axis of rotation of the first transmission member; or, the output member includes the sliding sleeve; the movable member includes the slide rod, the slide rod being connected to the first transmission member in an eccentric position relative to the axis of rotation of the first transmission member.

[0018] In some embodiments, when the movable component rotates about the axis of the first transmission component to the upper quadrant point of the circumference, the cleaning component is in the lifted state; When the movable component rotates around the axis of the first transmission component to the lateral quadrant point of the circumference, the cleaning component is in the first cleaning state. When the movable component rotates around the axis of the first transmission component to the lower quadrant point of the circumference, the cleaning component is in the second cleaning state.

[0019] In some embodiments, the height of the sleeve hole of the sliding sleeve is greater than the height of the portion of the sliding rod located in the sleeve hole; the sleeve hole has a first hole wall and a second hole wall arranged opposite each other in a vertical direction; when the cleaning component is in the raised state, the sliding rod contacts the first hole wall of the sleeve hole, and there is a distance H1 between the sliding rod and the second hole wall of the sleeve hole.

[0020] In some embodiments, the spacing H1 is H1≥Hmax, where Hmax is the displacement of the cleaning component when it is in the raised state or the first cleaning state and the cleaning component rises to the maximum obstacle avoidance height under the drive of an external force.

[0021] In some embodiments, the cleaning module further includes a base, a circuit board, and at least one position detection element; the at least one position detection element is mounted on the base and / or the transmission assembly; the drive element and the at least one position detection element are electrically connected to the circuit board, respectively.

[0022] In some embodiments, the number of position detection elements is one; when the cleaning element is in at least one of the lifting state, the first cleaning state, and the second cleaning state, the cleaning element and / or the transmission assembly triggers the position detection element.

[0023] In some embodiments, the driving component includes a stepper motor; the position detection component is a button mounted on the base; the button is triggered when the cleaning component is in the raised state.

[0024] In some embodiments, the driving component includes a brushed motor or a brushless motor; the position detection component is a photoelectric sensor, which is connected to the circuit board, and the circuit board is mounted on the base; The transmission component of the transmission assembly has three light-transmitting parts; among the three light-transmitting parts, at least two of the light-transmitting parts have different areas, and / or the spacing between two adjacent light-transmitting parts is different; when the cleaning component is in the lifting state, the first cleaning state, and the second cleaning state, the photoelectric sensor is triggered by different light-transmitting parts on the transmission component.

[0025] In some embodiments, the number of position detection elements is two; when the cleaning element is in the raised state, the first cleaning state, or the second cleaning state, the cleaning element and / or the transmission assembly trigger the two position detection elements in different triggering methods.

[0026] In some embodiments, the driving component includes a brushed motor or a brushless motor; the position detection component is a photoelectric sensor, and two photoelectric sensors are respectively connected to the circuit board, which is mounted on the base; The transmission component of the transmission assembly has four spaced-apart light-shielding parts; when the cleaning component is in the raised state, the first cleaning state, or the second cleaning state, the four light-shielding parts trigger the two photoelectric sensors in different ways.

[0027] In some embodiments, the cleaning component includes a mounting bracket and a roller brush; the roller brush is connected to the mounting bracket; and the mounting bracket is connected to the output component.

[0028] In some embodiments, the mounting bracket is provided with a connecting arm; the connecting arm is used to hinge with the main body of the cleaning equipment where the cleaning module is located.

[0029] In a second aspect of this application, a cleaning device is provided, including a device body and a cleaning module as described in the first aspect, wherein the cleaning component of the cleaning module is movably connected to the device body.

[0030] In some embodiments, the drive component of the cleaning module is connected to the device body; the cleaning component is provided with a connecting arm, which is hinged to the device body.

[0031] In a third aspect of this application, a cleaning system is provided, including a base station and the cleaning equipment described in the second aspect above; the cleaning equipment is connected to or removed from the base station.

[0032] In a fourth aspect of this application, a control method for a cleaning device based on the second aspect described above is provided, the control method comprising the following: In response to the first command, the driving component is controlled to drive the transmission assembly to move, and the output component of the transmission assembly drives the cleaning component to switch to the raised state; or... In response to the second command, the driving component is controlled to drive the transmission assembly to move, and the output component of the transmission assembly drives the cleaning component to switch to the first cleaning state; or... In response to a third command, the drive unit is controlled to drive the transmission assembly to move, and the output unit of the transmission assembly drives the cleaning unit to switch to the second cleaning state.

[0033] In some embodiments, when the driving element is a stepper motor, the control method specifically includes: In response to the start command, the stepper motor is controlled to rotate to the zero position; In response to the first command, the stepper motor is controlled to rotate a first set number of steps to drive the output component to switch the cleaning component to the raised state; or... In response to the second command, the stepper motor is controlled to rotate a second set number of steps to drive the output component to switch the cleaning component to the first cleaning state; or... In response to the third instruction, the stepper motor is controlled to rotate a third set number of steps to drive the output component to switch the cleaning component to the second cleaning state.

[0034] In some embodiments, when the stepper motor is in the zero position, the cleaning component is in the raised state, the first cleaning state, or the second cleaning state.

[0035] In some embodiments, when the stepper motor is in the zero position and the cleaning component is in the raised state, the control method specifically includes: In response to the start command or the first command, the stepper motor is controlled to rotate to the zero position so that the cleaning component is in the lifted state; In response to the second command, the stepper motor is controlled to rotate the second set number of steps, thereby driving the output component to switch the cleaning component to the first cleaning state; or... In response to the third instruction, the stepper motor is controlled to rotate by the third set number of steps, thereby driving the output component to switch the cleaning component to the second cleaning state.

[0036] In some embodiments, when the driving component is a brushed motor or a brushless motor, and the cleaning module has one or more position detection components; the control method specifically includes: In response to the first command, the drive member is controlled to rotate to move the cleaning member via the transmission assembly; the position of the cleaning member is determined based on the detection signal from the position detection member; the drive member is controlled to stop when the cleaning member is in the raised state; or... In response to the second command, the drive member is controlled to rotate to move the cleaning member via the transmission assembly; the position of the cleaning member is determined based on the detection signal from the position detection member; the drive member is controlled to stop when the cleaning member is in the first cleaning state; or... In response to the third command, the drive member is controlled to rotate so as to drive the cleaning member to move through the transmission assembly, and the position of the cleaning member is determined according to the detection signal of the position detection member; when the cleaning member is in the second cleaning state, the drive member is controlled to stop.

[0037] In some embodiments, where the cleaning module is equipped with a position detection element, and the position detection element is triggered when the transmission component moves; the control method specifically includes: In response to a start command, the drive component is controlled to rotate to drive the transmission assembly to its initial position; In response to the first instruction, the driving component is controlled to rotate to drive the transmission assembly to move. Upon receiving the detection signal, and when the rotation time of the driving component from receiving the current detection signal to receiving the previous detection signal reaches a first preset duration, it is determined that the transmission assembly has driven the cleaning component to the raised state, and the driving component is controlled to stop; or... In response to the second instruction, the driving member is controlled to rotate to drive the transmission assembly to move. Upon receiving the detection signal, and when the rotation time of the driving member from receiving the current detection signal to receiving the previous detection signal reaches a second preset duration, it is determined that the transmission assembly drives the cleaning member to the first cleaning state, and the driving member is controlled to stop; or... In response to the third instruction, the drive member is controlled to rotate to drive the transmission assembly to move. When the detection signal is received and the rotation time of the drive member from receiving the current detection signal to receiving the previous detection signal reaches a third preset time, it is determined that the transmission assembly drives the cleaning member to move to the second cleaning state, and the drive member is controlled to stop. The first preset duration, the second preset duration, and the third preset duration are all different.

[0038] In some embodiments, when the transmission assembly reaches the initial position, the cleaning component is in the raised state, the first cleaning state, or the second cleaning state.

[0039] In some embodiments, when the cleaning component is in the raised state when the transmission assembly reaches the initial position, the control method specifically includes: In response to a start command, the drive component is controlled to rotate to drive the transmission assembly to its initial position; In response to the first instruction, the driving component is controlled to rotate to drive the transmission assembly to move. Upon receiving the detection signal, and when the rotation time of the driving component from receiving the current detection signal to receiving the previous detection signal reaches the first preset duration, it is determined that the transmission assembly drives the cleaning component to the raised state, and the driving component is controlled to stop; or... In response to the second command, the drive member is controlled to rotate to drive the transmission assembly to the initial position, the cleaning member is in the first cleaning state, and the drive member is controlled to stop; or... In response to the third instruction, the drive member is controlled to rotate to drive the transmission assembly to move. When the detection signal is received, and the rotation time of the drive member from receiving the current detection signal to receiving the previous detection signal reaches the third preset time, it is determined that the transmission assembly drives the cleaning member to move to the second cleaning state, and the drive member is controlled to stop.

[0040] In some embodiments, when the cleaning module is equipped with two of the aforementioned position detection elements, the control method specifically includes: In response to the first command, the drive component is controlled to rotate to move the cleaning component via the transmission assembly. When the detection signals from the two position detection components match the first signal combination, it is determined that the cleaning component is in the raised state, and the drive component is controlled to stop; or... In response to the second command, the drive member is controlled to rotate to drive the cleaning member to move via the transmission assembly. When the detection signals from the two position detection members are a second signal combination, it is determined that the cleaning member is in the first cleaning state, and the drive member is controlled to stop; or... In response to the third instruction, the drive member is controlled to rotate so as to drive the cleaning member to move through the transmission assembly. When the detection signals of the two position detection members are a third signal combination, it is determined that the cleaning member is in the second cleaning state, and the drive member is controlled to stop. The first signal combination, the second signal combination, and the third signal combination are all different.

[0041] In a fifth aspect of this application, a computer-readable storage medium is provided, wherein at least one piece of program code is stored therein, the at least one piece of program code being loaded and executed by a processor to perform the operations performed by the control method of the fourth aspect described above.

[0042] A cleaning module according to one or more embodiments of this application includes a cleaning component, a transmission assembly, and a drive component. The cleaning component includes a mounting bracket and a roller brush. The output component of the transmission assembly is connected to the mounting bracket. The drive component drives the output component of the transmission assembly to rise and fall, causing the cleaning component to rise and fall to different heights relative to the surface to be cleaned, thereby placing the cleaning component in different working states: a raised state, a first cleaning state, and a second cleaning state. When the cleaning component is in the raised state, it is separated from the surface to be cleaned, allowing it to at least avoid obstacles on the surface. When the cleaning component is in the first cleaning state, the roller brush contacts the surface to be cleaned, and the cleaning component can clean the surface normally. When the cleaning component is in the second cleaning state, the roller brush contacts the surface to be cleaned and tends to move further towards the surface. The cleaning component can still clean the surface normally in the second cleaning state, but the suction port formed by the mounting bracket and the surface to be cleaned is smaller than in the first cleaning state, resulting in better suction in the cleaning equipment equipped with this cleaning module. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 The schematic diagram of the cleaning module in one or more embodiments of this application is shown. Figure 1 .

[0045] Figure 2A It shows Figure 1 The motion state of the cleaning module Figure 1 The cleaning component in the picture is in a raised state.

[0046] Figure 2B It shows Figure 1 The second figure shows the motion state of the cleaning module, where the cleaning component is in the first cleaning state.

[0047] Figure 2C It shows Figure 1 The motion state of the cleaning module Figure 3 The cleaning component in the diagram is in the second cleaning state.

[0048] Figure 3It shows Figure 1 A schematic diagram of the cleaning components of the cleaning module when cleaning the surface to be cleaned.

[0049] Figure 4 A schematic diagram of the structure of the cleaning component of the cleaning module in one or more embodiments of this application is shown.

[0050] Figure 4A It shows Figure 4 A bottom view of the cleaning component.

[0051] Figure 4B It shows Figure 4 The side view of the cleaning component when it is in the raised position.

[0052] Figure 4C It shows Figure 4 A side view of the cleaning component in its first cleaning state.

[0053] Figure 5 The motion state of the cleaning module in one or more embodiments of this application is shown. Figure 4 In the diagram, the cleaning component is in the second cleaning state and is passively crossing the obstacle.

[0054] Figure 6 The following diagram illustrates the assembly structure of the transmission components, drive components, and base in the cleaning module of some other embodiments of this application.

[0055] Figure 7 It shows Figure 6 A schematic diagram of the transmission components.

[0056] Figure 8 The assembly structure of the transmission assembly, drive unit, and base in the cleaning module of some further embodiments of this application is shown. Figure 1 .

[0057] Figure 9 Figure 2 shows the assembly structure of the transmission component, drive component and base in the cleaning module of some other embodiments of this application.

[0058] Figure 10 It shows Figure 8 and Figure 9 A schematic diagram of the transmission components.

[0059] Figure 11 The motion state of the transmission components of the cleaning module in one or more embodiments of this application is shown. Figure 1 .

[0060] Figure 11A It shows Figure 11 A sectional view along the AA direction.

[0061] Figure 12Figure 2 illustrates the motion state of the transmission components of the cleaning module in one or more embodiments of this application.

[0062] Figure 12A It shows Figure 12 BB-direction sectional view.

[0063] Figure 13 The motion state of the transmission components of the cleaning module in one or more embodiments of this application is shown. Figure 1 .

[0064] Figure 13A It shows Figure 13 CC-direction sectional view.

[0065] Figure 14A The diagram illustrates the motion state changes of the transmission component of the cleaning module in one or more embodiments of this application when the cleaning component is in a raised state, allowing for passive obstacle avoidance.

[0066] Figure 14B The diagram illustrates the motion state changes of the transmission component of the cleaning module in one or more embodiments of this application when the cleaning component is in a first cleaning state, during passive obstacle avoidance.

[0067] Figure 15 A second schematic diagram of the structure of the cleaning module in one or more embodiments of this application is shown.

[0068] Figure 16 The schematic diagram of the cleaning module in one or more embodiments of this application is shown. Figure 3 .

[0069] Figure 17 The schematic diagram of the cleaning module in one or more embodiments of this application is shown. Figure 4 .

[0070] Figure 18 It shows Figure 17 The assembly structure diagram of the transmission components, base, circuit board and position detection component in the cleaning module.

[0071] Figure 18A It shows Figure 18 A schematic diagram of the structure of the trigger position detection component of the first transmission component.

[0072] Figure 18B A schematic diagram of the structure of the first transmission trigger position detection element of the cleaning module in some other embodiments of this application is shown.

[0073] Figure 19 The schematic diagram of the cleaning module in one or more embodiments of this application is shown. Figure 4 .

[0074] Figure 20It shows Figure 19 The assembly structure diagram of the transmission components, base, circuit board and position detection component in the cleaning module.

[0075] Figure 20A It shows Figure 20 A schematic diagram of the structure of the trigger position detection component of the first transmission component.

[0076] Figure 21 A schematic diagram of the cleaning device in one or more embodiments of this application is shown.

[0077] Figure 22 It shows Figure 21 Installation structure of cleaning modules in cleaning equipment Figure 1 .

[0078] Figure 23 It shows Figure 21 Figure 2 shows the installation structure of the cleaning module in the cleaning equipment.

