Cleaning device

Abstract

The utility model provides cleaning equipment which comprises a cleaning module configured to clean at least one part of an operation surface in a wet cleaning mode, and the cleaning module comprises a driving assembly used for outputting driving force with a first working mode and a second working mode; the cleaning assembly comprises a first cleaning assembly and a second cleaning assembly, and the first cleaning assembly and the second cleaning assembly are configured to clean at least one part of the operation surface in the first working mode of the driving assembly and break away from the operation surface in the second working mode of the driving assembly; the water supply assembly is configured to supply water to the first cleaning assembly and the second cleaning assembly in the first working mode of the driving assembly; wherein the water supply assembly is provided with a plurality of water outlets which are used for supplying water to the first cleaning assembly and the second cleaning assembly respectively.

Description

Technical Field

[0001] The present disclosure relates to the technical field of cleaning robots, and in particular to a cleaning device. Background Art

[0002] Cleaning robots currently include sweeping robots, mopping robots, sweeping and mopping robots, floor scrubbers, etc. Sweeping and mopping robots can both sweep and clean the floor, and are becoming more and more common in family life.

[0003] With the development of sweeping and mopping robots, the functions of sweeping and mopping robots are increasing, and the structure is becoming more and more complex. A sweeping and mopping robot can often meet the application requirements of a variety of different occasions. Due to the increasingly complex structure and the increasing number of integrated hardware structures, the size of the sweeping and mopping robots is becoming larger and larger, which is inconvenient to transport and use, and the cost is also increasing accordingly. Utility Model Content

[0004] The purpose of the present disclosure is to provide an automatic cleaning device that can solve the technical problem of compact design under the multifunctional all-in-one cleaning device. The specific solution is as follows:

[0005] According to a specific embodiment of the present disclosure, the present disclosure provides a cleaning device, comprising:

[0006] A cleaning module is configured to clean at least a portion of the operating surface by wet cleaning, the cleaning module comprising:

[0007] A driving assembly, used to output a driving force having a first working mode and a second working mode;

[0008] A cleaning assembly, comprising a first cleaning assembly and a second cleaning assembly, wherein the first cleaning assembly and the second cleaning assembly are configured to clean at least a portion of the operating surface in a first working mode of the driving assembly and to be detached from the operating surface in a second working mode of the driving assembly;

[0009] a water supply assembly configured to supply water to the first cleaning assembly and the second cleaning assembly in a first working mode of the driving assembly;

[0010] Wherein, the water supply component has multiple water outlets, which supply water to the first cleaning component and the second cleaning component respectively.

[0011] In some embodiments, the water supply assembly comprises:

[0012] A water pumping assembly configured to pump water toward the cleaning assembly in the first working mode of the driving assembly;

[0013] The water distributor is connected to the water pump assembly and is configured to distribute water flow to the first cleaning assembly and / or the second cleaning assembly under the drive of the water pump assembly.

[0014] In some embodiments, the water separator comprises:

[0015] A rotor having at least one rotor water inlet hole and configured to rotate continuously in a first working mode of the drive assembly;

[0016] A static plate, arranged on one side of the water outlet direction of the dynamic plate, having a plurality of static plate water outlet holes, respectively connected with the plurality of water outlets of the water supply assembly;

[0017] Wherein, the moving plate continuously rotates relative to the static plate, and in response to the overlap of the projection of at least one moving plate water inlet hole and the static plate water outlet hole, the water distributor supplies water to the first cleaning component and / or the second cleaning component through the static plate water outlet hole of the overlapping projection.

[0018] In some embodiments, the water separator further comprises:

[0019] The moving plate bracket is clamped with the moving plate and is configured to rotate continuously under the drive of the water pump assembly and drive the moving plate to rotate continuously.

[0020] In some embodiments, the rotor bracket includes:

[0021] At least one bracket water inlet hole, the at least one bracket water inlet hole overlaps with the at least one moving plate water inlet hole, and is configured to allow water to flow through the at least one bracket water inlet hole and the at least one moving plate water inlet hole and then flow out from the static plate water outlet hole.

[0022] In some embodiments, the movable plate bracket and the movable plate are clamped together to form a cavity;

[0023] The movable plate bracket includes at least one bracket water inlet hole, which is configured to allow water to flow into the cavity through the at least one bracket water inlet hole and then flow out through the at least one movable plate water inlet hole and the static plate water outlet hole.

[0024] In some embodiments, the rotor bracket includes:

[0025] The joint piece is arranged on a side of the moving plate bracket away from the moving plate and is configured to be engaged with the water pump assembly.

[0026] In some embodiments, the water separator further comprises:

[0027] A housing configured to accommodate the moving piece, the static piece and the moving piece bracket;

[0028] Wherein, the multiple water outlets are arranged on the shell, and the shell has a water inlet, water flows into the shell from the water inlet, and flows out from the at least one water outlet after passing through the water inlet hole of the bracket, the water inlet hole of the moving plate and the water outlet hole of the static plate.

[0029] In some embodiments, the water separator further comprises:

[0030] The soft rubber pad is arranged on a side of the static sheet away from the dynamic sheet.

[0031] In some embodiments, the water separator further comprises:

[0032] At least one sealing ring is arranged between the moving plate bracket and the housing.

[0033] In some embodiments, the water pump assembly includes a joint groove, which is engaged with the joint piece;

[0034] Wherein, the water pump assembly rotates under the drive of the driving assembly and drives the movable plate bracket to rotate through the joint groove, and supplies water to the water distributor at the same time.

[0035] In some embodiments, the second cleaning component is disposed at an edge of the first cleaning component, and the second cleaning component is configured to rotate continuously under the drive of the driving component to clean at least a portion of the operating surface.

[0036] In some embodiments, the first cleaning component has a plurality of water distribution holes, and the first cleaning component is configured to reciprocate under the drive of the driving component to clean at least a portion of the operating surface.

