Cleaning equipment and cleaning system

Abstract

The utility model provides cleaning equipment and a cleaning system, and relates to the technical field of smart home. The cleaning equipment comprises an equipment body, a lifting mechanism, a stroke detection assembly and a control unit, the lifting mechanism is arranged on the equipment body, the lifting mechanism comprises a lifting part, a first driver and a first transmission assembly, and the first driver is configured to drive the lifting part to reciprocate between a first position and a second position through the first transmission assembly; the stroke detection assembly is configured to obtain the rotation stroke of an output shaft of the first driver and / or a transmission part in the first transmission assembly; the control unit is configured to control the height of the lifting piece between the first position and the second position based on the rotation stroke. According to the cleaning equipment, the adjusting precision of the lifting part can be improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of smart home, in particular, to a cleaning device and a cleaning system. BACKGROUND

[0002] With the development of modern society, in order to save time and keep the home clean, more and more people begin to buy cleaning devices to clean the home in time and conveniently. The cleaning device can automatically clean the floor in the room by means of certain artificial intelligence.

[0003] At present, the lifting mechanism is widely used in the cleaning components of the cleaning device, but the lifting height of the lifting mechanism cannot be accurately adjusted, which affects the cleaning effect.

[0004] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. CONTENT OF THE INVENTION

[0005] The purpose of the present disclosure is to provide a cleaning device and a cleaning system.

[0006] According to one aspect of the present disclosure, a cleaning device is provided, comprising:

[0007] a device body;

[0008] a lifting mechanism, the lifting mechanism being provided on the device body, the lifting mechanism comprising a lifting piece, a first driver and a first transmission assembly, the first driver being configured to drive the lifting piece to reciprocate between a first position and a second position through the first transmission assembly;

[0009] a stroke detection assembly, the stroke detection assembly being configured to obtain a rotation stroke of an output shaft of the first driver and / or a transmission piece in the first transmission assembly;

[0010] a control unit, the control unit being configured to control the height of the lifting piece between the first position and the second position based on the rotation stroke.

[0011] In an exemplary embodiment of the present disclosure, when the lifting piece needs to be lifted by a preset distance, the rotation stroke of the output shaft of the first driver and / or the transmission piece in the first transmission assembly is a target rotation stroke;

[0012] The control unit controls the first driver to drive, and when the stroke detection assembly detects that the rotation stroke of the output shaft of the first driver and / or the transmission member in the first transmission assembly reaches the target rotation stroke, the control unit controls the first driver to stop driving.

[0013] In an exemplary embodiment of the present disclosure, the control unit determines the target rotation stroke of the output shaft of the first driver and / or the transmission member in the first transmission assembly according to the preset distance.

[0014] In an exemplary embodiment of the present disclosure, the control unit determines the target rotation stroke according to the preset distance and the transmission ratio between the output shaft of the first driver and / or the transmission member in the first transmission assembly and the lifting member.

[0015] In an exemplary embodiment of the present disclosure, the first position and the second position further have an initial position, and the cleaning device further comprises:

[0016] An initial position sensing member is fixedly arranged in the lifting mechanism, and the initial position sensing member is triggered when the lifting member moves to the initial position, and the initial position sensing member outputs an initial position information.

[0017] In an exemplary embodiment of the present disclosure, when the lifting member needs to move to the initial position, the control unit drives the first driver to drive, and when the initial position information is acquired, the control unit controls the first driver to stop driving.

[0018] In an exemplary embodiment of the present disclosure, when the lifting member needs to be lifted by a preset distance relative to the initial position to be located at the target position, the control unit determines the target rotation stroke of the output shaft of the first driver and / or the transmission member in the first transmission assembly according to the preset distance, and drives the lifting member to move towards the initial position;

[0019] When the control unit acquires the initial position information, the control unit controls the first driver to drive the lifting member to move towards the target position, and starts to detect the rotation stroke of the output shaft of the first driver and / or the transmission member in the first transmission assembly through the stroke detection assembly.

[0020] When the stroke detection assembly detects that the rotation stroke of the output shaft of the first driver and / or the transmission member in the first transmission assembly reaches the target rotation stroke, the control unit controls the first driver to stop driving.

[0021] In an example embodiment of the present disclosure, the initial position sensing member is a non-contact sensing switch.

[0022] In an example embodiment of the present disclosure, the non-contact sensing switch comprises:

[0023] a transmitter and a receiver, the transmitter and the receiver are fixedly arranged in the lifting mechanism and correspondingly arranged with the lifting member; the receiver is configured to receive the signal transmitted by the transmitter, and when the lifting member moves to the preset position, the lifting member blocks the signal between the transmitter and the receiver.

[0024] In an example embodiment of the present disclosure, the initial position sensing member is a contact sensing switch.

[0025] In an example embodiment of the present disclosure, when the lifting member moves towards the first position or moves towards the second position, the control unit controls the rotation direction of the output shaft of the first driver to be opposite.

[0026] In an example embodiment of the present disclosure, the rotation stroke comprises the rotation number of the output shaft of the first driver and / or the transmission member in the first transmission assembly.

[0027] In an example embodiment of the present disclosure, when the output shaft of the first driver and / or the transmission member in the first transmission assembly rotates one circle, the lifting member moves a distance H between the first position and the second position; when the preset distance that the lifting member needs to lift is K, the control unit determines the rotation number M of the output shaft of the first driver and / or the transmission member in the first transmission assembly, and controls the first driver to drive; wherein M=(K / H).

[0028] When the stroke detection assembly detects that the rotation number of the output shaft of the first driver and / or the transmission member in the first transmission assembly is M, the control unit controls the first driver to stop driving.

[0029] In an example embodiment of the present disclosure, the rotation stroke comprises the number of times that the stroke detection assembly is triggered in the rotation process of the output shaft of the first driver and / or the transmission member in the first transmission assembly.

[0030] In an example embodiment of the present disclosure, when the output shaft of the first driver and / or the transmission element in the first transmission assembly rotates to trigger the stroke detection assembly once, the lifting element moves a distance H between the first position and the second position; when the preset distance that the lifting element needs to lift is K, the control unit determines the number of times L that the stroke detection assembly is triggered and controls the first driver to drive; wherein L = (K / H).

[0031] When the number of times L that the stroke detection assembly is triggered, the control unit controls the first driver to stop driving.

[0032] In an example embodiment of the present disclosure, the stroke detection assembly comprises a rotating part and a sensing part, the rotating shaft of the first driver and / or the transmission element on the first transmission assembly is connected with the rotating part, and the sensing part is configured to be triggered in the rotation process of the rotating part.

[0033] In an example embodiment of the present disclosure, the rotating part comprises a rotary grating, and the rotating shaft of the first driver and / or the transmission element is provided with the rotary grating rotating synchronously.

[0034] The sensing part comprises a photoelectric sensing element, which is fixedly arranged in the lifting mechanism, and is configured to be triggered by the light shielding part of the rotary grating. The control unit determines the number of rotations of the rotating shaft of the first driver or the transmission element connected with the rotary grating, or determines the number of times that the stroke detection assembly is triggered, according to the number of times that the photoelectric sensing element is triggered.

[0035] In an example embodiment of the present disclosure, the rotary grating has one light shielding part, and the number of times that the photoelectric sensing element is triggered is the number of rotations of the rotating shaft of the first driver or the transmission element.

[0036] In an example embodiment of the present disclosure, the rotary grating has a plurality of light shielding parts, and the number of times that the photoelectric sensing element is triggered in the rotation process is the number of times that the stroke detection assembly is triggered.

[0037] In an example embodiment of the present disclosure, the stroke detection assembly comprises a stroke sensor, which is a Hall effect sensor, a magneto-electric stroke sensor, an absolute encoder or an incremental encoder.

[0038] In an example embodiment of the present disclosure, when the output shaft of the first driver rotates one circle, the lifting element moves a distance of 0.1mm-1mm between the first position and the second position.

[0039] In an example embodiment of the present disclosure, the lifting mechanism further comprises:

[0040] A fixing member, the lifting member is rotationally connected with the fixing member and reciprocally movable along the axial direction of the rotation relative to the fixing member between the first position and the second position.

[0041] In an example embodiment of the present disclosure, a first gear is arranged on the lifting member, a driving gear is arranged on the output shaft of the first driver, and the transmission ratio between the driving gear and the first gear is 10-100.

[0042] In an example embodiment of the present disclosure, when the lifting member rotates one circle relative to the fixing member, the lifting member moves a distance of 1mm-100mm along the axial direction relative to the fixing member.

[0043] In an example embodiment of the present disclosure, the lifting mechanism further comprises: a mounting member, the mounting member is limitingly connected with the lifting member in the axial direction and reciprocally movable along the axial direction under the driving of the lifting member;

[0044] The cleaning device further comprises: a cleaning head, the cleaning head is configured to clean the surface to be cleaned, and the cleaning head is connected with the mounting member; the lifting member has a first cleaning position and a second cleaning position between the first position and the second position, and the cleaning pressure of the cleaning head on the surface to be cleaned when the lifting member is located at the first cleaning position is less than the cleaning pressure of the cleaning head on the surface to be cleaned when the lifting member is located at the second cleaning position.

[0045] In an example embodiment of the present disclosure, the cleaning device further comprises:

[0046] A rotating member and a second driving assembly, the rotating member is limitingly connected with the mounting member in the rotation direction, and the second driving assembly is configured to drive the rotating member to rotate so as to drive the cleaning head to rotate through the mounting member.

[0047] In an example embodiment of the present disclosure, the lifting mechanism further comprises:

[0048] A sliding connecting member, the sliding connecting member is located in the mounting member and is movable along the axial direction in the mounting member and is limitingly connected with the mounting member in the circumferential direction; the cleaning head is connected with the sliding connecting member.

[0049] An elastic member, the elastic member is located between the sliding connecting member and the mounting member; when the mounting member moves along the axial direction relative to the sliding connecting member, the elastic member can be compressed.

