Cleaning module, cleaning method of cleaning module, and cleaning device

Abstract

The present disclosure provides a cleaning module, a cleaning method of the cleaning module, and a cleaning device. The cleaning module comprises a module body, a cleaning swing arm, and an elastic support. The cleaning swing arm is rotationally connected to the module body, the cleaning swing arm can swing among an extension position, a retraction position, and an ending position relative to the module body, and the retraction position is located between the extension position and the ending position; the elastic support is arranged on the module body; when the cleaning swing arm is located at the retraction position, the cleaning swing arm pushes the elastic support to be located at a first position in a stretched state; when the cleaning swing arm is located at the ending position, the cleaning swing arm pushes the elastic support to be located at a second position in the stretched state; and when the cleaning swing arm is located at the extension position, the elastic support is located at a third position at the side of the first position away from the second position. According to the cleaning module provided by the present disclosure, the cleaning swing arm can return twice.

Description

Cleaning module, cleaning method and cleaning equipment for cleaning module CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to Chinese Patent Application No. 202410383586.8 filed on March 29, 2024, entitled “Cleaning Module, Cleaning Method and Cleaning Equipment for Cleaning Module”, and Chinese Patent Application No. 202420647554.X filed on March 29, 2024, entitled “Cleaning Module and Cleaning Equipment”. The contents disclosed in the above Chinese patent applications are hereby incorporated by reference in their entirety as part of this application. Technical Field

[0002] The present disclosure relates to the technical field of smart furniture, and in particular to a cleaning module, a cleaning method for the cleaning module, and a cleaning device. Background Art

[0003] With the development of modern society, more and more people are focusing on work, leaving them with less time to clean their homes. However, daily household cleaning and maintenance constantly impact people's quality of life. To save time and maintain household hygiene, more and more people are purchasing cleaning equipment to clean their homes in a timely and convenient manner. These cleaning equipment can automatically clean the floor of a room using artificial intelligence.

[0004] Most cleaning devices in the related art are sweeping robots. When the sweeping robots perform cleaning tasks, the cleaning heads on the swing arms of the sweeping robots effectively clean the floor.

[0005] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute prior art known to ordinary technicians in the field. Summary of the Invention

[0006] The present disclosure aims to provide a cleaning module, a cleaning method for the cleaning module, and a cleaning device.

[0007] According to one aspect of the present disclosure, a cleaning module is provided, comprising:

[0008] Module body;

[0009] a cleaning swing arm, the cleaning swing arm being rotatably connected to the module body, the cleaning swing arm being able to swing relative to the module body between an extended position, a retracted position, and an end position, the retracted position being located between the extended position and the end position;

[0010] An elastic bracket is arranged on the module body; when the cleaning swing arm is located at the recovery position, the cleaning swing arm pushes the elastic bracket to be located at a first position in a force-bearing state; when the cleaning swing arm is located at the end position, the cleaning swing arm pushes the elastic bracket to be located at a second position in a force-bearing state; when the cleaning swing arm is located at the extended position, the elastic bracket is located at a third position on the side of the first position away from the second position.

[0011] In an exemplary embodiment of the present disclosure, the cleaning swing arm included in the cleaning module includes a swing arm body and a cleaning head, one end of the swing arm body is rotatably connected to the module body, and the cleaning head is provided on the other end of the swing arm body.

[0012] In an exemplary embodiment of the present disclosure, the cleaning module further includes:

[0013] A detection component is provided on the module body, and the detection component is configured to output a first position signal when the cleaning swing arm is located at the recovery position, output a second position signal when the cleaning swing arm is located at the end position, and output a third position signal when the cleaning swing arm is located at the extended position.

[0014] In an exemplary embodiment of the present disclosure, the detection component is arranged relative to the elastic bracket, and outputs the first position signal when the elastic bracket is located at the first position, outputs the second position signal when the elastic bracket is located at the second position, and outputs the third position signal when the elastic bracket is located at the third position.

[0015] In an exemplary embodiment of the present disclosure, the elastic bracket includes a bracket and a first elastic member, the bracket is connected to the first elastic member, and the first elastic member is in a stressed state under the drive of the bracket.

[0016] In an exemplary embodiment of the present disclosure, the bracket includes a supporting portion and a positioning portion, the positioning portion is provided with a grating hole, and the detection component includes an optical signal transmitter and an optical signal receiver; when the optical signal emitted by the optical signal transmitter passes through the grating hole and is received by the optical signal receiver, the detection component outputs the first position signal.

[0017] In an exemplary embodiment of the present disclosure, in the rotation direction of the bracket, shielding parts are provided on both sides of the grating hole on the positioning part. When the light signal emitted by the light signal transmitter is blocked by the shielding part, the detection component outputs the second position signal or the third position signal, and the second position signal is the same as the third position signal.

[0018] In an exemplary embodiment of the present disclosure, the bracket also includes a guide portion, a guide groove is provided on the module body, and the guide portion is located in the guide groove; when the bracket switches between the first position, the second position and the third position, the guide groove forms a limit for the movement of the guide portion.

[0019] In an exemplary embodiment of the present disclosure, the cleaning module further includes:

[0020] An elastic limiting member is provided on the module body and is configured so that the elastic bracket is subjected to a greater force when the elastic bracket moves from the first position toward the second position.

[0021] In an exemplary embodiment of the present disclosure, the elastic limit member is configured to move between a first limit position and a second limit position. When the elastic bracket is located at the first position, the elastic limit member is located at the first limit position; when the elastic bracket is located at the second position, the elastic limit member is located at the second limit position.

[0022] In an exemplary embodiment of the present disclosure, when the elastic limiting member is located at the first limiting position, the elastic limiting member is in a free state or a stressed state.

[0023] In an exemplary embodiment of the present disclosure, the elastic limiter includes a limiter and a second elastic member, the limiter is connected to the second elastic member, and the second elastic member is configured to be in a stressed state or a free state under the drive of the limiter.

[0024] In an exemplary embodiment of the present disclosure, a first limiting structure and a second limiting structure are provided on the module body, the first limiting structure is configured to limit the limiting member from moving from the first limiting position toward a side away from the second limiting position, and the second limiting structure is configured to limit the limiting member from moving from the second limiting position toward a side away from the first limiting position.

[0025] In an exemplary embodiment of the present disclosure, the cleaning module further includes:

[0026] A driving assembly is configured to drive the cleaning swing arm to swing between the first and third positions.

