Cleaning apparatus and cleaning system

Abstract

This application discloses a cleaning device and a cleaning system. The cleaning device includes a main body, cleaning components, an encoder, a controller, and a zero-position detector. The encoder includes a disk and an encoder board, which work together to acquire the rotation angle of the shaft. The controller controls the operation of the drive components based on the rotation angle of the shaft. The zero-position detector is fixed relative to the main body, and the controller controls the cleaning components to move to the initial position that triggers the zero-position detector when the cleaning device is started. This application designs an encoder board that works with the disk to acquire the rotation angle of the shaft, allowing for a smaller device size and better adaptation to compact cleaning devices. The zero-position detector establishes an absolute position reference for the initial position. When calculating the outward movement distance of the cleaning components relative to the main body, this initial position can be used for calculation, which helps eliminate accumulated mechanical backlash errors and improves the accuracy of the outward movement distance of the cleaning components relative to the main body.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and more particularly to a cleaning device and cleaning system. Background Technology

[0002] With the development of technology, the home appliances people use in their lives are gradually becoming more intelligent. Among them, cleaning equipment is widely used in cleaning work in offices and homes, such as using cleaning robots to sweep floors.

[0003] The cleaning components of a cleaning device can extend outward relative to the main body of the cleaning device for cleaning. However, existing cleaning devices have difficulty accurately obtaining the outward extension distance of the cleaning components, resulting in insufficient precision in the outward control of the cleaning components. Utility Model Content

[0004] This application provides a cleaning device and a cleaning system to improve the problems in related technologies where it is difficult to accurately obtain the outward expansion distance of the cleaning component and the outward expansion control of the cleaning component is not precise enough.

[0005] This application provides a cleaning device, including: Equipment body; The cleaning assembly includes a drive unit, a conversion unit, and a cleaning unit. The drive unit includes a rotating shaft that can rotate about its central axis. The conversion unit connects the rotating shaft and the cleaning unit and is used to drive the cleaning unit to move relative to the main body of the equipment when the rotating shaft rotates. An encoder includes a disk and an encoder board. The disk is connected to and fixed relative to the shaft, and the encoder board is fixed relative to the main body of the device. The encoder board is used in conjunction with the disk to obtain the rotation angle of the shaft. The controller, electrically connected to the encoder board and drive unit, is used to control the operation of the drive unit according to the rotation angle of the shaft; and, The zero-position detector is fixed relative to the main body of the equipment. The controller is electrically connected to the zero-position detector and is used to control the movement of the cleaning components to the initial position that triggers the zero-position detector when the cleaning equipment is started.

[0006] The cleaning device of this application embodiment is designed with an encoder plate and a disk to obtain the rotation angle of the shaft. That is, a magneto-electric encoder is used to obtain the rotation angle of the shaft, which makes the control of the drive component more precise. This allows for precise control of the movement of the cleaning component relative to the main body of the device, while also allowing for a smaller device size, making it more suitable for compact cleaning devices. Furthermore, the encoder plate and disk obtain the rotation angle of the shaft through changes in the magnetic field. The encoder plate and disk do not need to contact each other, which avoids the problem of accuracy degradation caused by mechanical wear between them.

[0007] Because the encoder board and the disk work together to obtain the actual rotation angle of the shaft in real time, that is, the encoder board and the disk work together to provide real-time feedback on the moving distance of the cleaning component relative to the main body of the equipment. In this way, the rotation angle of the shaft can be dynamically adjusted to eliminate deviations and improve the high-precision movement of the cleaning component relative to the main body of the equipment.

[0008] By setting up a zero-position detector and establishing an absolute position reference for the initial position, the calculation of the outward movement distance of the cleaning component relative to the main body of the equipment can be based on this initial position. This helps to eliminate the cumulative error of mechanical backlash and further improves the accuracy of the outward movement distance of the cleaning component relative to the main body of the equipment.

