Automatic cleaning device

Abstract

The present invention provides an automatic cleaning device including a moving platform and a cleaning module, the moving platform is configured to automatically move an operating surface, the cleaning module includes a dry cleaning module arranged on the moving platform and configured to clean at least a part of the operating surface in a dry cleaning manner, and a wet cleaning module arranged to clean at least a part of the operating surface in a wet cleaning manner, the wet cleaning module includes a cleaning head for cleaning the operating surface, and a driving unit for driving the cleaning head to move back and forth along a target surface, the target surface being a part of the operating surface. The cleaning head of the present invention can move back and forth substantially to repeatedly clean the surface to be cleaned, and can clean a certain area multiple times when passing through it only once in the moving trajectory of the cleaning robot, thereby greatly improving the cleaning effect, and the cleaning effect is especially obvious for areas with a lot of dirt.

Description

Technical Field

[0001] (Related Application) This application claims the priority of Chinese Patent Application No. 202110004713.5 filed on January 4, 2021, and Chinese Patent Application No. 202110138563.7 filed on February 1, 2021, and the disclosure content of the above Chinese patent applications is incorporated herein by reference in its entirety.

[0002] The present invention relates to the technical field of cleaning robots, and more specifically, to an automatic cleaning device.

Background Art

[0003] Currently, cleaning robots can be roughly divided into two types: sweeping robots and mopping robots. Sweeping robots and mopping robots have only a single function of sweeping or mopping. When it is desired to perform sweeping and mopping simultaneously, two devices need to be prepared, and as a result, twice the space is occupied.

[0004] In the prior art, a sweeping robot and a mopping robot can be combined, and a mop can be added to the end of the robot to realize an integrated robot for cleaning and mopping. However, the mopping function of this integrated robot translates a single mop on the floor surface. As the mop translates, the floor surface is mopped only once in the movement trajectory of the cleaning robot, and the mopping effect and efficiency are greatly reduced. In particular, in an environment with a lot of dirt and a dirty floor surface, it is impossible to clean the floor surface cleanly even by mopping it only once while moving.

Summary of the Invention

[0005] The object of the present invention is to provide an automatic cleaning device that can solve the technical problem that the floor surface cannot be cleaned cleanly. The specific technical means are as follows.

[0006] According to a specific embodiment of the present invention, the present invention provides an automatic cleaning device. A moving platform 100 configured to automatically move the operation surface, and a cleaning module 150 provided on the moving platform 100. The cleaning module 150 includes a dry cleaning module 151 configured to clean at least a part of the operation surface by a dry cleaning method, and a wet cleaning module 400 configured to clean at least a part of the operation surface by a wet cleaning method. The wet cleaning module 400 includes a cleaning head 410 for cleaning the operation surface, and a driving unit 420 configured to drive the cleaning head 410 to substantially reciprocate in a direction substantially perpendicular to the moving direction of the automatic cleaning device along the target surface. The target surface is a part of the operation surface.

[0007] Optionally, the driving unit 420 includes a driving platform 421 connected to the bottom surface of the moving platform 100 and configured to provide driving force, and a support platform 422 detachably connected to the driving platform 421 and configured to support the cleaning head 410.

[0008] Optionally, the driving platform 421 includes a motor 4211 provided on the side of the driving platform 421 close to the moving platform 100 and outputting power by a motor output shaft, and a driving wheel 4212 connected to the output shaft of the motor and having an asymmetric structure.

[0009] Optionally, the driving platform 421 includes Provided on the opposite side of the drive platform 421 from the motor 4211, connected to the drive wheel 4212, and further including a vibration member 4213 that substantially reciprocates due to the asymmetric rotation of the drive wheel 4212.

[0010] Optionally, the drive platform 421 Further includes a connecting rod 4214 that extends along the edge of the drive platform 421, connects the drive wheel 4212 and the vibration member 4213, and causes the vibration member 4213 to extend to a preset position.

[0011] Optionally, the vibration member 4213 has a rod-shaped structure, and its extending direction is perpendicular to the connecting rod 4214.

[0012] Optionally, the drive platform includes a vibration damping device 4215 provided on the connecting rod 4214.

[0013] Optionally, the support platform 422 Includes a cleaning substrate 4221 that is movably provided on the support platform 422 and substantially reciprocates with respect to the support platform 422 due to the vibration of the vibration member 4213.

[0014] Optionally, the cleaning substrate 4221 Includes an assembly notch provided at a position in contact with the vibration member 4213, and when the support platform 422 is connected to the drive platform 421, the vibration member 4213 is assembled into the assembly notch.

[0015] Optionally, the support platform 422 Further includes a removal button 4229 that detachably connects the support platform 422 to the drive platform 421.

[0016] Optionally, the support platform 422 It further includes at least one assembly area 4224 provided on the support platform 422 and configured to assemble the cleaning head 410.

[0017] Optionally, the cleaning head 410 is connected to the cleaning substrate 4221 and includes a movable area 412 that moves substantially back and forth along the target surface by driving the cleaning substrate 4221.

[0018] Optionally, a bonding layer is provided on the side of the movable area 412 connected to the cleaning substrate 4221, and the movable area 412 is connected by the cleaning substrate 4221 and the bonding layer.

[0019] Optionally, the cleaning head 410 further includes a fixed area 411 connected to the bottom of the support platform 422 by the at least one assembly area 4224, and the fixed area 411 cleans at least a part of the operation surface as the support platform 422 moves.

[0020] Optionally, the cleaning head 410 further includes a flexible connection portion 413 provided between the fixed area 411 and the movable area 412 for connecting the fixed area 411 and the movable area 412.

[0021] Optionally, the cleaning head 410 further includes a slide buckle 414 extending along the edge of the cleaning head 410 and removably attached to the support platform 422.

[0022] Optionally, a lifting module is provided between the cleaning module 150 and the moving platform 100.

[0023] Optionally, the dry cleaning module 151 is connected to the moving platform 100 by a passive lifting module.

[0024] Optionally, the wet cleaning module 400 is connected to the moving platform 100 by an active lifting module.

Advantages of the Invention

[0025] Compared with the prior art, the embodiments of the present invention have the following technical effects.

[0026] The present invention provides a sweeping and mopping integrated cleaning device. Since a dry cleaning module and a wet cleaning module are provided in the cleaning module of the automatic cleaning device, a more comprehensive cleaning function can be realized. At the same time, in the wet cleaning module, by adding a drive unit and a vibration area, the cleaning head can reciprocate to repeatedly clean the surface to be cleaned. In the moving trajectory of the cleaning robot, when passing through a certain area only once, it can be cleaned multiple times, greatly improving the cleaning effect. In particular, the cleaning effect is obvious for areas with a lot of dirt.