[0027] In an exemplary embodiment of the present disclosure, a limiting portion is provided on the module body. When the elastic bracket is located at the third position, the limiting portion is configured to limit the swing of the elastic bracket from the third position toward a side away from the first position.

[0028] In an exemplary embodiment of the present disclosure, when the cleaning swing arm is located at the third position, the cleaning swing arm and the elastic bracket are spaced apart.

[0029] In an exemplary embodiment of the present disclosure, when the cleaning swing arm is located at the extended position, the cleaning swing arm is arranged in contact with the elastic bracket.

[0030] According to another aspect of the present disclosure, a cleaning method for a cleaning module is provided, wherein the cleaning module includes a module body, a cleaning swing arm, and an elastic bracket, wherein the cleaning swing arm is rotatably connected to the module body, and the elastic bracket is provided on the module body; the cleaning swing arm is capable of swinging relative to the module body between an extended position, a retracted position, and an end position, wherein the retracted position is located between the extended position and the end position; the cleaning method includes:

[0031] When the cleaning swing arm swings from the extended position toward the retracted position, the cleaning swing arm pushes the elastic bracket to be located in the first position under force; when the cleaning swing arm swings from the retracted position toward the terminal position, the cleaning swing arm pushes the elastic bracket to be located in the second position under force; when the cleaning swing arm swings from the retracted position toward the extended position, the elastic bracket is located in the third position on the side of the first position away from the second position.

[0032] In an exemplary embodiment of the present disclosure, the cleaning module further includes a detection component, and the detection component is provided on the module body; the cleaning method further includes:

[0033] When the cleaning swing arm is located at the recovery position, a first position signal is output through the detection component; when the cleaning swing arm is located at the end position, a second position signal is output through the detection component; when the cleaning swing arm is located at the extended position, a third position signal is output through the detection component.

[0034] According to another aspect of the present disclosure, a cleaning device is provided, which includes the cleaning module described in any one of the above embodiments.

[0035] The cleaning module provided by the present disclosure has a cleaning arm that can be located in the extended position for cleaning operations, which increases the cleaning area and can clean sanitary dead corners such as corners, legs of tables and chairs, thereby improving the cleaning effect; the cleaning arm can also be located in the retracted position for cleaning operations. When the cleaning arm collides with an obstacle, the cleaning arm is subjected to external force and can swing to the retracted position. In the process of swinging to the retracted position, the elastic bracket is squeezed by the cleaning arm and is in a stressed state, thereby achieving a buffering effect when the elastic bracket is swung by external force; further, when the cleaning arm is in the retracted position for cleaning operations, if it is squeezed by the outside world, the cleaning arm continues to push the elastic bracket to swing toward the end position. When the cleaning arm swings toward the end position, the elastic bracket further provides a buffering effect, effectively buffering the external squeezing force on the cleaning arm when it is in the retracted position, thereby improving the reliability of the cleaning arm during the swinging process when it is subjected to external force.

[0036] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification, are used to explain the principles of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0038] FIG1 is a schematic diagram of a cleaning device provided by an embodiment of the present disclosure.

[0039] FIG2 is a front view of a cleaning device provided by an embodiment of the present disclosure.

[0040] FIG3 is a schematic diagram of a cleaning swing arm provided in an embodiment of the present disclosure in a recovery position.

[0041] FIG4 is a schematic diagram of a cleaning swing arm provided in an embodiment of the present disclosure in an extended position.

[0042] FIG5 is a schematic diagram of a cleaning swing arm provided in accordance with an embodiment of the present disclosure.

[0043] FIG6 is a schematic diagram of a cleaning swing arm in a cleaning module provided by an embodiment of the present disclosure being located in a recovery position.

[0044] FIG7 is a partially opened enlarged view of a cleaning swing arm in a cleaning module provided by an embodiment of the present disclosure when the cleaning swing arm is in a retracted position.

[0045] FIG8 is a partial enlarged view of the detection assembly after opening when the cleaning swing arm in the cleaning module provided by an embodiment of the present disclosure is in the retracted position.

[0046] FIG9 is a schematic diagram of a cleaning swing arm in a cleaning module provided by an embodiment of the present disclosure being located at a terminal position.

[0047] FIG10 is a partially opened enlarged view of a cleaning swing arm in a cleaning module provided by an embodiment of the present disclosure when the cleaning swing arm is located at the end position.

[0048] FIG11 is a partial enlarged view of the detection assembly after opening when the cleaning swing arm in the cleaning module provided by an embodiment of the present disclosure is at the end position.

[0049] FIG12 is a schematic diagram of a cleaning swing arm in an extended position in a cleaning module provided by an embodiment of the present disclosure.

[0050] FIG13 is a partially opened enlarged view of a cleaning swing arm in a cleaning module provided by an embodiment of the present disclosure when the cleaning swing arm is in an extended position.

[0051] FIG14 is a partial enlarged view of the detection assembly after opening when the cleaning swing arm in the cleaning module provided by an embodiment of the present disclosure is in the extended position.

[0052] FIG15 is a schematic diagram of an elastic limiting member provided in an embodiment of the present disclosure.

[0053] FIG16 is a partially opened exploded view of an elastic swing arm provided in an embodiment of the present disclosure.

[0054] Explanation of the accompanying drawings: 10. Cleaning device; 100. Device body; 200. Cleaning swing arm; 210. Swing arm body; 220. Cleaning head; 230. Driving assembly; 240. Slide rod; 250. Gear set; 300. Elastic bracket; 310. Bracket; 311. Support part; 312. Positioning part; 3121. Grating hole; 3122. First blocking part; 3123. Second blocking part; 313. Guide part; 314. Abutment part; 320. First elastic member; 400. Elastic limiting member; 410. Limiting member; 420. Second elastic member; 500. Detection assembly; 510. Optical signal transmitter; 520. Optical signal receiver; 600. Module body; 610. Guide groove; 620. Slide groove; 630. Limiting part. DETAILED DESCRIPTION

[0055] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. Like reference numerals in the figures represent like or similar structures, and thus their detailed description will be omitted.

