Cleaning device, base station and cleaning system

Abstract

Cleaning device characterized in that it comprises: a machine body, a main cleaning module for wet cleaning and a secondary cleaning module for wet cleaning, which are provided on the machine body, and a chassis, wherein the main cleaning module comprises at least one main cleaning assembly; the secondary cleaning module comprises at least one secondary cleaning assembly, at least a part of the secondary cleaning assembly always projects beyond an edge of the machine body for edge cleaning and the secondary cleaning assembly is not pivotable relative to the machine body; the chassis comprises two drive wheels, the at least two drive wheels being provided symmetrically on a base of the machine body and in a forward direction of the machine body the main cleaning assembly and the secondary cleaning assembly being arranged behind the drive wheels;the secondary cleaning assembly is arranged in a first area, the first area being enclosed by a drive wheel, the main cleaning assembly and the bottom of the machine body, with both the drive wheel and the main cleaning assembly being adjacent to or near the secondary cleaning assembly.

Description

Technical area The present application relates to the field of cleaning techniques, in particular to a cleaning device, a base station and a cleaning system. State of the art Conventional cleaning robots are designed in various ways to perform edge cleaning around obstacles. For example, Chinese Patent Publication No. CN 116919259 A discloses a cleaning robot comprising a machine body, a cleaning system, and a drive system provided on the machine body. In the forward direction of the machine body, the cleaning system is located in front of the drive system. The drive system comprises at least two drive wheels arranged symmetrically on the bottom of the machine body. The cleaning system includes a cleaning head and an auxiliary cleaning head. The auxiliary cleaning head is located at a corner at the front of the machine body and is located under a buffer (a bumper at the front of the machine body). The auxiliary cleaning head partially extends beyond the buffer (an edge of the machine body). The part of the auxiliary cleaning head that extends beyond the edge of the machine body allows an area outside the machine body to be cleaned, allowing the robot cleaner to better clean areas such as wall edges, corners, and the like. The cleaning head can be a rolling brush. The rolling brush rotates and sweeps up debris from the floor surface and brings it to a vacuum cleaner nozzle of a dust box for dry sweeping. Alternatively, the cleaning head can be a cleaning mat. Stains on the floor surface are removed by the back and forth oscillation of the cleaning head. Alternatively, the cleaning head can be a rolling brush for wet cleaning or a debris collection system for wet cleaning with the rolling brush. The cleaning heads in the first two cases clean the floor surface dry with poor cleaning effectiveness. The cleaning head in the latter case can clean the floor surface wet with improved cleaning effectiveness.However, a wet cleaning head simultaneously sweeps dry and wet garbage, requiring a collection system to collect both dry and wet garbage, and a wiper strip to press against the wet cleaning head and squeeze out the debris. This results in a complex structure. Without a collection system, the wet cleaning head may be more susceptible to debris contamination, so the wet cleaning head requires regular cleaning, thus reducing cleaning efficiency. Disclosure of the invention In view of the above problem, the present utility model provides a cleaning device comprising a machine body, a dry cleaning module arranged on the machine body, and a main cleaning module and a sub-cleaning module for wet cleaning; wherein the dry cleaning module comprises at least one rolling brush; wherein the main cleaning module comprises at least one main cleaning assembly; wherein the sub-cleaning module comprises at least one sub-cleaning assembly that at least partially protrudes beyond an edge of the machine body to perform edge cleaning; wherein the main cleaning assembly and the sub-cleaning assembly are located behind the rolling brush in a forward direction of the machine body; wherein, in the width direction of the machine body, there is no uncleaned area between a cleaning area of the main cleaning assembly and a cleaning area of the sub-cleaning assembly.and wherein the width direction of the machine body is perpendicular to the forward direction of the machine body.; Optionally, the cleaning device is further provided with a chassis comprising at least two drive wheels, wherein two of the drive wheels are arranged symmetrically on the bottom of the machine body; and wherein the main cleaning assembly and / or the sub-cleaning assembly are located behind the drive wheels in the forward direction of the machine body. Optionally, the cleaning device is provided such that the main cleaning assembly comprises a main cleaning disc and a main cleaning part arranged on an underside of the main cleaning disc; and such that the secondary cleaning assembly comprises a secondary cleaning disc and a secondary cleaning part arranged on an underside of the secondary cleaning disc; wherein the secondary cleaning disc and the main cleaning disc are designed as round discs and the diameter of the secondary cleaning disc is smaller than the diameter of the main cleaning disc; and wherein the secondary cleaning disc is arranged distributed in a first region which is enclosed between the drive wheels arranged adjacent to or adjacent to it, the main cleaning disc and the bottom of the machine body. Optionally, the cleaning device is provided with a diameter of the main cleaning disc that is 2 to 4 times larger than the diameter of the secondary cleaning disc. Optionally, the cleaning device is further provided with a side brush arranged at the bottom of a front portion of the machine body in the forward direction of the machine body, which is located in front of the rolling brush; wherein the side brush and the sub-cleaning disk are located on a right side of the machine body in the width direction of the machine body to perform right edge cleaning. Optionally, the cleaning device is provided with a rotation center of the sub-cleaning disc being located in front of a rotation center of the main cleaning disc in the forward direction of the machine body, so that the sub-cleaning disc is distributed in the first area at an upper right position of the main cleaning disc adjacent thereto. Optionally, the cleaning device is provided such that the main cleaning assembly comprises a main cleaning disc and a main cleaning part arranged on an underside of the main cleaning disc; and such that the secondary cleaning assembly comprises a secondary cleaning disc and a secondary cleaning part arranged on the secondary cleaning disc; wherein a gap is present between the main cleaning disc and the secondary cleaning disc; and wherein the adjacent edges of the secondary cleaning part and the main cleaning part are in tangential contact or pressed against each other such that no gap is present between the adjacent edges of the main cleaning part and the secondary cleaning part, without impairing the respective rotations of the main cleaning disc and the secondary cleaning disc. Optionally, the cleaning device is provided in which the main cleaning part and the secondary cleaning part are mops and the main cleaning part and the secondary cleaning part are pressed against each other to form a second interference region, wherein the second interference region has a maximum width of < 5 mm along a second connecting line between the center of rotation of the main cleaning part and that of the secondary cleaning part. Optionally, the cleaning device is provided with the main cleaning assembly having at least a first section; and with the secondary cleaning assembly having at least a second section, wherein cleaning regions of the first section and the second section have an overlap region in the forward direction of the machine body. Optionally, the cleaning device is provided with the first section being located behind the second section in the forward direction of the machine body, so that first the cleaning is carried out by the second section of the auxiliary cleaning assembly and then the cleaning is carried out by the first section of the main cleaning assembly, wherein the areas successively cleaned by the two sections have the overlapping area. Optionally, the cleaning device is provided such that the main cleaning assembly comprises a main cleaning disc and a main cleaning part arranged on an underside of the main cleaning disc; and such that the secondary cleaning assembly comprises a secondary cleaning disc and a secondary cleaning part arranged on the secondary cleaning disc; wherein a gap is present between the main cleaning disc and the secondary cleaning disc, the adjacent edges of the secondary cleaning part and the main cleaning part being in tangential contact or pressed against each other, such that no gap is present between the adjacent edges of the main cleaning part and the secondary cleaning part, without impairing the respective rotations of the main cleaning disc and the secondary cleaning disc;and wherein the first portion is located behind a position in the forward direction of the machine body at which the adjacent edges of the sub-cleaning part and the main cleaning part are in tangential contact or pressed against each other; Optionally, the cleaning device is provided with the secondary cleaning disc having the second section and the main cleaning disc having the first section. Optionally, the cleaning device is provided with the secondary cleaning module further comprising a first drive structure for driving the secondary cleaning assembly for lifting and rotating movement; and the main cleaning module further comprising a second drive structure for driving the main cleaning assembly for lifting and rotating movement; wherein two main cleaning assemblies and two second drive structures are provided, and each of the second drive structures drives one of the main cleaning assemblies accordingly; wherein the first drive structure and the second drive structure are arranged in an internal chamber of the machine body and the first drive structure is connected to the secondary cleaning assembly through the bottom of the machine body, so that the secondary cleaning assembly is located below the bottom of the machine body;and wherein the second drive structure is connected to the main cleaning assembly through the bottom of the machine body so that the main cleaning assembly is located below the bottom of the machine body; Optionally, the cleaning device is provided for the dry cleaning module to further comprise a dust box and a main fan, wherein the main fan is used to suck the waste into the dust box; wherein a chamber for the dust box, which serves for the installation of the dust box, is provided in the machine body; wherein a dust discharge channel is also arranged in the machine body and is in communication with the dust box and is used to suck the waste from the dust box into the base station under the action of a vacuum cleaner fan of a base station; wherein the main fan is arranged in the interior chamber of the machine body and distributed in a second region enclosed between the dust discharge channel, a chamber for the dust box, and two first drive structures;and wherein the first drive structures are arranged outside the second region and distributed on a side facing away from the dust discharge duct and are located behind the drive wheels adjacent to or adjacent to them.; Optionally, the cleaning device is further provided with a water refill mechanism arranged in the inner chamber of the machine body, which is used to refill the main cleaning part and / or the secondary cleaning part with water to enable wet cleaning; wherein the water refill mechanism is arranged on the machine body so as to avoid the first drive structures and is located outside the second area. Optionally, the cleaning device is provided with the water refilling mechanism comprising a water tank and a pump body, wherein a third region is formed between two of the first drive structures and a rear wall of the machine body, and wherein at least one of the water tank and the pump body is arranged in the third region. Optionally, the cleaning device is provided with the water refilling mechanism comprising a water tank and a pump body; wherein a fourth region is enclosed between another drive wheel facing away from the auxiliary cleaning assembly, the dust discharge channel, and a side wall of the machine body; and wherein at least one of the water tank and the pump body is arranged in the fourth region. Optionally, the cleaning device is provided with a third region formed between two of the first drive structures and a rear wall of the machine body; wherein one of the water tank and the pump body is arranged in the third region and the other of them is arranged in the fourth region. Optionally, the cleaning device is further provided with an exhaust duct connected to an air outlet of the main fan; wherein the exhaust duct projects beyond the second region and extends in a direction toward an adjacent side wall of the machine body to communicate with the outside environment; and wherein the first drive structure is located behind the exhaust duct in the forward direction of the machine body. Optionally, the cleaning device is provided such that a vertical projection of the machine body onto a surface to be cleaned is rectangular, wherein a long side of the rectangle runs in the forward direction of the machine body and a short side of the rectangle runs in the width direction of the machine body, wherein the chamber for the dust box is arranged distributed between the two drive wheels, and wherein the roller brush is located in front of the drive wheels and the chamber for the dust box in the forward direction of the machine body; or that the vertical projection of the machine body onto a surface to be cleaned is circular, wherein the roller brush is located at least partially between two of the drive wheels, and wherein the dust box is located behind the roller brush in the forward direction of the machine body. Optionally, the cleaning device is provided such that the machine body has a rear portion and a front portion located in front of the rear portion in the forward direction of the machine body; wherein a buffer is provided on the front portion, which detects an obstacle upon impact with the obstacle; and wherein the sub-cleaning assembly and the main cleaning assembly are arranged on the rear portion of the machine body. Optionally, the cleaning device is provided such that the main cleaning module further comprises a second drive structure, which is a first lifting structure used at least for raising or lowering the main cleaning assembly in order to change the main cleaning assembly between a wiping position and a lifting position; and that the secondary cleaning module further comprises a first drive structure, which is a second lifting mechanism used at least for raising or lowering the secondary cleaning assembly in order to change the secondary cleaning assembly between a wiping position and a lifting position. Optionally, the cleaning device is provided with the main cleaning assembly and the secondary cleaning assembly being synchronously in the lifting position or the wiping position. Optionally, the cleaning device is provided such that the second drive structure is further used to drive the cleaning assembly in the wiping position for rotation in order to clean the surface to be cleaned; and that the first drive structure is further used to drive the auxiliary cleaning assembly in the wiping position for rotation in order to clean the surface to be cleaned; wherein the main cleaning assembly comprises a main cleaning disc and a main cleaning part arranged on an underside of the main cleaning disc; and the auxiliary cleaning assembly comprises a auxiliary cleaning disc and an auxiliary cleaning part arranged on an underside of the auxiliary cleaning disc; wherein the main cleaning disc and the auxiliary cleaning disc are designed as round discs; and wherein, in the wiping position, the auxiliary cleaning disc and the main cleaning disc, which are adjacent to one another, have opposite directions of rotation. Optionally, the cleaning device is provided with two main cleaning assemblies, wherein the two main cleaning assemblies are arranged symmetrically on the bottom of the machine body; wherein there is no play between the main cleaning parts of two of the main cleaning assemblies in the width direction of the machine body; wherein the main cleaning assembly comprises a round main cleaning disc and a main cleaning part arranged on an underside of the main cleaning disc; and the auxiliary cleaning assembly comprises a round auxiliary cleaning disc and an auxiliary cleaning part arranged on an underside of the auxiliary cleaning disc; wherein the auxiliary cleaning disc is arranged on the right side of the bottom of the machine body to enable right-hand edge cleaning;and wherein in the wiping position, two adjacent main cleaning discs of the main cleaning discs have opposite directions of rotation and the direction of rotation of the secondary cleaning disc is counterclockwise.; Optionally, the cleaning device is provided with the first drive structure and / or the second drive structure comprising a first motor and a lifting assembly, wherein the lifting assembly is connected to the cleaning assembly, wherein the cleaning assembly is the main cleaning assembly or the secondary cleaning assembly, and wherein the lifting assembly brings the cleaning assembly into lifting movement and into rotation in the wiping position. Optionally, the cleaning device is provided such that the first drive structure and the second drive structure use a common motor; and that it further comprises a first gear mechanism, wherein the first gear mechanism is connected at one end to an output shaft of the first motor and has a first output and a second output at the other end; wherein the first output is connected to the lifting assembly of the first drive structure and the second output is connected to the lifting assembly of the second drive structure, so that one of the first motors synchronously causes the main cleaning assembly and the secondary cleaning assembly to move in a lifting motion and rotate. Optionally, the cleaning device is provided with the lifting assembly causing the cleaning assembly to move and rotate by means of a screw mechanism; wherein the first output and the second output have opposite rotation directions, and wherein the screw direction of the screw mechanism of the first drive structure is the same as the screw direction of the screw mechanism of the second drive structure. Optionally, the cleaning device is provided with the lifting assembly causing the cleaning assembly to move and rotate by means of a screw mechanism; wherein the first output and the second output have the same direction of rotation, and wherein the screw direction of the screw mechanism of the first drive structure is opposite to the screw direction of the screw mechanism of the second drive structure. Optionally, the cleaning device is provided with the lifting assembly comprising: a first fastening body connected to the output shaft of the first motor; and a second fastening body connected to the cleaning assembly, wherein the cleaning assembly is the main cleaning assembly or the secondary cleaning assembly; wherein a screw mechanism is formed between the first fastening body and the second fastening body; wherein the output shaft rotates in a first direction and, under the action of the output shaft or at least due to the gravity of the second fastening body and the cleaning assembly, the screw mechanism sets the second fastening body in a lowering movement relative to the first fastening body;wherein in the wiping position the output shaft rotates in the first direction and the second fastening body is not brought into any further lowering movement relative to the first fastening body and the second fastening body rotates in order to cause the cleaning assembly to rotate and thus clean the surface to be cleaned;wherein the output shaft rotates in a second direction and under the action of the output shaft the screw mechanism causes the second fastening body to be raised relative to the first fastening body in order to cause the cleaning assembly to be raised.; Optionally, the cleaning device is provided with the first fastening body comprising a first sleeve, wherein an upwardly recessed first mounting chamber is formed on the underside of the first sleeve and an upper side of the first sleeve is drivingly connected to the output shaft of the first motor; and the second fastening body comprising a second sleeve and an outer shell, wherein a downwardly recessed first annular chamber is formed on an upper side of the second sleeve and an upwardly recessed second mounting chamber is formed on an underside of the second sleeve; wherein a mounting projection in the second mounting chamber is detachably mounted on the upper side of the cleaning assembly; wherein the outer shell is placed on the second sleeve and fastened relative to the machine body;wherein a damping part is arranged between an inner wall of the outer shell and an outer wall of the second sleeve, so that the second sleeve and the first sleeve have different rotational speeds and the second sleeve is raised or lowered relative to the first sleeve; wherein the first sleeve is embedded in the annular chamber through the first mounting chamber, wherein ribs are formed on the outer wall of the first sleeve and thread grooves matching the ribs are formed on an inner wall of the second sleeve, and wherein the ribs and the thread grooves form the screw mechanism; wherein a first limiting portion is formed on an upper side of the thread groove, and in the wiping position and in the screwing direction of the thread groove, the rib abuts a side wall of the first limiting portion to limit further lowering movement of the second sleeve relative to the first sleeve;and wherein the lowering movement of the second sleeve relative to the first sleeve is driven by the rotation of the output shaft in the first direction; Optionally, the cleaning device is provided with the damping part being a sealing brush, the sealing brush having one end against the inner wall of the outer shell and the other end press-fitting against the outer wall of the second sleeve to form a flexible contact surface; or the outer shell is provided with at least one escape hole in which at least one first projection is provided, the first projection projecting in a direction towards the second sleeve to press-fit against the outer wall of the second sleeve; or the outer shell is provided with at least one escape hole in which a rotatable first rotational body is provided, a press-fitting contact surface being formed between the first rotational body and the outer wall of the second sleeve; wherein the first rotational body does not rotate during the raising and lowering of the cleaning assembly;and wherein in the wiping position there is a rolling friction between the first rotary body and the second sleeve; Optionally, the cleaning device is provided with the first fastening body comprising a first sleeve body mounted on the output shaft of the first motor through a first unidirectional bearing; wherein the unidirectional bearing has a transmitting state in which the power of the output shaft is transmitted to the first sleeve body, and a disconnected state in which the power transmission of the output shaft to the first sleeve body is disconnected; and the second fastening body comprising a floating shaft and a second sleeve body, the second sleeve body being rotatably arranged on an outer wall of the floating shaft; wherein an upper side of the floating shaft is connected to the output shaft and a lower side of the floating shaft is connected to the upper side of the cleaning assembly; wherein the screw mechanism is formed between the second sleeve body and the first sleeve body;wherein upon rotation of the output shaft in a first direction, the first sleeve body is in the separated state, the output shaft rotating the floating shaft to rotate the cleaning assembly, and the second sleeve body being lowered relative to the first sleeve body by the gravity of the second mounting body and the cleaning assembly; and wherein upon rotation of the output shaft in a second direction, the first sleeve body is in the transmitted state, the output shaft rotating the first sleeve body to raise the second sleeve body relative to the first sleeve body and thereby raise the floating shaft and the cleaning assembly. Optionally, the cleaning device is provided with the screw mechanism comprising: a first threaded surface and a first counter-element resting on the first threaded surface, wherein the first screw surface is arranged on the first sleeve body and the first counter-element is arranged on the second sleeve body, or vice versa, and wherein the first counter-element is a second screw surface or a first roller; and / or further a first restoring element arranged between the floating shaft and the output shaft in order to exert a downward restoring force on the floating shaft and the cleaning assembly; wherein upon rotation of the output shaft in the first direction, the gravity of the second fastening body and the cleaning assembly as well as the restoring force cause the second sleeve body to move downwardly relative to the first sleeve body. Optionally, the cleaning device is provided such that the lifting assembly comprises: a third sleeve body mounted on the output shaft of the first motor through a unidirectional bearing; wherein the unidirectional bearing has a transmitting state in which the power of the output shaft is transmitted to the third