Method for controlling cleaning device, and cleaning device

Abstract

The present application provides a method for controlling a cleaning device. The cleaning device has a first working mode, a second working mode, a third working mode and a fourth working mode, and can switch between any working modes. The method comprises: when the cleaning device is controlled to be in the first working mode, a first cleaning member is at a raised position, and a second cleaning member is at a working position; when the cleaning device is controlled to be in the second working mode, the first cleaning member is at a working position, and the second cleaning member is at a raised position; when the cleaning device is controlled to be in the third working mode, the first cleaning member and the second cleaning member are both at the working positions; and when the cleaning device is controlled to be in the fourth working mode, the first cleaning member and the second cleaning member are both at the raised positions.

Description

Method for controlling cleaning equipment and cleaning equipment

[0001] This application claims priority to the prior application with application number 202311868727.7, filed with the State Intellectual Property Office of China on December 29, 2023, and application name “A method for controlling cleaning equipment and cleaning equipment”. The contents of the above-mentioned prior application are incorporated into this text by introduction. Technical Field

[0002] The present application belongs to the technical field of cleaning equipment, and more specifically, relates to a method for controlling a cleaning equipment and a cleaning equipment. Background Art

[0003] The intelligent cleaning device is used to move on the surface to be cleaned, and cleans the surface to be cleaned by using the movement of the cleaning element at the bottom of the cleaning body relative to the surface to be cleaned. Generally, the cleaning element can be a sweeping element or a washing and mopping element, for example, the sweeping element can be a sweeping brush, and the washing and mopping element can be a roller brush.

[0004] At present, cleaning equipment tends to develop into an all-in-one machine with at least two functions such as washing, mopping and sweeping. Under this multi-functional composite mode design concept, the design ideas of existing cleaning equipment cannot meet the requirements of multi-functional mode switching of multiple cleaning parts. Therefore, there is an urgent need to provide a cleaning equipment that can be used to switch multiple cleaning parts for multi-mode work.

[0005] Application Contents

[0006] An object of the embodiments of the present application is to provide a method for controlling a cleaning device, which is used to control a plurality of cleaning components of the cleaning device to switch between a plurality of working modes.

[0007] To achieve the above objectives, the technical solution adopted in this application is:

[0008] A method for controlling a cleaning device is provided, wherein the cleaning device comprises a first cleaning member and a second cleaning member, wherein the first cleaning member and the second cleaning member each have a raised position and a working position and are switchable between the raised position and the working position; wherein the raised position is higher than the working position;

[0009] The cleaning device has a first working mode, a second working mode, a third working mode and a fourth working mode, and can switch between any of the working modes; the method includes:

[0010] When the cleaning device is controlled to be in the first working mode, the first cleaning member is in the raised position, and the second cleaning member is in the working position;

[0011] When the cleaning device is controlled to be in the second working mode, the first cleaning member is in the working position, and the second cleaning member is in the raised position;

[0012] When the cleaning device is controlled to be in the third working mode, the first cleaning member and the second cleaning member are both in the working position;

[0013] When the cleaning device is controlled to be in the fourth working mode, the first cleaning member and the second cleaning member are both in the raised position.

[0014] In some embodiments, the method further comprises:

[0015] generating a mode switching signal by triggering a cleaning mode switching switch of the cleaning device;

[0016] Acquiring the mode switching signal through the control unit and determining the working mode to be switched according to the mode switching signal;

[0017] Acquiring a current working mode of the cleaning device through the control unit, and controlling at least one of the first cleaning member and the second cleaning member to complete a switch between the raised position and the working position according to the current working mode, thereby switching to the working mode to be switched;

[0018] Among them, the current working mode includes any one of the first working mode, the second working mode, the third working mode and the fourth working mode, and the working mode to be switched includes any one of the first working mode, the second working mode, the third working mode and the fourth working mode; and the current working mode and the working mode to be switched are different.

[0019] In some embodiments, the method further comprises:

[0020] detecting whether the cleaning member is in the raised position by a detection element of the cleaning device, generating a raised position signal when detecting that the cleaning member is in the raised position, and sending the raised position signal to the control unit;

[0021] The control unit receives the mode switching signal and the lift-to-position signal, and determines whether to switch the cleaning member from the lift position to the working position based on the mode switching signal and the lift-to-position signal, and controls the cleaning member to switch from the lift position to the working position when it is determined that the cleaning member needs to be switched from the lift position to the working position.

[0022] In some embodiments, the method further comprises:

[0023] When it is determined that the cleaning member needs to be switched from the raised position to the working position, the control unit generates a first driving instruction and increases the current power of the driving member according to the first driving instruction and controls the driving member to drive the cleaning member away from the raised position in a first direction.

[0024] In some embodiments, the method further comprises:

[0025] detecting whether the cleaning member is in the raised position by a detection element of the cleaning device, generating a lifting separation signal when detecting that the cleaning member has left the raised position, and sending the lifting separation signal to a control unit;

[0026] The control portion receives the lifting and disengaging signal and stops driving the driving member according to the lifting and disengaging signal, and allows the cleaning member to descend to the working position by gravity.

[0027] In some embodiments, the method further comprises: generating a mode switching signal by triggering a cleaning mode switching switch of the cleaning device;

[0028] The control unit receives a mode switching signal, and determines whether to switch the cleaning member from the working position to the lifting position based on the mode switching signal. When it is determined that the cleaning member needs to be switched from the working position to the lifting position, a second driving instruction is generated, and the driving member is controlled according to the second driving instruction to drive the cleaning member along a second direction to switch from the working position to the lifting position.

[0029] In some embodiments, the method further includes: when it is determined that the working mode to be switched is the first working mode, the control unit controls the fan of the cleaning device to be connected to the second cleaning member according to the working mode to be switched, and controls the fan to be isolated from the first cleaning member;

[0030] Alternatively, when it is determined that the working mode to be switched is the second working mode, the control unit controls the fan of the cleaning device to be connected to the first cleaning member and controls the fan to be isolated from the second cleaning member according to the working mode to be switched;

[0031] Alternatively, when it is determined that the working mode to be switched is the third working mode, the control unit controls the fan of the cleaning device and the first cleaning member and the second cleaning member to be turned on respectively according to the working mode to be switched;

[0032] Alternatively, when it is determined that the working mode to be switched is the fourth working mode, the control unit controls the fans of the cleaning device to be isolated from the first cleaning member and the second cleaning member according to the working mode to be switched.

[0033] In some embodiments, the cleaning device includes a magnetic member capable of maintaining synchronous movement with the cleaning member, and the detection element is a Hall element; the method further includes:

[0034] When the cleaning member switches from the working position to the lifting position and approaches the detection element, the detection element outputs the lifting position signal by sensing the magnetic field of the magnetic member;

[0035] When the cleaning member switches from the lifting position to the working position and moves away from the detection element, the detection element outputs the lifting separation signal by sensing the magnetic field of the magnetic member.

[0036] In some embodiments, the detection element is a pressure sensing element; and the method further comprises:

[0037] When the cleaning member switches from the working position to the raised position and presses against the detection element, the detection element senses whether there is a pressing force and outputs the raised position signal when it is determined that there is a pressing force;

[0038] When the cleaning member switches from the lifting position to the working position and moves away from the detection element, the detection element senses whether there is a pressing force and outputs the lifting separation signal when it is determined that there is no pressing force.

[0039] The beneficial effects of the method for controlling cleaning equipment provided by this application are:

[0040] Compared with the prior art, the method for controlling a cleaning device provided by the present application is such that when the cleaning device is controlled to be in a first working mode, the first cleaning member is in a raised position and the second cleaning member is in a working position; when the cleaning device is controlled to be in a second working mode, the first cleaning member is in a working position and the second cleaning member is in a raised position; when the cleaning device is controlled to be in a third working mode, both the first cleaning member and the second cleaning member are in a working position; and when the cleaning device is controlled to be in a fourth working mode, both the first cleaning member and the second cleaning member are in a raised position. The cleaning device not only has a first working mode, a second working mode, a third working mode and a fourth working mode, but is also capable of switching between any of the working modes. As the cleaning device develops towards comprehensive functions such as sweeping, mopping and washing, it can satisfy the switching of multiple working modes by controlling the multiple cleaning members of the cleaning device.

[0041] Another object of the present application is to provide a cleaning device, which is controlled according to the method for controlling a cleaning device as described above; the cleaning device includes a device body, a first cleaning mechanism, and a second cleaning mechanism;

[0042] The first cleaning mechanism includes a first cleaning member movably connected to the device body, and the second cleaning mechanism includes a second cleaning member movably connected to the device body; the first cleaning member and the second cleaning member both have a raised position and a working position, and are capable of switching between the raised position and the working position; wherein the raised position is higher than the working position;

[0043] The state in which the first cleaning member is in the raised position and the second cleaning member is in the working position is the first working mode of the cleaning device; the state in which the first cleaning member is in the working position and the second cleaning member is in the raised position is the second working mode of the cleaning device; the state in which the first cleaning member and the second cleaning member are both in the working position is the third working mode of the cleaning device; the state in which the first cleaning member and the second cleaning member are both in the raised position is the fourth working mode of the cleaning device.

[0044] In some embodiments, the device body is provided with a cleaning mode switch and a control unit;

[0045] The cleaning mode switch is configured to be triggered and generate a mode switching signal;

[0046] The control unit is configured to obtain the mode switching signal and determine the working mode to be switched according to the mode switching signal, and is configured to obtain the current working mode of the cleaning device to control at least one of the first cleaning member and the second cleaning member to complete a switch between the raised position and the working position according to the current working mode, thereby switching to the working mode to be switched;

[0047] Among them, the current working mode includes any one of the first working mode, the second working mode, the third working mode and the fourth working mode, and the working mode to be switched includes any one of the first working mode, the second working mode, the third working mode and the fourth working mode; and the current working mode and the working mode to be switched are different.