[0050] According to another aspect of the present disclosure, there is provided a cleaning system comprising:

[0051] the cleaning device as described above;

[0052] a base station for interfacing with the cleaning device.

[0053] The cleaning module provided by the present disclosure can detect the rotation stroke of the output shaft of the first driver and / or the rotation stroke of any transmission member in the first transmission assembly by arranging the stroke detection assembly, and then indirectly control the lifting stroke of the lifting member by controlling the rotation stroke of the output shaft and / or the rotation stroke of any transmission member in the first transmission assembly through the control unit, thereby achieving precise driving of the lifting member, so that the cleaning head can be accurately stopped at the required height, and the ground pressure of the cleaning head can be accurately adjusted to improve the cleaning effect.

[0054] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and are not limiting to the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0055] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present disclosure and serve to explain the principles of the present disclosure. It is apparent that the accompanying drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0056] Figure 1 A schematic diagram of a cleaning system according to an embodiment of the present disclosure.

[0057] Figure 2 A front view schematic diagram of a cleaning device according to an embodiment of the present disclosure.

[0058] Figure 3 A back view schematic diagram of a cleaning device according to an embodiment of the present disclosure.

[0059] Figure 4 A schematic diagram of a device body and a cleaning module according to an embodiment of the present disclosure.

[0060] Figure 5 A schematic diagram of a cleaning head in a raised position according to an embodiment of the present disclosure.

[0061] Figure 6 An exploded view of a cleaning module according to an embodiment of the present disclosure.

[0062] Figure 7 A front view of a cleaning head in a raised position according to an embodiment of the present disclosure.

[0063] Figure 8 A cross-sectional view of a cleaning head in a raised position according to an embodiment of the present disclosure.

[0064] Figure 9 A front view of a cleaning head in a first cleaning position according to an embodiment of the present disclosure.

[0065] Figure 10 A front view of a cleaning head in a first cleaning position according to an embodiment of the present disclosure.

[0066] Figure 11 A cross-sectional view of a cleaning head in a first cleaning position according to an embodiment of the present disclosure.

[0067] Figure 12 A front view of a mounting member according to an embodiment of the present disclosure.

[0068] Figure 13 A front view of a rotating member according to an embodiment of the present disclosure.

[0069] Figure 14 A front view of a rotating member according to an embodiment of the present disclosure.

[0070] Figure 15 A front view of a fixing member and a middle shell according to an embodiment of the present disclosure.

[0071] Figure 16 A front view of a lifting member according to an embodiment of the present disclosure.

[0072] Figure 17 A front view of a lifting member according to an embodiment of the present disclosure.

[0073] Figure 18 A front view of a cleaning head in a second cleaning position according to an embodiment of the present disclosure.

[0074] Figure 19 A front view of a cleaning head in a second cleaning position according to an embodiment of the present disclosure.

[0075] Figure 20 A front view of a cleaning head in a second cleaning position according to an embodiment of the present disclosure.

[0076] Figure 21 A front view of a sliding connecting member, an elastic member and a mounting member according to an embodiment of the present disclosure.

[0077] Figure 22 A front view of a sliding connecting member according to an embodiment of the present disclosure.

[0078] Figure 23 A perspective view of the mount provided for an embodiment of the present disclosure.

[0079] Figure 24 A top view of the sliding connector provided for an embodiment of the present disclosure.

[0080] Figure 25 A bottom view of the sliding connector provided for an embodiment of the present disclosure.

[0081] Figure 26 A perspective view of the bottom shell provided for an embodiment of the present disclosure.

[0082] Figure 27 A perspective view of the snap ring provided for an embodiment of the present disclosure.

[0083] Figure 28 A perspective view of the stopper provided for an embodiment of the present disclosure.

[0084] Figure 29 A perspective view of the lift mechanism upstroke detection assembly provided for an embodiment of the present disclosure.

[0085] Figure 30 A perspective view of the lift mechanism upstroke detection assembly provided for an embodiment of the present disclosure.

[0086] Figure 31 An exploded perspective view of the lift mechanism upstroke detection assembly provided for an embodiment of the present disclosure.

[0087] Figure 32 A perspective view of the inductive switch when the lifting member is in the first position provided for an embodiment of the present disclosure.

[0088] Figure 33 A perspective view of the inductive switch when the lifting member is away from the first position provided for an embodiment of the present disclosure.

[0089] Figure 34 A perspective view of the cleaning head turned to the front of the device body by the swing arm provided for an embodiment of the present disclosure.

[0090] Figure 35 A perspective view of the cleaning head turned to the back of the device body by the swing arm provided for an embodiment of the present disclosure.

[0091] BRIEF DESCRIPTION OF THE DRAWINGS:

[0092] 10, cleaning device; 20, base station; 30, device body; 40, cleaning head; 410, cleaning part; 420, connecting part; 430, second magnetic member; 50, lifting mechanism; 511, top cover; 512, middle shell; 513, bottom shell; 5130, annular clamping groove; 5131, limiting protrusion; 5132, annular boss; 514, first containing space; 515, second containing space; 516, third containing space; 521, fixing member; 522, lifting member; 5220, limiting clamping groove; 523, mounting member; 5231, sliding groove; 5232, positioning protrusion; 5233, clamping table; 5234, clamping ring; 524, rotating member; 5241, sliding block; 525, first gear; 526, third gear; 527, second transmission gear set; 53, first driving assembly; 531, first driver; 5321, driving gear; 5322, first connecting gear; 5323, second connecting gear; 5324, driven gear; 533, second gear; 54, sliding connecting member; 541, elastic clamping arm; 542, mounting structure; 543, protruding structure; 55, elastic member; 56, first magnetic member; 571, first bearing; 572, second bearing; 573, third bearing; 58, first limiting member; 581, clamping protrusion; 59, sealing member; 60, stroke detection assembly; 610, rotary grating; 620, photoelectric sensing member; 630, assembling member; 70, non-contact sensing switch; 710, transmitter; 720, receiver. DETAILED DESCRIPTION

[0093] Example implementations are now described with reference to the drawings. Example implementations can, however, be implemented in many different forms and should not be construed as limited to the implementations set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example implementations to those skilled in the art. Like reference numerals refer to like elements throughout the specification, thus detailed descriptions of them will be omitted.

[0094] Although relative terms such as "upper", "lower", etc. are used herein to describe one component's relationship to another component of the icon, these terms are used herein for convenience only and are not intended to be limiting. It is to be understood that if the icon device is turned over so that the upper component becomes the lower component, as long as the functional relationship between the components is not altered, then a component described as being "on" another component in the stated orientation is likewise "on" another component in the inverted orientation. When a structure is "on" another structure, it can mean that the structure is formed integrally with the other structure or that the structure is "directly on" the other structure, or that the structure is "indirectly on" the other structure via an intervening structure.

[0095] The terms “a,” “one,” “the,” “the,” and “at least one” are used to indicate the presence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first,” “second,” and “third,” etc., are used only as markers and are not a limitation on the number of objects.

[0096] Embodiments of this disclosure provide a cleaning system, such as Figures 1-3 As shown, the cleaning system includes a cleaning device 10 and a base station 20. The cleaning device 10 can be, for example, a robotic vacuum cleaner, a robotic mop, or a robotic vacuum and mop combo; the cleaning device 10 may include a device body 30, a drive module, a sensing module, a control module, a cleaning module, an energy module, and a human-machine interaction module. The base station 20 is used to dock with the cleaning device 10, allowing it to be parked. The cleaning device 10 can perform functions such as charging, self-cleaning, docking, wastewater discharge, and water replenishment on the base station 20.

[0097] In one embodiment, the device body 30 is configured to automatically move along a target direction on a travel surface, which can be the surface to be cleaned by the cleaning device 10. If the cleaning device 10 is a sweeping and mopping robot, then the cleaning device 10 operates on the ground.

[0098] In one embodiment, the drive module includes a drive wheel assembly. The drive module can control both the left and right wheels simultaneously. For more precise control of the machine's movement, the drive module preferably includes a left drive wheel assembly and a right drive wheel assembly. The left and right drive wheel assemblies are symmetrically arranged along a transverse axis defined by the device body 30.

[0099] In one embodiment, to enable the automatic cleaning device 10 to move more stably or with greater mobility on the ground, the automatic cleaning device 10 may include one or more steering wheels; wherein, the steering wheels may be driven wheels or driving wheels, and their structural forms include, but are not limited to, casters, and the steering wheels may be located in front of the driving wheel assembly. A drive motor provides power to the driving wheel assembly and / or the steering wheels.

[0100] In an embodiment, the perception module includes a position determining device located above the device body 30, a bumper located at the front part of the device body 30, a cliff sensor and an ultrasonic sensor located at the bottom of the device body 30, an infrared sensor, a magnetometer, an accelerometer, a gyroscope, an odometer, and the like, which provide various position information and motion state information of the device body 30 to the control module. For example, the front part of the device body 30 is provided with a bumper, and when the driving wheel assembly propels the cleaning device 10 to walk on the ground during the cleaning process, the bumper detects one or more objects in the travel path of the cleaning device 10 through the sensor module, such as a collision sensor, and the cleaning device 10 can control the driving structure to respond to the objects, such as a step, an obstacle, a wall, and the like, for example, to cross the step.

[0101] In an embodiment, the control module can comprehensively judge the current working state of the robot, such as climbing a step, passing a threshold, being on a carpet, being stuck at a cliff, being lifted up or down, being full of dust, and the like, based on the distance information, speed information, and the like, fed back by the bumper, the cliff sensor and the ultrasonic sensor, the infrared sensor, the magnetometer, the accelerometer, the gyroscope, the odometer, and the like, and can give specific next action strategies for different situations, so that the work of the cleaning device 10 is more in line with the requirements of the owner, and the user experience is better. Further, the control module can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM (Simultaneous Localization and Mapping), which can improve the cleaning efficiency of the cleaning device 10.

