Side brush module, cleaning device and operation method therefor, and cleaning system

Abstract

A side brush module, a cleaning device and an operation method therefor, and a cleaning system. The side brush module comprises a power assembly (1), a toggle assembly, a lifting assembly (3) and a side brush assembly (4). The toggle assembly is connected to the power assembly (1), and is provided with a toggle portion (21) that switches between resting and reciprocating swinging. The lifting assembly (3) comprises a rotating member (31) and a lifting member (32), the rotating member (31) being connected to the power assembly (1), and the lifting member (32) being intermittently connected to the rotating member (31) in a threaded manner. The side brush assembly (4) is connected to the lifting member (32) so as to rise and lower synchronously with the lifting member (32). The side brush assembly (4) intermittently comes into contact with the toggle assembly, so as to swing back and forth under the drive of the toggle assembly. The cleaning efficiency and user experience can thus be improved.

Description

Edge brush module, cleaning device and operation method thereof, and cleaning system Cross-reference to Related Applications

[0001] The present disclosure claims priority to Chinese Patent Application No. 202411060281X, filed on August 02, 2024, and Chinese Patent Application No. 2024218673240, filed on August 02, 2024, the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of electrical appliances, in particular to an edge brush module, a cleaning device and an operation method thereof, and a cleaning system. BACKGROUND

[0003] In the related art, the edge brush assembly is a commonly used accessory of the sweeping robot for expanding the cleaning range and improving the cleaning efficiency. When the sweeping robot is working, the edge brush of the edge brush assembly is always in an extended state, which is not conducive to the operation of the robot under some special working conditions. SUMMARY

[0004] According to an edge brush module of the present disclosure, the technical problem that the edge brush of the edge brush assembly is always in an extended state when the robot is working, which is not conducive to the operation of the robot under some special working conditions, is at least partially solved.

[0005] In a first aspect of the present disclosure, an edge brush module is provided, which comprises: a power assembly; a toggle assembly connected with the power assembly, the toggle assembly being provided with a toggle part that stops and reciprocatingly swings; a lifting assembly comprising a rotating part and a lifting part, the rotating part being connected with the power assembly, and the lifting part being gapingly threadedly connected with the rotating part; an edge brush assembly connected with the lifting part to synchronously lift with the lifting part; and the edge brush assembly and the toggle assembly being gapingly contacted to reciprocatingly swing under the driving of the toggle assembly.

[0006] In a second aspect of the present disclosure, the present disclosure further provides a cleaning device, which comprises a main machine and the above-mentioned edge brush module assembled on the main machine.

[0007] In a third aspect of the present disclosure, the present disclosure further provides an operation method of a cleaning device, which comprises: acquiring target cleaning state information; and controlling the edge brush assembly to be in different position postures according to the target cleaning state information.

[0008] In a fourth aspect of the present disclosure, the present disclosure further provides a cleaning system, which comprises a base station and the above-mentioned cleaning device matched with each other. BRIEF DESCRIPTION OF DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0010] Fig. 1 shows a structural schematic diagram of an edge brush module in a low position extended posture according to one or more embodiments of the present disclosure;

[0011] Fig. 2 shows a structural schematic diagram of the edge brush module shown in Fig. 1 in a low position retracted posture;

[0012] Fig. 3 shows a structural schematic diagram of the edge brush module shown in Fig. 1 in a high position retracted posture;

[0013] Fig. 4 shows a structural schematic diagram of a base in Figs. 1-3;

[0014] Fig. 5 shows a structural schematic diagram of the base shown in Fig. 4 with a cover removed;

[0015] Fig. 6 shows an assembly schematic diagram of a power assembly and the base;

[0016] Fig. 7 shows a structural schematic diagram of the base shown in Fig. 6 with the cover removed;

[0017] Fig. 8 shows an assembly schematic diagram of a position confirming member;

[0018] Fig. 9 shows an assembly schematic diagram of a groove wheel mechanism;

[0019] Fig. 10 shows a structural schematic diagram of the groove wheel mechanism of Fig. 9 from another perspective;

[0020] Fig. 11 shows a structural schematic diagram of the base shown in Fig. 6 from another perspective;

[0021] Fig. 12 shows a partial schematic diagram of the edge brush module in Fig. 2;

[0022] Fig. 13 shows a structural schematic diagram of a swing part of an edge brush assembly abutting against a limiting part on the base;

[0023] Fig. 14 shows a partial schematic diagram of the edge brush assembly;

[0024] Fig. 15 shows an assembly schematic diagram of a central shaft and a third gear;

[0025] Fig. 16 shows a structural schematic diagram of a lifting assembly;

[0026] Fig. 17 shows a cross-sectional schematic diagram of the lifting assembly shown in Fig. 16;

[0027] Fig. 18 shows a structural schematic view of the rotating member in Fig. 16;

[0028] Fig. 19 shows a structural schematic view of the lifting member in Fig. 16;

[0029] Fig. 20 shows a structural schematic view of the lifting member in Fig. 19 from another perspective;

[0030] Fig. 21 shows an assembly schematic view of the brush assembly and the lifting member;

[0031] Fig. 22 shows a structural schematic view of the reset member;

[0032] Fig. 23 shows a layout schematic view of the anti-collision mechanism;

[0033] Fig. 24 shows a structural schematic view of the anti-collision mechanism in Fig. 23;

[0034] Fig. 25 shows a top perspective view of the lifting member in Fig. 19;

[0035] Fig. 26 shows a bottom perspective view of the lifting member in Fig. 19;

[0036] Fig. 27 shows a running track schematic view of the brush assembly;

[0037] Figs. 28-30 show running track schematic views of the brush assembly in other embodiments;

[0038] Fig. 31 shows a flow schematic view of a running method of the cleaning device in one or more embodiments according to the present disclosure;

[0039] Fig. 32 shows a structural schematic view of the main machine and the cleaning brush in the cleaning device according to some embodiments of the present application; and

[0040] Fig. 33 shows a mechanism schematic view of the cleaning device and the cleaning base station according to some embodiments of the present application.

