Cleaning system and control method thereof

Abstract

The invention provides a cleaning system and a control method thereof.A controller adjusts a screen box in the following modes that according to the vehicle state of a target vehicle, a screen box horizontal adjustment mode is determined, and the screen box horizontal adjustment mode comprises a manual mode and an automatic mode; when the screen box horizontal adjustment mode is a manual mode, responding to a received screen box angle adjustment instruction, generating a first control signal and sending the first control signal to a lifting motor controller of a lifting mechanism so as to control the working angle of the screen box; and when the horizontal adjustment mode of the screen box is an automatic mode, a corresponding preset adjustment angle is determined through angle data collected by an angle sensor arranged on the screen box, and a second control signal is generated and sent to a lifting motor of the lifting mechanism so as to control the working angle of the screen box. The device is used for achieving horizontal working angle adjustment and closed-loop control of a screen box, and loss of crop cleaning is reduced.

Description

Technical Field

[0001] The present application relates to the field of agricultural machinery technology, and in particular to a cleaning system and a control method thereof. Background Art

[0002] Rice harvesting machinery has improved harvesting efficiency and reduced labor intensity to a certain extent, and has been widely recognized by users. Rice harvesters realize the harvesting, threshing, separation, cleaning and grain collection of crops. Each link in the rice harvesting process will directly affect the output of the harvested crops, and improving the performance of each link will have a great impact on the increase in crop output.

[0003] The separation and cleaning of harvesters are the core parts of harvesters. Cleaning is a very important link. Harvesters operate in different terrains. When working, the harvesters tilt, resulting in uneven distribution of harvested crops in the screen box. Crops may be piled up on one side and no crops on the other side. In this case, the cleaning loss is high during cleaning, causing unnecessary losses and affecting the crop yield. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a cleaning system and a control method thereof, so as to achieve horizontal working angle adjustment and closed-loop control of the screen box and reduce the loss of crop cleaning.

[0005] In a first aspect, the present invention provides a control method for a cleaning system, the cleaning system comprising a controller, a cleaning chamber, a screen box, left and right lifting mechanisms and an angle sensor, the left and right lifting mechanisms are respectively arranged on opposite inner side walls of the cleaning chamber, a screen box is connected between the left and right lifting mechanisms, the screen box angle sensor is installed on the screen box, and the controller adjusts the screen box in the following manner:

[0006] According to the vehicle status of the target vehicle, the horizontal adjustment mode of the screen box is determined, and the horizontal adjustment mode of the screen box includes a manual mode and an automatic mode; when the horizontal adjustment mode of the screen box is the manual mode, in response to the received screen box angle adjustment instruction, a first control signal is generated and sent to the lifting motor controller of the lifting mechanism to control the working angle of the screen box; when the horizontal adjustment mode of the screen box is the automatic mode, the corresponding preset adjustment angle is determined through the angle data collected by the angle sensor arranged on the screen box, and a second control signal is generated and sent to the lifting motor of the lifting mechanism to control the working angle of the screen box.

[0007] In an optional embodiment, the cleaning system further includes a touch screen, which generates a first control signal in response to a received screen box angle adjustment instruction and sends it to a lifting motor controller of the lifting mechanism to control the working angle of the screen box, specifically comprising:

[0008] In response to a first touch operation issued by a user on a left adjustment control through the touch screen, a first lifting control signal is generated according to the first touch operation, and the first lifting control signal is sent to a lifting motor controller of a left lifting mechanism; in response to a second touch operation issued by a user on a right adjustment control through the touch screen, a second lifting control signal is generated according to the second touch operation, and the second lifting control signal is sent to a lifting motor controller of a right lifting mechanism.

[0009] In an optional embodiment, the step of collecting angle data by an angle sensor disposed on the screen box specifically includes:

[0010] Acquire the angle time series data collected by the angle sensor within a preset time length; sample and extract a preset amount of angle data from the angle time series data at a preset time interval. In an optional implementation, the corresponding preset adjustment angle is determined by the following method:

[0011] For each angle data, a target angle interval corresponding to the angle data is determined; based on all the determined target angle intervals, a preset adjustment angle is matched according to a preset mapping relationship.

[0012] In an optional embodiment, the step of determining the screen box level adjustment mode according to the vehicle state of the target vehicle specifically includes:

[0013] Determine whether the target vehicle is in the start-up state; if it is in the start-up state, determine whether the clutch of the target vehicle is in the engaged state; if the clutch is in the engaged state, determine whether an automatic mode instruction is received; if not, determine that the screen box horizontal adjustment mode is the manual mode; if so, determine that the screen box horizontal adjustment mode is the automatic mode.