[0027] The drawings here are incorporated into the specification and form a part of this specification, showing the embodiments of the present invention and serving to explain the principles of the present invention together with the specification. Obviously, the drawings described below are only some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative labor.

Brief Description of the Drawings

[0028]

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Explanation of reference numerals

[0029] 100 Moving platform 110 Rear part 111 Front part 120 Sensing system 121 Positioning device 122 Buffer 123 Cliff Sensor 130 Control System 140 Drive System 141 Drive Wheel Assembly 142 Steering Assembly 143 Elastic Element 146 Drive Motor 150 Cleaning Module 151 Dry Cleaning Module 152 Dust Box 153 Filter Screen 154 Suction Port 155 Air Outlet 156 Fan 160 Energy System 170 Human-Machine Interaction System 400 Wet Cleaning Assembly 410 Cleaning Head 420 Drive Unit 421 Drive Platform 422 Support Platform 4211 Motor 4212 Drive Wheel 4213 Vibration Member 4214 Connecting Rod 4215 Vibration Damping Device 4216 Engaging Claw 4218 Clean Water Pump Pipe 4219 Clean Water Pump 4221 Cleaning Substrate 4229 Elastic Removal Button 4224 Assembly Area 4225 Engaging Position 4222 First Sliding Groove 4223 Second Sliding Groove 525 First Slider 528 Second Slider 512, 4227 Swivel End 514, 4226 Sliding End 516, 624 First Pivot 518, 626 Second Pivot 500, 600, 700 drive mechanisms

Embodiments for Carrying Out the Invention

[0030] To make the object, technical solution and advantages of the present invention clearer, the present invention will be described in more detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative labor are all included in the protection scope of the present invention.

[0031] The terms used in the embodiments of the present invention are only used for the purpose of explaining specific embodiments and do not limit the present invention. The singular forms "a kind", "the above-mentioned" and "this" used in the embodiments and claims of the present invention are intended to include plural forms, and generally include at least two unless clearly specified in the context.

[0032] No, the term "and / or" used in this specification is used to explain the relationship of related objects. For example, A and / or B indicates three relationships: A alone, A and B, and B alone. Furthermore, the character " / " in this specification generally indicates that the related objects before and after are in an "or" relationship.

[0033] In the embodiments of the present invention, terms such as first, second, and third are used to explain specific objects, but it should be noted that these objects are not limited by these terms. These terms are only used to distinguish objects. For example, without departing from the scope of the embodiments of the present invention, the first may be called the second, and similarly, the second may be called the first.

[0034] Note that "comprising", "consisting of", or other variations are intended to include non-exclusive inclusion. A product or device comprising a series of elements includes not only those elements but also other elements not explicitly listed or the inherent elements of this product or device. Unless there are further limitations, elements defined by the phrase "...comprising" do not exclude the presence of other identical elements in a product or device containing such elements.

[0035] Hereinafter, selectable embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0036] FIG. 1 and FIG. 2 are schematic structural diagrams of an automatic cleaning device according to an exemplary embodiment. As shown in FIGS. 1 and 2, the automatic cleaning device may be a vacuum cleaning robot, a mopping / brush robot, a window climbing robot, etc. This automatic cleaning device includes a moving platform 100, a sensing system 120, a control system 130, a driving system 140, a cleaning module 150, an energy system 160, and a human-device interaction system 170.

[0037] The moving platform 100 automatically moves along the target direction on the operation surface. The operation surface may be the surface to be cleaned by the automatic cleaning device. In some embodiments, the automatic cleaning device may be a mopping robot. In this case, the automatic cleaning device works on the floor surface, and the floor surface functions as the operation surface. The automatic cleaning device may also be a window cleaning robot. In this case, the automatic cleaning device works on the outer glass surface of the building, and the glass functions as the operation surface. The automatic cleaning device may also be a pipe cleaning robot. In this case, the automatic cleaning device works on the inner surface of the pipe, and the inner surface of the pipe functions as the operation surface. For the sake of simplicity, this application will be described below taking the mopping robot as an example.

[0038] In some embodiments, the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operation decisions in response to unexpected environmental inputs. The non-autonomous mobile platform means that instead of making operation decisions adaptively in response to unexpected environmental inputs by itself, it can operate according to a predetermined program or a certain logic. Correspondingly, when the mobile platform 100 is an autonomous mobile platform, the target direction is autonomously determined by the automatic cleaning device, and when the mobile platform 100 is a non-autonomous mobile platform, the target direction can be set by the system or manually. When the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a front portion 111 and a rear portion 110.

[0039] The sensing system 120 includes a positioning device 121 located above the mobile platform 100, a buffer 122 located in the front portion 111 of the mobile platform 100, a cliff sensor 123 and a sensing device such as an ultrasonic sensor (not shown), an infrared sensor (not shown), a magnetometer (not shown), an accelerometer (not shown), a gyroscope (not shown), and an odometer (not shown) provided at the bottom of the mobile platform to provide various position information and movement state information of the device to the control system 130.

[0040] To more clearly explain the operation of the automatic cleaning device, the following directions are defined. The automatic cleaning device can move on the floor surface by various combinations of movements with respect to three vertical axes: the horizontal axis x, the front-rear axis y, and the central vertical axis z defined by the moving platform 100. The forward driving direction along the front-rear axis y is described as "forward", and the backward driving direction along the front-rear axis y is described as "backward". The horizontal axis x substantially extends between the right wheel and the left wheel of the automatic cleaning device along the axis defined by the center point of the drive wheel assembly 141. Here, the automatic cleaning device can rotate around the x-axis. The case where the front part of the automatic cleaning device is inclined upward and the rear part is inclined downward is called "pitch up", and the case where the front part of the automatic cleaning device is inclined downward and the rear part is inclined upward is called "pitch down". Also, the automatic cleaning device can rotate around the z-axis. In the forward direction of the automatic cleaning device, the case where the automatic cleaning device is inclined to the right side of the Y-axis is called "right rotation", and the case where the automatic cleaning device is inclined to the left side of the y-axis is called "left rotation".

[0041] As shown in FIG. 2, cliff sensors 123 are provided in front of and behind the drive wheel assembly 141 at the bottom of the moving platform 100. These cliff sensors are used to avoid the automatic cleaning device from falling and being damaged when it retreats. The above-mentioned "front" refers to the same side as the traveling direction of the automatic cleaning device, and the above-mentioned "rear" refers to the side opposite to the traveling direction of the automatic cleaning device.