[0041] Explanation of Reference Signs:

[0042] Power assembly-1, drive motor-11, first gear-12, second gear-13, third gear-14, fourth gear-15, dial assembly-2, dial part-21, Geneva mechanism-22, dial-221, Geneva-222, drive pin-223, radial slot-224, dial arm-23, inlay-24, lifting assembly-3, rotating part-31, tray-311, lifting part-32, barrel structure-321, base-322, connecting part-323, convex structure-324, drive block-33, drive slot-34, first slot body-341, second slot body-342, blocking part-35, edge brush assembly-4, passive part-41, blocking arm-42, edge brush shell-43, communication port-431, passive protrusion-44, base-5, connecting part-51, supporting part-52, containing cavity-521, limiting space-5211, swing space-5212, assembly port-522, limiting wall-523, loading part-53, loading cavity-531, cover-532, swing hole-533, position confirming part-6, shell-61, mounting plate-62, light shielding part-63, central shaft-7, reset part-8, first free end-81, second free end-82, anti-collision mechanism-9, triggering part-91, detecting part-92, elastic sheet-93, low position extended posture-A, low position retracted posture-B, high position retracted posture-C, high position extended posture-D, cleaning roller brush-100, cleaning device-110, cleaning base station-200, main machine-10. DETAILED DESCRIPTION

[0043] In order to make the person skilled in the art to which the present disclosure belongs more clearly understand the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in combination with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present disclosure.

[0044] The sweeping robot belongs to a cleaning intelligent mobile product. When performing a cleaning task, it mainly relies on the middle roller brush to roll up the dust on the ground, and relies on the airflow generated by the fan inside the main machine to suck the dust into the dust box. Since the coverage area of the roller brush is limited during work, two edge brush modules are arranged at the positions on both sides of the front roller brush of the sweeping robot. The edge brush module gathers the dust on both sides of the roller brush to the coverage area of the roller brush, facilitating the cleaning of the roller brush, so as to increase the coverage area during cleaning of the sweeping robot, expand the cleaning range, and improve the cleaning efficiency. The cleaning roller brush, main mop and other small garbage are difficult to clean.

[0045] In the related art, a sweeping robot is provided with one or two side brush modules arranged at the bottom of the machine, and the side brush modules are fixed on the bottom plate. During operation, the side brushes of the side brush modules are always in a rotating state. When the machine climbs over an obstacle or climbs over a carpet or cleans a sanitary corner, the side brush modules will hinder the machine from climbing or roll up the carpet, resulting in that the machine cannot clean in some specific scenarios, affecting the cleaning efficiency and user experience.

[0046] Based on the above technical problems, the present disclosure provides a side brush module, a cleaning device and a cleaning system to enable the machine to clean in specific scenarios, thereby improving the cleaning efficiency and user experience.

[0047] The design idea of the present disclosure is to control the swinging or / and lifting action of the side brush assembly of the side brush module to control the side brush assembly to be in different posture positions, so as to meet the cleaning work of the machine in different scenarios, thereby improving the cleaning efficiency and user experience. In the following, the specific technical solutions will be described in detail with reference to the accompanying drawings.

[0048] The side brush module of the present disclosure comprises a power assembly 1, a poking assembly 2, a lifting assembly 3 and a side brush assembly 4. The poking assembly 2 and the power assembly 1 are in transmission connection, and the poking assembly 2 is provided with a poking part 21 which stops and reciprocating swings. The lifting assembly 3 comprises a rotating part 31 and a lifting part 32. The rotating part 31 is connected with the power assembly 1, and the lifting part 32 is in clearance thread connection with the rotating part 31. The side brush assembly 4 is connected with the lifting part 32 to be lifted synchronously with the lifting part 32, and the side brush assembly 4 is in clearance contact with the poking assembly 2 to reciprocating swing under the driving of the poking assembly 2.

[0049] The above-mentioned clearance thread connection means that the lifting part 32 and the rotating part 31 are in clearance through thread connection. Similarly, the above-mentioned clearance contact means that the side brush assembly 4 and the poking assembly 2 are in contact in the form of clearance.

[0050] FIG. 1 shows a structural schematic diagram of the edge brush module in a low position extended posture A, FIG. 2 shows a structural schematic diagram of the edge brush module in a low position retracted posture B, and FIG. 3 shows a structural schematic diagram of the edge brush module in a high position retracted posture C, according to one or more embodiments of the present disclosure. Referring to FIGS. 1-3, the power assembly 1 is controlled to work to drive the toggle portion 21 of the toggle assembly 2 to reciprocate, thereby driving the edge brush assembly 4 in intermittent contact with the toggle assembly 2 to reciprocate, so that the edge brush assembly 4 is in two positions of extension and retraction to adapt to scenarios such as machine climbing over obstacles. The power assembly 1 is controlled to work, and the rotating portion of the power assembly 1 rotates to drive the rotating piece 31 of the lifting assembly 3 to rotate, and the lifting piece 32 is in threaded transmission with the driving piece to drive the edge brush assembly 4 connected with the lifting piece 32 to rise, so that the edge brush assembly 4 is in a raised posture to adapt to scenarios such as machine climbing over carpets or cleaning sanitary corners, so as to improve the cleaning efficiency and user experience.

[0051] Since the toggle portion 21 of the toggle assembly 2 is switched between stopping and reciprocating, the toggle portion 21 of the toggle assembly 2 can be set to reciprocate in a first period and remain in a static posture without reciprocating outside the first period. Since the lifting piece 32 and the rotating piece 31 of the lifting assembly 3 are in intermittent threaded connection, the lifting piece 32 and the rotating piece 31 of the lifting assembly 3 can be set to be in threaded connection in a second period, and the lifting piece 32 is driven to lift by the rotating piece 31 in the second period, and the lifting piece 32 is not driven to lift by the rotating piece 31 outside the second period. According to an embodiment of the present disclosure, the first period and the second period are arranged in intervals, that is, the toggle portion 21 of the toggle assembly 2 reciprocates in the first period to drive the edge brush assembly 4 to reciprocate in the first period. The rotating piece 31 of the lifting assembly 3 is in threaded transmission with the driving piece in the second period to drive the edge brush assembly 4 connected with the lifting piece 32 to lift in the second period, so that the reciprocation and lifting of the edge brush assembly 4 are alternately performed in different periods. According to another embodiment of the present disclosure, the first period and the second period have an overlapping period, for example, the edge brush assembly 4 lifts after reciprocating for a certain time, and the edge brush assembly 4 continues to lift after the reciprocation of the edge brush assembly 4 ends; or the first period is arranged in the second period, that is, the edge brush assembly 4 lifts during the reciprocation of the edge brush assembly 4 in the first period; or the second period is arranged in the first period, that is, the edge brush assembly 4 reciprocates during the lifting of the edge brush assembly 4 in the first period. The edge brush module shown in the present disclosure is further described with the reciprocation and lifting of the edge brush assembly 4 being alternately performed in different periods.