[0079] Figure 24A The circuit structure block diagram of the cleaning device in one or more embodiments of this application is shown. Figure 1 .

[0080] Figure 24B A second circuit block diagram of a cleaning device according to one or more embodiments of this application is shown.

[0081] Figure 24C The circuit structure block diagram of the cleaning device in one or more embodiments of this application is shown. Figure 3 .

[0082] Figure 25 A bottom view of a cleaning device according to one or more embodiments of this application is shown.

[0083] Figure 26 The motion state of the cleaning device is shown in one or more embodiments of this application. Figure 1 .

[0084] Figure 26A It shows Figure 26 A diagram showing the motion state of the transmission components in a cleaning device.

[0085] Figure 26B It shows Figure 26 A magnified view of part E of the cleaning equipment.

[0086] Figure 27 Figure 2 shows the motion state of the cleaning device in one or more embodiments of this application.

[0087] Figure 27A It shows Figure 27 A diagram showing the motion state of the transmission components in a cleaning device.

[0088] Figure 28 The motion state of the cleaning device is shown in one or more embodiments of this application. Figure 3 .

[0089] Figure 28A It shows Figure 28 A diagram showing the motion state of the transmission components in a cleaning device.

[0090] Figure 29 The motion state of the cleaning device is shown in one or more embodiments of this application. Figure 4 .

[0091] Figure 29A It shows Figure 29 A diagram showing the motion state of the transmission components in a cleaning device.

[0092] Figure 30 The motion state of the cleaning device is shown in one or more embodiments of this application. Figure 5 .

[0093] Figure 31 A schematic diagram of the cleaning system in one or more embodiments of this application is shown.

[0094] Figure 32 A flowchart illustrating a control method for a cleaning device according to one or more embodiments of this application is shown. Figure 1 .

[0095] Figure 33 A flowchart of a control method for a cleaning device according to one or more embodiments of this application is shown in Figure 2.

[0096] Figure 34 A flowchart illustrating a control method for a cleaning device according to one or more embodiments of this application is shown. Figure 3 .

[0097] Figure 35 A flowchart illustrating a control method for a cleaning device according to one or more embodiments of this application is shown. Figure 4 .

[0098] Figure 36 A flowchart illustrating a control method for a cleaning device according to one or more embodiments of this application is shown. Figure 5 .

[0099] Figure 37 A flowchart illustrating a control method for a cleaning device according to one or more embodiments of this application is shown. Figure 6 .

[0100] Figure 38 A flowchart illustrating a control method for a cleaning device according to one or more embodiments of this application is shown. Figure 7 .

[0101] Explanation of reference numerals in the attached drawings: 1000-Cleaning system; 100-Cleaning equipment; 110-Equipment body; 111-Bottom shell; 112-Dust box; 120-Cleaning module; 121-Cleaning component; 1211-Mounting bracket; 1212-Roller brush; 1213-Connecting column; 1214-Connecting arm; 1215-Block; 1216-Top block; a-Suction port; b-Dust outlet; 122-Transmission assembly; 1221-Output component; 1222-Moving component; 1223-First transmission component; 12231-Mounting shaft; 122A-Slide rod; 122B-Slide sleeve; c-Sleeve hole; d-First hole wall; e-Second hole wall; 122C-Floating bracket; 1224-Light-transmitting element. Parts: 1224a-Rising position light-transmitting part, 1224b-Rising position light-transmitting part, 1224c-Pressing position light-transmitting part, 1224d-Initial position light-transmitting part, 12241-Light-transmitting hole, 1225-Light-shielding part, 1226-Second transmission component; 123-Drive component, 123A-Stepper motor, 123B-Brushed motor; 124-Elastic component; 125-Base; 126-Circuit board; 127-Position detection component, 127A-Button, 127B-Photoelectric sensor; 130-Controller; 140-Mop; 150-Side mop; 160-Walking wheel module; 170-Steering wheel; 200-Base station; G-Surface to be cleaned; O-Obstacle; D-Travel direction. Detailed Implementation

[0102] To enable those skilled in the art to more clearly understand this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0103] Furthermore, reference numerals and / or reference letters may be repeated in different examples in this application. Such repetition is for simplification and clarity purposes and does not in itself indicate a relationship between the various embodiments and / or settings discussed. In addition, this application provides examples of various specific processes and materials; however, those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0104] In related technologies, cleaning equipment is typically designed for specific cleaning scenarios. For example, household robot vacuums can generally only clean ordinary stains such as dust, hair, and spilled trash. However, they struggle to clean dried stains or stubborn debris firmly attached to the surface, usually requiring manual cleaning. This is because such cleaning equipment typically only has two operating modes: a lifting state and a cleaning state. In the cleaning state, the downward pressure is constant, thus limiting its ability to remove ordinary stains. It cannot remove stubborn stains that require greater downward pressure.

[0105] Therefore, one or more embodiments of this application provide a cleaning module, cleaning equipment, cleaning system, control method, and storage medium, which can adjust the downward pressure of the cleaning component on the surface to be cleaned during cleaning, and can at least to a certain extent remove stubborn stains to meet different cleaning needs.

[0106] The specific technical solutions of this application will be described in detail below with reference to the accompanying drawings, which are not necessarily drawn to scale. Similar or identical reference numerals may be used to designate the same or similar parts in different drawings. The use of similar or identical reference numerals in different drawings does not mean that all drawings including similar or identical reference numerals constitute a single or the same embodiment. The accompanying drawings illustrate the various embodiments discussed in this application in a generalized manner, by way of example and not limitation.

[0107] Please see Figure 1 The first aspect of this application provides a cleaning module 120, which includes a cleaning component 121, a transmission assembly 122, and a drive component 123. An output component 1221 of the transmission assembly 122 is connected to the cleaning component 121. The drive component 123 drives the output component 1221 of the transmission assembly 122 to rise and fall, thereby causing the cleaning component 121 to rise and fall to different heights relative to the surface G to be cleaned. The drive component 123 can drive the cleaning component 121 to rise and fall vertically, rise and fall linearly at an angle, or rise and fall oscillatingly via the transmission assembly 122, as long as the height of the cleaning component 121 relative to the surface G to be cleaned can be changed. This application does not limit the specific lifting method of the cleaning component 121.

[0108] The cleaning component 121 can be a mop, roller brush, roller, etc., and this application does not impose any restrictions. Please refer to [link / reference]. Figure 1 In some embodiments, the cleaning component 121 includes a mounting bracket 1211 and a roller brush 1212. The roller brush 1212 is connected to the mounting bracket 1211 and can rotate relative to the mounting bracket 1211. For example, a drive motor for driving the roller brush 1212 to rotate can be provided in the mounting bracket 1211. The mounting bracket 1211 is connected to an output component 1221, and the output component 1221 drives the entire cleaning component 121 to rise and fall through the mounting bracket 1211.

[0109] The cleaning component 121 is raised and lowered to different heights, corresponding to different working states: raised state, first cleaning state, and second cleaning state. Please refer to [link / reference]. Figure 2A When the cleaning component 121 is in the raised state, it separates from the surface G to be cleaned. This raised state is suitable for the cleaning equipment 100 equipped with the cleaning module 120 during non-cleaning movements (e.g., the movement for self-cleaning after cleaning), allowing the cleaning component 121 to avoid obstacles O on the surface G. Alternatively, if the cleaning equipment 100 identifies a high obstacle O during cleaning, it needs to raise the cleaning component 121 for active obstacle avoidance. When the cleaning component 121 is in the raised state, at least a portion of it can retract into the cleaning equipment 100 equipped with the cleaning module 120.

[0110] Please see Figure 2B When the cleaning component 121 is in the first cleaning state, it contacts the surface G to be cleaned, and can clean the surface G normally. In the first cleaning state, the cleaning component 121 exerts a certain pressure F1 on the surface G, causing friction between the roller brush 1212 and the surface G as it rotates. This friction disturbs hair and other debris on the surface G, causing them to peel off and adhere to the roller brush 1212. In some embodiments, when the cleaning component 121 is in the first cleaning state, its weight rests on the surface G, thus exerting pressure F1 on the surface G. In other embodiments, when the cleaning component 121 is in the first cleaning state, it can also exert additional downward pressure on the surface G, where the pressure F1 is greater than the weight of the cleaning component 121.

[0111] Please see Figure 3 and Figure 4 In some embodiments, the mounting bracket 1211 has an inner cavity, and the roller brush 1212 is mounted in the inner cavity of the mounting bracket 1211. The mounting bracket 1211 has two openings, one of which communicates with the dust box 112 of the cleaning device 100 on which the cleaning module 120 is mounted, serving as a dust outlet b. When the roller brush 1212 contacts the surface G to be cleaned and cleans the surface G, a portion of the other opening of the mounting bracket 1211 is covered by the surface G, and the uncovered area in this opening forms a suction port a, such as... Figure 3 The area indicated by the dashed line. The suction port a needs to be kept at an appropriate size. If the suction port a is too large, it will affect the suction power at the suction port a.

[0112] When the cleaning component 121 switches from the first cleaning state to the second cleaning state, the cleaning component 121 remains in contact with the surface G to be cleaned, and the cleaning component 121 tends to move further toward the surface G to be cleaned. (See also...) Figure 2C When the cleaning component 121 is in the second cleaning state, the roller brush 1212 can still clean the surface G to be cleaned normally. However, the area of ​​the suction port a formed by the mounting bracket 1211 and the surface G to be cleaned is smaller than the area of ​​the suction port a when the cleaning component 121 is in the first cleaning state. This makes the cleaning device 100 equipped with the cleaning module 120 have greater suction power, thereby improving the dust collection effect.

[0113] Please continue reading. Figure 2C In some embodiments, when the cleaning member 121 is in the second cleaning state, the downward pressure F2 exerted by the cleaning member 121 on the surface G to be cleaned is greater than the downward pressure F1 exerted by the cleaning member 121 on the surface G to be cleaned when it is in the first cleaning state. Due to the greater downward pressure on the surface G, the roller brush 1212 deforms more significantly. The roller brush 1212 is able to peel away stubborn debris strongly adhering to the surface G and maintain the opening area of ​​the suction port a at an optimal size (avoiding the suction port a opening from enlarging and reducing suction power), thus improving the cleaning effect.

[0114] It is understood that in the above embodiments, when the cleaning component 121 is in the first cleaning state and the second cleaning state, the roller brush 1212 is in contact with the surface G to be cleaned, and the height of the cleaning component 121 relative to the surface G remains unchanged. The difference lies in the downward pressure exerted by the cleaning component 121 on the surface G. Specifically, when the cleaning component 121 is in the second cleaning state, it tends to move further toward the surface G, but is blocked by the surface G and cannot continue to descend. Therefore, the cleaning component 121 will exert a greater downward pressure F2 on the surface G. When the cleaning component 121 moves relative to the surface G, it will generate greater friction with the surface G, which can clean stubborn stains or maintain the opening area of ​​the suction port a at a better opening size, thereby achieving a better cleaning effect.

[0115] It should be noted that the height of the cleaning component 121 relative to the surface G to be cleaned in this application refers to the overall height H of the cleaning component 121 above the ground, not the height of a part of the cleaning component 121 relative to the surface G to be cleaned. After the cleaning component 121 comes into contact with the surface G to be cleaned, its height H above the ground is zero. In some embodiments, the cleaning component 121 is a compressible item such as a mop 140 or a sponge. In this case, when the cleaning component 121 is in the first cleaning state and the second cleaning state, the degree of compression of the compressible item is different, and the height of the upper surface of the cleaning component 121 relative to the surface G to be cleaned is also different. Specifically, when the cleaning component 121 is in the first cleaning state, the height of its upper surface relative to the surface G to be cleaned is greater than the height of its upper surface relative to the surface G to be cleaned when the cleaning component 121 is in the second cleaning state.

[0116] The ground clearance H and downward pressure F of the cleaning component 121 on the surface G to be cleaned in the raised state, the first cleaning state, and the second cleaning state can be determined according to actual usage needs. They can be a fixed value, a range of values, or a set of values; this application does not impose any limitations. In some embodiments, the ground clearance H and downward pressure F of the cleaning component 121 on the surface G to be cleaned in the raised state and the first cleaning state are both fixed values. In the second cleaning state, the downward pressure F of the cleaning component 121 on the surface G to be cleaned can be infinitely adjusted, that is, the downward pressure F of the cleaning component 121 on the surface G to be cleaned in the second cleaning state is a range of values, F1 < F2 ≤ Fmax, where F1 is the downward pressure of the cleaning component 121 on the surface G to be cleaned in the first cleaning state, and Fmax is the downward pressure of the cleaning component 121 on the surface G to be cleaned at its maximum descent stroke. In some embodiments, the downward pressure of the cleaning component 121 on the surface G to be cleaned in the second cleaning state is a set of values, that is, the cleaning component 121 has multiple powerful cleaning levels in the second cleaning state, and different powerful cleaning levels correspond to different downward pressures.

[0117] In other embodiments, when the cleaning component 121 is in the second cleaning state, the orientation of the mounting bracket 1211 changes (for example, the mounting bracket 1211 rotates at a certain angle relative to the surface G to be cleaned), so that the area of ​​the suction port a formed by the mounting bracket 1211 and the surface G to be cleaned is smaller than the area of ​​the suction port a when the cleaning component 121 is in the first cleaning state. In this embodiment, when the cleaning component 121 is in the second cleaning state, the downward pressure F2 of the roller brush 1212 on the surface G to be cleaned can be the same as the downward pressure F1 of the roller brush 1212 on the surface G to be cleaned when the cleaning component 121 is in the first cleaning state; or the downward pressure F2 is greater than the downward pressure F1; or the downward pressure F2 is less than the downward pressure F1.

[0118] In the above embodiments, the ground clearance H of the cleaning component 121 in the raised state, the first cleaning state, and the second cleaning state, as well as the size of the suction port a, can be determined according to actual usage needs. It can be a fixed value, a range of values, or a set of values; this application does not impose any limitations. In other embodiments, the area of ​​the suction port a of the cleaning component 121 in the first cleaning state is a fixed value, and the area of ​​the suction port a of the cleaning component 121 in the second cleaning state can be infinitely adjusted. That is, the area S2 of the suction port a of the cleaning component 121 in the second cleaning state is a range of values, Smin ≤ S2 < S1, where S1 is the area of ​​the suction port a of the cleaning component 121 in the first cleaning state, and Smin is the minimum area of ​​the suction port a formed by the mounting bracket 1211 and the surface G to be cleaned.

[0119] The driving component 123 drives the output component 1221 of the transmission assembly 122 to rise and fall. The driving component 123 can be any power-providing device in the prior art, such as a motor, etc. The motor can be a stepper motor 123A, a servo motor, a brushed motor 123B, a brushless motor, etc. The transmission assembly 122 converts the power output by the driving component 123 into the rising and falling movement of the output component 1221. The transmission assembly 122 can be a gear and rack, nut and screw, worm gear, crank and slider mechanism, etc. The specific structure is not limited in this application.

