Cleaning equipment and control method thereof

Abstract

The invention relates to the technical field of cleaning equipment, and particularly discloses cleaning equipment and a control method thereof. The cleaning equipment comprises a machine body, a floor brush, a floor brush motor, a main motor, a detection module and a main control module. The floor brush is connected to the machine body; the detection module is used for generating a detection signal which can represent the posture of the fuselage; the main control module is electrically connected with the detection module and is configured to determine the posture of the fuselage according to the detection signal; the working mode of the main motor and / or the ground brush motor is controlled according to the posture of the machine body. Therefore, the problem of sewage backflow caused by toppling of the machine body can be prevented.

Description

Technical Field

[0001] This application relates to the technical field of cleaning equipment, and particularly to a cleaning equipment and its control method. Background Art

[0002] Currently, cleaning equipment has been widely used. Among them, a floor washer with a vacuum adsorption function is a cleaning equipment suitable for cleaning hard floors while sucking up sewage and taking the sewage away from the site, which has the advantages of environmental protection, energy saving, high efficiency, etc. Conventional floor washers generally cannot be used in a lying-down state because in the lying-down state, the sewage in the sewage bucket will flow back into the motor under the action of gravity.

[0003] To solve the above problems, currently, an anti-backflow device can be designed on the floor washer. Thus, when the floor washer lies flat, the anti-backflow device can block the sewage in the sewage bucket from flowing back into the motor. However, although the current anti-backflow device can block most of the newly inhaled sewage from flowing back into the motor to a certain extent, it is necessary to ensure that the water absorption does not exceed the threshold, otherwise there is still a possibility of sewage backflow. Summary of the Invention

[0004] Based on this, it is necessary to provide a cleaning equipment and its control method for the above problems.

[0005] According to the first aspect of the embodiments of the present application, a cleaning equipment is provided, including:

[0006] A body including a main motor;

[0007] A floor brush including a floor brush motor, and the floor brush is connected to the body;

[0008] A detection module for generating a detection signal, and the detection signal can characterize the attitude of the body;

[0009] A main control module electrically connected to the detection module, configured to: determine the attitude of the body according to the detection signal; control the working mode of the main motor and / or the floor brush motor according to the attitude of the body.

[0010] In one of the embodiments, the main control module is configured to:

[0011] When the attitude of the body is a dumping attitude, control the main motor to reduce the operating power and control the floor brush motor to operate normally.

[0012] In one of the embodiments, the cleaning equipment further includes a water supply module connected to the main control module; the main control module is further configured to:

[0013] When the attitude of the body is a dumping attitude, control the water supply module to stop supplying water.

[0014] In one embodiment, the main control module is configured to:

[0015] When the posture of the fuselage is an upright posture, control the main motor and the floor brush motor to stop running;

[0016] When the posture of the fuselage is an inclined posture, control the main motor to run according to the externally set power, and control the floor brush motor to run normally.

[0017] In one embodiment, the cleaning device further includes a water supply module, and the water supply module is connected to the main control module; the main control module is further configured to:

[0018] When the posture of the fuselage is an upright posture, control the water supply module to stop supplying water;

[0019] When the posture of the fuselage is an inclined posture, control the water supply module to supply water according to the external setting.

[0020] In one embodiment, the cleaning device includes a first floor brush and a second floor brush; the main control module is further configured to: determine the type of the floor brush according to the detection signal, and when it is determined that the type of the floor brush is the first floor brush, execute the step of controlling the working modes of the main motor and the floor brush motor according to the posture of the fuselage.

[0021] In one embodiment, the cleaning device further includes a water supply module, and the water supply module is connected to the main control module; the main control module is further configured to:

[0022] When it is determined that the type of the floor brush is the second floor brush, control the water supply module to stop supplying water.

[0023] In one embodiment, the detection module includes a coupler assembly, and the coupler assembly includes a first port and a second port that are adapted to each other. The first port is disposed on the fuselage, and a first circuit module is connected between the first port and the main control module. The second port is disposed on the floor brush and is connected to a second circuit module. A detection switch is connected in the second circuit module, and different states of the detection switch correspond to different postures of the fuselage;

[0024] When the first port is connected to the second port, the first circuit module and the second circuit module form a circuit path in combination, and the main control module is configured to: obtain the voltage signal of the circuit path and determine the posture of the fuselage according to the voltage signal.

[0025] In one embodiment, the first circuit module includes a first resistor and a second resistor;

[0026] The first end of the first resistor is connected to the first voltage terminal, the second end of the first resistor is connected to the first port, the first end of the second resistor is connected to the second end of the first resistor, the second end of the second resistor is connected to the main control module, the main control module is also connected to the first port, and the ground is connected between the main control module and the first port.

[0027] In one embodiment, the cleaning device includes a first floor brush and a second floor brush; when the floor brush is the first floor brush, the second circuit module includes a third resistor, an upright detection switch, and a tipping detection switch;

[0028] The third resistor is connected in series with the tipping detection switch, the upright detection switch is connected in parallel across both ends of the series circuit where the third resistor and the tipping detection switch are located, and the series circuit where the third resistor and the tipping detection switch are located is connected to the second port.

[0029] In one embodiment, the cleaning device includes a first floor brush and a second floor brush; when the floor brush is the second floor brush, the second circuit module includes a fourth resistor, a fifth resistor, and an upright detection switch;

[0030] The fourth resistor is connected in series with the fifth resistor, the upright detection switch is connected in parallel across both ends of the fifth resistor, and the series circuit where the fourth resistor and the fifth resistor are located is connected to the second port.

[0031] In one embodiment, the upright detection switch includes a micro switch, the micro switch is fixed to the floor brush through a micro switch base, and an upright limit contact cooperating with the micro switch is arranged on the floor brush. When the body is in an upright posture, the upright limit contact is touched to trigger the micro switch to act.

[0032] In one embodiment, the tipping detection switch includes a Hall switch, a magnet cooperating with the Hall switch is arranged on the floor brush, the magnet is arranged in an installation groove and fixed in the installation groove through a colloid. When the body is in a tipping posture, the Hall switch can sense the magnet and trigger an action. A protective cover is arranged around the Hall switch, the protective cover is in the shape of a round cap, and the protective cover and the magnet are fixed to the floor brush through a colloid;

[0033] When the body rotates around the rotation axis, the upright limit contact rotates synchronously with the magnet.