[0042] The positioning device 121 includes, but is not limited to, a camera and a laser distance measuring device (LDS).

[0043] Each assembly in the sensing system 120 may operate independently or jointly to achieve a more accurate target function. The cliff sensor 123 and the ultrasonic sensor are used to identify the surface to be cleaned, determine the physical properties of the surface to be cleaned such as the surface material and cleanliness, and determine more accurately in combination with a camera, a laser distance measuring device, etc.

[0044] For example, if an ultrasonic sensor determines whether the surface to be cleaned is a carpet, and the ultrasonic sensor determines that the surface to be cleaned is a carpet material, the control system 130 controls the automatic cleaning device to perform cleaning in carpet mode.

[0045] A buffer 122 is provided at the front part 111 of the mobile platform 100. In the cleaning process, when the drive wheel assembly 141 propels the automatic cleaning device to walk on the floor surface, the buffer 122 detects one or more events (or objects) in the traveling path of the automatic cleaning device through a sensor system, such as an infrared sensor. The automatic cleaning device may control the drive wheel assembly 141 according to the events (or objects) detected by the buffer 122, such as obstacles and walls, to make the automatic cleaning device correspond to the event (or object), for example, move away from the obstacle.

[0046] The control system 130 is arranged on a circuit board within the mobile platform 100 and includes a non-temporary memory such as a hard disk, a flash memory, and a random access memory, and a computing processor for communication such as a central processing unit and an application processor. The application processor receives the environmental information fed back by the plurality of sensors transmitted from the sensing system 120, and uses a positioning algorithm, such as SLAM, according to the obstacle information fed back from the laser rangefinder, etc., to draw an immediate map of the environment where the automatic cleaning device is located. After autonomously determining a traveling path based on the environmental information and the environmental map, the application processor controls operations such as forward movement, backward movement, and / or steering of the drive system 140 according to the autonomously determined traveling path. Further, the control system 130 determines whether to execute the cleaning operation of the cleaning module 150 based on the environmental information and the environmental map.

[0047] Specifically, the control system 130 comprehensively determines the current working state of the sweeper (for example, exceeding a threshold, riding on a carpet, on a cliff, being caught above or below, the dust box being full, being picked up, etc.) according to the distance information and speed information fed back from the buffer 122, the cliff sensor 123, and sensing devices such as ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers, and gives specific next operation strategies according to different situations, so that the operation of the automatic cleaning device can better meet the requirements of the owner and realize a better user experience. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning mode based on the instant map information depicted by SLAM, and can greatly improve the cleaning efficiency of the automatic cleaning device.

[0048] The drive system 140 may execute drive commands and control the automatic cleaning device to move across the floor surface based on specific distance and angle information, such as x, y, and θ components. FIGS. 3 and 4 are a perspective view and a front view of the lateral drive wheel assembly 141 in an embodiment of the present invention. As shown in the figures, the drive system 140 includes the drive wheel assembly 141. The drive system 140 can control the left and right wheels simultaneously to more accurately control the movement of the device. Preferably, the drive system 140 includes a left drive wheel assembly and a right drive wheel assembly respectively. The left and right drive wheel assemblies are symmetrically provided along the horizontal axis defined by the moving platform 100. The drive wheel assembly includes a main body portion, a drive wheel, and an elastic element. One end of the main body portion is connected to a rack. The drive wheel is provided on the main body portion and is driven by a drive motor 146. The elastic element is connected between the main body portion and the rack. The elastic element is configured to provide an elastic force between the rack and the main body portion. The drive motor 146 is located outside the drive wheel assembly 141, and the axis of the drive motor 146 is arranged within the cross-sectional projection of the drive wheel. The drive wheel assembly 141 may be connected to a circuit for measuring drive current and an odometer.

[0049] For more stable movement or higher mobility on the floor surface, the automatic cleaning device may include one or more steering assemblies 142, which may be driven wheels or driven wheels. The structural form thereof includes, but is not limited to, universal wheels. The steering assembly 142 may be located in front of the drive wheel assembly 141.

[0050] The drive motor 146 is used to provide power for the rotation of the drive wheel assembly 141 and / or the steering assembly 142.

[0051] The drive wheel assembly 141 may be removably connected to the moving platform 100 for easy removal and maintenance. The drive wheels include an offset drop suspension system and are movably, for example, rotatably attached to the moving platform 100 of the automatic cleaning device. Elastic elements 143 such as tension springs or compression springs maintain contact and traction with the floor surface with a certain ground adhesion force, while the cleaning module 150 of the automatic cleaning device also contacts the surface to be cleaned with a certain pressure.

[0052] The energy system 160 includes rechargeable batteries such as nickel-metal hydride batteries and lithium batteries. The rechargeable battery may be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery voltage shortage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery voltage shortage monitoring circuit are connected to a one-chip microcomputer control circuit. The automatic cleaning device is charged by being connected to a charging pile through charging electrodes provided on the side or below the main body. If dust adheres to the exposed charging electrodes, due to the charge accumulation effect during the charging process, the plastic main body around the electrodes will melt and deform, and ultimately the electrodes themselves will also deform, making it impossible to continue charging normally.

[0053] The human-machine interaction system 170 includes buttons on a panel for the user to select functions, and may include a display screen and / or an indicator lamp and / or a speaker. The display screen, indicator lamp, and speaker are used to display the current state or function options of the device to the user, and may further include a mobile phone client program. In the case of a route navigation type cleaning device, the mobile phone client displays a map of the environment where the device is installed and the position of the device to the user, and provides richer and friendlier function items to the user.

[0054] The cleaning module 150 may include a dry cleaning module 151 and / or a wet cleaning module 400.