[0037] In some embodiments, the drive assembly comprises:

[0038] The motor is configured to rotate forward in a first working mode to output a forward driving force, and to rotate reversely in a second working mode to output a reverse driving force;

[0039] In which, in response to the forward driving force, the first cleaning component realizes reciprocating motion, the second cleaning component realizes continuous rotation, and the water supply component supplies water to the first cleaning component and the second cleaning component; in response to the reverse driving force, the first cleaning component stops reciprocating motion, the second cleaning component stops continuous rotation, the water supply component stops supplying water to the first cleaning component and the second cleaning component, and the first cleaning component and the second cleaning component are separated from the operating surface.

[0040] In some embodiments, the drive assembly further comprises:

[0041] A worm gear, driven by the motor, realizes forward or reverse rotation;

[0042] A plurality of driving wheel assemblies are respectively engaged with the worm, and driven by the forward or reverse rotation of the worm, respectively drive the first cleaning assembly, the second cleaning assembly and the water supply assembly to work in the first working mode or the second working mode.

[0043] In some embodiments, the cleaning module further comprises:

[0044] The lifting assembly is configured to lift the cleaning assembly to separate from the operating surface in the second working mode of the driving assembly, and to drop the cleaning assembly to contact the operating surface under the action of gravity.

[0045] Compared with the prior art, the embodiments of the present disclosure have the following technical effects:

[0046] The sweeping and mopping cleaning device provided by the disclosed embodiment drives the first cleaning component to reciprocate to clean at least a portion of the operating surface, drives the second cleaning component to rotate continuously to clean at least a portion of the operating surface, and drives the water supply component to supply water to the first cleaning component and the second cleaning component through a water divider in the first working mode of the driving component. In the second working mode of the driving component, the lifting component is driven to lift the cleaning component to separate from the operating surface, thereby achieving the operation of multiple driven components through one driving component, simplifying the driving structure and making the cleaning module more compact. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present disclosure, and together with the specification, are used to explain the principles of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0048] Figure 1 It is a schematic diagram of the three-dimensional structure of the cleaning equipment of some embodiments of the present disclosure.

[0049] Figure 2 Schematic diagram of the bottom structure of the cleaning device according to some embodiments of the present disclosure.

[0050] Figure 3 This is a schematic diagram of the wet cleaning module structure of the cleaning equipment of some embodiments of the present disclosure.

[0051] Figure 4-1 This is a schematic diagram of the structure of a driving assembly of a cleaning device according to some embodiments of the present disclosure at an angle.

[0052] Figure 4-2This is a schematic structural diagram from another angle of the driving assembly of the cleaning device of some embodiments of the present disclosure.

[0053] Figure 5 This is a schematic diagram of the structure of the water supply component of the cleaning equipment of some embodiments of the present disclosure.

[0054] Figure 6 This is a schematic diagram of the internal structure of a water pump assembly of a cleaning device according to some embodiments of the present disclosure.

[0055] Figure 7 It is a schematic cross-sectional view of a water supply assembly of a cleaning device according to some embodiments of the present disclosure.

[0056] Figure 8 This is a schematic diagram of the explosion structure of the water separator of the cleaning equipment of some embodiments of the present disclosure.

[0057] Fig. 9 This is a schematic diagram of the combined structure of a moving plate and a moving plate bracket of a cleaning device according to some embodiments of the present disclosure.

[0058] Fig.10 This is a schematic diagram of the internal structure of the moving piece bracket of the cleaning equipment of some embodiments of the present disclosure.

[0059] Fig.11 This is a schematic diagram of the water circuit structure of a water distributor of a cleaning device according to some embodiments of the present disclosure.

[0060] Fig.12 This is a schematic diagram of the soft rubber pad structure of the water divider of the cleaning equipment of some embodiments of the present disclosure.

[0061] Description of reference numerals:

[0062] Mobile platform 100, rear portion 110, forward portion 111, sensing system 120, position determination device 121, buffer 122, drive system 140, drive wheel assembly 141, steering assembly 142, human-computer interaction system 170, cleaning module 1000, dry cleaning module 300, roller brush 310, side brush 320, wet cleaning module 200, drive assembly 230, motor 231, worm 232, drive wheel assembly 233, first drive wheel assembly 2331, first power transmission device 23311, second drive wheel assembly 2332, second power transmission device 23321, third drive wheel assembly 2333, third power transmission device 233 31. Clutch assembly 2334. Cable gear 241. Cable 242. Cleaning assembly 2000. First cleaning assembly 210. Second cleaning assembly 220. Lifting assembly 240. Support platform 290. Water supply assembly 250. Water pump assembly 251. Fitting groove 2511. Water divider 252. Moving piece 2521. Moving piece water inlet hole 25211. Static piece 2522. Static piece water outlet hole 25221. Moving piece bracket 2523. Fitting piece 25231. Bracket water inlet hole 25232. Stopper 25233. First sealing ring 2525. Second sealing ring 2527. Soft rubber pad 2524. Shell 2526. Water outlet 25261. Water inlet 25262. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0064] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit the present disclosure. The singular forms "a", "said" and "the" used in the embodiments of the present disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.

[0065] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0066] It should be understood that although the terms first, second, third, etc. may be used to describe in the present disclosure, these should not be limited to these terms. These terms are only used to distinguish. For example, without departing from the scope of the present disclosure, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0067] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a product or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such product or device. In the absence of more restrictions, the elements defined by the sentence "comprises a" do not exclude the presence of other identical elements in the product or device including the elements.

[0068] The optional embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0069] Figure 1-2 is a schematic structural diagram of an automatic cleaning device according to an exemplary embodiment. Figure 1-2 As shown, the automatic cleaning device can be a vacuum robot, a mopping / brushing robot, a window climbing robot, etc. The automatic cleaning device can include a mobile platform 100, a sensing system 120, a control system, a driving system 140, a cleaning module 1000, an energy system and a human-computer interaction system 170. Among them:

[0070] The mobile platform 100 may be configured to automatically move along a target direction on an operating surface. The operating surface may be a surface to be cleaned by an automatic cleaning device. In some embodiments, the automatic cleaning device may be a mopping robot, in which case the automatic cleaning device works on the ground, and the ground is the operating surface; the automatic cleaning device may also be a window cleaning robot, in which case the automatic cleaning device works on the outer glass surface of a building, and the glass is the operating surface; the automatic cleaning device may also be a pipe cleaning robot, in which case the automatic cleaning device works on the inner surface of a pipe, and the inner surface of the pipe is the operating surface. Purely for the purpose of demonstration, the following description in this application is illustrated by taking a mopping robot as an example.