[0009] In some embodiments, two Hall elements are integrated on the encoder board, and the two Hall elements are non-centrally symmetrically distributed about the central axis of the rotation shaft, with the disk located on the side of the encoder board where the Hall elements are located.

[0010] Based on the above embodiments, when the spindle rotates, the disk will rotate along with the spindle. Two Hall elements are used to generate a potential difference signal with the disk during rotation, thereby detecting the rotation angle of the spindle. Designing the two Hall elements to be asymmetrically distributed about the central axis of the spindle reduces the positional requirements of the two Hall elements and lowers manufacturing costs, while still enabling the detection of the spindle rotation angle by distinguishing their positions.

[0011] In some embodiments, the encoder is an orthogonal encoder, and the disk is located on the side of the encoder board where the Hall element is located.

[0012] Based on the above embodiments, when the shaft rotates, the disk will rotate along with the shaft. Two Hall elements are used to generate a potential difference signal with the disk during rotation, thereby detecting the rotation angle of the shaft. The encoder is designed as a quadrature encoder, which can then distinguish between forward and reverse rotation of the shaft using the phase difference signal, further achieving accurate detection of the shaft rotation.

[0013] In some embodiments, the disk is a multi-level disk.

[0014] Based on the above embodiments, the more pairs of magnetic poles there are, the higher the resolution and the more precise the control.

[0015] In some embodiments, the drive element includes a motor, the motor comprising: Shaft; The motor base is fixed relative to the main body of the equipment. The rotating shaft is connected to the motor base and extends out of the motor base. The encoder plate is connected to the motor base and fixed relative to the motor base.

[0016] Based on the above embodiments, a specific selection of the driving component is provided.

[0017] In some embodiments, the rotating shaft includes: The first shaft is located on the same side of the motor mount as the conversion element, and the conversion element is connected to the first shaft; and, The second shaft is located on the same side of the motor mount as the encoder, and the disk is connected to the second shaft. The first shaft and the second shaft are located on opposite sides of the motor mount, and the first shaft and the second shaft move synchronously.

[0018] Based on the above embodiments, the converter and encoder are designed to be located on opposite sides of the motor mount, which can avoid mutual interference between the encoder and the converter.

[0019] In some embodiments, a plug-in block is provided on the motor base, and a plug-in hole is provided on the encoder board, with the plug-in block inserted into the plug-in hole.

[0020] Based on the above embodiments, the encoder board and the motor base are connected and fixed, making disassembly and assembly convenient.

[0021] In some embodiments, it also includes: In some embodiments, the encoder is used to obtain the rotation angle of the shaft as the cleaning component moves outward from its initial position relative to the device body.

[0022] Based on the above embodiments, the encoder can provide real-time feedback on the outward movement distance of the cleaning component relative to the main body of the equipment. In this way, the rotation angle of the rotating shaft can be dynamically adjusted to eliminate deviations and improve the high-precision outward movement of the cleaning component relative to the main body of the equipment.

[0023] In some of these embodiments, the zero-position detector includes a photoelectric switch.

[0024] Based on the above embodiments, the photoelectric switch detects whether the cleaning component has moved to its initial position by changing the light. The photoelectric switch and the cleaning component do not need to contact each other, which can avoid mechanical wear between them and extend the service life of the cleaning equipment.

[0025] In some embodiments, the conversion element includes: A lead screw connects to a rotating shaft and is fixed relative to the rotating shaft; The nut is fitted onto the lead screw and threadedly connected to it. The nut also connects to the cleaning component, which moves on the lead screw when the shaft rotates, thereby moving the cleaning component relative to the main body of the equipment.

[0026] Based on the above embodiments, the rotational motion of the shaft is converted into the linear motion of the cleaning component through the combination structure of the lead screw and nut. The structure is simple and low in cost.