[0014] In an optional embodiment, the method further includes responding to a third touch operation issued by the user via the touch screen to the automatic adjustment control to generate an automatic mode instruction.

[0015] In an optional embodiment, it also includes determining whether the working angle of the screen box is within a preset working angle range; if not, stopping the adjustment of the working angle of the screen box, generating a warning message and displaying it through the touch screen.

[0016] In a second aspect, the present invention provides a cleaning system, a cleaning system controller, a cleaning chamber, a screen box, left and right lifting mechanisms and an angle sensor, the left and right lifting mechanisms are respectively arranged on opposite inner side walls of the cleaning chamber, a screen box is connected between the left and right lifting mechanisms, the screen box angle sensor is installed on the screen box, and the controller adjusts the screen box in the following manner:

[0017] According to the vehicle status of the target vehicle, the horizontal adjustment mode of the screen box is determined, and the horizontal adjustment mode of the screen box includes a manual mode and an automatic mode; when the horizontal adjustment mode of the screen box is the manual mode, in response to the received screen box angle adjustment instruction, a first control signal is generated and sent to the lifting motor controller of the lifting mechanism to control the working angle of the screen box; when the horizontal adjustment mode of the screen box is the automatic mode, the corresponding preset adjustment angle is determined through the angle data collected by the angle sensor arranged on the screen box, and a second control signal is generated and sent to the lifting motor of the lifting mechanism to control the working angle of the screen box.

[0018] In an optional embodiment, the cleaning system further includes a touch screen, which generates a first control signal in response to a received screen box angle adjustment instruction and sends it to a lifting motor controller of the lifting mechanism to control the working angle of the screen box, specifically comprising:

[0019] In response to a first touch operation issued by a user on a left adjustment control through the touch screen, a first lifting control signal is generated according to the first touch operation, and the first lifting control signal is sent to a lifting motor controller of a left lifting mechanism; in response to a second touch operation issued by a user on a right adjustment control through the touch screen, a second lifting control signal is generated according to the second touch operation, and the second lifting control signal is sent to a lifting motor controller of a right lifting mechanism.

[0020] In an optional embodiment, the cleaning system further comprises a vibration sensor, which is mounted on the tail screen plate of the screen box and is used to detect a loss state of cleaning.

[0021] The present application provides a cleaning system and a control method thereof, wherein the cleaning system includes a controller and a screen box, the screen box includes at least a lifting mechanism arranged on the left and right side walls, a screen box installed between the lifting mechanisms, and an angle sensor installed on the screen box, and the controller adjusts the screen box in the following manner: according to the vehicle state of the target vehicle, determine the screen box horizontal adjustment mode, the screen box horizontal adjustment mode includes a manual mode and an automatic mode; when the screen box horizontal adjustment mode is the manual mode, respond to the received screen box angle adjustment instruction, generate a first control signal and send it to the lifting motor controller of the lifting mechanism to control the working angle of the screen box; when the screen box horizontal adjustment mode is the automatic mode, determine the corresponding preset adjustment angle through the angle data collected by the angle sensor arranged on the screen box, generate a second control signal and send it to the lifting motor of the lifting mechanism to control the working angle of the screen box. It is used to realize the horizontal working angle adjustment and closed-loop control of the screen box, and reduce the loss of crop cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 A flow chart of a method for adjusting a screen box provided in an embodiment of the present application;

[0024] Figure 2 A flow chart of another method for adjusting a screen box provided in an embodiment of the present application;

[0025] Figure 3 A flowchart of the steps of data collection and processing provided in an embodiment of the present application;

[0026] Figure 4 A schematic diagram of a mapping relationship in an automatic mode provided in an embodiment of the present application;

[0027] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] First, the application scenario of the present application is described. The technical solution of the present application is applicable to the control of the cleaning system of an agricultural harvester.

[0029] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0030] Embodiment 1

[0031] In one embodiment of the present application, a cleaning system suitable for a rice harvester is provided, the cleaning system comprising at least a controller, a cleaning chamber, a touch screen, a screen box, left and right lifting mechanisms, a fan, an air guide plate, a shaking plate, a screen box drive, an angle sensor, and a vibration sensor.