[0048] In some embodiments, the device body is provided with a detection element and a control unit;

[0049] The detection element is used to detect whether the cleaning member is in the raised position, and generates a raised position signal when detecting that the cleaning member is in the raised position, and sends the raised position signal to the control unit; the control unit is used to receive a mode switching signal and the raised position signal, and judge whether to switch the cleaning member from the raised position to the working position according to the mode switching signal and the raised position signal, and when it is judged that the cleaning member needs to be switched from the raised position to the working position, the control unit generates a first driving instruction and increases the current power of the driving member according to the first driving instruction and controls the driving member to drive the cleaning member to leave the raised position in a first direction;

[0050] The detection element is also used to detect whether the cleaning member is in the lifted position, and generates a lift separation signal when it detects that the cleaning member has left the lifted position, and sends the lift separation signal to the control unit; the control unit is also used to receive the lift separation signal and stop driving the driving member according to the lift separation signal, and allow the cleaning member to descend to the working position by gravity.

[0051] In some embodiments, the device body is provided with a cleaning mode switch and a control unit;

[0052] The cleaning mode switch is configured to be triggered and generate a mode switching signal;

[0053] The control unit is used to receive a mode switching signal and determine whether to switch the cleaning member from the working position to the lifting position based on the mode switching signal, and generate a second drive instruction when it is determined that the cleaning member needs to be switched from the working position to the lifting position, and control the drive member to drive the cleaning member along a second direction to switch from the working position to the lifting position based on the second drive instruction.

[0054] In some embodiments, the first cleaning mechanism further comprises a first lifting mechanism, the first cleaning member is disposed on the first lifting mechanism, the second cleaning mechanism further comprises a second lifting mechanism, the second cleaning member is disposed on the second lifting mechanism;

[0055] Furthermore, the first lifting mechanism and the second lifting mechanism are respectively movably connected to the device body and can be adjusted in height relative to the device body, so as to respectively drive the first cleaning member and the second cleaning member to move up and down relative to the device body;

[0056] The control portion is configured to control at least one of the first cleaning member and the second cleaning member to switch between the lifting position and the working position through the first lifting mechanism and the second lifting mechanism respectively.

[0057] In some embodiments, the first lifting mechanism and the second lifting mechanism each include a swing assembly and a lifting assembly; the swing assembly includes a first swing member and a second swing member, and the lifting assembly includes a driving member having a driving shaft, and the driving shaft is in transmission connection with the cleaning member;

[0058] The first end of the first swinging member is rotatably connected to the device body, and the second end away from the first end is connected to the lifting assembly; the first head of the second swinging member is movably connected to the device body and has a raised position relative to the device body, and the second head away from the first head is transmission-connected to the drive shaft;

[0059] The second swinging member is configured such that when the driving shaft drives the first head portion through the second head portion to be in the raised position, the first swinging member is fixed relative to the device body, thereby placing the lifting assembly in the raised position; and is configured such that when the driving shaft drives the first head portion through the second head portion to be out of the raised position, the first swinging member is rotatable relative to the device body, thereby lowering the lifting assembly from the raised position to the working position.

[0060] The control unit is configured to drive the second swinging member to move relative to the device body through the driving member, thereby driving the cleaning mechanism to move up and down relative to the device body.

[0061] In some embodiments, the lifting assembly further comprises a one-way bearing, wherein the one-way bearing is disposed on a transmission path between the drive shaft and the second head;

[0062] The one-way bearing is configured to allow the drive shaft to drive the second head portion to move relative to the device body when the drive shaft rotates in a first direction, and to prevent the drive shaft from driving the second head portion when the drive shaft rotates in a second direction; wherein the first direction and the second direction are opposite to each other;

[0063] The control unit is configured to increase the current power of the driving member according to a first driving instruction and control the driving member to drive the first cleaning mechanism away from the raised position along the first direction.

[0064] In some embodiments, the lifting assembly further comprises a camshaft and a cam; the camshaft is in transmission connection with the drive shaft, and the cam is sleeved on the camshaft via the one-way bearing; the second head is rotatably connected to the camshaft, and the rotation axis of the second head is spaced apart from the rotation axis of the camshaft;

[0065] The lifting assembly further comprises an elastic member, the elastic member being arranged beside the cam and extending in a radial direction of the cam; the cam being configured such that the first head portion is located in the lifting position when the convex portion thereof abuts against the elastic member and remains fixed, and being configured to overcome the elastic force of the elastic member when driven by the drive shaft in the first direction and drive the first head portion to leave the lifting position through the second head portion, and being configured to continue to rotate when driven by the drive shaft in the first direction and again abut against the elastic member, and drive the first head portion to move back to the lifting position through the second head portion;

[0066] The control unit is configured to control the driving member to drive the cleaning mechanism from the working position to the lifting position along the second direction according to a second driving instruction.

[0067] The beneficial effects of the cleaning device provided by this application are:

[0068] Compared with the prior art, the cleaning device provided by the present application has a first working mode of the cleaning device in which the first cleaning member is in a raised position and the second cleaning member is in a working position; a second working mode of the cleaning device in which the first cleaning member is in a working position and the second cleaning member is in a raised position; a third working mode of the cleaning device in which both the first cleaning member and the second cleaning member are in a working position; and a fourth working mode of the cleaning device in which both the first cleaning member and the second cleaning member are in a raised position. The cleaning device not only has the first working mode, the second working mode, the third working mode, and the fourth working mode, but can also switch between any of the working modes. When the cleaning device tends to develop comprehensive functions such as sweeping, mopping, and washing, it can satisfy the control of the multiple cleaning members of the cleaning device to achieve switching between multiple working modes. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0070] FIG1 is a schematic diagram of a cleaning device provided in an embodiment of the present application with the bottom cover removed;

[0071] FIG2 is a disassembled view of the cleaning device provided in an embodiment of the present application, wherein the bottom cover is disassembled;

[0072] FIG3 is a disassembled diagram of the cleaning device provided in an embodiment of the present application, wherein the bottom cover, the first cleaning mechanism, and the second cleaning mechanism are disassembled;

[0073] FIG4 is a disassembled view of the cleaning device provided in an embodiment of the present application, wherein the bottom cover is disassembled;

[0074] FIG5 is a cross-sectional view of a second cleaning member provided in an embodiment of the present application, taken along a direction perpendicular to the direction of travel;

[0075] FIG6 is a cross-sectional view of the first cleaning member provided in an embodiment of the present application, taken along a direction perpendicular to the direction of travel;

[0076] FIG7 is a cross-sectional view of the cleaning device provided in an embodiment of the present application taken perpendicular to the direction of travel;

[0077] FIG8 is a schematic diagram of a first cleaning mechanism and a second cleaning mechanism provided in an embodiment of the present application;

[0078] FIG9 is a schematic diagram of a first cleaning mechanism provided in an embodiment of the present application along a first viewing angle;

[0079] FIG10 is a schematic diagram of a first cleaning mechanism provided in an embodiment of the present application from a second viewing angle;

[0080] FIG11 is a schematic diagram of the axial disassembly of the first cleaning mechanism provided in an embodiment of the present application;

[0081] FIG12 is a schematic diagram of the axial disassembly of the first cleaning mechanism provided in an embodiment of the present application;

[0082] FIG13 is a schematic diagram of the first cleaning mechanism provided in an embodiment of the present application from a third viewing angle;

[0083] FIG14 is a schematic diagram of the axial disassembly of the first cleaning mechanism provided in an embodiment of the present application;

[0084] FIG15 is a schematic diagram of a partial axial disassembly of the first cleaning mechanism provided in an embodiment of the present application;

[0085] FIG16 is a schematic diagram of a partial axial disassembly of the first cleaning mechanism provided in an embodiment of the present application;

[0086] FIG17 is a schematic diagram of a portion of a first cleaning mechanism provided in an embodiment of the present application;

[0087] FIG18 is a schematic diagram of a partial axial disassembly of the first cleaning mechanism provided in an embodiment of the present application;

[0088] FIG19 is a schematic diagram of a portion of a first cleaning mechanism provided in an embodiment of the present application;

[0089] FIG20 is a disassembled view of the cleaning device provided in an embodiment of the present application, wherein the slide guide structure and the slideway structure are disassembled;

[0090] FIG21 is a schematic diagram of a cleaning device provided in an embodiment of the present application;

[0091] FIG22 is a schematic diagram showing a cross-section of the slide structure of the cleaning device provided in an embodiment of the present application, taken perpendicularly to the direction of travel;

[0092] FIG23 is a schematic diagram of a first cleaning mechanism and a second cleaning mechanism provided in an embodiment of the present application, wherein the second swinging member is in a raised position;

[0093] FIG24 is a schematic diagram of a first cleaning mechanism and a second cleaning mechanism provided in an embodiment of the present application, wherein the second swinging member is away from the raised position;

[0094] FIG25 is a schematic diagram of a cam supported on a limiting structure so that the cleaning mechanism is in a raised position according to an embodiment of the present application;

[0095] FIG26 is a schematic diagram of a cam about to disengage from a limiting structure according to an embodiment of the present application;

[0096] FIG27 is a schematic diagram of a cam provided by an embodiment of the present application, wherein the convex portion is at the lowest point;

[0097] FIG28 is a schematic diagram of the cam according to an embodiment of the present application rotating in the opposite direction and being re-supported by the limiting structure, so that the cleaning mechanism is in a raised position;

[0098] FIG29 is a schematic diagram of a cam supported on a limiting member so that the cleaning mechanism is in a raised position according to an embodiment of the present application;

[0099] FIG30 is a schematic diagram of a cam about to disengage from a limiting member according to an embodiment of the present application;

[0100] FIG31 is a schematic diagram of a cam provided by an embodiment of the present application, wherein the convex portion is at the lowest point;

[0101] Figure 32 is a schematic diagram of the cam provided in an embodiment of the present application rotating along the original direction and being re-supported on the limiting member so that the cleaning mechanism is in a raised position. DETAILED DESCRIPTION

[0102] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0103] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0104] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0105] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0106] The cleaning device 10 provided in the embodiment of the present application can be controlled according to the method for controlling the cleaning device 10 provided in the present application.