[0071] In some embodiments, the mobile platform 100 can be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operational decisions based on unexpected environmental inputs; the non-autonomous mobile platform itself cannot adaptively make operational decisions based on unexpected environmental inputs, but can execute established programs or operate according to certain logic. Accordingly, when the mobile platform 100 is an autonomous mobile platform, the target direction can be determined autonomously by the automatic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction can be set by the system or manually. When the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a forward part 111 and a backward part 110.

[0072] The perception system 120 includes a position determination device 121 located above the mobile platform 100, a buffer 122 located at the forward part 111 of the mobile platform 100, a cliff sensor and ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices located at the bottom of the mobile platform, which provide the control system with various position information and motion status information of the machine.

[0073] In order to more clearly describe the behavior of the automatic cleaning device, the following direction is defined: the automatic cleaning device can move on the ground by various combinations of movement relative to the following three mutually perpendicular axes defined by the mobile platform 100: the lateral axis x, the front-to-back axis y, and the central vertical axis z. The forward drive direction along the front-to-back axis y is marked as "forward", and the rearward drive direction along the front-to-back axis y is marked as "rearward". The lateral axis x essentially extends between the right wheel and the left wheel of the automatic cleaning device along the axis defined by the center point of the drive wheel assembly. Among them, the automatic cleaning device can rotate around the x-axis. When the forward part of the automatic cleaning device is tilted upward and the rear part is tilted downward, it is "upward", and when the forward part of the automatic cleaning device is tilted downward and the rear part is tilted upward, it is "downward". In addition, the automatic cleaning device can rotate around the z-axis. In the forward direction of the automatic cleaning device, when the automatic cleaning device is tilted to the right side of the Y axis, it is "right turn", and when the automatic cleaning device is tilted to the left side of the y axis, it is "left turn".

[0074] like Figure 2 As shown, cliff sensors are provided on the bottom of the mobile platform 100 and in front and rear of the driving wheel assembly, and the cliff sensors are used to prevent the automatic cleaning device from falling when it moves backward, thereby preventing the automatic cleaning device from being damaged. The aforementioned "front" refers to the side with the same direction of travel of the automatic cleaning device, and the aforementioned "rear" refers to the side opposite to the direction of travel of the automatic cleaning device.

[0075] The location determination device 121 includes but is not limited to a camera and a laser distance measuring device (LDS).

[0076] Each component in the perception system 120 can operate independently or together to achieve the intended function more accurately. The surface to be cleaned is identified by the cliff sensor and the ultrasonic sensor to determine the physical characteristics of the surface to be cleaned, including the surface material, cleanliness, etc., and can be combined with a camera, a laser rangefinder, etc. for more accurate judgment.

[0077] The forward portion 111 of the mobile platform 100 is provided with a buffer 122. During the cleaning process, when the driving wheel assembly propels the automatic cleaning device to walk on the ground, the buffer 122 detects one or more events (or objects) in the driving path of the automatic cleaning device via a sensor system, such as an infrared sensor. The automatic cleaning device can control the driving wheel assembly through the events (or objects), such as obstacles and walls, detected by the buffer 122 to make the automatic cleaning device respond to the events (or objects), such as staying away from the obstacles.

[0078] The control system is arranged on the circuit board in the mobile platform 100, and includes a computing processor, such as a central processing unit, an application processor, which communicates with a non-temporary memory, such as a hard disk, a flash memory, and a random access memory. The application processor is configured to receive the environmental information sensed by the multiple sensors transmitted by the perception system 120, and use a positioning algorithm, such as SLAM, to draw a real-time map of the environment where the automatic cleaning device is located according to the obstacle information fed back by the laser ranging device, and autonomously determine the driving path according to the environmental information and the environmental map, and then control the driving system 140 to perform operations such as forward, backward and / or steering according to the autonomously determined driving path. Further, the control system can also decide whether to start the cleaning module 1000 for cleaning operations according to the environmental information and the environmental map.

[0079] Specifically, the control system can combine the distance information and speed information fed back by the buffer, cliff sensor, ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer and other sensor devices to comprehensively judge the current working state of the sweeper, such as crossing the threshold, on the carpet, on the cliff, stuck above or below, full dust box, picked up, etc., and will also give specific next action strategies for different situations, so that the work of the automatic cleaning equipment is more in line with the owner's requirements and has a better user experience. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM, greatly improving the cleaning efficiency of the automatic cleaning equipment.

[0080] The drive system 140 can execute the drive command based on specific distance and angle information, such as x, y and θ components, to manipulate the automatic cleaning device to travel across the ground. The drive system 140 includes a drive wheel assembly 141, and the drive system 140 can control the left and right wheels at the same time. In order to more accurately control the movement of the machine, it is preferred that the drive system 140 includes a left drive wheel assembly and a right drive wheel assembly, respectively. The left and right drive wheel assemblies are symmetrically arranged along the horizontal axis defined by the mobile platform 100. In order for the automatic cleaning device to be able to move more stably on the ground or have stronger movement ability, the automatic cleaning device may include one or more steering assemblies 142, and the steering assembly 142 may be a driven wheel or a driving wheel, and its structural form includes but is not limited to a universal wheel, and the steering assembly 142 may be located in front of the driving wheel assembly 141.

[0081] The energy system includes rechargeable batteries, such as nickel-metal hydride batteries and lithium batteries. The rechargeable battery can be connected to a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, which are then connected to a single-chip microcomputer control circuit. The host is charged by connecting to a charging pile through charging electrodes arranged on the side or below the body. If dust is attached to the exposed charging electrode, the plastic body around the electrode will melt and deform due to the cumulative effect of charge during the charging process, and even the electrode itself will deform, making it impossible to continue charging normally.

[0082] The human-machine interaction system 170 includes buttons on the host panel for users to select functions; it may also include a display screen and / or indicator lights and / or speakers, which display the current state of the machine or function selection items to the user; it may also include a mobile client program. For path navigation cleaning equipment, the mobile client can show the user a map of the environment where the equipment is located and the location of the machine, which can provide users with more abundant and humanized function items.