[0120] Please continue reading. Figures 2A to 2C In some embodiments, the driving member 123 drives the output member 1221 to rise and fall. During the process of the output member 1221 driving the cleaning member 121 to switch from a raised state to a first cleaning state and a second cleaning state, the height of the output member 1221 relative to the surface G to be cleaned decreases. When the output member 1221 drives the cleaning member 121 to switch to the raised state, the distance between the output member 1221 and the surface G to be cleaned is h1; when the output member 1221 descends and drives the cleaning member 121 to switch to the first cleaning state, the distance between the output member 1221 and the surface G to be cleaned is h2; when the output member 1221 continues to descend and drives the cleaning member 121 to switch to the second cleaning state, the distance between the output member 1221 and the surface G to be cleaned is h3. It can be determined that h1 > h2 > h3.

[0121] In some embodiments, the lifting action output by the output component 1221 can be a continuous descent or ascent. The consumer can stop the lifting or descent of the cleaning component 121 at any position according to actual usage needs, thereby achieving stepless adjustment of the downward pressure of the cleaning component 121 on the surface G to be cleaned from zero to maximum, and / or stepless adjustment of the area of ​​the suction port a. Conventional linear motion mechanisms such as cylinders and electric telescopic rods can achieve this function; therefore, the specific structure of the drive component 123 and the transmission assembly 122 is not limited in this application.

[0122] Please see Figure 3 , Figure 4 and Figure 4A In some embodiments, the mounting bracket 1211 can be movably connected to the device body 110 of the cleaning device 100 on which the cleaning module 120 is configured; for example, the mounting bracket 1211 can be slidably connected to the device body 110 in the vertical direction. Figure 4 In the illustrated embodiment, the mounting bracket 1211 is provided with a connecting arm 1214, which is used to hinge with the main body 110 of the cleaning device 100. The output component 1221 drives the entire cleaning component 121 to swing and rise around the hinge point of the connecting arm 1214 via the mounting bracket 1211. The length of the connecting arm 1214 increases the swing radius of the cleaning component 121, allowing the cleaning component 121 to swing at a very small angle (not exceeding 15°, such as 1°, 2°, 3°, 4°, 5°, 7°, 8°, 9.5°, 10°, 12.5°, 14°, etc.) while achieving a large vertical (Z-direction in the figure) rise and fall.

[0123] Please see Figure 3 and Figure 4B In some embodiments, the suction port a faces the connecting arm 1214. When the cleaning device 100 travels forward along the travel direction D on the surface to be cleaned G, the suction port a moves forward along the travel direction D, thereby drawing debris on the surface to be cleaned G into the dust box of the cleaning device 100 in advance. Debris still attached to the surface to be cleaned G is swept away by the roller brush 1212 and separated from the surface to be cleaned G, and then drawn into the dust box. When the cleaning component 121 swings downward about the hinge point of the connecting arm 1214, the mounting bracket 1211 rotates at a certain angle relative to the surface to be cleaned G, thereby reducing the area of ​​the suction port a.

[0124] The direction of travel D of the cleaning equipment 100 is designated as the horizontal X-axis, also known as the forward / backward direction. The horizontal direction perpendicular to the horizontal X-axis is designated as the Y-axis, also known as the left / right direction. The vertical direction is designated as the Z-axis, also known as the up / down direction. Please refer to [link / reference]. Figure 4A In some embodiments, two connecting arms 1214 are provided, and the two connecting arms 1214 are distributed at intervals along the Y direction. Two roller brushes 1212 may also be provided, both of which are parallel to the Y direction and are installed in the mounting bracket 1211 with their ends facing each other.

[0125] Please see Figure 4 In some embodiments, the cleaning module 120 further includes an elastic element 124, which is disposed between the output element 1221 and the cleaning element 121. The two ends of the elastic element 124 act on the output element 1221 and the cleaning element 121, respectively. The elastic element 124 can be a spring, sheet metal, soft rubber block, or other elastic object; the specific structure is not limited in this application. Figure 4In the illustrated embodiment, the elastic element 124 is a spring, and the cleaning element 121 is correspondingly provided with a connecting post 1213. The spring is sleeved on the connecting post 1213 and located between the main body of the cleaning element 121 and the output element 1221. If the volume of the cleaning element 121 is large, multiple connecting posts 1213 and springs can be provided, with the multiple connecting posts 1213 distributed at intervals. The center of the polygon formed by the multiple connecting posts 1213 should be on the same vertical line as the center of gravity of the cleaning element 121 to improve the stability of the cleaning element 121 during movement. The connecting post 1213 and the output element 1221 slide in a vertical direction. For example, a sleeve can be provided on the output element 1221, and the sleeve can be slidably sleeved on the connecting post 1213. The sliding engagement between the sleeve and the connecting post 1213 can also play a certain guiding role when the cleaning element 121 rises and falls.

[0126] Please see Figure 4B Based on the output component 1221 driving the entire cleaning component 121 to swing and rise around the hinge point of the connecting arm 1214 via the mounting bracket 1211, as a further implementation scheme, when the cleaning component 121 is in the raised state, the axis of the connecting column 1213 can be aligned with the vertical direction ( Figure 4B The connecting post 1213 is angled (Z-direction) with an angle α between its axis and the vertical direction, where α ≤ 15°, for example, α is 1°, 2°, 3°, 4°, 5°, 7°, 8°, 9.5°, 10°, 12.5°, 14°, etc. The axis of the connecting post 1213 can be parallel to the tangent of the circumference of the cleaning component 121 swinging about the hinge point of the connecting arm 1214. The connecting post 1213 is mounted on the mounting bracket 1211. In some embodiments, the connecting post 1213 and the mounting bracket 1211 can be integrally formed. In other embodiments, the connecting arm 1214, the connecting post 1213, and the mounting bracket 1211 can be integrally formed.

[0127] In some embodiments, during the process of the cleaning component 121 switching from a raised state to a first cleaning state, the axis of the connecting column 1213 is perpendicular to the vertical direction ( Figure 4C The angle in the Z direction decreases. (Refer to...) Figure 4C The cleaning component 121 swings and descends around the hinge point of the connecting arm 1214. When the cleaning component 121 is in the first cleaning state, the axis of the connecting post 1213 can be substantially parallel to the vertical direction (e.g., the included angle is less than 1°). As a further embodiment, when the cleaning component 121 is in the first cleaning state, the axis of the connecting post 1213 is parallel to the vertical direction. That is, during the process of the cleaning component 121 switching from the first cleaning state to the second cleaning state, the output component 1221 slides downward along the connecting post 1213.

[0128] Please continue reading. Figure 4 and Figure 5In some embodiments, the cleaning component 121 is provided with a stop 1215, which is connected to the connecting post 1213 and positioned above the output component 1221. The stop 1215 prevents the output component 1221 from detaching from the connecting post 1213. When the cleaning component 121 is in a raised state, the output component 1221 abuts against the stop 1215, and the output component 1221 lifts the entire cleaning component 121 through the stop 1215, separating the cleaning component 121 from the surface G to be cleaned. When the cleaning component 121 is in the first cleaning state, if the cleaning component 121 is completely placed on the surface G to be cleaned, the output component 1221 and the stop 1215 do not need to contact each other; if the pressure of the cleaning component 121 on the surface G to be cleaned is less than the weight of the cleaning component 121, the output component 1221 needs to abut against the stop 1215 to bear part of the weight of the cleaning component 121. When the cleaning component 121 is in the second cleaning state, the output component 1221 slides downward along the connecting post 1213, and the output component 1221 separates from the stop component 1215 to compress the spring.

[0129] During the process of the output component 1221 switching the cleaning component 121 from the first cleaning state to the second cleaning state, the output component 1221 presses the cleaning component 121 against the elastic component 124, causing the elastic component 124 to undergo elastic deformation. The elastic force of the elastic component 124 acts on the cleaning component 121, pressing it downwards towards the surface G to be cleaned, thus making the pressure of the cleaning component 121 on the surface G to be cleaned greater in the second cleaning state than in the first cleaning state.

[0130] As a further implementation, in some embodiments, when the cleaning member 121 is in the second cleaning state, the deformation of the elastic member 124 is not greater than its maximum deformation. In some embodiments, when the output member 1221 drives the cleaning member 121 to the second cleaning state, the elastic member 124 has not yet reached its maximum deformation state, and there is still room for further deformation, allowing the cleaning member 121 to move closer to the output member 1221, thereby increasing the deformation of the elastic member 124.

[0131] Please continue reading. Figure 5In some embodiments, when the cleaning component 121 is in the second cleaning state, when the cleaning component 121 comes into contact with an external obstacle O or is subjected to an external impact, the cleaning component 121 rises under the drive of the external force, thereby achieving passive obstacle avoidance. Since the position of the output component 1221 does not change when the cleaning component 121 passively avoids obstacles, the deformation of the elastic component 124 increases when the cleaning component 121 rises. When the external force disappears, the cleaning component 121 will automatically reset under the elastic force of the elastic component 124, restoring the second cleaning state. The output component 1221 transmits downward pressure to the cleaning component 121 through the elastic component 124, which can realize the control of the downward pressure value and the passive obstacle-crossing function of the cleaning component 121, avoiding the cleaning component 121 from getting stuck with garbage, avoiding the cleaning component 121 from damaging carpets, floors and other user items, or damaging the internal structure of the cleaning equipment 100 equipped with the cleaning module 120.

[0132] In some embodiments, the maximum deformation of the elastic element 124 is set such that when the cleaning element 121 rises to the maximum obstacle avoidance height, the deformation of the elastic element 124 is still not greater than the maximum deformation. That is, when the output element 1221 drives the cleaning element 121 to the second cleaning state, the cleaning element 121 rises under the drive of an external force, and can rise to the maximum obstacle avoidance height. When the cleaning element 121 rises to the maximum obstacle avoidance height, the deformation of the elastic element 124 can reach the maximum deformation; or when the cleaning element 121 rises to the maximum obstacle avoidance height, the elastic element 124 has not yet reached the maximum deformation state, and there is still room for further deformation. In some embodiments, the cleaning element 121 rising to the maximum obstacle avoidance height can be understood as the cleaning element 121 being blocked by certain parts of the cleaning device 100 on which the cleaning module 120 is configured, and thus unable to continue rising. As a further implementation, when the cleaning element 121 rises to the maximum obstacle avoidance height, the cleaning element 121 is completely retracted into the interior of the cleaning device 100.

[0133] Please see Figure 6 and Figure 8The transmission assembly 122 of the cleaning module 120 also includes a movable member 1222, which is connected to the drive member 123. The movable member 1222 is movably connected to the output member 1221, and the movable member 1222 drives the output member 1221 to rise and fall. That is, while the movable member 1222 drives the output member 1221 to rise and fall, a relative displacement also occurs between the movable member 1222 and the output member 1221, and the direction of this relative displacement is angularly set to the rising and falling direction of the output member 1221. In some embodiments, the transmission assembly 122 is a crank-slider mechanism, in which case the movable member 1222 can be a crank and the output member 1221 can be a slider. In some embodiments, the drive member 123 includes a motor, and the movable member 1222 is connected to the output shaft in an eccentric manner relative to the output shaft of the motor. When the output shaft of the motor rotates, the movable member 1222 rotates about the axis of the output shaft. When the movable part 1222 rotates, its height and horizontal position will change, so the movable part 1222 can drive the output part 1221 to rise and fall.

[0134] Figure 7 and Figure 10 Schematic diagrams of the transmission assembly 122 in different embodiments are shown below. Please refer to them. Figure 7 and Figure 10 The transmission assembly 122 includes a slide rod 122A and a sliding sleeve 122B, with the slide rod 122A movably extending into the sliding sleeve 122B. One of the moving part 1222 and the output part 1221 includes the slide rod 122A, and the other includes the sliding sleeve 122B. Figure 7 In the illustrated embodiment, the movable component 1222 includes a sliding sleeve 122B, and the output component 1221 includes a sliding rod 122A. When the sliding sleeve 122B rotates, it causes the sliding rod 122A to rise and fall, while the sliding rod 122A simultaneously slides within the sliding sleeve 122B. Figure 10 In the illustrated embodiment, the movable component 1222 includes a slide rod 122A, and the output component 1221 includes a sliding sleeve 122B. When the slide rod 122A rotates, it pushes the sliding sleeve 122B, causing the sliding sleeve 122B to rise and fall. At the same time, the slide rod 122A and the sliding sleeve 122B will also undergo horizontal relative displacement.

[0135] Please see Figure 7 and Figure 10In some embodiments, the transmission assembly 122 further includes a first transmission member 1223, through which the movable member 1222 is driveably connected to the drive member 123. Accordingly, the movable member 1222 is driveably connected to the first transmission member 1223 in an eccentric orientation relative to the axis of rotation of the first transmission member 1223. In embodiments where the drive member 123 includes a motor, the first transmission member 1223 is driveably connected to the output shaft of the motor. For example, if the first transmission member 1223 is a gear, the gear can be keyed or interference-fitted to the output shaft of the motor, and the movable member 1222 is driveably connected to the gear in an eccentric orientation relative to the axis of rotation of the gear.

[0136] Please see Figure 6 , Figure 8 and Figure 9 In some embodiments, the transmission assembly 122 may further include a second transmission member 1226, and the first transmission member 1223 is connected to the drive member 123 via the second transmission member 1226. The first transmission member 1223 and the second transmission member 1226 may form a reduction mechanism, for example in... Figure 6 In the illustrated embodiment, both the first transmission member 1223 and the second transmission member 1226 are gears, but the number of teeth on the gear in the first transmission member 1223 is greater than that on the gear in the second transmission member 1226. Figure 9 In the embodiment shown, the second transmission component 1226 can also be a gear set, which is a reduction gear set, and plays the role of reducing speed and increasing torque.

[0137] Please continue reading. Figure 6 , Figure 8 and Figure 9 In some embodiments, the cleaning module 120 may further include a base 125, through which the entire cleaning module 120 can be connected to the device body 110 of the cleaning device 100. In some embodiments, the base 125 may be a separately configured component, on which the drive unit 123 can be mounted, such as... Figure 6 As shown. In other embodiments, components that are fixed in position in the drive member 123 and the transmission assembly 122 (e.g., the second transmission member 1226) may also be mounted in the base 125, such as... Figure 9 As shown. In other embodiments, the main body 110 of the cleaning device 100, which is equipped with the cleaning module 120, can also be used as the base 125, that is, the drive component 123 and the transmission assembly 122 are directly installed in the main body 110 of the cleaning device 100. The specific structural form of the base 125 is not limited in this application.

