An automatic cleaning machine, comprising: a travelling device (400, 401, 402) for making the automatic cleaning machine travel on a floor, and a control system, wherein the automatic cleaning machine is characterized in that it further comprises a reciprocally wiping mechanism (110, 130, 140, 150, 210, 220, 230, 240, 250, 260), wherein the reciprocally wiping mechanism (110, 130, 140, 150, 210, 220, 230, 240, 250, 260) comprises: at least one cleaning device (210, 220, 230, 240, 250, 260) used for being in contact with the floor; and at least one reciprocating device (110, 130, 140, 150) connected to the at least one cleaning device (210, 220, 230, 240, 250, 260) and comprising: a motor; a crankshaft, driven by the motor to rotate; and at least one crank (140, 150), wherein a first end of the at least one crank (140, 150) is connected to the crankschaft and a second end of the at least one crank (140, 150) is connected to the at least one cleaning device (210, 220, 230, 240, 250, 260) and reciprocally moves as the crankshaft rotates so as to make the at least one cleaning device (210, 220, 230, 240, 250, 260) reciprocally wipe the floor, the control system being coupled to the reciprocally wiping mechanism and the travelling device (400, 401, 402) and used to control the reciprocally wiping mechanism and the travelling device (400, 401, 402). a travelling device (400, 401, 402) for making the automatic cleaning machine travel on a floor, and a control system, wherein the automatic cleaning machine is characterized in that it further comprises a reciprocally wiping mechanism (110, 130, 140, 150, 210, 220, 230, 240, 250, 260), wherein the reciprocally wiping mechanism (110, 130, 140, 150, 210, 220, 230, 240, 250, 260) comprises: at least one cleaning device (210, 220, 230, 240, 250, 260) used for being in contact with the floor; and at least one reciprocating device (110, 130, 140, 150) connected to the at least one cleaning device (210, 220, 230, 240, 250, 260) and comprising: a motor; a crankshaft, driven by the motor to rotate; and at least one crank (140, 150), wherein a first end of the at least one crank (140, 150) is connected to the crankschaft and a second end of the at least one crank (140, 150) is connected to the at least one cleaning device (210, 220, 230, 240, 250, 260) and reciprocally moves as the crankshaft rotates so as to make the at least one cleaning device (210, 220, 230, 240, 250, 260) reciprocally wipe the floor, the control system being coupled to the reciprocally wiping mechanism and the travelling device (400, 401, 402) and used to control the reciprocally wiping mechanism and the travelling device (400, 401, 402). at least one cleaning device (210, 220, 230, 240, 250, 260) used for being in contact with the floor; and at least one reciprocating device (110, 130, 140, 150) connected to the at least one cleaning device (210, 220, 230, 240, 250, 260) and comprising: a motor; a crankshaft, driven by the motor to rotate; and at least one crank (140, 150), wherein a first end of the at least one crank (140, 150) is connected to the crankschaft and a second end of the at least one crank (140, 150) is connected to the at least one cleaning device (210, 220, 230, 240, 250, 260) and reciprocally moves as the crankshaft rotates so as to make the at least one cleaning device (210, 220, 230, 240, 250, 260) reciprocally wipe the floor, the control system being coupled to the reciprocally wiping mechanism and the travelling device (400, 401, 402) and used to control the reciprocally wiping mechanism and the travelling device (400, 401, 402). a motor; a crankshaft, driven by the motor to rotate; and at least one crank (140, 150), wherein a first end of the at least one crank (140, 150) is connected to the crankschaft and a second end of the at least one crank (140, 150) is connected to the at least one cleaning device (210, 220, 230, 240, 250, 260) and reciprocally moves as the crankshaft rotates so as to make the at least one cleaning device (210, 220, 230, 240, 250, 260) reciprocally wipe the floor, the control system being coupled to the reciprocally wiping mechanism and the travelling device (400, 401, 402) and used to control the reciprocally wiping mechanism and the travelling device (400, 401, 402).