[0032] The cleaning chamber at least includes an upper cleaning chamber shell and a lower cleaning chamber shell. The screen box at least includes a screen box body, an upper cleaning screen plate, a lower cleaning screen plate and a tail screen plate. The left and right lifting mechanisms are respectively arranged on the left and right inner walls of the cleaning chamber. The screen box is installed between the left and right lifting mechanisms. The lifting mechanism at least includes a lifting screw, a lifting motor controller and a lifting motor. By lifting and lowering the lifting screw on each side, the angle between the plane where the cleaning screen plate of the screen box is located and the horizontal plane can be changed.

[0033] Specifically, the grains, bran, stems, and debris separated from the drum fall into the screen box one after another. The crops jump from front to back on the shaking cleaning screen plate, and the materials are layered, the grains sink, and the bran and broken stems float up. After separation, they are separated and blown out under the action of the fan airflow.

[0034] The angle sensor is installed on the screen box to detect the working angle of the screen box.

[0035] The controller is used to control the lifting mechanism to adjust the working angle of the screen box.

[0036] Furthermore, the screen box can be adjusted in two ways: automatic and manual. The controller can determine the screen box level adjustment mode in the following ways:

[0037] Determine whether the target vehicle is in the start state, if it is in the start state, determine whether the clutch of the target vehicle is in the engaged state, if the clutch is in the engaged state, determine whether the automatic mode instruction is received, if not, determine that the screen box level adjustment mode is the manual mode. If yes, determine that the screen box level adjustment mode is the automatic mode.

[0038] Specifically, the controller can determine whether the target vehicle (such as a harvester or a reaper) is in the startup state by the engine speed or battery voltage. When the engine speed is greater than 400rpm or the battery voltage is greater than 27V, the target vehicle is determined to be in the startup state.

[0039] The controller can determine the clutch state by the drum speed. When the drum speed is greater than 100 rpm, it can be determined that the clutch is in the engaged state.

[0040] When the target vehicle is in the starting state, the clutch is in the engaged state, and no automatic mode command is received, the screen box is allowed to be adjusted by manual adjustment. Here, the manual adjustment controls can be displayed through the touch screen, including left adjustment controls and right adjustment controls.

[0041] Figure 1 The following is a flow chart of a method for adjusting a screen box provided in an embodiment of the present application. Figure 1 As shown in the figure, when the screen box level adjustment mode is manual mode, the controller can adjust the screen box in the following ways:

[0042] S10. According to the vehicle state of the target vehicle, determine that the screen box horizontal adjustment mode is a manual mode.

[0043] S11. In response to the received screen box angle adjustment instruction, a first control signal is generated and sent to a lifting motor controller of the lifting mechanism to control the working angle of the screen box.

[0044] In step S11, specifically, in response to a first touch operation issued by the user on the left adjustment control through the touch screen, a first lifting control signal is generated according to the first touch operation, and the first lifting control signal is sent to the lifting motor controller of the left lifting mechanism. Or in response to a second touch operation issued by the user on the right adjustment control through the touch screen, a second lifting control signal is generated according to the second touch operation, and the second lifting control signal is sent to the lifting motor controller of the right lifting mechanism.

[0045] The left adjustment control is used to adjust the left side of the screen box to rise or fall, and the right adjustment control is used to adjust the right side of the screen box to rise or fall. The driver can make manual adjustments as needed. The left adjustment control here can include a left adjustment up control and a left adjustment down control. The right adjustment control here can include a right adjustment up control and a right adjustment down control.

[0046] Set the horizontal angle of the front screen box to 0°. A positive number indicates that the angle is lower on the left and higher on the right, while a negative number indicates that the angle is higher on the left and lower on the right.

[0047] Click the left raise control to raise the left screen box, adjust the left height and right height of the screen drum, and the maximum adjustment working angle is -5°. The working angle can be displayed in real time on the touch screen. Click the left lower control to lower the left screen box, adjust the left height and right height of the screen drum, and the maximum adjustment working angle is 5°. Click the right raise control to raise the right screen box, adjust the left height and right height of the screen drum, and the maximum adjustment angle is 5°. Click the right lower control to lower the right screen box, adjust the left height and right height of the screen drum. The maximum adjustment angle is -5°, and the angle can be displayed on the touch screen as the real-time value of the horizontal angle of the screen box.

[0048] Clicking the left adjustment control and the right adjustment control at the same time can achieve a larger angle of adjustment, and the screen box can be adjusted close to ±10°.