[0138] Please see Figure 6 and Figure 7In some embodiments, the output component 1221 includes a floating bracket 122C and a sliding rod 122A connected together, with both ends of the sliding rod 122A fixed in the floating bracket 122C. The floating bracket 122C is connected to the cleaning component 121, and two connecting posts 1213 can be provided on the cleaning component 121. Two through holes are provided at both ends of the floating bracket 122C, allowing it to slidably mount on the two connecting posts 1213 through the two through holes and positioned above the spring. The movable component 1222 includes a sliding sleeve 122B, which is rotatably connected to the first transmission component 1223 in an eccentric posture relative to the axis of rotation of the first transmission component 1223. As one embodiment, please refer to [further details about the embodiment]. Figure 7 The upper end of the sliding sleeve 122B is hinged to the first transmission member 1223 via a pin. The pin is parallel to but not collinear with the axis of rotation of the first transmission member 1223. When the driving member 123 drives the first transmission member 1223 to rotate, the first transmission member 1223 drives the sliding sleeve 122B to rotate around the axis of rotation of the first transmission member 1223. Because the sliding sleeve 122B is hinged to the first transmission member 1223, the sliding sleeve 122B can always maintain a vertical posture.

[0139] Please see Figure 8 and Figure 10 In some embodiments, the output component 1221 includes a sliding sleeve 122B. As a further embodiment, the cleaning component 121 may have two connecting posts 1213, and the sliding sleeve 122B has two mounting lugs with through holes at both ends. The sliding sleeve 122B is slidably fitted onto the two connecting posts 1213 through the two through holes and is located above the spring. The movable component 1222 includes a sliding rod 122A, which is connected to the first transmission component 1223 in an eccentric posture relative to the axis of rotation of the first transmission component 1223. The sliding rod 122A may be a cylindrical shaft, and the friction between the cylindrical shaft and the sliding sleeve 122B is relatively small. In this case, the sliding rod 122A can be fixedly connected to the first transmission component 1223, and the sliding rod 122A and the first transmission component 1223 can be integrally formed to reduce the number of parts. In some embodiments, the slide rod 122A may also be hinged to the first transmission member 1223. For example, the slide rod 122A may be a bushing, which is rotatably fitted onto the mounting shaft 12231 provided on the first transmission member 1223. Figure 11A As shown, this results in rolling friction between the slide rod 122A and the slide sleeve 122B, further reducing friction and lowering the load on the drive component 123.

[0140] Since the movable part 1222 is connected to the first transmission part 1223 in an eccentric posture relative to the axis of rotation of the first transmission part 1223, when the first transmission part 1223 rotates around its axis, it will drive the first transmission part 1223 to make a circular motion around the axis of rotation of the first transmission part 1223. Figure 11 , Figure 12 and Figure 13 Different motion states of the transmission component 122 in some embodiments are shown respectively. Please refer to [link / reference]. Figure 11 In some embodiments, when the movable member 1222 rotates around the axis of the first transmission member 1223 to the upper quadrant of the circumference, the cleaning member 121 is in a raised state. When the movable member 1222 rotates to the upper quadrant of the circumference, i.e., the 12 o'clock position, it is located at the highest point of the first transmission member 1223, and the connection point between the movable member 1222 and the first transmission member 1223 is directly above the axis of rotation of the first transmission member 1223. When the cleaning member 121 comes into contact with an external object or is subjected to an external impact, the external force drives the cleaning member 121 to rise or fall. The force exerted by the cleaning member 121 on the movable member 1222 through the output member 1221 passes precisely through the axis of rotation of the first transmission member 1223, with a transmission angle γ = 0°, and the effective torque of the output member 1221 on the movable member 1222 is zero. In other words, the movable member 1222 is at a dead point position at this time, and the "mechanical dead point" ensures that the cleaning member 121 maintains its current state.

[0141] Please see Figure 12 In some embodiments, when the movable member 1222 rotates about the axis of the first transmission member 1223 to a side quadrant point of the circumference, the cleaning member 121 is in a first cleaning state. The movable member 1222 rotating to the side quadrant point of the circumference can be the left quadrant point, i.e., the 9 o'clock position; or it can be the right quadrant point, i.e., the 3 o'clock position.

[0142] Please see Figure 13 In some embodiments, when the movable member 1222 rotates around the axis of the first transmission member 1223 to the lower quadrant of the circumference, the cleaning member 121 is in a second cleaning state. When the movable member 1222 rotates to the lower quadrant of the circumference, i.e., the 6 o'clock position, it is located at the lowest point of the first transmission member 1223, and the connection point between the movable member 1222 and the first transmission member 1223 is directly below the axis of rotation of the first transmission member 1223. When the cleaning member 121 comes into contact with an external object or is subjected to an external impact, the external force drives the cleaning member 121 to rise or fall. The force exerted by the cleaning member 121 on the movable member 1222 through the output member 1221 also passes through the axis of rotation of the first transmission member 1223, with a transmission angle γ = 0°. The effective torque of the output member 1221 on the movable member 1222 is zero. In other words, the movable member 1222 is also at a dead point position at this time, and the "mechanical dead point" ensures that the cleaning member 121 maintains its current state.

[0143] Understandably, due to the friction between the mechanical structures in the cleaning module 120, the viscosity of the lubricating grease used in the mechanical structures, and the magnetic attraction (holding torque) between the stator and rotor in the motor of the drive component 123, the resulting physical resistance will maintain the cleaning component 121 in a raised state, a first cleaning state, or a second cleaning state. External disturbances to the cleaning component 121 require overcoming the aforementioned physical resistance to disrupt its current position. Therefore, when the movable component 1222 rotates to the vicinity of the upper quadrant point of the circumference (e.g., the deviation angle from the upper quadrant point is within ±5°), the cleaning component 121 can be considered to be in a raised state; when the movable component 1222 rotates to the vicinity of the side quadrant point of the circumference (e.g., the deviation angle from the upper quadrant point is within ±5°), the cleaning component 121 can be considered to be in a first cleaning state; when the movable component 1222 rotates to the vicinity of the lower quadrant point of the circumference (e.g., the deviation angle from the upper quadrant point is within ±5°), the cleaning component 121 can be considered to be in a second cleaning state.

[0144] Please see Figure 11A , Figure 12A and Figure 13A In some embodiments, the height of the sleeve hole c of the sliding sleeve 122B is greater than the height of the portion of the sliding rod 122A located in the sleeve hole c, allowing for a relative displacement in the height direction between the sliding rod 122A and the sliding sleeve 122B. The vertically opposite hole walls in the sleeve hole c of the sliding sleeve 122B are respectively designated as the first hole wall d and the second hole wall e. When the cleaning member 121 is in the raised state, the sliding rod 122A contacts the first hole wall d of the sleeve hole c, and the movable member 1222 supports the output member 1221 and the cleaning member 121. When the cleaning member 121 is in the first cleaning state, the sliding rod 122A may also contact the first hole wall d of the sleeve hole c, or the sliding rod 122A may be located between the first hole wall d and the second hole wall e of the sleeve hole c. When the slide rod 122A contacts the first hole wall d of the sleeve hole c, there is a certain distance H1 between the slide rod 122A and the second hole wall e of the sleeve hole c. This distance H1 is the maximum relative displacement between the slide rod 122A and the sleeve 122B in the vertical direction.

[0145] Understandably, in Figure 7 In the illustrated embodiment, the output component 1221 includes a floating bracket 122C and a sliding rod 122A connected to each other. Both ends of the sliding rod 122A are fixed within the floating bracket 122C. The floating bracket 122C is connected to the cleaning component 121. The movable component 1222 includes a sliding sleeve 122B. The first hole wall d is the bottom wall of the sleeve hole c of the sliding sleeve 122B, and the second hole wall e is the top wall of the sleeve hole c of the sliding sleeve 122B. Figure 10 In the illustrated embodiment, the output component 1221 includes a sliding sleeve 122B, and the movable component 1222 includes a sliding rod 122A. The first hole wall d is the top wall of the sleeve hole c of the sliding sleeve 122B, and the second hole wall e is the bottom wall of the sleeve hole c of the sliding sleeve 122B.

[0146] Please see Figure 14A and Figure 14B When the cleaning component 121 is in the raised state or the first cleaning state, due to the gap between the slide rod 122A and the second hole wall e of the sleeve hole c, when the cleaning component 121 rises under the drive of an external force, the cleaning component 121 can drive the output component 1221 to rise relative to the movable component 1222, thereby achieving passive obstacle avoidance by the cleaning component 121. After the slide rod 122A contacts the second hole wall e of the sleeve hole c, if the cleaning component 121 still cannot overcome the obstacle O, the cleaning component 121 can rise further by compressing the elastic component 124 until it overcomes the obstacle O.

[0147] Please see Figure 14A In some embodiments, when the slide rod 122A contacts the first hole wall d of the sleeve hole c, the distance H1 between the slide rod 122A and the second hole wall e of the sleeve hole c satisfies H1≥Hmax, where Hmax is the displacement of the cleaning component 121 when it is in the raised state or the first cleaning state and rises to the maximum obstacle avoidance height under the drive of an external force. That is, when the cleaning component 121 is in the raised state or the first cleaning state and rises to the maximum obstacle avoidance height under the drive of an external force, the slide rod 122A is separated from both the first hole wall d and the second hole wall e of the sleeve hole c, i.e., H1>Hmax; or the slide rod 122A is in virtual contact with the second hole wall e of the sleeve hole c, i.e., H1=Hmax.

[0148] Please see Figure 15 , Figure 16 , Figure 17 and Figure 19 The diagrams show structural schematics of the cleaning module 120 in different embodiments. Please refer to [link / reference]. Figure 15 , Figure 16 , Figure 17 and Figure 19 In some embodiments, the cleaning module 120 may further include a circuit board 126 and at least one position detection element 127. The drive element 123 and each position detection element 127 are electrically connected to the circuit board 126. Each position detection element 127 may be mounted on the base 125 and / or the transmission assembly 122. For example, each position detection element 127 may be disposed on the first transmission element 1223 of the transmission assembly 122; or each position detection element 127 may be disposed on the base 125, and the first transmission element 1223 may have at least one trigger portion for triggering the position detection element 127.

[0149] The position detection element 127 can be a limit switch, a Hall sensor, a photoelectric sensor 127B, etc., and this application is not limited thereto. For example, in some embodiments, the position detection element 127 is a Hall sensor, and the Hall probe of the Hall sensor is fixed on the base 125, so that the Hall probe can be electrically connected to the external circuit board 126 or controller 130 through wires. The magnetic source of the Hall sensor is fixed on the output element 1221 or the cleaning element 121. When the output element 1221 drives the cleaning element 121 to move, the magnetic field strength at the Hall probe changes, and the Hall probe outputs a voltage signal proportional to the displacement, thereby detecting the position of the output element 1221 or the cleaning element 121. It can be set that the distance between the Hall probe and the magnetic source is minimal when the cleaning element 121 is in a raised state, a first cleaning state, or a second cleaning state. Then, the external circuit board 126 or controller 130 can determine whether the cleaning element 121 is currently in a raised state, a first cleaning state, or a second cleaning state based on the voltage signal output by the Hall probe.

[0150] In some embodiments, there is one position detection element 127, which is disposed on the base 125, the transmission assembly 122, or the cleaning element 121. When the cleaning element 121 is in at least one of the following states: a raised state, a first cleaning state, or a second cleaning state, the cleaning element 121 and / or the transmission assembly 122 trigger the position detection element 127. That is, the position detection element 127 can determine at least one working state of the cleaning element 121.

[0151] Please see Figure 15 and Figure 16 In one implementation, the drive unit 123 includes a stepper motor 123A. The position detection unit 127 is a button 127A, which is mounted on the base 125 or on the main body 110 of the cleaning device 100 equipped with the cleaning module 120. To facilitate the triggering of the button 127A by the cleaning unit 121, a top block 1216 can be provided on the cleaning unit 121. The top block 1216 has a flat surface that can stably compress the button 127A to trigger it.

[0152] When the cleaning component 121 is in the raised state, pressing button 127A triggers button 127A. When the cleaning component 121 is in the first cleaning state and the second cleaning state, the cleaning component 121 is separated from button 127A, and button 127A is not triggered. When button 127A is triggered, circuit board 126 collects the signal emitted by button 127A as the zero-position signal of stepper motor 123A. Stepper motor 123A moves N1 steps from zero position, driving output component 1221 to switch the cleaning component 121 from the raised state to the first cleaning state; stepper motor 123A continues to move N2 steps, driving output component 1221 to switch the cleaning component 121 from the first cleaning state to the second cleaning state; stepper motor 123A continues to move N1+N2 steps back to zero position, driving output component 1221 to switch the cleaning component 121 from the second cleaning state to the raised state. The semi-closed-loop control of the lifting movement of the cleaning component 121 can be achieved by using a stepper motor 123A and a button 127A, which is relatively low in cost.

[0153] Please see Figure 17 As another implementation, the drive unit 123 includes a brushed motor 123B or a brushless motor. The position detection unit 127 is a photoelectric sensor 127B, which has a light emitting end and a light receiving end, spaced apart. When an opaque object blocks the light emitting end and the light receiving end, the light emitted by the light emitting end cannot reach the light receiving end, and the light receiving end will output a voltage signal different from when it receives light. The photoelectric sensor 127B is connected to a circuit board 126, which is mounted on a base 125. The circuit board 126 can be a PCB board, and the position detection unit 127 can be soldered onto the pads of the PCB board, achieving both mechanical and electrical connection.

[0154] One of the transmission components of the transmission assembly 122 is provided with three light-transmitting portions 1224. For example, all three light-transmitting portions 1224 can be provided on the first transmission component 1223. Figure 18 As shown. The first transmission member 1223 is located between the light emitting end and the light receiving end of the photoelectric sensor 127B. Except for the three light-transmitting portions 1224, the area on the first transmission member 1223 is opaque. When the opaque area rotates to be between the light emitting end and the light receiving end of the photoelectric sensor 127B, the photoelectric sensor 127B outputs a low-level signal; when the light-transmitting portion 1224 rotates to be between the light emitting end and the light receiving end of the photoelectric sensor 127B, the photoelectric sensor 127B outputs a high-level signal.

[0155] Please continue reading. Figure 18Of the three light-transmitting portions 1224, at least two light-transmitting portions 1224 have different areas and / or different spacing between adjacent light-transmitting portions 1224. If the areas of the light-transmitting portions 1224 are different, the duration of the high-level signal output by the photoelectric sensor 127B is different; if the spacing between adjacent light-transmitting portions 1224 is different, the time interval between adjacent high-level signals output by the photoelectric sensor 127B is different. When the cleaning component 121 is in the raised state, the first cleaning state, and the second cleaning state, the photoelectric sensor 127B is triggered by different light-transmitting portions 1224. The circuit board 126 can determine the current state of the cleaning component 121 by analyzing the voltage signal acquired by the photoelectric sensor 127B.

[0156] Please see Figure 18A In some embodiments, the light-transmitting portion 1224 that triggers the photoelectric sensor 127B when the cleaning component 121 is in the raised state is designated as the rising light-transmitting portion 1224a, which includes a light-transmitting hole 12241; the light-transmitting portion 1224 that triggers the photoelectric sensor 127B when the cleaning component 121 is in the first cleaning state is designated as the falling light-transmitting portion 1224b, which includes two light-transmitting holes 12241 that are spaced apart but close to each other; and the light-transmitting portion 1224 that triggers the photoelectric sensor 127B when the cleaning component 121 is in the raised state is designated as the pressing light-transmitting portion 1224c, which includes a light-transmitting hole 12241.