sleeve body, and a disconnected state in which the power transmission of the output shaft to the third sleeve body is disconnected; wherein a bottom side of the output shaft is connected to the cleaning assembly; and a supporting body fixed relative to the machine body, wherein the supporting body is located on an outer side of the third sleeve body and a screw mechanism is formed between the supporting body and the third sleeve body;wherein upon rotation of the output shaft in the first direction, the cleaning assembly is rotated, the third sleeve body is in the separated state, and the screw mechanism can lower the third sleeve body relative to the support body at least by the gravity of the third sleeve body and the cleaning assembly to lower the cleaning assembly; wherein in the wiping position, upon further rotation of the output shaft in the first direction, the third sleeve body is no longer lowered relative to the support body, and the output shaft rotates the cleaning assembly;and wherein upon rotation of the output shaft in the second direction, the third sleeve body is in the transmitted state, and the output shaft, through the screw mechanism, causes the third sleeve body to lift relative to the support body to lift the cleaning assembly.; Optionally, the cleaning device is provided with the screw mechanism comprising a third screw surface and a second counter element matching the third threaded surface, wherein the third threaded surface is arranged on the support body and the second counter element is arranged outside the third sleeve body, or vice versa; and wherein the second counter element is a fourth threaded surface or a second roller. Optionally, the cleaning device is provided with the third threaded surface being provided on the support body, wherein a third limiting section is formed on an underside of the third screw surface; and wherein, in the screwing direction of the third threaded surface, the second counter-element bears against a side wall of the third limiting section in order to limit a further lowering of the third sleeve body relative to the support body in the wiping position. Optionally, the cleaning device is provided so that it further comprises a first housing and a second restoring element; wherein the first motor and the output shaft as well as the third sleeve body are arranged on the first housing and the first housing is arranged vertically slidably on the support body; wherein the second restoring element is arranged between the first housing and the support body; wherein the second restoring element is used to exert a second, downward restoring force on the first housing; and wherein the gravity of the third sleeve body, the first housing and the cleaning assembly as well as the second restoring force cause the first housing to move downwards relative to the support body. Optionally, the cleaning device is further provided with a torsion component, wherein the torsion component is mounted on the third sleeve body, is connected to the support body at one end, and bears against the third sleeve body at the other end; and wherein the torsion component is used to exert a torque on the third sleeve body so that the third sleeve body can rotate downward relative to the support body. Optionally, the cleaning device is provided with the main cleaning module further comprising a first lifting structure, wherein the first lifting structure is used to set the main cleaning assembly in lifting motion; wherein the secondary cleaning module is arranged on the main cleaning assembly, and wherein the secondary cleaning module is raised or lowered synchronously with the main cleaning assembly by the drive of the first lifting structure. Optionally, the cleaning device is provided with the main cleaning assembly having at least a first section and the secondary cleaning assembly having at least a second section, wherein cleaning areas of the first section and the second section have an overlap area in the forward direction of the machine body. Optionally, the cleaning device is provided with the first section being located behind the second section in the forward direction of the machine body, so that cleaning is carried out first by the second section of the auxiliary cleaning assembly and then by the first section, wherein the areas successively cleaned by the two sections have the overlapping area. Optionally, the cleaning device is provided such that the main cleaning assembly comprises a mounting bracket, wherein a bottom side of the mounting bracket is provided for mounting the main cleaning part, and wherein the first section of the mounting bracket is located behind the second section of the auxiliary cleaning disc of the auxiliary cleaning assembly in the forward direction of the machine body. Optionally, the cleaning device is provided with the mounting support being a flat wiper having at least one oscillating plate, wherein the main cleaning part is arranged on an underside of the oscillating plate, and wherein the oscillating plate performs a reciprocating oscillation or rotation in order to set the main cleaning part in motion in order to clean the surface to be cleaned. Optionally, the cleaning device is provided such that the auxiliary cleaning assembly comprises an auxiliary cleaning disc and an auxiliary cleaning part arranged on an underside of the auxiliary cleaning disc; and that the auxiliary cleaning module further comprises a second drive structure for rotating the auxiliary cleaning disc, wherein the second drive structure is arranged on the mounting support; and wherein the area of the auxiliary cleaning disc is smaller than the area of the mounting support. Optionally, the cleaning device is further provided with a side brush and a traveling gear, wherein the side brush is arranged at the bottom of the front portion of the machine body; wherein the sub-cleaning disc and the side brush are located on the right side of the machine body in the width direction of the machine body to perform right-edge cleaning; wherein the traveling gear comprises at least two drive wheels, two of the drive wheels being arranged symmetrically at the bottom of the machine body; wherein, in the forward direction of the machine body, the main cleaning assembly is located behind the drive wheels and the sub-cleaning disc is located in front of the main cleaning assembly; and wherein the sub-cleaning disc is located at least partially in an outer region of the right drive wheel in the width direction of the machine body. Optionally, the cleaning device is provided with the first drive structure comprising a second motor and a second gear mechanism through which a drive force of the second motor is transmitted to the auxiliary cleaning disc; wherein the second motor is arranged on the mounting bracket, an end of the second gear mechanism facing away from the output shaft of the second motor extends in a direction toward the right drive wheel and avoids the drive wheel, so that the auxiliary cleaning disc is located in the outer region of the right drive wheel. Optionally, the cleaning device is provided with the secondary cleaning assembly comprising a secondary cleaning disc and a secondary cleaning part arranged on an underside of the secondary cleaning disc; wherein the secondary cleaning part exerts a pressure of 900-1500 Pa on the secondary cleaning disc when cleaning the surface to be cleaned. The present application further provides a base station comprising: a base body having a washing chamber, wherein at least one main cleaning area and one secondary cleaning area are formed in the washing chamber; wherein, upon return of a cleaning device according to one of the above embodiments to the base station, the main cleaning area or the secondary cleaning area is used for washing a main cleaning part of a main cleaning assembly or a secondary cleaning part of a secondary cleaning assembly of the cleaning device, respectively. The present application further provides a cleaning system comprising a cleaning device according to any one of the above embodiments and the base station. Beneficial effects: In the cleaning device of the present application, a main cleaning module and a sub-cleaning module of the wet cleaning device are arranged behind a dry cleaning module in a forward direction of the machine body of the cleaning device, so that a rolling brush of the dry cleaning module in the front performs dry sweeping, while a main cleaning assembly of the main cleaning module and a sub-cleaning assembly of the sub-cleaning module for wet cleaning behind the rolling brush perform wet mopping, thereby establishing a cleaning mode in which dry sweeping is performed first and wet mopping is performed thereafter. This cleaning mode prevents dry debris on the floor surface from adhering to the main cleaning assembly or the sub-cleaning assembly and thereby damaging the main cleaning assembly or the sub-cleaning assembly.The auxiliary cleaning assembly becomes dirty, reducing the cleaning frequency of the main cleaning assembly or the auxiliary cleaning assembly. Furthermore, the collection system in the machine body eliminates the need for a wiper strip used to scrape dirt off the main cleaning assembly or the auxiliary cleaning assembly, simplifying the structure of the robot. Furthermore, the auxiliary cleaning assembly always extends at least partially beyond an edge of the machine body to perform edge cleaning for an obstacle or wall, etc.Since there is no uncleaned area between the cleaning areas of the main cleaning assembly and the sub-cleaning assembly in a width direction of the machine body, the cooperation of the main cleaning assembly and the sub-cleaning assembly achieves both the edge cleaning and the avoidance of the uncleaned area therebetween to improve the cleaning effect. Short description of the characters In order to more clearly explain the technical solutions in the embodiments of the present application and in the prior art, the drawings required to describe the embodiments and the prior art are briefly presented below. Obviously, the drawings in the following description represent some embodiments of the present application. Those skilled in the art can also obtain further drawings based on these drawings without inventive step. Fig. 1 shows a schematic representation (in a bottom view) of a cleaning device (no auxiliary cleaning module shown) according to an embodiment of the present application; Fig. 2 shows a schematic representation (in a top view with no upper housing) of a cleaning device (no auxiliary cleaning module shown) according to this embodiment of the present application; Fig. 3 shows an enlarged section of the cleaning device from Fig.2; Fig. 4 shows a schematic representation (in a bottom view) of a cleaning device according to an embodiment of the present application; Fig. 5 shows a schematic perspective representation of a cleaning device according to an embodiment of the present application; Fig. 6 shows a schematic representation (in a plan view with no upper housing) of a further cleaning device according to an embodiment of the present application; Fig. 7 shows an enlarged section of the cleaning device from Fig. 6; Fig. 8 shows a schematic representation of a further cleaning device according to an embodiment of the present application; Fig. 9 shows a schematic representation of the cleaning device from Fig. 8 in a bottom view; Fig. 10 shows a schematic representation of the arrangement of internal structures of the cleaning device from Fig. 8; Fig.11 shows a schematic representation of a first drive structure according to an embodiment of the present application; Fig. 12 shows a schematic sectional representation of a second sleeve of the first drive structure from Fig. 11; Fig. 13 shows a schematic exploded representation of a first sleeve and the second sleeve of the first drive structure from Fig. 11; Fig. 14 shows a schematic representation of a further first drive structure according to an embodiment of the present application; Fig. 15 shows a schematic exploded section of the first drive structure from Fig. 14; Fig. 16 shows a schematic exploded representation of the first drive structure from Fig. 14; Fig. 17 shows a schematic representation of the first drive structure from Fig. 14 according to a further embodiment; Fig. 18 shows a schematic representation of a further first drive structure according to an embodiment of the present application; Fig.19 shows a schematic representation (in a plan view) of an embodiment of a rotation direction of two main mops and one sub-mop in an embodiment of the present application; Fig. 20 shows a schematic representation (in a plan view) of another embodiment of the rotation direction of the two main mops and the sub-mop in an embodiment of the present application; Fig. 21 shows a schematic representation (in a plan view) of another embodiment of the rotation direction of the two main mops and the sub-mop in an embodiment of the present application; Fig. 22 shows a schematic representation (in a plan view) of another embodiment of the rotation direction of the two main mops and the sub-mop in an embodiment of the present application;23 shows a further embodiment of the cleaning device according to an embodiment of the present application; Fig. 24 shows a schematic representation of the cleaning device from Fig. 23 with no main mop; Fig. 25 shows a schematic exploded representation of a main cleaning assembly of the cleaning device from Fig. 23; Fig. 26 shows a schematic representation (in a plan view) of an arrangement of the two main mops and the secondary mop in an embodiment of the present application; Fig. 27 shows a schematic sectional representation of the first drive structure from Fig. 11; Fig. 28 shows a schematic representation of a further cleaning device according to an embodiment of the present application; Fig. 29 shows a schematic representation of an arrangement within a further cleaning device according to an embodiment of the present application; Fig.Fig. 30 is a schematic structural diagram of the first drive structure of the cleaning device of Fig. 29 according to the present application; and Fig. 31 is a graph showing test data of the sub-mop of the cleaning device according to an embodiment of the present application as a function of the downward pressure, the service life, and the area-related cleaning ratio. Detailed embodiments The concept of the present application is as follows: Figs. 1 to 4 show that a main cleaning module 20 and a sub-cleaning module 30 of the wet cleaning device are located behind a dry cleaning module 40 in a forward direction of the machine body 10 of the cleaning device, so that a rolling brush 403 of the dry cleaning module 40 in the front performs dry sweeping, while a main cleaning assembly 202 of the main cleaning module 20 and a sub-cleaning assembly 302 of the sub-cleaning module 30 for wet cleaning behind the rolling brush 403 perform wet mopping, thereby establishing a cleaning mode in which dry sweeping is performed first and wet mopping is performed thereafter. This cleaning mode prevents dry debris on the floor surface from adhering to the main cleaning assembly 202 or the sub-cleaning assembly 302 and thereby damaging the main cleaning assemblies 202 and 302, respectively.The secondary cleaning assembly 302 becomes dirty, thereby reducing the cleaning frequency of the main cleaning assembly 202 or the secondary cleaning assembly 302. Furthermore, the collection system in the machine body 10 does not require a wiper strip used to scrape dirt off the main cleaning assembly 202 or the secondary cleaning assembly 302, respectively, to simplify the structure of the robot. At the same time, the secondary cleaning assembly 302 always protrudes at least partially beyond an edge of the machine body 10 to provide edge cleaning for an obstacle or wall, etc.Since there is no uncleaned area between the cleaning areas of the main cleaning assembly 202 and the sub-cleaning assembly 302 in a width direction of the machine body 10, the cooperation of the main cleaning assembly 202 and the sub-cleaning assembly achieves both the edge cleaning and the prevention of the uncleaned area between the two to improve the cleaning effect. Specifically, the main cleaning module 20 comprises at least one main cleaning assembly 202 (e.g., a cleaning disc, a flat wiper, or a wiping roller) or two main cleaning assemblies 202 (e.g., two cleaning discs configured as round discs). The secondary cleaning module 30 comprises at least one secondary cleaning assembly 302, wherein the secondary cleaning assembly 302 always at least partially protrudes beyond an edge of the machine body 10 to perform edge cleaning for an obstacle or a wall surface, etc. The width direction of the machine body 10 is perpendicular to the forward direction of the machine body 10. In the forward direction of the machine body 10 (as shown in the arrow direction in Fig. 9), the dry cleaning module 40 is located in front of the main cleaning module 20, as shown in Fig. 4. The dry cleaning module 40 comprises at least one roller brush 403 for cleaning a surface to be cleaned.The surface to be cleaned can be, but is not limited to, a floor, a tabletop, or a surface or scene of objects such as glass or a wall. To simplify the description, the surface to be cleaned is described using a floor as an example. The area of the secondary cleaning assembly 302 is smaller than the area of the main cleaning assembly 202. For example, the area of the secondary cleaning assembly 302 is smaller than three-quarters of the area of the main cleaning assembly 202, or smaller than one-half of the area of the main cleaning assembly 202, or smaller than one-third, one-quarter, one-fifth, etc. of the area of the main cleaning assembly 202, whereby the ratio of the areas of the two can be selected as required. For example, the secondary cleaning assembly 302 includes a secondary cleaning disk 3021 and a secondary cleaning part, and the main cleaning assembly 202 includes a mounting bracket 2023 and a main cleaning part, wherein the relationship between the areas of the above is as follows: In one embodiment, the area of the secondary cleaning disk 3021 can be compared to the area of the mounting bracket 2023, wherein the area of the secondary cleaning disk 3021 is, for example, smaller than the area of the mounting bracket 2023. In another embodiment, the area of the secondary cleaning part can be compared to the area of the main cleaning part, wherein the area of the secondary cleaning part is, for example, smaller than the area of the main cleaning part. If the main cleaning assembly 202 includes at least the wiping roller, the area of the secondary cleaning part is correspondingly smaller than that of the wiping roller.This means that if the main cleaning unit and the sub-cleaning unit are both mops, the main cleaning unit will perform cleaning with a large mop, while the sub-cleaning unit will perform cleaning with a small mop. In non-edge cleaning mode, cleaning is primarily performed with a large mop. During edge cleaning, cleaning is performed with a small mop. The main cleaning unit and the sub-cleaning unit work together to ensure that no uncleaned area is left between the large mop and the small mop during edge cleaning. It should be noted that the area referred to herein can be understood as a surface of a vertical projection of the cleaning disc or cleaning part onto the surface to be cleaned. It can also be understood as an area that can be cleaned by the cleaning part of the cleaning assembly when the machine body 10 of the robot is not moving or when the machine body 10 remains stationary in place. The cleaning device can be a self-propelled cleaning robot, a handheld cleaning device, a window cleaning robot, or the like. Here, the cleaning robot is used as an example to illustrate the structure of the cleaning device. Typically, the machine body 10 is circular, D-shaped, rectangular, square, etc. The contour of the machine body 10 refers to a circular contour, a D-shaped contour, a rectangular contour, or a square contour, etc. of the machine body 10. For example, the contour of the machine body 10 has a circular structure, as shown in Fig. 1 and Fig. 2. For example, an area of the contour of the machine body 10 can be determined based on a projection of the machine body 10 onto a horizontal plane. For example, if the machine body 10 has the square contour, the circumference of the contour of the machine body 10 is determined depending on a projection of the machine body 10 onto the horizontal plane (or a vertical projection onto the surface to be cleaned). As shown in Fig. 1 and Fig. 5, the machine body 10 is typically configured to include at least a chassis 101 and an upper housing 102 connected to the chassis 101. An internal chamber of the machine body 10 is enclosed between the chassis 101 and the upper housing 102 to form a receiving chamber. The above main cleaning assembly 202 and sub-cleaning assembly 302 are located below the chassis 101. As shown in Fig. 1, Fig. 2, and Fig. 3, in some embodiments, the dry cleaning module 40 includes at least one roller brush 403, a dust box 401, and a main fan 402. The roller brush 403 is rotatably mounted in a chamber 109 for the roller brush 403 at the bottom of the chassis 101, so that the debris on the floor surface is vacuumed by the cleaning robot in the direction of travel. One roller brush 403 or two roller brushes 403 may be provided. If two roller brushes 403 are provided, the two roller brushes 403 can be rotatably arranged in the chamber 109 for the roller brush 403 and the two roller brushes 403 have opposite directions of rotation, so that when the two roller brushes 403 rotate, the garbage on the floor surface is sucked in one direction toward the vacuum nozzle of the dust box 401. The dust box 401 and the main fan 402 are each arranged in the inner chamber of the machine body 10. The main fan 402 is configured to provide negative pressure ventilation into the dust box 401. A vacuum nozzle is provided on the machine body 10 and communicates with the dust box 401. For example, the vacuum nozzle is arranged at the bottom of the machine body 10 and communicates with the chamber 109 for the roller brush 403. Thus, the roller brush 403 is used to collect debris on the floor surface to the vacuum nozzle. Through negative pressure suction, debris, dust particles, and the like can be collected via the vacuum nozzle into the dust box 401 to accomplish the task of vacuuming the floor surface. The main fan 402 includes, but is not limited to, a vacuum blower, which can also be replaced by other negative pressure generating devices, such as a vacuum pump. As shown in Fig. 2, the dry cleaning module 40 further includes a dust discharge duct 404 disposed in the machine body 10, wherein the dust discharge duct 404 is connected to the vacuum cleaner fan of the base station. Under the action of the vacuum cleaner fan of the base station, debris from the dust box 401 is dusted into the base station via the dust discharge duct 404 to automatically discharge the debris from the dust box 401. The vacuum cleaner fan includes, but is not limited to, a vacuum blower, which can also be replaced by other vacuum-generating devices, such as a vacuum pump. As shown in Fig. 4, the robot further comprises a chassis 80, which is used to set the machine body 10 in self-motion and thus fulfill a self-propelled driving function on a surface to be cleaned. The chassis 80 comprises at least one drive and one drive wheel 801, wherein the drive wheel 801 is set in motion by the drive. Typically, two drive wheels 801 can be provided, wherein the two drive wheels 801 are arranged symmetrically on the bottom of the machine body 10. Furthermore, the chassis 80 is pivotally mounted on the machine body 10, so that the cleaning device has an obstacle-overcoming function during a driving process. As shown in Fig. 4 and Fig. 6, the machine body 10 has a front portion, a rear portion, and a connecting portion or middle portion for connecting the front portion and the rear portion of the machine body 10 in the forward direction of the machine body 10, defined by the dust box 401 or the rolling brush 403 or the drive wheel 801. The dust box 401 and the rolling brush 403 or the drive wheel 801 are arranged at the connecting portion or middle portion. Alternatively, a connecting line between rotation centers of two drive wheels 801 is used as a boundary, wherein the machine body 10 has a front portion and a rear portion, wherein the front portion of the machine body 10 and the rear portion of the machine body 10 include a part of the chassis 101 and a part of the upper case 102.The main cleaning assembly 202 and the sub-cleaning assembly 302 are arranged at the rear portion of the machine body 10 and are located behind the rolling brush 403. For example, the rolling brush 403 or the dust box 401 is taken as an example. On the machine body 10, a portion in front of the rolling brush 403 or the dust box 401 is referred to as the front portion of the machine body 10, and a portion behind the rolling brush 403 or the dust box 401 is referred to as the rear portion of the machine body 10. As shown with reference to Fig. 1, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the cleaning robot further includes a side brush 100. In the forward direction of the machine body 10, the side brush is arranged in front of the rolling brush 403 of the dry cleaning module 40. Or, the side brush is at least partially located in front of the rolling brush 403 of the dry cleaning module 40, and the rotation center of the side brush is located in front of the rolling brush 403 of the dry cleaning module 40. During cleaning by the robot, the side brush rotates to gather the garbage on the floor surface toward the inside of the cleaning robot, so that the dry cleaning module 40 can collect the garbage gathered toward the inside of the cleaning robot into the dust box 401 of the machine body 10 by suction or the like. For example, the side brush can be located at least partially in front of the dry