[0052] FIG. 4 shows a structural diagram of the base in FIGS. 1-3, and FIG. 5 shows a structural diagram of the base in FIG. 4 without a cover. Referring to FIGS. 4 and 5, the side brush module of the present disclosure includes a base 5, which includes a connecting portion 51, a supporting portion 52, and a loading portion 53. The connecting portion 51 is arranged at the bottom of the supporting portion 52, and is used to assemble the base 5 on a cleaning device. The supporting portion 52 is substantially a housing structure, and has a receiving cavity 521 arranged therein. The side of the receiving cavity 521 is provided with an assembly opening 522. The loading portion 53 is connected to the top of the supporting portion 52, and has a loading cavity 531 arranged therein. The top of the loading cavity 531 is sealed by a detachable cover 532. The connecting portion 51, the supporting portion 52, and the loading portion 53 can be integrally formed, or can be assembled together by a detachable connection mode such as buckling or bolting, without limitation. According to an embodiment of the present disclosure, the connecting portion 51 and the device portion can be arranged on the same side of the horizontal direction of the supporting portion 52, so as to reduce the space occupied thereby, reduce the volume of the machine product as a whole, and meet the design trend of product miniaturization. According to another embodiment of the present disclosure, the supporting portion 52 is connected to the middle portions of the connecting portion 51 and the device portion, respectively.

[0053] FIG. 6 shows an assembly diagram of the power assembly and the base, and FIG. 7 shows a structural diagram of FIG. 6 without a cover. Referring to FIGS. 6 and 7, the power assembly 1 of the present disclosure includes a driving motor 11, which is connected to the bottom of the loading portion 53. The output shaft of the driving motor 11 penetrates through the bottom of the loading portion 53, and extends into the loading cavity 531. The power assembly 1 further includes a first gear 12, a second gear 13, and a third gear 14. In some embodiments, the first gear 12 is fixedly sleeved on the output shaft of the driving motor 11, and rotates synchronously with the output shaft of the driving motor 11. The second gear 13 and the first gear 12 are in meshing transmission, and the third gear 14 and the second gear 13 are in transmission connection, so that the power assembly 1 has two rotating portions, i.e., the partial circumferential surface of the second gear 13 and the partial circumferential surface of the third gear 14. For description, the partial circumferential surface of the second gear 13 is defined as a first rotating portion, and the partial circumferential surface of the third gear 14 is defined as a second rotating portion.

[0054] Referring to FIG. 7, according to an embodiment of the present disclosure, the power assembly 1 can further include a fourth gear 15, which is arranged between the third gear 14 and the second gear 13, and is in meshing transmission with the third gear 14 and the second gear 13, respectively. That is, the power is transmitted through the fourth gear 15 to drive the fourth gear 15 to rotate. The fourth gear 15 is arranged to have a small diameter, and is used as a transition gear to provide sufficient space for the rotation of the side brush assembly 4. According to another embodiment of the present disclosure, if the rotation of the side brush assembly 4 has sufficient space, the fourth gear 15 can be omitted, and the third gear 14 and the second gear 13 are directly in meshing transmission.

[0055] It should be noted that the second gear 13, the third gear 14 and the fourth gear 15 are all assembled into the loading cavity 531 of the device part through corresponding rotating shafts.

[0056] Referring to FIG. 7, the present disclosure further comprises a position confirming member 6 for confirming the position and posture of the side brush assembly 4, so that the side brush assembly can be automatically controlled according to instructions. FIG. 8 shows an assembly diagram of the position confirming member 6. Referring to FIGS. 6-8, according to an embodiment of the present disclosure, the position confirming member 6 can comprise a light interruption sensor and have three housings 61 which can be connected to a mounting plate 62 by buckling or the like, and the mounting plate 62 can be assembled on the top of the cover 532. The three housings 61 can be arranged at intervals around the central axis 7 of the second gear 13, and a light shielding member 63 is arranged on the end face of the top of the second gear 13 and rotates synchronously with the second gear 13 and sequentially passes through the three housings 61 to form detection confirmation of three position postures. According to another embodiment of the present disclosure, the position confirming member 6 can also be a contact switch or other contact type sensor which can be connected to the bottom of the cover 532 by buckling or the like, and a triggering member 91 is arranged on the end face of the top of the second gear 13, so that the triggering member 91 triggers the corresponding position confirming member 6 in different position postures of the side brush assembly 4 to form detection confirmation of three position postures.

[0057] The toggle assembly 2 of the present disclosure comprises an intermittent motion mechanism, which refers to a mechanism that periodically moves and stops the components, can convert the continuous rotation of the driving member into the periodic motion and stop of the driven member, and the output part of the intermittent motion mechanism is connected with the toggle part 21 of the toggle assembly 2.

[0058] Common intermittent motion mechanisms include ratchet mechanisms, slot wheel mechanisms 22, connecting rod mechanisms and incomplete gear mechanisms. Taking the slot wheel mechanism 22 as an example, the specific details of the slot wheel mechanism 22 are further described based on FIGS. 9-11.

[0059] Figure 9 shows an assembly diagram of the ratchet mechanism, and Figure 10 shows a structural diagram of another perspective of Figure 9. Referring to Figures 9 and 10, the ratchet mechanism 22 includes a cooperating dial 221 and a ratchet wheel 222. In an embodiment, the dial 221 is drivingly connected to the first rotating part of the power assembly 1, and the dial part 21 is arranged on the ratchet wheel 222. Under the drive of the first rotating part of the power assembly 1, the dial 221 continuously rotates, when the drive pin 223 on the dial 221 does not enter the radial slot 224 of the ratchet wheel 222, the ratchet wheel 222 remains stationary, when the drive pin 223 on the dial 221 enters the radial slot 224 of the ratchet wheel 222, the ratchet wheel 222 is driven to rotate by the drive pin 223, when the drive pin 223 on the dial 221 exits the radial slot 224 of the ratchet wheel 222, the ratchet wheel 222 changes from rotation to stationary, thereby achieving periodic rotation and stopping of the ratchet wheel 222. The dial part 21 is connected to the ratchet wheel 222, and the dial part 21 and the ratchet wheel 222 are synchronously periodically rotated and stopped.

[0060] The dial 221 can be integrally formed or separably connected to the bottom end surface of the second gear 13 of the power assembly 1, and the dial 221 and the second gear 13 share a rotating shaft to synchronize the rotation of the dial 221 and the second gear 13 of the power assembly 1. According to an embodiment of the present disclosure, the middle part of the ratchet wheel 222 is also assembled in the loading cavity 531 through a corresponding rotating shaft, and the radial slots 224 on the ratchet wheel 222 can be provided with two radial slots 224, the central angle between the two radial slots 224 is about 90°, which is slightly smaller than the central angle of the swing hole 533 arranged at the bottom of the loading part 53, and under the condition that the dial 221 rotates one revolution, the ratchet wheel 222 rotates about one quarter of a period. According to some other embodiments of the present disclosure, the radial slots 224 on the ratchet wheel 222 can be provided with three or more radial slots 224, and the central angle between the two adjacent radial slots 224 can also be other angles, such as 30°, 60°, etc., which are not limited herein.

