CN116919242A - Cleaning device, host and control method - Google Patents

Abstract

The embodiment of the application provides a cleaning device, a host and a control method, wherein the cleaning device comprises a cleaning host and a rag accessory, and the cleaning host comprises: a body having a cleaning side and a back side disposed opposite to each other in a thickness direction thereof; the connecting mechanism is arranged on the machine body and is provided with a movable connecting part, the connecting part moves along a first direction to be connected with the cleaning cloth accessory, the connecting part moves along the opposite direction of the first direction to be separated from the cleaning cloth accessory, and the first direction is a direction from the back side to the cleaning side.

Description

Cleaning device, host and control method

Technical Field

The application relates to the technical field of intelligent household appliances, in particular to a cleaning device, a host and a control method.

Background

The cleaning device can clean the area to be cleaned, reduce labor burden and improve environmental cleanliness. In the related art, the cleaning device cannot automatically mount or remove the cleaning cloth accessory, and a user is required to perform manual operation, so that the burden of the user is increased and the convenience of use is reduced.

Disclosure of Invention

The embodiment of the application provides a cleaning device, a host and a control method, which can automatically attach and remove rag accessories and improve the degree of automation and the use convenience.

In one aspect, embodiments of the present application provide a cleaning device comprising a cleaning host and a wipe attachment, the cleaning host comprising: a body having a cleaning side and a back side disposed opposite to each other in a thickness direction thereof; the connecting mechanism is arranged on the machine body and is provided with a movable connecting part, the connecting part moves along a first direction to be connected with the cleaning cloth accessory, the connecting part moves along the opposite direction of the first direction to be separated from the cleaning cloth accessory, and the first direction is a direction from the back side to the cleaning side.

In some embodiments, the attachment mechanism is further configured to drive rotation of a wipe attachment attached to the attachment portion.

In some embodiments, the connection mechanism includes a rotation assembly and a driving device driving the rotation assembly to rotate, one of the body and the rotation assembly has a spiral rail portion, and the other has a rotation guide portion, the connection portion is formed at an end of the rotation assembly away from the back side in the first direction, the spiral rail portion and the rotation guide portion are connected to move the rotation assembly along the spiral rail portion, and a center line of the spiral rail portion extends along the first direction.

In some embodiments, the helical track and the rotary guide separate when the turning assembly and the wipe attachment are connected.

In some embodiments, the machine body is provided with a containing cavity opened on the cleaning side, the rotating component is arranged in the containing part in a penetrating mode, and the surface, connected with the rotating component, of the containing cavity is at least partially provided with one of the spiral track part and the rotary guiding part.

In some embodiments, the rotating assembly includes a rotating shaft member and a connecting member sequentially connected along the first direction, the rotating shaft member extends along the first direction and is connected with the driving device, one of the spiral track portion and the rotation guiding portion is disposed on the rotating shaft member, and the connecting portion is formed at an end of the connecting member away from the rotating shaft member.

In some embodiments, the rotating assembly further includes an elastic member, the connecting member and the rotating shaft member are relatively movable along an axial direction of the rotating shaft member, and the elastic member connects the connecting member and the rotating shaft member along the axial direction of the rotating shaft member.

In some embodiments, one of the helical track portion and the rotary guide portion has an outer helical groove portion configuration and the other has an inner helical groove portion configuration, the outer helical groove portion and the inner helical groove portion being helically engaged.

In some embodiments, the helical track has a helical groove configuration and the rotary guide has a lobe configuration, the lobe being movable along the helical groove.

In some embodiments, the attachment mechanism further comprises a magnetically attractive element adapted for magnetically attractive attachment to the wipe attachment.

In some embodiments, the surface of the body is provided with a limit portion that contacts the wipe attachment to separate the wipe attachment from the attachment portion as the attachment portion moves in a direction in which the cleaning side approaches the back side.

In some embodiments, the rag accessory is provided with a connecting end which is suitable for being connected with the connecting part, the end face of one of the connecting part and the connecting end is provided with a plurality of spiral protruding parts which are sequentially arranged along the circumferential direction, the end face of the other one of the connecting part and the connecting end is provided with a plurality of spiral end groove parts which are sequentially arranged along the circumferential direction, and the plurality of spiral protruding parts and the plurality of spiral end groove parts are in spiral engagement in a one-to-one correspondence.

In a second aspect, an embodiment of the present application provides a control method for controlling the cleaning device provided in any one of the above embodiments, including: determining whether the cleaning host has a rag attachment attached; in response to determining that the cleaning host is not attached with a wipe attachment, controlling the connection mechanism to connect the connection portion movably with the wipe attachment to be attached in a first direction, the first direction being a direction approaching the cleaning side from the back side; in response to determining that the cleaning host has a wipe attachment attached, the attachment mechanism is controlled to move the attachment portion in a direction opposite the first direction away from the wipe attachment to be removed.

In a third aspect, an embodiment of the present application provides a control method for controlling the cleaning device provided in any one of the above embodiments, including: determining whether the target environmental area includes a class one area including at least one of a suitable mop area and a rag accessory passable area and a class two area including at least one of a non-suitable mop area and a rag accessory passable area; in response to determining that the target environmental area comprises a class one area and a class two area, determining whether the cleaning host has a rag attachment attached; in response to determining that the cleaning host has attached a cleaning cloth accessory, controlling the cleaning host to sequentially clean the second-class area and the first-class area, and controlling the cleaning host to remove the cleaning cloth accessory to a designated area before starting cleaning the first-class area after completing cleaning the second-class area; and in response to determining that the cleaning host is not attached with the cleaning cloth accessory, controlling the cleaning host to sequentially clean the first-class area and the second-class area, and controlling the cleaning host to attach the cleaning cloth accessory positioned in the designated area after the cleaning of the first-class area and before the cleaning of the second-class area is started.