[0055] As shown in FIGS. 5 to 8, the dry cleaning module 151 includes a rolling brush, a dust box, a fan, and an air outlet. The rolling brush having a certain interference with the floor surface sweeps up the dust on the floor surface and rolls it up in front of the dust suction port between the rolling brush and the dust box, and sucks it into the dust box by the gas with the suction force of the dust box generated by the fan. The dust removal ability of the vacuum cleaner can be characterized by the dust cleaning efficiency DPU (Dust pickup efficiency). The cleaning efficiency DPU is affected by the structure and material of the rolling brush, and is affected by the air utilization rate of the air passage composed of the dust suction port, the dust box, the fan, the air outlet, and the connecting members between them, the type and power of the fan, which is a complex problem in system design. Compared with ordinary plug-in vacuum cleaners, improving the dust removal ability has great significance in the energy-limited automatic cleaning device. Because improving the dust removal ability directly and effectively reduces the energy demand, that is, an original cleaning device that can clean a 80-square-meter floor surface with one charge can be improved to be able to clean more than 180 square meters with one charge. Furthermore, the service life of the battery with reduced charging times is greatly extended, and the frequency of battery replacement by the user may be reduced. More intuitively and importantly, since the user can directly draw a conclusion on whether thorough cleaning / mopping has been achieved, improving the dust removal ability becomes the most obvious and important user experience. The dry cleaning module further includes a side brush 152 having a rotating shaft with a certain angle with respect to the floor surface in order to move the dust to the rolling brush area of the cleaning module 150.

[0056] FIG. 5 is a schematic structural diagram of the dust box 152 in the dry cleaning module, FIG. 6 is a schematic structural diagram of the fan 156 in the dry cleaning module, FIG. 7 is a schematic diagram of the open state of the dust box 152, and FIG. 8 is a schematic diagram of the assembled state of the dust box and the fan.

[0057] The rolling brush having a constant interference with the floor surface sweeps up the dust on the floor surface and rolls it up in front of the dust suction port 154 between the rolling brush and the dust box 152, and then is sucked into the dust box 152 by the gas with suction force of the dust box 152 generated by the structure of the fan 156. The dust is isolated by the filter screen 153 on the side close to the dust suction port inside the dust box 152. The filter screen 153 completely isolates the dust suction port and the air outlet, and the filtered air enters the fan 156 through the air outlet 155.

[0058] Typically, the dust suction port 154 of the dust box 152 is located in front of the device, the air outlet 155 is located on the side of the dust box 152, and the air suction port of the fan 156 is connected to the air outlet of the dust box.

[0059] The front panel of the dust box 152 is opened to clean the dust inside the dust box 152.

[0060] The filter screen 153 is removably connected to the main body of the dust box 152, which is convenient for removing and cleaning the filter screen.

[0061] According to a specific embodiment of the present invention, as shown in FIGS. 9 to 11, the wet cleaning module 400 provided by the present invention is configured to clean at least a part of the operation surface in a wet cleaning manner. Here, the wet cleaning module 400 includes a cleaning head 410 and a driving unit 420. Here, the cleaning head 410 is configured to clean at least a part of the operation surface, and the driving unit 420 is configured to drive the cleaning head 410 to substantially reciprocate along the target surface, and the target surface is a part of the operation surface. The cleaning head 410 reciprocates along the surface to be cleaned, and a cleaning cloth or a cleaning plate is arranged on the contact surface between the cleaning head 410 and the surface to be cleaned, so as to generate high-frequency friction on the surface to be cleaned by the reciprocating movement and remove the dirt on the surface to be cleaned.

[0062] The higher the friction frequency, the greater the number of frictional movements within a unit time. High-frequency reciprocating movement, also known as reciprocating vibration, has a better cleaning ability than normal reciprocating movement, such as rotation and friction cleaning. Optionally, the closer the friction frequency is to the frequency of sound waves, the much higher the cleaning effect is than that of rotational friction cleaning at dozens of turns per minute. On the other hand, under the conditions of low-frequency rotation, the tufts on the surface of the cleaning head may not spread in almost the same direction only with downward pressure. Therefore, rather than increasing the frictional force to improve the cleaning effect, the tufts can spread more neatly in the same direction with the sway of high-frequency vibration, and the overall cleaning effect may become more uniform. In terms of effect, the water marks on the operation surface cleaned by high-frequency vibration become more uniform, and chaotic water scale does not remain.

[0063] The reciprocating movement can be a repetitive movement in any one or more directions within the operation surface or a vibrational movement perpendicular to the operation surface, and is not strictly limited. Optionally, the reciprocating movement direction of the cleaning module is substantially perpendicular to the traveling direction of the automatic cleaning device. This is because a reciprocating movement direction parallel to the traveling direction of the automatic cleaning device may cause the driving wheels to slide sideways easily due to the thrust and resistance in the traveling direction, which may make the automatic cleaning device itself unstable during traveling, and the slippery operation surface increases the possibility of sideways sliding. When including a wet cleaning module, the influence is more obvious. Sideways sliding not only has an adverse effect on the smooth traveling of the automatic cleaning device for cleaning, but also makes the distance measurement by sensors such as the odometer and gyroscope inaccurate, and the accurate position confirmation and map drawing of the navigation-type automatic cleaning device impossible. When sideways sliding occurs frequently, the impact on SLAM cannot be ignored. Therefore, it is necessary to prevent the sideways sliding of the automatic cleaning device as much as possible. In addition to sideways sliding, due to the movement component of the cleaning head in the traveling direction of the automatic cleaning device, the automatic cleaning device may always be pushed back and forth during traveling, and as a result, the traveling of the automatic cleaning device may become unstable.

[0064] As an alternative embodiment of the present invention, as shown in FIG. 9, the drive unit 420 includes a drive platform 421 connected to the bottom surface of the moving platform 100 and used to provide driving force, and a support platform 422 detachably connected to the drive platform 421, supporting the cleaning head 410 and moving up and down by the drive of the drive platform 421.

[0065] As an alternative embodiment of the present invention, a lifting module is provided between the cleaning module 150 and the moving platform 100 so that the cleaning module 150 can better contact the surface to be cleaned or adopt different cleaning strategies for surfaces to be cleaned of different materials.

[0066] Optionally, the dry cleaning module 151 is connected to the moving platform 100 via a passive lifting module. When the cleaning device encounters an obstacle, the dry cleaning module 151 can more conveniently pass over the obstacle by the lifting module.

[0067] Optionally, the wet cleaning module 400 is connected to the moving platform 100 via an active lifting module. When the wet cleaning module 400 is temporarily not involved in the operation or encounters a surface to be cleaned that cannot be cleaned by the wet cleaning module 400, the wet cleaning module 400 can be lifted by the active lifting module and separated from the surface to be cleaned, thereby achieving a change in the cleaning means.

[0068] As shown in FIGS. 10 and 11, the drive platform 421 includes a motor 4211 provided on the side of the drive platform 421 close to the moving platform 100 and outputting power by a motor output shaft, a drive wheel 4212 connected to the output shaft of the motor and having an asymmetric structure, and a vibration member 4213 provided on the side of the drive platform 421 opposite to the motor 4211, connected to the drive wheel 4212, and reciprocating by the asymmetric rotation of the drive wheel 4212.