[0107] The cleaning device 10 includes a device body 13, a first cleaning mechanism 11, and a second cleaning mechanism 12. The first cleaning mechanism 11 includes a first cleaning member 112 movably connected to the device body 13, and the second cleaning mechanism 12 includes a second cleaning member 122 movably connected to the device body 13. The first cleaning member 112 and the second cleaning member 122 both have a raised position and a working position, and can be switched between the raised position and the working position. The raised position is higher than the working position.

[0108] Among them, the state in which the first cleaning member 112 is in the raised position and the second cleaning member 122 is in the working position is the first working mode of the cleaning device 10; the state in which the first cleaning member 112 is in the working position and the second cleaning member 122 is in the raised position is the second working mode of the cleaning device 10; the state in which the first cleaning member 112 and the second cleaning member 122 are both in the working position is the third working mode of the cleaning device 10; the state in which the first cleaning member 112 and the second cleaning member 122 are both in the raised position is the fourth working mode of the cleaning device 10.

[0109] The cleaning device 10 provided in the embodiment of the present application is in a first working mode of the cleaning device 10, in which the first cleaning member 112 is in a raised position and the second cleaning member 122 is in a working position; in a second working mode of the cleaning device 10, in which the first cleaning member 112 is in a working position and the second cleaning member 122 is in a raised position; in a third working mode of the cleaning device 10, in which both the first cleaning member 112 and the second cleaning member 122 are in a working position; and in a fourth working mode of the cleaning device 10, in which both the first cleaning member 112 and the second cleaning member 122 are in a raised position. The cleaning device 10 not only has a first working mode, a second working mode, a third working mode and a fourth working mode, but is also capable of switching between any working modes. When the cleaning device 10 tends to develop in the direction of comprehensive functions such as sweeping, mopping and washing, it can satisfy the control of multiple cleaning members of the cleaning device 10 to achieve switching between multiple working modes.

[0110] Furthermore, the first cleaning mechanism 11 further includes a first lifting mechanism 111, on which the first cleaning member 112 is disposed. The second cleaning mechanism 12 further includes a second lifting mechanism 121, on which the second cleaning member 122 is disposed. Furthermore, the first lifting mechanism 111 and the second lifting mechanism 121 are each movably connected to the device body 13 and are capable of varying their height relative to the device body 13, thereby driving the first cleaning member 112 and the second cleaning member 122 to rise and fall relative to the device body 13.

[0111] Furthermore, the device body 13 is provided with a control unit for controlling at least one of the first cleaning member 112 and the second cleaning member 122 to switch between the lifting position and the working position through the first lifting mechanism 111 and the second lifting mechanism 121 respectively.

[0112] The cleaning device 10 and the method for controlling the cleaning device 10 provided in the embodiment of the present application are described below with reference to Figures 1 to 34.

[0113] The cleaning mechanism mentioned separately below may refer to the first cleaning mechanism 11 or the second cleaning mechanism 12, or to the first cleaning mechanism 11 and the second cleaning mechanism 12. The cleaning member mentioned separately below may refer to the first cleaning member 112 or the second cleaning member 122, or to the first cleaning member 112 and the second cleaning member 122. The swing assembly 101, the lifting assembly 102, and the lifting frame 1027 mentioned separately below may belong to the first lifting mechanism 111 or the second lifting mechanism 121, or the first lifting mechanism 111 and the second lifting mechanism 121 may have the same structure, and each comprises the swing assembly 101, the lifting assembly 102, and the lifting frame 1027.

[0114] 1 to 34 , the cleaning device 10 provided in an embodiment of the present application includes a device body 13, and a first cleaning mechanism 11 and a second cleaning mechanism 12. The first cleaning mechanism 11 includes a first lifting mechanism 111 and a first cleaning member 112 disposed on the first lifting mechanism 111, and the second cleaning mechanism 12 includes a second lifting mechanism 121 and a second cleaning member 122 disposed on the second lifting mechanism 121. Furthermore, the first lifting mechanism 111 and the second lifting mechanism 121 are each movably connected to the device body 13 and are capable of varying their height relative to the device body 13, so as to respectively drive the first cleaning member 112 and the second cleaning member 122 to rise and fall relative to the device body 13.

[0115] Compared to the prior art, the cleaning device 10 provided in the embodiment of the present application comprises a first cleaning mechanism 11 including a first lifting mechanism 111 and a first cleaning member 112 disposed on the first lifting mechanism 111, and a second cleaning mechanism 12 including a second lifting mechanism 121 and a second cleaning member 122 disposed on the second lifting mechanism 121. The first lifting mechanism 111 and the second lifting mechanism 121 are each movably connected to the device body 13, and both can independently adjust their height relative to the device body 13 and independently drive the first cleaning member 112 and the second cleaning member 122 to rise and fall relative to the device body 13.

[0116] The heights of the first cleaning member 112 and the second cleaning member 122 are adjustable, and the two can operate independently. Therefore, the cleaning members of the cleaning device 10 can be adjusted according to the specific needs of the cleaning scene. For example, the first cleaning member 112 can be in a low position to clean, while the second cleaning member 122 can be in a high position and away from the cleaning surface; or the second cleaning member 122 can be in a low position to clean, while the first cleaning member 112 can be in a high position and away from the cleaning surface; or both the first cleaning member 112 and the second cleaning member 122 can be in a low position to clean; or both the first cleaning member 112 and the second cleaning member 122 can be in a high position and away from the cleaning surface.

[0117] The cleaning device 10 provided in the embodiment of the present application is respectively equipped with an independently adjustable first lifting mechanism 111 and a second lifting mechanism 121 for the first cleaning member 112 and the second cleaning member 122. The first lifting mechanism 111 and the second lifting mechanism 121 are used to switch and adjust a plurality of working modes, thereby meeting the user demand that the cleaning device 10 has a plurality of working modes.

[0118] In some embodiments, the first lifting mechanism 111 and the second lifting mechanism 121 have the same structure to reduce the design cost of the first lifting mechanism 111 and the second lifting mechanism 121. Of course, in other embodiments, on the basis of being able to independently drive the first cleaning member 112 and the second cleaning member 122 to rise and fall, the first lifting mechanism 111 and the second lifting mechanism 121 may have completely different structures, or one part may be the same and another part may be different.

[0119] In some embodiments, the first cleaning element 112 is a sweeping element, and the second cleaning element 122 is a washing and mopping element. A sweeping element refers to a cleaning element that can sweep the clean surface, including but not limited to a sweeping brush. A washing and mopping element refers to a cleaning element that can scrub or mop the clean surface. The difference between scrubbing and mopping is that scrubbing requires water to be supplied to the cleaning element, while mopping does not require water and requires the dry cleaning element to mop the clean surface to remove any water stains.

[0120] The second cleaning member 122 is a washing and mopping member. The second cleaning member 122 can have a washing function or a mopping function. Optimally, the second cleaning member 122 has both washing and mopping functions. The control unit on the device body 13 controls whether the clean water tank supplies clean water to the second cleaning member 122. When clean water is supplied, the washing and mopping member performs the washing function. When the washing and mopping member is dry, the mopping function is performed.

[0121] In some other embodiments, the first cleaning member 112 is a sweeping member, and the second cleaning member 122 is also a sweeping member. The difference between the first cleaning member 112 and the second cleaning member 122 is that the sweeping bristles of the cleaning member located at the front side of the device body 13 in the direction of travel can be designed to have larger spacing or thicker diameters, so that the cleaning member located at the front side can first clean the larger particles of garbage on the cleaning floor. The sweeping bristles of the cleaning member located at the rear side of the device body 13 in the direction of travel can be designed to have smaller spacing or thinner diameters, so that the cleaning member located at the rear side can perform a second fine cleaning on the floor cleaned by the front cleaning member, thereby cleaning smaller particles of garbage on the cleaning floor, and fully sweeping and cleaning the cleaning floor with sweeping bristles of different spacing or different thicknesses.

[0122] In other embodiments, the first cleaning element 112 is a floor scrubber, and the second cleaning element 122 is a floor mopping element. The difference between the first cleaning element 112 and the second cleaning element 122 is that the cleaning element located at the front side of the device body 13 in the direction of travel is a floor scrubber. When provided with clean water, it has a floor scrubbing function, allowing the cleaning element located at the front side to scrub the cleaned floor first. The cleaning element located at the rear side of the device body 13 in the direction of travel is a floor mopping element. When the mopping element is dry, it has a floor mopping function, allowing the cleaning element located at the rear side to dry the floor cleaned by the front cleaning element. Thus, the two cleaning elements, each with a floor scrubbing and mopping function, achieve a high degree of cleanliness of the cleaned floor by washing and mopping.

[0123] In some embodiments, along the direction of travel of the device main body 13, the first lifting mechanism 111 and the second lifting mechanism 121 are arranged in parallel and spaced apart, and the first cleaning member 112 and the second cleaning member 122 are arranged in parallel and spaced apart, which is conducive to the convenient layout of the first cleaning mechanism 11 and the second cleaning mechanism 12 along the direction of travel of the device main body 13.

[0124] In other embodiments, at least one of the first lifting mechanism 111 and the second lifting mechanism 121 can have a slight angle with the direction of travel, and at least one of the first cleaning member 112 and the second cleaning member 122 can have a slight angle with the direction of travel, which does not affect the implementation and completion of the functions of the first cleaning mechanism 11 and the second cleaning mechanism 12.

[0125] In some embodiments, the lifting mechanism includes a swing assembly 101 and a lifting assembly 102, wherein the lifting assembly 102 includes a cleaning member. The swing assembly 101 is rotatably connected to the device body 13, and the lifting assembly 102 is connected to the side of the swing assembly 101 away from the device body 13. When the swing assembly 101 rotates relative to the device body 13, the height of the lifting assembly 102 relative to the device body 13 can be changed.