According to the embodiment of the application, the telescopic connecting mechanism is arranged on the machine body, the connecting mechanism stretches out of the machine body to be connected with the cleaning cloth accessory to be attached, so that the cleaning cloth accessory is automatically attached to the cleaning host machine, and the connecting mechanism retracts into the machine body to be separated from the cleaning cloth accessory attached to the cleaning host machine, so that the cleaning cloth accessory is automatically removed from the cleaning host machine; therefore, the cleaning device can automatically attach or remove the cleaning cloth accessory according to the requirement, a user does not need to manually operate the cleaning device, the degree of automation of the cleaning device can be improved, the labor burden of the user is released, and the use convenience of the cleaning device is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is an exploded view of a cleaning device according to some embodiments of the present application;

FIG. 2 is a partial cross-sectional view of a cleaning device according to some embodiments of the present application with a wipe attachment attached;

FIG. 3 is a partial block diagram of the cleaning device of FIG. 2 at M;

FIG. 4 is a partial cross-sectional view of a cleaning device according to some embodiments of the present application after removal of a wipe attachment;

FIG. 5 is a partial block diagram of a connection portion of a cleaning main unit of a cleaning apparatus according to some embodiments of the present application;

FIG. 6 is a partial block diagram of a wipe attachment of a cleaning device provided in accordance with some embodiments of the present application;

FIG. 7 is a flow chart of a control method provided by some embodiments of the application;

FIG. 8 is a flow chart of another control method provided by some embodiments of the application;

FIG. 9 is a schematic view of a use environment of a cleaning device according to some embodiments of the present application;

FIG. 10 is a schematic view of another environment in which the cleaning apparatus according to some embodiments of the present application may be used.

Description of main reference numerals:

1-cleaning device, 101-cleaning main machine, 10-machine body, 10 a-rotation guide portion, 10 b-limit portion, 11-rotation shaft sleeve, 12-cleaning side, 13-back side, 20-connection mechanism, 20 a-connection portion, 20a 1-spiral protrusion portion, 21-rotation assembly, 21 a-spiral rail portion, 211-rotation shaft member, 211 a-rotation shaft body, 211a 1-first opening portion, 211 b-rotation shaft end cover, 212-connection member, 212 a-first connection member, 212 b-second connection member, 213-elastic member, 22-driving device, 23-magnetic absorption member, 24-travel switch, 102-wiper attachment, 10' -metal member, 20' -connection end, 20a ' -spiral end groove portion, 201-adapted to mop area, 202-not adapted to mop area, 301-wiper attachment passable area, 302-wiper attachment passable area, 303-obstacle.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to fall within the scope of the application.

In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

"A and/or B" includes the following three combinations: only a, only B, and combinations of a and B.

The use of "adapted" or "configured" in this disclosure is meant to be an open and inclusive language that does not exclude devices adapted or configured to perform additional tasks or steps. In addition, the use of "based on" is intended to be open and inclusive in that a process, step, calculation, or other action "based on" one or more of the stated conditions or values may be based on additional conditions or beyond the stated values in practice.

In the present application, the term "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described as "exemplary" in this disclosure is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the application. In the following description, details are set forth for purposes of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known structures and processes have not been described in detail so as not to obscure the description of the application with unnecessary detail. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.

In the related art, the cleaning device cannot mount or remove the cleaning cloth accessory by itself, and great inconvenience exists in use. For example, for use environments that include areas that are suitable for mopping and areas that are unsuitable for mopping, it is desirable to install a wipe attachment prior to cleaning the areas that are suitable for mopping, and remove the wipe attachment prior to cleaning the areas that are unsuitable for mopping; accordingly, the cleaning devices need to be manually assembled and disassembled by users, so that cleaning operations among different areas cannot be continuously connected, the cleaning efficiency and the degree of automation are low, and the manual operation dependency is high; here, the suitable mopping area may include a surface area of a floor surface, a floor tile surface, or the like that is easily dried and is not easily soiled, and the unsuitable mopping area may include a surface area of a carpet surface, or the like that is not easily dried or is easily soiled. As another example, for use environments that include a wipe accessory passable area and a wipe accessory passable area, it is desirable to remove the wipe accessory before entering the wipe accessory passable area; correspondingly, the cleaning devices also need to be manually assembled and disassembled by users, so that the passing capability and continuous operation capability of the cleaning devices among different areas are greatly restricted, and the cleaning efficiency and the automation degree are reduced; here, the wipe attachment passable area refers to an area through which the cleaning device can pass beyond a barrier after attaching the wipe attachment, and generally has a low barrier height so as to be accessible or passable by the cleaning device to which the wipe attachment is attached; the non-passing area of the cleaning cloth accessory refers to an area which cannot pass through obstacle after the cleaning device is attached with the cleaning cloth accessory, the area is provided with a higher obstacle height or is blocked by obstacle which cannot be passed through by the cleaning device attached with the cleaning cloth accessory, such as a threshold, a fence and the like, so that the cleaning device attached with the cleaning cloth accessory cannot enter and pass through, and the cleaning device not attached with the cleaning cloth accessory can enter and pass through. The manual assembly and disassembly process also easily causes the user to be polluted by the odor and dirt on the dirt rag, and has adverse effects on the physical health of the user.

As shown in fig. 1 to 4, in a first aspect, an embodiment of the present application provides a cleaning device 1, the cleaning device 1 comprising a cleaning host 101 and a wipe attachment 102. The cleaning host 101 comprises a body 10 and a connecting mechanism 20, and can attach and remove the cleaning cloth accessory 102 by itself, thereby improving the automation degree and the use convenience.

Here, the type of the cleaning device 1 may be determined according to actual needs, and the corresponding configuration and shape of different types of cleaning apparatuses such as a floor mopping robot, a sweeping and mopping robot, a dust collector, a cleaning machine, a glass cleaning robot, etc., which are not limited in the embodiment of the present application. Accordingly, the cleaning host 101 may adopt a host structure of different types of cleaning devices, such as a sweeping robot, a mopping robot, a sweeping and mopping robot, a dust collector, a cleaning machine, a glass cleaning robot, etc., according to actual application requirements, so as to achieve a corresponding cleaning effect, which is not limited by the embodiment of the present application. Similarly, the cleaning cloth accessory 102 can be configured to match the type of cleaning apparatus to achieve a corresponding cleaning effect, as desired for the application, and the embodiments of the present application are not limited in this regard. In some embodiments, the wipe accessory 102 may include a wipe and a wipe support adapted to mount the wipe; here, the wiper and the wiper holder may have a non-detachable integral structure, or may have an attachable/detachable structure.