cleaning module 40 and close to the edge of the machine body 10. For example, the side brush can be located on the edge to the left or right of the dry cleaning module 40, but is not limited thereto, so that when the side brush rotates, the side brush is at least partially outside the contour of the machine body 10 or protrudes beyond it. As a result, the trash located outside the contour of the machine body 10 can be pushed together by the side brush onto the inside of the cleaning robot, thereby enlarging the cleaning area. The side brush can be a rubber strip or a brush or the like, and this is not limited here, as long as the floor area can be vacuumed. In one embodiment, the above main cleaning module 20 and the secondary cleaning module 30 are arranged at the rear portion of the machine body 10, and the side brush is arranged at the front portion of the machine body 10. Rather, the side brush and the secondary cleaning module 30 are arranged on the same side of the machine body 10, distributed in the forward direction of the machine body 10. As shown in Fig. 5 and Fig. 6, the side brush and the sub-cleaning assembly 302 are distributed, for example, on the right side of the machine body 10 to perform right edge cleaning. Since the side brush and the sub-cleaning assembly 302 are used for edge cleaning, the side brush is arranged at the front portion of the machine body 10 and the sub-cleaning assembly 302 is arranged at the rear portion of the machine body 10, and the two are located on the right side of the machine body 10, in edge cleaning, the side brush in the front performs dry cleaning, while the sub-cleaning assembly 302 in the rear performs wet cleaning, so that edge cleaning is performed for an obstacle, a wall edge, a corner area (for example, inner right angle), and the like, thereby establishing such a cleaning mode in which dry cleaning is performed first and wet cleaning is performed thereafter, and thus the edge cleaning effect is improved. In the above, it is taken as an example that the side brush and the sub-cleaning assembly 302 are located on the right side of the machine body 10. Likewise, it is also possible for the side brush and the sub-cleaning assembly 302 to be arranged on the left side of the machine body 10 to provide a left edge cleaning mode. A sensing system includes sensors such as an LDS above the machine body 10, a buffer 70 (as shown in Fig. 2) and a visual sensor in the front portion of the machine body 10, an edge sensor on a front side wall of the machine body 10, an ultrasonic sensor or a downward sensor on the bottom of the machine body 10, and the like. Of these, the LDS, the buffer 70, and the edge sensor can measure a distance to determine the distance between the edge of the machine body 10 and an obstacle. The control system thus controls the cleaning device to perform appropriate actions based on this distance. For example, the cleaning device is controlled to avoid an obstacle or to drive along the edge. The ultrasonic sensor is used to detect a signal about a carpet. Based on this signal, the control system controls: the execution of a lifting action of the main cleaning assembly 202 of the cleaning device, the execution of a lifting action of the sub-cleaning assembly 302, the return of the cleaning device to the base station, the charging or vacuuming of the robot, the cleaning of the main cleaning part, and the disassembly or assembly of the main cleaning assembly 202, and the like. The visual sensor is used to detect an image of the surroundings of the cleaning device and thus obtain information about obstacles. Based on this information, the control system controls the cleaning device to perform actions such as:Obstacle avoidance, obstacle overcoming, edge cleaning and the like. The cleaning device further includes at least one water refill mechanism used to refill the main cleaning part of the main cleaning assembly 202 with water to moisten the main cleaning part, so that the floor surface is mopped and cleaned by a main cleaning part in a moist state or a wet state, and wet cleaning is performed to improve the cleaning effect. The water refill mechanism includes at least one water tank 501, wherein water is pumped from the water tank 501 to a delivery mechanism on the main cleaning part. For example, the delivery mechanism includes a pump body 502 and a conduit. The pump body 502 is connected at one end to the water tank 501 via the conduit and leads at the other end to a water distributor via the conduit, wherein a liquid outlet of the water distributor leads to the main cleaning part.By providing the water distributor, a liquid can be evenly pumped to the main cleaning part to moisten the main cleaning part more evenly. Of course, no water distributor can be provided, with the pump body 502 at the other end directly pumping the water to the main cleaning part via the pipe. The water refill mechanism may also refill the sub-cleaning part of the sub-cleaning assembly 302 with water to moisten the sub-cleaning part to provide wet cleaning for the floor surface by the sub-cleaning part. The auxiliary cleaning module 30 is primarily used to interact with the main cleaning module 20 and thus to provide auxiliary cleaning for an uncleaned area that cannot be easily cleaned by the main cleaning assembly 202. For the sub-cleaning assembly 302, the sub-cleaning assembly 302 includes a sub-cleaning disc 3021 and a sub-cleaning part arranged on the underside of the sub-cleaning disc 3021, as shown in Figs. 9 and 14. The sub-cleaning part may be a wiping mop, a cleaning part, a cleaning mop, or the like. If the sub-cleaning disc 3021 is a round disc, the sub-cleaning part is a round sub-wiping mop 3022 that matches the sub-cleaning disc 3021 and is attached to the underside of the sub-cleaning disc 3021 by adhesive or the like. The auxiliary cleaning module 30 further includes a first drive structure 302 used to drive the auxiliary cleaning disk 3021 to rotate to rotate the auxiliary mop 3022, increase the friction between the auxiliary mop 3022 and the floor surface, and thus improve the edge cleaning effect. The secondary cleaning module 30 further includes a second lifting mechanism, wherein the second lifting mechanism is used at least for driving the secondary cleaning assembly 302 to raise or lower such that the secondary cleaning assembly 302 is in the lifting position to be away from the floor surface; or that it is in the wiping position to perform edge cleaning. Through the cooperation of the first drive structure 302 and the second lifting mechanism, the sub-cleaning disc 3021 is raised or lowered, thus changing its position. Furthermore, it is rotated to wipe the floor surface. Due to the limited space within the robot body 10, the first drive structure 302 and the second lifting mechanism are driven by the same motor. That is, the first drive structure 302 and the second lifting mechanism are the same structure. For simplicity, the first drive structure 302 will be described. The first drive structure 302 can lift and rotate the sub-cleaning disc 3021, so that the first drive structure 302 is compact and occupies a small space within the robot body 10. Of course, the first drive structure 302 and the second lifting mechanism may be two drive structures if there is a large space in the machine body 10. It is possible for the second lifting mechanism to cause the auxiliary cleaning disc 3021 and the first drive structure 302 to move in a lifting motion as a whole. In the wiping position, the motor of the second lifting mechanism is deactivated, while the first drive structure 302 causes the auxiliary cleaning disc 3021 to rotate. The cleaning device further comprises: a second drive structure 201, wherein the second drive structure 201 is arranged in the inner chamber of the machine body 10 and is used to move the main cleaning assembly 202 and thereby perform wiping; and a first lifting structure used to lift the cleaning assembly so that the main cleaning assembly 202 is in a wiping position or a lifting position. Because the main cleaning assembly 202 must be lifted in some scenes, for example, when the machine body 10 steps onto the carpet, the main cleaning assembly 202 must be in the lifted position to avoid wetting the carpet. Or, in scenes such as overcoming obstacles or returning to the base station, or the like, the main cleaning assembly 202 must be in the lifted position to prevent the main cleaning assembly 202 from being caught by an obstacle and thus detaching from the machine body 10. Thus, the cleaning device further comprises a first lifting structure arranged in the machine body 10 and used to lift the main cleaning assembly 202 to switch between the wiping position and the lifting position. For the main cleaning assembly 202, it is provided that the main cleaning assembly 202 is configured in various ways. With different designs of the main cleaning assembly 202, the second drive structure 201 accordingly sets the main cleaning assembly 202 in motion to wipe the floor in different ways, for example: the wiping movement can be a rotation of a round main cleaning disc 2021, a reciprocating oscillation or twisting of the flat wiper, or a movement of the wiping roller. When the machine body 10 is configured in different shapes, the above-mentioned sub-cleaning module 30, the dry cleaning module 40, the drive wheel 801, the water refill mechanism, the main cleaning module 20, and the sub-cleaning module 30 are arranged in different ways on the machine body 10 of the robot. That is,The robot includes structures such as the machine body 10, the side brush, the chassis 80, the water refill mechanism, the main cleaning module 20, the sub-cleaning module 30, the buffer 70, and the like, as described above. To clearly illustrate the arrangements of the above structures in scenes of various machine types, they will be described using the following examples. Example 1 This embodiment provides a cleaning device, such as a cleaning robot. As shown in Fig. 8, Fig. 9, Fig. 19, and Fig. 28, the robot includes the machine body 10, the side brush, the chassis 80, the dry cleaning module 40, the water refill mechanism, the buffer 70, the main cleaning module 20, the sub-cleaning module 30, and the perception system as described above. As shown in Fig. 8, the machine body 10 has a rectangular outer contour. This means that the vertical projection of the machine body 10 onto the surface to be cleaned is rectangular, with one long side of the rectangle extending in the forward direction of the machine body 10 and one short side of the rectangle extending in the width direction of the machine body 10. As shown in Fig. 27, the main cleaning assembly 202 includes a circular main cleaning disc 2021 and a main mop 2022 mounted on the underside of the main cleaning disc 2021. The main mop 2022 is circular. The main mop 2022 is adhered to the underside of the main cleaning disc 2021 by a hook-and-loop fastener. The second drive structure 201 is used to rotate the main cleaning disc 2021 on the machine body 10, so that the main mop 2022 rotates and cleans the floor surface. The first lifting structure is used to lift the main cleaning disc 2021 to raise or lower the main cleaning part, and to switch between the lifting position and the mopping position. In this embodiment, two main cleaning assemblies 202 are provided, with two round main cleaning discs 2021 arranged symmetrically on the bottom of the machine body 10, and the two round main cleaning discs 2021 rotating in opposite directions. For example, one main cleaning disc 2021 rotates clockwise, while the other main cleaning disc 2021 rotates counterclockwise to clean the floor surface. To prevent an uncleaned area from forming between the two round main cleaning discs 2021, a gap is provided between the adjacent edges of the two main cleaning discs 2021 so that no interference occurs between the rotations of the two main cleaning discs 2021, and the adjacent edges of the main mops 2022 on the undersides of the two main cleaning discs 2021 are in tangential contact or pressed against each other.Or, because the main mop 2022 is usually flexible and has a certain degree of deformation, the adjacent edges of the two main mops 2022 are pressed against each other to form a first interference region 905, so that there is no gap between the adjacent edges of the two main mops 2022 and thus an uncleaned area is avoided. There is a gap between the two main cleaning discs 2021, whereby their respective rotations are not affected by each other. As shown in Figure 26, there is a certain first interference area 905 between the two main mops 2022, thus avoiding the problem of an uncleaned area. The maximum width of the interference area between the two main mops 2022 can be about 1 mm, about 2 mm, about 3 mm, about 4 mm, about 5 mm, or about 6 mm, with no specific numerical limitations. The mop exhibits a certain degree of deformation. When two mops rotate, two adjacent parts of the mops are pressed against each other without play, forming an interference zone without affecting the normal rotation of the mops. The maximum width of the first interference region 905 is: The maximum width of the interference region is a length L1 of an intersection line of a second connecting line with the interference region in the second connecting line of the rotation centers of the two main cleaning disks 2021, as shown in Fig. 26. The secondary cleaning disc 3021 of the secondary cleaning assembly 302 is a round disc. Accordingly, the secondary cleaning part is a secondary mop 3022, which is adhered to the secondary cleaning disc 3021 with a hook-and-loop fastener. Of course, the secondary mop 3022 can also be detachably attached to the secondary cleaning disc 3021 in another way. The main cleaning module 20 and the sub-cleaning module 30 are arranged at the rear portion of the machine body 10, and the side brush is arranged at the front portion of the machine body 10. Rather, the side brush and the sub-cleaning module 30 are distributed on the right side of the machine body 10 in the forward direction of the machine body 10 to perform right-edge cleaning. Since the side brush is disposed at the front portion of the machine body 10 and the sub-cleaning assembly 302 is disposed at the rear portion of the machine body 10, and both are located on the right side of the machine body 10, in edge cleaning, the side brush at the front performs dry cleaning, while the sub-cleaning assembly 302 at the rear performs wet cleaning, so that edge cleaning is performed for an obstacle, a wall edge, a corner portion (for example, inner right angle), and the like, thereby establishing such an edge cleaning mode in which dry cleaning is performed first and wet cleaning is performed thereafter, and thus the edge cleaning effect is improved. As shown in Fig. 10, the two drive wheels 801 of the chassis 80 are arranged symmetrically at the bottom of the machine body 10, and the dry cleaning module 40 includes the rolling brush 403, the dust box 401, and the main fan 402 as described above. Since the machine body 10 is used for a square machine, compared to a round machine with a round machine body 10, the width of the machine body 10 of the square machine is smaller than the maximum width (the diameter of a circle) of the round machine. In the width direction of the machine body 10, the length of the rolling brush 403 is greater than the distance between the two drive wheels 801. Therefore, in the square machine, in the forward direction of the machine body 10, the rolling brush 403 is located in front of the drive wheels 801 and the dust box 401 is distributed between the two drive wheels 801. The two main cleaning assemblies 202 are located behind the dust box 401 (or the chamber 108 for the dust box 401 on the machine body 10) and are symmetrically distributed below the bottom of the rear portion of the machine body 10. In the forward direction of the machine body 10, the two main cleaning assemblies 202 are located behind the two drive wheels 801 to allow the drive wheels 801 to travel forward and the main cleaning assemblies 202 to wipe the floor behind the drive wheels 801, so that no traces of the drive wheels 801 are left in an area cleaned by the main mops 2022, thus improving the cleaning effect of the main mops 2022. It should be noted that the main cleaning assemblies 202 are located behind the drive wheels 801, and there are two possibilities: First possibility: As shown in Fig. 10, the main cleaning assemblies 202 are located completely behind the two drive wheels 801 in the forward direction of the machine body 10. Second possibility: In the forward direction of the machine body 10 and the width direction of the machine body 10, the drive wheels 801 and the main cleaning discs 2021 are arranged staggered, and the main cleaning discs 2021 are located behind the connecting line of the rotation centers of the two drive wheels 801.In the width direction of the machine body 10, a circular arc segment of the main cleaning disc 2021 is located entirely behind the drive wheel 801, while a circular arc segment of the main cleaning disc 2021 is located in a region between the two drive wheels 801, thereby preventing the rotation of the main cleaning discs 2021 and the travel of the drive wheels 801 from interfering with each other. This allows the length of the machine body 10 to be shortened in the forward direction of the machine body 10, the drive wheels 801 travel in the front, and the main mops 2022 perform cleaning in the rear, thus improving the cleaning effect. In this embodiment, in order to prevent an uncleaned area between the sub-mop 3022 and the main mop 2022, it is provided that there is no uncleaned area between the cleaning areas of the main mop 2022 and the sub-mop 3022 in the width direction of the machine body 10 to ensure high edge cleaning effect and cleaning efficiency. There are various embodiments for the case where there is no uncleaned area between the sub-mop 3022 and the main mop 2022. Specifically: First embodiment: There is a gap between the sub-cleaning disc 3021 and the main cleaning disc 2021, so that the rotations of the sub-cleaning disc 3021 and the main cleaning disc 2021 are not affected by each other. There is no gap between the main mop 2022 and the sub-mop 3022, so that no uncleaned area is created when the sub-mop 3022 and the main mop 2022 rotate and clean. For example, the adjacent edges between the main mop 2022 and the sub-mop 3022 are in tangential contact, so that no gap exists between them. Since the main mop 2022 and the sub-mop 3022 are usually flexible and have a certain degree of deformation, deformation occurs after the main mop 2022 and the sub-mop 3022 are used for a period of time, and such a phenomenon, in which play may occur between the tangential adjacent edges between the main mop 2022 and the sub-mop 3022, must be prevented. To ensure that no gap exists between the main mop 2022 and the sub-mop 3022, other means, as shown in Fig.26, the adjacent ends of the main mop 2022 and the sub-mop 3022 are pressed against each other to form a small second interference area 906 and to ensure that there is no gap between the main mop 2022 and the sub-mop 3022 without impeding the rotation of the main mop 2022 and the sub-mop 3022 with their respective cleaning discs. This allows for no uncleaned area to exist between the sub-cleaning disc 3021 and the right main cleaning disc 2021.However, in this embodiment, since the main mop 2022 and the sub-mop 3022 are always in tangential contact or pressed against each other, after the robot wipes the floor, one or more trace lines are liable to be left on the floor surface at a location where a tangential line or a pressed line (the second interference region 906) is formed between the adjacent edges of the two, whereby the floor surface cannot be sufficiently cleaned and thus the cleaning effect is impaired. The second interference region 906 is similar to the first interference region 905 above. The maximum width of the second interference region 906 between the main mop 2022 and the sub-mop 3022 may be about 1 mm, about 2 mm, about 3 mm, about 4 mm, about 5 mm, or about 6 mm, with no specific numerical limitations. As shown in Fig. 26, the maximum width of the second interference region 906 is: The maximum width of the second interference region 906 is a length L2 of an intersection line of a first connecting line with the second interference region 906 in the first connecting line of the rotation centers of the right main cleaning disk 2021 and the sub-cleaning disk 3021. Since the radius of the main cleaning disc 2021 is much larger than the radius of the sub-cleaning disc 3021, the rotation of the main cleaning disc 2021 is not affected, but the rotation of the sub-cleaning disc 3021 is affected if the maximum width of the second interference region 906 exceeds 5 mm. Therefore, the maximum width of the second interference region 906 is selected to be ≤ 5 mm, thereby preventing an uncleaned area while simultaneously not affecting the rotation of the main cleaning disc 2021 and the sub-cleaning disc 3021. Second Embodiment: There is a gap between the main cleaning disc 2021 and the sub-cleaning disc 3021, and the rotations of the two are not interfered with each other. There is also a gap between the adjacent or adjacent edges of the main mop 2022 and the sub-cleaning mop 3022. When the main mop 2022 and the sub-cleaning mop 3022 rotate with their respective cleaning discs, the main mop 2022 and the sub-cleaning mop 3022 do not interfere with each other. The main cleaning disc 2021 has a first portion 901. The sub-cleaning disc 3021 has a second portion 902.In the forward direction of the machine body 10, the first portion 901 and the second portion 902 have an overlapping area 903, whereby the main mop 2022 at the first portion 901 and the sub-mop 3022 at the second portion 902 also have the overlapping area 903 in the forward direction of the machine body 10. In this embodiment, since the main cleaning disc 2021 partially protrudes beyond the edge of the rear portion of the machine body 10, the second portion 902 of the sub-cleaning disc 3021 is located in front of the first portion 901 of the main cleaning disc 2021 in the forward direction of the machine body 10 (or the first portion 901 is located behind the second portion 902). During cleaning by the robot, the sub-mop 3022 first cleans the second portion 902 of the sub-cleaning disc 3021, and then the main mop 2022 cleans the first portion 901 of the main cleaning disc 2021. In the forward direction of the machine body 10, the cleaning areas by the two have an overlap area 903, thereby avoiding the presence of an uncleaned area.Compared with the above embodiment that there is no gap between the adjacent edges of the main mop 2022 and the sub-mop 3022, in this embodiment, due to the presence of a clearance between the sub-mop 3022 and the main mop 2022, the two do not have mutual interference, whereby no trace line is left on the floor surface after the robot wipes the floor, and thus the cleaning effect is better. Third Embodiment: It simultaneously includes the first embodiment and the second embodiment. Specifically, there is a gap between the main cleaning disc 2021 and the sub-cleaning disc 3021, and the two do not interfere with each other during rotation. The adjacent edges between the sub-mop 3022 and the main mop 2022 are in tangential contact or pressed against each other (there is a second interference region 906 above). At the same time, the sub-cleaning disc 3021 has the second portion 902, and the main cleaning disc 2021 has the first portion 901, with the second portion 902 being located in front of the first portion 901. The cleaning area of the sub-mop 3022 of the second section 902 and the cleaning area of the main mop 2022 of the first section 901 have an overlap area 903, thereby avoiding a duplicate uncleaned area.The first portion 901 of the main cleaning disk 2021 is located behind the tangential line or the pressed line between the adjacent edges between the sub-mop 3022 and the main mop 2022. When cleaning, a track line formed by the tangential line or the pressed line can be covered by the cleaning by the main mop 2022 at the first portion 901 of the main cleaning disk 2021 behind it, so that an uncleaned area is doubly avoided and at the same time, no track line is left on the floor surface, thus improving the cleaning effect of the floor surface, as shown in Fig. 9. At the same time, since there is no gap between the main mop 2022 and the sub-mop 3022, in a limited first area 103 (mentioned below) on the machine body 10, it is possible for the sub-cleaning disc 3021 to project vertically onto the bottom of the machine body 10 in the rotation center of the sub-cleaning disc 3021, the diameter of the sub-cleaning disc 3021 is selected to be larger, the sub-cleaning disc 3021 protrudes to a greater extent beyond the edge of the machine body 10 and thus the edge cleaning area is wider. By arranging the main cleaning disc 2021, the drive wheel 801, the chamber 108 for the dust box 401, the roller brush 403, and the side brush as described above, the cleaning area of the main cleaning disc 2021 is increased without increasing the length and width of the machine body 10. The main cleaning disc 2021 partially protrudes beyond the edge of the rear portion of the machine body 10 (i.e., the rear wall of the machine body 10). Here, the arrangement of the side brush, the roller brush 403, the dust box 401, the drive wheel 801, and the two main cleaning discs 2021 on the bottom (i.e., the chassis 101) of the machine body 10 remains unchanged. Since the main cleaning disc 2021 partially protrudes beyond the edge of the rear portion of the machine body 10, the sub-cleaning disc 3021 cannot be distributed behind the main cleaning disc 2021. To realize edge cleaning by the sub-mop 3022 on the sub-cleaning disc 3021, the sub-cleaning disc 3021 is arranged in the first area 103 enclosed between the rear part of the right drive wheel 801, the right cleaning disc, and the right