[0102] In an embodiment, the energy module includes a rechargeable battery, such as a nickel-hydrogen battery and a lithium battery. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are connected with the single-chip microcomputer control circuit. The host machine is connected with the charging pile for charging through the charging electrode arranged on the side or the bottom of the machine body.

[0103] In an embodiment, the human-computer interaction module includes keys on the host panel, which are used for the user to select functions; can also include a display screen and / or an indicator light and / or a loudspeaker, which show the current state of the machine or the function selection items to the user; and can also include a mobile phone client program. For the path navigation type cleaning device 10, the mobile phone client can show the user the map of the environment where the device is located, and the position of the machine, and can provide more rich and personalized function items to the user.

[0104] In an embodiment, the cleaning module can include a dry cleaning module, or a dry and wet cleaning module. The dry cleaning module can include a rolling brush assembly, an edge brush, etc., and the wet cleaning module can include the cleaning head 40, a water tank, etc.

[0105] At present, the lifting mechanism is widely used in the cleaning components of the cleaning device 10; in the related art, the lifting mechanism usually adopts a connecting rod and slider scheme, for example, by connecting the connecting rod and the slider together to transmit the movement; the connecting rod and slider scheme often has a large volume ratio, and needs to occupy additional space in the device body 30; at the same time, the lifting mechanism cannot adjust the ground pressure of the cleaning head, resulting in poor cleaning effect.

[0106] To solve the above technical problems, the present disclosure provides a cleaning module, as shown in Figures 4-11 As shown, the cleaning module includes a lifting mechanism 50 and a cleaning head 40, the lifting mechanism 50 is arranged on the device body 30, the lifting mechanism 50 includes a fixing member 521, a lifting member 522, a mounting member 523 and a first driving assembly 53, the first driving assembly 53 is configured to drive the lifting member 522 to rotate forward or reverse, the lifting member 522 is rotationally connected with the fixing member 521 and can reciprocate along the axial direction of rotation between the first position and the second position relative to the fixing member 521; the mounting member 523 is limitingly connected with the lifting member 522 in the axial direction and can reciprocate along the axial direction under the driving of the lifting member 522; the cleaning head 40 is connected with the mounting member 523, and the cleaning head 40 is used for cleaning the surface to be cleaned; the lifting member 522 has a first cleaning position and a second cleaning position between the first position and the second position, and the cleaning pressure of the cleaning head 40 on the surface to be cleaned when the lifting member 522 is located at the first cleaning position is less than the cleaning pressure of the cleaning head 40 on the surface to be cleaned when the lifting member 522 is located at the second cleaning position.

[0107] The cleaning head 40 is connected with the device body 30 through the lifting mechanism 50, and the cleaning head 40 can be located at a raised position close to the device body 30 or at a lowered position close to the cleaning surface under the driving of the lifting mechanism 50. By lifting or lowering the cleaning head 40, when the device body 30 moves and the cleaning head 40 does not need to perform cleaning work, for example, when obstacle crossing is performed, the cleaning head 40 can be avoided to cause obstruction, and the passing rate of obstacle crossing is improved. When the dry cleaning module and the wet cleaning module are arranged on the cleaning module, in the case of using a single cleaning mode, the wet or dry cleaning head 40 can be lifted to improve the cleaning efficiency. The cleaning module provided by the present disclosure is rotatably connected with the fixing member 521 and can reciprocate along the axial direction of rotation between the first position and the second position relative to the fixing member 521. The mounting member 523 is limitingly connected with the lifting member 522 in the axial direction and can reciprocate along the axial direction under the driving of the lifting member 522. When the lifting member 522 moves towards the first position, the cleaning head 40 can be driven to move towards the raised position, so that the cleaning head 40 can be located at the raised position under the driving of the mounting member 523. When the lifting member 522 moves towards the second position, the cleaning head 40 can be driven to move towards the lowered position, so that the cleaning head 40 can be located at the lowered position under the driving of the mounting member 523. That is, the structure for driving the cleaning head 40 to move up and down is rotatably connected, and only moves in the height direction of the device body 30, so that the lifting mechanism 50 is compact in structure and occupies small space, and the space utilization rate of the cleaning device 10 can be improved. At the same time, when the lifting member 522 moves towards the second position, it can be located at the first cleaning position and the second cleaning position. When the lifting member 522 is lowered to the first cleaning position, the cleaning pressure of the cleaning head 40 on the surface to be cleaned is smaller than that when the lifting member 522 is located at the second cleaning position. Therefore, the cleaning pressure of the cleaning head 40 on the surface to be cleaned can be adjusted by adjusting the lowered position of the lifting member 522.

[0108] It should be noted that the first position and the second position are the highest position and the lowest position of the lifting member, and between the first position and the second position, there are also the first cleaning position and the second cleaning position, and a third cleaning position can also be included to realize more levels of cleaning pressure adjustment, which is not limited by the present disclosure. When the cleaning head 40 is lifted or lowered under the driving of the lifting mechanism 50, the reciprocating distance between the raised position and the lowered position can be calibrated according to the lowest point of the contact between the cleaning device 10 and the cleaning surface, for example, the lowest point of the contact between the cleaning head 40 and the cleaning surface is closer to the cleaning surface relative to the lowest point of the contact between other parts of the cleaning device 10 and the cleaning surface, so that the cleaning head 40 can be in close contact with the cleaning surface to improve the cleaning effect. When the cleaning head 40 is in the raised position, it is spaced apart from the cleaning surface by a predetermined distance, and the device body 30 can be closely arranged, so as to avoid the entry of foreign matter into the gap between the cleaning head 40 and the device body 30 when the gap is large.

[0109] In an embodiment, as shown in Figure 8 and Figure 11 The cleaning module further comprises a rotating member 524 connected with the mounting member 523 in a rotation direction, and a second driving assembly configured to drive the rotating member 524 to rotate so as to drive the cleaning head 40 to rotate through the mounting member 523. The mounting member 523 is connected with the lifting member 522 in an axial direction and can reciprocate along the axial direction of the lifting member 522 under the driving of the lifting member 522; the mounting member 523 can rotate relative to the lifting member 522, that is, the mounting member 523 and the lifting member 522 can also rotate relative to each other when the mounting member 523 reciprocates along the axial direction under the driving of the lifting member 522; then the rotating member 524 can drive the mounting member 523 to rotate, and at this time the lifting member 522 can not reciprocate or rotate, that is, the lifting member 522 can be in a static state. For example, when the cleaning head 40 is in a lowered position for cleaning operation, the second driving assembly can be used to drive the mounting member 523 to rotate, thereby driving the cleaning head 40 to rotate for cleaning operation.

[0110] The cleaning head 40 can be provided with a mop on the cleaning part 410, and the cleaning head 40 can be rotated to effectively mop the cleaning surface through the rotating mop, thereby improving the cleaning effect. It can be understood that the cleaning head 40 can be used for dry cleaning or wet cleaning. The cleaning head 40 for wet cleaning is, for example, a rotating mop or a vibrating mop, and the cleaning head 40 for dry cleaning is, for example, a side brush or a main brush, which can be set as needed, and the present disclosure does not limit this.

[0111] In an embodiment, as shown in Figure 8 and Figure 11 The rotating member 524 is sleeved on the mounting member 523, the fixing member 521 is sleeved on the rotating member 524, and the lifting member 522 is sleeved on the fixing member 521. In this way, the fixing member 521, the rotating member 524, the lifting member 522 and the mounting member 523 are assembled together. When the cleaning head 40 moves to the raised position, the fixing member 521, the rotating member 524 and the mounting member 523 are substantially coincided together in the height direction, thereby reducing the space required in the height direction. In the width direction, the lifting member 522 is located at the outermost side, and the fixing member 521, the rotating member 524 and the mounting member 523 are located in the lifting member 522, thereby occupying only the width of the lifting member 522 in the width direction, so that the movement mechanism formed by the fixing member 521, the rotating member 524 and the mounting member 523 is compact and occupies a small space.

[0112] In an embodiment, as shown in Figures 12-14As shown, the outer peripheral surface of the mounting piece 523 is provided with a sliding groove 5231 extending in the axial direction, and the inner wall of the rotating piece 524 is provided with a sliding block 5241 located in the sliding groove 5231, so as to realize the limit connection of the rotating piece 524 and the mounting piece 523 in the rotation direction.

[0113] Wherein, through the sliding block 5241 and the sliding groove 5231, the upward and downward movement of the mounting piece 523 is guided, and the sliding block 5241 and the sliding groove 5231 can be correspondingly provided with multiple to improve the guiding effect, and then improve the stability of the mounting piece 523 relative to the rotating piece 524 when moving.

[0114] In an embodiment, as shown in Figures 15-17 The fixing piece 521 is formed with external threads, and the lifting piece 522 is formed with internal threads, and the fixing piece 521 and the lifting piece 522 are threadedly connected. By providing threads on the fixing piece 521 and the lifting piece 522, the fixing piece 521 and the lifting piece 522 that are sleeved together form a screw and nut structure, which can make the lifting piece 522 rotate on the fixing piece 521 along the axial direction of the fixing piece 521, and at the same time, the rotation angle is controlled to accurately control the upward and downward movement distance of the lifting piece 522, thereby improving the accuracy of the position control of the cleaning head 40.

[0115] Wherein, as shown in Figure 11 The inner ring of the rotating piece 524 is provided with a first bearing 571 between the top cover 511, and the outer ring of the rotating piece 524 is provided with a second bearing 572 between the fixing piece 521, so as to realize the rotation of the rotating piece 524.

[0116] In an embodiment, as shown in Figure 13 And Figure 14 The outer peripheral surface of the rotating piece 524 is provided with a third gear 526, and the second driving assembly drives the third gear 526 to rotate, thereby driving the rotating piece 524 to rotate.