[0034] According to a second aspect of the embodiments of the present application, a control method for a cleaning device is provided. The cleaning device includes a body, a floor brush, a floor brush motor, a main motor, and a detection module. The detection module is configured to generate a detection signal that can characterize the attitude of the body. The control method includes:

[0035] Obtain the detection signal;

[0036] Determine the attitude of the body according to the detection signal;

[0037] Control the working mode of the main motor and / or the floor brush motor according to the attitude of the body.

[0038] In one embodiment, the step of controlling the working mode of the main motor and / or the floor brush motor according to the attitude of the body includes:

[0039] When the attitude of the body is a dumping attitude, control the main motor to reduce the operating power and control the floor brush motor to operate normally.

[0040] In one embodiment, the cleaning device further includes a water supply module; when it is determined that the type of the floor brush is a cleaning floor brush, the control method of the cleaning device further includes: when the attitude of the body is a dumping attitude, control the water supply module to stop supplying water.

[0041] In one embodiment, the step of controlling the working mode of the main motor and / or the floor brush motor according to the attitude of the body further includes:

[0042] When the attitude of the body is an upright attitude, control the main motor and the floor brush motor to stop running;

[0043] When the attitude of the body is an inclined attitude, control the main motor to operate according to the power set by the outside world and control the floor brush motor to operate normally.

[0044] In one embodiment, the cleaning device further includes a water supply module; the control method of the cleaning device further includes:

[0045] When the attitude of the body is an upright attitude, control the water supply module to stop supplying water;

[0046] When the attitude of the body is an inclined attitude, control the water supply module to supply water according to the setting of the outside world.

[0047] In one embodiment, the cleaning device includes a first floor brush and a second floor brush; the control method of the cleaning device further includes:

[0048] Determine the type of the floor brush according to the detection signal;

[0049] When it is determined that the type of the floor brush is the first floor brush, the step of controlling the working mode of the main motor and the floor brush motor according to the posture of the body is performed.

[0050] In one embodiment, the cleaning device further includes a water supply module; and the control method of the cleaning device further includes:

[0051] When it is determined that the type of the floor brush is the second floor brush, the water supply module is controlled to stop supplying water.

[0052] In one embodiment, the detection module includes a coupler assembly, the coupler assembly includes a first port and a second port adapted to each other, the first port is arranged on the body and connected to a first circuit module, the second port is arranged on the floor brush and connected to a second circuit module, a detection switch is connected to the second circuit module, and different states of the detection switch correspond to different postures of the body; when the first port is connected to the second port, the first circuit module and the second circuit module are combined to form a circuit path;

[0053] The detection signal is a voltage signal of the circuit path; the step of determining the posture of the fuselage according to the detection signal includes: determining the posture of the fuselage according to the voltage signal of the circuit path.

[0054] In one embodiment, the control method further includes:

[0055] When the posture of the fuselage is an upright posture, the fuselage is limited by the floor brush to restrict the forward movement of the fuselage;

[0056] When the posture of the main body is a tilted posture, the main body can rotate relative to the floor brush.

[0057] The cleaning device and the control method thereof provided in the embodiment of the present application are provided with a detection module, which are respectively connected to the floor brush and the body, and can generate a detection signal representing the posture of the body. The main control module determines the posture of the body according to the detection signal, and then controls the working mode of the main motor and / or the floor brush motor according to the posture of the body, thereby preventing the sewage backflow problem caused by the dumping of the body. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 A structural block diagram of a cleaning device provided in one embodiment of the present application;

[0059] Figure 2 An exploded view of the structure of a cleaning device provided in one embodiment of the present application;

[0060] Figure 3An overall assembly diagram of a cleaning device provided in one embodiment of the present application;

[0061] Figure 4 An exploded view of the structure of a cleaning device provided in another embodiment of the present application;

[0062] Figure 5 An overall assembly diagram of a cleaning device provided in another embodiment of the present application;

[0063] Figure 6 A schematic diagram of the structure of a cleaning device provided in an embodiment of the present application when the body is in an upright position;

[0064] Figure 7 A schematic diagram of the structure of a cleaning device provided in an embodiment of the present application when the body is in a tilted position;

[0065] Figure 8 A schematic diagram of the structure of a cleaning device provided in an embodiment of the present application when the body is in a tilted posture;

[0066] Figure 9 A structural block diagram of a cleaning device provided in one embodiment of the present application;

[0067] Figure 10 A structural block diagram of a detection module of a cleaning device provided in an embodiment of the present application;

[0068] Figure 11 A circuit diagram of a detection module of a cleaning device provided in one embodiment of the present application;

[0069] Figure 12 A schematic diagram of the positions of an upright detection switch and an upright limit contact when the cleaning device provided in one embodiment of the present application is in an upright posture;

[0070] Figure 13 A schematic diagram of the positions of a tipping detection switch and a magnet when the cleaning device provided by an embodiment of the present application is in a tipping posture;

[0071] Figure 14 A flowchart of a control method for a cleaning device provided in one embodiment of the present application;

[0072] Figure 15 A flowchart of a control method for a cleaning device provided in one embodiment of the present application;

[0073] Figure 16 A flowchart of a method for controlling a cleaning device provided in one embodiment of the present application.

[0074] Description of reference numerals:

[0075] 100, Body; 110, Sewage tank; 120, Handheld dust cup; 200, Floor brush; 300, Floor brush motor; 400, Main motor; 500, Detection module; 510, First port; 520, First circuit module; R1, First resistor; R2, Second resistor; VDD, First voltage terminal; 530, Second port; 540, Second circuit module; R3, Third resistor; 541, Upright detection switch; 541a, Upright limit contact; 542, Tipping detection switch; 542a, Magnet; 542b, Mounting groove; 542c, Protective cover; R4, Fourth resistor; R5, Fifth resistor; 600, Main control module; 700, Water supply module; 800, Lighting module; 900, Connecting pipe. Detailed implementation manners

[0076] To facilitate the understanding of the present application, the present application will be described more comprehensively below with reference to the relevant drawings. The preferred embodiments of the present application are shown in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of the present application more thorough and comprehensive.

[0077] In the present application, unless otherwise clearly defined and limited, terms such as "installation", "connection", "connection", "fixation" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. It can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0078] The terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise clearly specifically limited.

[0079] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present application belongs. The terms used in the description of the present application herein are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0080] Refer to Figures 1 to 3, in one embodiment, a cleaning device is provided, including a body 100, a floor brush 200, a floor brush motor 300, a main motor 400, a detection module 500, and a main control module 600.