[0069] The drive platform 421 may further include a gear mechanism. The gear mechanism can connect the motor 4211 and the drive wheel 4212. The motor 4211 may directly drive the drive wheel 4212 to rotate and move, or may indirectly drive the drive wheel 4212 through the gear mechanism to rotate and move. Those skilled in the art will understand that the gear mechanism may be a single gear or a gear set composed of a plurality of gears.

[0070] The motor 4211 simultaneously transmits power to the cleaning head 410, the drive platform 421, the support platform 422, the water supply mechanism, the water tank, etc. through a power transmission device. The energy system 160 provides power and energy to the motor 4211 and is overall controlled by the control system 130. The power transmission device may be a gear drive, a chain drive, a belt drive, or a worm gear, etc.

[0071] The motor 4211 has a forward rotation output mode and a reverse rotation output mode. In the forward rotation output mode, the motor 4211 rotates forward. In the reverse rotation output mode, the motor 4211 rotates in reverse. In the forward rotation output mode of the motor 4211, the motor 4211 realizes the substantial reciprocating movement of the drive platform vibration member 4213 in the wet cleaning assembly 400 and the synchronous movement of the water supply mechanism through the power transmission device. In the reverse rotation output mode of the motor 4211, the motor 4211 realizes the lifting of the drive platform 421 through the power transmission device.

[0072] Furthermore, the driving platform 421 further includes a connecting rod 4214 that extends along the edge of the driving platform 421 and connects the driving wheel 4212 and the vibrating member 4213 so that the vibrating member 4213 extends to a preset position. Here, the extending direction of the vibrating member 4213 is perpendicular to the connecting rod 4214 such that the reciprocating movement direction of the vibrating member 4213 is substantially perpendicular to the device traveling direction.

[0073] The motor 4211 is connected to the drive wheel 4212, the vibration member 4213, the connecting rod 4214, and the vibration damping device 4215 by a power transmission device. Here, the vibration member 4213 and the connecting rod 4214 have a substantially L-shaped structure. As shown in FIG. 15, the vibration member 4213 reciprocates by the connecting rod 4214. The vibration damping device 4215 attenuates the vibration of the moving behavior driven by the drive wheel 4212 to reduce the sway, and enables the vibration member 4213 to vibrate smoothly within the moving range provided by the support platform 422. Optionally, the vibration damping device 4215 is made of a soft material and is arbitrarily a rubber structure, and the vibration damping device 4215 is fitted into the connecting rod 4214. On the other hand, the vibration damping device 4215 can also protect the vibration member 4213 from damage caused by the collision with the drive platform 421, that is, it affects the reciprocating movement of the vibration member 4213. The movable part and the fixed part of the drive platform 421 are connected in a manner with low elasticity in the traveling direction of the automatic cleaning device to limit the movement, and in a flexible manner in a direction substantially perpendicular to the traveling direction, that is, the vibration direction of the vibration member 4213, to allow the movement. Due to the above two movement restrictions, the movement mode of the vibration member 4213 is not an exact reciprocation but a substantial reciprocating movement. When the wet cleaning assembly 400 is activated, the motor 4211 starts to rotate forward. The motor 4211 drives the connecting rod 4214 by the drive wheel 4212 to reciprocate along the surface of the drive platform 421. At the same time, the vibration damping device 4215 drives the vibration member 4213 to substantially reciprocate along the surface of the drive platform 421. The vibration member 4213 drives the cleaning substrate 4221 to substantially reciprocate along the surface of the support platform 422. The cleaning substrate 4221 drives the movable area 412 to substantially reciprocate along the surface to be cleaned. At this time, the cleaning water flows out from the cleaning water tank by the cleaning water pump, and is sprayed onto the cleaning head 410 by the water discharging device 4217, and the surface to be cleaned is cleaned by the reciprocating movement of the cleaning head 410.

[0074] The cleaning intensity / efficiency of the automatic cleaning device can be automatically and actively adjusted according to the working environment of the automatic cleaning device. For example, the automatic cleaning device may detect the physical information of the surface to be cleaned by the sensing system 120 and dynamically adjust it. For example, the sensing system 120 may detect information such as the flatness of the surface to be cleaned, the material of the surface to be cleaned, and the presence or absence of oil and dust, and transmit this information to the control system 130 of the automatic cleaning device. Correspondingly, the control system 130 may automatically and dynamically adjust the rotation speed of the motor and the transmission ratio of the power transmission device according to the working environment of the automatic cleaning device, and instruct the automatic cleaning device to adjust the preset reciprocating cycle of the reciprocating movement of the cleaning head 410.

[0075] For example, when the automatic cleaning device works on a flat floor, the preset reciprocating cycle may be automatically and dynamically adjusted to be longer, and the water volume of the water pump may be automatically and dynamically adjusted to be smaller. When the automatic cleaning device works on a less flat floor, the preset reciprocating cycle may be automatically and dynamically adjusted to be shorter, and the water volume of the water pump may be automatically and dynamically adjusted to be larger. This is because a flat floor is easier to clean than a less flat floor, so to clean a less flat floor, the reciprocating movement of the cleaning head 410 needs to be performed at a higher speed (i.e., higher frequency) and with a larger water volume.

[0076] For example, when the automatic cleaning device works on a table, the preset reciprocating cycle may be automatically and dynamically adjusted to be longer, and the water volume of the water pump may be automatically and dynamically adjusted to be smaller. When the automatic cleaning device 100 works on a floor, the preset reciprocating cycle may be automatically and dynamically adjusted to be shorter, and the water volume of the water pump may be automatically and dynamically adjusted to be larger. This is because the table has less dust and oil stains than the floor and is made of a material that is easier to clean. Therefore, the number of reciprocating movements of the cleaning head 410 can be reduced, and the water volume of the water pump can be reduced to clean the table.