[0126] Compared with making the lifting component 102 lift directly in a straight line along the height direction, the height of the lifting component 102 can be changed by rotating the swing component 101 relative to the equipment body 13, that is, the entire cleaning mechanism can occupy some space in the direction of travel, avoiding lifting in a straight line along the height direction and requiring the cleaning mechanism to occupy too much size in the height direction. Since the space of the cleaning equipment 10 along the height direction is relatively limited, it is not conducive to configuring most of the components of the cleaning mechanism along the height direction.

[0127] Of course, when the height dimension of the cleaning device 10 is relatively sufficient, the cleaning mechanism can be designed to be lifted and lowered directly in a straight line along the height direction.

[0128] The bottom cover 133 is used to cover the lower side of the device body 13 and can be detached or installed on the device body 13.

[0129] In some embodiments, the first lifting mechanism 111 and the second lifting mechanism 121 each include a swing assembly 101 and a lifting assembly 102. As shown in Figures 1 and 2 , along the direction of travel of the device body 13, the two swing assemblies 101 are respectively located on opposite sides of the two lifting assemblies 102. Alternatively, as shown in Figures 3 to 8 , along the direction of travel of the device body 13, the two swing assemblies 101 are respectively located on the same side of the two lifting assemblies 102.

[0130] The two swing assemblies 101 are respectively located on opposite sides of the two lifting assemblies 102. That is, the rotation axes of the first cleaning mechanism 11 and the second cleaning mechanism 12 are located on opposite sides of the two lifting assemblies 102, preventing interference with each other. Compared to a solution in which the two swing assemblies 101 are respectively located on opposite sides of the two lifting assemblies 102, the two swing assemblies 101 are respectively located on the same side of the two lifting assemblies 102. This reduces the space occupied by the first cleaning mechanism 11 and the second cleaning mechanism 12 in the direction of travel, thereby reducing the total space occupied by the cleaning device 10.

[0131] In some embodiments, the swing assembly 101 includes a first swing member 1011 and a second swing member 1012, and the lifting assembly 102 includes a driving member 1021 having a drive shaft 1021a, which is transmission-connected to the cleaning member. The first end 1011a of the first swing member 1011 is rotationally connected to the device body 13, and the second end 1011b, which is remote from the first end 1011a, is connected to the lifting assembly 102. The first head 1012a of the second swing member 1012 is movably connected to the device body 13 and has a raised position relative to the device body 13, and the second head 1012b, which is remote from the first head 1012a, is transmission-connected to the drive shaft 1021a. The second swinging member 1012 is configured so that when the driving shaft 1021a drives the first head 1012a through the second head 1012b to be in the raised position, the first swinging member 1011 is fixed relative to the device body 13, so that the lifting assembly 102 is in the raised position, and is configured so that when the driving shaft 1021a drives the first head 1012a through the second head 1012b to be out of the raised position, the first swinging member 1011 can rotate relative to the device body 13, so that the lifting assembly 102 is lowered from the raised position to the working position.

[0132] The device body 13 is fixed, and the first end 1011a of the first swinging member 1011 is rotatably connected to the device body 13. The first swinging member 1011 rotates around the first end 1011a, so the first swinging member 1011 can be understood as a fixed-axis swinging member. Since the cleaning mechanism as a whole can be raised and lowered relative to the device body 13, the second head 1012b of the second swinging member 1012 can be transmission-connected to the drive shaft 1021a. The drive shaft 1021a is part of the lifting assembly 102. Therefore, the central axis of the second head 1012b of the second swinging member 1012 can be raised and lowered, so the second swinging member 1012 can be understood as a dynamic-axis swinging member.

[0133] The driving member 1021 can be a driving motor, and the driving shaft 1021a provides the motive force for the rotation and cleaning of the cleaning member and the lifting and lowering of the cleaning mechanism. The driving shaft 1021a drives the first head 1012a to move relative to the device body 13 through the second head 1012b. In one aspect, when the first head 1012a moves to the raised position, the rotation angle of the first swinging member 1011 relative to the device body 13 is fixed, so that the lifting assembly 102 is in the raised position, and the cleaning mechanism is in the raised position as a whole. On the other hand, when the first head 1012a is out of the raised position, the first head 1012a loses the restriction on the first swinging member 1011, that is, the angle of the first swinging member 1011 relative to the device is converted from a fixed state to a released state, and the first swinging member 1011 is now rotatable relative to the device body 13, so that the lifting assembly 102 is lowered from the raised position to the working position.

[0134] In this part, the driving shaft 1021a drives the first head 1012a through the second head 1012b to move the first head 1012a to the raised position and keep the first head 1012a in the raised position. At this time, since the cleaning member is in the raised position, the cleaning member does not need to work, so the driving shaft 1021a can be in a stationary state.

[0135] Therefore, in one embodiment, the driving shaft 1021a may be continuously supplied with power, so that the driving shaft 1021a maintains the first head 1012a in the raised position, thereby maintaining the entire cleaning mechanism in the raised position.

[0136] In another embodiment, the second swinging member 1012 is configured such that when the first head 1012a is in the raised position, the first head 1012a, the second head 1012b, and the first end 1011a are respectively located at the three vertices of the same triangle to form a self-locking structure. The triangle is stable, so the three vertices of the same triangle can form a self-locking balance and remain stationary. In other words, when the first head 1012a, the second head 1012b, and the first end 1011a are respectively located at the three vertices of the same triangle, they can be maintained in the raised position by pure mechanical force until the drive shaft 1021a rotates and the self-locking balance is again broken. In this embodiment, the drive shaft 1021a can also be continuously supplied with power, so that the cleaning mechanism is maintained in the raised position by electrical and mechanical forces.

[0137] As shown in Figures 5 and 6, optionally, the first head 1012a and the first end 1011a are located on the same side of the height plane where the second head 1012b is located. Optionally, the first head 1012a and the first end 1011a can also be located on both sides of the height plane where the second head 1012b is located. The height plane refers to the vertical plane where the central axis of the second head 1012b is located. Compared to the solution in which the first head 1012a and the first end 1011a are located on both sides of the height plane where the second head 1012b is located, the first head 1012a and the first end 1011a are located on the same side of the height plane where the second head 1012b is located. The triangle formed by them is more stable and more conducive to stably maintaining the cleaning mechanism in the raised position.

[0138] In some embodiments, the drive shaft 1021a and the cleaning member are arranged parallel to each other from top to bottom. The first swing member 1011 and the second swing member 1012 are arranged on the same side of the height plane where the drive shaft 1021a and the cleaning member are located, which facilitates the overall stability of the swing assembly 101 and reduces the size occupied by the swing assembly 101 along the direction of travel. The first swing member 1011 and the second swing member 1012 are staggered along the axis of the drive shaft 1021a to prevent interference between the first swing member 1011 and the second swing member 1012 during the lifting process.

[0139] In some embodiments, as shown in Figures 20 to 24, the device body 13 is configured with a slide structure 131. The slide structure 131 extends horizontally along the travel direction of the device body 13, and the first head 1012a is slidably disposed in the slide structure 131. When the first head 1012a is in the extreme position of the slide structure 131 close to the second head 1012b, the first head 1012a is in a raised position.

[0140] When the first head 1012a is located at the extreme position of the slide structure 131 close to the second head 1012b, the first head 1012a is in the raised position. At this time, the first head 1012a has no room to slide further. The first head 1012a presses against the extreme position of the slide structure 131 close to the second head 1012b to form a tight state. At this time, the motor stops rotating and the position of the second head 1012b remains fixed, so that the first head 1012a, the second head 1012b, and the first end 1011a are respectively located at the three vertices of the same triangle and form a self-locking state. At this time, the cleaning mechanism is in the raised position as a whole. Among them, when the first head 1012a is out of the raised position, the first head 1012a can slide freely in other areas of the slide structure 131 outside the extreme position close to the second head 1012b.

[0141] It should be noted that the extension length of the slide structure 131 along the direction of travel can be flexibly designed. The longer the extension length of the slide structure 131, the longer the length space allowed for the first head 1012a to slide, that is, the longer the swing space of the second swing member 1012, which allows the angle between the second swing member 1012 and the slide structure 131 to be infinitely smaller. In this way, the lifting height of the lifting component 102 can be adjusted, and the lifting height of the lifting component 102 can be flexibly adjusted according to the height of the equipment body 13, and the lifting height can be increased or reduced.

[0142] As shown in Figures 9 and 19, in some embodiments, the lifting assembly 102 further includes a one-way bearing 1023, which is disposed in the transmission path between the drive shaft 1021a and the second head 1012b. The one-way bearing 1023 is configured to allow the drive shaft 1021a to drive the second head 1012b to move relative to the device body 13 when the drive shaft 1021a rotates in a first direction, and to prevent the drive shaft 1021a from driving the second head 1012b when the drive shaft 1021a rotates in a second direction. The first direction and the second direction are opposite.

[0143] One-way bearing 1023 allows the shaft mounted therein to rotate in one direction, while locking the shaft in the opposite direction, thereby preventing the shaft from rotating in the other direction. One-way bearing 1023, also known as an overrunning clutch, is equipped with multiple rollers, needle rollers, or balls. The shape of the rolling seat of one-way bearing 1023 allows the rollers, needle rollers, or balls to roll only in one direction, while generating significant resistance in the other direction, thereby achieving the aforementioned purpose.

[0144] In some embodiments, the lifting assembly 102 further includes a camshaft 1022 and a cam 1024. The camshaft 1022 is in driving connection with the drive shaft 1021a, and the cam 1024 is sleeved on the camshaft 1022 via a one-way bearing 1023. The second head 1012b is rotatably connected to the camshaft 1022, with the rotation axis of the second head 1012b spaced apart from the rotation axis of the camshaft 1022.