[0056] Although relative terms such as "upper" and "lower" are used in this specification to describe the relationship of one illustrated component to another, these terms are used herein for convenience only, such as in accordance with the orientation of the illustrations depicted in the accompanying drawings. It will be understood that if the illustrated device were flipped upside down, the component described as "upper" would become the component "lower." When a structure is referred to as "on" another structure, this may mean that the structure is integrally formed with the other structure, that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure via the other structure.

[0057] The terms "a", "an", "the", "said" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express open-ended inclusion and mean that additional elements / components / etc. may be present in addition to the listed elements / components / etc.; the terms "first", "second" and "third" etc. are used only as labels and are not intended to limit the quantity of their objects.

[0058] As shown in Figures 1 to 4, the cleaning device 10 includes a device body 100 and a cleaning module. One end of the swing cleaning arm 200 of the cleaning module is rotatably mounted on the device body 100, and the swing arm can be positioned in a recovery position, an extended position, and a terminal position by swinging relative to the device body 100; a cleaning head 220 is provided on the free end of the cleaning swing arm 200, and the cleaning operation is performed by the cleaning head 220; the cleaning device 10 can be, for example, a mopping / brushing robot, a vacuum suction robot, a window climbing robot, etc.

[0059] An embodiment of the present disclosure provides a cleaning module, as shown in Figures 5 to 14, the cleaning module includes: a module body 600, a cleaning swing arm 200 and an elastic bracket 300, one end of the cleaning swing arm 200 is rotatably connected to the module body 600, and the cleaning swing arm 200 can be positioned at an extended position, a retracted position and a terminal position relative to the module body 600 by swinging, and the retracted position is located between the extended position and the terminal position; the elastic bracket 300 is arranged on the module body 600, when the cleaning swing arm 200 is located at the retracted position, the cleaning swing arm 200 pushes the elastic bracket 300 to be located at a first position in a force state; when the cleaning swing arm 200 is located at the terminal position, the cleaning swing arm 200 pushes the elastic bracket 300 to be located at a second position in a force state; when the cleaning swing arm 200 is located at the extended position, the elastic bracket 300 is located at a third position on the side of the first position away from the second position.

[0060] The cleaning module provided by the present disclosure has a cleaning arm 200 that can be located in the extended position for cleaning operations, which increases the cleaning area and can clean sanitary blind corners such as wall corners and table and chair legs, thereby improving the cleaning effect; the cleaning arm 200 can also be located in the retracted position for cleaning operations. When the cleaning arm 200 encounters an obstacle and collides with it, the cleaning arm 200 is subjected to external force and can swing to the retracted position. During the swinging process to the retracted position, the elastic bracket 300 is squeezed by the cleaning arm 200 and is in a stressed state. The elastic bracket 300 thus achieves a buffering effect when the elastic bracket 300 is swung by the external force; further, when the cleaning arm 200 is performing cleaning operations in the retracted position, if it is squeezed by the external force, the cleaning arm 200 continues to push the elastic bracket 300 to swing toward the end position. When the cleaning arm 200 swings toward the end position, the elastic bracket 300 further provides a buffering effect, effectively buffering the external squeezing force on the cleaning arm 200 when it is in the retracted position, thereby improving the reliability of the cleaning arm 200 during the swinging process when it is subjected to external force.

[0061] In one embodiment, as shown in Figures 7, 10 and 13, the elastic bracket 300 includes a bracket 310 and a first elastic member 320. The bracket 310 is connected to the first elastic member 320. The first elastic member 320 can be in a stressed state or a free state under the drive of the bracket 310.

[0062] The first elastic member 320 may be a spring, one end of which is connected to the module body 600 and the other end is connected to the bracket 310. When the bracket 310 moves from the third position toward the first position, and when the bracket 310 moves from the first position toward the second position, the bracket 310 continuously exerts a tensile force on the elastic member, causing the spring to be in a tensile state.

[0063] As shown in Figures 8, 11, and 14, the bracket 310 includes a support portion 311 and a guide portion 313. The support portion 311 is configured to abut against the cleaning swing arm 200. The module body 600 is provided with a guide groove 610, in which the guide portion 313 is located. When the bracket 310 switches between the first, second, and third positions, the guide groove 610 limits the movement of the guide portion 313. The provision of the guide portion 313 and the guide groove 610 improves the stability and reliability of the bracket 310's rotation on the module body 600. When the bracket 310 provides a buffering force to the cleaning swing arm 200, it can more stably provide a supporting force to the cleaning swing arm 200, thereby improving the stability of the cleaning swing arm 200 when it is returned to its original position by an external force.

[0064] As shown in Figures 8, 11 and 14, one end of the support part 311 is rotatably connected to the module body 600, and the other end is connected to the guide part 313, that is, the rotating ends of the guide part 313 and the support part 311 are located at opposite ends of the support part 311, which can avoid the support part 311 from being misaligned after being squeezed by the cleaning swing arm 200, thereby further improving the stability of the support part 311.

[0065] As shown in FIG12 , when the cleaning swing arm 200 is in the extended position, the cleaning swing arm 200 and the elastic bracket 300 are spaced apart, that is, when the cleaning swing arm 200 is in the extended position, there is no acting force between the cleaning swing arm 200 and the elastic bracket 300, and the cleaning swing arm 200 performs a normal cleaning function. When the cleaning swing arm 200 swings toward the retracted position, the cleaning swing arm 200 pushes the elastic bracket 300 into a stressed state, thereby providing a buffering effect through the elastic bracket 300. Of course, when the cleaning swing arm 200 is in the extended position, the cleaning swing arm 200 can also be arranged in contact with the elastic bracket 300, that is, the elastic bracket 300 can continuously provide an elastic force to the cleaning swing arm 200, which can improve the stability of the cleaning swing arm 200 when performing cleaning operations in the extended position.

[0066] Among them, when the elastic bracket 300 is in the third position, the elastic bracket 300 may be in a stressed state, that is, the first elastic member 320 is in a stressed state driven by the bracket 310; by making the elastic bracket 300 in a stressed state, the stability of the elastic bracket 300 in the third position can be improved by the elastic force; of course, when the elastic bracket 300 is in the third position, the elastic bracket 300 may be in a free state, that is, the first elastic member 320 is in a free state; when the bracket 310 is in the third position, the first elastic member 320 is in a free state, which facilitates the assembly and setting of the elastic bracket 300; when the bracket 310 is in the third position, the first elastic member 320 is in a stressed state, which can enhance the buffering force provided by the elastic bracket 300.