[0117] Wherein, the third gear 526 and the rotating piece 524 can be an integral molding structure, which can improve the coaxiality of the third gear 526 and the rotating piece 524, reduce the assembly procedure, improve the structural strength, and reduce the cost. Of course, the third gear 526 can be sleeved on the rotating piece 524, and can be fixedly connected through bonding, clamping, welding and the like, which is not limited in the present disclosure.

[0118] The second driving assembly includes a second driver and a second transmission gear set 527. The second driver can be a driving motor. The second driver is in transmission connection with the third gear 526 through the second transmission gear set 527. By arranging the second transmission gear set 527, the rotation speed ratio between the third gear 526 and the second driver can be set, and the position of the second driver is adjusted, so that the second driver is closely arranged with other components, the structural compactness between components is improved, and the space utilization is improved.

[0119] In an embodiment, as shown in Figure 16 and Figure 17 The outer circumferential surface of the lifting piece 522 is provided with a first gear 525. The first driving assembly 53 is configured to drive the first gear 525 to rotate, so as to drive the lifting piece 522 to rotate.

[0120] The first driving assembly 53 includes a first driver 531 and a second gear 533. The first driver 531 is configured to drive the second gear 533 to rotate. The second gear 533 is in meshing connection with the first gear 525. The width of the teeth of at least one of the first gear 525 and the second gear 533 in the axial direction is greater than or equal to the distance between the first position and the second position, so that the second gear 533 can drive the lifting piece 522 to move between the first position and the second position through the first gear 525. The first driver 531 can be a driving motor, which is convenient for automatic control.

[0121] The first gear 525 is located at one end of the lifting piece 522 away from the cleaning head 40 in the axial direction. The width of the teeth of the second gear 533 in the axial direction is greater than the distance between the first position and the second position. That is, the first gear 525 moves relative to the second gear 533 under the driving of the lifting piece 522, and the first gear 525 is always in meshing connection with the second gear 533 when the lifting piece 522 reciprocates between the first position and the second position. At the same time, the first gear 525 is located at one end of the lifting piece 522 away from the cleaning head 40 in the axial direction, that is, the second gear 533 drives one end of the lifting piece 522 away from the cleaning head 40 in the axial direction to move up and down. This can make the second gear 533 move close to one end of the lifting piece 522 away from the cleaning head 40 in the axial direction, that is, be arranged close to one side of the equipment body 30 in the thickness direction of the equipment body 30. The structure is compact, and additional space is avoided.

[0122] The first gear 525 and the lifting piece 522 can be in an integrated structure, which can improve the coaxiality of the first gear 525 and the lifting piece 522, reduce the assembly procedure, improve the structural strength, and reduce the cost. Of course, the first gear 525 can be sleeved on the lifting piece 522 and be fixedly connected through bonding, clamping, welding or the like. The present disclosure does not limit this.

[0123] In an embodiment, the first driving assembly 53 further comprises a first transmission gear set, and the first driver 531 is in transmission connection with the second gear 533 through the first transmission gear set. By arranging the first transmission gear set, the rotation speed ratio between the second gear 533 and the first driver 531 can be set, and the position of the first driver 531 can be adjusted, so that the first driver 531 is closely arranged with other components, the structural compactness between components is improved, and the space utilization is improved. The first transmission gear set can comprise a worm arranged on an output shaft of the first driver 531 and a worm wheel connected with the worm and the second gear 533. The part of the worm wheel engaged with the second gear 533 can be a bevel gear.

[0124] In an embodiment, as shown in FIG. 5, the lifting mechanism 50 further comprises a sliding connecting piece 54 and an elastic piece 55. The sliding connecting piece 54 is located in the middle of the mounting piece 523 and can move axially in the mounting piece 523 and is in limiting connection with the mounting piece 523 in the circumferential direction. The cleaning head 40 is connected with the sliding connecting piece 54. The elastic piece 55 is located between the sliding connecting piece 54 and the mounting piece 523. When the mounting piece 523 moves axially towards the sliding connecting piece 54, the elastic piece 55 can be compressed. Figures 18-21

[0125] When the lifting piece 522 is lowered to the first cleaning position and drives the cleaning head 40 to contact the ground, if the lifting piece 522 continues to move towards the second cleaning position, the mounting piece 523 can move towards the sliding connecting piece 54 to compress the elastic piece 55. The elastic restoring force of the elastic piece 55 can increase the cleaning pressure of the cleaning head 40 on the surface to be cleaned, so as to adjust the cleaning pressure of the cleaning head 40 on the surface to be cleaned and improve the cleaning effect. At the same time, when the lifting piece 522 stops moving, if the cleaning head 40 is subjected to an external force, for example, when the cleaning head 40 encounters an uneven cleaning surface during cleaning, the cleaning head 40 can drive the sliding connecting piece 54 to move upwards to compress the spring, so as to form a buffering effect through the elastic piece 55.

[0126] When the cleaning head 40 is not subjected to an external force, the elastic piece 55 is in a compressed state, that is, the elastic piece 55 provides an elastic force to the cleaning head 40 towards the cleaning surface, so that the cleaning head 40 is subjected to an initial downward pressure relative to the mounting piece 523 when not subjected to an external force. When the external force acting on the cleaning head 40 is greater than the initial downward pressure, the cleaning head 40 compresses the elastic piece 55 to move towards the raised position.

[0127] When the cleaning head 40 is not subjected to an external force, the cleaning head 40 has a gap in the axial direction between the cleaning part 410 and the opposite part of the lifting piece 522, so that the lifting piece 522 can move axially towards one side of the lifting mechanism 50 by a preset distance.

[0128] ​The cleaning head 40 includes a cleaning part 410 and a connecting part 420, and the cleaning head 40 is connected to the mounting member 523 through the connecting part 420. Figure 20 As shown, the cleaning part 410 of the cleaning head 40 can be recessed in the area surrounding the connecting part 420, that is, the remaining area of ​​the cleaning part 410 can be set towards the side of the device body 30, thereby reducing the overall thickness of the cleaning module.

[0129] In one embodiment, an axial limiting structure is provided between the sliding connector 54 and the mounting member 523. The axial limiting structure is used to limit the sliding connector 54 from retracting toward the mounting member 523 along the axial direction. Figures 21-23 As shown, the top of the sliding connector 54 is provided with an elastic locking arm 541, and the inner wall of the mounting member 523 can be provided with a locking platform 5233 that matches the elastic locking arm 541. When the sliding connector 54 extends into the receiving space of the mounting member 523 and is assembled with the mounting member 523, the elastic locking arm 541 can be positioned on the side of the locking platform 5233 facing the top of the mounting member 523 by the deformation of the elastic locking arm 541. Thus, the locking platform 5233 forms a limit on the elastic locking arm 541, thereby forming a limit on the sliding connector 54 to exit the mounting member 523, so that the sliding connector 54 can slide up and down between the locking platform 5233 and the top of the mounting member 523.

[0130] like Figures 21-23 As shown, the space formed by the mounting member 523 for mounting the sliding connector 54 is hexagonal prism-shaped, and the sliding connector 54 is also hexagonal prism-shaped. Through the cooperation of the hexagonal prism space and the hexagonal prism structure, the sliding connector 54 is limited in the rotational direction within the mounting space of the mounting member 523. It is understood that the mounting space formed by the mounting member 523 can also be rectangular or triangular, and the sliding connector 54 can also be rectangular or triangular. The shape of the mounting space formed by the mounting member 523 and the shape of the sliding connector 54 can be the same or different. The key is that the mounting space formed by the mounting member 523 and the sliding connector 54 can limit each other in the rotational direction; this disclosure does not impose any limitations on this.

[0131] like Figure 21 As shown, the elastic element 55 can be a spring. Both the mounting member 523 and the sliding connector 54 form a receiving space to accommodate the spring. A part of the spring is disposed in the receiving space of the mounting member 523 and abuts against the top of the mounting member 523; the other part of the spring is disposed in the receiving space of the sliding connector 54 and abuts against the bottom of the sliding connector 54, thus assembling the spring.

[0132] Among them, such as Figure 23 and Figure 24As shown, the bottom of the mounting piece 523 is formed with a plurality of positioning protrusions 5232, which enclose the limiting of the end of the elastic piece 55, avoiding its left and right movement. The bottom of the sliding connecting piece 54 can be provided with a plurality of protruding structures 543, and the other end of the elastic piece 55 can be located on the plurality of protruding structures 543.

[0133] In an embodiment, as shown in Figure 21 The bottom of the sliding connecting piece 54 is provided with a first magnetic piece 56, which can be magnetically connected with the second magnetic piece 430 of the cleaning head 40, thereby improving the stability of the connection between the cleaning head 40 and the mounting piece 523, especially when the cleaning head 40 and the mounting piece 523 are connected in a plug-in manner, which can improve the reliability of the plug-in of the cleaning head 40 and the mounting piece 523.

[0134] As shown in Figure 21 and Figure 25 The bottom of the sliding connecting piece 54 is provided with a mounting structure 542, which can limit the first magnetic piece 56 on the bottom of the sliding connecting piece 54. The mounting structure 542 can include a tapered structure, and the first magnetic piece 56 is sleeved on the mounting structure 542, thereby forming a limiting assembly of the first magnetic piece 56 through the tapered structure.

[0135] In an embodiment, the cleaning module further comprises a housing, the housing is formed with a first containing space 514, the fixing piece 521, the lifting piece 522 and the mounting piece 523 are located in the first containing space 514, and when the lifting piece 522 reciprocates between the first position and the second position through the opening of the first containing space 514, it can be extended or retracted into the containing space through the opening. Through the housing, the lifting mechanism 50 is protected, avoiding sewage, debris and the like from entering the lifting mechanism 50 during cleaning operation or during self-cleaning of the base station 20, thereby improving the stability and service life of the lifting mechanism 50.

[0136] As shown in Figure 20 The housing can be formed by combining the top cover 511, the middle shell 512 and the bottom shell 513, so as to facilitate the assembly of each component on the housing.