[0145] The cam 1024 refers to a wheel body provided with a convex portion 1024a, wherein the convex portion 1024a is provided on the outer periphery of the wheel body. When the cam 1024 rotates around its central axis, it synchronously drives the convex portion 1024a to rotate axially, so the position of the convex portion 1024a changes with the rotation of the wheel body.

[0146] Specifically, in some embodiments, the first direction can be counterclockwise, and the second direction can be clockwise. Referring to Figures 29 to 31 , in one aspect, the drive shaft 1021a drives the camshaft 1022 to rotate in the first direction, and the one-way bearing 1023 allows the drive shaft 1021a to drive the camshaft 1022 in the first direction, so that the camshaft 1022 can drive the cam 1024 to rotate in the first direction. The second head 1012b is in transmission connection with the camshaft 1022, and the rotation axis of the second head 1012b is spaced apart from the rotation axis of the camshaft 1022. The second head 1012b is driven by the camshaft 1022 to move around the central axis of the cam 1024, with the movement trajectory of the second head 1012b located outside the central axis of the cam 1024. At this time, the triangular self-locking formed by the first head 1012a, the second head 1012b and the first end 1011a is broken, the first swing member 1011 rotates downward relative to the device body 13, and the lifting assembly 102 switches from the lifting position to the working position.

[0147] The operating process between Figures 31 and 32 is as follows: After the lifting assembly 102 is switched to the working position, the drive shaft 1021a switches to rotating in the second direction, driving the cleaning member in the second direction to perform cleaning operations. During this process, the drive shaft 1021a drives the camshaft 1022 in the second direction. However, the one-way bearing 1023 does not allow the drive shaft 1021a to drive the camshaft 1022 in the second direction. Therefore, the camshaft 1022 cannot drive the cam 1024 in the second direction. At this time, the cam 1024 is in a generally neutral state due to gravity, with its protrusion 1024a at the lowest end. After the cleaning member completes its cleaning operation, the drive shaft 1021a stops rotating in the second direction and switches to rotating in the first direction.

[0148] As shown in Figure 32, on the other hand, the driving shaft 1021a drives the camshaft 1022 again in the first direction, the camshaft 1022 drives the cam 1024, and the cam 1024 drives the second head 1012b of the second swinging member 1012 to move, and the second head 1012b drives the first head 1012a to start moving toward the above-mentioned extreme position of the slide structure 131. When the driving shaft 1021a stops rotating in the first direction, the rotation angle of the cam 1024 is fixed, and the first head 1012a just moves to the above-mentioned extreme position of the slide structure 131, that is, the driving shaft 1021a drives the lifting assembly 102 from the working position to the lifting position again, and after lifting, the first head 1012a, the second head 1012b and the first end 1011a form a triangle again to self-lock, thereby keeping the lifting assembly 102 in the lifted position.

[0149] In some embodiments, the lifting assembly 102 further includes an elastic member 1028b, which is disposed beside the cam 1024 and extends radially along the cam 1024. The cam 1024 is configured such that when its protruding portion 1024a abuts against the elastic member 1028b and remains fixed, the first head portion 1012a is located in the raised position. The cam 1024 is configured to overcome the elastic force of the elastic member 1028b when driven by the drive shaft 1021a in the first direction, and to drive the first head portion 1012a out of the raised position via the second head portion 1012b. The cam 1024 is configured to continue to rotate when driven by the drive shaft 1021a in the first direction, and to again abut against the elastic member 1028b, and to drive the first head portion 1012a to move back to the raised position via the second head portion 1012b.

[0150] The elastic member 1028b acts to keep the protrusion 1024a of the cam 1024 in a fixed position through elastic force, and the cam 1024 can overcome the elastic force and move away from the fixed position when the driving shaft 1021a is driven along the first direction.

[0151] Specifically, as shown in Figures 14 to 19, the lifting assembly 102 includes a lifting frame 1027. All components of the lifting assembly 102 that can be driven to rise and fall by the swing assembly 101 are arranged on the lifting frame 1027. A limit assembly 1028 is arranged on the lifting frame 1027. The limit assembly 1028 includes a limit bracket 1028d and an elastic member 1028b. The limit bracket 1028d can be fixed to the lifting frame 1027 via screws. The limit bracket 1028d has an opening 1028c facing the cam 1024. A limit member 1028a is movably arranged in the opening 1028c. A portion of the limit member 1028a is disposed within the limit bracket 1028d, while another portion of the limit member 1028a is disposed outside the limit bracket 1028d. The elastic member 1028b is movably disposed inside the elastic member 1028b and is sleeved on the portion of the limiting member 1028a located inside the limiting bracket 1028d. The limiting member 1028a can move inward or outward along the opening 1028c, and the limiting member 1028a can compress or relax the elastic member 1028b.

[0152] The above paragraph only provides an optional installation method for one elastic member 1028b. The elastic member 1028b may be assembled using other methods. This embodiment does not impose any specific restrictions on the assembly method of the elastic member 1028b.

[0153] As shown in Figure 29, when in the raised position, the protrusion 1024a of the cam 1024 just abuts against the stopper 1028a. The stopper 1028a supports the protrusion 1024a through the elastic force provided by the elastic member 1028b, thereby maintaining the protrusion 1024a in this position, that is, maintaining the cam 1024 at this angle. At this time, the first head 1012a, the second head 1012b, and the first end 1011a form a triangular self-locking structure, maintaining the lifting assembly 102 in the raised position.

[0154] As shown in Figures 29 to 31 , in one aspect, the drive shaft 1021a drives the camshaft 1022 to rotate in a first direction. The camshaft 1022 can drive the cam 1024 to rotate in the first direction. The protrusion 1024a of the cam 1024 overcomes the elastic force of the elastic member 1028b and rotates in the first direction. The second head 1012b is driven by the camshaft 1022 to move around the central axis of the cam 1024. The movement trajectory of the second head 1012b is located outside the central axis of the cam 1024. At this time, the triangular self-locking formed by the first head 1012a, the second head 1012b, and the first end 1011a is broken, the first swinging member 1011 rotates downward relative to the device body 13, and the lifting assembly 102 switches from the raised position to the working position. After the protrusion 1024a of the cam 1024 passes the limit member 1028a, the elastic member 1028b returns to its original position.

[0155] During the operation between Figures 31 and 32 , after the lifting assembly 102 is switched to the operating position, the drive shaft 1021a switches to rotating in the second direction, driving the cleaning member in the second direction to perform cleaning. During this process, the elastic member 1028b returns to its original position and remains there. The cam 1024 is in a generally neutral position due to gravity, with its protrusion 1024a at its lowest point.

[0156] As shown in Figure 32, on another aspect, the drive shaft 1021a drives the camshaft 1022 again along the first direction, and the camshaft 1022 drives the cam 1024 to rotate back along the first direction to the position of the limit member 1028a, and again leans against the limit member 1028a, and the limit member 1028a re-supports the protrusion 1024a through the elastic force provided by the elastic member 1028b, so that the protrusion 1024a is restricted again. During this process, the cam 1024 drives the second head 1012b of the second swinging member 1012 to move, and the second head 1012b drives the first head 1012a to start moving toward the above-mentioned extreme position of the slide structure 131. When the driving shaft 1021a stops rotating along the first direction, the rotation angle of the cam 1024 is fixed, and the first head 1012a just moves to the above-mentioned extreme position of the slide structure 131, that is, the driving shaft 1021a drives the lifting assembly 102 from the working position to the lifting position again, and after lifting, the first head 1012a, the second head 1012b and the first end 1011a form a triangle again to self-lock, thereby keeping the lifting assembly 102 in the lifted position.

[0157] In the previous embodiment, the elastic member 1028b and the limiting member 1028a are dynamic members. In other embodiments, the limiting member 1028 can be replaced by a limiting structure 1029 fixed relative to the lifting frame. In the two embodiments, the descending drive process of the lifting assembly 102 is different. In the embodiment using the elastic member 1028b and the limiting member 1028a, the drive shaft 1021a provides power along the first direction, thereby driving the lifting assembly 102 to switch from the lifting position to the working position. In the embodiment using the limiting structure 1029, the drive shaft 1021a rotates along the second direction to provide an inertial force, and the inertial force serves as a driving force, thereby driving the lifting assembly 102 to switch from the lifting position to the working position. In the two embodiments, the ascending drive process of the lifting assembly 102 is consistent.

[0158] In some other embodiments, the lifting assembly 102 further includes a limiting structure 1029, which is disposed beside the cam 1024 and fixed relative to the cam 1024. The cam 1024 is configured such that when its protrusion 1024a abuts against the limiting structure 1029 and remains fixed, the first head 1012a is in the raised position. The cam 1024 is configured such that when the drive shaft 1021a rotates in the second direction, the inertial force drives the cam 1024 in the second direction to disengage from the limiting structure 1029, thereby causing the cam 1024 to drive the first head 1012a out of the raised position via the second head 1012b. The cam 1024 is configured such that when the drive shaft 1021a is driven in the first direction, the cam 1024 rotates in the opposite direction to abut against the limiting structure 1029 again, and drives the first head 1012a to move back to the raised position via the second head 1012b.

[0159] As shown in Figure 25, when in the raised position, the protrusion 1024a of the cam 1024 just abuts against the limiting structure 1029. The limiting structure 1029 is fixed and supports the protrusion 1024a, thereby maintaining the protrusion 1024a in this position, that is, maintaining the cam 1024 at this angle. At this time, the first head 1012a, the second head 1012b, and the first end 1011a form a triangular self-locking structure, maintaining the lifting assembly 102 in the raised position.

[0160] 25 to 27 , in one aspect, the drive shaft 1021a drives the camshaft 1022 to rotate in the second direction. The camshaft 1022 cannot drive the cam 1024 to rotate in the second direction, but can provide driving force through the inertial force generated when the drive shaft 1021a is activated. This inertial force drives the cam 1024 to rotate in the second direction. The second head 1012b is driven by the camshaft 1022 to move around the central axis of the cam 1024, and the movement trajectory of the second head 1012b is located outside the central axis of the cam 1024. At this time, the triangular self-locking formed by the first head 1012a, the second head 1012b, and the first end 1011a is broken, the first swinging member 1011 rotates downward relative to the device body 13, and the lifting assembly 102 switches from the lifting position to the working position.