[0067] The module body 600 is provided with a limiting portion. When the elastic bracket 300 is in the third position, the limiting portion is configured to limit the swinging of the elastic bracket 300 from the third position toward the side away from the first position. As shown in Figures 7 to 14, the module body 600 is provided with a limiting portion 630, and the bracket 310 is provided with an abutting portion 314. When the bracket 310 is in the third position, the abutting portion 314 abuts the limiting portion 630, i.e., the limiting portion 630 limits the swinging of the bracket 310 from the third position toward the side away from the first position.

[0068] Among them, the abutment portion 314 is located at one end of the guide portion 313 away from the support portion 311, and the abutment portion 314 moves under the drive of the guide portion 313, forming a limit on the movement of the abutment portion 314 toward the third position, thereby limiting the bracket 310 at the third position, forming a limit on the rotation range of the bracket 310.

[0069] As shown in Figures 5 and 16, the cleaning module further includes a drive assembly 230 configured to drive the cleaning swing arm 200 to swing between a first position and a third position. When the cleaning head 220 needs to be extended for cleaning, the drive assembly 230 drives the swing arm body 210 to rotate via the gear set 250 so that the swing arm body 210 is in the extended position relative to the module body 600. When the cleaning head 220 needs to be in the retracted position for cleaning, the drive assembly 230 drives the swing arm body 210 to rotate to the retracted position via the gear set 250.

[0070] Among them, the module body 600 also includes another drive assembly, and the first end of the swing arm is connected to the drive assembly; the swing arm can be provided with another gear set to achieve the purpose of the drive assembly output shaft driving the cleaning head 220 to rotate at high speed. The rotation speed of the cleaning head 220 can be 500 rpm to 3000 rpm to improve cleaning efficiency and cleaning effect. The rotation speed is, for example, 500 rpm, 800 rpm, 1000 rpm, 2000 rpm, 3000 rpm, etc., which are not listed one by one in this disclosure. Of course, the rotation speed of the cleaning head 220 can also be less than 500 rpm or greater than 3000 rpm, and this disclosure does not limit this.

[0071] The swing arm body 210 may have a receiving space formed therein to allow the gear set to be installed therein. The swing arm body 210 may be in the shape of a rectangular parallelepiped, and the swing arm body 210 may extend in its length direction. The swing arm body 210 may swing in its width direction. The receiving space formed in the thickness direction of the swing arm body 210 may only need to be able to accommodate the gear set, so as to avoid the swing arm body 210 being too large.

[0072] Among them, the swing arm body 210 swings back and forth within a preset angle range, and the preset angle can be 20°~120°, such as 20°, 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, etc., which are not listed one by one in this disclosure.

[0073] Among them, the driving component that drives the swing arm body 210 to swing and the driving component that drives the cleaning head 220 can be two independent driving components, or a clutch structure can be used to adopt one driving component to achieve the purpose of swinging the swing arm body 210 and driving the cleaning head 220 to rotate. This disclosure does not impose any restrictions on this.

[0074] As shown in Figure 14, a slide rod 240 is provided on the swing arm body 210, and a slide groove 620 is provided on the module body 600. The end of the slide rod 240 is located in the slide groove 620, forming a guide for the swing arm body 210 to swing relative to the module body 600, thereby improving the stability of the swing arm body 210 during swinging.

[0075] In one embodiment, as shown in Figures 6 to 14, the cleaning module further includes an elastic limiter 400, which is provided on the module body 600. The elastic limiter 400 is configured so that the elastic support 300 is subjected to a greater force when it moves from the first position toward the second position. By providing the elastic limiter 400, when the support 310 moves from the first position toward the second position, the first elastic member 320 and the elastic limiter 400 are simultaneously subjected to a greater force, that is, a buffering force is provided at the same time, thereby improving the buffering effect on the cleaning swing arm 200. At the same time, by providing the limiter 410, a travel limit is formed for the rotation of the support 310 relative to the module body 600, so that the cleaning swing arm 200 can swing to the maximum end position relative to the module body 600, thereby avoiding damage caused by excessive swing angle of the swing arm.

[0076] As shown in FIG15 , the elastic limiter 400 includes a limiter 410 and a second elastic member 420. The limiter 410 is connected to the second elastic member 420. The second elastic member 420 is configured to be in a stressed state or a free state under the drive of the limiter 410. As shown in FIG15 , the second elastic member 420 can be a torsion spring, and the limiter 410 can drive the torsion spring to generate a torsional force. By providing a torsion spring in conjunction with the limiter 410, on the one hand, the space occupied by the elastic limiter 400 can be reduced, and on the other hand, the elastic force that the second elastic member 420 can provide can be increased. Of course, the second elastic member 420 can also be an elastic member such as a spring or a buffer rubber, and the present disclosure does not impose any restrictions on this.

[0077] In which, the elastic limit member 400 is configured to move between a first limit position and a second limit position. When the elastic bracket 300 is in the first position, the elastic limit member 400 is in the first limit position; when the elastic bracket 300 is in the second position, the elastic limit member 400 is in the second limit position, so that the elastic limit member 400 only provides a buffering force when the bracket 310 moves from the second position toward the third position, that is, it provides a buffering force when the cleaning swing arm 200 is subjected to external force in the recovery position and swings toward the terminal position.

[0078] Among them, the module body 600 may be provided with a first limiting structure and a second limiting structure, wherein the first limiting structure is configured to limit the movement of the limiting member 410 from the first limiting position toward the side away from the second limiting position, and the second limiting structure is configured to limit the movement of the limiting member 410 from the second limiting position toward the side away from the first limiting position. Through the first limiting structure and the second limiting structure, the second elastic member 420 provides an elastic buffering force when the bracket 310 rotates toward the second position, thereby limiting the bracket 310 to the third position. The first limiting structure and the second limiting structure may be protruding structures on the module body 600 or other detachable structures; of course, the first limiting structure and the second limiting structure may also be omitted, and the second elastic member 420 may limit the rotation range of the limiting member 410 by its own free state and maximum force state, thereby limiting the rotation position of the bracket 310.

[0079] When the elastic limiting member 400 is in the first limiting position, it is in a free state or a stressed state. The free state of the elastic limiting member 400 in the first limiting position facilitates assembly and setting of the elastic limiting member 400; the stressed state of the elastic limiting member 400 in the first limiting position enhances the buffering force provided by the second elastic member 420.