[0077] As an alternative embodiment of the present invention, the support platform 422 includes a cleaning substrate 4221 movably provided on the support platform 422, and the cleaning substrate 4221 substantially reciprocates due to the vibration of the vibration member 4213. Optionally, as shown in FIG. 16, the cleaning substrate 4221 includes an assembly notch 42211 provided at a position in contact with the vibration member 4213. When the support platform 422 is connected to the drive platform 421, the vibration member 4213 is assembled to the assembly notch 42211, so that the cleaning substrate 4221 substantially reciprocates synchronously with the vibration member 4213. The traveling direction of the cleaning device of the cleaning substrate 4221 includes four first limiting positions 42212, and these four first limiting positions 42212 are flexibly connected to the cleaning substrate 4221. However, since the elastic scaling space is small, the movement of the cleaning substrate 4221 relative to the support platform 422 in the traveling direction of the cleaning device is restricted. The direction perpendicular to the traveling direction of the cleaning device of the cleaning substrate 4221 includes two second limiting positions 42213, and these two second limiting positions 42213 restrict the reciprocating movement range of the cleaning substrate 4221 in the direction perpendicular to the traveling direction of the cleaning device. Further, a water discharge hole 42214 is provided near the assembly notch 42211 of the cleaning substrate 4221, and the water flowing out from the water discharge device 4217 flows into the cleaning head 410 through the water discharge hole. Due to the influence of the limiting position and the vibration damping device, the movement of the cleaning substrate 4221 is substantially reciprocating. The cleaning substrate 4221 is located in a part of the support platform 422, and the vibration frequency can be increased to, for example, the frequency range of sound waves by local vibration. The movable part and the fixed part of the drive platform 421 are connected in a manner with low elasticity in the traveling direction of the automatic cleaning device to restrict movement, and are connected in a flexible manner in a direction substantially perpendicular to the traveling direction, that is, the vibration direction of the vibration member 4213, to allow movement.

[0078] FIG. 12 shows a cleaning head drive mechanism 500 based on another crank-slider mechanism according to multiple embodiments of the present application. The drive mechanism 500 is applicable to the drive platform 421. The drive mechanism 500 includes a drive wheel 4212, a vibration member 4213, a cleaning substrate 4221, a sliding groove 4222 (first sliding groove), and a sliding groove 4223 (second sliding groove).

[0079] The sliding grooves 4222 and 4223 are formed in the support platform 422. Both ends of the cleaning substrate 4221 include a slider 525 (first slider) and a slider 528 (second slider), respectively. The sliders 525 and 528 are protrusions provided at both ends of the cleaning substrate 4221. The slider 525 is inserted into the sliding groove 4222 and is slidable along the sliding groove 4222, and the slider 4223 is inserted into the sliding groove 4223 and is slidable along the sliding groove 4223. In some embodiments, the sliding groove 4222 and the sliding groove 4223 are in the same straight line. In some embodiments, the sliding groove 4222 and the sliding groove 4223 are not in the same straight line. In some embodiments, the sliding groove 4222 and the sliding groove 4223 extend along the same direction. In some embodiments, the extending directions of the sliding groove 4222 and the sliding groove 4223 are the same as the extending direction of the cleaning substrate 4221. In some embodiments, the extending directions of the sliding groove 4222 and the sliding groove 4223 are different from the extending direction of the cleaning substrate 4221. In some embodiments, the extending directions of the sliding groove 4222 and the sliding groove 4223 are different. For example, as shown in FIG. 12, the extending direction of the sliding groove 4222 is the same as the extending direction of the cleaning substrate 4221, but the extending direction of the sliding groove 4223 forms a certain angle with the extending direction of the sliding groove 4222.

[0080] The vibration member 4213 includes a pivoting end 512 and a sliding end 514. The pivoting end 512 and the drive wheel 4212 are connected via a first pivot 516, and the sliding end 514 and the cleaning substrate 4221 are connected via a second pivot 518.

[0081] The turning center of the drive wheel 4212 is point O, and the pivot center of the first pivot 516 is point A. Points O and A do not coincide, and the distance between them is a preset distance d.

[0082] When the drive wheel 4212 rotates, point A rotates and moves circularly with it. Correspondingly, the turning end 512 rotates and moves circularly with point A, and the sliding end 514 drives the cleaning substrate 4221 to slide through the second pivot 518. Correspondingly, the slider 525 of the cleaning substrate 4221 reciprocates linearly along the sliding groove 4222, and the slider 528 reciprocates linearly along the sliding groove 4223. In FIG. 4, the moving speed of the moving platform 210 is V0, and the moving direction is the target direction. In some embodiments, when the sliding groove 4223 and the sliding groove 4222 are respectively substantially perpendicular to the direction of the moving speed V0 of the moving platform 210, the overall displacement of the cleaning substrate 4221 is substantially perpendicular to the target direction. According to some other embodiments, when one of the sliding grooves 4223 and 4222 forms an angle other than 90 degrees with the target direction, the overall displacement of the cleaning substrate 4221 simultaneously includes a component perpendicular to the target direction and a component parallel to the target direction.

[0083] Furthermore, it includes a vibration damping device 4215 provided on the connecting rod 4214 to reduce vibration in a specific direction. In this embodiment, it is used to reduce vibration in the direction of the moving component perpendicular to the target direction of the automatic cleaning device.

[0084] FIG. 13 shows a cleaning head drive mechanism 600 based on another double crank mechanism according to multiple embodiments of the present application. The drive mechanism 600 is adaptable to the drive platform 421. The drive mechanism 600 includes a drive wheel 4212 (the first drive wheel), a drive wheel 4212' (the second drive wheel), and a cleaning substrate 4221.

[0085] The cleaning substrate 4221 has two ends. The first end is connected to the driving wheel 4212 via the pivot 624 (the first pivot), and the second end is connected to the driving wheel 4212' via the pivot 626 (the second pivot). The center of rotation of the driving wheel 4212 is point O, and the pivot center of the pivot 624 is point A. Point O and point A do not coincide, and the distance between them is a preset distance d. The center of rotation of the driving wheel 236 is point O', and the pivot center of the pivot 626 is point A'. Point O' and point A' do not coincide, and the distance between them is the preset distance d. In some embodiments, points A, A', O, and O' are on the same plane. Therefore, the driving wheel 4212, the driving wheel 4212', and the cleaning substrate 4221 may form a double crank mechanism (or a parallelogram mechanism), the cleaning substrate 4221 functions as a coupling rod, and the driving wheels 4212 and 4212' function as two cranks.

[0086] Furthermore, a vibration damping device 4215 is provided on the connecting rod 4214 to reduce vibrations in a specific direction. In this embodiment, it is used to reduce vibrations in the direction of the moving component perpendicular to the target direction of the automatic cleaning device.

[0087] FIG. 14 shows a drive mechanism 700 based on a crank-slider mechanism according to multiple embodiments of the present application. The drive mechanism 700 is adaptable to the drive platform 421. The drive mechanism 700 includes a driving wheel 4212, a cleaning substrate 4221, and a sliding groove 4222.