[0049] In another embodiment of the present application, the control interface displayed by the touch screen may also include an automatic adjustment control, which may specifically include an automatic mode on control and an automatic mode off control. The automatic mode instruction may be generated in the following manner:

[0050] In response to a third touch operation issued by the user on the automatic adjustment control through the touch screen, an automatic mode instruction is generated.

[0051] Specifically, you can click the automatic mode start control, and the controller will generate an automatic mode instruction. Figure 2 This is a flow chart of another method for adjusting a screen box provided in an embodiment of the present application. Figure 2 As shown, at this time, the screen box level adjustment mode is determined to be automatic mode, and the controller can adjust the screen box in the following ways:

[0052] S20. According to the vehicle state of the target vehicle, determining that the screen box horizontal adjustment mode is an automatic mode.

[0053] S21. Determine the corresponding preset adjustment angle through the angle data collected by the angle sensor arranged on the screen box, generate a second control signal and send it to the lifting motor of the lifting mechanism to control the working angle of the screen box.

[0054] It should be noted that when the automatic mode is started, the screen box needs to perform a self-check and return to the 0° state. When the self-check determines that the adjustment function is normal, the controller starts to collect data periodically to achieve automatic closed-loop control.

[0055] Figure 3 A flowchart of the steps of data collection and processing provided in the embodiment of the present application. Figure 3 As shown, in step S21, the step of collecting angle data by an angle sensor arranged on the screen box specifically includes:

[0056] S210: Acquire angle time series data within a preset time period collected by the angle sensor.

[0057] A preset amount of angle data is sampled and extracted from the angle time series data at a preset time interval.

[0058] Specifically, the corresponding preset adjustment angle can be determined in the following manner:

[0059] S211. For each angle data, determine a target angle interval corresponding to the angle data.

[0060] S212: Based on all the determined target angle intervals, a preset adjustment angle is matched according to a preset mapping relationship.

[0061] In a specific embodiment, during harvesting, the controller collects data at a cycle of 100ms, and takes into account the vehicle speed and working conditions, and takes 20 data and 2s of mean filtering. We divide -15° to 15° into 5 intervals, namely (-15°, -10°) as interval 1, (-10°, -5°) as interval 2, (-5°, +5°) as interval 3, (+5°, 10°) as interval 4, and (10°, 15°) as interval 5.

[0062] According to the target angle interval that the 20 angle data fall into, the corresponding preset adjustment angle is determined. The mapping relationship between the preset adjustment angle and the target angle interval here can be pre-calibrated.

[0063] For example, Figure 4 As shown, the closed-loop control logic can be:

[0064] a. When the angle between the vehicle body and the horizontal plane is detected to be -6° from interval 3 to interval 2, the left lifting mechanism is lowered to the 5° stroke position and the right lifting mechanism is at the 0° position. At this time, the screen surface angle is +5° with the vehicle body.

[0065] b. When the angle between the vehicle body and the horizontal plane is detected to be -11° from interval 2 to interval 1, the left lifting mechanism is lowered by 5° and the right lifting mechanism is raised by 5°. At this time, the screen surface angle is +10° with the vehicle body.

[0066] c. When the actual horizontal angle exceeds minus 15°, the screen will alarm and prompt that the vehicle's tilt angle is too large, the lifting mechanism has adjusted to the maximum angle, and no further adjustment will be made to maintain the current angle.

[0067] d. When the real-time angle between the vehicle body and the horizontal is detected to be -9° from interval 1 to interval 2, the left lifting mechanism is lowered to the 5° stroke position, and the right lifting mechanism is at the 0° position. At this time, the screen surface angle forms a +5° angle with the vehicle body.

[0068] e. When the angle between the vehicle body and the horizontal is detected to be -4° from interval 2 to interval 3, the left lifting mechanism is at 0° position, and the right lifting mechanism is at 0° position. At this time, the screen surface angle forms a 0° angle with the vehicle body.

[0069] f. When the angle between the vehicle body and the horizontal plane is detected to be 6° from interval 3 to interval 4, the left lifting mechanism is raised to 5° and the right lifting mechanism is at 0°. At this time, the screen surface angle is -5° with the vehicle body.

[0070] g. When the angle between the vehicle body and the horizontal plane reaches 11° from interval 4 to interval 5, the left lifting mechanism is raised by 5° and the right lifting mechanism is lowered by 5°. At this time, the screen surface angle is -10° with the vehicle body.

[0071] h. When the actual horizontal angle exceeds 15°, the screen will alarm and prompt that the vehicle's tilt angle is too large, the lifting mechanism has adjusted to the maximum angle, and no further adjustment will be made to maintain the current angle.