[0137] As shown in Figure 15 The fixing piece 521 is located in the first containing space of the middle shell 512, and the fixing piece 521 and the middle shell 512 can be an integral molding structure. Since the outer periphery of the fixing piece 521 is provided with threads, the coaxiality of the fixing piece 521 and the lifting piece 522 can be improved, the assembly procedure can be reduced, the structural strength can be improved, and the cost can be reduced. Of course, the fixing piece 521 can also be fixedly connected with the middle shell 512 by adhesion, clamping, welding and the like, which is not limited in the present disclosure.

[0138] In one embodiment, the cleaning module further includes a seal 59, which is disposed on the housing and located at the opening. The seal 59 is configured to seal the gap between the housing and the lifting member 522, i.e., the gap between the bottom shell 513 and the lifting member 522. When the lifting member 522 moves toward the second position relative to the fixed member 521, it extends out of the bottom shell 513 through the opening. By providing the seal 59 between the bottom shell 513 and the lifting member 522, the gap between the opening of the bottom shell 513 and the lifting member 522 can be sealed, preventing sewage or foreign objects from entering the bottom shell 513, thereby improving the reliability of the lifting mechanism 50.

[0139] Among them, the sealing element 59 can be a rubber sealing ring. Since the sealing element 59 is fixedly installed at the opening of the bottom shell 513, the sealing element 59 is in close contact with the outer peripheral surface of the lifting element 522 to form a sealing effect. The rubber sealing ring can provide good sealing performance, and at the same time has a good service life and good economic maintenance in the later stage.

[0140] Among them, such as Figure 26 As shown, an annular groove 5130 for assembling the seal 59 can be provided at the opening of the bottom shell 513. The seal 59 is placed in the annular groove 5130, forming a limiting assembly of the seal 59 in the axial direction of the lifting member 522, preventing it from moving axially under the frictional force generated by the lifting member 522, and improving the sealing effect of the seal 59. The annular groove 5130 can be formed by an annular boss 5132 extending from the inner wall of the opening of the bottom shell 513 and multiple limiting protrusions 5131. The seal 59 is limited and assembled in the annular groove 5130 between the annular boss 5132 and the multiple limiting protrusions 5131.

[0141] Multiple sealing protrusions can be provided on the inner circumferential surface of the annular seal 59 facing the lifting member 522, that is, multiple annular sealing surfaces are formed between the seal 59 and the outer circumferential surface of the lifting member 522 to improve the sealing effect; at the same time, it can also improve the deformation capacity of the seal 59, thereby further improving the fit when it abuts against the outer circumferential surface of the lifting member 522, thereby further improving the sealing effect.

[0142] In one embodiment, the housing further forms a second receiving space 515, and the first driving component 53 is disposed within the second receiving space 515. The first driving component 53 is mounted on the middle shell 512, that is, the middle shell 512 forms the second receiving space 515. The housing provides protection for the first driving component 53, preventing sewage, debris, etc. from entering the first driving component 53 during cleaning operations or during the self-cleaning process of the base station 20, thereby improving the stability and service life of the first driving component 53.

[0143] In an embodiment, the shell is further formed with a third accommodating space 516, and the second driving assembly is arranged in the third accommodating space 516. The first driving assembly 53 is assembled on the middle shell 512 and the top cover 511, that is, the third accommodating space 516 is formed by cooperation of the middle shell 512 and the top cover 511, and the shell forms protection for the second driving assembly, so that sewage, sundries and the like are prevented from entering the second driving assembly during the cleaning operation or during the self-cleaning of the base station 20, and the stability and service life of the second driving assembly are improved.

[0144] The present disclosure forms sealed assembly of the lifting mechanism 50, the first driving assembly 53 and the second driving assembly by the shell, so that the functional assemblies are substantially positioned in the shell, and the overall structure of the cleaning module is compact and the space utilization is high.

[0145] In an embodiment, as shown in Figure 20 , a third bearing 573 is arranged between the mounting member 523 and the lifting member 522, and the mounting member 523 and the lifting member 522 are rotatably connected through the third bearing 573. The third bearing 573 includes an inner ring and an outer ring.

[0146] As shown in Figure 20 , Figure 21 , Figure 27 and Figure 28 , the cleaning module further includes a first limiting member 58, the first limiting member 58 is connected to one end of the lifting member 522 close to the cleaning head 40, and a clamping table on the inner wall of the lifting member 522 and the first limiting member 58 form clamping limiting of the outer ring of the third bearing 573 in the axial direction; the cleaning module further includes a second limiting member, for example, a clamping ring 5234, the clamping ring 5234 is sleeved on the mounting member 523, and the clamping ring 5234 is clamped with the mounting member 523 in the axial direction; the clamping ring 5234 and the clamping table on the outer peripheral surface of the mounting member 523 form clamping limiting of the inner ring of the third bearing 573, so that the mounting member 523 and the lifting member 522 realize limiting connection in the axial direction through the third bearing 573 to realize synchronous movement in the axial direction.

[0147] The clamping ring 5234 has an opening, and the outer peripheral surface of the mounting member 523 is formed with a clamping groove, and the clamping ring 5234 is located in the clamping groove to form limiting assembly of the clamping ring 5234 on the mounting member 523.

[0148] As shown in Figure 17 and Figure 28 , a plurality of limiting clamping grooves 5220 are formed on the lifting member 522, and a plurality of clamping protrusions 581 are formed on the first limiting member 58, and the plurality of clamping protrusions 581 are one-to-one corresponding to the plurality of limiting clamping grooves 5220 to realize clamping of the first limiting member 58 and the lifting member 522. At the same time, after the first limiting member 58 and the lifting member 522 are clamped, limiting of the mounting member 523 from exiting the lifting member in the axial direction is also formed.

[0149] In an embodiment, as shown in FIG. 6, the cleaning device further comprises a stroke detection assembly 60 configured to acquire the rotation stroke of the output shaft of the first driver 531 and / or the rotation stroke of the transmission member in the first transmission assembly, and a control unit configured to control the height of the lifting member between the first position and the second position based on the rotation stroke. Figure 29 and Figure 30 The cleaning device further comprises a stroke detection assembly 60 configured to acquire the rotation stroke of the output shaft of the first driver 531 and / or the rotation stroke of the transmission member in the first transmission assembly, and a control unit configured to control the height of the lifting member between the first position and the second position based on the rotation stroke.

[0150] By providing the stroke detection assembly 60 and the control unit, the rotation stroke of the output shaft of the first driver 531 and / or the rotation stroke of any transmission member in the first transmission assembly can be detected, and the control of the lifting stroke of the lifting member 522 can be indirectly realized by controlling the rotation stroke of the output shaft of the first driver 531 and / or the rotation stroke of any transmission member in the first transmission assembly through the control unit, thereby realizing the precise driving of the lifting member 522, so that the cleaning head 40 can be accurately stopped at the desired height, and the ground pressure of the cleaning head 40 can be precisely adjusted to improve the cleaning effect.

[0151] In an embodiment, when the lifting member 522 needs to be lifted by a preset distance, the target rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly can be determined according to the preset distance. At this time, the first driver 531 is driven by the control unit, and the rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly is detected by the stroke detection assembly 60. When the stroke detection assembly 60 detects that the rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly reaches the target rotation stroke, the control unit controls the first driver 531 to stop driving, so that the lifting member 522 stops lifting after lifting by the preset distance, thereby realizing the precise driving of the lifting member 522.

[0152] In an embodiment, when the lifting member 522 needs to be lifted by a preset distance, the target rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly can be determined according to the preset distance by the control unit, and the driving of the first driver 531 is controlled by the control unit according to the target rotation stroke. It can be understood that the target rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly can also be determined according to the preset distance by which the lifting member 522 needs to be lifted by other control units on the cleaning device 10, such as the overall control unit of the cleaning device 10. That is, the control unit can be a control unit that independently controls the first driver 531, or an integrated control unit that integrates multiple functions on the cleaning device 10, and the present disclosure does not limit this.

[0153] It can be understood that when the target rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly is determined by the control unit according to the preset distance, the target rotation stroke is determined in combination with the transmission ratio between the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly and the lifting member 522.

[0154] In an embodiment, when it is necessary to drive the lifting member 522 to rise towards the first position or to descend towards the second position, the control of the movement direction of the lifting member 522 can be realized by controlling the output shaft of the first driver 531 to rotate in the opposite direction by the control unit, thereby avoiding the need to set an additional excessive movement assembly to control the movement direction of the lifting member 522, simplifying the structural assembly, and being capable of realizing the precise driving of the lifting member 522.

[0155] In an embodiment, the stroke detection assembly 60 includes a stroke sensor, which can be a Hall effect sensor, an optical stroke sensor, a magneto-electric stroke sensor, an absolute encoder, or an incremental encoder, etc.

[0156] In an embodiment, the stroke detection assembly 60 includes a rotating part and a sensing part, the stroke detection assembly 60 is configured to obtain the rotation stroke of the output shaft of the first driver 531, the rotating part is connected with the rotating shaft of the first driver, and the sensing part is configured to obtain the rotation stroke of the rotating part.

[0157] In an embodiment, the stroke detection assembly 60 includes a rotating part and a sensing part, the stroke detection assembly 60 is configured to obtain the rotation stroke of the transmission member in the first transmission assembly, the rotating part is connected with the transmission member in the first transmission assembly, and the sensing part is configured to obtain the rotation stroke of the rotating part.

[0158] In an embodiment, the rotating part includes a rotary grating, the rotary grating is fixedly connected with the rotating shaft of the first driver or the transmission member, and rotates synchronously with the rotating shaft of the first driver or the transmission member; the sensing part includes a photoelectric sensing member, the photoelectric sensing member is fixedly arranged in the lifting mechanism, and the photoelectric sensing member is configured to detect the number of times that the light shielding part of the rotary grating triggers the photoelectric sensing member. After obtaining the number of times that the photoelectric sensing member is triggered, the rotation stroke can be directly determined according to the number of times that the stroke detection assembly is triggered in the rotation process of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly; the number of rotations of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly can be determined through the number of times that the photoelectric sensing member is triggered, and the rotation stroke is determined through the number of rotations; the rotation angle of the rotary grating can be determined through the number of times that the photoelectric sensing member is triggered, and the rotation stroke is determined through the rotation angle. In the following, the three determination methods of the rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly will be introduced in detail.