[0157] Please continue reading. Figure 18A In some embodiments, the first transmission member 1223 of the transmission assembly 122 is provided with three light-transmitting portions 1224. The time interval for the first transmission member 1223 to rotate from the rising light-transmitting portion 1224a to the falling light-transmitting portion 1224b is tab; the time interval for the first transmission member 1223 to rotate from the falling light-transmitting portion 1224b to the pressing light-transmitting portion 1224c is tbc; and the time interval for the first transmission member 1223 to rotate from the pressing light-transmitting portion 1224c to the rising light-transmitting portion 1224a is tca. The time interval for the first transmission member 1223 to rotate from one light-transmitting hole 12241 of the falling light-transmitting portion 1224b to another light-transmitting hole 12241 is Δt. Where: tab < tbc < tca; Δt is much smaller than tab (e.g., different time orders, Δt is on the order of milliseconds, tab is on the order of seconds); tca = tab + Δt + tbc.

[0158] When circuit board 126 receives two consecutive high-level signals from photoelectric sensor 127B within an interval Δt, it can determine that the current falling light-transmitting part 1224b triggers photoelectric sensor 127B. At this time, cleaning component 121 is in the first cleaning state, and this position can be used as the initial position of drive component 123. After each power-on of cleaning module 120, circuit board 126 first performs position calibration and controls drive component 123 to move to the initial position. Semi-closed-loop control of the lifting and lowering movement of cleaning component 121 can be achieved by using a brushed motor 123B / brushless motor + a photoelectric sensor 127B, which is relatively low in cost.

[0159] Please see Figure 18B In another implementation, the first transmission member 1223 is provided with four light-transmitting portions 1224, namely: a rising light-transmitting portion 1224a, a falling light-transmitting portion 1224b, a pressing light-transmitting portion 1224c, and an initial light-transmitting portion 1224d. The light-transmitting portion 1224 that triggers the photoelectric sensor 127B when the cleaning member 121 is in its initial state is designated as the initial light-transmitting portion 1224d. That is, the cleaning member 121 has four states: initial state, raised state, first cleaning state, and second cleaning state. The size of the light-transmitting area of ​​the initial light-transmitting portion 1224d is significantly different from that of the rising light-transmitting portion 1224a, the falling light-transmitting portion 1224b, and the pressing light-transmitting portion 1224c. For example, the initial light-transmitting portion 1224d includes two spaced but closely spaced light-transmitting holes 12241. The rising light-transmitting part 1224a, the falling light-transmitting part 1224b, and the pressing light-transmitting part 1224c each contain only one light-transmitting hole 12241, but the interval between two adjacent light-transmitting holes 12241 is different, that is, tab, tbc, tcd, tda, and Δt are all different, and Δt is much smaller than tab, tbc, tcd, and tda.

[0160] When the opaque area rotates to the space between the light emitting end and the light receiving end of the photoelectric sensor 127B, the photoelectric sensor 127B outputs a low-level signal. When the light-transmitting hole 12241 rotates to the space between the light emitting end and the light receiving end of the photoelectric sensor 127B, the photoelectric sensor 127B outputs a high-level signal, which can be considered as the photoelectric sensor 127B being triggered. That is, the high-level signal is used as the detection signal when the photoelectric sensor 127B is triggered. When the circuit board 126 receives two high-level signals from the photoelectric sensor 127B consecutively within an interval Δt, it can be determined that the current initial position light-transmitting part 1224d triggers the photoelectric sensor 127B. At this time, the cleaning component 121 is in the initial state.

[0161] Please see Figure 20In some embodiments, the number of position detection elements 127 may also be two. When the cleaning element 121 is in a raised state, a first cleaning state, or a second cleaning state, the cleaning element 121 and / or the transmission assembly 122 trigger the two position detection elements 127 in different triggering methods. That is, when the cleaning element 121 is in a raised state, a first cleaning state, or a second cleaning state, the number of position detection elements 127 triggered by the cleaning element 121 and / or the transmission assembly 122, as well as the positions of the triggered position detection elements 127, are different. For example, when the position detection element 127 is not triggered, the signal received by the circuit board 126 is 0; when the position detection element 127 is triggered, the signal received by the circuit board 126 is 1. Then the two position detection elements 127 have four different triggering methods, and the corresponding signals received by the circuit board 126 are 00, 01, 10, and 11, respectively.

[0162] Please see Figure 20A As a further implementation, the drive unit 123 includes a brushed motor 123B or a brushless motor; the position detection unit 127 is a photoelectric sensor 127B, and the two photoelectric sensors 127B are respectively connected to a circuit board 126, which is mounted on a base 125. The circuit board 126 can be a PCB board, and the two position detection units 127 can be soldered onto different pads on the PCB board, achieving both mechanical and electrical connections. The transmission component 122 has four spaced-apart light-shielding parts 1225. When the cleaning unit 121 is in the raised state, the first cleaning state, and the second cleaning state, the four light-shielding parts 1225 trigger the two photoelectric sensors 127B in different ways.

[0163] Taking the first transmission member 1223 of the transmission assembly 122 with four light-shielding parts 1225 as an example, the four light-shielding parts 1225 are arranged in pairs. The two light-shielding parts 1225 in the same group are located on the same circumference of the first transmission member 1223, and this circumference is located between the light emitting end and the light receiving end of the photoelectric sensor 127B corresponding to the light-shielding part 1225 in that group. When the cleaning member 121 is in the lifting state, the first cleaning state, and the second cleaning state, the four light-shielding parts 1225 trigger the two photoelectric sensors 127B in different ways. The signals received by the circuit board 126 can be 11, 10, and 01, respectively. Closed-loop control of the lifting and lowering movement of the cleaning member 121 can be achieved by using a brushed motor 123B / brushless motor + two photoelectric sensors 127B. The position of the first transmission member 1223 can be uniquely determined when the cleaning member 121 is in any state, resulting in high control accuracy.

[0164] Of course, in other embodiments, the number of position detection elements 127 can also be three. When the cleaning element 121 is in the raised state, the first cleaning state, and the second cleaning state, the cleaning element 121 and / or the transmission assembly 122 respectively trigger different position detection elements 127. The position of the first transmission element 1223 can be uniquely determined when the cleaning element 121 is in any state, resulting in high control accuracy.

[0165] Please see Figure 21 According to a second aspect of this application, a cleaning device 100 is provided. The cleaning device 100 may be a sweeping robot, a mopping robot, a sweeping and mopping robot combined with a floor scrubber, etc. The cleaning device 100 includes a device body 110 and the cleaning module 120 described in the first aspect. In some embodiments, the base 125 and / or drive component 123 in the cleaning module 120 are mounted on the device body 110. For example, the base 125 can be connected to the bottom shell 111 of the device body 110 by screws. Figure 22 As shown. In other embodiments, the base 125 may also be integrally formed with the device body 110, that is, the device body 110 also serves as the base 125.

[0166] The cleaning component 121 of the cleaning module 120 is movably connected to the main body 110 of the device. Please refer to [link / reference]. Figure 23 In some embodiments, the cleaning component 121 includes a mounting bracket 1211 and a cleaning part, which may be a roller brush 1212, a mop 140, a roller, etc., and the cleaning part is installed in the mounting bracket 1211. The mounting bracket 1211 is movably connected to the device body 110, for example, the mounting bracket 1211 may be slidably connected to the device body 110 in the vertical direction.

[0167] Please continue reading. Figure 23In some embodiments, the cleaning component 121 includes a mounting bracket 1211 and a roller brush 1212. The roller brush 1212 is connected to the mounting bracket 1211 and can rotate relative to the mounting bracket 1211. The mounting bracket 1211 is provided with a connecting arm 1214, which is hinged to the main body 110 of the cleaning device 100. The output component 1221 drives the entire cleaning component 121 to swing and rise around the hinge point of the connecting arm 1214 via the mounting bracket 1211. The mounting bracket 1211 may be provided with two connecting arms 1214, which are spaced apart along the axial direction of the roller brush 1212. One end of the connecting arm 1214 is fixedly connected to the mounting bracket 1211. For example, the connecting arm 1214 can be an integral structure with the mounting bracket 1211, and the connecting arm 1214 is an outwardly protruding support arm on the mounting bracket 1211. The other end of the connecting arm 1214 is hinged to the main body 110 of the equipment via a pin. The vertical distance between the pin and the axis of the cleaning part is much smaller than the horizontal distance. Therefore, when the output component 1221 drives the entire cleaning component 121 to swing and rise around the hinge point of the connecting arm 1214, the vertical displacement of the cleaning component 121 is much greater than the horizontal displacement. Therefore, the swinging and rising of the cleaning component 121 can be regarded externally as a vertical rise and fall relative to the surface G to be cleaned.

[0168] Please see Figure 24A and Figure 24C In some embodiments, the circuit board 126 and the drive unit 123 of the cleaning module 120 can be electrically connected to the controller 130 of the cleaning device 100, respectively. The circuit board 126 receives the detection signal from the position detection unit 127 and sends it to the controller 130 of the cleaning device 100. The controller 130 of the cleaning device 100 issues instructions to the drive unit 123 according to the detection signal to control the movement time of the drive unit 123.

[0169] Please see Figure 24B In other embodiments, the drive unit 123 and the position detection unit 127 of the cleaning module 120 are electrically connected to the circuit board 126. The circuit board 126 receives the detection signal from the position detection unit 127 and sends instructions to the drive unit 123 to control the movement time of the drive unit 123. The circuit board 126 is electrically connected to the controller 130 of the cleaning device 100, or the circuit board 126 directly serves as the controller 130 of the cleaning device 100.

[0170] Please see Figure 25The diagram shows a schematic of the bottom structure of a cleaning device 100 in some embodiments. The cleaning device 100 can be a sweeping and mopping robot. The cleaning component 121 includes a roller brush 1212, which is located in the middle of the cleaning device 100. The roller brush 1212 is rotatably mounted in a mounting bracket 1211, which is channel-shaped. The main body 110 of the device is provided with a dust box 112 and a vacuum fan, which is connected to the air outlet of the dust box 112. The dust outlet b of the mounting bracket 1211 is connected to the dust box 112. When the cleaning component 121 contacts the surface G to be cleaned and cleans the surface G, the suction port a of the mounting bracket 1211 is not covered by the surface G. Dust, hair, particles, and other debris on the surface G are sucked into the inner cavity of the mounting bracket 1211 through the suction port a, and the debris attached to the roller brush 1212 is carried into the dust box 112 as it flows through the roller brush 1212. The suction port a needs to be kept at an appropriate size. If the suction port a is too large, it will affect the suction power at the suction port a.

[0171] The cleaning device 100 may also include a mop 140 and a side mop 150. The roller brush 1212 rotates to remove debris from the surface G to be cleaned, and the debris is sucked into the dustbin 112 of the cleaning device 100. The side mop 150 is located on the side of the main body 110 and can clean corners, crevices, and other areas that are difficult for the roller brush 1212 and mop 140 to access, thus expanding the cleaning range. The mop 140 is located behind the roller brush 1212 and can be a flat mop, a rotary mop, or a tracked mop; this application does not impose any limitations. The suction port a of the cleaning module 120 is located on the side of the mounting bracket 1211 away from the mop 140. When the cleaning device 100 travels forward in the direction D, the roller brush 1212 and mop 140 can achieve a "vacuum first, then sweep, then mop" cleaning mode.

[0172] Please see Figure 25 In some embodiments, the cleaning device 100 further includes a wheel module 160 connected to the device body 110. The wheel module 160 can actively drive the entire cleaning device 100 to travel on the surface G to be cleaned; that is, the wheel module 160 is equipped with a power source. The wheel module 160 may also consist of only a few rollers. The cleaning device 100 travels on the surface G to be cleaned by the user's pushing and pulling actions, and the wheel module 160 rotates accordingly to reduce friction. In some embodiments, there are two wheel modules 160, namely a left drive wheel assembly and a right drive wheel assembly. The left and right drive wheel assemblies are symmetrically arranged along the transverse axis defined by the device body 110 and distributed on the left and right sides of the roller brush 1212.

[0173] Please continue reading. Figure 25In some embodiments, to enable the cleaning device 100 to move more stably or with greater mobility on the ground, the cleaning device 100 may include one or more steering wheels 170. The steering wheels 170 may be driven wheels or drive wheels, and their structural forms include, but are not limited to, casters. The steering wheels 170 may be located in front of the drive wheel assembly. A drive motor provides power to the drive wheel assembly and / or the steering wheels 170.

[0174] Figures 26 to 29 A schematic diagram of the cleaning device 100 in some embodiments is shown when the cleaning component 121 is in different motion states. The following is in conjunction with... Figures 26 to 29 The working process of the cleaning module 120 in this embodiment is described. In this embodiment, the cleaning module 120 is equipped with a button 127A, which is installed on the device body of the cleaning equipment 100 on which the cleaning module 120 is configured. The button 127A corresponds to the cleaning component 121. The driving component 123 is a stepper motor 123A, and the stepper motor 123A and the button 127A are electrically connected to the controller 130 of the cleaning equipment 100. The cleaning component 121 is a roller brush 1212, specifically including the roller brush 1212 and a mounting bracket 1211. The mounting bracket 1211 is provided with two connecting posts 1213 and two stops 1215, and the two stops 1215 are respectively connected to the top ends of the two connecting posts 1213. The output component 1221 includes a floating bracket 122C and a sliding rod 122A connected together. Both ends of the sliding rod 122A are fixed within the floating bracket 122C. Both ends of the floating bracket 122C are slidably sleeved on two connecting posts 1213 and located above a spring. The spring is sleeved on the connecting posts 1213 and located between the mounting bracket 1211 and the floating bracket 122C. The movable component 1222 includes a sliding sleeve 122B, which is rotatably connected to the first transmission component 1223 in an eccentric posture relative to the axis of rotation of the first transmission component 1223.

[0175] Please see Figure 26 and Figure 26A Stepper motor 123A rotates to the zero position, driving the first transmission component 1223 to rotate, which in turn drives the sliding sleeve 122B to rotate to the highest point of the first transmission component 1223, i.e., the 12 o'clock position. At this time, the sliding rod 122A contacts the bottom wall of the sleeve hole c of the sliding sleeve 122B, the spring is in a free state, and the sliding sleeve 122B lifts the entire cleaning component 121 through the sliding rod 122A and the floating bracket 122C. The cleaning component 121 is in a raised state, as shown below. Figure 26 As shown. When the cleaning component 121 is in the raised state, the roller brush 1212 is separated from the surface G to be cleaned, and the relative distance between the mounting bracket 1211 and the device body of the cleaning device 100 is small, so that the mounting bracket 1211 presses the button 127A mounted on the device body through the top block 1216 provided thereon. Figure 26BAs shown, controller 130 receives a zero-position signal.