[0072] i. When the angle between the vehicle body and the horizontal plane is detected to be 9° from interval 5 to interval 4, the left lifting mechanism is raised to 5° and the right lifting mechanism is raised to 0°. At this time, the screen surface angle is -5° with the vehicle body.

[0073] j. When the angle between the vehicle body and the horizontal real-time angle is detected to be 4° from interval 4 to interval 3, the left lifting mechanism is at 0° position, and the right lifting mechanism is at 0° position. At this time, the screen surface angle forms an angle of 5° with the vehicle body.

[0074] The control method of the cleaning system provided in the embodiment of the present application realizes the horizontal working angle adjustment and closed-loop control of the screen box, provides manual and automatic control modes, reduces the loss of crop cleaning, and can display the status of the screen box on the touch screen, so that the user can understand the working status in time.

[0075] Embodiment 2

[0076] In one embodiment of the present application, in order to ensure the cleaning effect, the adjustment angle of the screen box needs to be limited, and the user can configure a preset working angle range, which can also be prefabricated before the target vehicle leaves the factory.

[0077] In manual mode or automatic mode, it is necessary to determine whether the working angle of the screen box is within the preset working angle range. If not, the adjustment of the working angle of the screen box is stopped, and a warning message is generated and displayed on the touch screen.

[0078] In this way, excessive losses from screening crops during the harvesting operation can be avoided.

[0079] Embodiment 3

[0080] In one embodiment of the present application, the cleaning system further includes a vibration sensor, which is installed on the tail screen plate of the screen box and is used to detect a loss state of cleaning.

[0081] The vibration sensor here may include a left vibration sensor and a right vibration sensor, which are arranged on the left and right sides of the tail screen plate respectively. The vibration sensor can generate pressure data and send it to the controller through the knocking and vibration of the crops on the tail screen plate. The controller can then determine how much lost crops are among the impurities that have been cleaned, and then determine the degree of crop loss corresponding to the left and right sides of the cleaning system of the current target vehicle. The degree of loss can also be compared with a preset loss threshold, such as 10%. When the degree of loss exceeds 10%, an alarm is issued. The degree of loss can also be displayed on the touch screen. Let the user know the working status of the cleaning system in a timely manner.

[0082] Furthermore, the controller can also generate a third lifting control signal by comparing the loss degree on the left and right sides and the difference between the loss degrees on the left and right sides, and send it to the corresponding lifting motor controller to control the angle of the screen box. The difference between the loss degrees on the left and right sides can also be compared with the preset difference. If the difference exceeds 2%, the touch screen will immediately prompt a message such as "the difference between the left and right loss detection of the cleaning is large, please check the vehicle and the cleaning status".

[0083] The cleaning system provided by the present application detects the tilt state of the screen box during the harvesting operation through the screen box inclination sensor. After analyzing the sensor signal, the controller determines whether the screen drum needs to be adjusted, thereby adjusting the screen box. After adjustment, the screen box angle sensor value is compared with the expected angle value to determine the completion of the closed-loop adjustment of the screen box adjustment. At the same time, the tail cleaning loss partition detection and the current cleaning status are used to ensure the cleaning effect and status feedback.

[0084] See also Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 5 As shown in , the electronic device 500 includes a processor 510 , a memory 520 and a bus 530 .

[0085] The memory 520 stores machine-readable instructions executable by the processor 510. When the electronic device 500 is running, the processor 510 communicates with the memory 520 via the bus 530. When the machine-readable instructions are executed by the processor 510, the steps of a control method for a cleaning system in the above-mentioned method embodiment can be executed. The specific implementation method can be found in the method embodiment, which will not be repeated here.

[0086] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method of the cleaning system in the above-mentioned method embodiment can be executed. The specific implementation method can be found in the method embodiment, which will not be repeated here.

[0087] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0088] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0089] In addition, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0090] Furthermore, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0091] It should be noted that if the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM) random access memory (RAM), disk or optical disk, and other media that can store program codes.

