Automatic cleaning device

Abstract

To provide an automatic cleaning device having a high cleaning function, a wide application range, and strong cleaning capability, capable of collecting dirty water, and having a lifting adjustment function.SOLUTION: An automatic cleaning device includes a mobile platform, a lifting table, a wet cleaning module, a liquid supplying module, and a collecting module. The mobile platform is configured to automatically move in a target direction on a surface to be cleaned. The lifting table is connected to the mobile platform and is configured to move upwards or downwards with respect to the mobile platform. The wet cleaning module is connected to the lifting table and configured to clean the surface to be cleaned using cleaning liquid. The liquid supplying module is connected to the mobile platform and configured to provide the cleaning liquid to the surface to be cleaned. The collecting module is connected to the mobile platform and configured to collect the cleaning liquid.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] <Related Applications> This disclosure claims priority to a Chinese application having application number 202011027138.2, filed on September 25, 2020, the entire contents of which are incorporated herein by reference. This disclosure claims priority to a Chinese application having application number 202011027130.6, filed on September 25, 2020, the entire contents of which are incorporated herein by reference. This disclosure claims priority to a Chinese application having application number 202011024890.1, filed on September 25, 2020, the entire contents of which are incorporated herein by reference. This disclosure claims priority to a Chinese application having application number 202011024897.3, filed on September 25, 2020, the entire contents of which are incorporated herein by reference.

[0002] FIELD OF THE INVENTION This application relates to automated devices, and more particularly to automated cleaning devices. [Background technology]

[0003] With the acceleration of modern life and rising labor costs, more and more homes and businesses are using automatic cleaning devices to clean floors, glass, etc. The advent of automatic cleaning devices can significantly reduce the time and cost of manual cleaning, but automatic cleaning devices still have many problems, such as being only suitable for cleaning flat operating surfaces, the height of the cleaning device's cleaning module cannot be adjusted up and down, and they always stick to the surface, making it difficult to move freely on the surface to be cleaned or having large movement resistance, resulting in incomplete cleaning and dirty water residue.

[0004] Therefore, it is very important to provide an automatic cleaning device that is suitable for a wide range of applications, not only because the height of the cleaning module can be increased or decreased, but also because it has a strong cleaning ability and can recover dirty water. Summary of the Invention

[0005] The present application provides an automatic cleaning device with high cleaning function, wide application range, strong cleaning ability, capable of recovering dirty water, and with lifting and lowering adjustment function.

[0006] According to one aspect of the present application, there is provided an automatic cleaning device including: a moving platform configured to automatically move along a target direction on an operating surface; a cleaning head configured to clean the operating surface; and a cleaning module attached to the moving platform, the cleaning module including a drive unit connected to the cleaning head and driving the cleaning head to move back and forth along the operating surface.

[0007] In some embodiments, the reciprocating movement includes a first movement component perpendicular to the target direction.

[0008] In some embodiments, the reciprocating movement includes a second movement component parallel to the target direction.

[0009] In some embodiments, the reciprocating movement comprises a preset reciprocating period.

[0010] In some embodiments, the automatic cleaning device automatically and dynamically adjusts the preset reciprocation period depending on the operating environment of the automatic cleaning device.

[0011] In some embodiments, the cleaning head is a plate-like structure and includes a working head, the working head being one or more of a brush, a duster cloth, and a sponge.

[0012] In some embodiments, the automated cleaning device further includes a nozzle for supplying a target liquid to the operating surface.

[0013] In some embodiments, the moving platform includes a protrusion, the cleaning head includes a sliding end, the sliding end includes a chute, and the sliding end is slidably fitted onto the protrusion via the chute.

[0014] In some embodiments, the cleaning head includes a sliding end, the sliding end including a sliding block, and the reciprocating movement includes the sliding block moving back and forth along a direction perpendicular to the target direction.

[0015] In some embodiments, the drive unit includes an engine and at least one drive wheel connected to the engine.

[0016] In some embodiments, the cleaning head includes a rotating end connected to the drive unit, the drive unit driving the rotating end to move in a circular rotational movement.

[0017] In some embodiments, the rotation end is connected to one of the at least one drive wheel at a predetermined distance from a center of rotation of the drive wheel.

[0018] In some embodiments, the distance from the cleaning head to the bottom surface of the motion platform is adjustable.

[0019] In some embodiments, the cleaning head is a plate-like structure, and the cleaning module further includes an elastic support structure, which is disposed on a rear surface of the cleaning head to elastically support the cleaning head.

[0020] In some embodiments, the cleaning module further includes a lift table attached to the motion platform, wherein a distance from the lift table to a bottom surface of the motion platform is adjustable, and the cleaning head is attached to the lift table.

[0021] Another aspect of the present application provides a method for automatically cleaning an operating surface, the method including driving a mobile platform to automatically cruise along a target direction on the operating surface, and driving a cleaning head to move back and forth along the operating surface, the cleaning head being mounted on the mobile platform.

[0022] In some embodiments, the reciprocating movement includes a first movement component perpendicular to the path of travel.

[0023] In some embodiments, the reciprocating movement includes a second movement component parallel to the direction of the travel path.

[0024] In some embodiments, the reciprocating movement comprises a rotational movement.

[0025] In some embodiments, driving the driving cleaning head to move back and forth along the operating surface includes driving the cleaning head to move back and forth via a crank slide block mechanism.

[0026] In some embodiments, driving the cleaning head to move back and forth along the operating surface includes driving the cleaning head to move back and forth via a double crank mechanism.

[0027] In some embodiments, the method further includes dynamically adjusting the position of the cleaning head in response to the contours of the operating surface so as to maintain intimate contact with the operating surface.

[0028] In some embodiments, the method further includes providing a target liquid to the operating surface.

[0029] Another aspect of the present application provides an automatic cleaning device including a moving platform, a lifting table, and a cleaning module, wherein the moving platform is configured to automatically move along a target direction to an operation surface, the lifting table is connected to the moving platform and configured to move up and down relative to the moving platform, and the cleaning module is attached to the lifting table and configured to clean the operation surface.

[0030] In some embodiments, the lift table includes a lift mechanism and a lift table base, the lift mechanism is connected to the moving platform and drives the lift table to move up and down relative to the moving platform, the lift table base is connected to the lift mechanism and configured to move up and down relative to the moving platform under the action of the lift mechanism, and the lift table base includes a first connection end and a second connection end, the first connection end is located near the front of the moving platform and the second connection end is located near the rear of the moving platform.

[0031] In some embodiments, the lift table base further includes auxiliary wheels, and when the lift table base moves downward relative to the movement platform, the auxiliary wheels first contact the operation surface.

[0032] In some embodiments, the lift mechanism is a flexible traction mechanism that suspends the lift table base from the moving platform and pulls the lift table base to move up and down relative to the moving platform.

[0033] In some embodiments, the automatic cleaning device further includes a connecting rod, the connecting rod including a first hinged end and a second hinged end, the first hinged end being hingedly connected to a first connection end of the lift table base and the second hinged end being hingedly connected to the moving platform.

[0034] In some embodiments, the flexible traction mechanism includes a suspension mechanism and a drive mechanism, the suspension mechanism including a first cable, the first cable suspending the lift table base to the moving platform, and the drive mechanism driving the lift table base to move up and down relative to the moving platform.

[0035] In some embodiments, the suspension mechanism is attached to the lift table base and includes at least one cable guide rail through which the first cable passes, and the extension direction of the first cable changes each time the first cable passes through the at least one cable guide rail.

[0036] In some embodiments, the at least one cable guide rail includes at least one of at least one pulley, at least one guide groove corner, and at least one guide protrusion.

[0037] In some embodiments, the lift table base includes a first side and a second side, the at least one cable guide rail includes a first guide groove angle, a second guide groove angle, and a fixed pulley, the first guide groove angle is on the first side and guides the first cable that enters the first guide groove angle from the top of the lift table base to the second side, the second guide groove angle is on the second side and guides the first cable toward the top of the lift table base, the fixed pulley guides the first cable toward the bottom of the lift table base, and the first cable passes through the first guide groove angle, the second guide groove angle, and the fixed pulley sequentially from the top of the lift table base.

[0038] In some embodiments, the first cable includes a first end and a second end, the first end connected to the moving platform and the second end connected to the drive mechanism.

[0039] In some embodiments, the drive mechanism includes a power unit and a drive wheel, the drive wheel being connected to the power unit.

[0040] In some embodiments, the drive mechanism further includes a drive coupler connected to the moving platform and coupled to the drive wheel, such that when the drive wheel rotates, the drive wheel moves linearly relative to the drive coupler.

[0041] In some embodiments, the drive wheel includes a gear and the drive coupler includes a rack coupled to the gear.

[0042] In some embodiments, the drive coupler includes a connecting cable, and the drive coupler is suspended from the moving platform via the connecting cable.

[0043] In some embodiments, the rack includes a sliding end, the sliding end is connected to the connecting cable, the lift table base includes a chute, and the sliding end moves along the chute direction.

[0044] In some embodiments, the rack includes a connecting end, the connecting end being connected to the moving platform.

[0045] In some embodiments, the drive coupler includes a second cable, a first end of the second cable being fixed to the moving platform and a second end of the second cable being wound around the drive wheel.

[0046] In some embodiments, the second end of the first cable is connected to the drive coupler.

[0047] In some embodiments, the second end of the first cable is wound around the drive wheel.

[0048] In some embodiments, the drive wheels are attached to the lift table base or the moving platform.

[0049] According to one aspect of the present application, the automatic cleaning device includes a moving platform, a cleaning module, a water supply module, and a recovery module, wherein the moving platform is configured to automatically move along a target direction to an operation surface, the cleaning module is connected to the moving platform and configured to clean the operation surface, the water supply module is connected to the moving platform and configured to supply cleaning liquid to the operation surface, and the recovery module is connected to the moving platform and configured to recover the cleaning liquid.

[0050] In some embodiments, the recovery module is located after the water supply module.

[0051] In some embodiments, the cleaning module is disposed between the water supply module and the recovery module and uses the cleaning fluid to clean the operating surface.

[0052] In some embodiments, the automated cleaning device further includes a lift table attached to the moving platform and configured to move up and down relative to the moving platform.

[0053] In some embodiments, the water supply module is at least partially attached to the lift table.

[0054] In some embodiments, the retrieval module is at least partially attached to the lift table.

[0055] In some embodiments, the water supply module includes a storage device attached to the moving platform for storing the cleaning liquid, the storage device having an opening through which the cleaning liquid reaches the operating surface.

[0056] In some embodiments, the water supply module further includes a dispenser connected to the opening of the storage device, and the cleaning liquid flows through the opening of the storage device to the dispenser and is applied evenly to the operating surface by the dispenser.

[0057] In some embodiments, the water module further includes a water driver attached to the opening of the reservoir, connected to the dispenser, and configured to extract the cleaning fluid from the reservoir to the dispenser.