[0027] This application also provides a cleaning system, including a base station and the cleaning equipment described above, wherein the base station and the cleaning equipment are used in conjunction. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the structure of a cleaning device in use according to some embodiments of this application; Figure 2 This is a schematic diagram of another usage state structure of the cleaning equipment provided in some embodiments of this application; Figure 3 yes Figure 1 A partial structural diagram of the cleaning equipment is shown; Figure 4 yes Figure 1 Another partial structural diagram of the cleaning equipment is shown; Figure 5 This is a circuit block diagram of a cleaning device provided in some embodiments of this application.

[0030] Explanation of reference numerals in the attached figures: 1. Cleaning equipment; 10. Main body of the equipment; 30. Drive assembly; 31. Drive component; 311. Rotating shaft; 3111. First shaft; 3112. Second shaft; 312. Motor mount; 3121. Connecting block; 32. Converter; 321. Lead screw; 322. Nut; 33. Cleaning component; 331. First end; 3311. End face; 332. Second end; 40. Encoder; 41. Disk; 42. Encoding board; 421. Socket; 50. Controller; 60. Zero-position detector; 70. Distance sensor. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0032] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0033] Please see Figures 1 to 5This application provides a cleaning device 1, which can be a cleaning robot, etc., and is not limited thereto. The cleaning device 1 includes a device body 10, a cleaning component 30, an encoder 40, a controller 50, and a zero-position detector 60.

[0034] The cleaning assembly 30 includes a drive component 31, a conversion component 32, and a cleaning component 33. The drive component 31 includes a rotating shaft 311, which is rotatable about its central axis. The conversion component 32 connects the rotating shaft 311 and the cleaning component 33, and is used to move the cleaning component 33 relative to the device body 10 when the rotating shaft 311 rotates. The encoder 40 includes a disk 41 and an encoder plate 42. The disk 41 is connected to and fixed relative to the rotating shaft 311. The encoder plate 42 is fixed relative to the device body 10 and is used in conjunction with the disk 41 to obtain the rotation angle of the rotating shaft 311. The controller 50 is electrically connected to the encoder plate 42 and the drive component 31, and is used to control the operation of the drive component 31 according to the rotation angle of the rotating shaft 311.

[0035] The cleaning component 30 described above includes a drive component 31 and a conversion component 32, which enables the cleaning component 33 to move relative to the main body 10 of the device. Thus, when it is necessary to clean the floor near the wall, the cleaning component 33 can be moved outward relative to the main body 10 of the device to protrude from the main body 10, so that the cleaning component 33 can contact the floor near the wall and clean it.

[0036] The distance by which the cleaning component 33 moves outward relative to the main body 10 can be determined based on the distance detected by the distance sensor 70 on the main body 10. Specifically, the controller 50 is electrically connected to the distance sensor 70 and is used to control the rotation angle of the rotating shaft 311 based on the distance detected by the distance sensor 70, so as to realize that the cleaning component 33 moves a preset distance relative to the main body 10.

[0037] In one embodiment of this application, the cleaning component 33 moves relative to the device body 10 in a straight line, while the rotating shaft 311 rotates circumferentially. Therefore, it is necessary to convert the rotation angle of the rotating shaft 311 into the straight-line movement distance of the cleaning component 33 relative to the device body 10. Specifically, the cleaning device 1 satisfies: L = (θ / 360°) × P, where L is the straight-line movement distance of the cleaning component 33 relative to the device body 10; θ is the rotation angle of the rotating shaft 311; and P is a conversion factor, which can be determined according to the specific structure of the cleaning component 30, and this application does not limit it.

[0038] The aforementioned design uses the encoder board 42 in conjunction with the disk 41 to obtain the rotation angle of the shaft 311. The two obtain the rotation angle of the shaft 311 through changes in the magnetic field, eliminating the need for contact and avoiding the problem of accuracy degradation caused by mechanical wear. Furthermore, using a magneto-electric encoder to obtain the rotation angle of the shaft 311 allows for a smaller device size compared to using a photoelectric encoder, making it more suitable for compact cleaning equipment 1.