The body 10 has a cleaning side 12 and a back side 13 disposed opposite in a thickness direction thereof. When the wipe attachment 102 is attached to the body 10, the wipe attachment 102 is located on the cleaning side 12 of the body 10; accordingly, during a drag-and-wipe cleaning of a target environment area, the cleaning side 12 and the surface of the target environment area remain facing and the back side 13 and the surface of the target environment area remain facing away, with the wipe attachment 102 positioned on the cleaning side 12 to drag-and-wipe the surface of the target environment area.

The connecting mechanism 20 is arranged on the machine body 10 and provided with a movable connecting part 20a, and the connecting part 20a is suitable for connecting/disconnecting with the cleaning cloth accessory 102; the connecting portion 20a can be moved in the first direction or in the opposite direction of the first direction by means of the connecting mechanism 20, so that the connecting portion 20a and the cloth accessory 102 are connected/disconnected in a fitting manner. Here, the first direction refers to a direction approaching the cleaning side 12 from the back side 13. In the movement stroke in the first direction, the connection mechanism 20 may move the connection portion 20a in the first direction gradually away from the back side 13 of the body 10 until reaching a predetermined position such as a specific position outside the body 10; in this predetermined position, the attachment portion 20a is adapted to be attached to the wipe attachment 102 such that the wipe attachment 102 can be automatically mounted to the cleaning host 101 by the attachment mechanism 20. In the movement stroke along the opposite direction of the first direction, the connection mechanism 20 can move the connection portion 20a along the opposite direction of the first direction to gradually approach the back side 13 of the main body 10, so that the connection portion 20a and the cleaning cloth accessory 102 are separated, and the cleaning cloth accessory 102 is automatically removed on the cleaning host 101. In some examples, the connection portion 20a may protrude from the inside of the body 10 to the outside of the body 10 while moving in the first direction; and the connection portion 20a may be retracted from the outside of the body 10 to the inside of the body 10 while moving in the opposite direction to the first direction. In other examples, the connection portion 20a may be always located outside the body 10 while moving in the first direction or the opposite direction thereof.

Compared with the related art, the cleaning host 101 provided by the embodiment of the application can automatically attach or remove the cleaning cloth accessory 102 according to the needs, and a user does not need to manually install or remove the cleaning cloth accessory 102, so that the labor burden of the user can be released, pollution and damage to the user caused by the dirty and wet cleaning cloth accessory 102 can be avoided, and the automation degree and the use convenience of the cleaning host 101 are improved. For the use environment including the area 201 suitable for mopping and the area 202 unsuitable for mopping, the cleaning host 101 provided by the embodiment of the application can automatically attach the cleaning cloth accessory 102 before cleaning the area 201 suitable for mopping and automatically remove the cleaning cloth accessory 102 before cleaning the area 202 unsuitable for mopping, so that continuous and tightly-linked cleaning operations can be performed between different areas without manual intervention of a user, and the cleaning efficiency and the automation degree are higher; for the use environment including the wipe accessory 102 passable area and the wipe accessory passable area 302, the cleaning host 101 provided in the embodiments of the present application can remove the wipe accessory 102 before entering the wipe accessory passable area 302, and also has higher obstacle-surmounting capability and continuous operation capability between different areas without manual intervention operation of a user. In addition, the connecting portion 20a is movably connected with the cleaning cloth accessory 102 along the first direction, so that the connecting portion 20a can be connected with the cleaning cloth accessory 102 in a trend of approaching to the target environment area, the surface of the cleaning cloth accessory 102 and the surface of the target environment area are guaranteed to have better relative contact positions and contact acting forces, and the cleaning capability and efficiency of the cleaning cloth accessory 102 on the surface of the target environment area are improved.

Here, the cleaning cloth accessory 102, after being attached to the cleaning host 101, may remain static with respect to the cleaning host 101 for follow-up mopping on the cleaning host 101, or may move with respect to the cleaning host 101 for active mopping. While the cleaning cloth accessory 102 may move relative to the cleaning host 101, the movement pattern of the cleaning cloth accessory 102 may be designed according to practical needs, such as linear reciprocating movement, swinging movement, rotating movement, etc., which is not limited in this embodiment of the present application.

In some embodiments, the movement pattern of the wipe attachment 102 may be a rotational movement; accordingly, the attachment mechanism 20 may be configured to drive the rotation of the wipe attachment 102 coupled to the attachment portion 20 a. Here, the connecting mechanism 20 can output linear motion on one hand, so that the connecting part 20a can be connected with or separated from the cleaning cloth accessory 102 in a moving stroke, and can output circular motion on the other hand, so that the connecting part 20a can drive the cleaning cloth accessory 102 to rotate for efficient cleaning; compared with the related art, the cleaning host 101 can realize the automatic assembly and disassembly of the cleaning cloth accessory 102 and the rotary driving of the cleaning cloth accessory 102 in the cleaning process by the same mechanism, thereby simplifying the mechanical structure of the cleaning host 101. When the cleaning host 101 moves along the cleaning path, the cleaning cloth accessory 102 can actively rotate to effectively drag and clean the area to be cleaned, so that the efficiency and the cleanliness of the drag and cleaning are improved.

The type of the connection mechanism 20 may be determined according to actual needs, and different linear motion mechanism configurations such as a telescopic cylinder, an electric push rod, a rack and pinion mechanism may be adopted, which is not limited in the embodiment of the present application. In some embodiments, the connection mechanism 20 may include a rotation assembly 21 and a driving device 22 for driving the rotation assembly 21 to rotate, the rotation assembly 21 may be provided with a connection portion 20a adapted to be connected to/disconnected from the cleaning cloth accessory 102 as before, and the connection portion 20a is formed at an end of the rotation assembly 21 away from the back side 13 in the first direction. There may be a screw-type engagement between the rotating assembly 21 and the body 10 such that the rotating assembly 21 is held on the body 10 in a screw-type rotation to allow the attachment portion 20a to be attached to or detached from the cleaning cloth attachment 102 in a first direction or in the opposite direction. When the driving device 22 drives the rotating assembly 21 to rotate on the machine body 10, due to the spiral guiding action of the machine body 10 on the rotating assembly 21, the circumferential rotation of the rotating assembly 21 is converted into linear feeding motion along the first direction, so that the rotating assembly 21 integrally presents spiral rotation motion formed by combining the circumferential rotation and the linear feeding, and the purpose of linear position movement of the connecting part 20a relative to the machine body 10 is achieved. The type of the driving device 22 may be determined according to actual needs, and types such as a rotary electric machine, a hydraulic motor, and the like may be employed as long as the rotary motion can be output to the rotary assembly 21, which is not limited by the embodiment of the present application.