[0081] Among them, the body 100 includes the main motor 400, the floor brush 200 includes the floor brush motor 300, and the floor brush 200 is connected to the body 100. The detection module 500 is used to generate a detection signal, and the detection signal can characterize the attitude of the body 100. The main control module 600 is electrically connected to the detection module 500 and is configured to: determine the attitude of the body 100 according to the detection signal; control the working mode of the main motor 400 and / or the floor brush motor 300 according to the attitude of the body 100.

[0082] The cleaning device may only include a cleaning mode, or may include a cleaning mode and a dust suction mode. The corresponding floor brush 200 in the cleaning mode is the first floor brush, that is, the cleaning floor brush, and the corresponding floor brush 200 in the dust suction mode is the second floor brush, that is, the dust suction floor brush. Each floor brush 200 is detachably connected to the body 100. The floor brush motor 300 is used to provide rotational power for the floor brush 200, and the main motor 400 is used to generate suction force. The floor brush motor 300 and the main motor 400 are both electrically connected to the main control module 600 and are controlled by the main control module 600. During actual operation, when the floor brush 200 is the cleaning floor brush, the cleaning floor brush extracts the dirt on the ground, and the sewage undergoes water-vapor separation through the sewage tank 110, and then undergoes dust-gas separation through the handheld dust cup 120. Refer to Figure 4 and Figure 5 , when the floor brush 200 is the dust suction floor brush, the dust suction floor brush can be connected to the main motor 400 and the dust cup 120 through a connecting pipe 900, that is, the body 100 and the sewage tank connected to the body 100 can be directly replaced with a connecting pipe.

[0083] When the cleaning device includes both a dust suction mode and a cleaning mode, hardware such as motors and batteries can be shared, which will greatly save costs after sharing. The traditional method is that the motor and the battery form a power head, and then adapt to the dust cup of the vacuum cleaner or the body of the cleaning device, which will cause the dust cup of the vacuum cleaner to be idle when not in use, and the garbage in the cup is easy to be accidentally touched and then leaked to cause pollution. However, in the solution provided in this embodiment, the motor, the dust cup, and the battery form a handheld component, which can be detachably connected to the body, the connecting pipe, or the accessory brush, solving the problem of difficult storage of the dust cup, and at the same time improving the cyclone separation efficiency.

[0084] In this embodiment, a detection module 500 is further provided. The detection module 500 is used to generate a detection signal, and the detection signal can characterize the attitude of the fuselage 100. In other words, when the attitude of the fuselage 100 changes, the detection signal generated by the detection module 500 will also change accordingly. Thus, the main control module 600 can reversely determine the current attitude of the fuselage 100 according to the detection signal. In this embodiment, the detection signal can be an electrical signal or other types of signals, as long as it can be recognized and processed by the main control module 600.

[0085] After the main control module 600 receives the detection signal generated by the detection module 500, it can determine the attitude of the fuselage 100 according to the detection signal, and then control the working modes of the main motor 400 and the floor brush motor 300 according to the attitude of the fuselage 100. That is, it can timely adjust the working parameters such as the power of the main motor 400 and the floor brush motor 300 according to the current attitude of the fuselage 100 to timely cope with the possible risks that may occur currently. Specifically, for the problem that sewage is prone to flow back in the cleaning mode, the main control module 600 can control the working modes of the main motor 400 and / or the floor brush motor 300 according to the current attitude of the fuselage 100 to avoid the occurrence of sewage backflow phenomenon to a certain extent.

[0086] The attitude of the fuselage 100 of the cleaning device can generally be divided into an upright attitude, an inclined attitude, and a dumping attitude. Figure 6 FIG. is a schematic structural diagram when the fuselage 100 of the cleaning device is in an upright attitude. Figure 7 FIG. is a schematic structural diagram when the fuselage 100 of the cleaning device is in an inclined attitude. Figure 8 FIG. is a schematic structural diagram when the fuselage 100 of the cleaning device is in a dumping attitude.

[0087] Specifically, the main control module 600 can be configured as follows:

[0088] When the attitude of the fuselage 100 is in a dumping attitude, control the main motor 400 to reduce the operating power and control the floor brush motor 300 to operate normally. For example, the operating power of the main motor 400 is divided into three gears: high, medium, and low. When it is determined that the type of the floor brush 200 is a cleaning floor brush 200 and the fuselage 100 is in a dumping attitude, the operating power of the main motor 400 can be forced to be reduced to the lowest gear, thereby reducing the suction force of the main motor 400 and reducing the flow rate of the inhaled sewage, and preventing the sewage from flowing back into the motor in the dumping attitude to a certain extent. In addition, when the attitude of the fuselage 100 is in a dumping attitude, the fuselage may be located at a low place. Since the large particle stains at the low place are reduced, there is no need for high vacuum suction. At this time, reducing the operating power of the main motor can save electric energy.

[0089] In addition, referring to Figure 9, the cleaning device provided in this embodiment further includes a water supply module 700, which is electrically connected to the main control module 600 and controlled by the main control module 600. When in the cleaning mode, the water supply module 700 can be controlled to supply water to the floor brush 200.

[0090] Correspondingly, the main control module 600 is further configured to:

[0091] When the posture of the fuselage 100 is a dumping posture, control the water supply module 700 to stop supplying water. That is, when the fuselage 100 is in a dumping posture, while reducing the operating power of the main motor 400, the water supply module 700 can also be controlled to stop supplying water, that is, while reducing the suction volume of external sewage, the water supply volume of the cleaning device itself is reduced, thereby effectively reducing the amount of sewage and the risk of sewage backflow. At the same time, when the posture of the fuselage 100 is a dumping posture, the fuselage may be located in a low place. Since the ground in a low place is not easy to dry, reducing the amount of water applied to the ground can reduce the possibility of ground mildew.

[0092] The water supply module 700 may include a water pump and a water pump drive module, and the water pump drive module can drive the water pump to spray water externally. A spray button can be provided on the fuselage 100, and the main control module 600 can be electrically connected to the spray button and the water pump drive module respectively. In practical applications, when the user triggers the spray button, the main control module 600 receives the trigger signal of the spray button and controls the water pump drive module to drive the water pump to spray water externally.

[0093] In this embodiment, when the main control module 600 determines that the posture of the fuselage 100 is a dumping posture, the main control module 600 can control the water pump drive module to stop driving the water pump, so that the water pump stops spraying water.