[0058] In some embodiments, the recovery module further includes a roller pivotally connected to the moving platform and rotatingly moving relative to the moving platform, the roller contacting the operating surface when the recovery module is operating, and the roller being made of an elastic, water-absorbing material for absorbing the cleaning liquid on the operating surface.

[0059] In some embodiments, the collection module further includes a roller drive coupled to the roller and configured to drive the roller in rotational movement.

[0060] In some embodiments, the collection module further includes a collection assembly connected to the moving platform and configured to collect the cleaning liquid absorbed by the roller, the collection assembly including a scraper that is pressed against the roller to squeeze out the cleaning liquid absorbed by the roller, and the roller passes over the scraper from top to bottom as it rotates.

[0061] In some embodiments, the roller drive device drives the roller to move along a direction opposite to the target direction such that the linear velocity of the contact portion of the roller and the operating surface is toward the front of the moving platform, and the scraper is disposed behind the roller.

[0062] In some embodiments, the collection assembly further comprises a collection trough connected to the scraper and configured to collect the cleaning fluid squeezed from the roller by the scraper.

[0063] In some embodiments, the collection assembly further comprises a collection chamber, the collection channel comprises a collection port, and the collection chamber is connected to the collection channel via the collection port.

[0064] In some embodiments, the collection assembly further includes a collection blade pivotally connected to the moving platform within the collection channel, the collection blade rotating to transport the cleaning liquid in the collection channel to the collection port.

[0065] In some embodiments, the collection assembly further includes a collection drive configured to extract the cleaning liquid from the collection port into the collection chamber.

[0066] In some embodiments, the retrieval assembly further includes a blade driver connected to the retrieval blade and configured to drive the retrieval blade in rotation.

[0067] In some embodiments, the collection blade comprises a worm vane brush.

[0068] In some embodiments, the collection assembly further includes a filter screen disposed at the collection port and configured to filter impurities in the cleaning liquid.

[0069] In some embodiments, the automatic cleaning device further includes a dust suction module, the dust suction module being connected to the moving platform and configured to suck foreign matter on the operation surface into the dust suction module.

[0070] The present application further provides an automatic cleaning method for an operating surface, the method including: driving a mobile platform to automatically cruise along a target direction on the operating surface; driving a dust suction module to suck up foreign matter on the operating surface; driving a water supply module to supply cleaning liquid to the operating surface; driving a cleaning module to clean the operating surface; and driving a collection module to collect the cleaning liquid on the operating surface, wherein the dust suction module, the water supply module, the cleaning module and the collection module are attached to the mobile platform.

[0071] In some embodiments, the method for automatically cleaning an operating surface further includes, when cleaning starts, driving a lift table to move downward and approach the operating surface, and when cleaning ends, driving the lift table to move upward and away from the operating surface.

[0072] In some embodiments, the cleaning module is attached to the moving platform via the lift table.

[0073] In some embodiments, the dust suction module is attached to the moving platform via the lift table.

[0074] According to the above technical solutions, the automatic cleaning device provided by the present application has strong cleaning ability and can also achieve lift adjustment function. Furthermore, the automatic cleaning device supplies cleaning liquid to the operating surface via the water supply module, and the cleaning module uses the cleaning liquid to clean the operating surface, having strong cleaning ability and able to clean the operating surface effectively. The automatic cleaning device provided by the present application can also collect dirty water on the operating surface and thoroughly clean it without residue. The present application also provides an automatic cleaning method for an operating surface, in which the cleaning module and / or dust suction module can rise or fall together with the lift table, and can drive the lift table to lower when cleaning and drive the lift table to rise when cleaning is finished.

[0075] Other features of the present application are partially described in the following description. From the description, the following figures and examples will be apparent to those skilled in the art. The inventive aspects of the present application will be more fully understood by practice of the methods, apparatus, and combinations described in the following detailed examples. [Brief explanation of the drawings]

[0076] [Figure 1] 1 is a structural schematic diagram of an automatic cleaning device provided by an embodiment of the present application; [Figure 2] 1 is a structural schematic diagram of a lifting table according to several embodiments of the present application; [Figure 3] 1 illustrates a flexible traction mechanism according to several embodiments of the present application. [Figure 4] 1 illustrates a flexible traction mechanism according to several embodiments of the present application. [Figure 5] 1 illustrates a flexible traction mechanism according to several embodiments of the present application. [Figure 6] 1 illustrates a suspension mechanism according to several embodiments of the present application. [Figure 7] 1 illustrates a suspension mechanism according to several embodiments of the present application. [Figure 8] 1 is a structural schematic diagram of a lifting table according to several embodiments of the present application; [Figure 9] 1 is a structural schematic diagram of a part of a cleaning module of an automatic cleaning device provided by an embodiment of the present application; [Figure 10] 1 illustrates a cleaning head drive mechanism according to several embodiments of the present application. [Figure 11] 1 illustrates a cleaning head drive mechanism according to several embodiments of the present application. [Figure 12] 1 illustrates a cleaning head drive mechanism according to several embodiments of the present application. [Figure 13] 1 illustrates a cleaning head drive mechanism according to several embodiments of the present application. [Figure 14] 1 is a structural schematic diagram of a water supply module according to several embodiments of the present application; [Figure 15A] 1 is a bottom view structural schematic diagram of a recovery module according to several embodiments of the present application. FIG. [Figure 15B] FIG. 15B is a schematic side view of the recovery module of FIG. 15A. [Figure 16A] 1 is a structural schematic diagram of a roller according to several embodiments of the present application. FIG. [Figure 16B] FIG. 16B is a cross-sectional view of the roller of FIG. 16A. [Figure 17A] 1 is a structural schematic diagram of a retrieval assembly according to several embodiments of the present application. [Figure 17B] FIG. 17B is a top view structural schematic diagram of the retrieval assembly of FIG. 17A. [Figure 18] 1 is a flowchart of an automatic cleaning method for an operation surface provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0077] The following description is intended to provide specific application scenarios and requirements of the present application, enabling those skilled in the art to make and use the contents herein. Various modifications of the disclosed embodiments will be apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the present disclosure. Therefore, the present disclosure is not limited to the described embodiments, but is to be accorded the widest scope consistent with the appended claims.

[0078] The terms used herein are for the purpose of describing particular exemplary embodiments only and are not intended to be limiting. For example, unless otherwise specified, the singular forms "a," "one," and "the" as used herein can also include the plural. As used herein, the terms "comprise," "have," and / or "contain" refer to the presence of associated integers, steps, operations, elements, assemblies, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, assemblies, and / or components to the system / method. As used herein, the term "A is on B" means that A is directly adjacent to (above or below) B, and also means that A and B are indirectly adjacent (i.e., there is something between A and B), and the term "A is within B" means that A is entirely within B or that a portion of A is within B.

[0079] These and other features of the present disclosure, as well as the operation and function of the associated elements of construction, and combination of parts and manufacturing economy, may be greatly improved in view of the following description, all of which form a part of this disclosure, with reference to the drawings, it being understood, however, that the drawings are for the purpose of illustration and description only and are not intended to limit the scope of the present disclosure.

[0080] These and other features of the present disclosure, and the operation and function of the associated elements of structure, and the combination of assembly and manufacturing economy, may be significantly improved by the following description. Referring to the drawings, all of which form a part of this disclosure, it is to be understood, however, that the drawings are for illustration and description purposes only and are not intended to limit the scope of the present disclosure. It is further understood that the drawings are not drawn to scale.

[0081] FIG. 1 is a structural schematic diagram of an automatic cleaning device 001 provided by an embodiment of the present application. The automatic cleaning device 001 may be a vacuum cleaning robot, a mop / floor wiping robot, a window climbing robot, etc. In some embodiments of the present disclosure, the automatic cleaning device 001 may include a moving platform 100, a lifting table 200, a cleaning module 300, a water supply module 400, and a collection module 500. In some embodiments, the automatic cleaning device 001 further includes a dust suction module 700. For ease of explanation, the following description of the present application defines "up," "down," "left," "right," "front," and "rear." In the automatic cleaning device 001 described in the present application, the x direction is forward, the reverse of x is backward, the y direction is leftward, the reverse of y is rightward, the z direction is upward, and the reverse of z is downward, as shown in FIG. 1 . The lifting table 200 is disposed below the moving platform 100, the moving platform 100 is disposed above the lifting table 200, and the cleaning module 300 is disposed below the lifting table 200. The cleaning module 300, the water supply module 400, and the collection module 500 are disposed below the moving platform 100, the dust suction module 700 is disposed in front of the water supply module 400, and the water supply module 400 is disposed in front of the collection module 500.

[0082] The mobile platform 100 is configured to automatically move along a target direction to an operating surface. The operating surface may be a surface to be cleaned by the automatic cleaning device 001. In some embodiments, if the automatic cleaning device 001 is a mop robot, the automatic cleaning device 001 operates on a floor surface, and the floor surface is the operating surface; if the automatic cleaning device 001 is a window cleaning robot, the automatic cleaning device 001 operates on the exterior glass surface of a building, and the glass is the operating surface; if the automatic cleaning device 001 is a pipeline cleaning robot, the automatic cleaning device 001 operates on the interior surface of a pipeline, and the interior surface of the pipeline is the operating surface. For illustrative purposes only, a mop robot will be used as an example in the following description of the present application.

[0083] In some embodiments, the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform. The term "autonomous mobile platform" refers to the mobile platform 100 automatically and adaptively determining its operation in response to unexpected environmental inputs. The term "non-autonomous mobile platform" refers to a mobile platform that cannot adaptively determine its operation in response to unexpected environmental inputs but operates according to a predetermined program or logic. Correspondingly, if the mobile platform 100 is an autonomous mobile platform, the target direction is automatically determined by the automatic cleaning device 001. If the mobile platform 100 is a non-autonomous mobile platform, the target direction is set by a system or manually. If the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 may include a drive module 140, a sensor module 130, and a control module 120.

[0084] A drive module 140 may be mounted on the mobile platform 100. If the automatic cleaning device is a suction robot and / or a mop robot, the drive module 140 may include wheels 142, a steering mechanism 144, and a power system 146. The steering mechanism 144 may be located in front of the wheels 142. The power system 146 provides power for the rotation of the steering mechanism 144 and the wheels 142.

[0085] The sensor module 130 may be mounted on the mobile platform 100 and may include one or more sensors. For example, the sensor module 130 may include a visual sensor and / or a tactile sensor. The visual sensor is configured to sense the shape of objects around the mobile platform 100. For example, the visual sensor may include a laser radar 132, an ultrasonic sensor 134, a camera 136, etc. The tactile sensor is configured to sense the shape and material characteristics of objects around the mobile platform 100 through contact. For example, the tactile sensor may include capacitive contacts 138, mechanical contacts 139, etc. The tactile sensor may come into contact with an object to sense the presence and / or surface characteristics of the object, for example, whether the object is a floor or carpet.