[0088] The sliding groove 4222 is formed in the support platform 422. The cleaning substrate 4221 includes a pivoting end 4227 and a sliding end 4226. The pivoting end 4227 is connected to the driving wheel 4212 via a pivot 4228. Here, the pivoting center of the driving wheel 4212 is point O, and the pivot center of the pivoting end pivot 4228 is point A. Point O and point A do not coincide, and the distance between them is a preset distance d. The sliding end 4226 includes a slider 4225. The slider 4225 is a protrusion provided at the sliding end 4226. The slider 4225 can be inserted into the sliding groove 4222 and slide along the sliding groove 4222. Therefore, the driving wheel 4221, the cleaning substrate 4221, and the slider 4225 together with the sliding groove 4222 form a crank-slider mechanism.

[0089] When the driving wheel 4212 rotates, point A moves in a circular pivoting motion. Correspondingly, the pivoting end 4227 of the cleaning substrate 4221 moves in a circular pivoting motion together with point A, and the slider 4225 slides in the sliding groove 4222 accordingly and moves linearly back and forth. As a result, the cleaning substrate 4221 starts to move back and forth. According to some embodiments, the sliding groove 4222 is substantially perpendicular to the direction of the target direction of the moving speed of the moving platform, and thus, the linear movement of the sliding end 4226 includes a component perpendicular to the target direction, and the circular pivoting movement of the pivoting end 4227 includes a component perpendicular to the target direction and a component parallel to the target direction simultaneously.

[0090] In FIG. 14, the moving speed of the moving platform is V0, the moving direction is the target direction, and the sliding groove 4222 is substantially perpendicular to the target direction. At this time, the reciprocating movement on the entire cleaning substrate 4221 includes both a moving component parallel to the target direction of the automatic cleaning device and a moving component perpendicular to the target direction of the automatic cleaning device.

[0091] Furthermore, the support platform 422 is provided on at least one side of the support platform 422, and connects the support platform 422 to the engaging claw 4216 of the drive platform 421, mechanically fixing the support platform 422 removably to the drive platform 421 and fixing it to the drive platform and the automatic cleaning device itself, including an elastic removal button 4229. At least one assembly area 4224 is provided on the support platform 422 and is used for assembling the cleaning head 410. The assembly area 4224 is made of a bonding material having a bonding layer.

[0092] As an alternative embodiment of the present invention, as shown in FIG. 9, the cleaning head 410 includes a movable area 412 connected to the cleaning substrate 4221, and substantially reciprocates along the surface of the cleaning by driving the cleaning substrate 4221. The movable area 412 is provided at a substantially central position of the cleaning head 410.

[0093] Optionally, a bonding layer is provided on the side of the movable area 412 connected to the cleaning substrate 4221, and the movable area 412 and the cleaning substrate 4221 are connected by the bonding layer.

[0094] Optionally, the cleaning head 410 further includes a fixed area 411, which is connected to the bottom of the support platform 422 through the at least one assembly area 4224, and the fixed area 411 cleans at least a part of the operation surface as the support platform 422 moves.

[0095] Furthermore, the cleaning head 410 further includes a flexible connection portion 413, which is provided between the fixed region 411 and the movable region 412 and is used to connect the fixed region 411 and the movable region 412. The cleaning head 410 further includes a slide buckle 414, which extends along the edge of the cleaning head 410 and is removably attached to the engagement position 4225 of the support platform 422.

[0096] In this embodiment, as shown in FIG. 9, the cleaning head 410 is made of a material with certain elasticity. The cleaning head 410 is fixed to the surface of the support platform 422 by an adhesive layer to realize reciprocating movement. When the cleaning head 410 operates, the cleaning head 410 is always in contact with the surface to be cleaned.

[0097] The water supply mechanism includes a water discharge device 4217. The water discharge device 4217 is directly or indirectly connected to the liquid outlet of the clean water tank, which is the cleaning liquid outlet of a water tank (not shown). Here, the cleaning liquid flows from the cleaning liquid outlet of the water tank to the water discharge device 4217 and may be uniformly applied to the surface to be cleaned by the water discharge device. A connecting component (not shown) is provided on the water discharge device, and the water discharge device is connected to the cleaning liquid outlet of the water tank through the connecting component. The water discharge device is provided with a distribution port. The distribution port may be continuously opened, may be a combination of a plurality of discontinuous small openings, or may be provided with a plurality of nozzles. The cleaning liquid flows to the distribution port through the cleaning liquid outlet of the water tank and the connecting component of the water discharge device, and is uniformly applied to the operation surface through the distribution port.

[0098] The water supply mechanism may further include a clean water pump 4219 and / or a clean water pump pipe 4218. The clean water pump 4219 may be directly connected to the cleaning liquid outlet of the water tank or may be connected through the clean water pump pipe 4218.

[0099] The clean water pump 4219 is connected to the connecting component of the water discharging device and is configured to pump the cleaning liquid from the water tank to the water discharging device. The clean water pump may be a gear pump, a vane pump, a plunger pump, a peristaltic pump, or the like.

[0100] The water supply mechanism pumps the cleaning liquid in the clean water tank through the clean water pump 4219 and the clean water pump pipe 4218 and sends it to the water discharging device. The water discharging device 4217 may be a nozzle, a dripping hole, a wet cloth, or the like, and discharges water uniformly to the cleaning head to wet the cleaning head and the surface to be cleaned. Dirt on the wetted surface to be cleaned can be more easily washed. In the wet cleaning assembly 400, the power / flow rate of the clean water pump is adjustable.

[0101] Furthermore, as shown in FIG. 17, the motor 4211 drives the clean water pump 4219 to peristalsis through the gear set 42193. Due to the peristalsis of the clean water pump 4219, clean water enters from the water inlet 42191, flows out from the water outlet 42192, and then is sent to the water discharging device 4217 through the clean water pump pipe 4218. The water flowing out from the water discharging device 4217 flows into the cleaning head 410 through the water discharging hole.

[0102] Furthermore, as shown in FIG. 18, the motor 4211 rotates the cable gear 42196 through the gear set 42193. The cable 42194 is wound around the cable gear 42196. The cable 42194 is wound around the drive platform 421. The cable gear 42196 realizes the lifting of the drive platform 421 by lifting and lowering the cable 42194. The cable gear 42196 and the cable 42194 are the core components of the lifting module.