[0061] Referring to Figures 9 and 10, a portion of the circumferential side of the ratchet wheel 222 can be integrally formed or separably connected with a dial arm 23, which penetrates the bottom of the loading part 53 and extends towards the connecting part 51. The dial arm can be configured as the dial part 21 of the dial assembly 2.

[0062] Figure 11 shows a structural diagram of another perspective of Figure 6. Referring to Figure 11, the bottom of the loading part 53 is provided with a swing hole 533, and the dial arm 23 penetrates the swing hole 533 at the bottom of the loading part 53. The swing hole 533 can be substantially a sector, and the central angle thereof is greater than or equal to the swing angle of the dial part 21 of the dial assembly 2, thereby providing swing space 5212 for the reciprocating swing of the dial part 21 of the dial assembly 2.

[0063] Figure 12 shows a partial schematic view of the brush module in Figure 2. In order to clearly show the position of the brush assembly 4, Figure 12 removes the motor and the brush of the brush assembly 4. Referring to Figure 12, the brush assembly 4 is provided with a passive part 41 which intermittently contacts the driving part 21. When the driving part 21 is driven to swing, the passive part 41 of the brush assembly 4 contacts the driving part 21 of the driving assembly 2, so as to drive the passive part 41 of the brush module to swing by the swinging driving part 21, to drive the brush assembly 4 to swing, so as to make the brush module be in two positions of extension and retraction, to adapt to the scene of the machine climbing over obstacles and the like.

[0064] Referring to Figure 12, the brush module includes a central shaft 7 which is connected to the base 5, and the brush assembly 4 can swing around the central shaft 7. The two ends of the central shaft 7 are respectively connected to the connecting part 51 and the bearing part of the base 5.

[0065] Referring to Figure 12, according to an embodiment of the present disclosure, the passive part 41 is arranged on the side of the brush assembly 4, and the passive part 41 is only provided with one. When the driving part 21 swings, the passive part 41 of the brush assembly 4 contacts the driving part 21 of the driving assembly 2, so as to drive the passive part 41 of the brush module to swing by the swinging driving part 21, to make the brush assembly 4 switch from the extended position to the retracted position, to adapt to the scene of the machine climbing over obstacles and the like. In order to make the brush assembly 4 switch from the retracted position to the extended position, the brush module according to the present disclosure further includes a reset part 8 which is connected to the brush assembly 4. When the passive part 41 is driven to swing by the driving part 21, the reset part 8 deforms. When the passive part 41 and the driving part 21 are separated, the reset part 8 restores the deformation, to drive the brush assembly 4 to switch from the retracted position to the extended position. The specific assembly mode of the reset part 8 can be referred to the relevant description below.

[0066] Figure 13 shows a schematic view of the structure in which the swinging part of the brush assembly abuts against the limiting part on the base. Referring to Figures 12 and 13, the base 5 is further provided with a limiting part. When the passive part 41 of the brush assembly 4 swings to the retracted position under the driving of the driving part 21 of the driving assembly 2, the brush assembly 4 is blocked by the limiting part of the base 5, so that the brush assembly 4 cannot continue to swing.

[0067] Referring to FIG. 13, according to an embodiment of the present disclosure, the inner side wall of the accommodating cavity 521 of the supporting portion 52 of the base 5 is provided with a limiting wall 523 extending into the interior of the accommodating cavity 521, which can be configured as the limiting portion of the base 5. The limiting wall 523 in the accommodating cavity 521 is arranged substantially vertically, which divides the accommodating cavity 521 into two spaces, namely, a limiting space 5211 and a swinging space 5212, and the passive portion 41 swings in the swinging space 5212. When the side brush assembly 4 is in the retracted posture, the passive portion 41 of the side brush assembly 4 is clamped between the limiting portion 21 of the poking assembly 2 and the limiting wall 523, and the limiting portion 21 of the poking assembly 2 and the limiting wall 523 form a limiting channel to keep the side brush assembly 4 in the retracted posture. According to another embodiment of the present disclosure, the inner side wall of the accommodating cavity 521 of the supporting portion 52 of the base 5 is provided with a limiting block extending into the interior of the accommodating cavity 521, which can be configured as the limiting portion of the base 5. The limiting block and the limiting wall 523 have similar structural functions, and the difference lies in that the limiting block is suspended in the accommodating cavity 521, and the top and bottom of the limiting block are not connected with the connecting portion 51 and the supporting portion 52 of the base 5, which will not be described here.

[0068] FIG. 14 shows a partial schematic view of the side brush assembly. Referring to FIG. 13 and FIG. 14, the side brush assembly 4 can further include a blocking arm 42, one end of which is movably sleeved on the central shaft 7, and the other end of which extends out of the side brush housing 43 in the horizontal direction or in the direction close to the horizontal direction. The blocking arm 42 moves synchronously with the side brush assembly 4, and swings in the limiting space 5211, while the passive portion 41 swings in the swinging space 5212. When the side brush assembly 4 swings to the retracted posture, the passive portion 41 abuts against the side of the swinging space 5212 towards the limiting wall 523, and the blocking arm 42 abuts against the side wall of the accommodating cavity 521 outside the assembly opening 522, so as to limit the side brush assembly 4 to keep the retracted posture. In the process of switching the side brush assembly 4 from the retracted posture to the extended posture, the blocking arm 42 moves in the limiting space 5211 towards the limiting wall 523, and abuts against the limiting wall 523 when the side brush assembly 4 switches to the extended posture, so as to keep the side brush assembly 4 in the extended posture and enable the side brush assembly 4 to work normally.

[0069] Referring to FIG. 14, the side brush assembly 4 further includes a passive protrusion extending in the horizontal direction or in the direction close to the horizontal direction, which can be configured as the passive portion 41 of the side brush assembly 4.