[0094] In addition, referring to Figure 9 , the cleaning device provided in this embodiment further includes a lighting module 800, which is electrically connected to the main control module 600 and is provided at the floor brush 200. When the main control module 600 determines that the posture of the fuselage 100 is a dumping posture, the main control module 600 can also control to turn on the lighting module 800. Since the cleaning device is in a dumping posture, it is often cleaning in a low and narrow space, usually relatively dark and blocked. Therefore, automatically turning on the lighting module 800 can provide lighting function in time and improve the user experience.

[0095] In this embodiment, the lighting module 800 may include an LED lighting lamp, etc.

[0096] If the fuselage 100 is not in a dumping posture, the control method of the main control module 600 will change according to the actual situation.

[0097] In one of the embodiments, the main control module 600 is configured to:

[0098] When the attitude of the fuselage 100 is in the upright attitude, control the main motor 400 and the floor brush motor 300 to stop running. That is, when the fuselage 100 is in the upright attitude, it is often not in the working state, for example, in the charging state. At this time, the main control module 600 controls the main motor 400 and the floor brush motor 300 to stop running and suspend use.

[0099] When the attitude of the fuselage 100 is in the inclined attitude, control the main motor 400 to run according to the power set externally, and control the floor brush motor 300 to run normally. When the fuselage 100 is in the inclined attitude, it is generally in the normal working mode. At this time, the main motor 400 can be controlled to run according to the power set externally. For example, there are gear buttons set on the fuselage 100, and the main control module 600 can control the main motor 400 to run according to the power corresponding to the gear according to the user's selection of the gear buttons. At the same time, the main control module 600 controls the floor brush motor 300 to run normally.

[0100] In addition, when the attitude of the fuselage 100 is in the upright attitude, the fuselage can be limited by the floor brush to limit the forward movement of the fuselage. When the attitude of the fuselage 100 is in the dumping state, the fuselage can rotate relative to the floor brush, that is, the fuselage can continue to dump.

[0101] In addition, the cleaning device may further include a water supply module 700, and the water supply module 700 is connected to the main control module 600 and is controlled by the main control module 600. Correspondingly, the main control module 600 is further configured to:

[0102] When the attitude of the fuselage 100 is in the upright attitude, control the water supply module 700 to stop supplying water; when the attitude of the fuselage 100 is in the inclined attitude, control the water supply module 700 to supply water according to the external setting.

[0103] That is, when the fuselage 100 is in the upright attitude, the cleaning device is usually not in the working mode. At this time, the main control module 600 can control the water supply module 700 to stop supplying water while controlling the main motor 400 and the floor brush motor 300 to stop running. When the fuselage 100 is in the inclined attitude, the cleaning device is usually in the normal working mode. At this time, the main control module 600 can control the water supply module 700 to supply water according to the external setting. Specifically, the user can trigger the water spraying button on the fuselage 100. When the main control module 600 receives the trigger signal of the water spraying button, the main control module 600 can control the water pump driving module to drive the water pump to spray water externally.

[0104] When the cleaning device includes a first floor brush and a second floor brush, the main control module 600 is further configured to: determine the type of the floor brush 200 according to the detection signal. When it is determined that the type of the floor brush 200 is the first floor brush, execute the above steps of controlling the working mode of the main motor and / or the floor brush motor according to the attitude of the fuselage 100.

[0105] Among them, the first floor brush can be a cleaning floor brush, and the second floor brush can be a vacuuming floor brush. That is, when the cleaning device uses the cleaning floor brush, the attitude of the body 100 can be obtained and the working mode of the main motor and / or the floor brush motor can be controlled according to the attitude of the body 100. When the cleaning device uses the vacuuming floor brush, this step can be skipped.

[0106] When the type of the floor brush 200 is a vacuuming floor brush, that is, when the cleaning device is in the vacuuming mode, there is no need to consider the problem of water absorption, so the water supply module 700 can be inoperative. That is, the main control module 600 can also be configured to: when it is determined that the type of the floor brush 200 is the second floor brush, control the water supply module 700 to stop supplying water.

[0107] In addition, when the type of the floor brush 200 is a vacuuming floor brush, the attitude of the body 100 can also be determined according to the detection signal. When the attitude of the body 100 is a dumping attitude, the lighting module 800 is turned on. When the attitude of the body 100 is a dumping attitude, the main motor is controlled to increase the power, because there may be areas that the vacuuming floor brush cannot reach when cleaning low places. Increasing the power of the main motor can increase the cleaning area, and then suck in the dust near the vacuuming floor brush.

[0108] In one embodiment, referring to Figure 10 , the detection module 500 includes a coupler assembly. The coupler assembly includes a first port 510 and a second port 530 that are adapted to each other. The first port 510 is disposed on the body 100, and a first circuit module 520 is connected between the first port 510 and the main control module 600. The second port 530 is disposed on the floor brush 200, and a second circuit module 540 is connected thereto. A detection switch is connected in the second circuit module 540, and different states of the detection switch correspond to different attitudes of the body 100;

[0109] When the first port 510 is connected to the second port 530, the first circuit module 520 and the second circuit module 540 form a circuit path in combination. The main control module 600 is configured to: obtain the voltage signal of the circuit path and determine the attitude of the body 100 according to the voltage signal.

[0110] Combined with Figure 4 , the upper part of the floor brush 200 can be regarded as the body 100. The first port 510 can be disposed at the lower end of the connecting pipe 900, that is, the end close to the floor brush 200, or the first port 510 can also be disposed at the lower end of the main motor 400, that is, the end close to the connecting pipe 900.

[0111] That is, the floor brush 200 and the body 100 can be connected through a coupler assembly. Specifically, the first end and the second end of the coupler assembly can be cooperatively connected. At this time, the first circuit module 520 connected to the first end and the second circuit module 540 connected to the second end will form an electrical circuit path, and this electrical circuit path is electrically connected to the main control module 600. The main control module 600 can obtain the voltage at the corresponding position of the electrical circuit path.

[0112] Among them, a detection switch is connected in the second circuit module 540. Different states of the detection switch correspond to different postures of the body 100. For example, the detection switch includes an upright detection switch 541. When the body 100 is in an upright posture or a non-upright posture, the on-off state of the upright detection switch 541 is different. Correspondingly, the circuit structure in the second circuit module 540 will be different, and the structure of the electrical circuit path will also be different. The voltage obtained by the main control module 600 will be different. In practical applications, the current posture of the body 100 can be inferred in reverse according to the voltage value obtained by the main control module 600.