[0159] In one embodiment, the rotational stroke is the number of times the stroke detection component is triggered during the rotation of the output shaft of the first driver 531 and / or the transmission element in the first transmission assembly. The following is a detailed illustrative description, using an example where the stroke detection component 60 includes an optical stroke sensor.

[0160] like Figure 31 As shown, the rotating grating 610 is connected to the shaft of the first driver 531 and rotates synchronously with the shaft of the first driver 531; the photoelectric sensor 620 is fixedly mounted on the first driver 531 and is correspondingly mounted to the rotating grating 610. The photoelectric sensor 620 detects the number of times the light-blocking part of the rotating grating 610 triggers the photoelectric sensor 620. When the first driver 531 rotates, the rotating grating 610 rotates synchronously with the output shaft of the first driver 531; for example, the rotating grating 610 can be sleeved on the output shaft of the first driver 531. The rotating grating 610 is provided with a light-shielding part and at least one light-transmitting part. The photoelectric sensor 620 includes a transmitter and a receiver. During the rotation of the rotating grating 610, when the photoelectric sensor 620 corresponds to the light-shielding part, the signal transmission between the transmitter and the receiver of the photoelectric sensor 620 is blocked by the light-shielding part of the rotating grating 610; when the photoelectric sensor 620 corresponds to the light-transmitting part of the rotating grating 610, the receiver can receive the signal emitted by the transmitter, thereby obtaining the number of times the photoelectric sensor 620 is triggered.

[0161] More specifically, when the output shaft of the first driver 531 and / or the transmission component in the first transmission assembly rotates, causing the photoelectric sensor to be triggered once, the lifting component 522 moves a distance H between the first position and the second position; when the preset distance that the lifting component 522 needs to lift is K, the control unit determines that the number of times the stroke detection component is triggered is L, and controls the first driver 531 to drive; where L = (K / H); when the number of times the stroke detection component is triggered is L, the control unit controls the first driver 531 to stop driving.

[0162] It can be seen that when it is necessary to control the lifting height of the lifting component 522, the rotation stroke can be controlled by determining the number of times the photoelectric sensor is triggered. Therefore, the drive control of the first driver 531 can be achieved directly by detecting the number of times the photoelectric sensor is triggered, which can improve the drive accuracy of the first driver 531, thereby improving the control accuracy of the lifting height of the cleaning head 40, and thus improving the cleaning effect of the cleaning head 40.

[0163] In one embodiment, the rotational stroke is the number of rotations of the output shaft of the first driver 531 and / or the transmission element in the first transmission assembly. The following is a detailed illustrative description, using the stroke detection assembly 60 including an optical stroke sensor as an example.

[0164] As shown in Figure 31 The rotating grating 610 is connected with the rotating shaft of the first driver 531 and rotates synchronously with the rotating shaft of the first driver 531. The photoelectric sensing piece 620 is fixedly arranged on the first driver 531 and is arranged correspondingly with the rotating grating 610. The photoelectric sensing piece 620 detects the number of times the light-blocking part of the rotating grating 610 triggers the photoelectric sensing piece 620. When the first driver 531 rotates, the rotating grating 610 rotates synchronously with the output shaft of the first driver 531. The rotating grating 610 is provided with a light-blocking part and at least one light-transmitting part. The photoelectric sensing piece 620 includes an emitter and a receiver. During the rotation of the rotating grating 610, when the photoelectric sensing piece 620 corresponds to the light-blocking part, the signal transmission between the emitter and the receiver of the photoelectric sensing piece 620 is blocked by the light-blocking part of the rotating grating 610. When the photoelectric sensing piece 620 corresponds to the light-transmitting part of the rotating grating 610, the receiver can receive the signal emitted by the emitter, so that the number of times the photoelectric sensing piece 620 is triggered can be obtained. For example, when the light-blocking part of the rotating grating 610 is one, the number of times the photoelectric sensing piece 620 is triggered is the number of rotations of the rotating shaft or the transmission part of the first driver 531. When the rotating grating 610 has multiple light-blocking parts, the number of times the photoelectric sensing piece 620 is triggered in the rotation process is the number of times the stroke detection assembly is triggered. When the number of times the photoelectric sensing piece 620 is triggered is the same as the number of light-blocking parts, it is judged that the number of rotations of the rotating shaft or the transmission part of the first driver 531 is one. By analogy, the control unit can determine the number of rotations of the rotating grating according to the number of times the photoelectric sensing piece is triggered.

[0165] More specifically, when the output shaft of the first driver 531 and / or the transmission part in the first transmission assembly rotates one circle, the distance that the lifting piece 522 moves between the first position and the second position is H. When the preset distance that the lifting piece 522 needs to ascend and descend is K, the control unit determines the number of rotations M of the output shaft of the first driver 531 and / or the transmission part in the first transmission assembly and controls the first driver 531 to drive; wherein M=(K / H). When the stroke detection assembly detects that the number of rotations of the output shaft of the first driver 531 and / or the transmission part in the first transmission assembly is M, the control unit controls the first driver 531 to stop driving.

[0166] It can be seen that when it is necessary to control the lifting height of the lifting component 522, the control unit can determine the number of rotations of the output shaft of the first driver 531 and / or the transmission component in the first transmission assembly by the number of times the photoelectric sensor is triggered, thereby realizing the control of the rotation stroke. Therefore, by determining the number of rotations of the output shaft of the first driver 531 and / or the transmission component in the first transmission assembly, the drive control of the first driver 531 can be realized, which can improve the drive accuracy of the first driver 531, thereby improving the control accuracy of the lifting height of the cleaning head 40, and thus improving the cleaning effect of the cleaning head 40.

[0167] In one embodiment, the rotational stroke is the rotation angle of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly. Specifically, the control unit can determine the rotation angle of the rotating grating based on the number of photoelectric events, thereby determining the rotation angle of the shaft or transmission member of the first driver fixedly connected to the rotating grating. Hereinafter, this disclosure will provide a detailed exemplary description using the stroke detection assembly 60 including an optical stroke sensor as an example.

[0168] like Figure 31 As shown, the rotating grating 610 is connected to the shaft of the first driver 531 and rotates synchronously with the shaft of the first driver 531. The photoelectric sensor 620 is fixedly mounted on the first driver 531 and corresponds to the rotating grating 610. The photoelectric sensor 620 detects the number of times the light-blocking portion of the rotating grating 610 triggers the photoelectric sensor 620. When the first driver 531 rotates, the rotating grating 610 rotates synchronously with the output shaft of the first driver 531. The rotating grating 610 has a light-blocking portion and at least one light-transmitting portion. The photoelectric sensor 620 includes a transmitter and a receiver. During the rotation of the rotating grating 610, when the photoelectric sensor 620 corresponds to the light-blocking portion, the signal transmission between the transmitter and receiver of the photoelectric sensor 620 is blocked by the light-blocking portion of the rotating grating 610; when the photoelectric sensor 620 corresponds to the light-transmitting portion of the rotating grating 610, the receiver can receive the signal emitted by the transmitter. Based on the number of light-blocking parts (e.g., one, two, four, or more), the standard rotation angle A of the rotating grating 610 when it triggers the photoelectric sensor 620 twice is determined. The control unit, based on the standard rotation angle A and the number of times the photoelectric sensor 620 is switched on and off, can determine the rotation angle of the shaft of the first driver 531 connected to the rotating grating 610. For example, when the light-blocking parts are evenly distributed, if there are two light-blocking parts, the standard rotation angle A = 180 degrees; if there are four light-blocking parts, the standard rotation angle is 90 degrees; and so on.

[0169] More specifically, by determining the correspondence between the rotation angle of the rotating shaft of the first driver 531 and the lifting height of the lifting member 522, the control unit can calculate the expected on-off times of the photoelectric sensing member 620 based on the preset rotation angle; when the on-off times detected by the photoelectric sensing member 620 reach the expected on-off times, the control unit controls the first driver 531 to stop rotating. For example, when the output shaft of the first driver 531 rotates 360°, the lifting member 522 moves a distance H between the first position and the second position; when the lifting member 522 needs to move a distance K between the first position and the second position, the control unit controls the rotation angle of the output shaft of the first driver 531 to be P, where P=(K / H)×360°; at this time, the expected on-off times S of the photoelectric sensing member 620=S=P / A, that is, when the on-off times detected by the photoelectric sensing member 620 reach S times, the control unit determines that the rotation angle reaches the preset rotation angle, and the control unit controls the first driver 531 to stop rotating, so that the lifting member 522 stops lifting after lifting a preset distance, thereby achieving precise driving of the lifting of the lifting member 522 from the rotation angle.

[0170] It should be noted that the preset height can be multiple, at least including the height corresponding to the first cleaning position and the second cleaning position, and there is also a corresponding disassembly position height when the mop is disassembled.

[0171] In an embodiment, the first driver 531 drives the lifting member 522 to move through the first transmission assembly, the rotating part of the stroke detection assembly 60 is connected with the first transmission assembly, and the stroke detection assembly 60 is configured to directly obtain the rotation stroke of at least one transmission part in the first transmission assembly. By setting the stroke detection assembly 60, the rotation stroke of at least one transmission part in the first transmission assembly can be detected, and the lifting stroke of the lifting member 522 can be indirectly determined through the rotation stroke of the transmission part, thereby achieving precise driving of the lifting member 522, so that the height of the cleaning head 40 can be determined.