[0070] According to another embodiment of the present disclosure, the passive part 41 can be provided with two, the dial part 21 of the dial assembly 2 reciprocating swing between the two passive parts 41 to achieve the brush assembly 4 from the extended posture switching to the retracted posture. In the condition of the dial part 21 of the dial assembly 2 swing, one passive part 41 of the brush assembly 4 is in contact with the dial part 21 of the dial assembly 2, and the brush assembly 4 is driven to swing by the swing dial part 21, so that the brush assembly 4 is switched from the extended posture to the retracted posture to adapt to the scene of the machine climbing over obstacles, etc. When the brush assembly 4 is switched from the retracted posture to the extended posture, the dial part 21 is controlled to swing in the opposite direction by the power assembly 1, and the other passive part 41 of the brush assembly 4 is in contact with the dial part 21 of the dial assembly 2, and the brush assembly 4 is driven to swing by the swing dial part 21, so that the brush assembly 4 is switched from the retracted posture to the extended posture.

[0071] Figure 15 shows the assembly diagram of the central shaft and the third gear. Referring to Figure 15, the top end of the central shaft 7 is connected with the rotating shaft of the third gear 14, so that the central shaft 7 and the third gear 14 can rotate synchronously when the third gear 14 rotates, so that the central shaft 7 also has the function of rotation. In the specific implementation, the inside of the third gear 14 can be hollow, and the top end of the central shaft 7 extends into the inside of the third gear 14, and the inside wall of the third gear 14 and the top end of the central shaft 7 are connected by a block 24, so that the third gear 14 and the top end of the central shaft 7 are connected as a whole, so that the rotating third gear 14 drives the central shaft 7 to rotate synchronously. The central shaft 7 can be configured as the rotating part 31 of the lifting assembly 3.

[0072] Figure 16 shows the structure diagram of the lifting assembly. Referring to Figure 16, the lifting part 32 of the lifting assembly 3 is placed on the outer circumferential surface of the rotating part 31 in cooperation, so that the lifting part 32 can be lifted on the circumferential surface of the rotating part 31. The specific details of the lifting assembly 3 are further described based on Figures 15-26.

[0073] Figure 17 shows the cross-sectional view of Figure 16. Referring to Figures 16 and 17, the driving block 33 is reciprocally movable in the driving groove 34 provided on the mating circumferential surface of the rotating member 31 and the lifting member 32, the driving block 33 is helical, and the driving groove 34 comprises helical first groove bodies and planar second groove bodies arranged at intervals. When the brush assembly 4 is swung by the driving of the dial assembly 2, the driving block 33 runs in the planar second groove bodies, and the lifting member 32 idles in the rotating member 31. When the brush assembly 4 is blocked by the limiting portion of the base 5 and cannot continue to swing, the driving block 33 runs in the helical first groove bodies, and the rotating member 31 and the lifting member 32 are threadedly connected to drive the lifting member 32 to ascend and descend on the circumferential surface of the rotating member 31. Since the lifting member 32 is connected with the brush assembly 4, the brush assembly 4 can also ascend and descend, so that the brush assembly 4 can be switched between the retracted posture and the raised posture.

[0074] Figure 18 shows a structural view of the rotating member in Figure 16, and Figure 19 shows a structural view of the lifting member in Figure 16. Referring to Figures 18 and 19, according to an embodiment of the present disclosure, the driving block 33 can be integrally formed on the outer circumferential surface of the rotating member 31, and the driving block 33 can be arranged at two or more intervals to improve the balance and reliability of the driving block 33 running in the driving groove 34, thereby improving the reliability of switching the posture of the brush assembly 4. The lifting member 32 comprises a cylindrical structure 321 which is sleeved on the rotating member 31, and the driving groove 34 is provided on the inner circumferential surface of the cylindrical structure 321. According to another embodiment of the present disclosure, the driving block 33 can be integrally formed on the inner circumferential surface of the lifting member 32, and the driving groove 34 is provided on the outer circumferential surface of the rotating member 31.

[0075] Referring to Figure 18, a tray 311 can also be integrally connected on the outer circumferential side of the rotating member 31, and the tray 311 is placed in the lifting member 32 and below the driving groove 34. When the brush assembly 4 is in the low-position extended posture A or the low-position retracted posture B, the tray 311 supports the lifting member 32 to improve the reliability of the brush assembly 4 connected with the lifting member 32 working in the low-position posture.

[0076] Figure 20 shows a structural view of another perspective of Figure 19. Referring to Figure 20, according to an embodiment of the present disclosure, a convex structure 324 is integrally formed on the circumferential side of the rotating member 31 or the lifting member 32, and the driving groove 34 is provided on the circumferential surface of the convex structure 324. According to another embodiment of the present disclosure, the driving groove 34 can also be provided in a concave structure in the circumferential side of the rotating member 31 or the lifting member 32.

[0077] Referring to FIG. 20, the two ends of the driving slot 34 are further provided with a blocking part 35, which can be a protruding structure integrally formed on the circumferential sidewall of the rotating member 31 or the lifting member 32, to block the displacement of the driving block 33 in the driving slot 34, and to improve the reliability of the posture switching of the brush assembly 4.

[0078] Referring to FIGS. 19 and 20, the lifting member 32 further comprises a base 322 and a connecting part 323, the cylinder structure 321 and the connecting part 323 are connected to the base 322, and the connecting part 323 and the cylinder structure 321 are parallel or substantially parallel. The connecting part 323 and the brush assembly 4 can be connected by screws or clamping, so that the lifting member 32 and the brush assembly 4 are connected together and can move synchronously. In some embodiments, referring to FIG. 12, when the brush assembly 4 is in the extended posture, the connecting part 323 further abuts against the sidewall of the assembly opening 522 of the accommodating cavity 521, to limit the position of the brush assembly 4 and keep the brush assembly 4 in the extended posture.

[0079] FIG. 21 shows an assembly diagram of the brush assembly and the lifting member. Referring to FIG. 21, the brush assembly 4 comprises a brush housing 43 for loading the components of the brush assembly 4, the brush housing 43 is provided with a through communication opening, a part of the bottom of the brush housing 43 is seated on the base 322 of the lifting member 32, the cylinder structure 321 of the lifting member 32 is connected in the communication opening, and the connecting part 323 of the lifting member 32 is connected to the brush housing 43.

[0080] FIG. 22 shows a structural diagram of the reset member. Referring to FIGS. 21 and 22, the reset member 8 can be a torsion spring and is sleeved on the cylinder structure 321 of the lifting member 32, the reset member 8 has a first free end 81 and a second free end 82, the first free end 81 of the reset member 8 can be provided with two, the first free end 81 of the reset member 8 abuts against the connecting part 323 of the lifting member 32, and the second free end 82 of the reset member 8 abuts against the brush housing 43. In the process of switching the brush assembly 4 from the extended posture to the retracted posture, the reset member 8 is compressed, and the brush assembly 4 is switched from the retracted posture to the extended posture through the deformation of the reset member 8. In some embodiments, when the machine is walking along a wall or other obstacles, the wall or other obstacles will force the brush assembly 4 to move towards the inside of the machine, and the reset member 8 can buffer the movement of the brush assembly 4 towards the inside of the machine, avoiding the damage of the brush assembly 4 caused by hard contact.