[0176] Please see Figure 27 and Figure 27A The controller 130 controls the stepper motor 123A to rotate a set number of steps from zero, driving the first transmission component 1223 to rotate clockwise, which in turn drives the sliding sleeve 122B to rotate to the 3 o'clock position. During the rotation of the sliding sleeve 122B from the 12 o'clock position to the 3 o'clock position, its height decreases. At this time, the sliding rod 122A is still in contact with the bottom wall of the sleeve hole c of the sliding sleeve 122B, and the spring is in a free state. The sliding sleeve 122B, through the sliding rod 122A and the floating bracket 122C, drives the entire cleaning component 121 to descend, so that the cleaning component 121 is in the first cleaning state, such as... Figure 27 As shown. When the cleaning component 121 is in the first cleaning state, the roller brush 1212 contacts the surface G to be cleaned and applies a certain pressure to the surface G, allowing the roller brush 1212 to clean the surface G normally. The suction port a maintains a certain size, sucking the hair, dust, and other debris swept by the roller brush 1212 into the dust box 112.

[0177] When the cleaning component 121 is in the first cleaning state, if it comes into contact with an external object or is subjected to an external impact, the cleaning component 121 rises under the drive of the external force. This rise is propelled by a spring pushing the slide rod 122A and the floating bracket 122C (the slide rod 122A and the floating bracket 122C are relatively light, so the spring is not compressed). This causes the slide rod 122A to slide upwards along the sleeve hole c of the sleeve 122B, approaching the top wall of the sleeve hole c. During this process, the height of the cleaning component 121 relative to the surface G to be cleaned increases, thereby achieving passive obstacle avoidance of the cleaning component 121 in the first cleaning state, such as... Figure 28 and Figure 28A As shown. This passive obstacle avoidance utilizes the height difference between the sleeve hole c and the diameter of the slide rod 122A to provide upward space for the cleaning component 121 to avoid obstacles. When the external force disappears, the cleaning component 121 will automatically reset under the action of gravity, restoring its original position. Figure 27 The first clean state is shown.

[0178] Please see Figure 29 and Figure 29AThe stepper motor 123A continues to rotate a set number of steps, driving the first transmission component 1223 to rotate clockwise, which in turn causes the sliding sleeve 122B to rotate to its lowest point, i.e., the 6 o'clock position. As the sliding sleeve 122B rotates from the 3 o'clock position to the 6 o'clock position, its height further decreases. Since the cleaning component 121 is already in contact with the surface G to be cleaned when the sliding sleeve 122B is at the 3 o'clock position, the descent of the sliding sleeve 122B causes the sliding rod 122A to slide upwards along the sleeve hole c of the sliding sleeve 122B until the sliding rod 122A contacts the top wall of the sleeve hole c of the sliding sleeve 122B. When the sliding rod 122A contacts the top wall of the sleeve hole c of the sliding sleeve 122B, the sliding sleeve 122B has not yet reached the 6 o'clock position. Therefore, if the sliding sleeve 122B continues to rotate towards the 6 o'clock position, it will cause the floating bracket 122C to compress the spring through the sliding rod 122A. The elastic force of the elastic element 124 acts on the cleaning element 121, pressing the cleaning element 121 downwards towards the surface G to be cleaned, thereby putting the cleaning element 121 into the second cleaning state, such as... Figure 29 As shown.

[0179] Because the spring is compressed, the slide bar 122A applies downward pressure to the cleaning component 121 through the spring. This results in the cleaning component 121 having greater pressure on the surface G to be cleaned when in the second cleaning state than when in the first cleaning state. Consequently, the roller brush 1212 adheres more closely to the surface G, increasing cleaning friction and improving cleaning efficiency. Simultaneously, the reduced area of ​​the suction port a increases the airflow speed and suction power, further enhancing the cleaning efficiency of the cleaning component 121.

[0180] When the cleaning component 121 is in the second cleaning state, if it comes into contact with an external object or is subjected to an external impact, it will rise under the drive of the external force. Since the sliding rod 122A is already in contact with the top wall of the sleeve hole c of the sliding sleeve 122B when the cleaning component 121 is in the second cleaning state, the sliding rod 122A cannot continue to rise due to the obstruction of the sliding sleeve 122B. Therefore, the cleaning component 121 can only rise by further compressing the spring, thus achieving passive obstacle avoidance of the cleaning component 121 in the second cleaning state. Figure 30 As shown. This passive obstacle avoidance utilizes the fact that when the cleaning component 121 is in the second cleaning state, the spring has not yet reached its maximum compression, and the remaining deformation space of the spring provides upward space for the cleaning component 121 to avoid obstacles. When the external force disappears, the cleaning component 121 will automatically reset under the elastic force of the spring, restoring its original position. Figure 29 The second clean state is shown.

[0181] As the first transmission component 1223 rotates clockwise, driving the sliding sleeve 122B to rotate from the 12 o'clock position to the 6 o'clock position, the sliding sleeve 122B always rotates downwards. After the first transmission component 1223 drives the sliding sleeve 122B to rotate to the 6 o'clock position, the stepper motor 123A continues to rotate, driving the first transmission component 1223 to continue rotating clockwise. The first transmission component 1223 will drive the sliding sleeve 122B to rotate from the 6 o'clock position to the 12 o'clock position, during which the sliding sleeve 122B always rotates upwards. The sliding sleeve 122B slides relative to the sliding rod 122A. The sliding rod 122A slides downwards relative to the sliding sleeve 122B from the position of contact with the top wall of the sleeve hole c of the sliding sleeve 122B, gradually approaching the bottom wall of the sleeve hole c. After the slide rod 122A contacts the bottom wall of the sleeve hole c of the sliding sleeve 122B, the spring is in a free state. The sliding sleeve 122B lifts the entire cleaning component 121 through the slide rod 122A and the floating bracket 122C until the sliding sleeve 122B rotates to the 12 o'clock position and the cleaning component 121 returns to the raised state. Figure 26 As shown.

[0182] Please see Figure 31 According to a third aspect of this application, a cleaning system 1000 is provided, including a base station 200 and a cleaning device 100 as described in the second aspect of the application. The cleaning device 100 can be docked with the base station 200 or driven away from the base station 200.

[0183] When the cleaning device 100 is connected to the base station 200, the base station 200 can perform at least one of the following functions: collecting debris from the dustbin 112 of the cleaning device 100 (the cleaning device 100 includes a roller brush 1212), charging the cleaning device 100, cleaning the cleaning component 121 of the cleaning device 100 (the cleaning component 121 includes a mop 140 or a roller), drying the cleaning component 121 of the cleaning device 100 (the cleaning component 121 includes a mop 140 or a roller), and adding cleaning liquid to the cleaning device 100 (the cleaning device 100 includes a mop 140 or a roller). Other undescribed structures of the base station 200 of the cleaning system 1000 and the cleaning device 100 can be found in the relevant disclosures of the prior art, and this application does not impose any limitations.

[0184] A fourth aspect of this application provides a control method for a cleaning device 100. This control method is implemented based on the cleaning device 100 of any of the embodiments of the second aspect described above. For example, the control method can be applied to the controller 130 or circuit board 126 in the cleaning device 100 of the above embodiments of this application. In other embodiments, the control method can also be executed by other devices that communicate data with the cleaning device 100, such as remotely controlling the cleaning device 100 through devices such as mobile phones, computers, and tablets. This application does not limit the implementation methods of other devices or the execution entities of each embodiment.

[0185] Please see Figure 32 The control method M1 includes the following:

[0186] Step S1A: In response to the first command, the drive component 123 is controlled to drive the transmission component 122 to move, and the output component 1221 of the transmission component 122 drives the cleaning component 121 to switch to the lifting state.

[0187] When the cleaning component 121 is in the raised state, it separates from the surface G to be cleaned, enabling active obstacle avoidance and reducing frictional resistance between it and the surface G. In other words, when the cleaning device 100 detects an obstacle O ahead, it can automatically generate a first command. In some embodiments, when the cleaning device 100 returns to the base station 200, to prevent the cleaning component 121 from colliding with external objects, the cleaning device 100 can also automatically generate a first command to control the raising of the cleaning component 121. Of course, in other embodiments, the first command can also be triggered by the user, for example, by clicking on a mobile app compatible with the cleaning device 100, or by using voice, gestures, or pressing the relevant button 127A on the cleaning device 100.

[0188] Step S1B: In response to the second command, the drive unit 123 is controlled to drive the transmission assembly 122 to move, and the output unit 1221 of the transmission assembly 122 drives the cleaning unit 121 to switch to the first cleaning state.

[0189] When the cleaning component 121 is in the first cleaning state, it contacts the surface G to be cleaned. The cleaning component 121 can apply a certain pressure to the surface G, thereby cleaning it. In some embodiments, when the cleaning device 100 executes a cleaning program and detects that the surface G is only slightly dirty, a second instruction can be automatically generated. Of course, in other embodiments, the second instruction can also be triggered by the user, for example, by clicking on a mobile app compatible with the cleaning device 100, or by using voice, gestures, or pressing relevant buttons on the cleaning device 100.

[0190] Step S1C: In response to the third command, the drive unit 123 is controlled to drive the transmission assembly 122 to move, and the output unit 1221 of the transmission assembly 122 drives the cleaning unit 121 to switch to the second cleaning state.

[0191] When the cleaning component 121 is in the second cleaning state, it remains in contact with the surface G to be cleaned, but the pressure on the surface G is greater than the pressure exerted by the cleaning component 121 in the first cleaning state, resulting in higher cleaning efficiency. In some embodiments, when the cleaning device 100 executes a cleaning program and detects that the surface G to be cleaned is heavily soiled, a third instruction can be automatically generated. Of course, in other embodiments, the second instruction can also be triggered by the user, for example, by clicking on a mobile app compatible with the cleaning device 100, or by using voice, gestures, or pressing relevant buttons on the cleaning device 100 to trigger the third instruction.

[0192] In the above steps, after the cleaning component 121 reaches the target position (lifted state, first cleaning state, second cleaning state), the drive component 123 stops working. In some embodiments, the position of the cleaning component 121 and / or the transmission assembly 122 can be detected by setting a position sensor (e.g., limit switch, Hall sensor, photoelectric sensor 127B, etc.) to determine whether the cleaning component 121 has reached the target position. In other embodiments, the position of the cleaning component 121 can also be determined by calculating the running time and running parameters of the drive component 123 to determine whether the cleaning component 121 has reached the target position. In other embodiments, the drive component 123 can be a servo motor with its own encoder and closed-loop driver. The driver compares the commanded position / speed with the motor running parameters fed back by the encoder in real time. The difference is adjusted by PID calculation to adjust the motor current so that the motor tracks accurately with the error approaching zero. The servo motor can accurately drive the cleaning component 121 to the target position. More detection methods for the position of the cleaning component 121 are not exhaustively listed here.

[0193] Please see Figure 33 The diagram shows a flowchart of control method M2 in some embodiments. In the cleaning device 100 to which control method M2 is applied, the driving component 123 is a stepper motor 123A. The stepper motor 123A sequentially switches each pulse current input from the controller 130 to the stator phase windings, causing the magnetic field to advance by a fixed angle. The toothed rotor rotates one step under the action of magnetic pull. If the pulse continues, the rotor rotates continuously; if the pulse stops, the magnetic field locks, the rotor stops immediately and maintains torque, realizing an open-loop digital angular displacement output of "one step, one position". Before the stepper motor 123A starts working, the zero position needs to be determined first. After the position of the cleaning component 121 corresponding to the zero position is determined, the number of steps required for the stepper motor 123A to rotate from the zero position to drive the cleaning component 121 to reach each state can be calculated, thus realizing the control of each movement point.

[0194] Based on this, control method M2 specifically includes the following contents.

[0195] Step S0: In response to the start command, control the stepper motor 123A to rotate to the zero position.

[0196] The start command can be a power-on command for the cleaning device 100, such as when the user presses the power button 127A, or clicks on the mobile APP that is compatible with the cleaning device 100, or the user operates the cleaning device 100 through voice, gestures, etc. to trigger the start command.

[0197] In some embodiments, a position sensor (such as a limit switch, Hall sensor, photoelectric sensor 127B, etc.) can be used to detect whether the stepper motor 123A has reached the zero position. For example, a button 127A is provided on the main body 110 of the cleaning device 100. When the cleaning device moves to a certain position and the button 127A is pressed, the controller 130 receives the signal from the button 127A and determines that the stepper motor 123A has reached the zero position at the current moment.

[0198] Step S1A: In response to the first instruction, control the stepper motor 123A to rotate a first set number of steps p1, so as to drive the output component 1221 to switch the cleaning component 121 to the lifting state.

[0199] In some embodiments, step S1A may specifically involve the controller 130 inputting a first pulse to the stepper motor 123A, controlling the stepper motor 123A to rotate from zero position to a first set number of steps p1. After the stepper motor 123A rotates the first set number of steps p1, the rotor immediately stops and maintains torque.

[0200] Step S1B: In response to the second instruction, control the stepper motor 123A to rotate a second set number of steps p2, so as to drive the output component 1221 to switch the cleaning component 121 to the first cleaning state.

[0201] In some embodiments, step S1B may specifically involve the controller 130 inputting a second pulse to the stepper motor 123A, controlling the stepper motor 123A to continue rotating a second set number of steps p2. After the stepper motor 123A continues rotating the second set number of steps p2, the rotor immediately stops and maintains torque. That is, the total number of steps required for the stepper motor 123A to drive the cleaning component 121 to switch to the first cleaning state from the zero position is p1+p2.

[0202] Step S1C: In response to the third instruction, control the stepper motor 123A to rotate a third set number of steps p3, so as to drive the output component 1221 to switch the cleaning component 121 to the second cleaning state.

[0203] In some embodiments, step S1C may specifically involve the controller 130 inputting a third pulse to the stepper motor 123A, controlling the stepper motor 123A to continue rotating a third set number of steps p3. After the stepper motor 123A continues rotating the third set number of steps p3, the rotor immediately stops and maintains torque. That is, the total number of steps required for the stepper motor 123A to drive the cleaning component 121 to switch to the second cleaning state from the zero position is p1+p2+p3.

[0204] If the cleaning component 121 is currently in the second cleaning state, and it is necessary to directly switch the cleaning component 121 to the lifting state (e.g., cleaning is completed, and the cleaning device 100 returns to its original position), then the stepper motor 123A can be controlled to continue rotating to the zero position and then continue rotating p1 steps after reaching the zero position, or the stepper motor 123A can be controlled to rotate in the opposite direction for p2+p3 steps. Based on the number of steps already rotated by the stepper motor 123A, the current position of the cleaning component 121 can be determined. By clarifying the number of steps and direction required for the cleaning component 121 to switch between any two states, the drive component 123 can be controlled to drive the cleaning component 121 to switch between any two states.

[0205] In some embodiments, the current rotation position of the stepper motor 123A when the controller 130 controls the cleaning component 121 to be in the raised state, the first cleaning state, or the second cleaning state can be taken as the zero position of the stepper motor 123A. That is, when the stepper motor 123A is in the zero position, the cleaning component 121 can be in the raised state, the first cleaning state, or the second cleaning state.

[0206] In one implementation scheme, when the stepper motor 123A is in the zero position, the cleaning component 121 is in a raised state. When the cleaning component 121 is in the raised state, it presses the button 127A, which then sends a signal to the controller 130. Please refer to... Figure 34 Based on this, control method M3 specifically includes the following contents.