[0083] The cleaning module 1000 may include a dry cleaning module 300 and / or a wet cleaning module 200. Figure 2 As shown, the dry cleaning module 300 includes a roller brush 310 and the like. The roller brush, which has a certain interference with the ground, sweeps up the garbage on the ground and rolls it to the front of the dust suction port between the roller brush and the dust box, and then is sucked into the dust box by the suction gas generated by the fan and passing through the dust box. The dry cleaning module may also include a side brush 320 with a rotating shaft, and the rotating shaft is at a certain angle relative to the ground to move the debris into the roller brush area of ​​the cleaning module.

[0084] According to one of the specific embodiments of the present disclosure, Figure 3As shown, the wet cleaning module 200 provided by the present disclosure is configured to clean at least a portion of the operating surface in a wet cleaning manner. Specifically, the wet cleaning module 200 includes a driving component 230, and the driving component 230 is used to output a driving force having a first working mode and a second working mode; the wet cleaning module 200 also includes a cleaning component 2000, and the cleaning component 2000 includes a first cleaning component 210 and a second cleaning component 220, wherein the first cleaning component 210 is configured to reciprocate in the first working mode of the driving component 230 to clean at least a portion of the operating surface, and the second cleaning component 220 is configured to reciprocate in the first working mode of the driving component 230 to clean at least a portion of the operating surface. The driving assembly 230 continuously rotates in the first working mode to clean at least a portion of the operating surface; the wet cleaning module 200 also includes a lifting assembly 240, which is configured to lift the cleaning assembly to separate from the operating surface in the second working mode of the driving assembly 230, and to drop the cleaning assembly to contact the operating surface under the action of gravity; the wet cleaning module 200 also includes a water supply assembly 250, which has multiple water outlets, and the water supply assembly 250 is configured to supply water to the first cleaning assembly 210 and the second cleaning assembly 220 respectively in the first working mode of the driving assembly 230. The cleaning module disclosed in the present invention realizes a structural design that drives multiple driven assemblies (the first cleaning assembly 210, the second cleaning assembly 220, the lifting assembly 240, and the water supply assembly 250) to work by switching the working mode through one driving assembly 230, simplifies the overall structure of the cleaning module, and makes the overall design of the cleaning equipment more compact.

[0085] In some embodiments, Figure 3 As shown, the wet cleaning module 200 provided by the present disclosure is configured to clean at least a portion of the operating surface in a wet cleaning manner; wherein the wet cleaning module 200 includes a support platform 290, a first cleaning component 210 and a second cleaning component 220 are arranged on the side of the support platform 290 facing the operating surface, and a driving component 230, a lifting component 240, and a water supply component 250 are arranged on the side of the support platform 290 facing the moving platform: the first cleaning component 210 reciprocates along the surface to be cleaned under the drive of the driving component 230, and a cleaning cloth or a cleaning plate is provided on the contact surface of the first cleaning component 210 and the surface to be cleaned, and high-frequency friction is generated with the surface to be cleaned through reciprocating motion, thereby removing stains on the surface to be cleaned. The second cleaning component 220 performs continuous rotation along the surface to be cleaned under the drive of the driving component 230, and a cleaning cloth or a cleaning plate is also provided on the contact surface of the second cleaning component 220 and the surface to be cleaned, and high-frequency friction is generated with the surface to be cleaned through continuous rotation, thereby removing stains on the surface to be cleaned.

[0086] In some embodiments, the second cleaning assembly is disposed at the edge of the first cleaning assembly, and the second cleaning assembly is configured to continuously rotate under the drive of the driving assembly to clean at least a portion of the operating surface. The first cleaning assembly has a plurality of water distribution holes, and the first cleaning assembly is configured to reciprocate under the drive of the driving assembly to clean at least a portion of the operating surface.

[0087] It can be understood that the higher the friction frequency, the more friction times per unit time. High-frequency reciprocating motion, also called reciprocating vibration, has a much greater cleaning ability than ordinary reciprocating motion. For example, when the frequency of high-frequency vibration is set to the sound wave frequency, the hair tufts on the surface of the first cleaning component 210 will extend in the same direction more uniformly under the shaking of high-frequency vibration, so the overall cleaning effect is more uniform, rather than simply applying downward pressure to increase friction and improve the cleaning effect under low-frequency rotation. The downward pressure alone will not cause the hair tufts to extend in nearly the same direction. The effect is that the water marks on the operating surface after high-frequency vibration cleaning are more uniform, and no messy water stains will be left.

[0088] The reciprocating motion may be repeated motion along any one or more directions within the operating surface, or may be vibration perpendicular to the operating surface, and there is no strict restriction on this. Optionally, the reciprocating motion direction of the cleaning module is roughly perpendicular to the direction of travel of the machine, because the reciprocating motion direction parallel to the direction of travel of the machine will cause instability to the moving machine itself, because the thrust and resistance in the direction of travel will make the drive wheel easy to slip. The impact of slipping is more obvious in the case of a wet cleaning module, because the wetness of the operating surface increases the possibility of slipping. In addition to affecting the smooth travel and cleaning of the machine, slipping will also cause inaccurate ranging of sensors such as odometers and gyroscopes, resulting in the inability of navigation-type automatic cleaning equipment to accurately locate and draw maps. In the case of frequent slipping, the impact on SLAM will not be ignored, so it is necessary to avoid slipping machine behavior as much as possible. In addition to slipping, the movement component of the cleaning head in the direction of travel of the machine causes the machine to be constantly pushed forward and backward while traveling, so the walking of the machine will be unstable and smooth.

[0089] The cleaning intensity / efficiency of the cleaning equipment can also be automatically and dynamically adjusted according to the working environment of the cleaning equipment. For example, the cleaning equipment can be dynamically adjusted according to the physical information of the surface to be cleaned detected by the sensing system 120. For example, the sensing system 120 can detect the flatness of the surface to be cleaned, the material of the surface to be cleaned, whether there is oil and dust, and other information, and transmit this information to the control system of the cleaning equipment. Accordingly, the control system can command the cleaning equipment to automatically and dynamically adjust the speed of the motor and the transmission ratio of the power transmission device according to the working environment of the cleaning equipment, thereby adjusting the preset reciprocating cycle of the reciprocating motion of the first cleaning component.