bottom of the machine body 10.As a result, during manufacture of the chassis 101, it is only necessary to add a first bypass hole in the first region 103 on the chassis 101, so that the first drive structure 302 is partially connected to the sub-cleaning disc 3021 through the first bypass hole, and so that the sub-cleaning disc 3021 is located below the chassis 101. This means that when a sub-cleaning disc 3021 or no sub-cleaning disc 3021 is provided on the chassis 101, the arrangement of the side brush, the roller brush 403, the drive wheel 801, the chamber 108 for the dust box 401, and the main cleaning assembly 202 on the bottom of the chassis 101 is not changed. This reduces the cost of manufacturing and machining the chassis 101. A separate mold for the chassis 101 is not required.It is possible that the chassis 101 is first finished and then a first escape hole 60171 is machined in the chassis 101. At the same time, a space may be available for mounting the auxiliary cleaning assembly 302 in order to realize edge cleaning by the auxiliary cleaning mop. When the side brush and the sub-cleaning disc 3021 are arranged on the left side of the machine body 10 for left-edge cleaning, the sub-cleaning disc 3021 is correspondingly arranged in the first area 103 sandwiched between the rear of the left drive gear 801, the left main cleaning disc 2021, and the left bottom of the machine body 10 (or the left edge in the width direction of the machine body 10). That is, the sub-cleaning disc 3021 is distributed in the first area 103 sandwiched between the rear of the adjacent or contiguous drive gear 801, the main cleaning disc 2021, and the side edge of the machine body 10. At the same time, it is provided that for the provision of the secondary cleaning disc 3021 in the limited first area 103, the diameter of the secondary cleaning disc 3021 must be smaller than the diameter of the main cleaning disc 2021, and the radius R2 of the secondary cleaning disc 3021 is at least less than half the radius R1 of the main cleaning disc 2021, so that the main mop 2022 is designed as a large mop and the secondary mop 3022 as a small mop. In non-edge cleaning, cleaning is primarily performed with the large mop, while in edge cleaning, edge cleaning is primarily performed with the small mop. For example, R1 and R2 have a ratio of 2, or R1 and R2 have a ratio of 2.5, or R1 and R2 have a ratio of 4, or R1 and R2 have a ratio of 3.6. If the diameter of the sub-cleaning disc 3021 is too small, it can perform edge cleaning, but in terms of actual testing, the edge cleaning strength is insufficient, requiring the sub-cleaning disc 3021 to perform edge cleaning at least twice or more times. Considering the cleaning power and the absence of an uncleaned area between the sub-mop 3022 and the main mop 2022 in the limited space in the first area 103, R1 and R2 preferably have a ratio of 2 to 4. If the setting of R1 and R2 exceeds this range, one possibility is that the diameter of the sub-cleaning disc 3021 is too small, resulting in insufficient cleaning power, and thus requiring repeated edge cleaning. The other possibility is that the diameter of the sub-cleaning disc 3021 is too large, resulting in sufficient cleaning power, but the rotation center of the sub-cleaning disc 3021 is difficult to project vertically onto the first area 103 because the two main cleaning discs 2021 are arranged axially symmetrically on the bottom of the machine body 10.The rotation center of the auxiliary cleaning disc 3021 must project vertically onto the bottom of the machine body 10 and not protrude beyond the edge of the machine body 10 in order to mount the auxiliary cleaning disc 3021 on the bottom of the machine body 10. The arrangement of the auxiliary cleaning disc 3021 ensures that, on the one hand, the internal chamber of the machine body 10 is not in communication with the external environment, and, on the other hand, the above first drive structure 302 and second drive structure 201 function in a waterproof and dustproof manner. If the rotation center of the auxiliary cleaning disc 3021 extends beyond the edge of the machine body 10, the first drive structure 302 for driving the auxiliary cleaning disc 3021 cannot be arranged in the inner chamber of the machine body 10. The side wall of the machine body 10 must be provided with an escape gap. Part of the first drive structure 302 is located in the inner chamber of the machine body 10, while the other part protrudes beyond the machine body 10 through the escape gap. This causes the inner chamber of the machine body 10 to communicate with the outside environment, allowing water vapor, dust, garbage, and the like from the outside environment to enter the inner chamber of the machine body 10, thus affecting the electrical components in the machine body 10 and the stability of the movement of the first drive structure 302. This leads to a short service life and complex structure of the products. To ensure a relatively large radius for the secondary cleaning disc 3021, the edge area of the secondary mop 3022 is enlarged. At the same time, the interaction of the secondary mop 3022 and the main mop 2022 ensures that there is no uncleaned area between the cleaning areas of the secondary mop 3022 and the main mop 2022.And in the case where the position for disposing the main cleaning disk 2021 is not changed, the rotation center of the sub-cleaning disk 3021 is optimally located in front of the rotation center of the main cleaning disk 2021 in the forward direction of the machine body 10, so that the sub-cleaning disk 3021 is distributed in the first area 103 at an upper right position of the adjacent right main cleaning disk 2021, and the adjacent edges of the sub-mop 3022 and the main mop 2022 are in tangential contact or pressed against each other or have a small second interference area 906. In other words, in two embodiments with no sub-cleaning disc 3021 or with a sub-cleaning disc 3021, the arrangement of the main cleaning disc 2021, the drive gear 801, the chamber 108 for the dust box 401, and the rolling brush 403 at the bottom of the machine body 10 remains the same. When the arrangement of the main cleaning disc 2021, the drive gear 801, the chamber 108 for the dust box 401, and the rolling brush 403 at the bottom of the machine body 10, as well as the dimensions of the machine body 10, are not changed, a sub-cleaning disc 3021 is arranged in the first area 103 at an upper right position (or at an upper right corner) of the main cleaning disc 2021 behind the right drive gear 801.Since the rotation center of the sub-cleaning disc 3021 is located in front of the rotation center of the main cleaning disc 2021, the first connecting line between the rotation center of the sub-cleaning disc 3021 and the rotation center of the main cleaning disc 2021 intersects with the second connecting line between the rotation centers of the two main cleaning discs 2021. As shown in Fig. 9, the second connecting line between the rotation centers of the two main cleaning discs 2021 is perpendicular to the center line of the forward direction of the machine body 10, and the sub-cleaning disc 3021 is located behind the right drive gear 801.When the adjacent edges of the main mop 2022 and the sub-mop 3022 are in tangential contact or pressed against each other or have an interference area, this necessarily results in the main cleaning disc 2021 having the above first portion 901 and the sub-mop 3021 having the above second portion 902. In addition, the first portion 901 of the main cleaning disk 2021 is located behind the tangential line or the pressed line or the interference area between the adjacent edges of the sub-mop 3022 and the main mop 2022. When cleaning, the track lines formed by the tangential line, the pressed line or the interference area on the floor surface can be covered by the cleaning by the main mop 2022 at the first portion 901 performing cleaning behind it, so that the cleaning effect of the floor surface is improved. Thus, the radius of the sub-cleaning disc 3021 is maximized within the limited first area 103 at an upper right position (or an upper right corner) of the main cleaning disc 2021, thereby increasing the cleaning area for a single edge cleaning. The sub-cleaning disc 3021 simultaneously performs the edge cleaning function and doubles the cleaning effect, leaving no uncleaned area. No trace is left on the floor surface, and the cleaning effect of the floor surface is improved. Provided that the size of the chassis 101 is not increased, the arrangement and functions of the main cleaning disc 2021, the drive wheel 801, the side brush, the roller brush 403, and the chamber 108 for the dust box 401 on the chassis 101 are not affected, so that the structures at the bottom of the machine body 10 are arranged compactly. In another embodiment, it is provided that the above first connecting line and second connecting line can overlap in the width direction of the machine body 10. That is, the auxiliary cleaning disk 3021 is not arranged at the above-mentioned upper right position, but the rotation centers of the auxiliary cleaning disk 3021 and the two main cleaning disks 2021 lie on the same straight line (that is, the above first connecting line and second connecting line overlap). In this embodiment, it is provided that the spatial area between the maximum width of the right main cleaning disk 2021 and the right edge of the machine body 10 is smaller than the area of the above-mentioned first region 103 at an upper right position of the main cleaning disk 2021, whereby the diameter of the auxiliary cleaning disk 3021 is small. In this case, edge cleaning can be performed, but the edge cleaning area is small.The sub-mopping disc 3022 and the main mopping disc 2022 are in tangential contact, pressed against each other, or have an interference area, thus fulfilling a function with no uncleaned area. Since the rotation centers of the sub-cleaning disc 3021 and the two main cleaning discs 2021 are on the same straight line, the sub-cleaning disc 3021 cannot have a second section 902, and the main cleaning disc 2021 cannot have a first section 901. Thus, after the robot finishes cleaning, traces are left on the floor surface. Compared to the above embodiment in which the sub-cleaning disc 3021 is arranged at the upper right corner of the main cleaning disc 2021, the cleaning effect is poor. As shown in Fig. 9, the right corner and left corner of the rear portion of the machine body 10 of the square machine are rounded in an arc shape. A distance between the right edge of the maximum width of the main cleaning disk 2021 and the right edge of the machine body 10 is smaller. When such a sub-cleaning disk 3021 in which the above first connecting line and second connecting line overlap (that is, the rotation centers of the sub-cleaning disk 3021 and the two main cleaning disks 2021 are on the same straight line) is provided, the diameter of the sub-cleaning disk 3021 is set smaller, and thus the cleaning efficiency and cleaning effect are relatively weaker. In this embodiment, it is provided that when cleaning a surface to be cleaned by the auxiliary cleaning part, the pressure exerted by the auxiliary cleaning disc is preferably 900 to 1500 Pa, such as 900 Pa, 950 Pa, 1000 Pa, 1100 Pa, 1150 Pa, 1200 Pa, 1300 Pa, 1400 Pa, 1450 Pa or 1500 Pa. When the secondary cleaning disc and the main cleaning disc have the same rotational speed, the linear velocity of each pile on the small mop of the secondary cleaning disc is smaller than the linear velocity of each pile on the large mop of the main cleaning disc because the radius of the secondary cleaning disc is smaller than the radius of the main cleaning disc. By increasing the downward pressure of the secondary cleaning disc and the small mop, the friction force for cleaning stains by the small mop is increased at the same linear speed, making it easier to remove stains and thus improving the cleaning effect of the small mop.On the other hand, the degree of deformation of the pressed pile of the small mop can be further increased, so that the pile of the small mop can sufficiently wrap the stains, the contact area between the pile and the stains is increased, and the cleaning liquid can also immerse the stains more sufficiently, thereby further improving the cleaning effect of the small mop. For stains in a dead zone that cannot be cleaned by the main mop, it is possible that due to infrequent cleaning, the stains in this dead zone easily change from easy-to-clean stains to stubborn stains or solid stubborn stains, or the stains are originally liquid and become solid stubborn stains after drying and hardening, which comes into contact with and adheres to the surface of an object mainly through an interaction force between the molecules, where the adhesion force mainly comes from the van der Waals force. Usually, the adhesion strength increases with time and with the increase in the temperature of the object's surface. On this basis, for stains in a dead zone of an obstacle, it is possible that the stains in the dead zone easily change from easy-to-clean stains to stubborn stains over time due to infrequent daily cleaning.In one embodiment of the present application, the "dead zone" is a gap or area that arises between the main mop and an obstacle as the cleaning robot moves forward in its predetermined cleaning direction, and that cannot be cleaned by the main mop. Taking into account strategies for collision avoidance, jam avoidance, or fall avoidance, the cleaning robot must be kept at a predetermined distance from an obstacle. A dead zone that arises when the cleaning robot performs a cleaning task along the edge of an obstacle can be cleaned with less frequency. This leads to stubborn stains forming in this cleaning area, which become more difficult to remove over time.In one embodiment of the present application, an obstacle may be a physical, insurmountable object such as a wall, a piece of furniture, a household appliance, or the like, or it may also be a suspended and freely suspended area prone to falling, such as a freely suspended area, a step area, a steep slope area, a recess area, or the like. In the prior art, stubborn stains are usually removed by increasing the rotational speed of the cleaning disc to increase the frictional force for cleaning the stubborn stains, so that the stubborn stains can be removed. However, there is always an upper limit to the rotational speed of the auxiliary cleaning disc, which means that the rotational speed cannot be increased indefinitely. Moreover, increasing the rotational speed leads to increased effort, shortening the operating time and the service life of the mop disc. Outside, it is also the case that due to the small radius of the auxiliary cleaning disc itself, increasing the rotational speed cannot significantly increase its linear speed. Or even though the rotational speed of the auxiliary cleaning disc is increased, its finite linear speed is not enough to omit such stubborn stains. Rather, by increasing the downward pressure of the sub-cleaning disc, the friction force for cleaning stains by the small mop of the sub-cleaning disc (i.e., the sub-mop) is increased at the same linear speed, making the stains easier to clean and thus improving the cleaning effect of the small mop on stubborn stains. Then, the degree of deformation of the pressed pile of the small mop can be further increased, so that the pile of the small mop can sufficiently wrap the stains, the contact area between the pile and the stains is increased, and the cleaning fluid can also more sufficiently penetrate the stains, thereby further improving the cleaning effect of the small mop.The small mop with an increased degree of deformation can enlarge its cleaning area, so that the small mop can contact a dead zone such as a wall corner even when not swinging or spreading, thereby also enlarging the cleaning area of the small mop disc and thus improving the cleaning effect. As shown in Fig. 31, the downward pressure is controlled within a range of 900 to 1500 Pa, which not only improves the cleaning effect but also allows the service life of the small mop disc to be controlled within a desired range. When the downward pressure is lower than 900 Pa, the service life of the small mop is long, but it has a reduced area-specific cleaning ratio. When the downward pressure is higher than 1500 Pa, the small mop has a high area-specific cleaning ratio but a shortened service life.As can be seen from the figures, the downward pressure of the small mop is preferably controlled in the range of 900 to 1500 Pa, taking comprehensive account of the downward pressure, the area-related cleaning ratio with respect to the small mop, and the service life of the small mop. In some optional embodiments, it is provided that both the area-related cleaning ratio and the service life of the small mop can be obtained well if the downward pressure of the small mop is controlled at about 1000 Pa, for example, at about 900 Pa, 1000 Pa, or 1100 Pa. The so-called area-related cleaning ratio refers to a percentage of the stains remaining on a cleaned area in relation to the total stains in the cleaned area. The increased pressure of the small mop also mimics human operation. People typically deliberately press the mop when cleaning stubborn stains around the house to increase the pressure of the mop on the stains and thus achieve a better cleaning effect. On the one hand, the small mop features a pressure increase function to mimic the human operation of pressing the mop during cleaning, thus achieving a good cleaning effect on stubborn stains.On the other hand, in terms of software logic, a logic for increasing the pressure of the small mop is configured to realize smarter cleaning. This logic mimics human operation during mop cleaning and applies appropriate pressure to the mop depending on the degree of soiling, thus achieving maximum cleaning efficiency. By implementing such software logic in a vacuum cleaner, conventional repeated "carpet-like" cleaning can be avoided to a large extent, and instead, a planned and comparatively "smart" cleaning can be realized. From the perspective of industrial production and environmental protection, the use of a small mop extends the service life of the large mop, thus extending the service life of the entire mopping machine. This allows the machine to maintain good cleaning performance even in the middle or late stages of use, and reduces the frequency of mop replacement, thus reducing carbon emissions from the vacuum cleaner during its life cycle and thus protecting the environment. The reason for reducing carbon emissions is that the vacuum cleaner mop may be made of polyester material, but the raw material for such polyester material is usually petrochemical products, and the processing of such products generally involves high levels of environmental pollution and carbon emissions. Because the downward pressure of the sub-cleaning disc is increased, the small mop of the sub-cleaning disc can not only perform edge cleaning, but also detect the dirtiness of the floor surface when performing non-edge cleaning. When the dirtiness exceeds a preset value, the control unit can command the main cleaning disc to lift. The small mop of the sub-cleaning disc performs cleaning for debris or stains with higher dirtiness, so the small mop can not only perform edge cleaning but also clean stains with higher dirtiness. The rotation directions of the right sub-cleaning disc 3021 and the two main cleaning discs 2021 are different, and the corresponding edge cleaning effects differ from each other. Specifically, in the wiping position, the left main cleaning disc 2021 rotates counterclockwise, the right main cleaning disc 2021 rotates clockwise, and the sub-cleaning disc 3021 rotates counterclockwise. That is, the two main cleaning discs 2021 have opposite rotation directions, while the sub-cleaning disc 3021 and the right main cleaning disc 2021 have opposite rotation directions.Since the sub-mop 3022 rotates counterclockwise during cleaning, the sub-mop 3022 simultaneously sweeps the debris at an edge of an obstacle or a wall edge toward the right main cleaning disc 2021 in a direction while wiping the floor surface, so that the debris is moved to a first front area in front of the adjacent edges of the right main cleaning disc 2021 and the sub-mop 3021. Because the sub-mop 3022 and the main mop 2022 have an uncleaned area avoidance function, the debris moved from the edge of the obstacle or the wall edge to the first front area is cleaned, thereby further improving the edge cleaning effect. Second Embodiment: As shown in Fig. 20, in the wiping position, the left main cleaning disc 2021 rotates counterclockwise, the right main cleaning disc 2021 rotates clockwise, and the sub-cleaning disc 3021 rotates clockwise. That is, the two main cleaning discs 2021 have opposite rotation directions, while the sub-cleaning disc 3021 and the right main cleaning disc 2021 have the same rotation direction. Since the sub-cleaning disc 3021 rotates clockwise during cleaning, the sub-cleaning disc 3021 simultaneously brings the garbage in the first front area in front of the adjacent edges of the right main cleaning disc 2021 and the sub-cleaning disc 3021 to the edge of the obstacle while wiping along an edge of the floor surface.Since the right main cleaning disc 2021 rotates clockwise, the main mop 2022 simultaneously sweeps the debris in front of it or debris in a second front area in front of the adjacent edges of the two main mops 2022 into the first front area while mopping the floor. With prolonged cleaning, debris is prone to accumulating at the edge of the obstacle, reducing the edge cleaning effect of the sub-cleaning disc 3021. Third Embodiment: As shown in Fig. 22, in the wiping position, the left main cleaning disc 2021 rotates clockwise, the right main cleaning disc 2021 rotates counterclockwise, and the sub-cleaning disc 3021 rotates counterclockwise. That is, the sub-cleaning disc 3021 and the right main cleaning disc 2021 have the same rotation direction. Since the sub-cleaning disc 3021 rotates counterclockwise during cleaning, similar to the first embodiment, the sub-mopping disc 3022 simultaneously sweeps the debris at the edge of an obstacle or a wall edge toward the right main cleaning disc 2021 while wiping the floor surface, so that the debris is moved to a first front area in front of the adjacent edges of the right main cleaning disc 2021 and the sub-cleaning disc 3021. Because the sub-mopping disc 3022 and the main mop 2022 have an uncleaned area prevention function, the debris in the first front area is cleaned, thus improving the edge cleaning effect. Although the debris in the first front area cannot be cleaned by the adjacent edges of the main mop 2022 and the sub-mopping disc 3022 or the first section 901, it remains in the first front area.However, since the right main cleaning disc 2021 rotates counterclockwise, the main mop 2022 simultaneously brings the garbage remaining in the first front area to the second front area between the two main cleaning discs 2021 while wiping the floor surface. Since the two main mops 2022 themselves have an uncleaned area prevention function, the remaining garbage is further cleaned by the two main mops 2022, thereby further improving the edge cleaning effect of the sub-mop 3022. Compared to the first embodiment, this embodiment has a better cleaning effect. In the first embodiment, since the right main cleaning disc 2021 rotates clockwise, the main mop 2022 wipes the floor surface as the main cleaning disc 2021 rotates, and the main cleaning disc 2021 and the main mop 2022 simultaneously continuously move the garbage in front of the main cleaning disc 2021 or the garbage in the second front area between the two main cleaning discs 2021 to the first front area, the difficulty or intensity of cleaning by the sub-cleaning disc 3021 and the right main cleaning disc 2021 is increased. In this embodiment, by rotating the right main cleaning disc 2021 counterclockwise, the main cleaning disc 2021 and the main mop 2022 rotate, and the garbage in the first front area is moved to the second front area. Since the diameters of the two main mops 2022 are large, the cleaning ability and the dirty area prevention function of the two are stronger than the cleaning ability and dirty area prevention function of the right main mop 2022 and the sub-mop 3022. Thus, in this embodiment, a better edge cleaning effect is achieved through the cooperation of the main cleaning disc 2021 and the sub-mop 3021. Fourth Embodiment: As shown in Fig. 21, in the wiping position, the left main cleaning disc 2021 rotates clockwise, the right main cleaning disc 2021 rotates counterclockwise, and the sub-cleaning disc 3021 rotates clockwise. Similar to the second embodiment, since the sub-cleaning disc 3021 rotates clockwise during cleaning, the sub-cleaning disc 3021 simultaneously sweeps the debris in the front area of the adjacent edges of the right main cleaning disc 2021 and the sub-cleaning disc 3021 onto the edge of the obstacle while wiping along an edge of the floor surface. With cleaning for a period of time, the debris is prone to being accumulated at the edge of the obstacle, and thus the sub-cleaning disc 3021 exhibits a relatively reduced edge cleaning effect.However, since the right cleaning disc rotates counterclockwise compared to the second embodiment, the garbage in a front area thereof can be brought into a front area between the two main mops 2022 and thus cleaned by the two main mops 2022. The above second drive structure 201 is used to drive the main cleaning disc 2021 to rotate within the machine body 10 for wiping the floor surface. The first lifting structure is used to move the main cleaning disc 2021 in a lifting motion to switch between the lifting position and the wiping position. Each main cleaning disc 2021 corresponds to a set of a first drive structure 302 and a first lifting structure. The above first drive structure 302 drives the sub-cleaning disc 3021 to rotate and wipe the