[0103] A clutch 42195 is provided for the gear set 42193 and the cable gear 42196. The clutch 42195 includes a spring and a seat-like member. By controlling the engagement and disengagement of the clutch 42195, the motor 4211 controls two moving modules to rotate in one direction, drives the vibrating member to vibrate, and simultaneously realizes the water supply of the clean water pump 4219. It rotates in the opposite direction and drives the lifting of the lifting module by the cable 42194. Optionally, different combinations of the three moving modules are controlled by the combined design of the gear set. For example, it rotates in one direction to realize the water supply by the clean water pump, and rotates in the opposite direction to control the lifting and vibration. Optionally, the three moving modules can be controlled by two motors, but using another motor may lead to cost increase.

[0104] The sweeping and mopping integrated cleaning device provided by the present invention is provided with a dry cleaning module and a wet cleaning module in the cleaning module of the automatic cleaning device, so that a more comprehensive cleaning function can be realized. At the same time, in the wet cleaning module, by adding a driving unit and a vibrating area, the cleaning head reciprocates to repeatedly clean the surface to be cleaned. In the moving trajectory of the cleaning robot, when passing through a certain area only once, it can be cleaned multiple times, and the cleaning effect is greatly improved. Especially, the cleaning effect is obvious for areas with a lot of dirt.

[0105] In cooperation with a sensor that can detect the surface type of a surface to be cleaned, such as a surface media sensor, the lifting and lowering module adjusts the cleaning operation of the wet cleaning module according to different surfaces to be cleaned. For example, it lifts the wet cleaning module on a carpet surface and lowers the wet cleaning module on a surface such as a floor / floor tile to clean, thereby achieving a more comprehensive cleaning effect. Finally, it should be noted that each embodiment in this specification is described progressively, each embodiment focuses on the differences from other embodiments, and the same or similar parts between each embodiment can be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description thereof is relatively simple, and for the relevant part, reference may be made to the description of the method.

[0106] The above embodiments do not limit the technical solutions of the present disclosure, but are only used for illustration. Although the present disclosure has been described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in each of the above embodiments, or perform equivalent substitution on some of the technical features. It is understood that these modifications or substitutions do not deviate from the nature of the corresponding technical solutions from the spirit and scope of the technical solutions of each embodiment of the present disclosure.

Claims

1. A moving platform (100) configured to automatically move an operation surface; and a cleaning module (150) provided on the moving platform (100), wherein the cleaning module (150) includes a dry cleaning module (151) configured to clean at least a part of the operation surface by a dry cleaning method, and a wet cleaning module (400) configured to clean at least a part of the operation surface by a wet cleaning method, wherein the wet cleaning module (400) includes a cleaning head (410) for cleaning the operation surface, and a driving unit (420) configured to drive the cleaning head (410) to reciprocate along a target surface, the target surface being a part of the operation surface, wherein the driving unit (420) includes a support platform (422) configured to support the cleaning head (410), wherein the cleaning head (410) includes a slide buckle (414) extending along an edge of the cleaning head (410) and removably attached to an engagement position (4225) of the support platform (422), wherein the driving unit (420) further includes a driving platform (421) connected to a bottom surface of the moving platform (100) and configured to provide a driving force, wherein the support platform (422) is removably connected to the driving platform (421), wherein the driving platform (421) includes a motor (4211) provided on a side of the driving platform (421) close to the moving platform (100) and outputting power by a motor output shaft, and a driving wheel (4212) connected to an output shaft of the motor (4211) and having an asymmetric structure and performing asymmetric rotation by the motor (4211), wherein the driving platform (421) further includes a vibration member (4213) provided on a side of the driving platform (421) opposite to the motor (4211), connected to the driving wheel (4212), and realizing reciprocating movement of the cleaning head (410) by reciprocating movement caused by the asymmetric rotation of the driving wheel (4212). An automatic cleaning device characterized by the above.

2. The drive platform (421) further includes a connecting rod (4214) that extends along an edge of the drive platform (421) and connects the drive wheel (4212) and the vibrating member (4213), and the reciprocating movement of the cleaning head (410) is realized by the vibrating member (4213) extending to a preset position. The automatic cleaning device according to claim 1, characterized in that.

3. The vibrating member (4213) has a rod-shaped structure, and its extending direction is perpendicular to the connecting rod (4214). The automatic cleaning device according to claim 2, characterized in that.

4. The drive platform (421) includes a vibration damping device (4215) provided on the connecting rod (4214). The automatic cleaning device according to claim 2, characterized in that.

5. The support platform (422) further includes a cleaning substrate (4221) that is movably provided on the support platform (422) and reciprocates the cleaning head (410) with respect to the support platform (422) by the vibration of the vibrating member (4213), thereby cleaning at least a part of the operation surface. The automatic cleaning device according to claim 1, characterized in that.

6. The cleaning substrate (4221) includes an assembly notch provided at a position in contact with the vibrating member (4213), and when the support platform (422) is connected to the drive platform (421), the vibrating member (4213) is assembled into the assembly notch. The automatic cleaning device according to claim 5, characterized in that.

7. The support platform (422) further includes a removal button (4229) that detachably connects the support platform (422) to the drive platform (421). The automatic cleaning device according to claim 1 or 5, characterized in that.

8. The support platform (422) further includes at least one assembly area (4224) provided on the support platform (422) and configured for assembling the cleaning head (410). The automatic cleaning device according to claim 5, characterized in that.

9. The cleaning head (410) The automatic cleaning device according to claim 8, further comprising a movable region (412) connected to the cleaning substrate (4221) and reciprocating along the target surface by driving the cleaning substrate (4221).

10. The automatic cleaning device according to claim 9, wherein a bonding layer is provided on a side of the movable region (412) connected to the cleaning substrate (4221), and the movable region (412) is connected by the cleaning substrate (4221) and the bonding layer.

11. The cleaning head (410) The automatic cleaning device according to claim 10, further comprising a fixed region (411) connected to the bottom of the support platform (422) by the at least one assembly region (4224), wherein the fixed region (411) cleans at least a part of the operation surface as the support platform (422) moves.

12. The cleaning head (410) The automatic cleaning device according to claim 11, further comprising a flexible connection portion (413) provided between the fixed region (411) and the movable region (412) for connecting the fixed region (411) and the movable region (412).

13. The automatic cleaning device according to claim 1, wherein a lifting module is provided between the cleaning module (150) and the moving platform (100), and the cleaning module (150) is connected to the moving platform (100) via the lifting module.

14. The automatic cleaning device according to claim 13, wherein the dry cleaning module (151) is connected to the moving platform (100) by the passive lifting module.

15. The automatic cleaning device according to claim 13, wherein the wet cleaning module (400) is connected to the moving platform (100) by the active lifting module.

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