[0039] Since the encoder 42 and the disk 41 work together to obtain the actual rotation angle of the shaft 311 in real time, that is, the encoder 42 and the disk 41 work together to provide real-time feedback on the moving distance of the cleaning component 33 relative to the main body 10 of the equipment. In this way, the rotation angle of the shaft 311 can be dynamically adjusted to eliminate deviations and improve the accuracy of movement control of the cleaning component 33 relative to the main body 10 of the equipment.

[0040] Specifically, the target moving distance L_target of the cleaning component 33 relative to the main body 10 can be determined first based on the distance detected by the distance sensor 70 on the cleaning device 1; the actual rotation angle θ_actual of the rotating shaft 311 can be obtained in real time through the cooperation of the encoder 42 and the disk 41; the deviation can be calculated as: ΔL=L_target−L_actual, where L_actual=(θ_actual / 360°)×P; the controller 50 uses a PID algorithm to dynamically adjust the operation of the drive component 31 according to the calculated deviation, so as to dynamically adjust the rotation angle of the rotating shaft 311; when |ΔL| is less than the allowable error threshold, the controller 50 controls the drive component 31 to stop.

[0041] It should be noted that the high-precision movement of the cleaning component 33 relative to the main body 10 of the device can improve the accuracy of the cleaning component 33 moving outward to reach the designated position, which is beneficial for cleaning the designated position such as the ground near the wall, and also facilitates the inward movement of the cleaning component 33 to avoid obstacles.

[0042] In some embodiments, two Hall elements are integrated on the encoder board 42. The two Hall elements are asymmetrically distributed about the central axis of the rotating shaft 311, and the disk 41 is located on the side of the encoder board 42 where the Hall elements are located. When the rotating shaft 311 rotates, the disk 41 will rotate with the rotating shaft 311. The two Hall elements are used to sense the potential difference signal between themselves and the disk 41 when the disk 41 rotates, thereby realizing the detection of the rotation angle of the rotating shaft 311. Designing the two Hall elements to be asymmetrically distributed about the central axis of the rotating shaft 311 can reduce the position setting requirements of the two Hall elements and reduce manufacturing costs, while realizing the detection of the rotation angle of the rotating shaft 311 by distinguishing the positions of the two Hall elements.

[0043] Furthermore, encoder 40 is an orthogonal encoder. For example, an orthogonal encoder may include a disk 41 and two sets of Hall elements, the two sets of Hall elements being set at an electrical angle of 90 degrees, thereby outputting two sets of signals with a 90-degree phase difference. For further features of the orthogonal encoder, please refer to the prior art. This application, by employing an orthogonal encoder, can distinguish between forward and reverse rotation of the shaft, further achieving accurate detection of the shaft rotation angle. In some embodiments, disk 41 is located on the side of encoder plate 42 where the Hall elements are located. When the shaft 311 rotates, disk 41 will rotate along with the shaft 311. The two Hall elements are used to sense a potential difference signal with disk 41 when disk 41 rotates, thereby achieving accurate detection of the rotation angle of shaft 311.

[0044] In some embodiments, disk 41 is a multi-level disk. This application does not limit the number of magnetic pole pairs; it is understood that the more magnetic pole pairs, the higher the resolution and the higher the control precision.

[0045] In some embodiments, the drive unit 31 includes a motor, which includes a rotating shaft 311 and a motor mount 312. The motor mount 312 is fixed relative to the device body 10, the rotating shaft 311 is connected to the motor mount 312 and extends out of the motor mount 312, and the encoder plate 42 is connected to the motor mount 312 and fixed relative to the motor mount 312.

[0046] In some embodiments, the rotating shaft 311 includes a first shaft 3111 and a second shaft 3112. The first shaft 3111 and the conversion element 32 are located on the same side of the motor base 312, and the conversion element 32 is connected to the first shaft 3111. The second shaft 3112 and the encoder 40 are located on the same side of the motor base 312, and the disk 41 is connected to the second shaft 3112. The first shaft 3111 and the second shaft 3112 are located on opposite sides of the motor base 312, and the first shaft 3111 and the second shaft 3112 maintain synchronous movement. The above design, with the conversion element 32 and the encoder 40 located on opposite sides of the motor base 312, can avoid mutual interference between the encoder 40 and the conversion element 32.