floor surface. A second lifting mechanism is used to drive the sub-cleaning disc 3021 to lift and switch between the lifting position and the wiping position. During cleaning, the main cleaning disc 2021 and the sub-cleaning disc 3021 can be synchronously in the lift position and synchronously in the wiping position, respectively. Due to the cooperation of the main cleaning disc 2021 and the sub-cleaning disc 3021, the main mop 2022 and the sub-mop 3022 synchronously wipe the floor surface. The main mop 2022 performs non-edge cleaning and the sub-mop 3022 performs edge cleaning. There is no uncleaned area in the cleaning areas between the two, thereby improving the cleaning effect. In a scene such as hitting a carpet, returning to the base station, or the like, the main cleaning disc 2021 and the sub-cleaning disc 3021 are in the lift position.The robot returns to the base station to recharge, wash the main mop 2022 and the sub-mop 3022, vacuum the debris from the dust box 401, and so on. Furthermore, in the non-edge cleaning mode, the sub-cleaning disc 3021 is in the lift position and the main cleaning disc 2021 is in the wiping position, with cleaning primarily performed by the main cleaning disc 2021. Of course, in the non-edge cleaning mode, the sub-cleaning disc 3021 and the main cleaning disc 2021 are also possible in the wiping position, and the sub-mopping mop 3022 and the main mopping mop 2022 wipe the floor. By the cooperation of the two, the area covered in the width direction of the machine body 10 is large in a single cleaning, the cleaning time is shortened, and thus the cleaning efficiency is increased.In the non-edge cleaning mode, the auxiliary cleaning disc 3021 should be prevented from being caught in the wiping position by another object or obstacle in an area to be cleaned, which could cause the auxiliary cleaning disc 3021 to easily detach from the machine body 10. Thus, the auxiliary cleaning disc 3021 is typically in the raised position during non-edge cleaning. During edge cleaning, the auxiliary cleaning disc 3021 is in the wiping position. In edge cleaning mode, the sub-cleaning disc 3021 is in the wiping position, while the main cleaning disc 2021 is in the raised position and cannot wipe the floor surface. This means that during edge cleaning, the main cleaning disc 2021 does not cooperate with the sub-cleaning disc 3021, and cleaning is performed exclusively by the main mop 2022. Its cleaning effect is inferior to that achieved when the main mop 2022 and the sub-cleaning mop 3022 are in the wiping position. The above second drive structure 201 and first lifting structure are the same structure used to lift and rotate the main cleaning disc 2021, to switch the main cleaning disc 2021 between the lifting position and the wiping position, and to rotate it in the wiping position, thereby making this drive structure compact and occupying a small space. Similarly, the above first drive structure 302 and the second lifting mechanism are the same structure used to lift and rotate the sub-cleaning disc 3021, to switch the sub-cleaning disc 3021 between the lifting position and the wiping position, and to rotate it in the wiping position, thereby making this drive structure compact and occupying a small space. That is,, the main cleaning disc 2021 or the secondary cleaning disc 3021 is moved and rotated by a motor. Either the same structure or different drive structures can be used for the first drive structure 302 and the second drive structure 201. For example, the first drive structure 302 and the second drive structure 201 may be a screw mechanism. The rotation direction of the main cleaning disc 2021 when lowering and the rotation direction when wiping the floor surface are identical. The rotation direction of the main cleaning disc 2021 when raising and the rotation direction when lowering are opposite. When no sub-cleaning module 30 is arranged in the internal chamber of the machine body 10, the chamber 108 for the dust box 401 (or the dust box 401), the main fan 402, the dust discharge duct 404 of the dry cleaning module 40, the second drive structure 201, and the water refilling mechanism are arranged in the machine body 10 as follows. The main fan 402 is used to suck the garbage into the dust box 401. A chamber 108 for the dust box 401, which serves to install the dust box 401, is provided in the machine body 10. Furthermore, a dust discharge duct 404 communicating with the dust box 401 is arranged in the machine body 10. This dust discharge duct is used to suck the garbage from the dust box 401 into the base station under the action of a vacuum cleaner of a base station. The dust box 401 has a dust inlet, an air outlet, and a dust outlet. The dust inlet communicates with the dust suction nozzle of the machine body 10, the air outlet is formed in the rear wall of the chamber 108 for the dust box 401, and the main fan 402 is arranged at the air outlet and is located behind the chamber 108 for the dust box 401. The air inlet is formed in the right side wall of the dust box 401. The dust outlet is formed in the left side wall of the dust box 401 or at a corner between the left side wall and the rear wall. The dust discharge duct 404 communicates with the dust outlet. The air inlet can communicate with the inner chamber of the machine body 10. The inner chamber of the machine body 10 serves as an air inlet area.Due to the suction effect of the vacuum cleaner fan, the air in the air inlet area opens a valve at the air inlet and enters the dust box 401. The debris in the dust box 401 is carried along by the air, opens a valve at the dust outlet, and is then sucked into a dust magazine of the base station via the dust discharge duct 404. In the forward direction of the machine body 10, the main fan 402 is located in front of the two first drive structures 302 and behind the chamber 108 for the dust box 401. The chamber 108 for the dust box 401 is located between the two drive wheels 801. Third drive mechanisms are provided in the machine body 10, each driving the drive wheels 801 for travel, wherein two of the third drive mechanisms are distributed on two sides of the chamber 108 for the dust box 401 and correspond to the drive wheels 801 driven by the same. The dust discharge duct 404 is usually arranged on the left side or at an interface between the left side and the rear of the chamber 108 for the dust box 401. In the inner chamber of the machine body 10, a second area 104 is enclosed between the dust discharge duct 404, the chamber 108 for the dust box 401, and the two second drive structures 201. The main fan 402 is distributed in the second area 104 in the inner chamber of the machine body 10. As shown in Fig. 10, the dry cleaning module 40 further includes an exhaust duct 405 connected to the air outlet of the main fan 402. The exhaust duct is arranged in the interior chamber of the machine body 10. One end of the exhaust duct is located in the second region 104, and the other end protrudes beyond the second region 104 and extends in a direction toward the right side wall of the machine body 10, communicating with an air outlet hole in the right side wall of the machine body 10 and, in turn, with the outside environment of the machine body 10. The water refill mechanism serves to refill the main cleaning part with water to provide wet cleaning for the main mop 2022. As shown in Figure 28, the water refill mechanism includes a water tank 501 and a pump body 502, with the water tank 501 and the pump body 502 communicating with each other via a conduit. The pump body 502 serves to pump a solution from the water tank 501 to the main mop 2022 to moisten the main mop 2022. In the inner chamber of the machine body 10, a third region 105 is formed between the two second drive structures 201 and the rear wall of the machine body 10. A fourth region 106 is enclosed between the left drive gear 801, the dust discharge duct 404, and the left side wall of the machine body 10. A fifth region 107 is enclosed between the right second drive structure 201, the right side wall of the machine body 10, and the exhaust duct of the main fan 402. If the above sub-cleaning module 30 is not provided, the water tank 501 and the pump body 502 are arranged in the inner chamber of the machine body 10 as follows: The water tank 501 is a profiled water tank 501, the profiled water tank 501 comprising a first tank body 503 and a second tank body 504 attached to and communicating with the first tank body 503. The two tank bodies can be formed either integrally or non-integrally. The first tank body 503 of the water tank 501 is arranged in the third region 105, the second tank body 504 is arranged in the fifth region 107, and the pump body 502 is arranged in the fourth region 106.Since the pump body 502 is a peristaltic pump or other pump body 502 with a relatively large volume and thus requires a lot of space, this arrangement provides for the peristaltic pump to be located in the fourth area 106. The water tank 501 is located in the third area 105 and the fifth area 107 to ensure that more solution can be held in relation to the capacity of the water tank 501 in order to refill the two main mops 2022 with water. The front wall of the water tank 501 is arranged circumferentially behind the housings of the two second drive structures 201 and outside the right side wall of the housing of the right second drive structure 201 to fill the third area 105 and the fifth area 107. When the above sub-cleaning module 30 is provided, the sub-cleaning disc 3021 is arranged behind the right drive gear 801 and in the first area 103 at an upper right position of the right main cleaning disc 2021. To arrange the first drive structure 302 in the inner chamber of the machine body 10, the arrangements of the main fan 402, the chamber 108 for the dust box 401, the dust discharge duct 404, the two second drive structures 201, the drive structure of the drive gear 801, and the exhaust duct of the main fan 402 in the inner chamber of the machine body 10 are not changed, as shown in Fig. 10. However, the arrangement of the water replenishment mechanism in the machine body 10 is changed. As shown in Fig. 10, the water refilling mechanism is arranged away from the fifth area 107 to reserve a mounting space for the first drive structure 302. The first drive structure 302 is arranged in the fifth area 107. Since the fifth area 107 is located behind the right drive gear 801 and on the right side of the right second drive structure 201, the first drive structure 302 is located just or almost just above the sub-cleaning disc 3021. It is sufficient to arrange only a few gear mechanisms between the output shaft 2031 of the first motor 203 of the first drive structure 302 and the sub-cleaning disc 3021 to transmit the driving force of the first motor 203 to the sub-cleaning disc 3021 to cause the sub-cleaning disc 3021 to rotate and reciprocate, so that the first drive structure 302 has a compact structure.This allows the first drive structure 302 to be arranged in the fifth region 107 to realize the rotation and reciprocating movement of the auxiliary cleaning disk 3021, even if the dimensions of the machine body 10, in particular the width of the machine body 10, remain unchanged, and the arrangements of the chamber 108 for the dust box 401, the main fan 402, the two second drive structures 201, and the dust discharge duct 404 in the inner chamber of the machine body 10 remain unchanged. The first drive structure 302 is designed to be modular overall to facilitate assembly and manufacture of the first drive structure 302. The first drive structure 302 can be preassembled and then installed in the inner chamber of the machine body 10 to facilitate installation in the inner chamber of the machine body 10. To minimize the volume of the water tank 501, the water tank 501 can be arranged according to various embodiments. Specifically: First Embodiment: As shown in Fig. 10, the pump body 502 is still arranged in the fourth area 106, the first tank body 503 is still arranged in the third area 105, and the second tank body 504 is connected to and communicates with the first tank body 503. The second tank body 504 is distributed above the top of the dust discharge channel 404 and extends in a direction toward the fourth area 106. The second tank body 504 can be partially located in the fourth area 106. The shape of the second tank body 504 is changed and its thickness is reduced, but the volume is not changed to ensure that the water tank 501 refills the two main mops 2022 and the sub-mop 3022 with water. Second Embodiment: To reduce the volume of the water tank 501, the pump body 502 is still arranged in the fourth region 106, and the first tank body 503 is arranged in the third region 105. The second tank body 504 is arranged distributed on the top of the housing of one of the second drive structures 201, for example, above the housing of the left second drive structure 201. The second tank body 504 is arranged near one side of the second region 104 to facilitate the connection of the water tank 501 and the pump body 502, wherein the shape of the second tank body 504 is also changed but the volume is not reduced. Furthermore, the second tank body 504 can also partially cover the top of the dust discharge channel 404 to increase the volume of the water tank 501 and further facilitate the connection to the pump body 502. Because the water refilling mechanism refills both the two main mops 2022 and the sub-mop 3022 with water, the second tank body 504 is optimally distributed above the housings of the two second drive structures 201 to increase the volume of the water tank 501. If the right second drive structure 201 and the first drive structure 302 are driven by a common motor, it is further provided that the common motor can be arranged in the fifth area 107, the second drive structure 201 is not provided with a motor, whereby the second drive structure 201 can reserve a space to mount the second water tank 501 and thus increase the volume of the water tank 501. Of course, it is also possible that no second tank body 504 is provided above the left first drive structure 302, while a second tank body 504 is provided only above the right second drive structure. Third Embodiment: The pump body 502 is arranged in the third area 105 and the water tank 501 is arranged in the fourth area 106 to ensure not to reduce the volume of the water tank 501 and thus meet the demand for water supply. Alternatively, the second tank body 504 of the water tank 501 is arranged in the fourth region 106, and the first tank body 503 of the water tank 501 is arranged in the third region 105. The volume of the first tank body 503 is reduced to reserve space for the pump body 502, so that the pump body 502 is arranged in the third region 105. For example, the pump body 502 is arranged in a partial region enclosed between the adjacent edges of the rear portions of the housings of the two second drive structures 201 and the rear wall of the machine body 10.Because this section encloses a recessed area at the rear portions of the adjacent edges of the housings of the two second drive structures 201 in the forward direction of the machine body 10, this section, formed between the recessed area and the rear wall of the machine body 10, has a large space to accommodate a peristaltic pump with a relatively large volume. The first tank body 503 is located on the left side of the pump body 502, covers the top of the dust discharge channel 404, and is connected to and in communication with the second tank body 504 in the fourth area 106. If another small-volume water pump is used instead of a peristaltic pump, the water pump can also be arranged in other subregions of the third area 105. For example, the pump body 502 is distributed in a subregion between the rear walls of the housings of the second drive structures 201 located on the right and left sides of the dust discharge channel 404 and the rear wall of the machine body 10. Alternatively, the pump body 502 is distributed in a subregion between the rear wall of the housing of the right second drive structure 201 and the rear wall of the machine body 10. Accordingly, the first tank body 503 covers the top of the dust discharge channel 404 and is connected to the second tank body 504. Fourth Embodiment: As an alternative embodiment to the above three embodiments of the water tank 501, the water tank 501 may be provided with no first tank body 503 and only with the second tank body 504. In particular, in an embodiment in which the water tank 501 is arranged in the fourth region 106, the first tank body 503 is arranged in the third region 105, and the pump body 502 is arranged in the third region 105, the first tank body 503 is required to partially cover the top of the dust discharge channel 404. The connection to the first tank body 503 makes it difficult to connect the two tank bodies. Since the fourth region 106 has a sufficiently large space, its volume is sufficiently large when no pump body 502 is provided and when the second tank body 504 fills the fourth region 106, whereby no first tank body 503 and only a second tank body 504 can be provided. And the pump body 502 is arranged in the third area 105 and closer to the main mop 2022 and the sub-mop 3022 to facilitate the delivery of a solution from the pump body 502 to the liquid outlets at the bottom of the machine body 10. Because the main cleaning disc 2021 and the sub-cleaning disc 3021 are formed with a plurality of hollowed-out areas or hollowed-out holes in their circumferential directions, the liquid outlets at the bottom of the machine body 10 correspond to the hollowed-out areas. The main mop 2022 is arranged at the bottom of the main cleaning disc 2021, and the main mop 2022 covers the bottom of the hollowed-out holes. As the main cleaning disc 2021 and the sub-cleaning disc 3021 rotate, the liquid dripped through the liquid outlets penetrates the hollowed-out areas and drips onto the main mop 2022 or the sub-cleaning mop 3022 to replenish the mop with water.At the bottom of the machine body 10, three liquid outlets are formed, namely a first liquid outlet, a second liquid outlet and a third liquid outlet, wherein the left first liquid outlet corresponds to the left main cleaning disc 2021, the middle second liquid outlet corresponds to the right main cleaning disc 2021, and the right third liquid outlet corresponds to the hollowed area of the sub-cleaning disc 3021. Therefore, in the internal chamber of the machine body 10, the arrangements of the chamber 108 for the dust box 401, the dust box 401, the dust discharge duct 404, the main fan 402, and the two second drive structures 201 remain unchanged. Based on the fact that the volume of the water tank 501 is not reduced, by changing the position of the water refill mechanism or the shape of the water tank 501, a space is reserved for the first drive structure 302, so that the first drive structure 302 is arranged in the fifth area 107, and the water refill mechanism 50 can refill the main mop 2022 and the sub-mop 3022 with water. Fifth Embodiment: The water refill mechanism uses a common pump body 502, but the distribution of the first tank body 503 and the second tank body 504 in the internal chamber of the machine body 10 is the same as in the previous four embodiments. However, the two tank bodies are independent of each other, with the first tank body 503 being used to refill the sub-mop 3022 with water, and the second tank body 504 being used to refill the main mop 2022 with water. For example, the second tank body 504 is arranged in the fourth area 106, and the first tank body 503 is arranged in the third area 105. The second tank body 504 has a large volume for refilling the two main mops 2022 with water, while the first tank body 503 has a small volume for refilling the sub-mop 3022 with water. The pump body 502 is arranged in the third area 105. The first tank body 503 is distributed near the first drive structure 302. The pump body 502 is located between the first tank body 503 and the dust discharge channel 404. The pump body 502 is connected to and communicates with the first tank body 503 and the second tank body 504 via a conduit. Or two pump bodies 502 are provided, each a first pump body 502 and a second pump body 502. The second tank body 504 is arranged in the fourth area 106, the first tank body 503 is arranged in the third area 105, and the first pump body 502 is arranged in the third area 105 to connect to the first tank body 503, convey the solution from the first tank body 503 to the third liquid outlet, and thus refill the sub-mop 3022 with water. The second pump body 502 can be arranged in the third area 105 or the fourth area 106 and is connected to the second tank body 504 to convey the solution from the second tank body 504 to the first liquid outlet and the second liquid outlet, and thus refill the two main mops 2022 with water. Another embodiment: By changing the exhaust duct of the main fan 402, a space is reserved for the first drive structure 302, which is available for the assembly of the first drive structure 302. Specifically, the main fan 402 is located behind the dust box 401 and between the two second drive structures 201. The exhaust duct is not located behind the right drive wheel 801; instead, it extends in a region between the housings of the two second drive structures 201 to the rear wall of the machine body 10 and communicates with the outside environment. The first drive structure 302 is arranged in the fifth area 107, which is formed between the rear part of the right drive wheel 801, the right side wall of the housing of the right second drive structure 201, and the right side wall of the machine body 10. The second water tank 501 of the water refill mechanism 50 is arranged in the fourth area 106.The second water tank 501 and the first water tank 501 are independent of each other, with the second water tank 501 refilling the two main mops 2022 with water, while the first water tank 501 refilling the sub-mop 3022 with water. By changing the position of the exhaust duct, the space of the fifth area 107 is increased, whereby the first water tank 501 is at least partially arranged in the fifth area 107 but located behind the first drive structure 302. The pump body 502 can be arranged in the third area 105. It is possible to provide a single pump body to refill the main mop 2022 and the sub-mop 3022 with solutions from the two tank bodies, respectively.If two pump bodies 502 are provided, i.e., a first pump body 502 and a second pump body 502, the first pump body 502 is used to refill the secondary mop 3022 with the solution from the first tank body 503, while the second pump body 502 is used to refill the secondary mop 3022 with the solution from the second tank body 504. Ideally, the first pump body 502 and the second pump body 502 are located on both sides of the exhaust air duct. The above first drive structure 302 and second drive structure 201 may be either the same structure or different structures. Preferably, the first drive structure 302 and the second drive structure 201 are the same. To simplify the description, the first drive structure 302 will be used as an example below. The first drive structure 302 comprises the first motor 203 and the lifting assembly 60, wherein the lifting assembly 60 is connected to the secondary cleaning disc 3021, and wherein the lifting assembly 60 brings the secondary cleaning disc into lifting movement and thus into rotation in the wiping position for wiping the floor surface. As shown in Fig. 11, the first drive structure 302 comprises the first motor 203 and the lifting assembly 60, wherein the lifting assembly 60 is connected to the secondary cleaning assembly 302, and wherein the lifting assembly 60 brings the secondary cleaning assembly into lifting movement and thus into rotation in the wiping position. The lifting assembly 60 includes a first fastening body and a second fastening body, the first fastening body being connected to the output shaft 2031 of the first motor 203. The second fastening body is connected to the sub-cleaning assembly 302, and a screw mechanism is formed between the first fastening body and the second fastening body. In the first embodiment of the lifting assembly 60, the output shaft 2031 rotates in a first direction and, through the screw mechanism, lowers the second fastening body relative to the first fastening body, wherein the secondary cleaning disc 3021 rotates during the lowering. In the wiping position, the output shaft 2031 rotates in the first direction and the second fastening body is no longer lowered relative to the first fastening body, while the second fastening body rotates to rotate the cleaning assembly and thus clean the surface to be cleaned. The output shaft 2031 rotates in a second direction and, through the screw mechanism, raises the second fastening body relative to the first fastening body to raise the secondary cleaning assembly 302. That is, in the first embodiment, the lowering, lifting and rotation of the sub-cleaning disk 3021 are driven by the first motor 203. As shown in Fig. 11, Fig. 12, Fig. 13 and Fig. 27, for example, the first fastening body includes a first sleeve 6011, wherein an upwardly recessed first mounting chamber is formed on the bottom side of the first sleeve 6011, and an upper side of the first sleeve is drivingly connected to the output shaft 2031 of the first motor 203. The second fastening body includes a second sleeve 6012 and an outer shell 6017, wherein a downwardly recessed first annular chamber 60122 is formed on an upper side of the second sleeve 6012 and an upwardly recessed second mounting chamber 60122 is formed on a lower side of the second sleeve. A mounting projection 3023 is detachably mounted in the second mounting chamber 60122 on the top side of the sub-cleaning disk 3021. The first sleeve 6011 is embedded in the first annular chamber 60122 through the first mounting chamber. The outer shell 6017 is placed on the second sleeve 6012 and fixed relative to the machine body 10.A damping part is provided between the inner