[0080] In one embodiment, as shown in Figures 6 to 14, the cleaning module further includes: a detection component 500. The detection component 500 is provided on the module body 600, and the detection component 500 is configured to output a first position signal when the cleaning swing arm 200 is in the recovery position, output a second position signal when the cleaning swing arm 200 is in the end position, and output a third position signal when the cleaning swing arm 200 is in the extended position. The cleaning swing arm 200 is in the recovery position and can continue to move to the end position when impacted by an external force. As a safety function, it prevents the cleaning swing arm 200 from being directly damaged by an external force when working in the recovery position; by providing the detection component 500, it is possible to determine whether the cleaning swing arm 200 is in the extended position, the recovery position or the end position, thereby judging the working state of the cleaning swing arm 200.

[0081] In one embodiment, the detection component 500 is arranged relative to the bracket 310. When the bracket 310 is in the first position, a first position signal is output; when the bracket 310 is in the second position, a second position signal is output; when the elastic bracket 300 is in the third position, a third position signal is output. The position of the swing arm body 210 can be output by judging the position of the bracket 310.

[0082] As shown in Figures 8, 11 and 14, a positioning portion 312 is provided on the bracket 310, a grating hole 3121 is provided on the positioning portion 312, and the detection component 500 includes an optical signal transmitter 510 and an optical signal receiver 520; when the optical signal emitted by the optical signal transmitter 510 is received by the optical signal receiver 520 through the grating hole 3121, the detection component 500 outputs a first position signal.

[0083] As shown in Figures 8, 11 and 14, in the rotation direction of the bracket 310, a first blocking portion 3122 and a second blocking portion 3123 are provided on both sides of the grating hole 3121 on the positioning portion 312. When the optical signal emitted by the optical signal transmitter 510 is blocked by the first blocking portion 3122, the detection component 500 outputs a second position signal; when the optical signal emitted by the optical signal transmitter 510 is blocked by the second blocking portion 3123, the detection component 500 outputs a third position signal; wherein the second position signal and the third position signal may be the same.

[0084] In one embodiment, the bracket 310 can reciprocate between a first position and a second position. When the bracket 310 is in the first position, a first position signal is output, and when the bracket 310 is in the second position, a second position signal is output. When the bracket 310 moves from the first position toward the second position, the detection assembly 500 can directly output the second position signal. That is, the detection assembly 500 outputs the second position signal both when the bracket 310 moves from the first position toward the second position and when the bracket 310 is in the second position.

[0085] When the bracket 310 moves from the second position toward the first position, the detection assembly 500 may continue to output the second position signal until the bracket 310 is located at the first position, at which time the detection assembly 500 outputs the first position signal.

[0086] In one embodiment, when the bracket 310 is located at the first position, a first position signal is output; when the bracket 310 is located at the second position, a second position signal is output; when the bracket 310 moves from the first position toward the second position, the detection component 500 may continue to output the first position signal until the bracket 310 is located at the second position, at which time the detection component 500 outputs the second position signal.

[0087] When the bracket 310 moves from the second position toward the first position, the detection component 500 can directly output the first position signal, that is, when the bracket 310 moves from the second position toward the first position and is located at the first position, the detection component 500 outputs the first position signal.

[0088] In one embodiment, the first position signal is output when the bracket 310 is in the first position, the second position signal is output when the bracket 310 is in the second position, and the detection component 500 outputs a fourth position signal when the bracket 310 is between the first position and the second position, that is, the detection component 500 outputs the fourth position signal when the bracket 310 moves from the first position toward the second position and when the bracket 310 moves from the second position toward the first position.

[0089] When the bracket 310 moves from the first position to the second position, the detection component 500 may output a fourth position signal; when the bracket 310 moves from the second position to the first position, the detection component 500 may output a fifth position signal.

[0090] In one embodiment, the bracket 310 can reciprocate between the first position and the third position. When the bracket 310 is in the first position, a first position signal is output, and when the bracket 310 is in the third position, a third position signal is output. When the bracket 310 moves from the first position toward the third position, the detection assembly 500 can directly output the third position signal. That is, the detection assembly 500 outputs the third position signal both when the bracket 310 moves from the first position toward the third position and when the bracket 310 is in the third position.

[0091] When the bracket 310 moves from the third position toward the first position, the detection assembly 500 may continue to output the third position signal until the bracket 310 is located at the first position, at which time the detection assembly 500 outputs the first position signal.

[0092] In one embodiment, when the bracket 310 is located at the first position, a first position signal is output; when the bracket 310 is located at the third position, a third position signal is output; when the bracket 310 moves from the first position toward the third position, the detection component 500 may continue to output the first position signal until the bracket 310 is located at the third position, at which time the detection component 500 outputs the third position signal.

[0093] When the bracket 310 moves from the third position toward the first position, the detection component 500 can directly output the first position signal, that is, when the bracket 310 moves from the third position toward the first position and is located at the first position, the detection component 500 outputs the first position signal.

[0094] In one embodiment, the first position signal is output when the bracket 310 is in the first position, the third position signal is output when the bracket 310 is in the third position, and the detection component 500 outputs a fifth position signal when the bracket 310 is between the first position and the third position, that is, the detection component 500 outputs a sixth position signal when the bracket 310 moves from the first position toward the third position and when the bracket 310 moves from the third position toward the first position.

[0095] When the bracket 310 moves from the first position to the third position, the detection component 500 may output a sixth position signal; when the bracket 310 moves from the third position to the first position, the detection component 500 may output a seventh position signal.

[0096] In one embodiment, the second position signal and the third position signal are the same signal. For example, the first position signal may indicate a switch state of "1" in the detection assembly 500, while the second position signal and the third position signal may indicate a switch state of "0" in the detection assembly 500. The detection assembly 500 can be used to determine whether the bracket 310 has been retracted to the first position.

[0097] Of course, the second position signal and the third position signal may be different signals, that is, the specific position of the cleaning swing arm 200 may be determined by the first position signal, the second position signal and the third position signal.

[0098] In another embodiment, the detection component 500 is connected to the bracket 310, and the detection component 500 determines the position of the bracket 310 based on the obtained stroke of the bracket 310, that is, the cleaning swing arm 200 pushes the bracket 310 to move, thereby obtaining the rotation stroke of the bracket 310 through the detection component 500 to determine the position of the bracket 310.