[0086] The control module 120 receives environmental information sensed by the plurality of sensors transmitted from the sensor module 130, autonomously determines a migration path based on the environmental information, and then controls operations such as forward movement, backward movement, and / or steering of the drive module 140 according to the autonomously determined migration path. Furthermore, the control module 120 can also determine whether to perform a cleaning operation of the cleaning module 300 based on the environmental information.

[0087] The lift table 200 may be connected to the underside of the mobile platform 100 and is configured to move up and down relative to the mobile platform 100. In some embodiments, moving up and down refers to the lift table 200 moving in the z-direction relative to the mobile platform 100. The lift table 200 is connected to the mobile platform 100 and disposed below the mobile platform 100. The lift table 200 may include a bottom surface 201, and the mobile platform 100 may include a bottom surface 101. When the lift table 200 is raised, the bottom surface 201 of the lift table 200 is adjacent to the bottom surface 101 of the mobile platform 100 or is flush or substantially flush with the bottom surface 101 of the mobile platform 100, so that the bottom surface 201 of the lift table 200 is separated from the operation surface. When the lift table 200 descends, the bottom surface 201 of the lift table 200 moves away from the bottom surface 101 of the moving platform 100, so that the bottom surface 201 of the lift table 200 comes close to the operation surface.

[0088] The cleaning module 300 may be mounted on the lift table 200 and configured to clean an object surface. The object surface may be the operating surface, which may be flat or non-flat, such as a floor, tabletop, glass, an automobile surface, or the inner surface of a pipeline. The cleaning module 300 may be directly connected to the mobile platform 100 or indirectly connected to the mobile platform 100 via the lift table 200. As shown in FIG. 1 , the cleaning module 300 is at least partially attached to the lift table 200 and indirectly connected to the mobile platform 100 via the lift table 200. The cleaning module 300 moves up and down relative to the mobile platform 100 together with the lift table 200 to change the distance between the cleaning module 300 and the object surface. In a cleaning mode, the lift table 200 descends, bringing the cleaning module 300 closer to the object surface for cleaning. In a non-cleaning mode, the lift table 200 ascends, bringing the cleaning module 300 away from the object surface, allowing the mobile platform 100 to move over the object surface.

[0089] The water supply module 400 may be directly or indirectly connected to the mobile platform 100 and is configured to supply cleaning liquid to the operation surface. The water supply module 400 may be directly connected to the mobile platform 100 or indirectly connected to the mobile platform 100 via the lift table 200. As shown in FIG. 1 , the water supply module 400 is at least partially attached to the lift table 200 and indirectly connected to the mobile platform 100 via the lift table 200. The water supply module 400 moves up and down together with the lift table 200 relative to the mobile platform 100 to change the distance between the water supply module 400 and the operation surface. In cleaning mode, the lift table 200 descends, bringing the water supply module 400 closer to the operation surface. The water supply module 400 sprays or applies the cleaning liquid to the operation surface, enhancing the cleaning power of the automatic cleaning device 001. In non-cleaning mode, the lift table 200 rises, moving the water supply module 400 away from the operation surface, allowing the mobile platform 100 to move over the operation surface.

[0090] The recovery module 500 is directly or indirectly connected to the mobile platform 100 and is configured to recover the cleaning liquid. The recovery module 500 may be directly connected to the mobile platform 100 or indirectly connected to the mobile platform 100 via the lift table 200. As shown in FIG. 1 , the recovery module 500 is at least partially attached to the lift table 200 and indirectly connected to the mobile platform 100 via the lift table 200. The recovery module 500 moves up and down together with the lift table 200 relative to the mobile platform 100 to change the distance between the recovery module 500 and the operation surface. In a cleaning mode, the lift table 200 descends, bringing the recovery module 500 close to the operation surface, allowing the recovery module 500 to recover any contaminated residual cleaning liquid on the operation surface to ensure the cleanliness of the operation surface. In a non-cleaning mode, the lift table 200 ascends, moving the recovery module 500 away from the operation surface, allowing the mobile platform 100 to move over the operation surface.

[0091] As described above, in some embodiments, the automatic cleaning device 001 further includes a dust suction module 700. The dust suction module 700 is configured to generate a vacuum airflow to suck debris and impurities into a dust box (not shown in FIG. 1 ) of the dust suction module 700. The dust box is detachably attached to the mobile platform 100 so that a user can remove and clean it. The dust suction module 700 also includes a dust suction drive unit (not shown in FIG. 1 ) that generates the vacuum airflow. The dust suction module 700 also includes a roller brush (not shown in FIG. 1 ) that rotates to sweep debris and impurities into the dust suction module 700. The dust suction module 700 can be directly or indirectly connected to the mobile platform 100. The dust suction module 700 can be directly connected to the mobile platform 100, or it can be attached to the lifting table 200 and indirectly connected to the mobile platform 100 via the lifting table 200. As shown in FIG. 1 , the dust suction module 700 is directly connected to the mobile platform 100. Of course, the dust suction module 700 may also be attached to the lifting table 200 and indirectly connected to the moving platform 100 via the lifting table 200. When the dust suction module 700 is attached to the lifting table 200, it can move up and down together with the lifting table 200 relative to the moving platform 100 to change the distance between the dust suction module 700 and the operating surface. In cleaning mode, the lifting table 200 descends, bringing the dust suction module 700 close to the operating surface so that the dust suction module 700 can clean the operating surface. In non-cleaning mode, the lifting table 200 ascends, moving the dust suction module 700 away from the operating surface so that the moving platform 100 can move across the operating surface.

[0092] 1 , the dust suction module 700 may be disposed in front of the water supply module 400. The recovery module 500 may be disposed behind the water supply module 400. The cleaning module 300 may be disposed between the water supply module 400 and the recovery module 500, and the cleaning module 300 may use the cleaning liquid to clean the operating surface. When the moving platform 100 moves along the target direction toward the operating surface, the dust suction module 700 sucks debris and other impurities on the operating surface into the dust box. The water supply module 400 supplies the cleaning liquid to the operating surface between the dust suction module 700 and the cleaning module 300. The cleaning module 300 uses the cleaning liquid to clean the operating surface. After cleaning the operating surface, the dirty cleaning liquid remains on the operating surface. Finally, the recovery module 500 recovers the dirty cleaning liquid remaining on the operating surface, ensuring the cleanliness of the operating surface.

[0093] According to different application cases, the automatic cleaning device 001 can be adaptively modified, and these modifications fall within the protection scope of the present disclosure.

[0094] 2 is a structural schematic diagram of a lift table 200 of an automatic cleaning device 001 according to several embodiments of the present application. FIG. 2 is a view observed from the rear and below of the automatic cleaning device 001. The lift table 200 may include a lift mechanism 202 and a lift table base 207.

[0095] The lifting table base 207 is connected to the lifting mechanism 202 and configured to move up and down relative to the moving platform 100 under the action of the lifting mechanism 202. The lifting table base 207 further includes a first connecting end 271 and a second connecting end 272. The first connecting end 271 is adjacent to the front of the moving platform 100, and the second connecting end 272 is adjacent to the rear of the moving platform 100. The lifting table base 207 may include a lower surface 274. The lifting table base 207 may further include auxiliary wheels 278. The auxiliary wheels 278 are configured to assist the lifting table base 207 in moving on the operating surface. Wherein, when the lifting table base 207 moves downward relative to the moving platform 100, the auxiliary wheels 278 first come into contact with the operating surface and roll against the operating surface. When the lifting table base 207 moves downward to its lowest position, the auxiliary wheels 278 roll on the operation surface to assist the lifting table base 207 in moving on the operation surface, and prevent dry friction between the lifting table base 207 and the operation surface while the lifting table base 207 is moving on the moving platform 100. The number of auxiliary wheels 278 may be one or more. FIG. 2 shows two auxiliary wheels 278. Of course, the number of auxiliary wheels 278 may be one or any number, such as three.

[0096] The lifting mechanism 202 is connected to the moving platform 100 and drives the lifting table 200 to move up and down relative to the moving platform 100. When the lifting mechanism 202 is deployed, the lifting table 200 moves downward to deploy, and when the lifting mechanism 202 is retracted, the lifting table 200 moves upward to retract.

[0097] In some embodiments, the lifting mechanism 202 can be a mechanical structure of various forms. For example, the lifting mechanism 202 can be a flexible traction mechanism that pulls the lifting table base 207 up and down via a cable, or a rigid mechanism that moves up and down relative to the lifting table base 207 via a rigid linear transmission mechanism. The lifting mechanism 202 shown in FIG. 2 is a flexible traction mechanism. A specific design of the flexible traction mechanism is illustrated in FIG. 3.

[0098] When the lifting mechanism 202 is a flexible traction mechanism, the lifting table 200 further includes a connecting rod 208. The connecting rod 208 may include a first hinge end 281 and a second hinge end 283. The first hinge end 281 of the connecting rod 208 is hingedly connected to the moving platform 100, and the second hinge end 283 of the connecting rod 208 is hingedly connected to the first connecting end 271 of the lifting table base 207. The number of connecting rods 208 may be one or more. FIG. 2 shows two connecting rods 208, which are located on both the left and right ends of the lifting table base 207. Of course, the number of connecting rods 208 may be any number, such as one, three, four, or five.

[0099] The flexible traction mechanism may be connected to the second connection end 272 of the lift table base 207. The flexible traction mechanism suspends the lift table base 207 from the mobile platform 100 via the first cable 220 and pulls the lift table base 207 to move up and down relative to the mobile platform 100. The upward movement refers to bringing the lower surface 274 of the lift table base 207 closer to the bottom surface 101 of the mobile platform 100, and the downward movement refers to moving the lower surface 274 of the lift table base 207 away from the bottom surface 101 of the mobile platform 100. When the lifting table base 207 rises, the second connecting end 272 of the lifting table base 207 rises under the action of the flexible traction mechanism, the second hinge end 283 of the connecting rod 208 pivots about the first hinge end 281, and the first connecting end 271 of the lifting table base 207 pivots about the second hinge end 283 of the connecting rod 208. Due to the pivoting of the connecting rod 208, the vertical position of the lifting table base 207 drops and its horizontal position also displaces, and the amount of displacement is related to the pivot angle toward the connecting rod 208. As will be seen from the description below, due to the characteristics of the flexible traction mechanism, the flexible traction mechanism can compensate for the horizontal displacement and maintain the shape of the lifting table base 207 under the action of its own gravity. That is, the connecting rod 208 can ensure that the angle between the lower surface 274 of the lifting table base 207 and the bottom surface 101 of the moving platform 100 remains constant during movement.

[0100] Furthermore, the flexible traction mechanism may include a suspension mechanism 210 and a drive mechanism 240. The suspension mechanism 210 may include a first cable 220, which suspends the lift table base 207 from the moving platform 100, and the drive mechanism 240 drives the lift table base 207 to move up and down relative to the moving platform 100.

[0101] The suspension mechanism 210 and drive mechanism 240 can be combined with various types of flexible traction mechanisms to allow the traction lift table base 207 to move up and down relative to the moving platform 100. Figures 3-7 show several different flexible traction mechanisms.