[0047] In some embodiments, the encoder 42 is disposed between the disk 41 and the motor mount 312 so that the encoder 42 is mounted on the motor mount 312 and fixed relative to the motor mount 312.

[0048] In some embodiments, the motor base 312 is provided with a plug-in block 3121, and the encoder plate 42 is provided with a plug-in hole 421, with the plug-in block 3121 inserted into the plug-in hole 421. That is, the encoder plate 42 and the motor base 312 are plugged and fixed, and disassembly and assembly are convenient.

[0049] In some embodiments, the motor base 312 is provided with a plurality of plug-in blocks 3121, and the encoder plate 42 is provided with a plurality of plug-in holes 421. The plurality of plug-in blocks 3121 are inserted into the plurality of plug-in holes 421 in a corresponding manner, thereby improving the connection stability between the encoder plate 42 and the motor base 312.

[0050] In some embodiments, the conversion element 32 includes a lead screw 321 and a nut 322. The lead screw 321 is connected to and fixed relative to the rotating shaft 311. The nut 322 is sleeved on the lead screw 321 and threadedly connected to it. The nut 322 is also connected to the cleaning element 33 and is used to move on the lead screw 321 when the rotating shaft 311 rotates, thereby driving the cleaning element 33 to move relative to the equipment body 10. Through the combined structure of the lead screw 321 and the nut 322, the rotational motion of the rotating shaft 311 is converted into the linear motion of the cleaning element 33, resulting in a simple structural design and low cost.

[0051] It should be noted that the design of converting rotational motion into linear motion through lead screw 321 and nut 322 is relatively mature and will not be elaborated here.

[0052] In some embodiments, the cleaning component 33 is located at the bottom of the device body 10 and can contact the ground when the device body 10 moves to clean the ground.

[0053] In some embodiments, the cleaning component 33 includes a roller and a mop and / or bristles wrapped around the surface of the roller. The roller is connected to a conversion component 32 for moving relative to the main body 10 when the rotating shaft 311 rotates. The roller may be fitted onto the nut 322 of the conversion component 32.

[0054] In some embodiments, the roller may be cylindrical or approximately cylindrical. When the cleaning device 1 is in operation, the cleaning device 1 moves, and the mop and bristles on the surface of the roller come into contact with the surface to be cleaned, so as to clean the surface to be cleaned as the roller rotates about its own central axis.

[0055] In some embodiments, the zero-position detector 60 is fixed relative to the device body 10, and the controller 50 is electrically connected to the zero-position detector 60 to control the cleaning component 33 to move to the initial position that triggers the zero-position detector 60 when the cleaning device 1 is started.

[0056] The aforementioned absolute position reference for establishing the initial position allows for calculations based on this initial position when calculating the outward movement distance of the cleaning component 33 relative to the equipment body 10. This helps eliminate accumulated mechanical backlash errors and improves the accuracy of the outward movement distance of the cleaning component 33 relative to the equipment body 10.

[0057] The above design controls the cleaning component 33 to move to the initial position that triggers the zero-position detector 60 when the cleaning device 1 is started. That is, the position of the cleaning component 33 is calibrated once when the cleaning device 1 is started, and no further calibration is required during operation. It should be noted that the position of the cleaning component 33 can also be calibrated once before each movement relative to the main body 10 of the device, and there is no limitation on this.

[0058] In some embodiments, the projection of the cleaning component 33 at its initial position is located within the device body 10 in the vertical direction. That is, the cleaning component 33 does not protrude from the device body 10 at its initial position, so that the cleaning component 33 at its initial position is less likely to scratch obstacles when the cleaning device 1 moves.