In some examples, one of the body 10 and the rotating assembly 21 may have a spiral track portion 21a, while the other may have a rotation guide portion 10a. Illustratively, the body 10 may have a helical track portion 21a, and the rotating assembly 21 may have a rotational guide portion 10a; also by way of example, the rotating assembly 21 may have a helical track portion 21a and the body 10 may have a rotational guide portion 10a. The spiral rail portion 21a and the rotation guide portion 10a are connected to move the rotation assembly 21 along the spiral rail portion 21a, and a center line of the spiral rail portion 21a extends in the first direction. When the spiral rail part 21a is connected with the rotary guide part 10a, the rotating assembly 21 can rotate spirally on the machine body 10 along the spiral rail part 21a, so that the linear feeding of the rotating assembly 21 on the machine body 10 and the connection or disconnection of the cleaning cloth accessory 102 are realized; while the rotation assembly 21 may rotate on the body 10 in the circumferential direction thereof but not be linearly fed in the first direction when the spiral rail portion 21a and the rotation guide portion 10a are separated.

The types of construction of the spiral rail portion 21a and the rotation guide portion 10a may be determined according to actual needs, and the embodiment of the present application is not limited thereto. Illustratively, one of the helical track portion 21a and the rotary guide portion 10a may have an outer helical groove portion configuration and the other may have an inner helical groove portion configuration, with the outer helical groove portion and the inner helical groove portion being helically engaged; here, the outer spiral groove portion and the inner spiral groove portion may employ a spiral type such as trapezoidal threads, ball threads, or the like. Also by way of example, the helical track portion 21a may have a helical groove portion configuration and the rotary guide portion 10a may have a boss configuration slidably retained within the guide boss along the helix of the helical groove, with corresponding movement along the helical groove portion, for helical guide purposes.

For example, the helical engagement of the helical track portion 21a and the rotary guide portion 10a, such as the engagement length thereof, may be configured such that the helical track portion 21a and the rotary guide portion 10a separate when the rotating assembly 21 and the wipe attachment 102 are connected. Thus, when the driving device 22 drives the rotating assembly 21 to rotate along the first rotation direction, the rotating assembly 21 extends out of the machine body 10 in a spiral rotation manner to gradually approach the cleaning cloth accessory 102, and the engagement length between the spiral rail portion 21a and the rotation guide portion 10a is continuously reduced to gradually approach separation; as the rotating assembly 21 and the cleaning cloth accessory 102 reach the connection state, the spiral rail portion 21a and the rotation guiding portion 10a are separated from each other and are separated from each other, so that the rotating assembly 21 is not subjected to spiral guiding any more, and the rotating assembly 21 rotates on the machine body 10 only along the first rotation direction, thereby achieving the purpose of rotating and driving the cleaning cloth accessory 102. In contrast, when the driving device 22 drives the rotating assembly 21 to rotate in the opposite direction to the first rotation direction (hereinafter referred to as "second rotation direction"), the spiral rail portion 21a and the rotation guide portion 10a are gradually engaged to form a spiral engagement, so that the spiral engagement length between the rotating assembly 21 and the body 10 is gradually increased, and the rotating assembly 21 is spirally retracted into the body 10 by the spiral guide action of the body 10, thereby achieving separation between the rotating assembly 21 and the cleaning cloth accessory 102. In this way, the spiral cooperation between the rotating assembly 21 and the machine body 10 can be utilized to realize the switching of the rotating assembly 21 between the spiral rotating state and the circumferential rotating state, and correspondingly realize the function switching of the rotating assembly 21 between the linear feeding to assemble and disassemble the cleaning cloth accessory 102 and the circumferential rotating to drive the cleaning cloth accessory 102 to rotate and clean, so that an additional movement mechanism is not required to be introduced, the mechanical mechanism is simplified, and the dual requirements of functionality and cost are met.

For example, the spiral rail portion 21a or the rotation guide portion 10a may be directly provided on the body 10. As another example, the body 10 may include a rotation shaft sleeve 11, and the spiral rail portion 21a or the rotation guide portion 10a is provided on an inner circumferential surface of the rotation shaft sleeve 11, and the rotation assembly 21 is spirally rotatably sleeved on an inner circumferential side of the rotation shaft sleeve 11. Therefore, when the rotating shaft sleeve 11 is damaged, the rotating shaft sleeve 11 can be replaced in time, the machine body 10 is not required to be replaced or maintained, and the manufacturing and maintenance cost of the whole machine is reduced.

The configuration of the rotating assembly 21 may be determined according to practical needs, and the embodiment of the present application is not limited thereto. In some examples, the rotation assembly 21 may include a rotation shaft member 211 and a connection member 212 sequentially connected in the first direction. The rotating shaft member 211 extends along the first direction on the rotating shaft member 211, and accordingly, the central axis of the rotating shaft member 211 is parallel to the first direction; one of the spiral rail portion 21a and the rotation guide portion 10a is provided on the rotation shaft member 211, and the rotation shaft member 211 and the driving device 22 are connected such that the rotation shaft member 211 is driven by the driving device 22 to be spirally rotatably held on the body 10. The connecting piece 212 is disposed on a side of the rotating shaft piece 211 away from the back side 13 along the first direction, and the connecting portion 21a is formed at an end of the connecting piece 212 away from the rotating shaft piece 211. Illustratively, one end of the shaft member 211 may be coupled to the driving device 22, and the coupling member 212 may be disposed at an end of the shaft member 211 remote from the driving device 22. With the linear feeding of the shaft member 211, the connection member 212 and the connection portion 21a thereon can be connected to or disconnected from the wiper attachment 102.