wall of the outer shell 6017 and the outer wall of the second sleeve 6012 so that the second sleeve 6012 can rotate relative to the first sleeve 6011 for the lifting movement. At least one rib 6014 is provided on the outer wall of the first sleeve 6011, while at least one threaded groove 6013 matching the rib 6014 is provided on the inner wall of the second sleeve 6012, wherein the rib 6014 and the threaded groove 6013 form a screw mechanism. A first limiting portion 6015 is formed on an upper side of the threaded groove 6013, and in the wiping position and in the screwing direction of the threaded groove 6013, the rib 6014 rests against a side wall of the first limiting portion 6015 to limit further lowering movement of the second sleeve 6012 relative to the first sleeve 6011. The first motor 203 may be arranged on the outer shell 6017 and fixed relative to the machine body 10.Or the first motor 203 may be arranged on the outer shell 6017 and the outer shell 6017 is fixed relative to the machine body 10. In the lifting assembly 60 according to this embodiment, it is provided that when the output shaft 2031 of the first motor 203 rotates in the first direction, the first sleeve 6011 is set in rotation. The rib 6014 on the outer wall of the first sleeve 6011 rotates in the threaded groove 6013 in the inner wall of the second sleeve 6012. Because a damping part is provided between the outer shell 6017 and the second sleeve 6012, the second sleeve 6012 and the first sleeve 6011 have different rotational speeds under the action of the damping part. The second sleeve 6012 can be set in a lowering movement relative to the first sleeve 6011, and in turn, the auxiliary cleaning disc 3021 is set in a lowering movement.When the rib 6014 abuts the first limiting portion 6015 on the top of the threaded groove 6013, the first limiting portion 6015 limits further rotation of the rib 6014 relative to the second sleeve 6012, and the second sleeve 6012 no longer descends and reaches the wiping position. At this time, the output shaft 2031 of the first motor 203 continues to rotate in the first direction, no relative movement occurs between the second sleeve 6012 and the first sleeve 6011, the first sleeve 6011 and the second sleeve 6012 rotate synchronously, and the second sleeve 6012 continues to rotate the sub-cleaning disk 3021, so that the sub-mopping mop 3022 rotates to wipe the floor surface. In contrast, the first motor 203 rotates in the second direction and causes the first sleeve 6011 to rotate in the opposite direction. The rib 6014 on the outer wall of the first sleeve 6011 rotates in the threaded groove 6013 of the second sleeve 6012. Under the action of the damping member, the second sleeve 6012 is lifted relative to the first sleeve 6011, thereby causing the sub-cleaning disk 3021 to lift. Furthermore, a second limiting portion 6016 is provided at the bottom of the threaded groove 6013. In the screwing direction of the thread groove 6013, the rib 6014 lies on the side wall of the second limiting portion 6016, so that the lifting position of the second sleeve 6012 is limited and thus a single first motor 203 is used to set the auxiliary cleaning disk 3021 in lifting movement, lowering movement or rotation. In this embodiment, a second sleeve 6012 is used. The first annular chamber 60122 at the top of the second sleeve 6012 is cooperatively connected to the first sleeve 6011, thereby forming a screw mechanism for reciprocating and rotating. The second mounting chamber 60122 at the bottom of the second sleeve 6012 is connected to the sub-cleaning disc 3021, and the first annular chamber 60122 is located on the outer periphery of the second mounting chamber 60122, so that the height of the lifting assembly 60 does not increase, and at the same time, the mounting protrusion 3023 at the top of the sub-cleaning disc 3021 is arranged in the second mounting chamber 60122. As a result, the entire lifting assembly 60 has a simple and compact structure, forming a modular structure overall, and thus requires less space in the internal chamber of the machine body 10. The sub-cleaning disc 3021 is located below the chassis 101 of the machine body 10. A first escape hole is formed in the chassis 101. The first sleeve 6011 and the first motor 203 are located in the inner chamber of the machine body 10. The bottom of the second sleeve 6012 penetrates through the first escape hole, so that the second mounting chamber 60122 communicates with the outside. This facilitates the mounting projection 3023 of the sub-cleaning disc 3021 being mounted into the second mounting chamber 60122 outside the machine body 10. The mounting projection 3023 can be mounted in the second mounting chamber 60122 by a magnetic connection, or by a snap connection with a snap buckle, a spring shaft, a groove, or by another detachable fastening. There are at least three embodiments for the damping part. In a first embodiment of the damping part, at least one escape hole 60171 is formed on the outer shell 6017, as shown in Fig. 11. For example, at least two escape holes 60171 are evenly formed on the circumference of the outer shell 6017. At least one first projection is provided in each escape hole 60171. The first projection protrudes in a direction toward the second sleeve 6012 to provide a press-fit against the outer wall of the second sleeve 6012. For example, the first projection is wave-shaped. This damping part is a first projection. A press-fit contact is formed between the first projection and the second sleeve body 6023. During the reciprocating movement of the second sleeve 6012, the damping part prevents a frictional force from occurring on the second sleeve 6012, so that the second sleeve 6012 and the first sleeve 6011 have different rotation speeds, thus allowing the second sleeve 6012 to be set in a reciprocating movement relative to the first sleeve 6011. In a second embodiment of the damping part, the outer shell 6017 is provided with at least one escape hole 60171, wherein a rotatable first rotational body is provided in the escape hole 60171, and wherein a press-fit contact is formed between the first rotational body and the outer wall of the second sleeve 6012, as shown in Fig. 11. During the raising and lowering of the secondary cleaning disc 3021, the first rotational body does not rotate. In the wiping position, there is rolling friction between the first rotational body and the second sleeve 6012, wherein the first rotational body serves as a damping part. In the damping part according to this embodiment, the damping part is the first rotating body. During the lifting movement of the second sleeve 6012, the first rotating body does not rotate. Sliding friction exists between the second sleeve 6012 and the first rotating body. When the second sleeve 6012 rotates the auxiliary cleaning disc 3021 to wipe the floor surface, the second sleeve 6012 rotates to rotate the first rotating body, so that rolling friction is formed between the second sleeve 6012 and the first rotating body. Compared to Embodiment 1, when the auxiliary cleaning disc 3021 is rotated by the second sleeve 6012, the friction force between the first projection 60181 and the second sleeve 6012 is reduced, wear on the damping part and the second sleeve 6012 is reduced, and the service life of the lifting assembly 60 is extended.In a third embodiment of the damping part, the damping part is a sealing brush, wherein the sealing brush rests with one end against the inner wall of the outer shell 6017 and with the other end in a press fit against the outer wall of the second sleeve 6012 to form a flexible contact. A sealing brush, which is circumferentially inserted or glued into the wall surface on the inner circumference of the outer shell 6017, serves as the damping part, so that a flexible friction force is formed between the second sleeve 6012 and the damping part when the second sleeve 6012 causes the secondary cleaning disc 3021 to reciprocate and rotate.Compared to the first two embodiments, in which a rigid friction force is formed between the damping part and the second sleeve 6012, this reduces wear between the second sleeve 6012 and the sealing brush, thus protecting both the sealing brush and the second sleeve 6012, so that the damping part fulfills the damping function while simultaneously extending the service life of the second sleeve 6012. This ensures that the lifting assembly 60 can reciprocate and rotate the auxiliary cleaning disk 3021 by driving the first motor 203. Furthermore, because the first drive structure 302 is arranged in the inner chamber of the machine body 10, the upper housing 102 of the machine body 10 must be opened when replacing or maintaining the lifting assembly 60. This makes replacing and maintaining the lifting assembly 60 inconvenient.The use of a sealing brush as the damping part allows the service life of the lifting assembly 60 to be extended and the frequency for maintenance to be reduced. In a second embodiment of the lifting assembly 60, the lowering of the auxiliary cleaning disc 3021 is achieved by driving the gravity of the second mounting body, the auxiliary cleaning disc 3021, and the auxiliary mop 3022, and the rotation of the auxiliary cleaning disc 3021 is achieved by driving the first motor 203 in the first direction. The raising of the auxiliary cleaning disc 3021 is achieved by rotating the first motor 203 in the second direction to rotate the first mounting body, so that the second mounting body raises the auxiliary cleaning disc 3021. As shown in Fig. 18, it is specifically provided that the first fastening body comprises a first sleeve body 6021, which is mounted on the output shaft 2031 of the first motor 203 through a first unidirectional bearing 6024. The first unidirectional bearing 6024 has a transmitting state in which the power of the output shaft 2031 is transmitted to the first sleeve body 6021, and a disconnected state in which the power transmission of the output shaft 2031 to the first sleeve body 6021 is disconnected. The second mounting body includes a floating shaft 6022 and a second sleeve body 6023, the second sleeve body 6023 being rotatably mounted on an outer wall of the floating shaft 6022. The floating shaft 6022 is connected at the top to the output shaft 2031 and at the bottom thereof to the mounting projection 3023 on the top of the sub-cleaning disk 3021. A screw mechanism is formed between the second sleeve body 6023 and the first sleeve body 6021. A downwardly recessed second annular chamber 60231 is formed on the upper surface of the second sleeve body 6023. The lower portion of the first sleeve body 6021 is embedded in the second annular chamber 60231, and the upper portion is located outside the second annular chamber 60231 and is mounted on the unidirectional bearing. At least one first screw surface 6025 is provided on the outer wall surface of the lower portion of the first sleeve body 6021, while at least one first roller 6026 is provided on the inner wall of the second annular chamber 60231 of the second sleeve body 6023. The first rollers 6026 correspond uniquely to the first screw surfaces 6025, the first rollers 6026 abut against the first screw surfaces 6025, and the first screw surfaces 6025 and the first rollers 6026 form the above screw mechanisms.A third limiting portion is provided on the underside of the first screw surface 6025, and a fourth limiting portion is provided on the top side of the first screw surface 6025. When the output shaft 2031 of the first motor 203 rotates in the first direction, the first sleeve body 6021 is in the separated state under the action of the unidirectional bearing. The output shaft 2031 drives the floating shaft 6022 into rotation. Because the floating shaft 6022 is rotatably connected to the second sleeve body 6023, for example, through the bearing, the floating shaft 6022 rotates and the second sleeve body 6023 does not rotate, thus driving the sub-cleaning disc 3021 into rotation. At the same time, due to the gravity of the second sleeve body 6023, the floating shaft 6022, the sub-cleaning disc 3021 and the sub-mop 3022, the first roller 6026 on the second sleeve body 6023 moves downward along the first screw surface 6025 to lower the second sleeve body 6023, the floating shaft 6022 and the sub-cleaning disc 3021 as a whole.When the first roller 6026 abuts against the third limiting portion, the third limiting portion blocks further downward movement of the first roller 6026 to reach the wiping position. In the wiping position, the output shaft 2031 of the first motor 203 continues to rotate in the first direction to rotate the floating shaft 6022, the sub-cleaning disc 3021, and the sub-mopping mop 3022, thereby wiping the floor surface. When the output shaft 2031 of the first motor 203 rotates in the second direction, the power of the output shaft 2031 is transmitted to the first sleeve body 6021 under the action of the unidirectional bearing. The first sleeve body 6021 is in the transmitting state, and the output shaft 2031 simultaneously rotates the first sleeve body 6021 and the floating shaft 6022. When the first sleeve body 6021 rotates to rotate the first roller 6026 of the second sleeve body 6023 at the first screw surface 6025, the second sleeve body 6023 causes the floating shaft 6022 and the sub-cleaning disc 3021 to lift.When the first roller 6026 abuts against the fourth limiting portion, the first roller 6026 is no longer lifted and the sub-cleaning disc 3021 reaches the lifting position, so that the lifting movement and rotation of the sub-cleaning disc 3021 are realized using a first motor 203 and the screw mechanism of the lifting assembly 60. As an alternative embodiment, the first threaded surface and the first roller 6026 may be positioned in reverse, or a second screw surface may be provided instead of the first roller 6026. Furthermore, it is provided that the lifting assembly 60 further comprises a first return element 6027 which is arranged between the floating shaft 6022 and the output shaft 2031 in order to exert a downward return force on the floating shaft 6022 and the cleaning assembly, so that the auxiliary mop 3022 of the auxiliary cleaning disk 3021 is always in contact with the floor surface and the friction force is increased and thus the cleaning of the floor surface by the auxiliary mop 3022 is facilitated. The first return element 6027 may be a compression spring arranged between the third mounting chamber 20311 of the output shaft 2031 and the top of the floating shaft 6022. To facilitate the assembly of the compression spring, there are two designs for the connection between the floating shaft 6022 and the output shaft 2031. In a first design, as shown in Fig. 18, a third mounting chamber 20311 is provided on the underside of the output shaft 2031 and the inner bore of the floating shaft 6022 is designed as a fourth mounting chamber 60221, wherein the floating shaft 6022 is arranged in the third mounting chamber 20311. The mounting projection 3023 on the upper side of the auxiliary cleaning disk 3021 is detachably arranged in the fourth mounting chamber 60221. An annular step surface can be provided in the fourth mounting chamber 60221, wherein the compression spring rests with one end on the upper side of the third mounting chamber 20311 of the output shaft 2031 and with the other end on this step surface. In a second embodiment, the floating shaft 6022 is not arranged in the third mounting chamber 20311 of the output shaft 2031, but instead the floating shaft 6022 is mounted on the outer circumference of the output shaft 2031. The fourth mounting chamber 60221 is located on the outer circumference of the third mounting chamber 20311, while the compression spring is mounted on the outer circumference of the floating shaft 6022. The compression spring is arranged on the top side of the output shaft 2031 and on the other end of the floating shaft 6022 in order to exert a downward force on the floating shaft 6022. For example, an annular step surface is formed on the outer wall of the output shaft 2031, with the top side of the compression spring resting against this annular step surface.The bottom of the mounting projection 3023 is arranged on the inner wall of the bottom of the fourth mounting chamber 60221 to realize a connection between the sub-cleaning disk 3021 and the floating shaft 6022. In the wiping position, the mounting projection 3023 of the sub-cleaning disk 3021 is located in the fourth mounting chamber 60221, may partially protrude into the third mounting chamber 20311, or does not protrude into the third mounting chamber 20311. That is, the fourth mounting chamber 60221 is located below the third mounting chamber 20311. In the lifting position, the fourth mounting chamber 60221 is located on the outer periphery of the third mounting chamber 20311, the compression spring is in a compressed state, and the mounting projection 3023 of the sub-cleaning disk 3021 protrudes into the third mounting chamber 20311, so that the floating shaft 6022, the output shaft 2031, and the compression spring each have a compact structure and a small footprint. Compared to the first embodiment for the connection between the floating shaft 6022 and the output shaft 2031, the secondary cleaning disc 3021 in this embodiment has a larger lifting height.In another embodiment of the first drive structure 302, as shown in Figs. 14 to 16, the lifting assembly 60 includes a third sleeve body 6031 mounted on the output shaft 2031 of the first motor 203 through a second unidirectional bearing; wherein the second unidirectional bearing has a transmitting state in which the power of the output shaft 2031 is transmitted to the third sleeve body 6031, and a disconnected state in which the power transmission of the output shaft 2031 to the third sleeve body 6031 is disconnected; wherein a bottom side of the output shaft 2031 is connected to the cleaning assembly; and a support body 6032 fixed relative to the machine body 10, the support body 6032 being located on an outer side of the third sleeve body 6031, and a screw mechanism being formed between the support body 6032 and the third sleeve body 6031;The screw mechanism includes, for example, a third screw surface 6034 and a second mating element matching the third threaded surface, and the second mating element is a fourth threaded surface or a second roller. Here, the second mating element is taken as the fourth screw surface 60351. One of the third threaded surface and the fourth screw surface 60351 is arranged on the support body 6032, while the other of them is arranged outside the third sleeve body 6031. For example, the fourth screw surface 60351 is arranged on the outer wall surface of the third sleeve body 6031. A shoulder 6035 is provided protrudingly on the outer wall of the third sleeve body 6031. A fourth screw surface 60351 is formed on the underside of the shoulder 6035, and the third screw surface 6034 is formed on the support body 6032, with the third screw surface 6034 abutting against the fourth screw surface 60351. When the output shaft 2031 of the first motor 203 rotates in the first direction, the output shaft 2031 rotates the sub-cleaning disc 3021 by connecting the sub-cleaning disc 3021 to the output shaft 2031. Under the action of the unidirectional bearing, the third sleeve body 6031 is in the separated state. Due to the gravity of the third sleeve body 6031, the sub-cleaning disc 3021, and the sub-mop 3022, the third screw surface 6034 of the third sleeve body 6031 rotates against the fourth screw surface 60351, thereby lowering the sub-cleaning disc 3021. When lowering in the wiping position, the output shaft 2031 of the first motor 203 continues to rotate in the first direction in the wiping position, the third sleeve body 6031 is not brought into any further lowering movement relative to the support body 6032, and the output shaft 2031 causes the cleaning assembly to rotate. When the output shaft 2031 of the first motor 203 rotates in the second direction, the third sleeve body 6031 is in the transmitting state. The third sleeve body 6031 and the sub-cleaning disc 3021 rotate, and the third screw surface 6034 on the third sleeve body 6031 rotates against the fourth screw surface of the support body 6032 to cause the third sleeve body 6031 and the sub-cleaning disc 3021 to lift relative to the support body 6032, thereby causing the sub-cleaning disc 3021 to lift. Because the support body 6032 is fixed relative to the machine body 10, the output shaft 2031 is connected to the underside of the auxiliary cleaning disc 3021. The third sleeve body 6031 is arranged outside the output shaft 2031 by the second unidirectional bearing, so that when the auxiliary cleaning disc 3021 is lifted by the third sleeve body 6031, the lifting assembly 60 as a whole is raised or lowered relative to the support body 6032. The first motor 203 and the lifting assembly 60 are arranged on the housing, so that the first motor 203 and the housing are lifted synchronously. Rather, in the above first embodiment and second embodiment of the lifting assembly 60, it is provided that the first motor 203, the housing for mounting the first motor 203 and the third sleeve body 6031 or the first sleeve 6011 of the lifting assembly 60 are not raised or lowered, but the second sleeve body 6023 or the second sleeve 6012 connected to the auxiliary cleaning disk 3021 is set in lifting motion. In order to limit a further lowering of the third sleeve body 6031 in the wiping position, the third threaded surface is provided on the support body 6032, wherein a third limiting portion is formed on an underside of the third screw surface 6034; and wherein, in the screwing direction of the third threaded surface, the second counter portion abuts against a side wall of the third limiting portion in order to limit the further lowering of the third sleeve body 6031 relative to the support body 6032 in the wiping position. Similar to the second embodiment, the cleaning device further comprises a first housing 6037 and a second return member 6036; wherein the first motor 203 and the output shaft 2031, as well as the third sleeve body 6031, are arranged on the first housing 6037, and the first housing 6037 is vertically slidably arranged on the support body 6032; wherein the second return member 6036 is arranged between the first housing 6037 and the support body 6032, wherein the second return member 6036 is used to exert a second downward return force on the first housing 6037; and wherein the second return force, by exerting on the housing, in turn acts on the sub-cleaning disk 3021, so that the sub-mop 3022 on the underside of the sub-cleaning disk 3021 is in contact with the floor surface.At the same time, the lifting assembly of the housing, the first motor 203 and the lifting assembly 60 as a whole ensure that, during the rotation of the first motor 203 in the first direction, the housing as a whole is set in a lowering movement relative to the support body 6032 by the interaction of the gravitational force of the third sleeve body 6031, the housing and the cleaning assembly as well as the second restoring force, whereby the driving force for the lowering of the auxiliary cleaning disc 3021 is increased. As shown in Fig. 16, it further comprises a torsion component, wherein the torsion component is, for example, a torsion spring 6038, wherein the torsion spring 6038 is placed on the third sleeve body 6031, is connected at one end to the support body 6032, and abuts the third sleeve body 6031 with the other end to exert a torque on the third sleeve body 6031, so that the third sleeve body 6031 rotates downward relative to the support body 6032. During the countersinking, the torque generated by the torsion spring 6038 causes the third screw surface 6034 or the second roller on the third sleeve body 6031 to rotate to rotate on the fourth screw surface 60351 on the outer wall of the support body 6032. Furthermore, it is provided that a thread groove 6013 can be provided instead of the third screw surface 6034 and a thread tooth or a rib 6014 can be provided instead of the second counter element or vice versa.When the shoulder 6035 of the third sleeve body 6031 rotates downward in the threaded groove 6013, the rib 6014 tends to spirally rotate, as the top of the threaded groove 6013 exerts an effective force on the rib 6014. Therefore, the above torsion spring 6038 cannot be provided. As shown in Fig. 17, a reduction gear is typically provided between the first motor 203 and the output shaft 2031. To change the speed ratio for driving the sub-cleaning disc 3021 through the output shaft 2031, a sun gear 60391, a planetary gear 60393, a ring gear 60392, and a planetary gear carrier 60394 are arranged on the output shaft 2031. The sun gear 60391 is mounted on the output shaft 2031 through a unidirectional bearing. The planetary gear carrier serves as the third sleeve body 6031, and the shoulder 6035 and the fourth screw surface 60351 or the second roller are provided outside the third sleeve body 6031. The ring gear 60392 serves as the first housing 6037 and an extension portion 603941 is provided on the outer wall thereof, wherein the extension portion 603941 is slidably arranged on the support body 6032. Optionally, the second drive structure 201 of the right main cleaning disc 2021 and the first drive structure 302 of the sub-cleaning disc 3021 are structurally identical. They use the common first motor 203 to reduce costs and reduce the space required by the two drive structures in the inner chamber of the machine body 10. In particular, a first gear mechanism is provided, wherein the first gear mechanism is connected at one end to the output shaft 2031 of the first motor 203 and has a first output and a second output at the other end; wherein the first output is connected to the lifting assembly 60 of the first drive structure 302 and the second output is connected to the lifting assembly 60 of the second drive structure 201, so that one of the first motors 203 synchronously causes the main cleaning assembly 202 and the secondary cleaning assembly 302 to reciprocate and