[0092] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0093] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A control method for a cleaning system, characterized in that: The cleaning system includes a controller, a cleaning chamber, a screen box, left and right lifting mechanisms and an angle sensor. The left and right lifting mechanisms are respectively arranged on the inner side walls opposite to each other in the cleaning chamber. A screen box is connected between the left and right lifting mechanisms. The screen box angle sensor is installed on the screen box. The controller adjusts the screen box in the following manner: Determining a screen box level adjustment mode according to the vehicle state of the target vehicle, wherein the screen box level adjustment mode includes a manual mode and an automatic mode; When the screen box horizontal adjustment mode is the manual mode, in response to the received screen box angle adjustment instruction, a first control signal is generated and sent to the lifting motor controller of the lifting mechanism to control the working angle of the screen box; When the screen box horizontal adjustment mode is the automatic mode, the corresponding preset adjustment angle is determined by the angle data collected by the angle sensor arranged on the screen box, and a second control signal is generated and sent to the lifting motor of the lifting mechanism to control the working angle of the screen box.

2. The method according to claim 1, characterized in that The cleaning system further includes a touch screen, and the step of generating a first control signal in response to the received screen box angle adjustment instruction and sending it to the lifting motor controller of the lifting mechanism to control the working angle of the screen box specifically includes: In response to a first touch operation issued by a user on a left adjustment control through a touch screen, a first lifting control signal is generated according to the first touch operation, and the first lifting control signal is sent to a lifting motor controller of a left lifting mechanism; In response to a second touch operation issued by the user on the right adjustment control through the touch screen, a second lifting control signal is generated according to the second touch operation, and the second lifting control signal is sent to the lifting motor controller of the right lifting mechanism.

3. The method according to claim 1, characterized in that The step of collecting angle data by an angle sensor disposed on the screen box specifically includes: Acquire the angle time series data collected by the angle sensor within a preset time length; A preset amount of angle data is sampled and extracted from the angle time series data at a preset time interval.

4. The method according to claim 3, characterized in that The corresponding preset adjustment angle is determined by the following method: For each angle data, determine the target angle interval corresponding to the angle data; Based on all determined target angle intervals, a preset adjustment angle is matched according to a preset mapping relationship.

5. The method according to claim 2, characterized in that: The step of determining the screen box level adjustment mode according to the vehicle state of the target vehicle specifically includes: Determine whether the target vehicle is in a start state; If it is in the start state, determining whether the clutch of the target vehicle is in the engaged state; If the clutch is in the engaged state, determining whether an automatic mode command is received; If not, determining that the screen box level adjustment mode is a manual mode; If so, it is determined that the screen box level adjustment mode is the automatic mode.

6. The method according to claim 5, characterized in that Also includes: In response to a third touch operation issued by the user on the automatic adjustment control through the touch screen, an automatic mode instruction is generated.

7. The method according to claim 2, characterized in that Also includes: Determining whether the working angle of the screen box is within a preset working angle range; If not, the adjustment of the working angle of the screen box is stopped, and a warning message is generated and displayed on the touch screen.

8. A cleaning system, characterized in that: The cleaning system includes a controller, a cleaning chamber, a screen box, left and right lifting mechanisms and an angle sensor. The left and right lifting mechanisms are respectively arranged on the inner side walls opposite to each other in the cleaning chamber. A screen box is connected between the left and right lifting mechanisms. The screen box angle sensor is installed on the screen box. The controller adjusts the screen box in the following manner: Determining a screen box level adjustment mode according to the vehicle state of the target vehicle, wherein the screen box level adjustment mode includes a manual mode and an automatic mode; When the screen box horizontal adjustment mode is the manual mode, in response to the received screen box angle adjustment instruction, a first control signal is generated and sent to the lifting motor controller of the lifting mechanism to control the working angle of the screen box; When the screen box horizontal adjustment mode is the automatic mode, the corresponding preset adjustment angle is determined by the angle data collected by the angle sensor arranged on the screen box, and a second control signal is generated and sent to the lifting motor of the lifting mechanism to control the working angle of the screen box.

9. The system according to claim 8, characterized in that The cleaning system also includes a touch screen, and the step of generating a first control signal in response to the received screen box angle adjustment instruction and sending it to the lifting motor controller of the lifting mechanism to control the working angle of the screen box specifically includes: In response to a first touch operation issued by a user on a left adjustment control through a touch screen, a first lifting control signal is generated according to the first touch operation, and the first lifting control signal is sent to a lifting motor controller of a left lifting mechanism; In response to a second touch operation issued by the user on the right adjustment control through the touch screen, a second lifting control signal is generated according to the second touch operation, and the second lifting control signal is sent to the lifting motor controller of the right lifting mechanism.

10. The system according to claim 8, characterized in that The cleaning system also includes a vibration sensor, which is installed on the tail screen plate of the screen box and is used to detect the loss state of cleaning.

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