[0113] In addition, the structures of the second circuit modules 540 corresponding to different floor brushes 200 can be different. As a result, when different floor brushes 200 are connected to the body 100, the structures of the current paths are different, and the voltage values obtained by the main control module 600 will also be different. Thus, the type of the floor brush 200 connected to the body 100 can be determined according to the voltage value obtained by the main control module 600.

[0114] In one embodiment, referring to Figure 11 , the first circuit module 520 includes a first resistor R1 and a second resistor R2. The first end of the first resistor R1 is connected to the first voltage terminal VDD, the second end of the first resistor R1 is connected to the first port 510, the first end of the second resistor R2 is connected to the second end of the first resistor R1, the second end of the second resistor R2 is connected to the main control module 600, the main control module 600 is also connected to the first port 510, and the connection between the main control module 600 and the first port 510 is grounded.

[0115] Among them, the voltage value of the first voltage terminal VDD, the resistance values of the first resistor R1 and the second resistor R2 can be set according to actual requirements. In a specific example, the voltage value provided by the first voltage terminal VDD is 3.3V, the resistance value of the first resistor R1 is 10K, and the resistance value of the second resistor R2 is 1K.

[0116] In this embodiment, the structures of the second circuit modules 540 corresponding to the first floor brush and the second floor brush are different.

[0117] In one embodiment, referring to Figure 11When the local brush 200 is the first local brush, the second circuit module 540 includes a third resistor R3, an upright detection switch 541, and a tipping detection switch 542. The third resistor R3 is in series with the tipping detection switch 542, and the upright detection switch 541 is connected in parallel across both ends of the series circuit where the third resistor R3 and the tipping detection switch 542 are located. The series circuit where the third resistor R3 and the tipping detection switch 542 are located is connected to the second port 530.

[0118] Among them, the upright detection switch 541 can be disconnected when the fuselage 100 is in an upright posture, and the tipping detection switch 542 can be disconnected when the fuselage 100 is in a tipped posture. When both the upright detection switch 541 and the tipping detection switch 542 are disconnected, the fuselage 100 is in a tilted posture. In the above three cases, the voltage values obtained by the main control module 600 are all different.

[0119] In a specific example, the resistance value of the third resistor R3 can be 3.3K.

[0120] In one of the embodiments, referring to Figure 11 When the local brush 200 is the second local brush, the second circuit module 540 includes a fourth resistor R4, a fifth resistor R5, and an upright detection switch 541. The fourth resistor R4 is in series with the fifth resistor R5, and the upright detection switch 541 is connected in parallel across both ends of the fifth resistor R5. The series circuit where the fourth resistor R4 and the fifth resistor R5 are located is connected to the second port 530.

[0121] Since in the vacuuming mode, the water supply function is not required, and the tipping of the fuselage 100 does not pose a risk of sewage backflow, therefore, the tipping detection switch 542 does not need to be provided in the second circuit module 540 corresponding to the second local brush, and only the upright detection switch 541 needs to be provided. The upright detection switch 541 can be disconnected when the fuselage 100 is in an upright posture. If the upright detection switch 541 is closed, it means that the fuselage 100 is in a tilted posture. In the above two cases, the voltage values obtained by the main control module 600 are different.

[0122] In a specific example, the resistance value of the fourth resistor R4 can be 10K, and the resistance value of the fifth resistor R5 can be 20K.

[0123] The following combines a specific example to illustrate the voltage values obtained by the main control module 600 under different types of local brushes 200 and different postures of the fuselage 100. Among them, the first local brush is a cleaning local brush, and the second local brush is a vacuuming local brush:

[0124] In the first circuit module 520 corresponding to the fuselage 100, the resistance value of the first resistor R1 is 10K, the resistance value of the second resistor R2 is 1K, and the voltage value provided by the first voltage terminal VDD is 3.3V;

[0125] In the second circuit module 540 corresponding to the cleaning floor brush, the resistance value of the third resistor R3 is 3.3K;

[0126] In the second circuit module 540 corresponding to the vacuuming floor brush, the resistance value of the fourth resistor R4 is 10K, and the resistance value of the fifth resistor R5 is 20K;

[0127] Assume that the equivalent resistance of the floor brush 200 is Rx, and the voltage value provided by the first voltage terminal VDD is VDD. Then the voltage value U read by the main control module 600:

[0128]

[0129] For the cleaning floor brush:

[0130] When both the upright detection switch 541 and the tipping detection switch 542 are off (i.e., when the fuselage 100 is in a tilted posture),

[0131] Rx = ∞

[0132] When the tipping detection switch 542 is off and the upright detection switch 541 is on (i.e., when the fuselage 100 is in a tipped posture),

[0133] Rx = 0Ω

[0134] When the tipping detection switch 542 is on and the upright detection switch 541 is off (i.e., when the fuselage 100 is in an upright posture),

[0135] Rx = R3

[0136] For the vacuuming floor brush:

[0137] When the upright detection switch 541 is off (i.e., when the fuselage 100 is in a tilted posture),

[0138] Rx = R4 + R5

[0139] When the upright detection switch 541 is on (i.e., when the fuselage 100 is in an upright posture),

[0140] Rx = R4

[0141] In summary, for the cleaning floor brush and the vacuuming floor brush in different postures of the fuselage 100, there are five possible equivalent resistances of the floor brush 200. Substituting the above five equivalent resistances of the floor brush into the expression of the voltage value U read by the main control module 600 respectively, we get:

[0142] U1 (cleaning floor brush + tilted posture) = 3.3V

[0143] U2 (cleaning floor brush + tipped posture) = 0.82V

[0144] U3 (cleaning floor brush + upright posture) = 0V

[0145] U4(Vacuum floor brush + tilted posture) = 2.475V

[0146] U5(Vacuum floor brush + upright posture) = 1.65V

[0147] Arrange according to the voltage from large to small:

[0148] U3(Cleaning floor brush + upright posture) = 0V

[0149] U2(Cleaning floor brush + tilted posture) = 0.82V

[0150] U5(Vacuum floor brush + upright posture) = 1.65V

[0151] U4(Vacuum floor brush + tilted posture) = 2.475V

[0152] U1(Cleaning floor brush + tilted posture) = 3.3V

[0153] In practical applications, four voltage thresholds can be set according to the above five voltage values, and then the above five voltage values can be incorporated into five voltage ranges divided by the four voltage thresholds, so as to be used as the judgment basis for the main control module 600. Specifically as follows:

[0154] When U < 0.4125V, the type of the floor brush 200 is the cleaning floor brush, and the posture of the fuselage 100 is the upright posture;

[0155] When 0.4125V < U < 1.2375V, the type of the floor brush 200 is the cleaning floor brush, and the posture of the fuselage 100 is the tilted posture;

[0156] When 1.2375V < U < 2.0625V, the type of the floor brush 200 is the vacuum floor brush, and the posture of the fuselage 100 is the upright posture;

[0157] When 2.0625V < U < 2.8875V, the type of the floor brush 200 is the vacuum floor brush, and the posture of the fuselage 100 is the tilted posture;

[0158] When U > 2.8875V, the type of the floor brush 200 is the cleaning floor brush, and the posture of the fuselage 100 is the tilted posture.