[0090] For example, when the cleaning device is working on a flat ground, the preset reciprocating cycle can be automatically and dynamically adjusted to be longer, and the water volume of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device is working on a not-so-flat ground, the preset reciprocating cycle can be automatically and dynamically adjusted to be shorter, and the water volume of the water pump can be automatically and dynamically adjusted to be larger. This is because a flat ground is easier to clean than a not-so-flat ground, so cleaning an uneven ground requires a faster reciprocating motion (i.e., a higher frequency) and a larger water volume of the first cleaning component.

[0091] For another example, when the cleaning device is working on a desktop, the preset reciprocating cycle can be automatically and dynamically adjusted to be longer, and the water volume of the water pump can be automatically and dynamically adjusted to be smaller; when the cleaning device is working on the ground, the preset reciprocating cycle can be automatically and dynamically adjusted to be shorter, and the water volume of the water pump can be automatically and dynamically adjusted to be larger. This is because, compared to the ground, the desktop has less dust and oil, and the material constituting the desktop is also easier to clean, so the first cleaning component needs to perform fewer reciprocating motions and the water pump provides a relatively small amount of water to clean the desktop.

[0092] As an optional embodiment of the present disclosure, a lifting assembly 240 is provided between the support platform 290 and the mobile platform 100, which is used to make the cleaning assembly better contact with the surface to be cleaned, or to adopt different cleaning strategies for the surfaces to be cleaned of different materials. Optionally, the dry cleaning module 300 can be connected to the mobile platform 100 through a passive lifting assembly. When the cleaning equipment encounters an obstacle, the dry cleaning module 300 can more conveniently overcome the obstacle through the lifting assembly. Optionally, the wet cleaning module 200 can be connected to the mobile platform 100 through an active lifting assembly. When the wet cleaning module 200 is temporarily not involved in the work, or when encountering a surface to be cleaned that cannot be cleaned by the wet cleaning module 200, the wet cleaning module 200 is lifted by the active lifting assembly and separated from the surface to be cleaned, thereby achieving a change in the cleaning means.

[0093] In some embodiments, Figure 4-1 As shown, the drive assembly 230 includes a motor 231, which is configured to rotate forward in the first working mode to output a forward driving force, and reverse in the second working mode to output a reverse driving force; the motor 231 transmits power to the first cleaning assembly 210 and the second cleaning assembly 220, the lifting assembly 240, the water supply assembly 250, etc. through a power transmission device. The energy system provides power and energy for the motor 231, and is controlled as a whole by the control system. The power transmission device can be a gear or gear set transmission, a chain transmission, a belt transmission, or a worm gear, etc.

[0094] In some embodiments, the drive assembly 230 includes a worm 232, which is connected to the output shaft of the motor 231 and realizes forward or reverse rotation under the drive of the motor 231; the drive assembly 230 also includes multiple driving wheel assemblies 233, which are respectively engaged with the worm 232, and are driven by the worm 232 to rotate forward or reverse, respectively drive the first cleaning assembly 210, the second cleaning assembly 220, the water supply assembly 250 and the lifting assembly 240 to work in the first working mode or the second working mode. It can be understood by ordinary technicians in this field that the driving wheel assembly can be a gear or a gear set composed of multiple gears. In which, in response to the forward driving force, the first cleaning component 210 realizes reciprocating motion, the second cleaning component 220 realizes continuous rotation, and the water supply component 250 supplies water to the first cleaning component 210 and the second cleaning component 220; in response to the reverse driving force, the first cleaning component 210 stops reciprocating motion, the second cleaning component 220 stops rotating, the water supply component 250 stops supplying water to the first cleaning component 210 and the second cleaning component 220, and the lifting component 240 lifts the first cleaning component 210 and the second cleaning component 220 to separate from the operating surface.

[0095] In some embodiments, Figure 4-1 As shown, the driving wheel assembly 233 includes a first driving wheel assembly 2331, and the driving assembly 230 also includes a first power transmission device (not shown) matched with the first driving wheel assembly 2331. The first driving wheel assembly 2331 transmits power to the first cleaning assembly 210 through the first power transmission device. The first cleaning assembly 210 reciprocates under the drive of the first power transmission device to clean a part of the operating surface. Since the first cleaning assembly 210 can reciprocate in a local area for cleaning, it is possible to focus on cleaning the local heavy stain area. Optionally, the first driving wheel assembly 2331 is an asymmetric structure, and the first power transmission device can be a vibration connecting rod, which drives the first cleaning assembly 210 to vibrate back and forth under the rotation drive of the asymmetric structure.

[0096] In some embodiments, the driving wheel assembly 233 includes a second driving wheel assembly 2332, and the driving assembly 230 also includes a second power transmission device 23321 that cooperates with the second driving wheel assembly 2332. The second driving wheel assembly 2332 is engaged with the second power transmission device 23321 to transmit power to the second cleaning assembly 220. The second cleaning assembly 220 is driven by the second power transmission device 23321 to continuously rotate to clean a portion of the operating surface. Since the second cleaning assembly 220 can continuously rotate in a local area for cleaning, it can focus on cleaning local heavily stained areas. Optionally, the second power transmission device 23321 can be a gear set with multiple gears meshing and driving, or it can be a synchronous belt drive.

[0097] In some embodiments, Figure 4-2 As shown, the driving wheel assembly 233 includes a third driving wheel assembly 2333, and the driving assembly 230 also includes a third power transmission device 23331 that cooperates with the third driving wheel assembly 2333. It can be understood by ordinary technicians in this field that the third power transmission device 23331 can be a gear or a gear set composed of multiple gears. The third driving wheel assembly 2333 is meshed with the third power transmission device 23331 to transmit power to the water supply assembly 250. The water supply assembly 250 is driven by the third power transmission device 23331 to transport water to the first cleaning assembly 210 and the second cleaning assembly 220.