[0161] During the operating process between Figures 27 and 28 , the lifting assembly 102 switches to the operating position and the drive shaft 1021a continues to rotate in the second direction, driving the cleaning member in the second direction to perform cleaning. During this process, the cam 1024 is in a substantially neutral position due to gravity, with its protrusion 1024a at the lowest end.

[0162] As shown in Figure 28, on the other hand, after the cleaning member completes the cleaning work, the drive shaft 1021a switches the rotation direction and switches from the second direction to the first direction, and re-drives the camshaft 1022. The camshaft 1022 drives the cam 1024 to rotate back along the first direction to the position of the limiting member 1028a and re-abut against the limiting structure 1029. The limiting structure 1029 re-supports the protrusion 1024a so that the protrusion 1024a is restricted again. During this process, the cam 1024 drives the second head 1012b of the second swinging member 1012 to move, and the second head 1012b drives the first head 1012a to start moving toward the above-mentioned extreme position of the slide structure 131. When the driving shaft 1021a stops rotating along the first direction, the rotation angle of the cam 1024 is fixed, and the first head 1012a just moves to the above-mentioned extreme position of the slide structure 131, that is, the driving shaft 1021a drives the lifting assembly 102 from the working position to the lifting position again, and after lifting, the first head 1012a, the second head 1012b and the first end 1011a form a triangle again to self-lock, thereby keeping the lifting assembly 102 in the lifted position.

[0163] In some embodiments, the drive shaft 1021a, the cam shaft 1022, and the cleaning member are arranged in parallel and spaced apart. The drive shaft 1021a, the cam shaft 1022, and the cleaning member are sequentially connected in a transmission manner. Alternatively, the cam shaft 1022 and the cleaning member are separately connected in a transmission manner to the drive shaft 1021a.

[0164] As shown in Figures 12 and 25 to 32, the drive shaft 1021a, camshaft 1022, and cleaning member are arranged in parallel and spaced apart, with the drive shaft 1021a, camshaft 1022, and cleaning member located at the three vertices of a triangle. The drive shaft 1021a and camshaft 1022 are connected by a first transmission belt 1025, and the camshaft 1022 and cleaning member are connected by a second transmission belt 1026.

[0165] In other embodiments, the camshaft 1022 and the cleaning member are respectively connected to the drive shaft 1021a in a transmission connection. For example, the drive shaft 1021a and the camshaft 1022 are connected in a transmission connection via a first transmission belt 1025, the drive shaft 1021a and the cleaning member are connected in a transmission connection via a second transmission belt 1026, and the cleaning member and the camshaft 1022 are not connected in a transmission connection.

[0166] As shown in Figure 14 , the lifting frame 1027 is equipped with a transmission housing 1027a. The transmission connection between the drive shaft 1021a, camshaft 1022, and cleaning element is located within the transmission housing 1027a. Transmission components such as support bearings and synchronous pulleys can be located within the housing. The transmission housing 1027a can be equipped with a transmission cover 1027b. Installing or removing the cover allows for repair or replacement of the transmission components.

[0167] The second swinging member 1012 may include a main connecting member having a first head 1012a and a second head 1012b. The first head 1012a is mounted with two rollers 1012c, which are coaxially connected. The axes of the two rollers 1012c are aligned with the axis of the first head 1012a. The two rollers 1012c may be fixed to the first head 1012a via screws and may roll within the slideway structure 131. The second head 1012b may be fixed to a portion of the protrusion 1024a away from its central axis via a screw 1012d.

[0168] The above paragraph only provides an optional installation method for the second swing member 1012. The second swing member 1012 can be assembled using other methods. This embodiment does not impose any specific restrictions on the assembly method of the second swing member 1012.

[0169] In some embodiments, as shown in FIG8 , the lifting frame 1027 of the lifting assembly 102 in the first lifting mechanism 111 includes a first accommodating structure 1027c and a first channel structure 1027d . The device body 13 includes a dust box structure. The first accommodating structure 1027c , the first channel structure 1027d , and the dust box structure are sequentially arranged from bottom to top. The first accommodating structure 1027c has a first accommodating cavity, which has a top opening and a bottom opening that are open on both sides along the height direction. The first channel structure 1027d connects the dust box structure and the top opening. The first channel structure 1027d is elastic, allowing the height of the first accommodating structure 1027c relative to the dust box structure to be variable. The first cleaning member 112 is rotatably disposed in the first accommodating cavity and partially extends out of the bottom opening.

[0170] The dust box structure is used to collect waste, such as dust, cleaned by the first cleaning member 112. The dust box structure is fixed relative to the device body 13, while the first cleaning member 112 can be raised and lowered relative to the device body 13. Therefore, the channel between the dust box structure and the first cleaning member 112 needs to be designed to be elastic so that it can deform as the first cleaning member 112 is raised and lowered to ensure that the first cleaning member 112 can be raised and lowered normally.

[0171] In some embodiments, the lifting frame 1027 of the lifting assembly 102 in the first lifting mechanism 111 includes a second accommodating structure 1027e and a second channel structure 1027f. The device body 13 includes a sewage tank. The second accommodating structure 1027e, the second channel structure 1027f, and the sewage tank are arranged in order from bottom to top. The second accommodating structure 1027e has a second accommodating chamber with an upper opening and a lower opening that are open on both sides along the height direction. The second channel structure 1027f connects the sewage tank and the upper opening. The second channel structure 1027f is elastic, allowing the height of the second accommodating structure 1027e relative to the sewage tank to be adjusted. The second cleaning member 122 is rotatably disposed in the second accommodating chamber and partially extends out of the lower opening.

[0172] The sewage tank is used to collect sewage generated by the second cleaning member 122. The sewage tank is fixed relative to the device body 13, while the second cleaning member 122 can be raised and lowered relative to the device body 13. Therefore, the passage between the sewage tank and the second cleaning member 122 needs to be designed to be elastic and deform as the second cleaning member 122 is raised and lowered to ensure that the second cleaning member 122 can be raised and lowered normally.

[0173] In some embodiments, the device body 13 is provided with a cleaning mode switching switch and a control unit; wherein, the cleaning mode switching switch can be set on the outer wall of the device body 13, and can be a push-type button or a push-type mechanism, and the user can select the mode to be switched by the cleaning mode switching switch.

[0174] The cleaning mode switching switch is configured to be triggered and generate a mode switching signal.

[0175] The control unit is used to obtain a mode switching signal and determine the working mode to be switched according to the mode switching signal, and is used to obtain the current working mode of the cleaning device 10 to control at least one of the first cleaning member 112 and the second cleaning member 122 to complete a switch between the lifting position and the working position according to the current working mode, thereby switching to the working mode to be switched.

[0176] The control unit is also provided for receiving a mode switching signal, and judging whether to switch the cleaning member from the working position to the lifting position according to the mode switching signal, and generating a second driving instruction when judging that the cleaning member needs to be switched from the working position to the lifting position, and controlling the driving member 1021 to drive the cleaning member from the working position to the lifting position along the second direction according to the second driving instruction.

[0177] Among them, the current working mode includes any one of the first working mode, the second working mode, the third working mode and the fourth working mode, and the working mode to be switched includes any one of the first working mode, the second working mode, the third working mode and the fourth working mode; and the current working mode and the working mode to be switched are different.

[0178] In some embodiments, the device body 13 is provided with a detection element 132 and a control unit. The detection element 132 is used to detect whether the cleaning member is in the raised position, and generates a raised position signal when the cleaning member is detected to be in the raised position, and sends the raised position signal to the control unit; the control unit is used to receive the mode switching signal and the raised position signal, and judge whether to switch the cleaning member from the raised position to the working position according to the mode switching signal and the raised position signal, and when it is judged that the cleaning member needs to be switched from the raised position to the working position, the control unit generates a first driving instruction and increases the current power of the driving member 1021 according to the first driving instruction and controls the driving member 1021 to drive the cleaning member out of the raised position along the first direction.

[0179] The detection element 132 is also used to detect whether the cleaning member is in the lifted position, and generates a lifting separation signal when it detects that the cleaning member has left the lifted position, and sends the lifting separation signal to the control unit; the control unit is also used to receive the lifting separation signal and stop driving the driving member 1021 according to the lifting separation signal, and allow the cleaning member to use gravity to descend to the working position.

[0180] In some embodiments, the cleaning device 10 includes a magnetic component that can maintain synchronous movement with the cleaning component. For example, the magnetic component can be set on the above-mentioned lifting frame 1027, and the detection element 132 is a Hall element. The detection element 132 can be set on the device body 13.

[0181] When the lifting assembly 102 and the cleaning member therein switch from the working position to the raised position and approach the detection element 132, the detection element 132 senses the magnetic field of the magnetic member and outputs a lifted-in-place signal. Furthermore, when the lifting assembly 102 and the cleaning member therein switch from the raised position to the working position and move away from the detection element 132, the detection element 132 senses the magnetic field of the magnetic member and outputs a lifted-out signal.

[0182] In other embodiments, the detection element 132 is a pressure sensing element, which is disposed on the device body 13 and directly above the lifting assembly 102. When the lifting assembly 102 and the cleaning member therein are switched from the working position to the raised position and press against the detection element 132, the detection element 132 senses whether there is a pressing force and outputs a lifted-in-place signal if a pressing force is detected. When the cleaning member is switched from the raised position to the working position and moves away from the detection element 132, the detection element 132 senses whether there is a pressing force and outputs a lifted-out signal if a pressing force is detected.

[0183] The method for controlling the cleaning device 10 provided in an embodiment of the present application comprises a first cleaning member 112 and a second cleaning member 122, wherein the first cleaning member 112 and the second cleaning member 122 both have a lifting position and a working position and can be switched between the lifting position and the working position; wherein the lifting position is higher than the working position.