[0159] In one of the embodiments, referring to Figure 12 , the upright detection switch 541 includes a micro switch, the micro switch is fixed to the floor brush 200 through a micro switch seat, and an upright limit contact 541a that cooperates with the micro switch is arranged on the floor brush 200. When the fuselage 100 is in the upright posture, the upright limit contact 541a is touched and then triggers the micro switch to act.

[0160] Figure 12The schematic diagram of the positional relationship between the upright limit contact 541a and the microswitch when the fuselage 100 is in the upright posture is shown.

[0161] The microswitch is generally used at the limit position, and the trigger end can only move and trigger in a certain fixed direction. If it is triggered in other directions, it may cause damage to the cantilever of the microswitch. In this embodiment, the upright position is the forward limit position of the cleaning device. The microswitch is sensitive and inexpensive, so the microswitch is selected in this embodiment.

[0162] In one embodiment, referring to Figure 13 , the tipping detection switch 542 includes a Hall switch. A magnet 542a cooperating with the Hall switch is provided on the floor brush 200. The magnet 542a is disposed in the mounting groove 542b and fixed in the mounting groove 542b by a colloid. When the fuselage 100 is in the tipping posture, the Hall switch can sense the magnet 542a and trigger an action. A protective cover 542c is provided around the Hall switch. The protective cover is in the shape of a round cap, and the protective cover and the magnet are fixed to the floor brush 200 by a colloid.

[0163] Since the Hall switch is very small in size and suitable for being placed at the tipping position detection, and it belongs to an electrical component, it cannot be in direct contact with the magnet 542a. Therefore, a protective cap 542c is provided around the Hall switch to avoid direct contact with the magnet 542a. The Hall switch is turned on or off by sensing the electromagnetic field. Therefore, when the magnet 542a rotates clockwise or counterclockwise, the Hall switch can be triggered. Therefore, it is more appropriate to place the Hall switch at the tipping posture sensing.

[0164] When the fuselage rotates around the rotation axis, the upright limit contact and the magnet can rotate synchronously.

[0165] Figure 13 The schematic diagram of the positional relationship between the magnet 542a and the Hall switch when the fuselage 100 is in the tipping posture is shown.

[0166] In this embodiment, the upright posture may refer to the overall inclination angle of the fuselage 100 ≥ 90°, the tipping posture may refer to the overall inclination angle of the fuselage 100 ≤ 10°, and the inclined posture may refer to the overall inclination angle of the fuselage 100 being between 10° and 90°.

[0167] In one embodiment, a control method for a cleaning device is provided, which can be used to control the cleaning device provided in the foregoing embodiment.

[0168] Among them, the cleaning device includes a fuselage 100, a floor brush 200, a floor brush motor 300, a main motor 400, and a detection module 500. The detection module 500 is used to generate a detection signal, and the detection signal can characterize the posture of the fuselage 100. For the specific structure of the cleaning device, reference can be made to the specific description in the foregoing embodiment, which will not be elaborated here.

[0169] Referring to Figure 14 , the control method provided in this embodiment includes the following steps:

[0170] Step S200, obtaining a detection signal;

[0171] Step S400, determining the attitude of the fuselage 100 according to the detection signal;

[0172] Step S600, controlling the working modes of the main motor 400 and / or the floor brush motor 300 according to the attitude of the fuselage 100.

[0173] In practical applications, the detection module 500 can generate a detection signal representing the current attitude of the fuselage 100, and as the attitude of the fuselage 100 changes, the detection signal will also change. Thus, the detection signal can be obtained in real time, and the current attitude of the fuselage 100 can be determined according to the detection signal, so as to control the working modes of the main motor 400 and the floor brush motor 300, that is, the working parameters such as the power of the main motor 400 and the floor brush motor 300 can be adjusted in time according to the attitude of the fuselage 100 to timely cope with the possible risks that may occur currently. Specifically, for the problem that sewage is likely to flow back in the cleaning mode, the working modes of the main motor 400 and the floor brush motor 300 can be controlled according to the attitude of the fuselage 100 to avoid the occurrence of sewage backflow to a certain extent.

[0174] In one of the embodiments, referring to Figure 15 , in step S600, the step of controlling the working modes of the main motor 400 and / or the floor brush motor 300 according to the attitude of the fuselage 100 may specifically include:

[0175] Step S610, when the attitude of the fuselage 100 is a dumping attitude, controlling the main motor 400 to reduce the operating power and controlling the floor brush motor 300 to operate normally.

[0176] For example, the operating power of the main motor 400 is divided into three gears: high, medium, and low. When it is determined that the fuselage 100 is in a dumping attitude, the operating power of the main motor 400 can be forced to be reduced to the lowest gear, thereby reducing the suction force of the main motor 400 and the sewage flow rate inhaled, and preventing sewage from flowing back into the motor to a certain extent in the dumping attitude.

[0177] In one of the embodiments, the cleaning device further includes a water supply module 700.

[0178] Referring to Figure 16 , the control method of the cleaning device provided in this embodiment further includes:

[0179] Step S700: Control the water supply module 700 according to the attitude of the body 100. The water supply module 700 generally works in the cleaning mode. However, when the body 100 is in different attitudes, if the water supply module 700 keeps working, some potential hazards may occur.

[0180] Specifically, step S700 may include:

[0181] Step S710: When the attitude of the body 100 is a dumping attitude, control the water supply module 700 to stop supplying water.

[0182] That is, when the body 100 is in the dumping attitude, while reducing the operating power of the main motor 400, the water supply module 700 can also be controlled to stop supplying water. That is, while reducing the suction volume of external sewage, the water supply volume of the cleaning device itself is also reduced, thereby effectively reducing the amount of sewage and the risk of sewage backflow.