[0102] 3 illustrates a flexible traction mechanism 003 according to several embodiments of the present application, which may be adapted to the lift mechanism 202. As described above, the flexible traction mechanism 003 may include a suspension mechanism 210 and a drive mechanism 240. The suspension mechanism 210 may include a first cable 220 and at least one cable guide rail 230. Furthermore, the lift table base 207 further includes a first side 275 and a second side 276.

[0103] First cable 220 may include a first end 221 and a second end 222. First end 221 may be directly or indirectly connected to mobile platform 100. Second end 222 may be directly or indirectly connected to drive mechanism 240.

[0104] The cable guide rail 230 is disposed at a second connection end 272 (shown in FIG. 2 ) of the lifting table base 207 so that the first cable 220 passes through it. The cable guide rail 230 may include at least one of at least one pulley, at least one guide groove, and at least one guide protrusion. Each time the first cable 220 passes through one cable guide rail 230, its extending direction changes. As shown in FIG. 3 , the cable guide rail 230 may include a first guide groove 231, a second guide groove 232, and a fixed pulley 233. The first guide groove 231 is disposed on or adjacent to a first side 275 of the lifting table base 207, the second guide groove 232 is disposed on or adjacent to a second side 276 of the lifting table base 207, and the fixed pulley 233 may be directly or indirectly connected to the lifting table base 207. A first end 221 of a first cable 220 is connected to the moving platform 100, and the first cable 220 passes from the top of the lifting table base 207 through a first guide groove angle 231, a second guide groove angle 232, and a fixed pulley 233 in that order, and finally, a second end 222 of the first cable 220 is connected to the driving mechanism 240. The first end 221 of the first cable 220 and the first guide groove angle 231 form a direction 1, the first guide groove angle 231 and the second guide groove angle 232 form a direction 2, the second guide groove angle 232 and the fixed pulley 233 form a direction 3, and the fixed pulley 233 and the driving mechanism 240 form a direction 4. The angle between the direction 1 and the direction 2 can be an acute angle, a right angle, or an obtuse angle, the angle between the direction 2 and the direction 3 can be a right angle or an obtuse angle, and the angle between the direction 3 and the direction 4 can be an acute angle. After first cable 220 passes through cable guide rail 230, the extension direction of second end 222 of first cable 220 changes, and the extension direction of second end 222 differs from that of first end 221. As shown in FIG. 3 , first end 221 extends in a direction toward mobile platform 100, and second end 222 extends in a direction away from mobile platform 100.

[0105] Drive mechanism 240 may include a power unit 242, a drive wheel 244, and a drive coupler 246. The power unit 242 may be a motor, an engine, or a cylinder and provides power to the drive wheel 244. The drive wheel 244 may be directly connected to the power unit 242, or one or more mechanisms such as a gear mechanism, a worm gear, or a gear rack may be indirectly connected to the power unit 242. The drive wheel 244 may be attached to the mobile platform 100 or to the lift table base 207. As shown in FIG. 3 , the drive wheel 244 is pivotally connected to the lift table base 207 and moves rotationally about a pivot axis 245. The drive coupler 246 may be directly or indirectly connected to the mobile platform 100 and coupled to the drive wheel 244. When the drive wheel 244 rotates, the drive wheel 244 moves linearly relative to the drive coupler 246.

[0106] As shown in FIG. 3, the drive wheel 244 may be a gear, and the drive coupler 246 may include a rack 247. The rack 247 may be directly or indirectly connected to the mobile platform 100. As shown in FIG. 3, the drive coupler 246 may include a connecting cable 249. The connecting cable 249 suspends the rack 247 from the mobile platform 100. Furthermore, the rack 247 may include a sliding end 247a. A chute 277 is provided on the lifting table base 207. The rack 247 is slidably connected to the chute 277 via the sliding end 247a and moves along the installation direction of the chute 277.

[0107] When power device 242 rotates the gear counterclockwise, the gear is coupled to rack 247 and moves upward relative to rack 247, causing lifting table base 207 to move upward relative to rack 247. Rack 247 is suspended from mobile platform 100 via connecting cable 249, and under the action of gravity of lifting table base 207, rack 247 is always suspended from mobile platform 100 and the distance from rack 247 to mobile platform 100 does not change, causing lifting table base 207 to move upward relative to mobile platform 100, and lower surface 274 of lifting table base 207 approaches bottom surface 101 of mobile platform 100. When the gear rotates clockwise, the gear is coupled to rack 247 and moves downward relative to rack 247, causing lifting table base 207 to move downward relative to rack 247. By connecting the rack 247 to the gears, under the action of gravity of the lifting table base 207, the rack 247 is always suspended from the moving platform 100, and the distance from the rack 247 to the moving platform 100 does not change, so the lifting table base 207 moves downward relative to the moving platform 100, and the lower surface 274 of the lifting table base 207 moves away from the bottom surface 101 of the moving platform 100.

[0108] 4 illustrates a flexible traction mechanism 004 according to several embodiments of the present application, which may be adapted to the lifting mechanism 202. As described above, the flexible traction mechanism 004 may include a suspension mechanism 210 and a drive mechanism 240. The suspension mechanism 210 may include a first cable 220 and at least one cable guide rail 230.

[0109] 4 , the cable guide rail 230 may include a first guide groove angle 231. The first guide groove angle 231 is disposed on or adjacent to a first side 275 of the lifting table base 207. A first end 221 of a first cable 220 is connected to the moving platform 100, the first cable 220 passes through the first guide groove angle 231 from the top of the lifting table base 207, and finally, a second end 222 of the first cable 220 is connected to the driving mechanism 240. The first end 221 of the first cable 220 and the first guide groove angle 231 form a direction 1, and the first guide groove angle 231 and the driving mechanism 240 form a direction 2. The included angle between the direction 1 and the direction 2 may be an acute angle, a right angle, or an obtuse angle.

[0110] As described above, the drive mechanism 240 may include a power unit 242, a drive wheel 244, and a drive coupler 246. The drive wheel 244 may be a reel 244b. The reel 244b is pivotally connected to the lift table base 207 and is capable of rotational movement about a pivot axis 245. The drive coupler 246 may include a second cable 251. A first end of the second cable 251 is fixed to the moving platform 100 and a second end is wound around the reel 244b. The second end 222 of the first cable 220 is wound around the reel 244b. When reel 244b rotates clockwise, reel 244b winds second cable 251 and second end 222 of first cable 220 onto reel 244b, decreasing the length of the cable between reel 244b and mobile platform 100 and pulling lift table base 207 to move upward relative to mobile platform 100, so that lower surface 274 of lift table base 207 approaches bottom surface 101 of mobile platform 100. When reel 244b rotates counterclockwise, second cable 251 and first cable 220 wound onto reel 244b are released from reel 244b, increasing the length of the cable between reel 244b and mobile platform 100 under the action of gravity, so that lift table base 207 moves downward relative to mobile platform 100 and lower surface 274 of lift table base 207 moves away from bottom surface 101 of mobile platform 100.

[0111] 5 illustrates a flexible traction mechanism 005 according to several embodiments of the present application, which may be adapted to the lifting mechanism 202. As described above, the flexible traction mechanism 005 may include a suspension mechanism 210 and a drive mechanism 240. The suspension mechanism 210 may include a first cable 220 and at least one cable guide rail 230.

[0112] 5 , the cable guide rail 230 may include a first guide groove corner 231 and a second guide groove corner 232. The first guide groove corner 231 is disposed on or adjacent to a first side 275 of the lifting table base 207, and the second guide groove corner 232 is disposed on or adjacent to a second side 276 of the lifting table base 207. A first end 221 of a first cable 220 is connected to the moving platform 100, and the first cable 220 passes through the first guide groove corner 231 and the second guide groove corner 232 sequentially from the top of the lifting table base 207, and finally, a second end 222 of the first cable 220 is connected to the drive mechanism 240. The first end 221 of the first cable 220 and the first guide groove angle 231 form a direction 1, the first guide groove angle 231 and the second guide groove angle 232 form a direction 2, and the second guide groove angle and the driving mechanism 240 form a direction 3. The included angle between the direction 1 and the direction 2 can be an acute angle, a right angle, or an obtuse angle. The included angle between the direction 2 and the direction 3 can be a right angle or an obtuse angle.

[0113] As described above, the drive mechanism 240 may include a power unit 242 (not shown in FIG. 5 ) and a drive wheel 244. The drive wheel 244 may be attached to the moving platform 100 or the lifting table base 207. As shown in FIG. 5 , the drive wheel 244 is pivotally connected to the moving platform 100 and can rotate about a pivot axis 245. The drive wheel 244 may be a reel 244c. A first end 221 of a first cable 220 is connected to the moving platform, and the first cable 220 passes through a first guide groove corner 231 and a second guide groove corner 232 sequentially from the top of the lifting table base 207, and finally, a second end 222 of the first cable 220 is wound onto the reel 244c.

[0114] When the reel 244c rotates clockwise, the reel 244c winds the second end 222 of the first cable 220 onto the reel 244c, decreasing the cable length between the reel 244c and the first end 221 of the first cable 220 and pulling the lift table base 207 to move upward relative to the mobile platform 100, so that the lower surface 274 of the lift table base 207 approaches the bottom surface 101 of the mobile platform 100. When the reel 244c rotates counterclockwise, the reel 244c releases the second end 222 of the first cable 220 wound onto the reel 244c and increasing the cable length between the reel 244c and the first end 221 of the first cable 220, so that under the action of gravity, the lift table base 207 moves downward relative to the mobile platform 100 and the lower surface 274 of the lift table base 207 moves away from the bottom surface 101 of the mobile platform 100.

[0115] 3 and 4 show two flexible traction mechanisms 003 and 004 according to various embodiments of the present application. The cable guide rail 230 in the flexible traction mechanism 003 of FIG. 3 is configured with a guide groove and a fixed pulley. The cable guide rail 230 in the flexible traction mechanism 004 of FIG. 4 is configured with a guide groove. As described above, the cable guide rail 230 includes at least one of at least one pulley, at least one guide groove corner, and at least one guide protrusion. The cable guide rail 230 may be configured with a guide protrusion or a guide protrusion and a fixed pulley.

[0116] FIG. 6 shows a suspension mechanism 006 according to several embodiments of the present application, which can be adapted to a flexible traction mechanism 003.

[0117] 6 , the cable guide rail 230 may include a first guide protrusion 235, a second guide protrusion 236, and a fixed pulley 233. The first guide protrusion 235 is disposed on or adjacent to a first side 275 of the lifting table base 207, the second guide protrusion 236 is disposed on or adjacent to a second side 276 of the lifting table base 207, and the fixed pulley 233 may be directly or indirectly connected to the lifting table base 207. A first end 221 of a first cable 220 is connected to the moving platform 100, and the first cable 220 passes from the top of the lifting table base 207 through the first guide protrusion 235, the second guide protrusion 236, and the fixed pulley 233 in that order, and finally, a second end 222 of the first cable 220 is connected to the drive mechanism 240.