[0099] The detection assembly 500 may include a trigger switch, which can be triggered by the rotation of the bracket 310, so that the switch state of the trigger switch indicates 1 or 0. For example, when the second position signal and the third position signal are the same, the switch is triggered when the cleaning swing arm 200 is retracted to the retracted position, and the switch state indicates 1; when the cleaning swing arm 200 is impacted by an external force and continues to retract to the end position, the switch state changes to 0; when the cleaning swing arm 200 is not fully retracted or is pulled out by an external force, the switch state is 0.

[0100] Among them, the detection component 500 can also be set with multiple detection points. After the bracket 310 is connected to the detection component 500, when the bracket 310 is located at different positions, different detection points can be triggered, thereby determining the position information of the cleaning swing arm 200 when it is located at different positions.

[0101] The embodiments of the present disclosure further provide a cleaning method for a cleaning module, wherein the cleaning module includes a module body 600, a cleaning swing arm 200, and an elastic bracket 300. The cleaning swing arm 200 is rotatably connected to the module body 600, and the elastic bracket 300 is provided on the module body 600. The cleaning swing arm 200 can swing relative to the module body 600 between an extended position, a retracted position, and an end position, wherein the retracted position is located between the extended position and the end position. The cleaning method includes:

[0102] When the cleaning swing arm 200 swings from the extended position toward the retracted position, the cleaning swing arm 200 pushes the elastic bracket 300 to be located in the first position under force; when the cleaning swing arm 200 swings from the retracted position toward the end position, the cleaning swing arm 200 pushes the elastic bracket 300 to be located in the second position under force; when the cleaning swing arm 200 swings from the retracted position toward the extended position, the elastic bracket 300 is located in the third position on the side of the first position facing away from the second position.

[0103] The cleaning method of the cleaning module provided by the present disclosure can enable the cleaning swing arm 200 to be located in the extended position for cleaning operations, and can clean sanitary blind corners such as wall corners and table and chair legs, thereby improving the cleaning effect; the cleaning swing arm 200 can also be located in the retracted position for cleaning operations. When the cleaning swing arm 200 encounters an obstacle and collides, the cleaning swing arm 200 is subjected to external force and can swing to the retracted position. During the swinging process to the retracted position, the elastic bracket 300 is squeezed by the cleaning swing arm 200 and is in a stressed state. The elastic bracket 300 achieves a buffering effect when the elastic bracket 300 is swung by the external force; further, when the cleaning swing arm 200 is performing a cleaning operation in the retracted position, if it continues to be squeezed by the external environment, the cleaning swing arm 200 continues to squeeze the elastic bracket 300 and swings toward the end position. When the cleaning swing arm 200 swings toward the end position, the elastic bracket 300 further provides a buffering effect, which can effectively buffer the external squeezing force on the cleaning swing arm 200 when it is in the retracted position, thereby improving the reliability of the cleaning swing arm 200 during the swinging process when it is subjected to external force.

[0104] The cleaning module further includes a detection assembly 500, which is disposed on the module body 600. The cleaning method further includes:

[0105] When the cleaning swing arm 200 is in the retracted position, the detection assembly 500 outputs a first position signal; when the cleaning swing arm 200 is in the final position, the detection assembly 500 outputs a second position signal; and when the cleaning swing arm 200 is in the extended position, the detection assembly 500 outputs a third position signal. By providing the detection assembly 500, it is possible to determine whether the cleaning swing arm 200 is in the extended position, the retracted position, or the final position, thereby determining the operating state of the cleaning swing arm 200.

[0106] Among them, the detection component 500 is arranged opposite to the bracket 310. When the bracket 310 is in the first position, it outputs a first position signal; when the bracket 310 is in the second position, it outputs a second position signal; when the elastic bracket 300 is in the third position, it outputs a third position signal. The position of the swing arm body 210 can be output by judging the position of the bracket 310.

[0107] The cleaning module in this embodiment may be the cleaning module provided in the above-mentioned device embodiment. For more details about the cleaning module, please refer to the detailed discussion in the device embodiment of the present disclosure.

[0108] An embodiment of the present disclosure also provides a cleaning device 10, as shown in Figures 1 to 4, the cleaning device 10 includes: an equipment body 100 and a cleaning module provided by the above embodiment, the first end of the swing arm of the cleaning module is rotatably assembled on the equipment body 100, and the swing arm can be positioned in a recovery position, an extended position and a terminal position by swinging relative to the equipment body 100; a cleaning head 220 is provided on the second end of the swing arm.

[0109] The cleaning device 10 provided by the present disclosure has a cleaning head 220 that can swing within a preset angle range relative to the device body 100 under the drive of the swing arm to perform cleaning operations at the target position, which can improve the coverage of the cleaning area formed by the cleaning head 220, thereby improving the cleaning effect of the cleaning device 10; at the same time, the swing arm is located in the recovery position and can continue to move to the end position when hit by external force, which serves as a safety function to avoid direct damage to the swing arm by external force when working in the recovery position.

[0110] Among them, when the cleaning head 220 is in the recovery position, the cleaning head 220 can perform normal cleaning operations and clean the debris in the cleaning area of ​​the cleaning head 220 to the sewage suction port; when the cleaning head 220 is in the extended position, the cleaning area corresponding to the cleaning head 220 is also extended to the outside of the cleaning equipment 10, and more areas can be cleaned, avoiding the occurrence of cleaning dead corners and improving the cleaning effect of the cleaning equipment 10. For example, when the cleaning device 10 is circular as a whole, when it is necessary to clean corners such as wall corners, if the cleaning head 220 is in the recovery position, the cleaning area of ​​the cleaning head 220 cannot cover the wall corners, resulting in the inability to clean the wall corners, forming a sanitary dead corner; at this time, by making the cleaning head 220 in the extended position, the cleaning head 220 is located outside the cleaning device 10, and the cleaning area formed by the cleaning head 220 is also moved toward the outside of the cleaning device 10, thereby increasing the area of ​​the cleaning area corresponding to the cleaning head 220, thereby achieving the purpose of cleaning sanitary dead corners such as wall corners, and improving the cleaning effect of the cleaning device 10.