[0184] The cleaning device 10 has a first working mode, a second working mode, a third working mode and a fourth working mode, and can be switched between any working modes. The method includes:

[0185] When the cleaning device 10 is controlled to be in the first working mode, the first cleaning member 112 is in the raised position and the second cleaning member 122 is in the working position; when the cleaning device 10 is controlled to be in the second working mode, the first cleaning member 112 is in the working position and the second cleaning member 122 is in the raised position; when the cleaning device 10 is controlled to be in the third working mode, both the first cleaning member 112 and the second cleaning member 122 are in the working position; when the cleaning device 10 is controlled to be in the fourth working mode, both the first cleaning member 112 and the second cleaning member 122 are in the raised position.

[0186] The method for controlling the cleaning device 10 provided in the embodiment of the present application is as follows: when the cleaning device 10 is controlled to be in a first working mode, the first cleaning member 112 is in a raised position and the second cleaning member 122 is in a working position; when the cleaning device 10 is controlled to be in a second working mode, the first cleaning member 112 is in a working position and the second cleaning member 122 is in a raised position; when the cleaning device 10 is controlled to be in a third working mode, the first cleaning member 112 and the second cleaning member 122 are both in a working position; when the cleaning device 10 is controlled to be in a fourth working mode, the first cleaning member 112 and the second cleaning member 122 are both in a raised position. The cleaning device 10 not only has a first working mode, a second working mode, a third working mode and a fourth working mode, but can also switch between any working modes. When the cleaning device 10 tends to develop in the direction of comprehensive functions such as sweeping, mopping, and washing, it can meet the requirements of controlling the multiple cleaning members of the cleaning device 10 to achieve switching between multiple working modes.

[0187] In some embodiments, the above method further includes:

[0188] A mode switching signal is generated by triggering a cleaning mode switching switch of the cleaning device 10;

[0189] Acquire a mode switching signal through a control unit and determine a desired working mode to be switched according to the mode switching signal;

[0190] The control unit obtains the current working mode of the cleaning device 10, and controls at least one of the first cleaning member 112 and the second cleaning member 122 to switch between the raised position and the working position according to the current working mode, thereby switching to the working mode to be switched;

[0191] Among them, the current working mode includes any one of the first working mode, the second working mode, the third working mode and the fourth working mode, and the working mode to be switched includes any one of the first working mode, the second working mode, the third working mode and the fourth working mode; and the current working mode and the working mode to be switched are different.

[0192] The cleaning mode switching switch can be set on the outer side wall of the device body 13, and can be a push button or a push mechanism. The user can select the mode to be switched by the cleaning mode switching switch.

[0193] 29 to 31 , in some embodiments, the method further includes:

[0194] Detecting whether the cleaning member is in the raised position by the detection element 132 of the cleaning device 10, and generating a raised position signal when detecting that the cleaning member is in the raised position, and sending the raised position signal to the control unit;

[0195] The control unit receives the mode switching signal and the lifting-in-place signal, and determines whether to switch the cleaning member from the lifting position to the working position based on the mode switching signal and the lifting-in-place signal, and controls the cleaning member to switch from the lifting position to the working position when it is determined that the cleaning member needs to be switched from the lifting position to the working position.

[0196] When it is determined that the cleaning member needs to be switched from the lifting position to the working position, the control unit controls the driving member 1021 controller to give the driving member 1021 a certain power, and the driving shaft 1021a of the driving member 1021 drives the lifting component 102 to switch from the lifting position to the working position.

[0197] More specifically, the above method further includes:

[0198] When it is determined that the cleaning member needs to be switched from the raised position to the working position, the control unit generates a first driving instruction and increases the current power of the driving member 1021 according to the first driving instruction and controls the driving member 1021 to drive the cleaning member out of the raised position along the first direction.

[0199] More specifically, when it is determined that the cleaning member needs to be switched from the raised position to the working position, the control unit generates a first drive instruction and controls the drive member 1021 controller according to the first drive instruction, and the drive member 1021 controller increases the current power of the drive member 1021 and controls the drive member 1021 to drive the cleaning member out of the raised position along the first direction.

[0200] Through the above control method, the driving member 1021 can realize a partial process of driving the lifting assembly 102 to switch from the lifting position to the working position, that is, the process of Figures 29 and 30 and not yet reaching the process of Figure 31.

[0201] Furthermore, the above method also includes:

[0202] detecting whether the cleaning member is in the raised position by the detection element 132 of the cleaning device 10, and generating a lifting separation signal when detecting that the cleaning member has left the raised position, and sending the lifting separation signal to the control unit;

[0203] The control unit receives the lifting and disengaging signal and stops driving the driving member 1021 according to the lifting and disengaging signal, and allows the cleaning member to descend to the working position by gravity.

[0204] After the driving member 1021 drives the lifting assembly 102 to switch from the lifting position to the working position, that is, the process between Figures 30 and 31, after the protrusion 1024a of the cam 1024 disengages from the limit member 1028a, the control unit receives the lifting separation signal and stops driving the driving member 1021 according to the lifting separation signal, that is, removes the driving force in the first direction, and allows the cleaning member to descend to the working position by gravity.

[0205] In some embodiments, the above method further comprises: generating a mode switching signal by triggering a cleaning mode switching switch of the cleaning device 10;

[0206] The control unit receives a mode switching signal, and determines whether to switch the cleaning member from the working position to the lifting position based on the mode switching signal. When it is determined that the cleaning member needs to be switched from the working position to the lifting position, a second drive instruction is generated, and the drive member 1021 is controlled according to the second drive instruction to drive the cleaning member along the second direction to switch from the working position to the lifting position.

[0207] After the process shown in Figures 29 to 31, the cleaning member switches from the raised position to the working position and continues to work in the second direction. After the cleaning member completes the cleaning work, it is necessary to switch the working mode. At this time, the control unit receives the mode switching signal and generates a second drive instruction when it determines that the cleaning member needs to switch from the working position to the raised position. The second drive instruction is then used to control the driving member 1021 controller. The driving member 1021 controller controls the driving member 1021 to drive the cleaning member in the second direction from the working position to the raised position.

[0208] In some embodiments, the method further includes: when it is determined that the working mode to be switched is the first working mode, the control unit controls the fan of the cleaning device 10 to be connected to the second cleaning member 122 according to the working mode to be switched, and controls the fan to be isolated from the first cleaning member 112;

[0209] Alternatively, when it is determined that the working mode to be switched is the second working mode, the control unit controls the fan of the cleaning device 10 to be connected to the first cleaning member 112 according to the working mode to be switched, and controls the fan to be isolated from the second cleaning member 122;

[0210] Alternatively, when it is determined that the working mode to be switched is the third working mode, the control unit controls the fan of the cleaning device 10 to be turned on respectively with the first cleaning member 112 and the second cleaning member 122 according to the working mode to be switched;

[0211] Alternatively, when it is determined that the working mode to be switched is the fourth working mode, the control unit controls the fans of the cleaning device 10 to be isolated from the first cleaning member 112 and the second cleaning member 122 according to the working mode to be switched.

[0212] In some embodiments, the cleaning device 10 includes a magnetic member capable of maintaining synchronous movement with the cleaning member, and the detection element 132 is a Hall element; the above method further includes:

[0213] When the cleaning member switches from the working position to the raised position and approaches the detection element 132, the detection element 132 outputs a raised position signal by sensing the magnetic field of the magnetic member;

[0214] When the cleaning member switches from the lifting position to the working position and moves away from the detection element 132 , the detection element 132 outputs a lifting separation signal by sensing the magnetic field of the magnetic member.

[0215] In some embodiments, the detection element 132 is a pressure sensing element; the method further includes:

[0216] When the cleaning member switches from the working position to the raised position and presses against the detection element 132, the detection element 132 senses whether there is a pressing force and outputs a raised position signal when it is determined that there is a pressing force.

[0217] When the cleaning member switches from the lifting position to the working position and moves away from the detection element 132 , the detection element 132 senses whether there is a pressing force and outputs a lifting and separation signal when it is determined that there is no pressing force.

[0218] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A method for controlling a cleaning device, characterized in that: The cleaning device has a first cleaning member and a second cleaning member, both of which have a raised position and a working position and can be switched between the raised position and the working position; wherein, the raised position is higher than the working position; The cleaning device has a first working mode, a second working mode, a third working mode and a fourth working mode and can be switched between any of the working modes; the method includes: When the cleaning device is controlled to be in the first working mode, the first cleaning member is in the raised position and the second cleaning member is in the working position; When the cleaning device is controlled to be in the second working mode, the first cleaning member is in the working position and the second cleaning member is in the raised position; When the cleaning device is controlled to be in the third working mode, both the first cleaning member and the second cleaning member are in the working position; When the cleaning device is controlled to be in the fourth working mode, both the first cleaning member and the second cleaning member are in the raised position.

2. The method for controlling a cleaning device according to claim 1, wherein, The method further includes: Generating a mode switching signal by triggering a cleaning mode switching switch of the cleaning device; Obtaining the mode switching signal by a control unit and determining a to-be-switched working mode to be switched according to the mode switching signal; Obtaining the current working mode of the cleaning device by the control unit and controlling at least one of the first cleaning member and the second cleaning member to complete a switch between the raised position and the working position according to the current working mode, so as to switch to the to-be-switched working mode; Wherein, the current working mode includes any one of the first working mode, the second working mode, the third working mode and the fourth working mode, and the to-be-switched working mode includes any one of the first working mode, the second working mode, the third working mode and the fourth working mode; and, the current working mode and the to-be-switched working mode are different.