rotate. For example, when the lifting assembly 60 is configured according to the first embodiment, the first output is connected to the first sleeve 6011 of the lifting assembly 60 of the first drive structure 302, and the second output is connected to the first sleeve 6011 of the lifting assembly 60 of the second drive structure 201, so that the first motor 203 rotates in the first direction, the first sleeves 6011 of the two lifting assemblies 60 rotate, and the second sleeve 6012 is reciprocated to realize synchronous reciprocating motion and synchronous wiping of the floor surface, and also to facilitate control of the first motor 203. The first transmission mechanism may be a belt transmission, a gear train, or the like. When the lifting assembly 60 is configured according to the second embodiment or the third embodiment, one of the third sleeve bodies 6031 of the two lifting assemblies 60 is mounted on the first output by a unidirectional bearing, while the other third sleeve body 6031 is mounted on the second output by a unidirectional bearing. Based on the rotation directions of the above two main cleaning discs 2021 and the sub-cleaning disc 3021, using a single first motor 203, the rotation directions of the sub-cleaning disc 3021 and the main cleaning disc 2021 can be either the same or opposite. Accordingly, there are at least two embodiments for the implementations. Here, the opposite rotation directions of the sub-cleaning disc 3021 and the right main cleaning disc 2021 are taken as an example. First embodiment: The screw mechanisms of the two lifting assemblies 60 have the same screw direction, while the first output and the second output have opposite rotation directions. For example, by providing different numbers of gears for the gear mechanism, it is possible for the first output and the second output to have different rotation directions. Second embodiment: The screw directions of the screw mechanisms of the two lifting assemblies 60 are opposite, while the first output and the second output have the same rotation direction. Similarly, it is provided that the above first exit and the second exit have the same rotation direction and the screw mechanisms of the two lifting assemblies 60 also have the same screw direction when the sub-cleaning disc 3021 and the right main cleaning disc 2021 have the same rotation direction. For example, as shown in Fig. 6 and Fig. 7, Fig. 6 and Fig. 7 show a circular machine, but the first drive structure and the second drive structure can be identical in themselves. The transmission mechanism is a gear set. For example, the gear set comprises a main gear 604 and four transmission gears 605. The main gear is arranged on the output shaft 2031, with one of the transmission gears meshing with the main gear. A first output shaft is provided in the inner bore of the transmission gear, the first output shaft having a first output. Three of the transmission gears mesh with the main gear, and the inner bore of the last transmission gear at the end serves to attach a second output shaft, the second output shaft having a second output, so that the first output and the second output have the same direction of rotation. If the second output and the first output are to have different directions of rotation, this is made possible by changing the number of gear wheels between the main gear and the end gear at the first output or at the second output. Or the first output and the second output have opposite rotation directions, and at the same time the screw mechanisms of the two lifting assemblies 60 have opposite screw directions. Of the first direction and the second direction in the rotation of the output shaft 2031 of the above first motor 203, one is clockwise and the other is counterclockwise. Furthermore, in existing cleaning robots in the prior art, it is provided that, as the robot moves forward, a buffer 70 located in front of the machine body first encounters an obstacle and is pushed by the obstacle. Based on a signal from the buffer 70 or a corresponding signal triggered by the buffer 70, a controller controls a drive system of the robot to perform actions to enable actions such as obstacle avoidance, edge cleaning, obstacle negotiation, and the like. By having an auxiliary cleaning head partially protruding beyond the buffer 70 and arranged at a corner of the machine body, the auxiliary cleaning head partially protrudes beyond the buffer 70 in the forward direction and the width direction of the machine body. Therefore, when the robot encounters an obstacle, the auxiliary cleaning head encounters the obstacle earlier than the buffer 70.After the auxiliary cleaning head is impacted, this results in the auxiliary cleaning head being vulnerable to damage, thus impairing the edge cleaning effect. The auxiliary cleaning head is even clamped by the obstacle, preventing the buffer 70 from impacting the obstacle and thus preventing the presence of the obstacle from being detected, thereby affecting the robot's cleaning route planning. In a cleaning robot in this embodiment, the machine body 10 includes a rear portion and a front portion located in front of the rear portion in the forward direction of the machine body 10; a buffer 70 is provided at the front portion of the machine body 10 to detect an obstacle upon encountering the obstacle; and the sub-cleaning disk 3021 and the two main cleaning disks 2021 are arranged at the rear portion of the machine body 10. Because the sub-cleaning disk 3021 is arranged at the rear portion of the machine body 10 and the buffer 70 is arranged at the front portion of the machine body 10, when the machine body 10 moves forward, the buffer 70 encounters an obstacle earlier than the sub-cleaning disk 3021 and detects the obstacle, so that the provision of the sub-cleaning module 30 has no influence on the detection of the obstacle by the buffer 70, so as not to impair the detection of the obstacle by the buffer 70 at the same time as ensuring the edge cleaning effect. As an alternative embodiment to Embodiment 1, it is provided that the vertical projection of the machine body 10 onto the floor surface is round, thus resulting in a round machine. Since the edge of the machine body 10 of the square machine in Embodiment 1 is straight, it is sufficient for the auxiliary cleaning disc 3021 to partially protrude beyond the edge of the machine body 10 to perform edge cleaning. Rather, in the case of the round machine, for a further improved edge cleaning effect, the edge of the auxiliary cleaning disc 3021 is best protruded beyond the widest edge of the machine body 10 for edge cleaning when the machine body 10 is used for a round machine, since the maximum width of the machine body 10 is the diameter of the machine body 10 in the width direction of the machine body 10.Of course, the edge of the secondary cleaning disc 3021 partially projects beyond the machine body 10, but not beyond the widest edge of the machine body 10, whereby edge cleaning is enabled, but an area of edge cleaning is relatively less. As shown in Figs. 4 to 7, in the forward direction of the machine body 10, the rolling brush 403 of the dry cleaning module 40 is located in front of the drive wheel 801 because the width of the square machine is smaller than the length of the machine body 10 in the forward direction. Rather, when the machine body 10 is used for a round machine, the maximum width of the machine body 10 of the round machine is greater than the maximum width of the machine body 10 of the square machine. The rolling brush 403 can be accommodated in the space between the two drive wheels 801, so that the rolling brush 403 is at least partially disposed in a region between the two drive wheels 801. The dust box 401 is arranged behind the rolling brush 403.Furthermore, the exhaust duct of the main fan 402 is preferably arranged between structural casings of the two second sections 104, while the other structures (e.g., the side brush, the second drive structure 201, the water refill mechanism 50, the buffer 70, the drive wheel 801, and the dust discharge duct 404) are arranged in the same manner as in the square machine. See the description in Embodiment 1. This will not be repeated here. Example 2 This embodiment provides a cleaning robot including: the machine body 10, the dry cleaning module 40, the main cleaning module 20, the sub-cleaning module 30, the side brush, the water refilling mechanism 50, the sensing system, the chassis 80 and the buffer 70 and the like as described above. The machine body 10 is used for a circular machine. The main cleaning module 20 includes a second drive structure 201, a first lifting structure, and a main cleaning assembly 202. The first lifting structure imparts a lifting motion to the main cleaning assembly 202. The second drive structure 201 is used to impart reciprocating or twisting motion to the main cleaning assembly 202, so that the main cleaning assembly 202 wipes the floor surface. The second drive structure 201 and the first lifting structure can be driven either by a single motor or by two motors, one of which drives the main cleaning assembly 202 for lifting motion, and the other of which drives the main cleaning assembly 202 for reciprocating or twisting motion. As shown in Fig. 29, the first lifting structure 303 may be a traction cable structure, wherein the traction cable is connected to a mounting bracket at two ends and brings the mounting bracket into lifting movement by entangling and relaxing. As shown in Fig. 23, Fig. 24, Fig. 25, and Fig. 29, the main cleaning assembly 202 is a flat mop, the flat mop comprising: a mounting bracket 2023, a vibration plate 20232 arranged on the mounting bracket 2023, and a main cleaning part arranged at least on the underside of the vibration plate 20232, wherein the main cleaning part is, for example, a main mop 2022. The second drive structure 201 is arranged on the mounting bracket 2023 or the machine body 10 to cause the vibration plate 20232 to vibrate or twist back and forth, thereby generating a frictional force between the main cleaning part and the floor surface to improve the cleaning effect. The first lifting structure causes the mounting bracket 2023 to reciprocate to cause the entire flat mop to reciprocate. Vibration plate 20232 The above-mentioned auxiliary cleaning module 30 is arranged as a whole on the mounting bracket 2023. As a result, when the mounting bracket 2023 is driven for lifting movement by the first lifting structure, the auxiliary cleaning module 30 is synchronously raised and lowered with the flat mop as a whole to be in the lifting position and the wiping position, respectively. In the wiping position, the main mop 2022 and the auxiliary mop 3022 of the auxiliary cleaning assembly 302 synchronously wipe the floor surface. Because the auxiliary cleaning module 30 is raised and lowered with the flat mop as a whole, the auxiliary cleaning module 30 does not need to be provided with the above-mentioned second lifting mechanism for setting the auxiliary cleaning disc 3021 in a lifting movement. Only a first drive structure 302 is required to set the auxiliary cleaning disc 3021 in rotation to wipe the floor surface. That is,The auxiliary cleaning module 30 includes a first drive structure 302 and an auxiliary cleaning assembly 302, wherein the first drive structure 302 rotates the auxiliary cleaning assembly 302 to mop the floor surface. The auxiliary cleaning assembly 302 is the same as the auxiliary cleaning assembly 302 in Embodiment 1 and includes a round auxiliary cleaning disc 3021 and an auxiliary mop 3022 disposed on the underside of the auxiliary cleaning disc 3021. For the arrangement of the mounting bracket 2023 and the vibration plate 20232, the mounting bracket 2023 preferably comprises a cover plate 20231, with a base plate 20233 attached to the underside of the cover plate 20231. The base plate 20233 is provided with a mounting hole, with the vibration plate 20232 embedded in the mounting hole. The main mop 2022 is glued to the vibration plate 20232 and the base plate 20233. The main mop 2022 covers the vibration plate 20232 and the underside of the base plate 20233, so that the main mop 2022 comprises a main section corresponding to the vibration plate 20232 and a sub-section corresponding to the base plate 20233, the sub-section being circumferentially enclosed around the outer periphery of the main section.The second drive structure 201 is arranged on the machine body 10 or the top plate 20231 and causes the vibration plate 20232 to reciprocally vibrate or twist, whereby the vibration plate 20232 causes the main portion of the main mop 2022 to reciprocally vibrate or twist to increase the frictional force between the main portion and the floor surface. Under the action of the reciprocating vibration or twist of the main portion, the sub-portion of the main mop 2022 is partially subjected to force, but the sub-portion is held relative to the main portion on the bottom plate 20233 and can wipe the floor surface synchronously with the main portion because the sub-portion and the main portion are on the same plane. In this embodiment, the second drive structure 201 is preferably arranged on the cover plate 20231 and is located below the chassis 101 of the machine body 10 or in a recessed recessed area in the chassis 101 that is recessed upwards in a direction toward the inner chamber of the machine body 10. The first lifting structure is located in the recessed recessed area so that, in the lifting position, the surface of the cover plate 20231 and the undersurface of the chassis 101 are flush with or close to each other, the first lifting structure taking up no vertical space and thus raising the flat wiper to a greater height. Accordingly, the first lifting structure is arranged in the inner chamber of the machine body 10, and by driving the entire mounting bracket 2023 to lift, the second drive structure 201 is brought into lift. Or, the mounting bracket 2023 is provided with a cover plate 20231 instead of a bottom plate 20233. A mounting hole is formed within the cover plate 20231, and the vibration plate 20232 is embedded in this mounting hole. Likewise, the main mop 2022 has a main portion corresponding to the vibration plate 20232 and a sub-portion corresponding to the bottom surface of the cover plate 20231. Since a mounting hole is formed in the cover plate 20231 for mounting the vibration plate 20232, the second drive structure 201 and the first lifting structure are arranged in the inner chamber of the machine body 10, and the two use a common motor. In order to avoid an uncleaned area between the cleaning areas of the main mop 2022 and the sub-mop 3022, the second embodiment is used in the embodiment 1 with no uncleaned area, wherein the mounting bracket 2023 has a first portion 901 and the sub-cleaning disc 3021 has a second portion 902, and wherein, in the forward direction of the machine body 10, the cleaning areas of the first portion 901 and the second portion 902 have an overlap portion 903H. In the forward direction of the machine body 10, no space is reserved at the rear portion of the machine body 10 for the sub-cleaning disc 3021 because the main mop 2022 occupies the rear portion of the machine body 10. In order not to impair the cleaning area and cleaning effect of the main mop 2022, the sub-cleaning disc 3021 is located in front of the mounting bracket 2023 in the forward direction of the machine body 10, so that cleaning is performed first by the sub-cleaning disc 3021 and then by the main mop 2022.Since the second section 902 of the sub-cleaning disk 3021 is located in the front and the first section 901 of the mounting bracket 2023 is located in the rear, cleaning is performed first by the main mop 2022 of the second section 902 and then by the sub-mop 3022 of the first section 901, the areas cleaned by the two successively have the overlap area 903 to avoid an uncleaned area phenomenon. Since the vibration plate 20232 on the flat wiper is subjected to reciprocating vibration or rotation, and this occurs differently from the rotation of the sub-cleaning disc 3021, it is preferable in this embodiment that a gap exists between the sub-cleaning disc 3021 and the mounting bracket 2023 in the forward direction of the machine body 10 so that the reciprocating vibration or rotation of the vibration plate 20232 is not affected. The rotation of the sub-cleaning disc 3021 and the reciprocating vibration or rotation of the vibration plate 20232 on the mounting bracket 2023 occur independently of each other and do not influence each other. Alternatively, the sub-cleaning disc 3021 and the mounting bracket 2023 are arranged adjacent to each other or adjacent to each other, but they move independently of each other and do not influence each other. The side brush and buffer 70 are arranged at the bottom of the front portion of the machine body 10. In the width direction of the machine body 10, the sub-cleaning disc 3021 and the side brush are located on the right side of the machine body 10 to perform right-edge cleaning. The carriage 80 has two drive wheels 801, and the two drive wheels 801 are arranged symmetrically at the bottom of the machine body 10. In the forward direction of the machine body 10, the flat wiper is located behind the drive wheels 801, and the auxiliary cleaning disc 3021 is located in front of the flat wiper. In the width direction of the machine body 10, the auxiliary cleaning disc 3021 is located at least partially in an outer region of the right drive wheel 801, so that the auxiliary cleaning disc 3021 partially protrudes beyond the widest edge of the machine body 10, thus achieving edge cleaning. Because the main mop 2022 of the flat mop covers the rear portion of the machine body 10, the sub-cleaning disc 3021 is arranged outside the right drive wheel 801 so as not to interfere with the normal cleaning of the flat mop. At the same time, while the sub-mop 3022 performs edge cleaning, the operation of the right drive wheel 801 is not interfered with. Typically, no other structure is arranged in an area outside the right drive wheel 801 on the chassis 101. Therefore, the arrangement of the other structure and the functions performed by it are not affected by the arrangement of the sub-cleaning disc 3021 in the area outside the right drive wheel 801. Even if a downward sensor is arranged in the area outside the right drive wheel 801 on the chassis 101, it is possible to arrange the sub-cleaning disc 3021 by disposing this downward sensor in an area between the right drive wheel 801 and the flat wiper on the chassis 101 without impairing the function of the downward sensor. That is, the sub-cleaning disc 3021 can be arranged to realize an edge cleaning effect and thus a compact arrangement of structures on the entire chassis 101 without changing the arrangement of the drive wheel 801, the flat wiper, the rolling brush 403 (the rolling brush 403 is partially or completely located between the two drive wheels 801), and the side brush on the chassis 101. Furthermore, it is provided that in the forward direction of the machine body 10, the rolling brush 403 is located in front of the auxiliary cleaning disc 3021 to ensure that both the rolling brush 403 of the dry cleaning module 40 and the side brush first sweep the floor surface in the front and then the flat wiper and the auxiliary cleaning disc 3021 wipe the floor surface. Because the secondary cleaning module 30 is arranged on the mounting support 2023, no second lifting structure is required for a lifting movement. The mounting support 2023 is located below the chassis 101, and a first deflection area is formed in the chassis 101, so that the first drive structure 302 is arranged on the upper side of the mounting support 2023 and projects beyond the first deflection area into the inner chamber of the machine body 10. As shown in Fig. 30, the first drive structure 302 includes a second motor and a second gear mechanism 204 through which a driving force of the second motor is transmitted to the sub-cleaning disc 3021 to rotate the sub-cleaning disc 3021. Preferably, a first escape hole is formed in the chassis 101, and an upwardly recessed fifth mounting chamber is formed at the output of the second gear mechanism, wherein the output is connected to the mounting projection 3023 of the auxiliary cleaning disc 3021 through the first escape hole, so that the auxiliary cleaning disc 3021 is located below the chassis 101. The mounting projection 3023 of the auxiliary cleaning disc 3021 is detachably mounted in the fifth mounting chamber by a magnetic connection or a snap buckle. An end of the second gear mechanism facing away from the output shaft of the second motor extends in a direction toward the right drive wheel 801 and escapes the drive wheel 801, so that the auxiliary cleaning disc 3021 is located in the outer region of the right drive wheel 801.The second gear mechanism may be a gear train to reduce the rotational speed of the sub-cleaning disc 3021. Similar to Embodiment 1, the area of the sub-cleaning disc 3021 is smaller than the area of the mounting bracket 2023, so that the sub-mop 3022 provides small-mop cleaning and the main mop 2022 provides large-mop cleaning. Regarding the arrangement of other structures in the inner chamber of the machine body 10, it is provided that the main fan 402 of the dry cleaning module 40 is distributed behind the chamber 108 for the dust box 401, that the dust discharge duct 404 is distributed at the left corner or on the left side of the dust box 401, and that the second drive structure 201 is located in a deviated recessed area in the chassis 101 (ie, a deviated bulge 304 is formed accordingly in the inner chamber of the machine body 10). As shown in Fig. 29, the exhaust duct of the main fan 402 is distributed near the dust discharge duct 404, the deviated bulge is distributed on the right side of the main fan 402, and the first lifting structure is distributed on the left side of the main fan 402. If no sub-cleaning module 30 is provided, an air inlet duct is also provided in the machine body 10 on the right side of the main fan 402, which communicates with the air inlet of the dust box 401. A blowing end of a vacuum cleaner fan on the base station communicates with the air inlet duct, while a suction end communicates with the dust discharge duct 404, thus establishing a blowing and suction mode. When a secondary cleaning module 30 is provided, no air intake duct may be provided to provide an escape space for the first drive structure 302, so that the second gear mechanism of the first drive structure 302 extends in a direction toward the outside of the right drive wheel 801. Rather, when the machine body 10 is in communication with the outside environment, any area in communication with the air intake may serve as the air intake area. As an alternative embodiment to Embodiment 2, the main cleaning assembly 202 is not a flat mop but a wiping roller, the mounting bracket 2023 being a wiping roller cover, and the main cleaning part being a wiping roller rotatably mounted on the wiping roller cover and located below the wiping roller cover. The second drive mechanism moves the wiping roller to clean a surface to be cleaned, such as the floor surface and the like. The sub-cleaning disc 3021 is also arranged outside the right drive wheel 801 and is located on the same side as the side brush, thus providing a right-edge cleaning mode. The auxiliary cleaning module 30 is arranged as a whole on the wiper roller cover. The first lifting structure causes the wiper roller cover to move in a lifting motion to synchronously move the auxiliary cleaning module 30, the wiper roller cover, and the wiper roller. In summary, the auxiliary cleaning assembly 302 is not pivotable, and the auxiliary cleaning assembly 302 is attached to the machine body 10 or to the main cleaning assembly 202. The auxiliary cleaning assembly 302 always protrudes at least partially beyond the edge of the machine body 10 to achieve edge cleaning. The main cleaning assembly 202 and the auxiliary cleaning assembly 30210 enable operation with no uncleaned area if no arrangement or only the arrangement of the water refill mechanism 50 is changed to provide an escape space for the installation of the auxiliary cleaning module 30, so that at the same time, the other structures on the machine body 10 will be little or not affected when the auxiliary cleaning part on the auxiliary cleaning disc 3021 realizes edge cleaning. As an alternative embodiment to Embodiment 2, it is provided that the auxiliary cleaning module 30 (the flat wiper or the wiping roller) can also be arranged on the machine body 10 instead of on the mounting bracket 2023. For the first drive structure 302, the first drive structure 302 is used in Embodiment 1 to rotate and reciprocate the auxiliary cleaning disc 3021 to wipe the floor surface. As an alternative embodiment to one of the above embodiments, the secondary cleaning disc 3021 is non-rotatable and is provided with the second lifting mechanism instead of the first drive structure 302 to impart lifting movement to the secondary cleaning disc 3021. When wiping the floor surface, the secondary cleaning disc 3021 can also perform edge cleaning if it does not rotate. Example 3 This embodiment provides a base station characterized by comprising: a base body having a washing chamber, wherein at least a main cleaning area and a sub-cleaning area are formed in the washing chamber; wherein, when a cleaning device according to Embodiment 1 or Embodiment 2 returns to the base station, the main cleaning area and the sub-cleaning area are used to wash a main mop 2022 of a main cleaning assembly 202 and a sub-mop 3022 of a sub-cleaning assembly 302 of the cleaning device, respectively. When the base station in this embodiment corresponds to the two main cleaning discs 2021 and the sub-cleaning disc 3021 in Embodiment 1, two main washing areas and one sub-cleaning area are provided on the main body. When the main mop 2022 and / or the sub-mop 3022 need to be washed, the robot returns to a receiving chamber of a base station