[0172] In an embodiment, as shown in Figure 29 and Figure 30 , the first transmission assembly includes a driving gear 5321, a first connecting gear 5322, a second connecting gear 5323, and a driven gear 5324, the driving gear 5321 is engaged with the first connecting gear 5322, the first connecting gear 5322 is coaxially and synchronously arranged with the second connecting gear 5323, the second connecting gear 5323 is engaged with the driven gear 5324, and the driven gear 5324 is coaxially and synchronously arranged with the second gear 533. The stroke detection assembly 60 can be arranged on the first connecting gear 5322, and the stroke detection assembly 60 obtains the rotation stroke of the first connecting gear 5322.

[0173] In an embodiment, as shown in Figure 29and Figure 30 As shown, the driving gear 5321 and the first connecting gear 5322 can be a worm gear meshing together, and the second connecting gear 5323 and the driven gear 5324 can be a bevel gear meshing together, thereby realizing the change of transmission direction and facilitating the setting of the first driver 531 in the cleaning module.

[0174] like Figure 31 As shown, the detection group for obtaining the rotational stroke of the first connecting gear 5322 includes a rotating grating 610 and a photoelectric sensor 620. The rotating grating 610 is connected to the first connecting gear 5322 and rotates synchronously with it. The photoelectric sensor 620 is correspondingly arranged with the rotating grating 610, and detects the number of times the light-blocking part of the rotating grating 610 triggers the photoelectric sensor 620 to rotate. The photoelectric sensor 620 can be fixed in the lifting mechanism 50 by the mounting accessory 630, for example, fixed on the middle shell 512. When the first driver 531 drives the drive gear 5321 to rotate, the rotating grating 610 rotates synchronously with the drive gear 5321. The rotating grating 610 is provided with a light-shielding part and at least one light-transmitting part. During the rotation of the rotating grating 610, when the photoelectric sensor 620 corresponds to the light-shielding part, the signal transmission between the transmitter and receiver of the photoelectric sensor 620 is blocked by the light-shielding part; when the photoelectric sensor 620 corresponds to the light-transmitting part of the rotating grating 610, the receiver can receive the signal emitted by the transmitter. That is, by the number of signal switching between the transmitter and receiver and the number of light-shielding parts on the rotating grating 610 (the light-transmitting parts are, for example, one, three, five or more), the rotation stroke of the rotating grating 610 can be determined, and then the rotation stroke of the first connecting gear 5322 can be determined.

[0175] It should be noted that the method for determining the rotational stroke of the transmission component in the first transmission assembly is the same as the three methods for determining the output shaft of the first driver 531 described in detail above, and will not be repeated here.

[0176] It is understood that the stroke detection component 60 can be selectively installed on the first driver 531 and the first transmission assembly, or the stroke detection component 60 can be installed simultaneously. That is, the rotational stroke of the output shaft of the first driver 531 and at least one transmission component in the first transmission assembly can be detected at the same time, and the reliability of the stroke detection can be improved by comparing the results.

[0177] In an embodiment, the output shaft of the first driver 531 rotates one circle, and the distance that the lifting member 522 moves between the first position and the second position is 0.1mm-1mm, for example, 0.1mm, 0.2mm, 0.3mm, 0.4mm, 0.5mm, 0.6mm, 0.7mm, 0.8mm, 0.9mm, 1mm, and the like, which are not listed one by one in the present disclosure. It can be seen that the output shaft of the first driver 531 rotates one circle, and the distance that the lifting member 522 moves between the first position and the second position is small, that is, when the lifting member 522 moves a unit distance between the first position and the second position, the output shaft of the first driver 531 needs to rotate multiple circles at this time, so as to realize the accurate control of the lifting height of the lifting member 522 by controlling the rotation stroke of the output shaft of the first driver 531.

[0178] In an embodiment, the transmission ratio between the driving gear 5321 on the output shaft of the first driver 531 and the first gear 525 on the lifting member 522 is 10-100, for example, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, and the like, which are not listed one by one in the present disclosure. It can be seen that the transmission ratio between the driving gear 5321 and the first gear 525 is large, that is, the driving gear 5321 needs to rotate multiple circles when the first gear 525 rotates one circle, which realizes the effect of the speed reducer, so as to realize the accurate control of the lifting height of the lifting member 522 by controlling the rotation stroke of the output shaft of the first driver 531.

[0179] In an embodiment, when the lifting member 522 rotates one circle relative to the fixed member 521, the distance that the lifting member 522 moves along the axial direction relative to the fixed member 521 is 1mm-100mm, for example, 1mm, 2mm, 3mm, 4mm, 5mm, 6mm, 7mm, 8mm, 9mm, 10mm, 20mm, 30mm, 40mm, 50mm, 60mm, 70mm, 80mm, 90mm, 100mm, and the like. By determining the transmission ratio between the driving gear on the output shaft of the first driver 531 and the first gear 525 on the lifting member 522, and the distance that the lifting member 522 moves along the axial direction relative to the fixed member 521 when the lifting member 522 rotates one circle relative to the fixed member 521, the distance that the lifting member 522 moves between the first position and the second position when the output shaft of the first driver 531 rotates one circle can be determined, so as to realize the accurate control of the lifting height of the lifting member 522 by controlling the rotation angle of the output shaft of the first driver 531.

[0180] In an embodiment, the first position and the second position also have an initial position. The cleaning device 10 further comprises an initial position sensing member, which is fixedly arranged in the lifting mechanism 50, triggers the initial position sensing member when the lifting member 522 moves to the initial position, and outputs an initial position information.

[0181] When the lifting member 522 needs to move to the initial position, the control unit drives the first driver 531 to drive, and when the initial position information is obtained, the control unit controls the first driver 531 to stop driving. The initial position sensing member can be fixed on the bottom shell 513 of the middle shell 512.

[0182] By setting the initial position and the initial position sensing member, the reference position of the lifting member 522 can be determined, and the lifting member 522 is driven based on the reference position, so that the accuracy of determining the lifting stroke of the lifting member 522 can be improved. At the same time, the position of the lifting member 522 can be calibrated, so that the lifting member 522 can be lifted based on the initial position, thereby improving the accuracy of driving the lifting position of the lifting member 522.

[0183] In an embodiment, when the lifting member 522 needs to be lifted by a preset distance relative to the initial position to be located at a target position, the control unit determines the target rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly according to the preset distance, and drives the lifting member 522 to move towards the initial position; when the lifting member 522 moves to the initial position, the initial position sensing member outputs an initial position information, at this time the control unit obtains the initial position information, the control unit controls the first driver 531 to drive the lifting member 522 to move towards the target position, and starts to detect the rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly through the stroke detection assembly 60; when the stroke detection assembly 60 detects that the rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly reaches the target rotation stroke, the control unit controls the first driver 531 to stop driving, so that the lifting member 522 is accurately lifted to the target position.

[0184] When the cleaning device 10 is initially assembled, or after long-term use, there can be a gap between the actual position of the lifting member 522 after lifting and the target position, which can cause subsequent inaccurate control of the lifting of the lifting member 522 to the target position, thereby reducing the ground pressure of the cleaning head 40, thereby affecting the cleaning effect of the cleaning head 40. By returning the lifting member 522 to the initial position, the initial position is used as a reference position, which is not affected by the accuracy of the current position of the lifting member 522, so that the target rotation stroke of the output shaft of the first driver 531 and / or the transmission member in the first transmission assembly relative to the initial position is determined, so that the lifting member 522 can be accurately lifted to the target position.

[0185] In one embodiment, when the cleaning head 40 is in the raised position, the lifting member 522 triggers the initial position sensor, meaning that the lifting member 522 is in a reference position when the cleaning head 40 is in the raised position. When the lifting member 522 is in this reference position, it serves as the reference point for lifting, thus enabling precise control of the lifting distance. Since the cleaning head 40 is typically in the raised position when the cleaning equipment is in a sleep or off state, by ensuring that the lifting member 522 is in the reference position when the cleaning head 40 is in the raised position, when cleaning operations are required (i.e., the lifting member 522 is in the reference position), the lifting member 522 can be directly controlled by the control unit to lift and lower using the reference position as a reference, improving the response speed of the cleaning equipment. It is understood that the reference position of the lifting member 522 is not limited to the position of the lifting member 522 when the cleaning head 40 is in the raised position. The reference position can also be any position between the first and second positions, and the initial position sensor is triggered at any of these positions to use that position as the reference position.

[0186] In one embodiment, the initial position sensor is a non-contact inductive switch, which can determine the position of the lifting member by sensing the signal. In another embodiment, the initial position sensor can be a contact switch, that is, when the lifting member 522 is located at a preset position during the lifting process, the initial position sensor can be triggered by the physical structure, thereby improving the reliability of the initial position sensor triggering.

[0187] like Figure 32 and Figure 33 As shown, the initial position sensor is a non-contact inductive switch 70, which includes a transmitter 710 and a receiver 720. The transmitter 710 and receiver 720 are fixedly mounted in the lifting mechanism 50 and are correspondingly arranged with respect to the lifting member 522. The receiver 720 is configured to receive the signal emitted by the transmitter 710. When the lifting member 522 moves to the preset position, the lifting member 522 blocks the signal between the transmitter 710 and the receiver 720. For example, when the lifting member 522 moves to the open position, the lifting member 522 blocks the signal between the transmitter 710 and the receiver 720, and the receiver 720 cannot receive the signal emitted by the transmitter 710. When the lifting member 522 leaves the reference position, the lifting member 522 does not block the signal between the transmitter 710 and the receiver 720, and the receiver 720 can receive the signal emitted by the transmitter 710. Therefore, the connection or disconnection of the signal between the transmitter 710 and the receiver 722 can be used to determine whether the lifting member 522 is at the reference position.

[0188] The control unit is connected to the initial position sensor to obtain the reference position of the lifting member 522 based on the initial position sensor, and to precisely control the lifting height of the lifting member 522.

[0189] In an embodiment, the cleaning device 10 can be provided with multiple cleaning modules, i.e. multiple cleaning heads 40, for example two cleaning heads 40, and at least one of the multiple cleaning heads 40 is connected to the device body 30 by the lifting mechanism 50 as described above.