[0111] In one embodiment, the cleaning device 10 includes an outer shell, which serves as the shell of the entire machine. When the cleaning device 10 is in a circular, elliptical, quasi-circular or other shape as a whole, the outer shell includes a top cover portion and an annular side wall portion. The top cover portion and the annular side wall portion enclose a receiving space to form a receiving space. The receiving space is used to assemble various modules, such as a drive module, a liquid supply module, a battery module, a control module, a dirt suction module, a mopping module, a sensing module, etc.

[0112] In one embodiment, the drive module can manipulate the cleaning device 10 to travel across the ground in the forward direction based on a drive command with distance and angle information (such as x, y and θ components). The drive module can include a first drive wheel module and a second drive wheel module. The first drive wheel module and the second drive wheel module are arranged along the transverse axis defined by the cleaning device 10, and the extension direction of the transverse axis is the forward direction of the cleaning device 10. In order to enable the cleaning device 10 to move more stably or have stronger mobility on the ground, the cleaning device 10 may include one or more driven wheels, which include but are not limited to universal wheels. The drive wheel module includes a running wheel and a drive motor and a control circuit for controlling the drive motor. The drive wheel module can also be connected to a circuit and an odometer for measuring the drive current. The drive wheel module can be detachably connected to the bottom shell for convenient disassembly and maintenance. The drive wheel can have a biased drop-down suspension system, fastened in a movably manner, for example, attached in a rotatable manner, connected to the bottom shell, and receive a spring bias that is biased downward and away from the bottom shell. The spring bias allows the drive wheel to maintain contact and traction with the ground with a certain ground force, while the cleaning head 220 of the cleaning device 10 also contacts the ground with a certain pressure.

[0113] In one embodiment, the sensing module includes a position determination device located on the housing, a collision sensor located on the bumper of the forward portion of the housing, a proximity sensor located on the housing, a cliff sensor located at the bottom of the housing, and sensing devices such as a magnetometer, accelerometer, gyroscope, and odometer located within the housing. These sensing devices are used to provide the control module with various position and motion status information of the cleaning device 10. The position determination device may be a camera or a laser rangefinder.

[0114] In one embodiment, the control module is provided on a circuit board inside the housing, and includes a non-transitory memory, such as a hard disk, a flash memory, a random access memory, and a communication computing processor, such as a central processing unit, an application processor. The application processor uses a positioning algorithm, such as real-time positioning and map construction, based on the obstacle information fed back by the laser ranging device to draw a real-time map of the environment in which the cleaning device 10 is located. In addition, the control module is combined with the distance information and speed information fed back by the sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensor devices provided on the buffer to comprehensively judge the current working state and position of the cleaning device 10, as well as the current posture of the cleaning device 10, such as passing the threshold, being on the carpet, being on the cliff, being stuck above or below, the suction tank is full, being picked up, etc., and a specific next action strategy is given for different situations, so that the cleaning device 10 has better cleaning performance and user experience.

[0115] In one embodiment, the cleaning equipment 10 is provided with a sewage suction module, which includes a negative pressure fan, a sewage suction box and a sewage suction channel. The outlet of the sewage suction channel is connected to the sewage suction box, and the inlet of the sewage suction channel is exposed from the cover plate. The negative pressure fan is connected to the sewage suction box so that the sewage suction box maintains a negative pressure state when the cleaning equipment 10 performs cleaning operations, thereby making the inlet of the sewage suction channel in a negative pressure state.

[0116] Among them, the cleaning head 220 is arranged adjacent to the sewage suction port. Through the high-speed rotation of the cleaning head 220, the debris can be cleaned to the vicinity of the sewage suction port. Then, due to the negative pressure, the debris is sucked into the sewage suction channel through the sewage suction port and then enters the sewage suction box, thereby realizing the debris cleaning operation on the surface to be cleaned.

[0117] As shown in Figure 5, the sewage suction port is located in the middle position of the bottom of the cleaning device 10, and the cleaning head 220 is located in the front side of the sewage suction port, so that the debris swept by the cleaning head 220 can basically be located in the middle position of the sewage suction port, so that the swept debris can better enter the sewage suction port.

[0118] Among them, the negative pressure provided by the negative pressure fan can be 3000Pa~7000Pa to enhance the negative pressure absorption effect of debris. The negative pressures are, for example, 3000Pa, 4000Pa, 5000Pa, 6000Pa, 7000Pa, etc., which are not listed one by one in this disclosure; of course, the negative pressure provided by the negative pressure fan can also be less than 3000Pa or greater than 7000Pa, which is not limited in this disclosure.

[0119] Among them, a roller brush rotating around an axis parallel to the ground can be set at the sewage suction port. The roller brush with a certain interference with the ground sweeps up the debris on the ground and rolls it into the sewage suction channel, and then it is sucked into the sewage suction box by the suction gas generated by the negative pressure fan and passing through the sewage suction box.

[0120] In one embodiment, the cleaning device 10 further includes a mopping module and a liquid supply module. The mopping module includes a wet cleaning head, and the liquid supply module includes a liquid supply assembly that delivers cleaning liquid to the wet cleaning head. The wet cleaning head can be positioned below the liquid supply assembly, with the cleaning liquid within the liquid supply assembly being transferred to the wet cleaning head via a water supply mechanism, allowing the wet cleaning head to wet clean the surface to be cleaned. Of course, the cleaning liquid within the liquid supply assembly can also be sprayed directly onto the surface to be cleaned, with the wet cleaning head cleaning the surface by evenly applying the cleaning liquid.

[0121] Among them, the wet cleaning head can be arranged at the bottom of the cleaning device 10, and the wet cleaning head can be, for example, a cleaning pad arranged parallel to the surface to be cleaned. The wet cleaning head is used to clean the surface to be cleaned, and the driving assembly is used to drive the wet cleaning head to basically reciprocate along the target surface, and the target surface is a part of the surface to be cleaned. The wet cleaning head reciprocates along the surface to be cleaned, and the contact surface between the wet cleaning head and the surface to be cleaned is provided with a cleaning cloth or a cleaning plate, which generates high-frequency friction with the surface to be cleaned through reciprocating motion, thereby removing stains on the surface to be cleaned. The higher the friction frequency, the more friction times per unit time, and the high-frequency reciprocating motion has a much greater cleaning ability than ordinary reciprocating motion, such as rotation and friction cleaning. Optionally, the friction frequency is close to that of sound waves, and the cleaning effect will be much higher than that of rotational friction cleaning of dozens of revolutions per minute. On the other hand, the hair tufts on the surface of the wet cleaning head will extend in the same direction more uniformly under the vibration of high-frequency vibration, so the overall cleaning effect is more uniform, instead of just applying downward pressure to increase friction and improve the cleaning effect under low-frequency rotation. The downward pressure alone will not make the hair tufts extend in nearly the same direction. The effect is that the water marks on the surface to be cleaned after high-frequency vibration cleaning are more uniform, and no messy water stains are left.