[0207] Step S0: In response to the start command, control the stepper motor 123A to rotate to the zero position.

[0208] In some embodiments, after the cleaning device 100 is started, the controller 130 first controls the stepper motor 123A to rotate to lift the cleaning component 121. When the cleaning component 121 rises to the point where the squeeze button 127A is pressed, the controller 130 receives a signal from the button 127A and determines that the stepper motor 123A has reached the zero position. The device then goes into standby mode, waiting for a user command; or it performs a corresponding operation based on the received command.

[0209] Step S1A: In response to the start command or the first command, control the stepper motor 123A to rotate to the zero position so that the cleaning part 121 is in a raised state.

[0210] After stepper motor 123A reaches the zero position, if the first instruction is received, since the current position of stepper motor 123A is the zero position (for example, the controller 130 can receive the signal sent by button 127A), stepper motor 123A does not need to rotate in this step S1A, but can maintain the current position.

[0211] Step S1B: In response to the second instruction, control the stepper motor 123A to rotate a second set number of steps p2, so as to drive the output component 1221 to switch the cleaning component 121 to the first cleaning state.

[0212] Step S1C: In response to the third instruction, control the stepper motor 123A to rotate a third set number of steps p3, so as to drive the output component 1221 to switch the cleaning component 121 to the second cleaning state.

[0213] Please see Figure 35 The diagram shows a flowchart of control method M4 in some embodiments. In the cleaning device 100 to which control method M4 is applied, the drive unit 123 is a brushed motor 123B or a brushless motor, and the cleaning module 120 is provided with one or more position detection units 127. The position sensor can be a limit switch, a Hall sensor, a photoelectric sensor 127B, etc., and the position sensor can detect the position of the cleaning unit 121, the drive unit 123, or the transmission unit in the transmission assembly 122.

[0214] Based on this, control method M4 specifically includes the following contents.

[0215] Step S1A: In response to the first command, control the drive member 123 to rotate so as to drive the cleaning member 121 to move through the transmission assembly 122; determine the position of the cleaning member 121 according to the detection signal of the position detection member 127; control the drive member 123 to stop when the cleaning member 121 is in the raised state.

[0216] Step S1B: In response to the second command, control the drive member 123 to rotate so as to drive the cleaning member 121 to move through the transmission assembly 122; determine the position of the cleaning member 121 according to the detection signal of the position detection member 127; control the drive member 123 to stop when the cleaning member 121 is in the first cleaning state.

[0217] Step S1C: In response to the third command, control the drive member 123 to rotate so as to drive the cleaning member 121 to move through the transmission assembly 122; determine the position of the cleaning member 121 according to the detection signal of the position detection member 127; control the drive member 123 to stop when the cleaning member 121 is in the second cleaning state.

[0218] In the above steps, the position of the cleaning component 121 needs to be determined by the detection signal of the position detection component 127. After the cleaning component 121 is determined to be in position, the motor stops rotating. Since the position of the cleaning component 121 relative to the surface G to be cleaned does not change in the first cleaning state and the second cleaning state, it is difficult to distinguish whether the cleaning component 121 is in the first cleaning state or the second cleaning state by detecting the position of the cleaning component 121. In some embodiments, the position detection component 127 is disposed on the device body 110, and the position detection component 127 is triggered when the transmission component 122 moves.

[0219] In some embodiments, the cleaning module 120 is provided with a position detection element 127, and the first transmission element 1223 of the transmission assembly 122 triggers the position detection element 127 during movement. Based on this, please refer to... Figure 36 The control method M5 specifically includes the following contents.

[0220] Step S0: In response to the start command, control the drive unit 123 to rotate so as to drive the transmission assembly 122 to move to the initial position.

[0221] In step S0, the controller 130 controls the drive component 123 to rotate continuously to drive the transmission component 122 to move. At the same time, the controller 130 receives the signal output by the position detection component 127. When a detection signal that matches the preset signal is received, it can be determined that the transmission component 122 has reached the initial position and the drive component 123 is controlled to stop.

[0222] Step S1A: In response to the first instruction, control the drive member 123 to rotate to drive the transmission component 122 to move. When a detection signal is received, and the rotation time of the drive member 123 from receiving the current detection signal to receiving the previous detection signal reaches a first preset time, determine that the transmission component 122 drives the cleaning member 121 to move to the raised state, and control the drive member 123 to stop.

[0223] Step S1B: In response to the second instruction, control the drive member 123 to rotate to drive the transmission assembly 122 to move. When a detection signal is received, and the rotation time of the drive member 123 from receiving the current detection signal to receiving the previous detection signal reaches the second preset time, determine that the transmission assembly 122 drives the cleaning member 121 to move to the first cleaning state, and control the drive member 123 to stop.

[0224] Step S1C: In response to the third instruction, control the drive member 123 to rotate to drive the transmission assembly 122 to move. When a detection signal is received, and the rotation time of the drive member 123 from receiving the current detection signal to receiving the previous detection signal reaches a third preset duration, determine that the transmission assembly 122 has driven the cleaning member 121 to move to the second cleaning state, and control the drive member 123 to stop. The first preset duration, the second preset duration, and the third preset duration are all different.

[0225] In other words, the current position of the cleaning component 121 is determined by analyzing whether the position detection component 127 is triggered and the time it takes for the drive component 123 to run between two triggerings of the position detection component 127. Since the first preset duration, the second preset duration, and the third preset duration are all different, once the initial position is determined, control of each movement point of the cleaning component 121 can be achieved.

[0226] In one implementation scheme, the position detection component 127 is a photoelectric sensor 127B. The first transmission component 1223 is provided with a rising position light-transmitting part 1224a, a falling position light-transmitting part 1224b, a pressing position light-transmitting part 1224c, and an initial position light-transmitting part 1224d. The size of the light-transmitting area of ​​the initial position light-transmitting part 1224d is significantly different from that of the rising position light-transmitting part 1224a, the falling position light-transmitting part 1224b, and the pressing position light-transmitting part 1224c. For example, the initial position light-transmitting part 1224d includes two spaced but closely spaced light-transmitting holes 12241. The rising position light-transmitting part 1224a, the falling position light-transmitting part 1224b, and the pressing position light-transmitting part 1224c each include only one light-transmitting hole 12241, but the spacing between adjacent light-transmitting holes 12241 is different. When the opaque area rotates between the light emitting end and the light receiving end of the photoelectric sensor 127B, the photoelectric sensor 127B outputs a low-level signal; when the light-transmitting hole 12241 rotates between the light emitting end and the light receiving end of the photoelectric sensor 127B, the photoelectric sensor 127B outputs a high-level signal, which can be regarded as the photoelectric sensor 127B being triggered. That is, the high-level signal is used as the detection signal when the photoelectric sensor 127B is triggered.

[0227] Correspondingly, when two detection signals are received consecutively within a preset time interval, it can be determined that the transmission assembly 122 has reached the initial position. After receiving the first instruction, the drive member 123 drives the first transmission member 1223 of the transmission assembly 122 to continue rotating from the initial position. When the first transmission member 1223 moves to the light-transmitting hole 12241 of the rising light-transmitting part 1224a and triggers the photoelectric sensor 127B, the controller 130 receives a high-level signal output by the photoelectric sensor 127B. Furthermore, the rotation time of the drive member 123 driving the first transmission member 1223 to rotate from the initial position to the current position satisfies the first preset time t1. The controller 130 can then determine that the cleaning member 121 has moved to the lifting state and can control the drive member 123 to stop.

[0228] Upon receiving the second instruction, the drive unit 123 drives the first transmission unit 1223 to continue rotating. When the first transmission unit 1223 moves to the light-transmitting hole 12241 of the descending light-transmitting part 1224b and triggers the photoelectric sensor 127B, the controller 130 receives a high-level signal output by the photoelectric sensor 127B. Furthermore, the rotation time of the drive unit 123 driving the first transmission unit 1223 from the previous position to the current position satisfies the second preset duration t2. The controller 130 can then determine that the cleaning unit 121 has moved to the first cleaning state and can control the drive unit 123 to stop.

[0229] Upon receiving the third instruction, the drive unit 123 drives the first transmission unit 1223 to continue rotating. When the first transmission unit 1223 moves to the light-transmitting hole 12241 of the lower pressing light-transmitting part 1224c and triggers the photoelectric sensor 127B, the controller 130 receives a high-level signal output by the photoelectric sensor 127B. Furthermore, the rotation time of the drive unit 123 driving the first transmission unit 1223 from the previous position to the current position satisfies the third preset duration t3. The controller 130 can then determine that the cleaning unit 121 has moved to the second cleaning state and can control the drive unit 123 to stop.

[0230] In practical applications, if the cleaning component 121 is in a raised state when the third instruction is received, it needs to be directly switched from the raised state to the second cleaning state. The driving component 123 drives the first transmission component 1223 to rotate. When the first transmission component 1223 moves to the light-transmitting hole 12241 of the lowered light-transmitting part 1224c, triggering the photoelectric sensor 127B, the controller 130 receives a high-level signal output from the photoelectric sensor 127B. Furthermore, the rotation time of the driving component 123 driving the first transmission component 1223 from the previous position to the current position satisfies t2+t3. The controller 130 can then determine that the cleaning component 121 has moved from the raised state to the second cleaning state and can control the driving component 123 to stop. More state switching methods are not exhaustively listed here.

[0231] In some embodiments, the current rotational position of the transmission assembly 122 when the controller 130 controls the cleaning component 121 to be in the raised state, the first cleaning state, or the second cleaning state can be used as the initial position. That is, when the transmission assembly 122 reaches the initial position, the cleaning component 121 is in the raised state, the first cleaning state, or the second cleaning state.

[0232] As one implementation, when the transmission assembly 122 reaches the initial position, the cleaning component 121 is in a first clean state. For example, in the above-described rising position light-transmitting portion 1224a, falling position light-transmitting portion 1224b, and pressing position light-transmitting portion 1224c, the rising position light-transmitting portion 1224a and the pressing position light-transmitting portion 1224c each contain only one light-transmitting hole 12241; the falling position light-transmitting portion 1224b contains two spaced-apart but closely spaced light-transmitting holes 12241, thus serving as the initial position light-transmitting portion 1224d. Please refer to... Figure 37 Based on this, control method M6 specifically includes the following contents.

[0233] Step S0: In response to the start command, control the drive unit 123 to rotate so as to drive the transmission assembly 122 to move to the initial position.

[0234] Step S1A: In response to the first instruction, control the drive member 123 to rotate to drive the transmission component 122 to move. When a detection signal is received, and the rotation time of the drive member 123 from receiving the current detection signal to receiving the previous detection signal reaches a first preset time, determine that the transmission component 122 drives the cleaning member 121 to move to the raised state, and control the drive member 123 to stop.

[0235] Step S1B: In response to the second command, control the drive member 123 to rotate to drive the transmission assembly 122 to move to the initial position, the cleaning member 121 is in the first cleaning state, and control the drive member 123 to stop.

[0236] Step S1C: In response to the third instruction, control the drive member 123 to rotate to drive the transmission assembly 122 to move. When a detection signal is received, and the rotation time of the drive member 123 from receiving the current detection signal to receiving the previous detection signal reaches the third preset time, determine that the transmission assembly 122 drives the cleaning member 121 to move to the second cleaning state, and control the drive member 123 to stop.

[0237] After the cleaning equipment 100 is started, the position of the drive component 123 needs to be calibrated first. The controller 130 controls the drive component 123 to rotate so as to drive the transmission assembly 122 to move to the initial position (two detection signals are received continuously within a preset time interval Δt). While the transmission assembly 122 is in the initial position, it waits for the user to issue a command, or performs the corresponding operation based on the received command.

[0238] If a second instruction is received, the drive unit 123 will not operate and will maintain its current position.

[0239] If a third instruction is received, the controller 130 controls the drive member 123 to rotate to drive the transmission assembly 122 to move. When the first transmission member 1223 moves to the light-transmitting hole 12241 of the lower pressure light-transmitting part 1224c and triggers the photoelectric sensor 127B, the controller 130 receives a high-level signal output by the photoelectric sensor 127B. The rotation time of the drive member 123 driving the first transmission member 1223 to rotate from the initial position to the current position meets the third preset time t3. The controller 130 can then determine that the cleaning member 121 has moved to the second cleaning state and can control the drive member 123 to stop.

[0240] If the first instruction is received, the controller 130 controls the drive component 123 to rotate, thereby driving the transmission assembly 122 to move. When the first transmission component 1223 moves to the light-transmitting hole 12241 of the rising light-transmitting part 1224a, triggering the photoelectric sensor 127B, the controller 130 receives a high-level signal output from the photoelectric sensor 127B. Furthermore, the rotation time of the drive component 123 from its initial position to its current position satisfies t3 + t4. The controller 130 can then determine that the cleaning component 121 has moved to the lifting state and can control the drive component 123 to stop. Here, t4 is the time required for the drive component 123 to operate when the cleaning component 121 switches from the second cleaning state to the lifting state. If the first transmission component 1223 rotates exactly half a turn when the cleaning component 121 switches from the lifting state to the second cleaning state, then t4 = t2 + Δt + t3.

[0241] In some embodiments, the cleaning module 120 is provided with two position detection elements 127. When the cleaning element 121 is in a raised state, a first cleaning state, or a second cleaning state, the cleaning element 121 and / or the transmission component 122 trigger the two position detection elements 127 in different triggering methods. That is, when the cleaning element 121 is in a raised state, a first cleaning state, or a second cleaning state, the number of position detection elements 127 triggered by the cleaning element 121 and / or the transmission component 122, as well as the positions of the triggered position detection elements 127, are different. For example, when the position detection element 127 is not triggered, the signal received by the controller 130 is 0; when the position detection element 127 is triggered, the signal received by the controller 130 is 1 (for example, the position detection element 127 is a photoelectric sensor 127B; when the opaque area rotates between the light emitting end and the light receiving end of the photoelectric sensor 127B, the photoelectric sensor 127B outputs a low-level signal, recorded as 0). The two position detection elements 127 have four different triggering modes, and the signals received by the controller 130 are 00, 01, 10, and 11, respectively.

[0242] As a further implementation, the position detection element 127 can be a photoelectric sensor 127B. When the opaque area rotates between the light emitting end and the light receiving end of the photoelectric sensor 127B, the photoelectric sensor 127B outputs a low-level signal, recorded as 0; when the light-transmitting hole 12241 rotates between the light emitting end and the light receiving end of the photoelectric sensor 127B, the photoelectric sensor 127B outputs a high-level signal, recorded as 1.

[0243] Please combine Figure 38 Based on this, control method M7 specifically includes the following contents.

[0244] Step S1A: In response to the first command, control the drive member 123 to rotate so as to drive the cleaning member 121 to move through the transmission assembly 122. When the detection signals received from the two position detection members 127 are the first signal combination, it is determined that the cleaning member 121 is in the lifting state, and control the drive member 123 to stop.