[0098] In some embodiments, the driving wheel assembly 233 includes a fourth driving wheel assembly, and the fourth driving wheel assembly includes, for example, a clutch assembly 2334. The clutch assembly 2334 is used to directly drive the lifting assembly 240. The lifting assembly 240 includes a cable gear 241 and a cable 242. The clutch assembly 2334 is arranged between the third power transmission device 23331 and the cable gear 241. The cable gear 241 is wound with a cable 242. The distal end of the cable 242 is wound around the support platform 290. When the motor 231 rotates in the reverse direction, the clutch assembly 2334 The third power transmission device 23331 is meshed and connected, and the third power transmission device 23331 provides a reverse driving force. Since the clutch assembly 2334 is reversely meshed with the third power transmission device 23331 at this time, it can provide driving force. The third power transmission device 23331 drives the cable gear 241 to rotate through the clutch assembly 2334. While the cable gear 241 rotates, it pulls the support platform 290 through the cable 242. The support platform 290 lifts the first cleaning component 210 and the second cleaning component 220 under the pulling of the cable 242. When the motor 231 rotates forward, the third power transmission device 23331 provides a forward driving force, and the clutch assembly 2334 is not meshed with the forward rotation of the third power transmission device 23331, and no driving force is provided. The cable gear 241 cannot pull the support platform 290 through the cable 242.

[0099] As described above, when the motor 231 rotates forward, the driving assembly 230 drives the first cleaning assembly 210 to vibrate and clean through the first driving wheel assembly 2331 and the first power transmission device, drives the second cleaning assembly 220 to rotate and clean through the second driving wheel assembly 2332 and the second power transmission device 23321, and drives the water supply assembly 250 to supply water through the third driving wheel assembly 2333 and the third power transmission device 23331; when the motor 231 is reversed, the cable gear 241 is driven by the clutch assembly 2334, and the support platform 290 is pulled by the cable 242 to lift the first cleaning assembly 210 and the second cleaning assembly 220. The present application realizes the control of four motion modules by one motor. The motor rotates forward to drive the vibration of the vibrating member and the rotation of the rotating member, and at the same time realizes water supply for cleaning. The motor reverses to drive the lifting assembly to lift. The present application allows the driving structure to be reused multiple times, and the entire driving structure is more compact, which simplifies the number of motors, reduces energy consumption and noise, and improves user experience.

[0100] In some embodiments, Figure 5 and Figure 6As shown, the water supply assembly 250 includes a water pump assembly 251, and the water pump assembly 251 includes a connection portion connected to the third power transmission device 23331, so that the water pump assembly 251 rotates, such as peristaltically, under the transmission of the third power transmission device 23331 to achieve water pumping. The water pump assembly 251 can be a gear pump, a vane pump, a plunger pump, a peristaltic pump, etc.

[0101] In some embodiments, Figure 5-Figure 7 As shown, the water supply assembly 250 also includes a water distributor 252, which is connected to the water pump assembly 251 and is configured to distribute the water of the water pump assembly to the first cleaning assembly and / or the second cleaning assembly. In some embodiments, the water pump assembly 251 includes a joint groove 2511, and the water distributor 252 includes a joint piece 25232, and the joint groove 2511 is engaged with the joint piece 25232; wherein, the water pump assembly 251 rotates under the drive of the driving assembly 230 and drives the movable plate bracket 2523 to rotate through the joint groove 2511, while supplying water to the water distributor 252.

[0102] In some embodiments, Figure 7-Figure 12 As shown, the water divider 252 includes: a moving plate 2521, the moving plate 2521 has at least one moving plate water inlet hole 25211, and the moving plate 2521 is configured to rotate continuously in the first working mode of the driving assembly 230; a static plate 2522, the static plate 2522 is arranged on the side of the water outlet direction of the moving plate 2521, the static plate 2522 has a plurality of static plate water outlet holes 25221, and the static plate water outlet holes 25221 are respectively connected to a plurality of water outlets of the water supply assembly; wherein, the moving plate 2521 rotates continuously relative to the static plate 2522, and in response to the overlap of the projection of the at least one moving plate water inlet hole 25211 and the static plate water outlet hole 25221, the water divider 252 supplies water to the first cleaning assembly 210 and / or the second cleaning assembly 220 through the static plate water outlet hole 25221 with the overlapping projection. Optionally, the moving piece 2521 and the static piece 2522 are selected from at least one of the following materials: ceramic, metal, hard plastic, etc., so as to ensure that the moving piece 2521 and the static piece 2522 are in smooth rotational contact.

[0103] Optionally, the moving piece 2521 has a moving piece water inlet hole 25211, and the surface of the static piece 2522 is evenly spaced along the circumferential direction. 3-8 static piece water outlet holes 25221 are arranged, for example, 6 static piece water outlet holes 25221 are arranged, each static piece water outlet hole 25221 is connected to the water outlet pipe, and the water flow is supplied to the first cleaning component 210 or the second cleaning component 220 through the water outlet pipe. The moving piece 2521 is attached to the static piece 2522 and the moving piece 2521 rotates continuously relative to the static piece 2522. The moving piece 2521 rotates continuously relative to the static piece 2522, and the moving piece water inlet hole 25211 will slide through the six static piece water outlet holes 25221 in sequence. When the moving piece water inlet hole 25211 overlaps with the projection of one of the static piece water outlet holes 25221, the water will flow from the moving piece water inlet hole 25211 with the overlapping projection to the static piece water outlet hole 25221, and the water will flow through the static piece water outlet hole 25221 to the first cleaning component 210 or the second cleaning component 220 connected thereto. It can be understood that the water distributor 252 supplies water to the static piece water outlet holes 25221 in turn through rotation, that is, it supplies water to the water distribution holes of the first cleaning component 210 or the second cleaning component 220 in turn. When the rotating speed of the moving piece 2521 is fast enough, it can be considered that water is continuously supplied to each water distribution hole of the first cleaning component 210 or the second cleaning component 220.

[0104] In some embodiments, Figure 9-10 As shown, the water distributor 252 further includes a rotor bracket 2523, which is engaged with the rotor 2521. The rotor bracket 2523 is configured to rotate continuously under the drive of the water pump assembly 251 and drive the rotor 2521 to rotate continuously. At least one latching position 25233 is provided on the inner edge of the rotor bracket 2523. The rotor bracket 2523 is relatively fixed after being engaged with the rotor 2521 through the latching position 25233, so that the rotor bracket 2523 can drive the rotor 2521 to rotate together. Optionally, the rotor bracket 2523 includes a joint 25231, which is arranged on a side of the rotor bracket 2523 away from the rotor 2521, and the joint 25231 is engaged with the joint groove 2511 of the water pump assembly, so that the rotor bracket 2523 can rotate synchronously with the water pump assembly under the drive of the water pump assembly.