In some examples, the rotating assembly 21 may also include a resilient member 213. The connection member 212 and the rotation shaft member 211 may relatively move in the axial direction of the rotation shaft member 211, and the elastic member 213 connects the connection member 212 and the rotation shaft member 211 in the axial direction of the rotation shaft member 211; accordingly, the elastic member 213 may apply an elastic force between the connection member 212 and the rotation shaft member 211 in the axial direction of the rotation shaft member 211. The type of the elastic member 213 may be determined according to practical needs, and may be a type such as a spring, a metal spring plate, etc., which is not limited in the embodiment of the present application. In this way, on the one hand, the elastic acting force can be utilized to realize the position maintenance between the connecting piece 212 and the rotating shaft piece 211, so that the reliable connection between the connecting piece 212 and the rotating shaft piece 211 is ensured to avoid the dislocation, and the connecting piece 212 can synchronously rotate along with the rotating shaft piece 211; on the other hand, the connecting piece 212 and the rotating shaft piece 211 can be adjusted in certain position along the axial direction of the rotating shaft piece 211, and accordingly the elastic acting force of the elastic piece 213 can be adjusted in a certain range, so that the working requirements of different application environments are met.

Illustratively, when the coupler 212 and the wipe accessory 102 are coupled, an interaction force is generated between the coupler 212 and the wipe accessory 102 as the coupler 212 approaches the contact wipe accessory 102; the interaction force is applied to the elastic member 213 to further elastically deform the elastic member 213, and accordingly, the elastic force of the elastic member 213 to the connecting member 212 is increased, so that the connecting member 212 can abut against the cleaning cloth accessory 102 along the first direction to perform reliable connection, and the pressure between the cleaning cloth accessory 102 and the surface of the area to be cleaned can be synchronously increased, so that the surface wiping force required for cleaning is ensured.

As another example, when the driving device 22 drives the rotating assembly 21 to rotate along the second rotation direction, so that the connecting member 212 needs to be separated from the cleaning cloth accessory 102, the rotating shaft member 211 and the connecting member 212 synchronously rotate along the second rotation direction to start loosening with the cleaning cloth accessory 102, so as to give a space for resetting the elastic member 213; the elastic element 213 is reset to push the rotating shaft element 211 to the inside of the machine body 10 along the opposite direction of the first direction, so that the alignment and engagement accuracy and efficiency between the spiral rail portion 21a and the rotation guide portion 10a are increased, the spiral rail portion 21a and the rotation guide portion 10a can be engaged fast and accurately to form spiral engagement, the rotating assembly 21 can be retracted into the machine body 10 in a spiral rotation mode under the spiral guide action of the machine body 10, and separation between the rotating assembly 21 and the cleaning cloth accessory 102 is achieved.

Also, for example, when the connecting member 212 and the cleaning cloth accessory 102 are connected, for cleaning cloth accessories 102 with different external dimensions or different connection positions, the connecting member 212 may approach and press the elastic member 213 toward the inside of the body 10 along the first direction, so that the connecting member 212 may be adjusted to a suitable position to be tightly connected with the cleaning cloth accessory 102, and the adjustment space provided by the elastic member 213 is used to meet the attachment requirements of different cleaning cloth accessories 102.

The type of the shaft member 211 may be determined according to practical needs, and types such as a solid shaft, a hollow shaft, etc. may be used, which is not limited in the embodiment of the present application. Illustratively, the shaft member 211 may be a hollow shaft, and an end of the hollow shaft remote from the driving device 22 is provided with a first opening 211a1; one end of the connecting piece 212 is arranged in the inner cavity of the hollow shaft, the other end of the connecting piece 212 passes through the first opening 211a1 and then protrudes out of the hollow shaft, and the connecting piece 212 is movably held in the first opening 211a1; the elastic member 213 may be disposed in the inner cavity of the hollow shaft and located at a side of the connecting member 212 away from the first opening 211a 1.

The hollow shaft can be in an integral structure or a split assembly structure according to actual needs, and the embodiment of the application is not limited to the integral structure or the split assembly structure. By way of example, the hollow shaft may have a split-mount configuration, including a shaft body 211a and a shaft end cap 211b; the shaft body 211a has a first opening 211a1 and a second opening at both ends thereof, and the shaft cover 211b closes the second opening and connects the driving device 22 and the elastic member 213.

The configuration of the connecting member 212 may be determined according to practical needs, and the embodiment of the present application is not limited thereto. By way of example, the connector 212 may include a first connector 212a and a second connector 212b. One end of the first connecting piece 212a is arranged in the inner cavity of the hollow shaft, the other end of the first connecting piece passes through the first opening 211a1 and then is connected with the second connecting piece 212b, and the second connecting piece 212b is arranged outside the hollow shaft. Accordingly, the attachment portion 20a may be located on the second attachment member 212b, with the second attachment member 212b and the wipe attachment 102 being attached/detached.

In some embodiments, the attachment mechanism 20 may further include a magnetically attractable member 23, the magnetically attractable member 23 being adapted for magnetically attractive attachment to the wipe attachment 102. Illustratively, the wipe attachment 102 may be provided with a metallic component 10', the metallic component 10' may comprise a ferromagnetic metallic component such as iron cobalt nickel, adapted for magnetically engaging the magnetic attachment 23; also by way of example, the wipe attachment 102 may comprise a ferromagnetic metal component, such as iron cobalt nickel, adapted for magnetically attractive connection with the magnetically attractive element 23. In this way, the attachment mechanism 20 can be reliably fixed to the wiper attachment 102 by the magnetic attraction between the magnetic attraction member 23 and the wiper attachment 102; when the connecting mechanism 20 needs to be separated from the cleaning cloth accessory 102, the magnetic absorption member 23 can be gradually separated from the cleaning cloth accessory 102 by the retracting movement of the connecting mechanism 20, so that the magnetic absorption member 23 and the cleaning cloth accessory 102 are separated from the magnetic absorption range, and the connecting mechanism 20 and the cleaning cloth accessory 102 can be easily separated. In some examples, the magnetic absorbing member 23 may be disposed on the connection member 212.

In some embodiments, the surface of the body 10 may be provided with a stopper 10b. When the attachment mechanism 20 is retracted into the body 10, the stopper portion 10b contacts the wiper attachment 102 to separate the wiper attachment 102 from the attachment mechanism 20. When the connection mechanism 20 is retracted into the body 10, the wiper attachment 102 can move along with the connection mechanism 20 into the body 10 and approach the limiting part 10b; when the cleaning cloth accessory 102 touches the limiting part 10b, the cleaning cloth accessory 102 cannot move into the machine body 10 continuously due to the limiting and stopping action of the limiting part 10b, and the connecting mechanism 20 continues to retract into the machine body 10, so that the cleaning cloth accessory 102 and the connecting mechanism 20 are separated. The configuration of the limiting portion 10b may be determined according to actual needs, and may be of a type such as a limiting surface, a limiting boss, etc., which is not limited in the embodiment of the present application. The setting position of the limiting part 10b can be determined according to actual needs, and the embodiment of the application is not limited to this; in some examples, the limiter 10b may be provided on the cleaning side 12 of the body 10.