[0081] FIG. 23 shows a layout diagram of the anti-collision mechanism. Referring to FIG. 23, the brush module further comprises an anti-collision mechanism 9 connected to the side of the brush assembly 4. When the anti-collision mechanism contacts and collides with an obstacle, a trigger signal is generated to control the brush assembly 4 to retract inwardly, so that the machine can normally travel.

[0082] Fig. 24 shows a structural schematic view of the anti-collision mechanism in Fig. 23. Referring to Fig. 24, the anti-collision mechanism 9 comprises a detection member 92 arranged at the side of the side brush assembly 4 and a triggering member 91 protruding from the side of the side brush assembly 4 and elastically connected with the detection member 92, for example, the inner side of the triggering member 91 is connected with the detection member 92 through a spring 93. When the triggering member 91 contacts and collides with an obstacle, the triggering member 91 moves towards the detection member 92 and contacts with the detection member 92 to generate a triggering signal, and under the condition of the obstacle contact, the triggering member 91 returns to the initial posture.

[0083] For the convenience of description, it is defined that the side brush assembly 4 in the extended working posture is a low-position extended posture A, the side brush assembly 4 in the retracted posture is defined as a low-position retracted posture B, the side brush assembly 4 in the raised retracted posture is defined as a high-position retracted posture C, and the side brush assembly 4 in the raised extended posture is defined as a high-position extended posture D.

[0084] FIG. 25 shows a top view of the lifting member of FIG. 19, and FIG. 26 shows a bottom view of the lifting member of FIG. 19. Referring to FIGS. 25 and 26, according to an embodiment of the present disclosure, two first grooves 341 are provided, and the two first grooves 341 are respectively arranged at two ends of the second groove 342. FIG. 27 shows a schematic diagram of the running track of the brush assembly 4. Referring to FIG. 27, when the brush assembly 4 is in the low-position extended posture A, the driving block 33 is arranged in the bottom second groove 342. When the brush assembly 4 is actuated by the actuating assembly 2, the brush assembly 4 swings from the low-position extended posture A to the low-position retracted posture B. In this process, the restoring member 8 is compressed, and the driving block 33 runs in the bottom second groove 342 until it runs to the entrance end of the first groove 341. Since the second groove 342 is a planar portion, it can support the driving block 33, so that the brush assembly 4 can be stably switched between postures. The rotating member 31 is rotated under the drive of the power assembly 1, and the driving block 33 runs in the first groove 341 until the driving block 33 is rotated to the entrance end of the top second groove 342. Since the rotating member 31 and the lifting member 32 are threadedly connected, the lifting member 32 is connected to the brush assembly 4, so that in the process of the driving block 33 running in the first groove 341, the lifting member 32 is lifted along the circumferential surface of the rotating member 31 to drive the brush assembly 4 to rise along the limiting portion, so that the brush assembly 4 can be switched from the low-position retracted posture B to the high-position retracted posture C. The rotating member 31 continues to rotate under the drive of the power assembly 1, and the driving block 33 runs into the top second groove 342, and the power assembly 1 stops working. In this process, the brush assembly 4 remains stationary, and the driving block 33 falls into the second groove 342. Since the second groove 342 is a planar portion, it can support the driving block 33, so that the brush assembly 4 can be stably switched between postures. The power assembly 1 is controlled to rotate reversely, the driving block 33 runs from the top second groove 342 into the first groove 341, the brush assembly 4 descends along the limiting portion, and the brush assembly 4 is switched from the high-position retracted posture C to the low-position retracted posture B. The power assembly 1 stops working, the compressed elastic member is reset, the driving block 33 runs in the bottom second groove 342, and the brush assembly 4 is switched from the low-position retracted posture B to the low-position extended posture A to work normally. In this embodiment, the brush assembly 4 can be switched between four postures (the low-position extended posture A, the low-position retracted posture B, and the high-position retracted posture C), which can meet different use scenarios, improve cleaning efficiency, and enable the machine to work normally. In some embodiments, when the brush assembly 4 is in a certain posture, the driving block 33 is arranged in the planar second groove 342, which can support the brush assembly 4 and improve the stability of the brush assembly 4 in normal working state.

[0085] Referring to FIG. 28, according to another embodiment of the present disclosure, after the brush assembly 4 is switched from the low-position retracted posture B to the high-position retracted posture C, the power assembly 1 stops working, the compressed elastic member resets, drives the driving block 33 to run reversely in the second groove 342 at the top, and the brush assembly 4 is switched from the high-position retracted posture C to the high-position extended posture D, so that the brush assembly 4 can work under the condition of having a certain height to clean the parts having a certain height position. The second output part of the power assembly 1 is controlled to reverse, the driving block 33 runs reversely in the first groove 341 to drive the lifting member 32 and the brush assembly 4 to switch from the high-position extended posture D to the low-position extended posture A. The power assembly 1 is controlled to continue reversing, the driving block 33 runs into the second groove 342 at the bottom, and the power assembly 1 stops working to wait for the switching of the next posture. In this embodiment, the brush assembly 4 can be switched among four postures (the low-position extended posture A, the low-position retracted posture B, the high-position retracted posture C, and the high-position extended posture D), which can meet different use scenarios, improve the cleaning efficiency, and enable the machine to normally work. In some embodiments, when the brush assembly 4 is in a certain posture, the driving block 33 is located in the second groove 342 of the flat part, which can support the brush assembly 4 and improve the stability of the normal work of the brush assembly 4.

[0086] According to another embodiment of the present disclosure, the second groove 342 and the first groove 341 can also be provided with only one, and the second groove 342 can be provided at the bottom or the top of the first groove 341, which can also achieve that the brush assembly 4 is in different postures. For example, referring to FIG. 29, under the condition that the second groove 342 is provided at the bottom of the first groove 341, the brush assembly 4 can be switched from the low-position extended posture A to the low-position retracted posture B and the high-position retracted posture C in sequence. Or switched from the high-position retracted posture C to the low-position retracted posture B and the low-position extended posture A in sequence, so as to meet different use scenarios, improve the cleaning efficiency, and enable the machine to normally work. Referring to FIG. 30, under the condition that the second groove 342 is provided at the top of the first groove 341, the brush assembly 4 can be switched from the low-position extended posture A to the high-position extended posture D and the high-position retracted posture C in sequence. Or switched from the high-position retracted posture C to the high-position extended posture D and the low-position extended posture A in sequence, so as to meet different use scenarios, improve the cleaning efficiency, and enable the machine to normally work.