[0190] In an embodiment, the cleaning device 10 comprises a swing arm, a driving assembly and an elastic member, the cleaning head 40 is connected to the swing arm, the swing arm is rotationally connected to the device body 30 and can be located at a retracted position as shown in Figure 2 and Figure 3 and an extended position as shown in Figure 34 and Figure 35 i.e. the cleaning head 40 can be rotated relative to the device body 30 between the retracted position and the extended position under the driving of the swing arm, to achieve edge cleaning and corner cleaning, to cover more cleaning area, reduce sanitary dead angle, and thus improve cleaning effect.

[0191] It should be noted that the cleaning head 40 is rotated relative to the device body 30 between the retracted position and the extended position under the driving of the swing arm, for example when the cleaning device 10 has a cylindrical structure, the cleaning head 40 is arranged close to the periphery of the cleaning device 10 in the radial direction of the cleaning device 10 in the extended position, compared with the retracted position, i.e. in the thickness direction of the device body 30, the overlapping area of the normal projection of the device body 30 and the cleaning head 40 on a preset reference plane when the swing arm is in the retracted position is greater than the overlapping area of the normal projection of the device body 30 and the cleaning head 40 on the preset reference plane when the swing arm is in the extended position; therefore, by rotating the cleaning head 40 to the extended position, edge cleaning and corner cleaning can be achieved, to cover more cleaning area, reduce sanitary dead angle, and thus improve cleaning effect.

[0192] Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the disclosure being indicated by the following claims.

Claims

1. A cleaning apparatus, characterized by, The device comprises: a device body; a lifting mechanism arranged on the device body, the lifting mechanism comprising a lifting member, a first driver and a first transmission assembly, the first driver being configured to drive the lifting member to reciprocate between a first position and a second position through the first transmission assembly; a stroke detection assembly configured to obtain a rotation stroke of an output shaft of the first driver and / or a transmission member in the first transmission assembly; a control unit configured to control a height of the lifting member between the first position and the second position based on the rotation stroke.

2. The cleaning apparatus of claim 1, wherein, When the lifting member needs to be lifted by a preset distance, a target rotation stroke of the output shaft of the first driver and / or the transmission member in the first transmission assembly is obtained; the control unit controls the first driver to drive, and when the stroke detection assembly detects that the rotation stroke of the output shaft of the first driver and / or the transmission member in the first transmission assembly reaches the target rotation stroke, the control unit controls the first driver to stop driving.

3. The cleaning apparatus of claim 2, wherein, The control unit determines the target rotation stroke of the output shaft of the first driver and / or the transmission member in the first transmission assembly according to the preset distance.

4. The cleaning apparatus of claim 3, wherein, The control unit determines the target rotation stroke according to the preset distance and a transmission ratio between the output shaft of the first driver and / or the transmission member in the first transmission assembly and the lifting member.

5. The cleaning apparatus of claim 1, wherein, The first position and the second position further have an initial position, and the cleaning device further comprises: an initial position sensing member fixedly arranged in the lifting mechanism, the initial position sensing member being triggered when the lifting member moves to the initial position, and the initial position sensing member outputting an initial position information.

6. The cleaning apparatus of claim 5, wherein, When the lifting member needs to move to the initial position, the control unit drives the first driver to drive, and when the initial position information is obtained, the control unit controls the first driver to stop driving.

7. The cleaning apparatus of claim 5, wherein, When the lifting member needs to be lifted by a preset distance relative to the initial position to be located at a target position, the control unit determines a target rotation stroke of the output shaft of the first driver and / or the transmission member in the first transmission assembly according to the preset distance, and drives the lifting member to move towards the initial position; when the control unit obtains the initial position information, the control unit controls the first driver to drive the lifting member to move towards the target position, and starts to detect the rotation stroke of the output shaft of the first driver and / or the transmission member in the first transmission assembly through the stroke detection assembly; when the stroke detection assembly detects that the rotation stroke of the output shaft of the first driver and / or the transmission member in the first transmission assembly reaches the target rotation stroke, the control unit controls the first driver to stop driving.

8. The cleaning apparatus of claim 5, wherein, The initial position sensing member is a non-contact sensing switch.

9. The cleaning apparatus of claim 8, wherein, The non-contact sensing switch comprises: The transmitter and the receiver are fixedly arranged in the lifting mechanism and correspondingly arranged with the lifting member; the receiver is configured to receive the signal transmitted by the transmitter, and when the lifting member moves to the preset position, the lifting member blocks the signal between the transmitter and the receiver.

10. The cleaning apparatus of claim 5, wherein, The initial position sensing member is a contact type sensing switch.

11. The cleaning apparatus of claim 1, wherein, When the lifting member moves towards the first position or moves towards the second position, the control unit controls the rotation direction of the output shaft of the first driver to be opposite.

12. The cleaning apparatus of any one of claims 1 to 11, wherein, The rotation stroke includes the rotation number of the output shaft of the first driver and / or the transmission member in the first transmission assembly.

13. The cleaning apparatus of claim 12, wherein, When the output shaft of the first driver and / or the transmission member in the first transmission assembly rotates one circle, the lifting member moves a distance H between the first position and the second position. When the preset distance that the lifting member needs to lift is K, the control unit determines the rotation number M of the output shaft of the first driver and / or the transmission member in the first transmission assembly, and controls the first driver to drive; wherein M=(K / H). When the stroke detection assembly detects that the rotation number of the output shaft of the first driver and / or the transmission member in the first transmission assembly is M, the control unit controls the first driver to stop driving.

14. The cleaning apparatus of any one of claims 1 to 11, wherein, The rotation stroke includes the number of times that the stroke detection assembly is triggered in the rotation process of the output shaft of the first driver and / or the transmission member in the first transmission assembly.

15. The cleaning apparatus of claim 14, wherein, When the output shaft of the first driver and / or the transmission member in the first transmission assembly rotates one circle in the rotation process, the lifting member moves a distance H between the first position and the second position. When the preset distance that the lifting member needs to lift is K, the control unit determines the number of times L that the stroke detection assembly is triggered, and controls the first driver to drive; wherein L=(K / H). When the number of times that the stroke detection assembly is triggered is L, the control unit controls the first driver to stop driving.

16. The cleaning apparatus of claim 1, wherein, The stroke detection assembly includes a rotation part and a sensing part, the rotation part is connected to the rotating shaft of the first driver and / or the transmission member on the first transmission assembly, and the sensing part is configured to be triggered in the rotation process of the rotation part.

17. The cleaning apparatus of claim 16, wherein, The rotation part includes a rotary grating, and the rotating shaft of the first driver and / or the transmission member is provided with the rotary grating which rotates synchronously. The sensing part includes a photoelectric sensing member, which is fixedly arranged in the lifting mechanism, and is configured to be triggered by the light shielding part of the rotary grating; the control unit determines the rotation number of the rotating shaft of the first driver or the transmission member connected with the rotary grating, or determines the number of times that the stroke detection assembly is triggered, according to the number of times that the photoelectric sensing member is triggered.

18. The cleaning apparatus of claim 17, wherein, The light shielding part of the rotary grating is one, and the number of times that the photoelectric sensing member is triggered is the rotation number of the rotating shaft of the first driver or the transmission member.

19. The cleaning apparatus of claim 17, wherein, The rotating grating has a plurality of light shielding portions, and the number of times that the plurality of light shielding portions triggers the photoelectric sensing piece in the rotation process is the number of times that the stroke detection assembly is triggered.

20. The cleaning apparatus of claim 1, wherein, The stroke detection assembly comprises a stroke sensor, which is a Hall effect sensor, a magneto-electric stroke sensor, an absolute encoder or an incremental encoder.

21. The cleaning apparatus of claim 1, wherein, The output shaft of the first driver rotates one circle, and the distance that the lifting piece moves between the first position and the second position is 0.1mm-1mm.

22. The cleaning apparatus of claim 1, wherein, The lifting mechanism further comprises: A fixing piece, the lifting piece is rotationally connected with the fixing piece and can reciprocate along the axial direction of the rotation between the first position and the second position relative to the fixing piece.

23. The cleaning apparatus of claim 22, wherein, The lifting piece is provided with a first gear, and the output shaft of the first driver is provided with a driving gear, and the transmission ratio between the driving gear and the first gear is 10-100.

24. The cleaning apparatus of claim 22, wherein, When the lifting piece rotates one circle relative to the fixing piece, the distance that the lifting piece moves along the axial direction relative to the fixing piece is 1mm-100mm.

25. The cleaning apparatus of claim 22, wherein, The lifting mechanism further comprises: The cleaning device further comprises a cleaning head for cleaning the surface to be cleaned, and the cleaning head is connected with the mounting piece; the lifting piece has a first cleaning position and a second cleaning position between the first position and the second position, and the cleaning pressure of the cleaning head on the surface to be cleaned when the lifting piece is located at the first cleaning position is smaller than the cleaning pressure of the cleaning head on the surface to be cleaned when the lifting piece is located at the second cleaning position.

26. The cleaning apparatus of claim 25, wherein, The cleaning device further comprises: A rotating piece and a second driving assembly, the rotating piece is limitingly connected with the mounting piece in the rotation direction, and the second driving assembly is configured to drive the rotating piece to rotate to drive the cleaning head to rotate through the mounting piece.

27. The cleaning apparatus of claim 25, wherein, The lifting mechanism further comprises: A sliding connecting piece, the sliding connecting piece is located in the mounting piece and can move along the axial direction in the mounting piece and is limitingly connected with the mounting piece in the circumferential direction; the cleaning head is connected with the sliding connecting piece; An elastic piece, the elastic piece is located between the sliding connecting piece and the mounting piece; when the mounting piece moves along the axial direction relative to the sliding connecting piece, the elastic piece can be compressed.

28. A cleaning system characterized by, The cleaning device comprises: The cleaning device of any one of claims 1-27; A base station for interfacing with the cleaning device.

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