As shown in fig. 1-6, in some embodiments, the wipe attachment 102 has an attachment end 20a' adapted to be attached to an attachment portion 20 a. Here, the end face of one of the connection portion 20a and the connection end 20a ' is provided with a plurality of spiral convex portions 20a1 disposed in turn in the circumferential direction, while the end face of the other is provided with a plurality of spiral end groove portions 20a ' disposed in turn in the circumferential direction, the plurality of spiral convex portions 20a1 and the plurality of spiral end groove portions 20a ' are spirally engaged in one-to-one correspondence, and spiral engagement is formed at the end face. Here, the plurality of spiral protrusions 20a1 are formed in a protrusion structure along different spiral lines, respectively, and the plurality of spiral protrusions 20a1 are disposed adjacent to each other in order and remain disconnected from each other; similarly, the plurality of spiral end grooves 20a 'are each recessed along a different spiral to form a fluted configuration, and the plurality of spiral end grooves 20a' remain disconnected from each other. Thus, when the driving device 22 drives the rotating assembly 21 to rotate along the first rotation direction, the rotating assembly 21 is spirally extended to connect the connecting portion 20a with the cleaning cloth accessory 102, the connecting portion 20a gradually performs end spiral fit with the connecting end 20a 'of the cleaning cloth accessory 102 along the spiral line, so that the connecting portion 20a gradually goes deep into the connecting end 20a' of the cleaning cloth accessory 102 along the spiral line until the spiral end locking is performed to be connected in place, and the connecting portion 20a and the cleaning cloth accessory 102 have synchronous rotation capability along the first rotation direction; when the driving device 22 drives the rotating assembly 21 to rotate along the second rotation direction, the connecting portion 20a starts to withdraw from the connecting end 20a' of the cleaning cloth accessory 102 along the spiral line along with the rotating assembly 21 to loosen the rotating assembly 21 and the cleaning cloth accessory 102, so that the rotating assembly 21 is pushed into the machine body 10, the spiral rail portion 21a and the rotation guide portion 10a are aligned and meshed, and when the elastic member 213 is provided, a space for resetting the elastic member 213 can be provided, and the meshing process of the spiral rail portion 21a and the rotation guide portion 10a is accelerated.

In some embodiments, the cleaning host 101 also includes a travel switch 24 that can detect the relative position of the attachment mechanism 20 and the body 10. The travel switch 24 may control the movement state of the connection mechanism 20 when the connection mechanism 20 moves to a predetermined position. Here, the type of the travel switch 24 may be determined according to actual needs, which is not limited in the embodiment of the present application.

As shown in fig. 7, in a second aspect, an embodiment of the present application provides a control method, which includes S10 to S30, and can control the cleaning apparatus 1 or the cleaning main machine 101 to attach and remove the cleaning cloth accessory.

S10: it is determined whether the cleaning host has a wipe attachment attached.

S20: in response to determining that the cleaning host is not attached with the cleaning cloth accessory, the connecting mechanism is controlled to enable the connecting portion to be movably connected with the cleaning cloth accessory to be attached along the first direction, and automatic attachment of the cleaning cloth accessory on the cleaning host is achieved.

S30: in response to determining that the cleaning host has the cleaning attachment attached, the attachment mechanism is controlled to move the attachment portion in a direction opposite the first direction away from the cleaning attachment to be removed, enabling automatic removal of the cleaning attachment from the cleaning host.

As shown in fig. 8 to 10, in a third aspect, an embodiment of the present application provides a control method including S10 'to S40', which can control the cleaning apparatus 1 or the cleaning main body 101.

S10': it is determined whether the target environmental area includes at least one of a class of areas including areas suitable for the mop zone 201 and the wipe attachment 102 to pass through and a class of areas including areas unsuitable for the mop zone 202 and the wipe attachment to pass through 302. Here, the target environmental area is an environmental area where the cleaning device 1 needs to perform cleaning. In some examples, it may be determined whether the target environmental area includes a class one area and a class two area from an environmental map pre-constructed for the target environmental area; in other examples, whether the target environment area includes the first-type area and the second-type area may be determined from detection information of the sensors using sensors such as a carpet recognition sensor, an obstacle 303 detection sensor, and the like provided on the cleaning host 101; in still other examples, whether the target environment area contains a first type area and a second type area can be comprehensively determined according to the pre-constructed environment map and detection information of the sensor, so that the method has better real-time judgment accuracy and environment adaptability. As previously described, the wipe accessory non-passable area 302 may have a high barrier height overall, while the cleaning device 1 without the attached wipe accessory 102 is able to enter and pass, but the cleaning device 1 without the attached wipe accessory 102 is able to enter and pass; alternatively, the wipe accessory non-passable area 302 may be obstructed by an obstacle 303, such as a threshold, fence, etc., that cannot be passed by the cleaning device 1 to which the wipe accessory 102 is attached, such that the cleaning device 1 to which the wipe accessory 102 is attached cannot enter and pass, but the cleaning device 1 to which the wipe accessory 102 is not attached can enter and pass.

S20': in response to determining that the target environmental area includes a type one area and a type two area, a determination is made as to whether the cleaning host 101 has the cleaning cloth accessory 102 attached. Upon determining that the target environmental area comprises a first type of area and a second type of area, it is indicated that the cleaning device 1 needs to involve cleaning of two different types of areas, and further involves attachment and removal of the wipe attachment 102. Accordingly, the cleaning sequence for the two different types of areas needs to be determined according to the attached/removed states of the cleaning host 101 and the wiper accessory 102.

S30': in response to determining that the cleaning host 101 has attached the cleaning cloth accessory 102, the cleaning host 101 is controlled to sequentially clean the second type of area and the first type of area, and the cleaning host 101 is controlled to remove the cleaning cloth accessory 102 to a designated area after the cleaning of the second type of area is completed and before the cleaning of the first type of area is started. When the cleaning host 101 is determined to be attached with the rag accessory 102, the cleaning host 101 can be controlled to drag and wipe the second-class area first; after the second type of area is completely dragged, the cleaning host 101 can move to a designated area, and the cleaning cloth accessory 102 is automatically removed to the designated area; the cleaning host 101, from which the wipe attachment 102 has been removed, can then sweep over a type of area.