[0245] Step S1B: In response to the second command, control the drive member 123 to rotate so as to drive the cleaning member 121 to move through the transmission assembly 122. When the detection signals received from the two position detection members 127 are a second signal combination, it is determined that the cleaning member 121 is in the first cleaning state, and control the drive member 123 to stop.

[0246] Step S1C: In response to the third command, control the drive unit 123 to rotate so as to drive the cleaning unit 121 to move through the transmission assembly 122. When the detection signals received from the two position detection units 127 are the third signal combination, it is determined that the cleaning unit 121 is in the second cleaning state, and control the drive unit 123 to stop.

[0247] In the above steps, the first signal combination, the second signal combination, and the third signal combination are all different. For example, the first signal combination is 11; the second signal combination is 10; and the third signal combination is 01. Since the detection signals of the two position detection elements 127 triggered when the cleaning element 121 is in different positions are different, the controller 130 does not need to obtain the running time of the drive element 123. It can accurately determine the current position of the cleaning element 121 based solely on the detection signals of the two position detection elements 127, making the control logic simpler.

[0248] According to a fifth aspect of this application, a computer-readable storage medium is provided that stores at least one piece of program code, which is loaded and executed by a processor to implement the operation performed by the control method of the cleaning device 100 of any of the embodiments of the fourth aspect above.

[0249] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc. The storage medium can also include combinations of the above types of memory.

[0250] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and embodiments are within the scope and spirit of this application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or any combination thereof. Furthermore, the functional units may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0251] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0252] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0253] It should be noted that all directional indications in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0254] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0255] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0256] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0257] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0258] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A cleaning module, characterized in that, include: A cleaning component, the cleaning component including a mounting bracket and a roller brush, the roller brush being connected to the mounting bracket; A transmission assembly, wherein the output component of the transmission assembly is connected to the mounting bracket; as well as A driving component drives the output component of the transmission assembly to rise and fall, so that the cleaning component switches between a raised state, a first cleaning state, and a second cleaning state. When the cleaning component is in a raised state, the cleaning component is separated from the surface to be cleaned; When the cleaning component is in the first cleaning state, the roller brush is in contact with the surface to be cleaned; When the cleaning component is in the second cleaning state, the roller brush contacts the surface to be cleaned, and compared to the first cleaning state, the suction port formed by the mounting bracket and the surface to be cleaned is smaller.

2. The cleaning module according to claim 1, characterized in that, During the process of the output component driving the cleaning component to switch from the raised state to the first cleaning state and the second cleaning state, the height of the output component relative to the surface to be cleaned decreases.

3. The cleaning module according to claim 2, characterized in that, It also includes an elastic element; the elastic element is disposed between the output element and the cleaning element; During the process of the output component driving the cleaning component to switch from the first cleaning state to the second cleaning state, the output component presses the cleaning component with the elastic component, and the elastic component undergoes elastic deformation. The amount of deformation of the elastic component is not greater than the maximum amount of deformation of the elastic component.

4. The cleaning module according to claim 3, characterized in that, When the cleaning component is in the second cleaning state, the deformation of the elastic component is less than the maximum deformation of the elastic component; When the cleaning component is in the second cleaning state, the cleaning component rises under the drive of an external force, which increases the deformation of the elastic component.

5. The cleaning module according to claim 4, characterized in that, When the cleaning component rises to the maximum obstacle avoidance height, the deformation of the elastic component is not greater than the maximum deformation.

6. The cleaning module according to claim 3, characterized in that, The mounting bracket is provided with a connecting column, which is slidably engaged with the output component; the elastic element is a spring, which is sleeved on the connecting column and located between the main body of the cleaning component and the output component.

7. The cleaning module according to claim 6, characterized in that, The cleaning component is provided with a stop, which is connected to the connecting post and positioned above the output component; when the cleaning component is in the raised state, the output component abuts against the stop; when the cleaning component is in the second cleaning state, the output component separates from the stop to compress the spring.

8. The cleaning module according to claim 6, characterized in that, The mounting bracket is provided with a connecting arm; the connecting arm is used to hinge with the main body of the cleaning equipment where the cleaning module is located, so that the cleaning component swings and rises relative to the main body of the equipment.

9. The cleaning module according to claim 8, characterized in that, When the cleaning component is in the raised state, the axis of the connecting column is set at an angle to the vertical direction; during the process of the cleaning component switching from the raised state to the first cleaning state, the angle between the axis of the connecting column and the vertical direction decreases.

10. The cleaning module according to any one of claims 1-9, characterized in that, The transmission assembly further includes a movable component, which is connected to the driving component in a transmission manner; the movable component is movably connected to the output component, and the movable component drives the output component to rise and fall.

11. The cleaning module according to claim 10, characterized in that, The transmission assembly includes a slide rod and a sliding sleeve; the slide rod extends movably into the sliding sleeve; one of the moving part and the output part includes the slide rod, and the other includes the sliding sleeve.

12. The cleaning module according to claim 11, characterized in that, The driving component includes a motor; the movable component is drively connected to the output shaft in an eccentric position relative to the output shaft of the motor.

13. The cleaning module according to claim 12, characterized in that, The transmission assembly further includes a first transmission component, and the movable component is connected to the driving component via the first transmission component. The output component includes a connected floating bracket and the slide rod, the floating bracket being connected to the cleaning component; the movable component includes the sliding sleeve, the sliding sleeve being rotatably connected to the first transmission component in an eccentric position relative to the axis of rotation of the first transmission component; Alternatively, the output component may include the sliding sleeve; the movable component may include the sliding rod, which is connected to the first transmission component in an eccentric position relative to the axis of rotation of the first transmission component.

14. The cleaning module according to claim 13, characterized in that, When the movable component rotates around the axis of the first transmission component to the upper quadrant point of the circumference, the cleaning component is in the lifted state; When the movable component rotates around the axis of the first transmission component to the lateral quadrant point of the circumference, the cleaning component is in the first cleaning state. When the movable component rotates around the axis of the first transmission component to the lower quadrant point of the circumference, the cleaning component is in the second cleaning state.

15. The cleaning module according to claim 12, characterized in that, The height of the sleeve hole of the sliding sleeve is greater than the height of the portion of the sliding rod located in the sleeve hole; the sleeve hole has a first hole wall and a second hole wall arranged opposite each other in the vertical direction; when the cleaning component is in the raised state, the sliding rod contacts the first hole wall of the sleeve hole, and there is a distance H1 between the sliding rod and the second hole wall of the sleeve hole.

16. The cleaning module according to claim 15, characterized in that, The spacing H1 is H1≥H max H max The displacement of the cleaning component when it is in the raised state or the first cleaning state, and the cleaning component rises to the maximum obstacle avoidance height under the drive of an external force.

17. The cleaning module according to any one of claims 1-9, characterized in that, The cleaning module further includes a base, a circuit board, and at least one position detection element; the at least one position detection element is mounted on the base and / or the transmission assembly; the drive element and the at least one position detection element are electrically connected to the circuit board.

18. The cleaning module according to claim 17, characterized in that, The number of the position detection element is one; when the cleaning element is in at least one of the lifting state, the first cleaning state, and the second cleaning state, the cleaning element and / or the transmission assembly triggers the position detection element.

19. The cleaning module according to claim 18, characterized in that, The driving component includes a stepper motor; the position detection component is a button, which is mounted on the base; the cleaning component triggers the button when it is in the raised state.

20. The cleaning module according to claim 18, characterized in that, The driving component includes a brushed motor or a brushless motor; the position detection component is a photoelectric sensor, which is connected to the circuit board, and the circuit board is mounted on the base; The transmission component of the transmission assembly has three light-transmitting parts; among the three light-transmitting parts, at least two of the light-transmitting parts have different areas, and / or the spacing between two adjacent light-transmitting parts is different; when the cleaning component is in the lifting state, the first cleaning state, and the second cleaning state, the photoelectric sensor is triggered by different light-transmitting parts on the transmission component.

21. The cleaning module according to claim 17, characterized in that, The number of position detection elements is two; when the cleaning element is in the lifting state, the first cleaning state, or the second cleaning state, the cleaning element and / or the transmission assembly trigger the two position detection elements in different triggering methods.

22. The cleaning module according to claim 21, characterized in that, The driving component includes a brushed motor or a brushless motor; the position detection component is a photoelectric sensor, and two photoelectric sensors are respectively connected to the circuit board, which is mounted on the base; The transmission component of the transmission assembly is provided with four spaced-apart light-shielding parts. When the cleaning component is in the raised state, the first cleaning state, or the second cleaning state, the four light-shielding parts trigger the two photoelectric sensors in different ways.

23. A cleaning device, characterized in that, The device includes a main body and a cleaning module as described in any one of claims 1-22, wherein the cleaning component of the cleaning module is movably connected to the main body of the device.

24. The cleaning module according to claim 23, characterized in that, The driving component of the cleaning module is connected to the main body of the device; the cleaning component is provided with a connecting arm, which is hinged to the main body of the device.

25. A cleaning system, characterized in that, Includes a base station and the cleaning equipment as described in claim 23 or 24; the cleaning equipment is docked with the base station or driven away from the base station.

26. A control method for the cleaning equipment according to claim 23 or 24, characterized in that, include: In response to the first command, the driving component is controlled to drive the transmission assembly to move, and the output component of the transmission assembly drives the cleaning component to switch to the lifting state; or, In response to the second command, the driving component is controlled to drive the transmission assembly to move, and the output component of the transmission assembly drives the cleaning component to switch to the first cleaning state; or... In response to a third command, the drive unit is controlled to drive the transmission assembly to move, and the output unit of the transmission assembly drives the cleaning unit to switch to the second cleaning state.

27. The control method according to claim 26, characterized in that, When the driving component is a stepper motor, the control method specifically includes: In response to the start command, the stepper motor is controlled to rotate to the zero position; In response to the first command, the stepper motor is controlled to rotate a first set number of steps to drive the output component to switch the cleaning component to the raised state; or... In response to the second command, the stepper motor is controlled to rotate a second set number of steps to drive the output component to switch the cleaning component to the first cleaning state; or... In response to the third instruction, the stepper motor is controlled to rotate a third set number of steps to drive the output component to switch the cleaning component to the second cleaning state.

28. The control method according to claim 27, characterized in that, When the stepper motor is in the zero position, the cleaning component is in the raised state, the first cleaning state, or the second cleaning state.

29. The control method according to claim 28, characterized in that, When the stepper motor is at the zero position and the cleaning component is in the lifted state, the control method specifically includes: In response to the start command, the stepper motor is controlled to rotate to the zero position; In response to the first command, the stepper motor is controlled to rotate to the zero position, so that the cleaning component is in the raised state; or... In response to the second command, the stepper motor is controlled to rotate the second set number of steps, thereby driving the output component to switch the cleaning component to the first cleaning state; or... In response to the third instruction, the stepper motor is controlled to rotate by the third set number of steps, thereby driving the output component to switch the cleaning component to the second cleaning state.

30. The control method according to claim 26, characterized in that, When the driving component is a brushed motor or a brushless motor, and the cleaning module has one or more position detection components; the control method specifically includes: In response to the first command, the drive member is controlled to rotate to move the cleaning member via the transmission assembly; the position of the cleaning member is determined based on the detection signal from the position detection member; the drive member is controlled to stop when the cleaning member is in the raised state; or... In response to the second command, the drive member is controlled to rotate to move the cleaning member via the transmission assembly; the position of the cleaning member is determined based on the detection signal from the position detection member; the drive member is controlled to stop when the cleaning member is in the first cleaning state; or... In response to the third command, the drive member is controlled to rotate so as to drive the cleaning member to move through the transmission assembly, and the position of the cleaning member is determined according to the detection signal of the position detection member; when the cleaning member is in the second cleaning state, the drive member is controlled to stop.

31. The control method according to claim 30, characterized in that, When the cleaning module is equipped with a position detection element, and the position detection element is triggered when the transmission component moves, the control method specifically includes: In response to a start command, the drive component is controlled to rotate to drive the transmission assembly to its initial position; In response to the first instruction, the driving component is controlled to rotate to drive the transmission assembly to move. Upon receiving the detection signal, and when the rotation time of the driving component from receiving the current detection signal to receiving the previous detection signal reaches a first preset duration, it is determined that the transmission assembly has driven the cleaning component to the raised state, and the driving component is controlled to stop; or... In response to the second instruction, the driving member is controlled to rotate to drive the transmission assembly to move. Upon receiving the detection signal, and when the rotation time of the driving member from receiving the current detection signal to receiving the previous detection signal reaches a second preset duration, it is determined that the transmission assembly drives the cleaning member to the first cleaning state, and the driving member is controlled to stop; or... In response to the third instruction, the drive member is controlled to rotate to drive the transmission assembly to move. When the detection signal is received and the rotation time of the drive member from receiving the current detection signal to receiving the previous detection signal reaches a third preset time, it is determined that the transmission assembly drives the cleaning member to move to the second cleaning state, and the drive member is controlled to stop. The first preset duration, the second preset duration, and the third preset duration are all different.

32. The control method according to claim 31, characterized in that, When the transmission assembly reaches the initial position, the cleaning component is in the lifted state, the first cleaning state, or the second cleaning state.

33. The control method according to claim 32, characterized in that, When the cleaning component is in the first cleaning state when the transmission assembly reaches the initial position, the control method specifically includes: In response to a start command, the drive component is controlled to rotate to drive the transmission assembly to its initial position; In response to the first instruction, the driving component is controlled to rotate to drive the transmission assembly to move. Upon receiving the detection signal, and when the rotation time of the driving component from receiving the current detection signal to receiving the previous detection signal reaches the first preset duration, it is determined that the transmission assembly drives the cleaning component to the raised state, and the driving component is controlled to stop; or... In response to the second command, the drive member is controlled to rotate to drive the transmission assembly to the initial position, the cleaning member is in the first cleaning state, and the drive member is controlled to stop; or... In response to the third instruction, the drive member is controlled to rotate to drive the transmission assembly to move. When the detection signal is received, and the rotation time of the drive member from receiving the current detection signal to receiving the previous detection signal reaches the third preset time, it is determined that the transmission assembly drives the cleaning member to move to the second cleaning state, and the drive member is controlled to stop.

34. The control method according to claim 30, characterized in that, When the cleaning module is equipped with two of the aforementioned position detection elements, the control method specifically includes: In response to the first command, the drive component is controlled to rotate to move the cleaning component via the transmission assembly. When the detection signals from the two position detection components match the first signal combination, it is determined that the cleaning component is in the raised state, and the drive component is controlled to stop; or... In response to the second command, the drive member is controlled to rotate to drive the cleaning member to move via the transmission assembly. When the detection signals from the two position detection members are a second signal combination, it is determined that the cleaning member is in the first cleaning state, and the drive member is controlled to stop; or... In response to the third instruction, the drive member is controlled to rotate so as to drive the cleaning member to move through the transmission assembly. When the detection signals of the two position detection members are a third signal combination, it is determined that the cleaning member is in the second cleaning state, and the drive member is controlled to stop. The first signal combination, the second signal combination, and the third signal combination are all different.

35. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one piece of program code, which is loaded and executed by a processor to implement the operation performed by the control method as described in any one of claims 26-34.

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