main body. Washing chambers are provided at the bottom of the receiving chamber, with each of the main washing areas corresponding to a main mop 2022 and the sub-washing area corresponding to the sub-mop 3022 for washing the two main mops 2022 and the sub-mop 3022. The arrangement of the main washing areas and the sub-washing area corresponds to the arrangement of the two main mops 2022 and the sub-mop 3022 in Embodiment 1. In particular, at least one upwardly extending main rib is provided in each of the main cleaning areas. The main mop 2022 is cleaned by the friction between the main rib and the main mop 2022. At least one upwardly extending secondary rib is provided in the secondary cleaning area. The secondary mop 3022 is cleaned by the friction between the secondary rib and the secondary mop 3022. Or, a washing disc is provided at the bottom of the receiving chamber of the machine body 10, wherein a main cleaning area and a sub-cleaning area are provided on the washing disc. In each of the main cleaning areas, at least one upwardly projecting main rib is provided. The main mop 2022 is cleaned by the friction between the main rib and the main mop 2022. In the sub-cleaning area, at least one upwardly projecting sub-rib is provided. The sub-mop 3022 is cleaned by the friction between the sub-rib and the sub-mop 3022. The main rib and the sub-rib are provided on the washing disc to facilitate the removal of the washing disc from the receiving chamber of the base station and to wash the washing disc. To improve the washing effect, the main cleaning disc 2021 rotates the main mop 2022 during washing, creating rolling friction between the main mop 2022 and the main rib to improve the washing effect through friction. Alternatively, the main cleaning disc can be stationary and the main rib rotates, creating rolling friction between the main rib and the main mop 2022. Also, during washing, the sub-cleaning disc 3021 rotates the sub-mopping mop 3022, creating rolling friction between the sub-mopping mop 3022 and the sub-rib to enhance the washing effect through friction. Alternatively, the sub-cleaning disc may not rotate, but the sub-rib may rotate, creating rolling friction between the sub-rib and the sub-mopping mop 3022. When the base station in this embodiment corresponds to the flat mop and the sub-cleaning disk 3021 in Embodiment 2, a main washing area and a sub-cleaning area are provided on the main body. When the main mop 2022 and / or the sub-mop 3022 need to be washed, the robot returns to a receiving chamber of a base station main body. A washing chamber is provided at the bottom of the receiving chamber, with the main washing area corresponding to the main mop 2022 and the sub-washing area corresponding to the sub-mop 3022 for washing the main mop 2022 and the sub-mop 3022. The arrangement of the main washing areas and the sub-washing area is similar to the arrangement of the main mop 2022 and the sub-mop 3022 in Embodiment 2. In particular, at least one upwardly extending main rib is provided in each of the main cleaning areas. The main mop 2022 is cleaned by the friction between the main rib and the main mop 2022. At least one upwardly extending secondary rib is provided in the secondary cleaning area. The secondary mop 3022 is cleaned by the friction between the secondary rib and the secondary mop 3022. Or, a washing disc is provided at the bottom of the receiving chamber of the machine body 10, wherein a main cleaning area and a sub-cleaning area are provided on the washing disc. At least one upwardly projecting main rib is provided in the main cleaning area. The main mop 2022 is cleaned by the friction between the main rib and the main mop 2022. At least one upwardly projecting sub-rib is provided in the sub-cleaning area. The sub-mop 3022 is cleaned by the friction between the sub-rib and the sub-mop 3022. The main rib and the sub-rib are provided on the washing disc to facilitate the removal of the washing disc from the receiving chamber of the base station and to wash the washing disc. To improve the washing effect, during washing, the main mop 2022 is caused to reciprocally oscillate or twist by the reciprocating oscillation or twist of the oscillating plate 20232, so that sliding friction is formed between the main mop 2022 and the main rib to improve the washing effect through friction. Alternatively, the oscillating plate 20232 does not cause the main mop 2022 to reciprocally oscillate or twist, but the main rib moves back and forth, so that sliding friction is formed between the main rib and the main mop 2022, thus scraping off the dirt on the main mop 2022 of the flat mop. Also, during washing, the sub-cleaning disc 3021 rotates the sub-mopping mop 3022, creating rolling friction between the sub-mopping mop 3022 and the sub-rib to enhance the washing effect through friction. Alternatively, the sub-cleaning disc may not rotate, but the sub-rib may rotate, creating rolling friction between the sub-rib and the sub-mopping mop 3022. Example 4 This embodiment provides a cleaning system comprising a cleaning device according to any one embodiment in Embodiment 1 or Embodiment 2 and any one base station in Embodiment 3. Because the cleaning system according to this embodiment comprises the cleaning device according to Embodiment 1 or Embodiment 2 and the base station according to Embodiment 3, the cleaning system always protrudes with a portion of the sub-cleaning disc 3021 beyond the edge of the machine body 10 to realize edge cleaning. At the same time, the cleaning device can return to the base station to perform self-cleaning for the main mop 2022 and the sub-mop 3022. Finally, it should be noted that the above-mentioned individual embodiments are used only to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above individual embodiments, it should be understood by those skilled in the art that they may modify the technical solutions described in the above embodiments or substitute some or all of the technical features contained therein for equivalents; however, these modifications or substitutions do not cause the essence of the respective technical solutions to deviate from the scope of the technical solutions of the individual embodiments of the present application. Finally, it should be noted that the above-mentioned individual embodiments are used only to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above individual embodiments, it should be understood by those skilled in the art that they may modify the technical solutions described in the above embodiments or substitute some or all of the technical features contained therein for equivalents; however, these modifications or substitutions do not cause the essence of the respective technical solutions to deviate from the scope of the technical solutions of the individual embodiments of the present application. The present utility model discloses a cleaning device, wherein a main cleaning module and a sub-cleaning module of the wet cleaning device are located behind a dry cleaning module in a forward direction of the machine body of the cleaning device, such that a rolling brush of the dry cleaning module in the front performs dry sweeping, while a main cleaning assembly of the main cleaning module and a sub-cleaning assembly of the sub-cleaning module for wet cleaning behind the rolling brush perform wet mopping, thereby establishing a cleaning mode in which dry sweeping is performed first and wet mopping is performed subsequently. Furthermore, the sub-cleaning assembly always protrudes at least partially beyond an edge of the machine body to perform edge cleaning for an obstacle or a wall, etc.Since there is no uncleaned area between the cleaning areas of the main cleaning assembly and the sub-cleaning assembly in a width direction of the machine body, the cooperation of the main cleaning assembly and the sub-cleaning assembly achieves both the edge cleaning and the avoidance of the uncleaned area therebetween to improve the cleaning effect. QUOTES CONTAINED IN THE DESCRIPTION This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature CN 116919259 A

[0002]

Claims

A cleaning device characterized by comprising: a machine body, a main cleaning module for wet cleaning and a sub-cleaning module for wet cleaning provided on the machine body, and a chassis, wherein the main cleaning module comprises at least one main cleaning assembly; the sub-cleaning module comprises at least one sub-cleaning assembly, at least a part of the sub-cleaning assembly always protrudes beyond an edge of the machine body for edge cleaning, and the sub-cleaning assembly is not pivotable relative to the machine body; the chassis comprises two drive wheels, the at least two drive wheels being provided symmetrically on a bottom of the machine body, and in a forward direction of the machine body, the main cleaning assembly and the sub-cleaning assembly are arranged behind the drive wheels;the secondary cleaning assembly is arranged in a first region, the first region being enclosed by a drive wheel, the main cleaning assembly and the bottom of the machine body, both the drive wheel and the main cleaning assembly being adjacent to or close to the secondary cleaning assembly; A cleaning device according to claim 1, characterized in that: the main cleaning assembly comprises a main cleaning disc and a main cleaning part provided on a bottom surface of the main cleaning disc; the sub-cleaning assembly comprises a sub-cleaning disc and a sub-cleaning part provided on the bottom surface of the sub-cleaning disc; the sub-cleaning disc and the main cleaning disc are both circular discs, a diameter of the sub-cleaning disc is smaller than that of the main cleaning disc, and the sub-cleaning disc is arranged within the first region, the first region being enclosed by a drive gear, the main cleaning disc, and the bottom of the machine body, wherein both the drive gear and the main cleaning disc are adjacent to or close to the sub-cleaning disc. Cleaning device according to claim 2, characterized in that the diameter of the main cleaning disc is 2-4 times as large as that of the secondary cleaning disc. A cleaning device according to claim 2, characterized by further comprising an edge brush provided on a lower side of a front portion of the machine body in the forward direction of the machine body, the edge brush being arranged in front of the main cleaning assembly and the sub-cleaning assembly; wherein, in a width direction of the machine body, the edge brush and the sub-cleaning disk are both arranged on a right side of the machine body to perform right edge cleaning; and the sub-cleaning disk is arranged within the first region, the first region being enclosed by a drive gear, the main cleaning disk, and the bottom of the machine body, both the drive gear and the main cleaning disk being arranged on the right side of the machine body. A cleaning device according to claim 4, characterized in that in the forward direction of the machine body, a rotation center of the sub-cleaning disc is located in front of a rotation center of the main cleaning disc, so that the sub-cleaning disc is arranged in the first region, the first region being located on an upper right side of the main cleaning disc and behind the drive wheel located on the right side. Cleaning device according to one of claims 2 to 5, characterized in that there is no uncleaned area between a cleaning area of the main cleaning arrangement and a cleaning area of the auxiliary cleaning arrangement in a width direction of the machine body, wherein the width direction of the machine body is perpendicular to the forward direction of the machine body. A cleaning device according to claim 6, characterized in that a gap is arranged between the main cleaning disc and the sub-cleaning disc; and that adjacent edges of the sub-cleaning part and the main cleaning part are in tangential contact or pressed against each other, so that no gap is present between the adjacent edges of the main cleaning part and the sub-cleaning part, without impairing the respective rotations of the main cleaning disc and the sub-cleaning disc. Cleaning device according to claim 7, characterized in that the main cleaning part and the secondary cleaning part are both mops, the main cleaning part and the secondary cleaning part are pressed against each other to form a second interference region, the second interference region having a maximum width of < 5 mm along a second connecting line between the center of rotation of the main cleaning part and that of the secondary cleaning part. Cleaning device according to claim 6, characterized in that the main cleaning assembly has at least a first section, the secondary cleaning assembly has at least a second section, wherein cleaning areas of the first section and the second section have an overlap area in the forward direction of the machine body. Cleaning device according to claim 9, characterized in that the first section is located behind the second section in the forward direction of the machine body, so that first the cleaning is carried out by the second section of the auxiliary cleaning assembly and then the cleaning is carried out by the first section of the main cleaning assembly, the areas successively cleaned by the two sections having the overlapping area. A cleaning device according to claim 10, characterized in that a gap is arranged between the main cleaning disc and the sub-cleaning disc; and that adjacent edges of the sub-cleaning part and the main cleaning part are in tangential contact or pressed against each other, so that no gap is present between the adjacent edges of the main cleaning part and the sub-cleaning part, without impairing the respective rotations of the main cleaning disc and the sub-cleaning disc. A cleaning device according to claim 11, characterized in that the main cleaning part is a main mop and the auxiliary cleaning part is a auxiliary mop; and the auxiliary cleaning disc has the second section and the main cleaning disc has the first section, which allows the auxiliary mop of the second section to perform cleaning first and the main mop of the first section to perform cleaning later. Cleaning device according to one of claims 1 to 5, characterized in that it further comprises a dry cleaning module provided on the machine body, wherein the dry cleaning module comprises at least one rolling brush; wherein, in the forward direction of the machine body, both the main cleaning assembly and the sub-cleaning assembly are located behind the rolling brush. Cleaning device according to claim 13, characterized in that the auxiliary cleaning module further comprises a first drive structure for driving the auxiliary cleaning unit for lifting and rotating movement; the main cleaning module further comprises a second drive structure for driving the main cleaning unit for lifting and rotating movement; wherein two main cleaning assemblies and two second drive structures are provided, and each of the second drive structures drives one of the main cleaning assemblies accordingly; wherein the first drive structure and the second drive structure are arranged in an internal chamber of the machine body, and the first drive structure is connected to the auxiliary cleaning assembly through the bottom of the machine body, so that the auxiliary cleaning assembly is located below the bottom of the machine body;and wherein the second drive structure is connected to the main cleaning assembly through the bottom of the machine body so that the main cleaning assembly is located below the bottom of the machine body; Cleaning device according to claim 14, characterized in that the dry cleaning module further comprises a dust box and a main fan, wherein the main fan is used to suck the garbage into the dust box; wherein a chamber for the dust box, which serves for the installation of the dust box, is provided in the machine body; wherein a dust discharge duct is further arranged in the machine body and is in communication with the dust box and is used to suck the garbage from the dust box into the base station under the action of a vacuum cleaner fan of a base station; wherein the main fan is arranged in the inner chamber of the machine body and distributed in a second region enclosed between the dust discharge duct, a chamber for the dust box, and two first drive structures.and wherein the first drive structure is arranged outside the second region and on a side facing away from the dust discharge duct and is located behind a drive wheel that is adjacent to or close to the first drive structure; Cleaning device according to claim 15, characterized in that it further comprises a water refilling mechanism arranged in the inner chamber of the machine body, which is used to refill the main cleaning part and / or the sub-cleaning part with water in order to enable wet cleaning; wherein the water refilling mechanism is arranged on the machine body so as to avoid the first drive structures and is located outside the second area. Cleaning device according to claim 16, characterized in that the water refilling mechanism comprises a water tank and a pump body, wherein a third region is formed between two of the first drive structures and a rear wall of the machine body, and wherein at least one of the water tank and the pump body is arranged in the third region. Cleaning device according to claim 17, characterized in that a fourth region is enclosed between another drive wheel facing away from the auxiliary cleaning assembly, the dust discharge channel, and a side wall of the machine body; wherein the water tank is arranged in the third region and the pump body is arranged in the fourth region. A cleaning device according to claim 15, characterized in that it further comprises an exhaust duct connected to an air outlet of the main fan; wherein the exhaust duct projects beyond the second region and extends in a direction toward an adjacent side wall of the machine body to communicate with the outside environment; and wherein the first drive structure is located behind the exhaust duct in the forward direction of the machine body. Cleaning device according to claim 15, characterized in that a vertical projection of the machine body onto a surface to be cleaned is rectangular, with one long side of the rectangle running in the forward direction of the machine body and one short side of the rectangle running in the width direction of the machine body, with the chamber for the dust box being arranged distributed between the two drive wheels, and with the roller brush being located in front of the drive wheels and the chamber for the dust box in the forward direction of the machine body; or that the vertical projection of the machine body onto a surface to be cleaned is circular, with the roller brush being at least partially located between two of the drive wheels, and with the dust box being located behind the roller brush in the forward direction of the machine body. A cleaning device according to any one of claims 1 to 5, characterized in that the machine body has a rear portion and a front portion located in front of the rear portion in the forward direction of the machine body; wherein a buffer is provided on the front portion for detecting an obstacle upon impact with the obstacle; and wherein the sub-cleaning assembly and the main cleaning assembly are arranged on the rear portion of the machine body. Cleaning device according to one of claims 1 to 5, characterized in that the main cleaning module further comprises a second drive structure, which is a first lifting structure used at least for raising or lowering the main cleaning assembly in order to change the main cleaning assembly between a wiping position and a lifting position; and in that the auxiliary cleaning module further comprises a first drive structure, which is a second lifting mechanism used at least for raising or lowering the auxiliary cleaning assembly in order to change the auxiliary cleaning assembly between a wiping position and a lifting position. Cleaning device according to claim 22, characterized in that the main cleaning assembly and the secondary cleaning assembly are synchronously in the lifting position or the wiping position. A cleaning device according to claim 22, characterized in that the second drive structure is further used for driving the cleaning assembly in the wiping position to rotate to clean a floor to be cleaned; and in that the first drive structure is further used for driving the auxiliary cleaning assembly in the wiping position to rotate to clean the floor to be cleaned; wherein in the wiping position, the directions of rotation of the adjacent auxiliary cleaning disc and the main cleaning disc are opposite to each other. A cleaning device according to claim 24, characterized in that two main cleaning assemblies are provided, the two main cleaning assemblies being arranged symmetrically on the bottom of the machine body; that there is no gap between the main cleaning parts of the two main cleaning assemblies in the width direction of the machine body; that the sub-cleaning disc is arranged on a right side of the bottom of the machine body to perform right-side cleaning; and that the sub-cleaning disc is adjacent to a main cleaning disc arranged on a right side of the machine body; wherein, in the wiping position, the rotation directions of the adjacent main cleaning discs are opposite to each other, and the rotation direction of the sub-cleaning disc is counterclockwise. Cleaning device according to claim 22, characterized in that in a non-edge cleaning mode, the secondary cleaning disc is in the raised position and the main cleaning disc is in the wiping position; or in an edge cleaning mode, the secondary cleaning disc is in the wiping position, and in a non-edge cleaning mode, the secondary cleaning disc is in the raised position. Cleaning device according to claim 25, characterized in that a rotation center of the auxiliary cleaning disc is arranged in front of a rotation center of the main cleaning disc and a first connecting line connecting the rotation center of the auxiliary cleaning disc and the rotation center of the main cleaning disc intersects with a second connecting line connecting the rotation centers of the two main cleaning discs. Cleaning device according to claim 11, characterized in that the first section is arranged behind a position at which adjacent edges of the secondary cleaning part and the main cleaning part are in tangential contact or pressed against each other. Cleaning device according to claim 24, characterized in that the first drive structure and / or the second drive structure comprise a first motor and a lifting assembly, wherein the lifting assembly is connected to the cleaning assembly, wherein the cleaning assembly is the main cleaning assembly or the secondary cleaning assembly, and wherein the lifting assembly brings the cleaning assembly into lifting movement and into rotation in the wiping position. Cleaning device according to claim 29, characterized in that the lifting assembly comprises: a first fastening body connected to the output shaft of the first motor; and a second fastening body connected to the cleaning assembly, wherein the cleaning assembly is the main cleaning assembly or the sub-cleaning assembly; wherein a screw mechanism is formed between the first fastening body and the second fastening body; wherein the output shaft rotates in a first direction and, under the action of the output shaft or at least due to the gravity of the second fastening body and the cleaning assembly, the screw mechanism sets the second fastening body in a lowering movement relative to the first fastening body;wherein in the wiping position the output shaft rotates in the first direction and the second fastening body is not brought into any further lowering movement relative to the first fastening body and the second fastening body rotates in order to cause the cleaning assembly to rotate and thus clean the surface to be cleaned;wherein the output shaft rotates in a second direction and under the action of the output shaft the screw mechanism causes the second fastening body to be raised relative to the first fastening body in order to cause the cleaning assembly to be raised.; Cleaning device according to one of claims 1 to 5, characterized in that the auxiliary cleaning assembly comprises an auxiliary cleaning disc and an auxiliary cleaning part arranged on an underside of the auxiliary cleaning disc; wherein the auxiliary cleaning part exerts a pressure of 900-1500 Pa on the auxiliary cleaning disc when cleaning the surface to be cleaned. Base station, characterized in that it comprises: a base body having a washing chamber, wherein at least one main cleaning area and one secondary cleaning area are formed in the washing chamber; wherein, upon the return of a cleaning device according to one of the above embodiments to the base station, the main cleaning area or the secondary cleaning area is used respectively for washing a main cleaning part of a main cleaning assembly or a secondary cleaning part of a secondary cleaning assembly of the cleaning device. Base station according to claim 32, characterized in that at least one upwardly rising main rib is provided in the main cleaning area to clean the main cleaning part by friction between the main rib and the main cleaning part; at least one upwardly rising sub-rib is provided in the sub-cleaning area to clean the sub-cleaning part by friction between the sub-rib and the sub-cleaning part. A base station according to claim 33, characterized in that during cleaning, either the main cleaning part or the main rib rotates to generate rotational friction between the main rib and the main cleaning part; and / or during cleaning, either the secondary cleaning part or the convex secondary rib rotates to generate rotational friction between the secondary rib and the secondary cleaning part. Cleaning system, characterized in that it comprises the cleaning device according to one of claims 1 - 31 and the base station according to one of claims 32 - 34.

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