[0105] In some embodiments, the rotor bracket 2523 further includes at least one bracket water inlet hole 25232, and the at least one bracket water inlet hole 25232 overlaps with the at least one rotor water inlet hole 25211, so that water flows through the at least one bracket water inlet hole 25232 and the at least one rotor water inlet hole 25211 and then flows out from the static sheet water outlet hole 25221. Optionally, the rotor bracket 2523 is tightly fitted with the rotor 2521, the rotor bracket 2523 includes one bracket water inlet hole 25232, the rotor 2521 includes one rotor water inlet hole 25211, and the bracket water inlet hole 25232 overlaps with the rotor water inlet hole 25211, so that water flows through the bracket water inlet hole 25232 and the rotor water inlet hole 25211 and then flows out from the static sheet water outlet hole 25221.

[0106] In some embodiments, the movable plate bracket 2523 and the movable plate 2521 are connected to form a cavity, and the movable plate bracket 2523 includes 1-3 bracket water inlet holes 25232, for example, 3 bracket water inlet holes 25232, so that water flows into the cavity through the 3 bracket water inlet holes 25232 and then is buffered in the cavity. As the movable plate bracket 2523 and the movable plate 2521 rotate, the water flows out after the movable plate water inlet hole 25211 overlaps with the static plate water outlet hole 25221. This cavity structure can ensure the continuity of water supply to multiple water distribution holes, reducing the requirements for the rotation speed of the movable plate bracket 2523.

[0107] In some embodiments, Fig.11 As shown, the water distributor 252 also includes a shell 2526, and the shell 2526 is configured to accommodate the moving piece 2521, the static piece 2522 and the moving piece bracket 2523; wherein the multiple water outlets 25261 are arranged on the shell 2526, and the shell has a water inlet 25262, water flows into the shell 2526 from the water inlet 25262, and then flows into the bracket water inlet hole 25232 from the gap between the shell 2526 and the bracket water inlet hole 25232, and flows out from the at least one water outlet 25261 after passing through the bracket water inlet hole 25232, the moving piece water inlet hole 25211 and the static piece water outlet hole 25221.

[0108] In some embodiments, Fig.12 As shown, the water divider 252 also includes a soft rubber pad 2524, which is arranged on the side of the static sheet 2522 away from the moving sheet 2521. The soft rubber pad 2524 includes at least one soft rubber pad hole 25241, and the soft rubber pad hole 25241 is arranged one-to-one with the static sheet water outlet hole 25221. The soft rubber pad 2524 is sealed between the static sheet 2522 and the housing 2526 to prevent the water entering the housing 2526 from the water inlet 25262 from directly flowing to the side of the static sheet 2522.

[0109] In some embodiments, Figure 7 As shown, the water divider 252 also includes at least one sealing ring, for example, a first sealing ring 2525 and a second sealing ring 2527, the first sealing ring 2525 is arranged between the moving plate bracket 2521 and the housing 2526. The housing 2526 includes a front housing and a rear housing, and the second sealing ring 2527 is arranged between the front housing and the rear housing for sealing the front housing and the rear housing.

[0110] The sweeping and mopping cleaning device provided by the disclosed embodiment drives the first cleaning component to reciprocate to clean at least a portion of the operating surface, drives the second cleaning component to rotate continuously to clean at least a portion of the operating surface, and drives the water supply component to supply water to the first cleaning component and the second cleaning component through a water divider in the first working mode of the driving component. In the second working mode of the driving component, the lifting component is driven to lift the cleaning component to separate from the operating surface, thereby achieving the operation of multiple driven components through one driving component, simplifying the driving structure and making the cleaning module more compact.

[0111] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0112] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A cleaning device, characterized in that: include: A cleaning module is configured to clean at least a portion of the operating surface by wet cleaning, the cleaning module comprising: A driving assembly, used to output a driving force having a first working mode and a second working mode; A cleaning assembly, comprising a first cleaning assembly and a second cleaning assembly, wherein the first cleaning assembly and the second cleaning assembly are configured to clean at least a portion of the operating surface in a first working mode of the driving assembly and to be detached from the operating surface in a second working mode of the driving assembly; a water supply assembly configured to supply water to the first cleaning assembly and the second cleaning assembly in a first working mode of the driving assembly; Wherein, the water supply component has multiple water outlets, which supply water to the first cleaning component and the second cleaning component respectively.

2. The cleaning device according to claim 1, characterized in that The water supply assembly comprises: A water pumping assembly configured to pump water toward the cleaning assembly in the first working mode of the driving assembly; The water distributor is connected to the water pump assembly and is configured to distribute water flow to the first cleaning assembly and / or the second cleaning assembly under the drive of the water pump assembly.

3. The cleaning device according to claim 2, characterized in that: The water separator comprises: A rotor having at least one rotor water inlet hole and configured to rotate continuously in a first working mode of the drive assembly; A static plate, arranged on one side of the water outlet direction of the dynamic plate, having a plurality of static plate water outlet holes, respectively connected with the plurality of water outlets of the water supply assembly; Wherein, the moving plate continuously rotates relative to the static plate, and in response to the overlap of the projection of at least one moving plate water inlet hole and the static plate water outlet hole, the water distributor supplies water to the first cleaning component and / or the second cleaning component through the static plate water outlet hole of the overlapping projection.

4. The cleaning device according to claim 3, characterized in that: The water separator also includes: The moving plate bracket is clamped with the moving plate and is configured to rotate continuously under the drive of the water pump assembly and drive the moving plate to rotate continuously.

5. The cleaning device according to claim 4, characterized in that The movable plate bracket comprises: At least one bracket water inlet hole, the at least one bracket water inlet hole overlaps with the at least one moving plate water inlet hole, and is configured to allow water to flow through the at least one bracket water inlet hole and the at least one moving plate water inlet hole and then flow out from the static plate water outlet hole.