[0087] In summary, according to the brush module of the present disclosure, one driving motor can achieve the switching of the brush assembly in different postures (extension and retraction and / or lifting), so as to adapt to different cleaning scenarios, improve the cleaning effect and the cleaning efficiency, and have good adaptability and practicability.

[0088] According to the present disclosure, a cleaning device is also provided, which comprises a main machine and the above-mentioned side brush module, and the side brush module is assembled on the main machine. The cleaning device can be a sweeping robot or other cleaning device with a side brush function.

[0089] According to the present disclosure, a method for operating a cleaning device is also provided. FIG. 31 shows a flowchart of the method for operating a cleaning device in one or more embodiments of the present disclosure. Referring to FIG. 31, the method comprises:

[0090] Step S1: obtaining target cleaning state information; and

[0091] Step S2: controlling the side brush assembly to be in different positions and postures according to the target cleaning state information.

[0092] The method for operating a cleaning device provided by the present disclosure can control the side brush assembly of the side brush module to switch between the extended, retracted and raised positions and postures, so as to adapt to the scenarios of the robot climbing over obstacles or carpets or cleaning a sanitary corner, thereby improving the cleaning efficiency and user experience.

[0093] In some other embodiments, step S1 comprises: obtaining the target cleaning state information of the robot in real time through the video sensor and / or infrared sensor arranged on the cleaning device, and the target cleaning state information comprises whether there is a carpet or other obstacle in the target cleaning area and whether it is a cleaning corner or not.

[0094] In some other embodiments, step S2 comprises: controlling the side brush assembly to reciprocally switch between the low-position extended posture and the low-position retracted posture; or controlling the side brush assembly to reciprocally switch between the low-position extended posture, the low-position retracted posture and the high-position retracted state in sequence; or controlling the side brush assembly to cyclically switch between the low-position extended posture, the low-position retracted posture, the high-position retracted state and the high-position extended posture in sequence; or controlling the side brush assembly to reciprocally switch between the low-position extended posture and the high-position retracted posture. For details, please refer to the above description, which will not be repeated here.

[0095] According to the present disclosure, a cleaning system is also provided, which comprises a base station and the above-mentioned cleaning device.

[0096] The cleaning device and the cleaning system with the above-mentioned side brush module can switch the side brush module between different postures to adapt to different cleaning scenarios, thereby improving the cleaning effect and cleaning efficiency, and having good adaptability and practicability.

[0097] The cleaning device and the cleaning system according to the present disclosure have all the beneficial effects of the side brush module of the above-mentioned technical solutions, and details are not repeated here.

[0098] In a first aspect of the present disclosure, a side brush module is provided, which comprises: a power assembly; a poking assembly connected with the power assembly, the poking assembly being provided with a poking part capable of intermittent and reciprocating swinging; a lifting assembly comprising a rotating part and a lifting part, the rotating part being connected with the power assembly, and the lifting part being intermittently threadedly connected with the rotating part; and a side brush assembly connected with the lifting part to be lifted synchronously with the lifting part; the side brush assembly and the poking assembly being intermittently in contact to reciprocate under the driving of the poking assembly.

[0099] The side brush module provided by the present disclosure controls the power assembly of the side brush module to work to drive the poking part of the poking assembly to reciprocate, thereby driving the side brush assembly intermittently in contact with the poking assembly to reciprocate, so that the side brush assembly is in two positions of extension and retraction to adapt to the scene of the robot climbing over obstacles, etc.; the power assembly is controlled to work, the rotating part of the power assembly rotates to drive the rotating part of the lifting assembly to rotate, the lifting part is threadedly driven with the driving part to drive the side brush assembly connected with the lifting part to rise, so that the side brush assembly is in a raised position to adapt to the scene of the robot climbing over carpets or cleaning sanitary corners, etc., thereby improving the cleaning efficiency and user experience.

[0100] In some embodiments, the poking part reciprocates in a first period, and the lifting part is threadedly connected with the rotating part in a second period, and in some examples, the first period and the second period are arranged in intervals, or the first period and the second period have an overlapping period, or the first period is arranged in the second period, or the second period is arranged in the first period.

[0101] In some embodiments, the power assembly is provided with two rotating parts, and the poking assembly and the rotating part are respectively connected with the two rotating parts.

[0102] In some embodiments, the poking assembly comprises an intermittent motion mechanism, and the poking part is arranged on an output part of the intermittent motion mechanism.

[0103] In some embodiments, the intermittent motion mechanism comprises a ratchet mechanism.

[0104] In some embodiments, the ratchet mechanism comprises a cooperating dial and a ratchet wheel, the dial is connected with the power assembly, and the poking part is arranged on the ratchet wheel.

[0105] In some embodiments, the side brush assembly is provided with a passive part intermittently in contact with the poking part, and the passive part drives the side brush assembly to swing in response to the reciprocating swinging of the poking part.

[0106] In some embodiments, the brush module further comprises a reset member configured to drive the brush assembly to reset in response to the oscillation of the brush assembly.

[0107] In some embodiments, the brush assembly is provided with two passive portions, and the toggle portion reciprocally oscillates between the two passive portions and intermittently contacts the two passive portions respectively.

[0108] In some embodiments, the brush module further comprises a limiting member, and the passive portion is driven by the toggle portion to the limiting member, and the brush assembly is lifted along the limiting member.

[0109] In some embodiments, the rotating member and the lifting member are provided with driving blocks and driving grooves on the matching circumferential surfaces, the driving blocks reciprocally move in the driving grooves, the driving blocks are helical, and the driving grooves comprise helical first groove bodies and planar second groove bodies arranged at intervals.

[0110] In some embodiments, the top or / and bottom of the first groove body is connected with the second groove body.

[0111] In some embodiments, the driving blocks are arranged at intervals.

[0112] In some embodiments, the two ends of the driving groove are provided with blocking portions to block the movement of the driving blocks in the driving groove.

[0113] In some embodiments, the brush module further comprises a position confirmation member to confirm the position and posture of the brush module.

[0114] In some embodiments, the brush module further comprises an anti-collision mechanism, and the anti-collision mechanism comprises a detection member arranged on the side of the brush assembly and a trigger member protruding from the side of the brush assembly and elastically connected with the detection member.

[0115] In a second aspect of the present disclosure, the present disclosure further provides a cleaning device, which comprises a main machine and the above-mentioned brush module assembled on the main machine.