[0118] As described above, the rack 247 can be directly or indirectly connected to the moving platform 100. The rack 247 can include a connection end 247b. As shown in FIG. 6 , the connection end 247b is directly connected to the moving platform 100. When the gear rotates counterclockwise, the gear is coupled to the rack 247 and moves upward relative to the rack 247, causing the lifting table base 207 to move upward relative to the rack 247. When the rack 247 is coupled to the moving platform 100, the lifting table base 207 moves upward relative to the moving platform 100, and the lower surface 274 of the lifting table base 207 is close to the bottom surface 101 of the moving platform 100. When the gear rotates clockwise, the gear is coupled to the rack 247 and moves downward relative to the rack 247, causing the lifting table base 207 to move downward relative to the rack 247. Because rack 247 is connected to moving platform 100 , lift table base 207 moves downward relative to moving platform 100 and lower surface 274 of lift table base 207 moves away from bottom surface 101 of moving platform 100 .

[0119] FIG. 7 shows a suspension mechanism 007 according to several embodiments of the present application, which can be adapted to a flexible traction mechanism 004.

[0120] 7 , the cable guide rail 230 may include a first guide protrusion 235. The first guide protrusion 235 is disposed on or adjacent to a first side 275 of the lift table base 207. A first end 221 of a first cable 220 is connected to the moving platform, the first cable 220 passes through the first guide protrusion 235 from the top of the lift table base 207, and finally, a second end 222 of the first cable 220 is connected to the drive mechanism 240.

[0121] When reel 244b rotates clockwise, second cable 251 and first cable 220 are wound onto reel 244b, decreasing the cable length between reel 244b and mobile platform 100 and pulling lift table base 207 to move upward relative to mobile platform 100, so that lower surface 274 of lift table base 207 approaches bottom surface 101 of mobile platform 100. When reel 244b rotates counterclockwise, reel 244b releases second cable 251 and first cable 220 wound onto reel 244b, increasing the cable length between reel 244b and mobile platform 100, so that under the action of gravity, lift table base 207 moves downward relative to mobile platform 100 and lower surface 274 of lift table base 207 moves away from bottom surface 101 of mobile platform 100.

[0122] As described above, the lifting mechanism 202 can have different mechanical structures. For example, the lifting mechanism 202 can be a flexible traction mechanism that pulls the lifting table base 207 up and down via a cable, or a rigid mechanism that moves the lifting table base 207 up and down via a rigid linear transmission mechanism. FIG. 8 is a structural schematic diagram of the lifting mechanism 008 according to several embodiments of the present application. FIG. 8 is a view of the lifting table 200 viewed from the right side of the automatic cleaning device 001. The lifting mechanism 008 can be applied to the lifting table 200.

[0123] The lift table 200 may include a lift mechanism 008 and a lift table base 207. The lift mechanism 008 may include at least two linear drive mechanisms 291. The linear drive mechanism 291 may include an electric push rod, a screw nut, a cylinder, etc. One end of the linear drive mechanism 291 is directly or indirectly connected to the lift table base 207, and the other end is directly or indirectly connected to the moving platform 100. The linear drive mechanism 291 is distributed between a first connection end 271 and a second connection end 272 of the lift table base 207. When the linear drive mechanism 291 moves forward, the distance between the lift table base 207 and the moving platform 100 increases, and the lower surface 274 of the lift table base 207 moves away from the bottom surface 101 of the moving platform 100. When linear drive mechanism 291 moves in the reverse direction, the distance between lift table base 207 and moving platform 100 decreases, and lower surface 274 of lift table base 207 moves closer to bottom surface 101 of moving platform 100 .

[0124] 9 is a structural schematic diagram of the cleaning module 300 part of the automatic cleaning device 001 provided by the embodiment of the present application. This structural schematic diagram shows the automatic cleaning device 001 in an upside-down state.

[0125] The cleaning module 300 may be attached to the motion platform 100 or to the lift table 200. Furthermore, the cleaning module 300 may include a cleaning head 320 and a drive unit 330.

[0126] The cleaning head 320 may be attached to the bottom surface 201 of the lift table 200. The cleaning head 320 is configured to clean the operation surface, e.g., a floor surface. In some embodiments, the cleaning head 320 is a plate-like structure. The shape of the plate-like structure may be any shape, such as a rectangle, a square, a circle, or an irregular pattern. In some embodiments, the distance between the lift table 200 and the mobile platform 100 is adjustable, and therefore the distance between the cleaning head 320 and the bottom surface 101 of the mobile platform 100 is also adjustable. Furthermore, the cleaning head 320 is made of an elastic material, and an elastic support structure 328, e.g., a lead support, is provided between the cleaning head 320 and the bottom surface 201 of the lift table 200. When the cleaning head 320 operates, the cleaning head 320 is always in contact with the operation surface. During automatic and / or autonomous navigation of the mobile platform 100, the distance between the operation surface and the bottom surface 201 of the lift table 200 is not always constant. The elasticity of the cleaning head 320 itself allows the distance between the cleaning head 320 and the bottom surface 201 of the lift table 200 to be passively adjusted together with the operation surface.

[0127] For example, the distance between the cleaning head 320 and the bottom surface 101 of the moving platform 100 can be automatically adjusted according to the contour of the operating surface. For example, if the operating surface is a sloped surface from high to low, the distance between the cleaning head 320 and the bottom surface 201 of the lifting table 200 may increase as the moving platform 100 cruises forward. The elastic support structure 328 allows the cleaning head 320 to move downward in close contact with the operating surface.

[0128] The cleaning head 320 may include a cleaning head base plate 322 and a working head 324. The working head 324 is attached to the cleaning head base plate 322. When the automatic cleaning device 001 operates, the working head 324 comes into contact with the operating surface. The working head 324 is configured to clean the operating surface. For example, the working head 324 may be a brush, a duster cloth, a sponge, or any other tool and / or material capable of cleaning the operating surface. The shape of the working head 324 may be arbitrary or may be appropriately changed depending on the shape of the cleaning head base plate 322.

[0129] The drive unit 330 is directly or indirectly connected to the cleaning head 320 and drives the cleaning head 320 to move back and forth. The drive unit 330 may include an engine 332 (e.g., a motor), a drive wheel 334, and a gear mechanism 336. The gear mechanism 336 may connect the engine 332 and the drive wheel 334. The engine 332 may directly rotate the drive wheel 334 or indirectly rotate the drive wheel 334 via the gear mechanism 336. In FIG. 9, the gear mechanism 336 is shown as a single gear. Those skilled in the art will recognize that the gear mechanism 336 may also be a gear set composed of multiple gears.

[0130] The drive wheel 334 is directly or indirectly connected to the cleaning head 320 and drives the cleaning head 320 to reciprocate across a target surface. The target surface is a plane along which the cleaning head 320 reciprocates. In some embodiments, the target surface may be a plane parallel to the bottom surface 201 of the lift table 200. For example, when the automatic cleaning device 001 operates on a floor surface, the cleaning head 320 is in close contact with the floor surface, and the target surface is the operation surface, i.e., the floor surface. On the other hand, in some embodiments, the target surface is a plane different from the operation surface. For example, when the automatic cleaning device 001 stops on the floor surface and does not operate, the lift table 200 rises, the cleaning head 320 no longer contacts the floor surface, and the target surface is an imaginary plane outside the floor surface.

[0131] The reciprocating movement is periodic. In some embodiments, the reciprocating movement includes a movement component perpendicular to the target direction. In some embodiments, the reciprocating movement includes a movement component parallel to the target direction. As shown in FIG. 9, a coordinate system is constructed with a point on the automatic cleaning device 001 as the origin to measure the movement of the automatic cleaning device 001. The X-axis direction is the target direction in which the automatic cleaning device 001 moves at V0, and the Y-axis is perpendicular to the X-axis. In some cases, the reciprocating movement includes a movement component perpendicular to the target direction (i.e., Y-direction). In some cases, the reciprocating movement includes a movement component parallel to the target direction (i.e., X-axis). In some cases, the reciprocating movement simultaneously includes a movement component perpendicular / parallel to the target direction.

[0132] The reciprocating movement may be a periodic movement having a preset reciprocating period. The preset reciprocating period refers to the time required for the cleaning head 320 to complete one reciprocating movement. The longer the preset reciprocating period, the slower the moving speed of the cleaning head 320 and the lower the cleaning strength / efficiency of the automatic cleaning device 001. The shorter the preset reciprocating period, the faster the moving speed of the cleaning head 320 and the higher the cleaning strength / efficiency of the automatic cleaning device 001.

[0133] The cleaning strength / efficiency of the automatic cleaning device 001 can also be automatically adjusted according to the operating environment of the automatic cleaning device 001. For example, the automatic cleaning device 001 detects physical information about the operating surface using a sensor 134 attached to the bottom of the moving platform 100. For example, the sensor 134 detects information such as the flatness of the operating surface, the material of the operating surface, and the presence or absence of oil or dust, and transmits this information to the control module 120 of the automatic cleaning device 001. In response, the control module 120 instructs the automatic cleaning device 001 to automatically adjust the rotation speed of the engine 332 according to the operating environment of the automatic cleaning device 001, thereby adjusting the preset reciprocating period of the reciprocating movement of the cleaning head 320.

[0134] For example, when the automatic cleaning device 001 operates on a flat floor surface, the preset reciprocation period may be automatically adjusted to be longer, and when the automatic cleaning device 001 operates on an uneven floor surface, the preset reciprocation period may be automatically adjusted to be shorter, since a flat floor surface is easier to clean than an uneven floor surface, and therefore cleaning an uneven floor surface requires faster reciprocation (i.e., higher frequency) of the cleaning head 320.

[0135] For example, when the automatic cleaning device 001 operates on a table surface, the preset reciprocating period can be automatically adjusted to be longer, and when the automatic cleaning device 001 operates on a floor surface, the preset reciprocating period can be automatically adjusted to be shorter. This is because the table surface has less dust and oil than the floor surface, and the material that makes up the table surface is easier to clean, so the cleaning head 320 can complete cleaning of the table surface with fewer reciprocating movements.

[0136] It should be understood that in addition to the automatic cleaning device 001 being able to automatically adjust the preset reciprocating period, the preset reciprocating period may also be adjusted manually or according to a program preset in the system.