6. The cleaning device according to claim 4, characterized in that The moving plate bracket is clamped with the moving plate to form a cavity; The movable plate bracket includes at least one bracket water inlet hole, which is configured to allow water to flow into the cavity through the at least one bracket water inlet hole and then flow out through the at least one movable plate water inlet hole and the static plate water outlet hole.

7. The cleaning device according to any one of claims 4 to 6, characterized in that: The movable plate bracket comprises: The joint piece is arranged on a side of the moving plate bracket away from the moving plate and is configured to be engaged with the water pump assembly.

8. The cleaning device according to claim 5, characterized in that The water separator also includes: A housing configured to accommodate the moving piece, the static piece and the moving piece bracket; Wherein, the multiple water outlets are arranged on the shell, and the shell has a water inlet, water flows into the shell from the water inlet, and flows out from the at least one water outlet after passing through the water inlet hole of the bracket, the water inlet hole of the moving plate and the water outlet hole of the static plate.

9. The cleaning device according to claim 3, characterized in that: The water separator also includes: The soft rubber pad is arranged on a side of the static sheet away from the dynamic sheet.

10. The cleaning device according to claim 8, characterized in that The water separator also includes: At least one sealing ring is arranged between the moving plate bracket and the housing.

11. The cleaning device according to claim 7, characterized in that: The water pump assembly includes a joint groove, which is engaged with the joint piece; Wherein, the water pump assembly rotates under the drive of the driving assembly and drives the movable plate bracket to rotate through the joint groove, and supplies water to the water distributor at the same time.

12. The cleaning device according to claim 1, characterized in that The second cleaning component is disposed at an edge of the first cleaning component, and the second cleaning component is configured to rotate continuously under the drive of the driving component to clean at least a portion of the operating surface.

13. The cleaning device according to claim 1, characterized in that The first cleaning component has a plurality of water distribution holes, and the first cleaning component is configured to reciprocate under the drive of the driving component to clean at least a portion of the operating surface.

14. The cleaning device according to claim 1, characterized in that The drive assembly comprises: The motor is configured to rotate forward in a first working mode to output a forward driving force, and to rotate reversely in a second working mode to output a reverse driving force; In which, in response to the forward driving force, the first cleaning component realizes reciprocating motion, the second cleaning component realizes continuous rotation, and the water supply component supplies water to the first cleaning component and the second cleaning component; in response to the reverse driving force, the first cleaning component stops reciprocating motion, the second cleaning component stops continuous rotation, the water supply component stops supplying water to the first cleaning component and the second cleaning component, and the first cleaning component and the second cleaning component are separated from the operating surface.

15. The cleaning device according to claim 14, characterized in that The drive assembly also includes: A worm gear, driven by the motor to realize forward or reverse rotation; A plurality of driving wheel assemblies are respectively engaged with the worm, and driven by the forward or reverse rotation of the worm, respectively drive the first cleaning assembly, the second cleaning assembly and the water supply assembly to work in the first working mode or the second working mode.

16. The cleaning device according to claim 1, characterized in that The cleaning module also includes: The lifting assembly is configured to lift the cleaning assembly to separate from the operating surface in the second working mode of the driving assembly, and to drop the cleaning assembly to contact the operating surface under the action of gravity.

17. A cleaning device, characterized in that: include: Mobile platforms; A cleaning module is configured to clean at least a portion of the operating surface by wet cleaning, the cleaning module comprising: A supporting platform connected to the mobile platform via a lifting assembly; A cleaning assembly, comprising a first cleaning assembly and a second cleaning assembly, wherein the first cleaning assembly and the second cleaning assembly are arranged on a side of the support platform facing the operating surface, and the second cleaning assembly is arranged on an edge of the first cleaning assembly; The driving assembly is configured to drive the lifting assembly to make the supporting platform separate from the operating surface or contact the operating surface.

18. A cleaning device, characterized in that: include: A cleaning module is configured to clean at least a portion of the operating surface by wet cleaning, the cleaning module comprising: A first cleaning assembly and a second cleaning assembly, wherein the first cleaning assembly and the second cleaning assembly are arranged on a side facing the operating surface, and the second cleaning assembly is arranged on an edge of the first cleaning assembly; The driving assembly is configured to drive the first cleaning assembly to perform reciprocating motion along the operating surface, and drive the second cleaning assembly to perform rotational motion along the operating surface.

19. The cleaning device according to claim 17 or 18, characterized in that The driving component is used to output a driving force having a first working mode and a second working mode; the first cleaning component and the second cleaning component are configured to clean at least a portion of the operating surface in the first working mode of the driving component and to detach from the operating surface in the second working mode of the driving component.

20. A cleaning device, characterized in that: include: Mobile platforms; A cleaning module is disposed below the mobile platform and is configured to clean at least a portion of the operating surface by wet cleaning. The cleaning module includes: The cleaning assembly comprises a first cleaning assembly and a second cleaning assembly, wherein the second cleaning assembly is arranged at an edge of the first cleaning assembly; The projection of the first cleaning component on the operating surface is located within the projection of the moving platform; and at least a portion of the projection of the second cleaning component on the operating surface is located outside the projection of the moving platform.

21. The cleaning device according to claim 17, 18 or 20, characterized in that The first cleaning component has a plurality of water distribution holes.

22. The cleaning device according to claim 17, 18 or 20, characterized in that: The cleaning module also includes: a water supply component, configured to supply water to the first cleaning component and the second cleaning component in the first working mode of the driving component; wherein the water supply component has a plurality of water outlets, supplying water to the first cleaning component and the second cleaning component respectively.

23. The cleaning device according to claim 22, characterized in that In response to the positive driving force of the driving assembly, the first cleaning assembly realizes reciprocating motion, the second cleaning assembly realizes continuous rotation, and the water supply assembly supplies water to the first cleaning assembly and the second cleaning assembly; In response to the reverse driving force of the driving assembly, the first cleaning assembly stops reciprocating motion, the second cleaning assembly stops continuous rotation, the water supply assembly stops supplying water to the first cleaning assembly and the second cleaning assembly, and the first cleaning assembly and the second cleaning assembly detach from the operating surface.

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