[0122] In one embodiment, the battery module includes a rechargeable battery, such as a nickel-metal hydride battery or a lithium battery. The rechargeable battery can be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. The charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are further connected to the single-chip microcomputer control circuit. The cleaning device 10 can be charged by connecting a charging station to a charging electrode located on the body, such as on the side, bottom, or top of the body.

[0123] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the appended claims.

Claims

1. A cleaning module, characterized in that: include: Module body; a cleaning swing arm, the cleaning swing arm being rotatably connected to the module body, the cleaning swing arm swinging relative to the module body between an extended position, a retracted position, and an end position, wherein the retracted position is located between the extended position and the end position; and An elastic bracket is provided on the module body, wherein: When the cleaning swing arm is located at the recovery position, the cleaning swing arm pushes the elastic bracket to be located at the first position in a stressed state. When the cleaning swing arm is located at the end position, the cleaning swing arm pushes the elastic bracket to be located at the second position in a stressed state. When the cleaning swing arm is located at the extended position, the elastic bracket is located at a third position on a side of the first position away from the second position.

2. The cleaning module according to claim 1, wherein: The cleaning module also includes: A detection component is provided on the module body and is configured as follows: When the cleaning swing arm is located at the recovery position, a first position signal is output, When the cleaning swing arm is located at the end position, a second position signal is output, and A third position signal is output when the cleaning swing arm is located at the extended position.

3. The cleaning module according to claim 2, wherein: The detection component is arranged opposite to the elastic bracket. When the elastic bracket is located at the first position, the detection component outputs the first position signal. When the elastic bracket is located at the second position, the detection component outputs the second position signal. When the elastic bracket is located at the third position, the detection component outputs the third position signal.

4. The cleaning module according to claim 3, wherein: The elastic bracket includes a bracket and a first elastic member. The bracket is connected to the first elastic member. The first elastic member is in a stressed state driven by the bracket.

5. The cleaning module according to claim 4, wherein: The bracket includes a supporting part and a positioning part, the positioning part is provided with a grating hole, and the detection component includes an optical signal transmitter and an optical signal receiver; when the optical signal emitted by the optical signal transmitter passes through the grating hole and is received by the optical signal receiver, the detection component outputs the first position signal.

6. The cleaning module according to claim 5, wherein: In the rotation direction of the bracket, shielding parts are provided on both sides of the grating hole on the positioning part. When the light signal emitted by the optical signal transmitter is blocked by the shielding part, the detection component outputs the second position signal or the third position signal, and the second position signal is the same as the third position signal.

7. The cleaning module according to claim 4, wherein: The bracket further includes a guide portion, a guide groove is provided on the module body, and the guide portion is located in the guide groove; when the bracket switches between the first position, the second position and the third position, the guide groove forms a limit for the movement of the guide portion.

8. The cleaning module according to claim 1, wherein: The cleaning module also includes: An elastic limiting member is provided on the module body and is configured so that the elastic bracket is subjected to a greater force when the elastic bracket moves from the first position toward the second position.

9. The cleaning module according to claim 8, wherein: The elastic limiting member is configured to move between a first limiting position and a second limiting position. When the elastic bracket is located at the first position, the elastic limiting member is located at the first limiting position; when the elastic bracket is located at the second position, the elastic limiting member is located at the second limiting position.

10. The cleaning module according to claim 9, wherein: When the elastic limiting member is located at the first limiting position, the elastic limiting member is in a free state or a stressed state.

11. The cleaning module according to claim 9, wherein: The elastic limiting member includes a limiting member and a second elastic member. The limiting member is connected to the second elastic member. The second elastic member is configured to be in a stressed state or a free state under the drive of the limiting member.

12. The cleaning module according to claim 11, wherein: The module body is provided with a first limiting structure and a second limiting structure, the first limiting structure is configured to limit the limiting member from moving from the first limiting position toward a side away from the second limiting position, and the second limiting structure is configured to limit the limiting member from moving from the second limiting position toward a side away from the first limiting position.

13. The cleaning module according to claim 1, wherein: The cleaning module also includes: A driving assembly is configured to drive the cleaning swing arm to swing to the extended position or the retracted position through a gear set.

14. The cleaning module according to claim 1, wherein: The module body is provided with a limiting portion. When the elastic bracket is located at the third position, the limiting portion is configured to limit the elastic bracket from swinging from the third position toward a side away from the first position.

15. The cleaning module according to claim 1, wherein: When the cleaning swing arm is located at the extended position, the cleaning swing arm and the elastic bracket are spaced apart.

16. The cleaning module according to claim 1, wherein: When the cleaning swing arm is located at the extended position, the cleaning swing arm is in contact with the elastic bracket.

17. A cleaning method for a cleaning module, wherein: The cleaning module includes a module body, a cleaning swing arm and an elastic bracket, wherein the cleaning swing arm is rotatably connected to the module body, and the elastic bracket is provided on the module body; the cleaning swing arm can swing between an extended position, a retracted position and an end position relative to the module body, and the retracted position is located between the extended position and the end position; The cleaning method comprises: When the cleaning swing arm swings from the extended position toward the retracted position, the cleaning swing arm pushes the elastic bracket to be located at the first position in a stressed state; When the cleaning swing arm swings from the recovery position toward the end position, the cleaning swing arm pushes the elastic bracket to be located at the second position in a force-bearing state; when the cleaning swing arm swings from the recovery position toward the extended position, the elastic bracket is located at the third position on the side of the first position away from the second position.

18. The cleaning method according to claim 17, wherein: The cleaning module further includes a detection component, which is disposed on the module body; the cleaning method further includes: When the cleaning swing arm is located at the recovery position, a first position signal is output through the detection component; when the cleaning swing arm is located at the end position, a second position signal is output through the detection component; when the cleaning swing arm is located at the extended position, a third position signal is output through the detection component.

19. A cleaning device, wherein: The cleaning module comprises the cleaning module according to any one of claims 1 to 16.

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