[0137] In some embodiments, the cleaning module 300 further includes an elastic support structure attached to the rear surface of the cleaning head 320 to elastically support the cleaning head 320. As shown in FIG. 9 , the elastic support structure may include two elastic supports 328 attached to the bottom surface 201 of the lifting table 200 or the rear surface of the cleaning head base plate 322 to elastically support the cleaning head 320. As described above, during automatic and / or autonomous navigation of the mobile platform 100, the distance between the operation surface and the bottom surface 201 of the lifting table 200 is not always constant. Due to the elasticity of the cleaning head 320 itself, the distance between the cleaning head 320 and the bottom surface 201 of the lifting table 200 can be passively adjusted along with the operation surface. At the same time, the elastic supports 328 support the rear surface of the cleaning head 320, so that the cleaning head 320 is always in close contact with the operation surface, allowing the automatic cleaning device 001 to have high cleaning performance for the operation surface. To ensure that the cleaning head 320 always adheres to the operating surface during operation, the elastic support 328 in the cleaning module 300 can always be deformed when the cleaning head 320 cleans the operating surface, exerting an elastic force on the cleaning head base plate 322 in the direction of the operating surface. Furthermore, if the operating surface cleaned by the automatic cleaning device 001 is uneven, for example, when the cleaning head 320 wipes away foreign matter on the operating surface, the pressure applied to each position on the cleaning head 320 (or cleaning head base plate 322) will be different. However, due to the elasticity of the cleaning head base plate 322 and the existence of the elastic support 328, the distance between the cleaning head 320 and the bottom surface 201 of the lifting table 200 from the floor surface can be elastically adjusted within a certain range, preventing the pressure of the cleaning head 320 from being concentrated at one point on the floor surface and improving the durability of the cleaning head 320.

[0138] In some embodiments, the drive unit 330, cleaning head base plate 322, and lift table 200 are combined to form various drive mechanisms that drive the cleaning head 320 to perform reciprocating motions that include a component perpendicular to the target direction. Figures 10-13 show some cleaning head drive mechanisms.

[0139] 10 shows a cleaning head drive mechanism 010 based on a crank-slide-block mechanism according to several embodiments of the present application. The drive structure 010 can be adapted to the cleaning module 300. The drive structure 010 includes a drive wheel 334, a cleaning head base plate 322, and a chute 344.

[0140] The chute 344 is opened on the bottom surface 201 of the lifting table 200. The cleaning head base plate 322 includes a rotating end 327 and a sliding end 326. The rotating end 327 is connected to the driving wheel 334 via a pivot shaft 329. The driving wheel 334 has a rotation center at point O, and the rotating end 327 has a pivot center at point A. Points O and A do not coincide, and the distance between them is a predetermined distance d. The sliding end 326 includes a sliding block 325. The sliding block 325 is a protrusion on the sliding end 326. The sliding block 325 is inserted into the chute 344 and can slide along the chute 344. Therefore, the driving wheel 334, the cleaning head base plate 322, the sliding block 325, and the chute 344 constitute a crank-slide-block mechanism.

[0141] When the drive wheel 334 rotates, point A undergoes a circular rotational movement. Correspondingly, the rotating end 327 of the cleaning head base plate 322 undergoes a circular rotational movement together with point A, and the slide block 325 slides together with the chute 344 to perform a reciprocating linear movement. As a result, the cleaning head base plate 322 begins to move back and forth. In some embodiments, the chute 344 is approximately perpendicular to the target direction of the movement speed of the moving platform 100, and therefore the linear movement of the sliding end 326 includes a component perpendicular to the target direction, and the circular rotational movement of the rotating end 327 simultaneously includes a component perpendicular to the target direction and a component parallel to the target direction.

[0142] 10, the moving speed of the moving platform 100 is V0, the moving direction is the target direction, and the chute 344 is approximately perpendicular to the target direction. At this time, the reciprocating movement of the entire cleaning head base plate 322 includes a movement component parallel to the target direction of the automatic cleaning device 001 and a movement component perpendicular to the target direction of the automatic cleaning device 001.

[0143] 11 shows a cleaning head drive mechanism 011 based on a crank-slide-block mechanism according to several embodiments of the present application. The drive mechanism 011 can be adapted to the cleaning module 300. The drive mechanism 011 includes a drive wheel 334, a cleaning head base plate 362, and a slide block 365.

[0144] The slide block 365 is attached to the bottom surface 201 of the lifting table and is a protrusion on the bottom surface 201. The cleaning head base plate 362 includes a rotating end 367 and a sliding end 366. The rotating end 367 is connected to the drive wheel 334 via a pivot shaft 369. The drive wheel 334 rotates at point O, and the rotating end 367 pivots at point A. Points O and A do not coincide, and the distance between them is a predetermined distance d. The sliding end 366 includes a chute 364. The chute 364 is fitted into the slide block 365. The slide block 365 is positioned within the chute 364 and can slide along the chute 364. Therefore, the drive wheel 334, the cleaning head base plate 362, the slide block 365, and the chute 364 constitute a crank-slide block mechanism.

[0145] When the drive wheel 334 rotates, point A performs a circular rotational movement. Correspondingly, the rotating end 367 of the cleaning head base plate 362 performs a circular rotational movement together with point A, and the chute 364 is fitted into the slide block 365 and performs a reciprocating sliding movement. As a result, the cleaning head base plate 362 begins to move back and forth. Therefore, the movement of the slide end 366 includes a component perpendicular to V0 and a component parallel to V0, and the circular rotational movement of the rotating end 367 simultaneously includes a component perpendicular to V0 and a component parallel to V0. In FIG. 11 , the moving speed of the moving platform 100 is V0, and the moving direction is the target direction. At this time, the overall reciprocating movement of the cleaning head base plate 362 simultaneously includes a movement component parallel to the target direction of the automatic cleaning device 001 and a movement component perpendicular to the target direction of the automatic cleaning device 001.

[0146] 12 shows a cleaning head drive mechanism 012 based on a crank-slide-block mechanism according to several embodiments of the present application. The drive structure 012 can be adapted to the cleaning module 300. The drive structure 012 includes a drive wheel 334, a link rod 373, a cleaning head base plate 372, a chute 378 (first chute), and a chute 379 (second chute).

[0147] Chutes 378 and 379 are opened on the bottom surface 201 of the lift table 200. Each end of the cleaning head base plate 372 includes a slide block 376 (first slide block) and a slide block 377 (second slide block). The slide blocks 376 and 377 are protrusions on each end of the cleaning head base plate 372. The slide block 376 is inserted into the chute 378 and can slide along the chute 378, while the slide block 377 is inserted into the chute 379 and can slide along the chute 379. In some embodiments, the chute 378 and the chute 379 are on different lines. In some embodiments, the chute 378 extends in the same direction as the chute 379. In some embodiments, the extension direction of the chute 378 and the chute 379 is the same as the extension direction of the cleaning head base plate 372. In some embodiments, the extension direction of chute 378 and chute 379 is different from the extension direction of cleaning head base plate 372. In some embodiments, the extension direction of chute 378 and chute 379 is different. For example, as shown in FIG. 12 , the extension direction of chute 378 is the same as the extension direction of cleaning head base plate 372, and the extension direction of chute 379 forms an angle with the extension direction of chute 378.

[0148] Link rod 373 includes a rotating end 374 and a sliding end 375. Rotating end 374 is connected to drive wheel 334 via pivot 371, and sliding end 375 is connected to cleaning head base plate 372 via pivot 380.

[0149] The rotation center of the drive wheel 334 is point O, and the pivot center of the pivot shaft 371 is point A. Point O and point A do not coincide, and the distance between them is a preset distance d.

[0150] When drive wheel 334 rotates, point A also undergoes circular rotational movement. Correspondingly, rotating end 374 undergoes circular rotational movement together with point A, and sliding end 375 causes cleaning head base plate 372 to slide via pivot shaft 380. Correspondingly, slide block 376 of base plate 372 undergoes reciprocating linear movement along chute 378, and slide block 377 undergoes reciprocating linear movement along chute 379. In FIG. 12 , the moving platform 100 has a moving velocity V0 and a moving direction that is a target direction. According to some embodiments, when chute 379 and chute 378 are each approximately perpendicular to the direction of moving velocity V0 of moving platform 100, the displacement of the entire base plate 372 is approximately perpendicular to the target direction. According to some embodiments, when chute 379 or any one of chutes 378 forms an angle other than 90 degrees with the target direction, the displacement of the entire base plate 372 simultaneously includes a component perpendicular to the target direction and a component parallel to the target direction.

[0151] 13 shows a cleaning head drive mechanism 013 based on a double crank mechanism according to several embodiments of the present application. The drive structure 013 can be adapted to the cleaning module 300. The drive structure 013 includes a drive wheel 334 (first drive wheel), a drive wheel 384 (second drive wheel), and a cleaning head base plate 382.

[0152] The cleaning head base plate 382 has two ends. The first end is connected to the drive wheel 334 via a pivot 381 (first pivot axis), and the second end is connected to the drive wheel 384 via a pivot 383 (second pivot axis). The center of rotation of the drive wheel 334 is point O, and the pivot center of the pivot 381 is point A. Points O and A do not coincide, and the distance between them is a preset distance d. The center of rotation of the drive wheel 384 is point O', and the pivot center of the pivot 383 is point A'. Points O' and A' do not coincide, and the distance between them is a preset distance d. In some embodiments, points A, A', O, and O' are flush with each other. Thus, drive wheel 334, drive wheel 384 and cleaning head base plate 382 form a double crank mechanism (or parallelogram mechanism) in which cleaning head base plate 382 acts as a connecting rod and drive wheels 334 and 384 act as two cranks.

[0153] 9 can simultaneously drive drive wheel 334 and drive wheel 384, both of which can be active drive wheels. Engine 332 can drive only one drive wheel (e.g., drive wheel 334), and as a result, the other drive wheel (e.g., drive wheel 384) is a passive wheel. When drive wheel 334 and / or drive wheel 384 rotate, points A and A' also undergo circular rotational movement. In some embodiments, drive wheel 334 and drive wheel 384 can have the same rotational speed. The movement velocity of mobile platform 100 is V0, and the movement direction is the target direction. Therefore, the reciprocating movement of the entire base plate 382 simultaneously includes a component perpendicular to the target direction and a component parallel to the target direction.

[0154] In addition to the above-described drive mechanism being applied to the reciprocating movement of the cleaning head 320, the present application can also be realized with other drive mechanisms, such as a crank rocker mechanism and a double rocker mechanism, etc. Those skilled in the art can understand how to realize other drive mechanisms by referring to the examples shown in Figures 10 to 13.

[0155] FIG. 14 is a structural schematic diagram of a water supply module 400 according to several embodiments of the present application. FIG. 14 is a view from the bottom up. In some embodiments, the water supply module 400 may include a storage device 410, as shown in FIG. 14. The storage device 410 may be directly connected to the mobile platform 100 or indirectly connected to the mobile platform 100 via the lift table 200. The storage device 410 is configured to store the cleaning liquid. An opening (not shown in FIG. 14) is provided in the storage device 410, and the cleaning liquid can reach the operation surface through the opening. The storage device 410 is detachably connected to the mobile platform 100, and when the cleaning liquid in the storage device 410 is used up or about to be used up, the storage device 410 is removed from the mobile platform 100 and more cleaning liquid is poured into the storage device 410. The cleaning liquid flows to the operation surface through the opening in the storage device 410.