S40': in response to determining that the cleaning host 101 is not attached with the cleaning cloth accessory 102, the cleaning host 101 is controlled to sequentially clean the first type of area and the second type of area, and the cleaning host 101 is controlled to attach the cleaning cloth accessory 102 located in the designated area after the cleaning of the first type of area is completed and before the cleaning of the second type of area is started. When it is determined that the cleaning host 101 is not attached with the cleaning cloth accessory 102, the cleaning host 101 can be controlled to drag and wipe a type of area; after completing the mopping of a type of area, the cleaning host 101 can move to a designated area, and the cleaning cloth accessory 102 positioned in the designated area is automatically picked up and attached; the cleaning host 101, from which the wipe attachment 102 has been removed, can then sweep the area of the second type.

According to the control method provided by the embodiment of the application, the cleaning sequence of different areas can be determined according to the characteristics of the different areas, and the cleaning host 101 is controlled to automatically attach/remove the rag accessory 102 in the cleaning connection section of the different areas, so that the cleaning device 1 can continuously and tightly connect the different areas, has higher obstacle crossing and passing capabilities and continuous operation capabilities in the different areas, and improves the cleaning efficiency and the automation degree of the cleaning device 1.

Here, several typical application examples are briefly described.

Application example one

The cleaning device 1 is a cleaning robot with autonomous movement capability, comprising a cleaning host 101 and a wipe attachment 102. When the cleaning device 1 with the cloth accessory 102 attached to the cleaning host 101 is in operation, the cleaning may be performed sequentially in the order of the areas 201 and 202 for use in environments that include areas 201 and 202. Accordingly, the cleaning device 1 with the wipe attachment 102 attached thereto may first be used to wipe the area 201; after completing the mopping of the area 201, the cleaning device 1 can be moved to a designated area, automatically removing the wipe attachment 102 to the designated area; the cleaning device 1 with the wipe attachment 102 removed may then sweep areas 202 that are not suitable for mopping.

Application example two

The cleaning device 1 is a cleaning robot with autonomous movement capability, comprising a cleaning host 101 and a wipe attachment 102. In operation of the cleaning device 1 without the wipe attachment 102, for use environments comprising areas 201 suitable for mopping and areas 202 unsuitable for mopping, cleaning may be performed sequentially in the order unsuitable for mopping and areas 201 suitable for mopping. Accordingly, the cleaning device 1 without the wipe attachment 102 can first sweep the area 202 not suitable for mopping; after completing the sweep of the area 202 unsuitable for mopping, the cleaning device 1 can be moved to the designated area, automatically attaching the cloth accessory 102 located in the designated area to the cleaning host 101; subsequently, the cleaning device 1 with the wipe attachment 102 attached may be used to wipe areas 202 that are not suitable for being wiped.

Application example three

The cleaning device 1 is a cleaning robot with autonomous movement capability, comprising a cleaning host 101 and a wipe attachment 102. When the cleaning device 1, in which the cloth accessory 102 has been attached to the cleaning host 101, is in operation, for use environments that include a cloth accessory 102 passable area and a cloth accessory passable area 302, cleaning may be performed sequentially in the order of the cloth accessory 102 passable area and the cloth accessory passable area 302. Accordingly, the cleaning device 1 to which the cloth accessory 102 has been attached can first drag the area through which the cloth accessory 102 can pass; after completing the mopping of the passable area of the cloth accessory 102, the cleaning device 1 can be moved to a designated area, automatically removing the cloth accessory 102 to the designated area; subsequently, the cleaning device 1 from which the wipe attachment 102 has been removed can enter and pass through the wipe attachment non-passable area 302, sweeping the wipe attachment non-passable area 302.

Application example four

The cleaning device 1 is a cleaning robot with autonomous movement capability, comprising a cleaning host 101 and a wipe attachment 102. In operation of the cleaning device 1 without the attachment of the cloth accessory 102, the cleaning may be performed sequentially in the order of the non-passing area 302 of the cloth accessory and the non-passing area 302 of the cloth accessory for use in an environment that includes the non-passing area of the cloth accessory 102 and the non-passing area 302 of the cloth accessory. Accordingly, the cleaning device 1 without the wipe attachment 102 may first drag the wipe attachment non-passable area 302; after completing the mopping of the wipe attachment non-passable area 302, the cleaning device 1 can be moved to the designated area, automatically attaching the wipe attachment 102 located in the designated area to the cleaning host 101; the cleaning device 1 with the attached wipe attachment 102 may then enter and pass through the passable area of the wipe attachment 102, and the passable area of the wipe attachment 102 is wiped.

Application example five

The cleaning device 1 is a cleaning robot with autonomous movement capability, comprising a cleaning host 101 and a wipe attachment 102. When the cleaning device 1, in which the cloth accessory 102 has been attached to the cleaning host 101, is in operation, for use environments that include a passable area of the cloth accessory 102 and an unsuitable area 202 for mopping, cleaning may be performed sequentially in the order of the passable area of the cloth accessory 102 and the unsuitable area 202 for mopping. Accordingly, the cleaning device 1 to which the cloth accessory 102 has been attached can first drag the area through which the cloth accessory 102 can pass; after completing the mopping of the passable area of the cloth accessory 102, the cleaning device 1 can be moved to a designated area, automatically removing the cloth accessory 102 to the designated area; subsequently, the cleaning device 1 with the wipe attachment 102 removed may enter the unsuitable region 202 for mopping and clean the unsuitable region 202.

Application example six

The cleaning device 1 is a cleaning robot with autonomous movement capability, comprising a cleaning host 101 and a wipe attachment 102. In operation of the cleaning device 1 without the attachment of the wipe attachment 102, for use environments comprising a suitable mop-non-passing area 201 and a wipe attachment-non-passing area 302, cleaning may be performed sequentially in the order of the wipe attachment-non-passing area 302 and the suitable mop-passing area 201. Accordingly, the cleaning device 1 without the wipe attachment 102 may first drag the wipe attachment non-passable area 302; after completing the mopping of the wipe attachment non-passable area 302, the cleaning device 1 can be moved to the designated area, automatically attaching the wipe attachment 102 located in the designated area to the cleaning host 101; the cleaning device 1 with the attached wipe attachment 102 may then enter and pass through the suitable mop zone 201 to mop the suitable mop zone 201.