3. The method for controlling a cleaning device according to claim 1 or 2, characterized in that, The method further includes: Detecting by a detection element of the cleaning device whether the cleaning member is in the raised position, generating a raised-in-place signal when it is detected that the cleaning member is in the raised position, and sending the raised-in-place signal to the control unit; The control unit receives the mode switching signal and the raised-in-place signal, and judges whether to switch the cleaning member from the raised position to the working position according to the mode switching signal and the raised-in-place signal, and controls the cleaning member to switch from the raised position to the working position when it is judged that the cleaning member needs to be switched from the raised position to the working position.

4. The method for controlling a cleaning device according to claim 3, wherein, The method further includes: When it is judged that the cleaning member needs to be switched from the raised position to the working position, the control unit generates a first driving instruction and increases the current power of the driving member according to the first driving instruction and controls the driving member to drive the cleaning member to disengage from the raised position along a first direction.

5. The method for controlling a cleaning device according to claim 4, wherein, The method further includes: The detection element of the cleaning device detects whether the cleaning member is in the lifting position, generates a lifting detachment signal when it detects that the cleaning member has detached from the lifting position, and sends the lifting detachment signal to the control unit; The control unit receives the lifting detachment signal and stops driving the driving member according to the lifting detachment signal, and allows the cleaning member to descend to the working position by gravity.

6. The method for controlling a cleaning device according to claim 1 or 2, characterized in that, The method further includes: Generating a mode switching signal by triggering the cleaning mode switching switch of the cleaning device; The control unit receives the mode switching signal, judges whether to switch the cleaning member from the working position to the lifting position according to the mode switching signal, generates a second driving instruction when it judges that the cleaning member needs to be switched from the working position to the lifting position, and controls the driving member to drive the cleaning member from the working position to the lifting position in a second direction according to the second driving instruction. The working position is switched to the lifting position.

7. The method for controlling a cleaning device according to claim 2, wherein, The method further includes: When it is determined that the working mode to be switched is the first working mode, the control unit controls the fan of the cleaning device to be conducted with the second cleaning member according to the working mode to be switched, and controls the fan to be isolated from the first cleaning member; Alternatively, when it is determined that the working mode to be switched is the second working mode, the control unit controls the fan of the cleaning device to be conducted with the first cleaning member according to the working mode to be switched, and controls the fan to be isolated from the second cleaning member; Alternatively, when it is determined that the working mode to be switched is the third working mode, the control unit controls the fan of the cleaning device to be conducted with the first cleaning member and the second cleaning member respectively according to the working mode to be switched; Alternatively, when it is determined that the working mode to be switched is the fourth working mode, the control unit controls the fan of the cleaning device to be isolated from both the first cleaning member and the second cleaning member according to the working mode to be switched.

8. The method for controlling a cleaning device according to claim 5, wherein: The cleaning device includes a magnetic member capable of moving synchronously with the cleaning member, and the detection element is a Hall element; the method further includes: When the cleaning member switches from the working position to the lifting position and approaches the detection element, the detection element outputs the lifting in-place signal by sensing the magnetic field of the magnetic member; When the cleaning member switches from the lifting position to the working position and moves away from the detection element, the detection element outputs the lifting detachment signal by sensing the magnetic field of the magnetic member.

9. The method for controlling a cleaning device according to claim 5, wherein: The detection element is a pressure sensing element; the method further includes: When the cleaning member switches from the working position to the lifting position and presses against the detection element, the detection element outputs the lifting in-place signal by sensing whether there is a pressing force and judging that there is the pressing force. When the cleaning member switches from the lifting position to the working position and moves away from the detection element, the detection element senses whether there is a pressing force and outputs the lifting detachment signal when it determines that there is no pressing force.

10. A cleaning device, characterized in that: The cleaning device is controlled according to the method for controlling a cleaning device as described in any one of claims 1-9; the cleaning device includes a device main body, a first cleaning mechanism, and a second cleaning mechanism; The first cleaning mechanism includes a first cleaning member movably connected to the device main body, and the second cleaning mechanism includes a second cleaning member movably connected to the device main body; Both the first cleaning member and the second cleaning member have a lifting position and a working position, and can switch between the lifting position and the working position; wherein, the lifting position is higher than the working position; The state where the first cleaning member is in the lifting position and the second cleaning member is in the working position is the first working mode of the cleaning device; the state where the first cleaning member is in the working position and the second cleaning member is in the lifting position is the second working mode of the cleaning device; the state where both the first cleaning member and the second cleaning member are in the working position is the third working mode of the cleaning device; the state where both the first cleaning member and the second cleaning member are in the lifting position is the fourth working mode of the cleaning device.

11. The cleaning device according to claim 10, characterized in that: The device main body is provided with a cleaning mode switching switch and a control unit; The cleaning mode switching switch is for being triggered and generating a mode switching signal; The control unit is for obtaining the mode switching signal and determining the to-be-switched working mode to be switched according to the mode switching signal, and for obtaining the current working mode of the cleaning device to control at least one of the first cleaning member and the second cleaning member to complete a switch between the lifting position and the working position according to the current working mode, so as to switch to the to-be-switched working mode; Wherein, the current working mode includes any one of the first working mode, the second working mode, the third working mode, and the fourth working mode, and the to-be-switched working mode includes any one of the first working mode, the second working mode, the third working mode, and the fourth working mode; and, the current working mode and the to-be-switched working mode are different.

12. The cleaning device according to claim 10, characterized in that: The device main body is provided with a detection element and a control unit; The detection element is used to detect whether the cleaning member is in the lifting position, generate a lifting-in-place signal when detecting that the cleaning member is in the lifting position, and send the lifting-in-place signal to the control unit; the control unit is used to receive the mode switching signal and the lifting-in-place signal, and judge whether to switch the cleaning member from the lifting position to the working position according to the mode switching signal and the lifting-in-place signal. When it is judged that the cleaning member needs to be switched from the lifting position to the working position, the control unit generates a first driving instruction, increases the current power of the driving member according to the first driving instruction, and controls the driving member to drive the cleaning member along a first direction to disengage from the lifting position; The detection element is also used to detect whether the cleaning member is in the lifting position, generate a lifting-disengaged signal when detecting that the cleaning member has disengaged from the lifting position, and send the lifting-disengaged signal to the control unit; the control unit is also used to receive the lifting-disengaged signal and stop driving the driving member according to the lifting-disengaged signal, and allow the cleaning member to drop to the working position by gravity.

13. The cleaning device according to claim 10, wherein: The device body is provided with a cleaning mode switching switch and a control unit; The cleaning mode switching switch is used to be triggered and generate a mode switching signal; The control unit is used to receive the mode switching signal, judge whether to switch the cleaning member from the working position to the lifting position according to the mode switching signal, generate a second driving instruction when it is judged that the cleaning member needs to be switched from the working position to the lifting position, and control the driving member to drive the cleaning member from the working position to the lifting position along a second direction according to the second driving instruction.

14. The cleaning device according to any one of claims 11-13, wherein: The first cleaning mechanism further includes a first lifting mechanism, the first cleaning member is arranged on the first lifting mechanism, the second cleaning mechanism further includes a second lifting mechanism, and the second cleaning member is arranged on the second lifting mechanism; Moreover, the first lifting mechanism and the second lifting mechanism are respectively movably connected to the device body and can be variable in height relative to the device body, so as to respectively drive the first cleaning member and the second cleaning member to lift relative to the device body; The control unit is used to respectively control at least one of the first cleaning member and the second cleaning member to complete the switching between the lifting position and the working position through the first lifting mechanism and the second lifting mechanism.

15. The cleaning device according to claim 14, wherein: Both the first lifting mechanism and the second lifting mechanism include a swinging assembly and a lifting assembly; the swinging assembly includes a first swinging member and a second swinging member, and the lifting assembly includes a driving member having a driving shaft, and the driving shaft is in transmission connection with the cleaning member; The first end of the first swinging member is rotatably connected to the device body, and the second end away from the first end is connected to the lifting assembly; the first head of the second swinging member is movably connected to the device body and has a lifting position relative to the device body, and the second head away from the first head can be transmission-connected to the driving shaft; The second swinging member is configured such that when the driving shaft drives the first head portion to be located at the lifting position through the second head portion, the first swinging member is fixed relative to the device body, so that the lifting assembly is in the lifting position, and is configured such that when the driving shaft drives the first head portion to be separated from the lifting position through the second head portion, the first swinging member is rotatable relative to the device body, so that the lifting assembly is lowered from the lifting position to the working position; The control unit is used to drive the second swinging member to move relative to the device body through the driving member, thereby driving the cleaning mechanism to move up and down relative to the device body.

16. The cleaning device according to claim 15, characterized in that: The lifting assembly further includes a one-way bearing, and the one-way bearing is arranged on a transmission path between the driving shaft and the second head; The one-way bearing is configured to allow the drive shaft to drive the second head to move relative to the device body when the drive shaft rotates in a first direction, and is configured to prevent the drive shaft (1021a) from driving the second head when the drive shaft rotates in a second direction; wherein the first direction and the second direction are opposite; The control unit is configured to increase the current power of the driving member according to the first driving instruction and control the driving member to drive the first cleaning mechanism away from the lifting position along the first direction.

17. The cleaning device according to claim 16, characterized in that: The lifting assembly also includes a camshaft and a cam; the camshaft is in transmission connection with the drive shaft, and the cam is connected to the drive shaft by the cam. The one-way bearing is sleeved on the camshaft; the second head is rotatably connected to the camshaft, and the rotation axis of the second head is spaced apart from the rotation axis of the camshaft; The lifting assembly further comprises an elastic member, which is arranged beside the cam and extends in the radial direction of the cam; the cam is configured such that the first head is located in the lifting position when its protruding portion abuts against the elastic member and remains fixed, and is configured to overcome the elastic force of the elastic member under the driving of the driving shaft along the first direction, and drive the first head to leave the lifting position through the second head, and is configured to continue to rotate under the driving of the driving shaft along the first direction and abut against the elastic member again, and drive the first head to move to the lifting position again through the second head; The control unit is used to control the driving member to drive the cleaning mechanism to switch from the working position to the lifting position along the second direction according to a second driving instruction.

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