[0116] According to the cleaning device of the present disclosure, the brush assembly of the brush module can be switched among the extended, retracted and raised position postures, so as to adapt to the scenarios such as machine climbing over obstacles, climbing over carpets or cleaning sanitary corner, so as to improve the cleaning efficiency and user experience.

[0117] In a third aspect of the present disclosure, the present disclosure further provides a running method of a cleaning device, which comprises: obtaining target cleaning state information; and controlling the brush assembly to be in different position postures according to the target cleaning state information.

[0118] According to the operation method of the cleaning device, the brush assembly of the brush module can be controlled to switch between the extended, retracted and raised positions to adapt to scenarios such as the robot climbing over obstacles, climbing over carpets or cleaning a sanitary corner, so as to improve the cleaning efficiency and user experience.

[0119] In some embodiments, the operation method comprises: controlling the brush assembly to reciprocally switch between the low-position extended attitude and the low-position retracted attitude; or controlling the brush assembly to reciprocally switch between the low-position extended attitude, the low-position retracted attitude and the high-position retracted state in sequence; or controlling the brush assembly to cyclically switch between the low-position extended attitude, the low-position retracted attitude, the high-position retracted state and the high-position extended attitude in sequence; or controlling the brush assembly to reciprocally switch between the low-position extended attitude and the high-position retracted attitude.

[0120] In a fourth aspect of the present disclosure, the present disclosure further provides a cleaning system comprising a base station and the above-mentioned cleaning device in cooperation.

[0121] According to the cleaning system of the present disclosure, the brush assembly of the brush module of the cleaning device can be controlled to switch between the extended, retracted and raised positions to adapt to scenarios such as the robot climbing over obstacles, climbing over carpets or cleaning a sanitary corner, so as to improve the cleaning efficiency and user experience.

[0122] In the present disclosure, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "over" the second feature includes that the first feature is directly above and obliquely above the second feature, or only means that the first feature is higher in horizontal height than the second feature. The first feature "under", "below" and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or only means that the first feature is lower in horizontal height than the second feature.

[0123] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present disclosure and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present disclosure.

[0124] In the present disclosure, unless specifically defined and limited otherwise, the terms "connected", "fixed", and the like should be interpreted broadly, for example, "fixed" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through intermediate medium; can be internal connection of two elements, or interaction relationship of two elements. For those skilled in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances.

[0125] In addition, in the present disclosure, the description such as "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0126] Although the embodiments of the present disclosure have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirit of the present disclosure, and the scope of the present disclosure is defined by the claims and their equivalents.

Claims

1. A side brush module, comprising: a power assembly; a poking assembly connected with the power assembly, the poking assembly being provided with a poking part that stops and reciprocates; a lifting assembly including a rotating part and a lifting part, the rotating part being connected with the power assembly, and the lifting part being threadedly connected with the rotating part in an intermittent manner; and a side brush assembly connected with the lifting part to lift synchronously with the lifting part, and the side brush assembly being in intermittent contact with the poking assembly to reciprocate under the driving of the poking assembly. The poking part reciprocates in a first period, and the lifting part is threadedly connected with the rotating part in a second period, wherein:

2. The brush module of claim 1, wherein, the first period and the second period are arranged in an interval, or the first period and the second period have an overlapping period, or the first period is arranged in the second period, or the second period is arranged in the first period. The power assembly is provided with two rotating parts, and the poking assembly and the rotating part are respectively connected with the two rotating parts.

3. The edge brush module according to claim 1 or 2, wherein, The poking assembly includes an intermittent motion mechanism, and the poking part is arranged on an output part of the intermittent motion mechanism.

4. The brush module of claim 1, wherein, The intermittent motion mechanism includes a Geneva mechanism.

5. The edge brush module of claim 4, wherein, The Geneva mechanism includes a cooperating dial and a Geneva wheel, the dial is connected with the power assembly, and the poking part is arranged on the Geneva wheel.

6. The brush module of claim 5, wherein, The side brush assembly is provided with a passive part that is in intermittent contact with the poking part, and the passive part drives the side brush assembly to swing in response to the reciprocation of the poking part.

7. The brush module according to any one of claims 1, 2, and 4-6, wherein, 8.The side brush module according to claim 7, further comprising: a reset part that drives the side brush assembly to reset in response to the swinging of the side brush assembly. The side brush assembly is provided with two passive parts, the poking part reciprocates between the two passive parts and is in intermittent contact with the two passive parts respectively.

9. The brush module of claim 7, wherein, A limiting part, the passive part is driven by the poking part to the limiting part, and the side brush assembly lifts along the limiting part.

10. The brush module of any of claims 1, 2, 4-6, and 8-9, further comprising: The rotating part and the lifting part are provided with driving blocks and driving grooves on the cooperating circumferential surfaces, the driving blocks reciprocate in the driving grooves, the driving blocks are helical, and the driving grooves include spaced helical first grooves and planar second grooves.

11. The brush module of claim 10, wherein, The top or / and bottom of the first groove is connected with the second groove.

12. The brush module of claim 10, wherein, The driving blocks are spaced.

13. The brush module of claim 11 or 12, wherein, The two ends of the driving groove are provided with blocking parts to block the movement of the driving blocks in the driving groove.

14. The brush module of claim 11 or 12, wherein, 15.The side brush module according to any one of claims 1, 2, 4-6 and 8-9, further comprising a position confirming part to confirm the position and posture of the side brush module. 16.The side brush module according to any one of claims 1, 2, 4-6 and 8-9, further comprising an anti-collision mechanism, the anti-collision mechanism including: a detection part arranged on the side of the side brush assembly; and a trigger part protruding from the side of the side brush assembly and elastically connected with the detection part. 17.A cleaning device, comprising a main machine and the side brush module according to any one of claims 1-16, the side brush module being assembled on the main machine. ​ ​ 18.A method of operating the cleaning device of claim 17, comprising: obtaining target cleaning state information; and controlling the side brush assembly to be in different position attitudes according to the target cleaning state information. 19.The method of operating the cleaning device of claim 18, further comprising: controlling the side brush assembly to reciprocate between a low position extended attitude and a low position retracted attitude; or; controlling the side brush assembly to reciprocate between a low position extended attitude, a low position retracted attitude and a high position retracted state; or; controlling the side brush assembly to reciprocate between a low position extended attitude, a low position retracted attitude, a high position retracted state, a high position extended attitude; or; controlling the side brush assembly to reciprocate between a low position extended attitude and a high position retracted attitude. 20.A cleaning system comprising a base station and the cleaning device of claim 17 in cooperation.

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