[0156] In some embodiments, the water supply module 400 may further include a dispenser 420 as shown in FIG. 14 . The dispenser 420 may be directly or indirectly connected to the opening of the storage device 410, wherein the cleaning liquid flows to the dispenser 420 through the opening of the storage device 410 and is uniformly applied to the operation surface by the dispenser 420. The dispenser 420 is provided with a connection port (not shown in FIG. 14 ), and the dispenser 420 is connected to the opening of the storage device 410 through the connection port. The dispenser 420 is provided with a distribution port 421, which may be a continuous opening or may be composed of several discontinuous small openings. The distribution port 421 is provided with several nozzles (not shown in FIG. 14 ). The cleaning liquid flows to the distribution port 421 through the opening of the storage device 410 and the connection port of the dispenser 420, and is uniformly applied to the operation surface by the distribution port 421.

[0157] In some embodiments, the water supply module 400 may further include a water supply drive 440, as shown in Figure 14. The water supply drive 440 may be attached to the opening of the storage device 410.

[0158] A water drive unit 440 is connected to the connection port of the dispenser 420 and configured to extract the cleaning liquid from the reservoir 410 to the dispenser 420. The water drive unit 440 may be a water pump, such as a gear pump, a vane pump, a plunger pump, or the like.

[0159] When the water supply module 400 operates, the water supply drive device 440 provides power to the water supply module 400, and under the action of the water supply drive device 440, the cleaning liquid flows from the opening of the storage device 410 to the connection port of the dispenser 420, and finally, the cleaning liquid flows to the distribution port 421 of the dispenser 420, and is evenly applied to the operating surface by the distribution port 421.

[0160] Figure 15a is a bottom view schematic diagram of a retrieval module 500 according to several embodiments of the present application. Figure 15b is a side view schematic diagram of the retrieval module 500 of Figure 15a. Figure 15a is a view from bottom to top. Figure 15b is a view from right to left. The retrieval module 500 can include rollers 510, and in some embodiments, as shown in Figures 15a and 15b, the retrieval module 500 can include a roller drive 520 and can further include a retrieval assembly 540.

[0161] The roller 510 may be pivotally connected to the moving platform 100 or indirectly pivotally connected to the moving platform 100 via the lifting table 200, allowing the roller 510 to rotate relative to the moving platform 100. When the recovery module 500 is in operation, the roller 510 is in close contact with the operating surface. FIG. 16a is a structural schematic diagram of the roller 510 according to several embodiments of the present application. FIG. 16b is a cross-sectional view of the roller 510 of FIG. 16a. As shown in FIGS. 16a and 16b, the roller 510 is made of an elastic absorbent material 511 that absorbs the cleaning liquid on the operating surface. As shown in FIG. 16b, the outer surface of the roller 510 is coated with an elastic absorbent material 511, which can absorb the dirty cleaning liquid remaining on the operating surface. The elastic absorbent material 511 can be an absorbent towel, an absorbent sponge, or the like.

[0162] The roller drive device 520 may be directly connected to the roller 510 or indirectly connected via a transmission mechanism (not shown in FIG. 15a). The roller drive device 520 can drive the roller 510 to rotate relative to the moving platform 100. When the recovery module 500 operates, the roller drive device 520 drives the roller 510 to rotate, and the elastic water-absorbing material 511 on the surface of the roller 510 can absorb the dirty cleaning liquid on the operating surface. The roller drive device 520 can include a motor. The transmission mechanism can be a gear transmission, a chain transmission, a belt transmission, a worm gear, or the like.

[0163] The recovery assembly 540 may be directly connected to the moving platform 100 or indirectly connected to the moving platform 100 via the lift table 200, and the recovery assembly 540 is configured to recover the cleaning liquid absorbed by the roller 510, and the recovery assembly 540 may include a scraper 541 as shown in Figures 15a and 15b.

[0164] As shown in FIG. 15a, the scraper 541 may be directly or indirectly connected to the moving platform 100. The scraper 541 presses the roller 510, squeezing out the cleaning liquid absorbed by the roller 510 under pressure, wherein the roller passes over the scraper from top to bottom as the roller rotates. The roller driving device 520 may drive the roller 510 to move along the opposite direction to the target direction, or may drive the roller 510 to move along the target direction. To move along the opposite direction to the target direction, the linear velocity V of the contact portion of the roller 510 with the operating surface is directed toward the target direction, which may be the front of the moving platform 100. To move along the target direction, the linear velocity V of the contact portion of the roller 510 with the operating surface is directed toward the opposite direction to the target direction, which may be the rear of the moving platform 100. 15b, when the recovery module 500 operates, the driving device 520 drives the roller 510 to move in the opposite direction to the target direction, where the scraper 541 is disposed behind the roller 510, and after the roller 510 absorbs the dirty cleaning liquid on the operation surface, the roller 510 passes from top to bottom over the scraper 541, which squeezes out the dirty cleaning liquid absorbed by the elastic water-absorbing material 511 under pressure. As described above, the driving device 520 can also drive the roller 510 to move in the target direction. When the driving device 520 drives the roller 510 to move in the target direction, the scraper 541 is disposed in front of the roller 510, and after the roller 510 absorbs the dirty cleaning liquid on the operation surface, the roller 510 passes from top to bottom over the scraper 541, which squeezes out the dirty cleaning liquid absorbed by the elastic water-absorbing material 511 under pressure.

[0165] As described above, the collection assembly 540 can include a scraper 541. In some embodiments, the collection assembly 540 can include a collection groove 543 and can further include a collection chamber 545, as shown in Figures 15a and 15b.

[0166] The recovery groove 543 may be directly connected to the moving platform 100, or indirectly connected to the moving platform via the lift table 200. The recovery groove 543 is configured to recover the cleaning liquid squeezed out from the roller 510 by the scraper 541. The recovery groove 543 is connected to the scraper 541 and is located on one side of the scraper 541 away from the roller 510. The scraper 541 is indirectly connected to the moving platform 100 via the recovery groove 543. When the scraper 541 squeezes out the dirty cleaning liquid absorbed by the roller 510, the dirty cleaning liquid flows back into the recovery groove 543.

[0167] The recovery chamber 545 is directly or indirectly connected to the recovery channel 543 , and absorbs the contaminated cleaning liquid in the recovery channel 543 , so that the contaminated cleaning liquid in the recovery channel 543 flows into the recovery chamber 545 .

[0168] 17a is a structural schematic diagram of a collection assembly 540 according to several embodiments of the present application, where FIG. 17a is a front-to-back view. FIG. 17b is a top-view structural schematic diagram of the collection assembly 540 of FIG. 17a, where FIG. 17b is a top-to-bottom view. As shown in FIG. 17b, the collection channel 543 may include a collection port 544, and the collection chamber 545 is connected to the collection channel 543 through the collection port 544, so that the contaminated cleaning liquid in the collection channel 543 flows into the collection chamber 545 through the collection port 544.

[0169] 17a and 17b, the collection assembly 540 may further include a collection blade 546. As shown in FIG. 17a and FIG. 17b, the collection blade 546 is disposed in a collection groove 543, and the collection blade 546 may be pivotally connected to the moving platform 100 via the collection groove 543, or may be pivotally connected to the moving platform 100 together with the collection groove 543 via the lift table 200. The collection blade 546 can transport the contaminated cleaning liquid in the collection groove 543 to the collection port 544 by rotating. The collection blade 546 may be a worm vane brush, a helical vane brush, or the like, as shown in FIG. 17b.

[0170] In some embodiments, the collection assembly 540 may include a collection drive 547. As shown in FIG. 17b, the collection drive 547 is connected to the collection chamber 545 and configured to extract the contaminated cleaning liquid from the collection port 544 into the collection chamber 545. The collection drive 547 may be a water pump, such as a gear pump, a vane pump, a plunger pump, or the like. When the collection assembly 540 operates, the collection drive 547 provides power to the collection assembly 540. Under the action of the collection drive 547, the contaminated cleaning liquid flows from the collection port 544 of the collection channel 543 into the collection chamber 545.

[0171] In some embodiments, the retrieval assembly 540 may further include a blade driver 548. As shown in FIG. 17b, the blade driver 548 may be directly or indirectly connected to the retrieval blade 546 and may drive the retrieval blade 546 to rotate relative to the moving platform 100. The blade driver 548 may be directly connected to the retrieval blade 546 or indirectly connected to the retrieval blade 546 via a transmission mechanism (not shown in FIG. 17b). The blade driver 548 may include a motor. The transmission mechanism may be a gear transmission, a chain transmission, a belt transmission, a worm gear, or the like.

[0172] When the recovery module 500 operates, the roller drive device 520 drives the roller 510 to rotate, and after the roller 510 absorbs the dirty cleaning liquid on the operating surface, the roller 510 passes from top to bottom over the scraper 541, and the scraper 541 squeezes out the dirty cleaning liquid absorbed by the elastic water-absorbing material 511 under pressure, and the dirty cleaning liquid flows into the recovery groove 543, and the blade drive device 548 drives the recovery blade 546 to rotate, and the rotation of the recovery blade 546 transports the dirty cleaning liquid in the recovery groove 543 to the recovery port 544, and finally the recovery drive device 547 extracts the dirty cleaning liquid from the recovery port 544 into the recovery chamber 546.

[0173] In some embodiments, the collection assembly 540 may further include a filter screen 549. As shown in Fig. 17b, the filter screen 549 is disposed in and connected to the collection port 544 and configured to filter impurities in the contaminated cleaning liquid. When the collection drive device 547 extracts the contaminated cleaning liquid from the collection port 544, the contaminated cleaning liquid first passes through the filter screen 549 to filter out impurities, and then flows into the collection chamber 545.

[0174] The water supply drive 440, the roller drive 520, the recovery drive 547, and the blade drive 548 in the above technical solution may be powered by one motor, or by two, three, or four motors.

[0175] 18 shows a flowchart S600 of the automatic cleaning method for the operation surface provided by an embodiment of the present application. The automatic cleaning method for the operation surface includes the following steps:

[0176] S610: Drive the mobile platform 100 on the operation surface to automatically cruise along the target direction.

[0177] The target direction refers to the front of the mobile platform 100. The operating surface may be a surface that the automatic cleaning device 001 cleans. Specifically, the power system 146 provides power to the rotation of the steering mechanism 144 and the wheels 142, driving the mobile platform 100 to move toward the operating surface. If the mobile platform 100 is an autonomous mobile platform, the cruising path is determined autonomously by the automatic cleaning device 001; if the mobile platform is a non-autonomous mobile platform, the cruising path is set by the system or set manually (e.g., by a user of the cleaning device 001) in advance.

[0178] S660: When cleaning starts, the lift table 200 is moved downward so as to approach the operation surface.