[0059] In some embodiments, the cleaning component 33 includes a first end 331 and a second end 332 in the direction of movement relative to the device body 10. When the cleaning component 33 moves outward relative to the device body 10, the first end 331 moves out of the device body 10 before the second end 332. In the vertical direction, the projection of the first end 331 at the initial position is located inside the device body 10.

[0060] In some embodiments, when the cleaning component 33 is in its initial position, the end face 3311 of the first end 331 can be flush with the outer surface of the device body 10, so as to shorten the outward movement distance of the cleaning component 33 relative to the device body 10.

[0061] In some embodiments, if the end face 3311 of the first end 331 and the distance sensor 70 are in the same vertical direction when the cleaning component 33 is in the initial position, then the distance detected by the distance sensor 70 from the wall is the distance that the cleaning component 33 moves outward relative to the main body 10.

[0062] In some embodiments, if the cleaning component 33 is in its initial position, the distance sensor 70 is located on the side of the first end 331 away from the second end 332, and the distance between the distance sensor 70 and the end face 3311 of the first end 331 in the horizontal direction is a, and the distance detected by the distance sensor 70 from the wall is b, then the distance that the cleaning component 33 moves outward relative to the main body 10 is approximately b+a.

[0063] In some embodiments, if the cleaning component 33 is in its initial position, the distance sensor 70 is located on the side of the end face 3311 of the first end 331 close to the second end 332, and the distance between the distance sensor 70 and the end face 3311 of the first end 331 in the horizontal direction is a, and the distance detected by the distance sensor 70 from the wall is b, then the distance that the cleaning component 33 moves outward relative to the main body 10 is approximately ba.

[0064] In some embodiments, the cleaning component 33 moves in a horizontal direction relative to the device body 10 so that the height of the cleaning component 33 remains constant during movement.

[0065] In some embodiments, the cleaning component 33 can move inward relative to the device body 10 under the drive of the driving component 31, or it can move outward relative to the device body 10 under the drive of the driving component 31. That is, the inward and outward movement of the cleaning component 33 relative to the device body 10 can be achieved by a single driving component 31.

[0066] In some embodiments, the cleaning component 33 can move to the initial position that triggers the zero-position detector 60 under the drive of the driving component 31. That is, the movement of the cleaning component 33 is controlled by a driving component 31.

[0067] In some embodiments, the encoder 40 is used to obtain the rotation angle of the shaft 311 when the cleaning component 33 moves outward relative to the device body 10 from its initial position. That is, the encoder 40 can provide real-time feedback on the outward movement distance of the cleaning component 33 relative to the device body 10, thereby dynamically adjusting the rotation angle of the shaft 311, eliminating deviations, and improving the high-precision outward movement of the cleaning component 33 relative to the device body 10.

[0068] In some embodiments, the zero-position detector 60 includes a photoelectric switch. The photoelectric switch detects whether the cleaning component 33 has moved to its initial position by means of changes in light. The zero-position detector 60 and the cleaning component 33 do not need to contact each other, which can avoid mechanical wear between them and extend the service life of the cleaning equipment 1.

[0069] In some embodiments, the zero-position detector 60 includes a Hall element, and a magnet may be provided on the cleaning component 33. The Hall element detects whether the cleaning component 33 has moved to its initial position by means of changes in the magnetic field. The zero-position detector 60 and the cleaning component 33 do not need to contact each other, which can avoid mechanical wear between them and extend the service life of the cleaning device 1.

[0070] It should be noted that when the zero-position detector 60 includes a Hall element, the above-mentioned design of the conversion component 32 and the encoder 40 is located on opposite sides of the motor base 312. This allows the cleaning component 33 and the encoder 40 to be located approximately on opposite sides of the motor base 312, making it less likely for the magnetic fields on opposite sides of the motor base 312 to interfere with each other, thus ensuring the operational reliability of the zero-position detector 60 and the encoder 40.