Application example seven

The cleaning device 1 is a cleaning robot with autonomous movement capability, comprising a cleaning host 101 and a wipe attachment 102. When the cleaning device 1 with the cleaning attachment 102 attached to the cleaning host 101 is in operation, the cleaning may be performed sequentially in the order of the suitable mop 201, the non-suitable mop 202, and the non-suitable mop 302 for use environments including the suitable mop 201, the non-suitable mop 202, the non-suitable mop 102, and the non-suitable mop 302. Here, the sequence between the suitable mop region 201 and the passable region of the wiper attachment 102 is not limited, and the sequence between the suitable mop region 202 and the non-passable region 302 is not limited. Accordingly, the cleaning device 1 to which the cloth accessory 102 has been attached can first perform a mopping operation on the area 201 adapted to be mopped and the area through which the cloth accessory 102 can pass; after completing the mopping of the area 201 suitable for mopping and the area through which the cloth accessory 102 can pass, the cleaning device 1 can be moved to the designated area, automatically removing the cloth accessory 102 to the designated area; the cleaning device 1 with the wipe attachment 102 removed may then sweep areas 202 not suitable for mopping and areas 302 not accessible for the wipe attachment.

The cleaning device, the host and the control method provided by the embodiment of the application are described in detail, and specific examples are applied to the description of the principle and the implementation of the application, and the description of the above examples is only used for helping to understand the method and the core idea of the application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in light of the ideas of the present application, the present description should not be construed as limiting the present application.

Claims (12)

1. A cleaning device comprising a cleaning host and a wipe attachment, the cleaning host comprising:

a body having a cleaning side and a back side disposed opposite to each other in a thickness direction thereof;

the connecting mechanism is arranged on the machine body and is provided with a movable connecting part, the connecting part moves along a first direction to be connected with the cleaning cloth accessory, the connecting part moves along the opposite direction of the first direction to be separated from the cleaning cloth accessory, and the first direction is a direction from the back side to the cleaning side.

2. The cleaning device of claim 1, wherein the attachment mechanism is further configured to drive rotation of a wipe attachment attached to the attachment portion.

3. A cleaning device according to claim 1 or 2, wherein the connection mechanism comprises a rotating member and a driving means for driving the rotating member to rotate, one of the main body and the rotating member has a spiral rail portion and the other has a rotation guide portion, the connection portion being formed at an end of the rotating member away from the back side in the first direction, the spiral rail portion and the rotation guide portion being connected to move the rotating member along the spiral rail portion, a center line of the spiral rail portion extending in the first direction.

4. A cleaning device according to claim 3, wherein the spiral track portion and the rotary guide portion are separated when the attachment portion and the wipe attachment are attached.

5. A cleaning device according to claim 3, wherein the body is provided with a housing chamber open to the cleaning side, the rotating member is provided in the housing chamber, and a surface of the housing chamber to which the rotating member is connected is provided at least partially with one of the spiral rail portion and the rotation guide portion.

6. A cleaning device according to claim 3, wherein the rotating assembly comprises a rotating shaft member and a connecting member connected in sequence in the first direction, the rotating shaft member extending in the first direction and being connected to the driving means, the rotating shaft member being provided with one of the spiral rail portion and the rotation guide portion, the connecting portion being formed at an end of the connecting member remote from the rotating shaft member.

7. The cleaning apparatus of claim 6, wherein the rotating assembly further comprises an elastic member, the connecting member and the rotating shaft member being relatively movable in an axial direction of the rotating shaft member, the elastic member connecting the connecting member and the rotating shaft member in the axial direction of the rotating shaft member.

8. The cleaning device of claim 1, wherein the attachment mechanism further comprises a magnetically attractive element adapted for magnetically attractive attachment to the wipe attachment.

9. The cleaning device of claim 1, wherein a surface of the body is provided with a stopper portion that contacts the cloth accessory to separate the cloth accessory from the connecting portion when the connecting portion moves in a direction in which the cleaning side approaches the back side.

10. The cleaning device according to claim 1, wherein the cloth accessory has a connection end adapted to be connected to the connection portion, an end face of one of the connection portion and the connection end is provided with a plurality of spiral protrusions sequentially arranged in a circumferential direction, and an end face of the other is provided with a plurality of spiral end groove portions sequentially arranged in a circumferential direction, and the plurality of spiral protrusions and the plurality of spiral end groove portions are spirally engaged in a one-to-one correspondence.

11. A control method for controlling a cleaning device comprising a cleaning main body and a wiper attachment, the cleaning main body comprising a main body and a connecting mechanism provided on the main body, the main body having a cleaning side and a back side provided opposite to each other in a thickness direction thereof, the connecting mechanism having a movable connecting portion; the control method comprises the following steps:

determining whether the cleaning host has a rag attachment attached;

in response to determining that the cleaning host is not attached with a wipe attachment, controlling the connection mechanism to connect the connection portion movably with the wipe attachment to be attached in a first direction, the first direction being a direction approaching the cleaning side from the back side;

in response to determining that the cleaning host has a wipe attachment attached, the attachment mechanism is controlled to move the attachment portion in a direction opposite the first direction away from the wipe attachment to be removed.

12. A control method for controlling a cleaning device, the cleaning device comprising a cleaning host and a wipe attachment; the control method comprises the following steps:

determining whether the target environmental area includes a class one area including at least one of a suitable mop area and a rag accessory passable area and a class two area including at least one of a non-suitable mop area and a rag accessory passable area;

In response to determining that the target environmental area comprises a class one area and a class two area, determining whether the cleaning host has a rag attachment attached;

in response to determining that the cleaning host has attached a cleaning cloth accessory, controlling the cleaning host to sequentially clean the second-class area and the first-class area, and controlling the cleaning host to remove the cleaning cloth accessory to a designated area before starting cleaning the first-class area after completing cleaning the second-class area;

and in response to determining that the cleaning host is not attached with the cleaning cloth accessory, controlling the cleaning host to sequentially clean the first-class area and the second-class area, and controlling the cleaning host to attach the cleaning cloth accessory positioned in the designated area after the cleaning of the first-class area and before the cleaning of the second-class area is started.