[0183] In one embodiment, referring to Figure 15 , in step S600, the step of controlling the working modes of the main motor 400 and / or the floor brush motor 300 according to the attitude of the body 100 may further include:

[0184] Step S620: When the attitude of the body 100 is an upright attitude, control the main motor 400 and the floor brush motor 300 to stop running;

[0185] Step S630: When the attitude of the body 100 is an inclined attitude, control the main motor 400 to run according to the externally set power, and control the floor brush motor 300 to run normally.

[0186] That is, when the body 100 is in the upright attitude, it is often not in the working state. For example, it is in the charging state. At this time, the main motor 400 and the floor brush motor 300 can be controlled to stop running and the use can be paused. When the body 100 is in the inclined attitude, it is generally in the normal working mode. At this time, the main motor 400 can be controlled to run according to the externally set power. For example, there are gear buttons set on the body 100, and the main motor 400 can be controlled to run according to the power corresponding to the gear according to the user's selection of the gear buttons. At the same time, control the floor brush motor 300 to run normally.

[0187] In one embodiment, referring to Figure 16 , step S700 may further include:

[0188] Step S720: When the attitude of the body 100 is an upright attitude, control the water supply module 700 to stop supplying water;

[0189] Step S730: When the attitude of the body 100 is an inclined attitude, control the water supply module 700 to supply water according to the external setting.

[0190] That is, when the body 100 is in an upright position, the cleaning device is usually not in a working mode. At this time, the water supply module 700 can be controlled to stop supplying water while the main motor 400 and the floor brush motor 300 are controlled to stop running. When the body 100 is in an inclined position, the cleaning device is usually in a normal working mode. At this time, the water supply module 700 can be controlled to supply water according to external settings. Specifically, the user can trigger the water spray button on the body 100, and when the trigger signal of the water spray button is received, the water pump drive module can be controlled to drive the water pump to spray water externally.

[0191] In addition, when the body 100 is in an upright position, the body can be limited by the floor brush to restrict the body from moving forward. When the body 100 is in a tilted state, the body can rotate relative to the floor brush, that is, the body can continue to tilt.

[0192] The cleaning device may include only a cleaning mode, or may include a cleaning mode and a vacuuming mode. The corresponding floor brush 200 in the cleaning mode is the first floor brush, that is, the cleaning floor brush, and the corresponding floor brush 200 in the vacuuming mode is the second floor brush, that is, the vacuuming floor brush.

[0193] When the cleaning device can include a cleaning mode and a vacuuming mode, that is, the floor brush can be a first floor brush or a second floor brush, the control method of the cleaning device provided in this embodiment further includes: determining the type of the floor brush 20 according to the detection signal.

[0194] When it is determined that the type of the floor brush 20 is the first floor brush, step S400 and step S600 are performed.

[0195] When it is determined that the type of floor brush 200 is the second floor brush, the water supply module 700 is controlled to stop supplying water. When the type of floor brush 200 is the second floor brush, that is, the vacuuming floor brush, the cleaning device is in the vacuuming mode at this time, and there is no need to consider the problem of water absorption, so the water supply module 700 may not work.

[0196] In addition, when the type of the floor brush 200 is a vacuum brush, the posture of the body 100 can also be determined according to the detection signal. When the posture of the body 100 is a tilted posture, the main motor is controlled to increase the power. This is because when cleaning low places, there may be places that the vacuum brush cannot reach. Increasing the power of the main motor can increase the cleaning area, and then suck in the dust near the vacuum brush.

[0197] In one embodiment, the detection module 500 includes a coupler component. The coupler component includes a first port 510 and a second port 530 that are adapted to each other. The first port 510 is disposed on the body 100 and is connected to a first circuit module 520. The second port 530 is disposed on the floor brush 200 and is connected to a second circuit module 540. A detection switch is connected in the second circuit module 540, and different states of the detection switch correspond to different postures of the body 100. When the first port 510 is connected to the second port 530, the first circuit module 520 and the second circuit module 540 are combined to form an electrical circuit path.

[0198] In this embodiment, the detection signal can be the voltage signal of the electrical circuit path. Step S400, that is, the step of determining the posture of the body 100 according to the detection signal, includes: determining the posture of the body 100 according to the voltage signal of the electrical circuit path.

[0199] That is, the floor brush 200 and the body 100 can be connected through the coupler component. Specifically, the first end and the second end of the coupler component can be cooperatively connected. At this time, the first circuit module 520 connected to the first end and the second circuit module 540 connected to the second end will form an electrical circuit path. Among them, a detection switch is connected in the second circuit module 540, and different states of the detection switch correspond to different postures of the body 100. For example, the detection switch includes an upright detection switch 541. When the body 100 is in an upright posture or a non-upright posture, the on-off state of the upright detection switch 541 is different. Correspondingly, the circuit structure in the second circuit module 540 will be different, the structure of the electrical circuit path will be different, and the voltage in the electrical circuit path will be different. In practical applications, the current posture of the body 100 can be inferred in reverse according to the voltage value in the electrical circuit path.

[0200] In addition, the structures of the second circuit modules 540 corresponding to different floor brushes 200 can be different. As a result, when different floor brushes 200 are connected to the body 100, the structure of the current path is different, and the voltage value in the electrical circuit path is also different. Thus, the type of the floor brush 200 connected to the body 100 can be determined according to the voltage value in the electrical circuit path.

[0201] Specifically, for the specific structures of the first circuit module 520 and the second circuit module 540, reference can be made to the specific descriptions in the cleaning device provided in the foregoing embodiments, and details are not described herein again.

[0202] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0203] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to the patent scope. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A cleaning device, characterized in that, The cleaning device includes: A body including a main motor; A floor brush including a floor brush motor, and the floor brush is connected to the body; A detection module for generating a detection signal, and the detection signal can characterize the attitude of the body; A main control module electrically connected to the detection module, configured to: determine the attitude of the body according to the detection signal; control the working modes of the main motor and / or the floor brush motor according to the attitude of the body.

2. The cleaning device according to claim 1, wherein The main control module is configured to: When the attitude of the body is a dumping attitude, control the main motor to reduce the operating power and control the floor brush motor to operate normally.

3. The cleaning device according to claim 2, characterized in that, The cleaning device further includes a water supply module, and the water supply module is connected to the main control module; the main control module is further configured to: When the attitude of the body is a dumping attitude, control the water supply module to stop supplying water.