[0071] This application embodiment also provides a cleaning system, which includes a base station and the aforementioned cleaning device 1. The base station and the cleaning device 1 are used in conjunction. The base station can supply power to the cleaning device 1 and / or collect dust and other impurities from inside the cleaning device 1.

[0072] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, "multiple" means at least two, for example, two, three, four, etc. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0073] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application shall still fall within the scope of this application.

Claims

1. A cleaning device, characterized in that, include: Equipment body (10); The cleaning assembly (30) includes a drive (31), a conversion (32) and a cleaning component (33). The drive (31) includes a rotating shaft (311) that is rotatable about its central axis. The conversion (32) connects the rotating shaft (311) and the cleaning component (33) and is used to drive the cleaning component (33) to move relative to the main body (10) of the equipment when the rotating shaft (311) rotates. The encoder (40) includes a disk (41) and an encoder plate (42). The disk (41) is connected to the rotating shaft (311) and fixed relative to the rotating shaft (311). The encoder plate (42) is fixed relative to the device body (10). The encoder plate (42) is used in conjunction with the disk (41) to obtain the rotation angle of the rotating shaft (311). A controller (50), electrically connected to the encoder board (42) and the drive unit (31), is used to control the operation of the drive unit (31) according to the rotation angle of the rotating shaft (311); and, The zero-position detector (60) is fixed relative to the main body of the device (10). The controller (50) is electrically connected to the zero-position detector (60) and is used to control the cleaning component (33) to move to the initial position that triggers the zero-position detector (60) when the cleaning device (1) is started.

2. The cleaning equipment according to claim 1, characterized in that, The encoding board (42) integrates two Hall elements, which are non-centrally symmetrically distributed about the central axis of the rotating shaft (311). The disk (41) is located on the side of the encoding board (42) where the Hall elements are located.

3. The cleaning equipment according to claim 1, characterized in that, The encoder (40) is an orthogonal encoder; and / or, the disk (41) is a multilevel disk.

4. The cleaning equipment according to claim 1, characterized in that, The drive unit (31) includes a motor, the motor comprising: The rotating shaft (311); The motor base (312) is fixed relative to the main body (10) of the device. The rotating shaft (311) is connected to the motor base (312) and extends out of the motor base (312). The encoder plate (42) is connected to the motor base (312) and fixed relative to the motor base (312).

5. The cleaning equipment according to claim 4, characterized in that, The rotating shaft (311) includes: The first shaft (3111) is located on the same side of the motor mount (312) as the conversion element (32), and the conversion element (32) is connected to the first shaft (3111); and, The second shaft (3112) is located on the same side of the motor base (312) as the encoder (40), and the disk (41) is connected to the second shaft (3112). The first shaft (3111) and the second shaft (3112) are located on opposite sides of the motor base (312), and the first shaft (3111) and the second shaft (3112) move synchronously.

6. The cleaning equipment according to claim 4, characterized in that, The motor base (312) is provided with a plug-in block (3121), and the encoder plate (42) is provided with a plug-in hole (421). The plug-in block (3121) is inserted into the plug-in hole (421).

7. The cleaning equipment according to claim 1, characterized in that, The encoder (40) is used to obtain the rotation angle of the shaft (311) when the cleaning component (33) moves outward relative to the device body (10) from the initial position.

8. The cleaning equipment according to claim 1, characterized in that, The zero-position detector (60) includes a photoelectric switch.

9. The cleaning equipment according to claim 1, characterized in that, The conversion element (32) includes: A lead screw (321) is connected to the rotating shaft (311) and fixed relative to the rotating shaft (311); Nut (322) is sleeved on the lead screw (321) and threadedly connected to the lead screw (321). Nut (322) is also connected to the cleaning component (33) and is used to move on the lead screw (321) when the rotating shaft (311) rotates, so as to drive the cleaning component (33) to move relative to the main body of the equipment (10).

10. A cleaning system, characterized in that, It includes a base station and the cleaning equipment according to any one of claims 1 to 9, wherein the base station is used in conjunction with the cleaning equipment.

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