[0179] Specifically, the automatic cleaning device 001 may further include a lifting table 200. The lifting table 200 is attached to the moving platform 100. The dust suction module 700, the water supply module 400, the cleaning module 300, and the collection module 500 may be directly connected to the moving platform 100, or may be connected to the moving platform 100 via the lifting table 200. When cleaning starts, the lifting table 200 moves the modules attached to the lifting table 200 downward to approach the operation surface and clean the operation surface.

[0180] S620: The dust suction module 700 is driven to suck up foreign matter on the operation surface.

[0181] Specifically, the dust suction drive device uses a vacuum airflow to suck debris and impurities on the operating surface into a dust box, and the dust suction module 700 may further include a roller brush, which uses rotational movement and a vacuum airflow to sweep the debris and impurities into the dust suction module 700.

[0182] S630: The water supply module 400 is activated to supply cleaning liquid to the operation surface.

[0183] Specifically, the water supply drive device 440 provides power to the water supply module 400, and under the action of the water supply drive device 440, the cleaning liquid flows from the opening of the storage device 410 to the connection port of the dispenser 420, and finally, the cleaning liquid flows to the distribution port 421 of the dispenser 420, and is evenly applied to the operating surface by the distribution port 421.

[0184] S640: The cleaning module 300 is driven to clean the operation surface.

[0185] The automatic cleaning device 001 drives a cleaning head 320 to move back and forth along an operation surface, in which the cleaning head 320 is mounted on a moving platform 100 or a lift table 200 .

[0186] In some embodiments, the reciprocating movement includes a movement component perpendicular to the target direction X, or a movement component parallel to the target direction X, or a combination of both.

[0187] In some embodiments, the reciprocating movement comprises a rotational movement.

[0188] In some embodiments, the driving cleaning head to reciprocate along the operating surface includes a crank slide block mechanism driving the cleaning head to perform the reciprocating movement. The crank slide block mechanism can be described with reference to Figures 10 to 12.

[0189] In some embodiments, driving the cleaning head to reciprocate along the operating surface includes driving the cleaning head to perform the reciprocating movement with a double crank mechanism, which may be described with reference to FIG.

[0190] In some embodiments, the automatic cleaning device 001 dynamically adjusts the position of the cleaning head 320 according to the contours of the operating surface, ensuring that it always adheres to the operating surface. For example, the automatic cleaning device 001 mounts the cleaning head 320 on the lift table 200 and dynamically adjusts the position (i.e., distance from the operating surface) of the cleaning head 320 via the lift table, thereby ensuring that the cleaning head 320 (e.g., working head 324) always adheres to the operating surface, thereby improving the cleaning ability of the automatic cleaning device 001.

[0191] S650: Drive the collecting module 500 to collect the cleaning liquid on the operation surface, where the dust suction module 700, the water supply module 400, the cleaning module 300 and the collecting module 500 are mounted on the moving platform 100.

[0192] Specifically, when the recovery module 500 operates, the roller driving device 520 drives the roller 510 to rotate, and the roller 510 absorbs the dirty cleaning liquid on the operating surface, and then the roller 510 passes through the scraper 541 from top to bottom, and the scraper 541 exerts pressure to squeeze out the dirty cleaning liquid absorbed by the elastic water-absorbing material 511, and the dirty cleaning liquid flows into the recovery groove 543, and the blade driving device 548 drives the recovery blade 546 to rotate, and the rotation of the recovery blade 546 transports the dirty cleaning liquid in the recovery groove 543 to the recovery port 544, and finally the recovery driving device 547 extracts the dirty cleaning liquid from the recovery port 544 into the recovery chamber 546.

[0193] The dust suction module 700, the water supply module 400, the cleaning module 300 and the recovery module 500 may be directly or indirectly attached to the mobile platform 100.

[0194] S680: When cleaning is completed, the lift table 200 is moved upward and driven away from the operation surface.

[0195] Specifically, when cleaning is completed, the lifting table 200 drives the module attached to the lifting table 200 to move upward and away from the operation surface, and the moving platform 100 can move the operation surface.

[0196] In some embodiments, the cleaning module 300 may be attached to the moving platform 100 via the lifting table 200, and the dust suction module 700 may be attached directly to the moving platform 100. Alternatively, the cleaning module 300 may be attached directly to the moving platform 100, and the dust suction module 700 may be attached to the moving platform 100 via the lifting table 200. Of course, the cleaning module 300 and the dust suction module 700 may be attached to the moving platform 100 via the lifting table 200 at the same time. When the cleaning module 300 is attached to the lifting table 200 and the dust suction module 700 is attached directly to the moving platform 100, when cleaning starts, the cleaning module 300 moves downward together with the lifting table 200 to approach the operation surface and clean the operation surface, and when cleaning ends, the cleaning module 300 moves upward together with the lifting table 200 to move away from the operation surface. If the cleaning module 300 is directly attached to the moving platform 100 and the dust suction module 700 is attached to the lifting table 200, when cleaning starts, the dust suction module 700 moves downward together with the lifting table 200 to approach the operating surface and clean it, and when cleaning ends, the dust suction module 700 moves upward together with the lifting table 200 to move away from the operating surface. If the cleaning module 300 and the dust suction module 700 are attached to the lifting table 200 at the same time, when cleaning starts, the cleaning module 300 and the dust suction module 700 move downward together with the lifting table 200 to approach the operating surface and clean it, and when cleaning ends, the cleaning module 300 and the dust suction module 700 move upward together with the lifting table 200 to move away from the operating surface.

[0197] As such, after reading this detailed disclosure, those skilled in the art will understand that the detailed disclosure may be presented by way of example only, and is not limiting. Those skilled in the art will understand that the present application is intended to include various reasonable changes, improvements, and modifications to the embodiments, although not expressly described herein. These changes, improvements, and modifications are intended to be suggested by the present disclosure and are included within the spirit and scope of the exemplary embodiments of the present disclosure.

[0198] Furthermore, certain terms in this application have been used to describe embodiments of the present disclosure. For example, "one embodiment," "embodiment," and / or "some embodiments" means that a particular feature, structure, or characteristic described in connection with this embodiment may be included in at least one embodiment of the present disclosure. Therefore, it should be emphasized and understood that two or more references to "an embodiment" or "one embodiment" or "alternative embodiments" in various parts of this specification do not necessarily all refer to the same embodiment. Furthermore, certain features, structures, or characteristics may be combined as appropriate in one or more embodiments of the present disclosure.

[0199] In the above description of the embodiments of the present disclosure, in order to facilitate understanding of a feature or to simplify the disclosure, the present application may combine various features into a single embodiment, drawing, or description. Alternatively, the present application may distribute various features across multiple embodiments of the present application. However, the combination of these features is not necessarily required, and those skilled in the art may extract some features from the present application and understand it as a single embodiment. In other words, the embodiments in the present application may also be understood as a combination of multiple sub-embodiments. This also applies even if the content of each sub-embodiment contains less than all the features of a single disclosed embodiment.

[0200] In some embodiments, numbers expressing quantities or properties intended to describe and protect certain embodiments of the present application are understood to be modified, in some cases, by the terms "about," "approximately," or "substantially." For example, unless otherwise specified, "about," "approximately," or "substantially" refers to a ±20% variation of the stated value. Thus, in some embodiments, the numerical parameters set forth in the description and claims are approximations and may vary depending on the particular embodiment to obtain the desired properties. In some embodiments, the numerical parameters should be construed in light of the number of reported significant digits and by applying ordinary rounding techniques. Notwithstanding that the numerical ranges and parameters setting forth the broad scope of the present application are approximations, the numerical values ​​set forth in the specific examples are as precise as possible.

[0201] Each patent, patent application, patent application publication, and other material, e.g., articles, books, specifications, publications, documents, articles, etc., cited herein is hereby incorporated by reference in its entirety for all purposes, including the entire contents thereof, the associated filing history, and any identical filings that may conflict or be inconsistent with this document or that may have a limiting effect on the broadest scope of the claim history, whether now or in the future, associated with this document. For example, the explanations, definitions, and / or usage of terms associated with the included materials shall prevail in the event of a conflict or inconsistency between the terms, explanations, definitions, and / or usage associated with the text, and the terms in the text shall control.

[0202] Finally, it should be understood that the embodiments of the application disclosed herein are intended to illustrate the principles of the embodiments of the present application. Other modified embodiments are also within the scope of the present application. Therefore, the embodiments disclosed in the present application are presented merely as examples and are not limiting. Those skilled in the art can implement the invention herein by adopting alternative arrangements based on the embodiments in the present application. Therefore, the embodiments of the present application are not limited to those specifically described in the specification.

Claims

1. An automatic cleaning device, a moving platform configured to automatically move along a target direction on the operating surface; a cleaning module attached to the moving platform; The cleaning module comprises: a cleaning head configured to clean the operating surface; a drive unit connected to the cleaning head and configured to drive the cleaning head to move back and forth along the target surface. Automatic cleaning device.

2. The reciprocating movement includes a movement component perpendicular to the target direction.

10. The automatic cleaning device of claim 1.

3. The reciprocating movement includes a movement component parallel to the target direction.

10. The automatic cleaning device of claim 1.

4. The reciprocating movement includes a preset reciprocating period.

10. The automatic cleaning device of claim 1.

5. The automatic cleaning device is characterized in that the preset reciprocating period is automatically and dynamically adjusted according to the operating environment of the automatic cleaning device.

5. The automatic cleaning device of claim 4.

6. The cleaning head is a plate-like structure including one or more working heads selected from the group consisting of a brush, a duster cloth, and a sponge.

10. The automatic cleaning device of claim 1.

7. The method according to claim 1, further comprising: a nozzle for supplying a target liquid to the operation surface.

10. The automatic cleaning device of claim 1.

8. The moving platform includes one protrusion; and the cleaning head includes a sliding end, the sliding end including a chute; The chute is slidably fitted onto the protrusion.

10. The automatic cleaning device of claim 1.

9. The cleaning head a sliding end including a slide block; wherein the reciprocating movement includes the slide block reciprocating along a direction perpendicular to the target direction.

10. The automatic cleaning device of claim 1.

10. The drive unit The engine and and at least one drive wheel connected to the engine.

10. The automatic cleaning device of claim 1.

11. The cleaning head a rotating end connected to the drive unit, the drive unit driving the rotating end to rotate in a circular motion, 11. The automatic cleaning device of claim 10.

12. The rotating end is connected to the at least one drive wheel at a position a predetermined distance away from the center of rotation of the at least one drive wheel.

12. The automatic cleaning device of claim 11.

13. The distance from the cleaning head to the bottom surface of the moving platform is adjustable.

10. The automatic cleaning device of claim 1.

14. The cleaning head has a plate-like structure, and the cleaning module further includes an elastic support structure, which is disposed on a rear surface of the cleaning head to elastically support the cleaning head.

14. The automatic cleaning device of claim 13.

15. The cleaning module further includes a lifting table attached to the moving platform, the distance from the lifting table to the bottom surface of the moving platform is adjustable, and the cleaning head is attached to the lifting table.

14. The automatic cleaning device of claim 13.

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