4. The cleaning device according to claim 1, characterized in that, The main control module is configured to: When the attitude of the body is an upright attitude, control the main motor and the floor brush motor to stop operating; When the attitude of the body is an inclined attitude, control the main motor to operate according to the power set externally and control the floor brush motor to operate normally. Preferably, the cleaning device further includes a water supply module, and the water supply module is connected to the main control module; the main control module is further configured to: When the attitude of the body is an upright attitude, control the water supply module to stop supplying water; When the attitude of the body is an inclined attitude, control the water supply module to supply water according to the external setting.

5. The cleaning device according to claim 1, characterized in that The cleaning device includes a first floor brush and a second floor brush; the main control module is further configured to: determine the type of the floor brush according to the detection signal, and when it is determined that the type of the floor brush is the first floor brush, execute the step of controlling the working modes of the main motor and / or the floor brush motor according to the attitude of the body. Preferably, the cleaning device further includes a water supply module, and the water supply module is connected to the main control module; the main control module is further configured to: when it is determined that the type of the floor brush is the second floor brush, control the water supply module to stop supplying water.

6. The cleaning device according to claim 1, wherein, The detection module includes a coupler assembly, and the coupler assembly includes a first port and a second port that are adapted to each other. The first port is arranged on the body, and a first circuit module is connected between the first port and the main control module. The second port is arranged on the floor brush and is connected with a second circuit module. A detection switch is connected in the second circuit module, and different states of the detection switch correspond to different attitudes of the body; When the first port is connected to the second port, the first circuit module and the second circuit module form a circuit path in combination, and the main control module is configured to: obtain the voltage signal of the circuit path and determine the attitude of the body according to the voltage signal. Preferably, the first circuit module includes a first resistor and a second resistor; The first end of the first resistor is connected to a first voltage terminal, the second end of the first resistor is connected to the first port, the first end of the second resistor is connected to the second end of the first resistor, the second end of the second resistor is connected to the main control module, the main control module is also connected to the first port, and the main control module and the first port are grounded therebetween. Preferably, the cleaning device includes a first floor brush and a second floor brush; when the floor brush is the first floor brush, the second circuit module includes a third resistor, an upright detection switch, and a tipping detection switch; The third resistor is connected in series with the tipping detection switch, the upright detection switch is connected in parallel across both ends of the series circuit where the third resistor and the tipping detection switch are located, and the series circuit where the third resistor and the tipping detection switch are located is connected to the second port. Preferably, the cleaning device includes a first floor brush and a second floor brush; when the floor brush is the second floor brush, the second circuit module includes a fourth resistor, a fifth resistor, and an upright detection switch; The fourth resistor is connected in series with the fifth resistor, the upright detection switch is connected in parallel across both ends of the fifth resistor, and the series circuit where the fourth resistor and the fifth resistor are located is connected to the second port. Preferably, the upright detection switch includes a micro switch, the micro switch is fixed to the floor brush through a micro switch seat, and an upright limit contact cooperating with the micro switch is provided on the floor brush. When the body is in an upright posture, the upright limit contact is touched to trigger the micro switch to act. Preferably, the tipping detection switch includes a Hall switch, a magnet cooperating with the Hall switch is provided on the floor brush, the magnet is arranged in an installation groove and fixed in the installation groove through a colloid. When the body is in a tipping posture, the Hall switch can sense the magnet and trigger an action. A protective cover is arranged around the Hall switch, the protective cover is in the shape of a round cap, and the protective cover and the magnet are fixed to the floor brush through a colloid; When the body rotates around the rotation axis, the upright limit contact rotates synchronously with the magnet.

7. A control method for a cleaning device, characterized in that, The cleaning device includes a body, a floor brush, a floor brush motor, a main motor, and a detection module. The detection module is used to generate a detection signal, and the detection signal can characterize the posture of the body; The control method includes: Obtaining the detection signal; Determining the posture of the body according to the detection signal; Controlling the working mode of the main motor and / or the floor brush motor according to the posture of the body.

8. The control method of the cleaning device according to claim 7, wherein The step of controlling the working mode of the main motor and / or the floor brush motor according to the posture of the body includes: When the posture of the body is a tipping posture, controlling the main motor to reduce the operating power and controlling the floor brush motor to operate normally. Preferably, the cleaning device further includes a water supply module; the control method of the cleaning device further includes: when the posture of the body is a tipping posture, controlling the water supply module to stop supplying water. Preferably, the step of controlling the working mode of the main motor and / or the floor brush motor according to the posture of the body further includes: When the posture of the body is an upright posture, controlling the main motor and the floor brush motor to stop running; When the posture of the body is a tilted posture, controlling the main motor to operate according to the power set externally and controlling the floor brush motor to operate normally. Preferably, the cleaning device further includes a water supply module; the control method of the cleaning device further includes: When the posture of the fuselage is in an upright posture, control the water supply module to stop water supply; When the posture of the fuselage is in an inclined posture, control the water supply module to supply water according to an external setting.

9. The control method of the cleaning device according to claim 7, characterized in that, The cleaning device includes a first floor brush and a second floor brush; the control method of the cleaning device further includes: Determine the type of the floor brush according to the detection signal; When it is determined that the type of the floor brush is the first floor brush, execute the step of controlling the working mode of the main motor and / or the floor brush motor according to the posture of the fuselage. Preferably, the cleaning device further includes a water supply module; the control method of the cleaning device further includes: When it is determined that the type of the floor brush is the second floor brush, control the water supply module to stop water supply. Preferably, the detection module includes a coupler assembly, the coupler assembly includes a first port and a second port that are adapted to each other, the first port is arranged on the fuselage and connected to a first circuit module, the second port is arranged on the floor brush and connected to a second circuit module, a detection switch is connected in the second circuit module, and different states of the detection switch correspond to different postures of the fuselage; when the first port is connected to the second port, the first circuit module and the second circuit module form a circuit path in combination; The detection signal is a voltage signal of the circuit path; the step of determining the posture of the fuselage according to the detection signal includes: determining the posture of the fuselage according to the voltage signal of the circuit path.

10. The control method of the cleaning device according to claim 7, characterized in that, The control method further includes: When the posture of the fuselage is in an upright posture, limit the fuselage by the floor brush to restrict the forward movement of the fuselage; When the posture of the fuselage is in a dumping posture, the fuselage can rotate relative to the floor brush.

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