Control method for cleaning device, cleaning device, and computer storage medium

Abstract

The present application discloses a control method for a cleaning device, a cleaning device, and a computer storage medium. The cleaning device comprises a chassis and an operating rod rotatably mounted on the chassis. The control method for a cleaning device comprises: when the operating rod is in a free state, acquiring state information of the cleaning device; and, according to the state information, determining whether the cleaning device is abnormal. According to the control method for a cleaning device, the cleaning device, and the computer storage medium of embodiments of the present application, when the operating rod is in the free state, according to the acquired state information of the cleaning device, a processor can determine whether the cleaning device is abnormal, so that an abnormality of the cleaning device due to improper operation or long service life can be discovered in time, thereby ensuring the normal use of the cleaning device, and also avoiding damage to the cleaning device.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to cleaning technology field, in particular to a cleaning method for a cleaning device, a cleaning device, and a computer storage medium.BACKGROUND

[0002] A cleaning device is primarily used for floor cleaning and is commonly used in scenarios such as home interior cleaning and large venue cleaning. Currently, the cleaning device on the market typically consists of a chassis and an operating rod mounted on the chassis. The user manipulates the operating rod to control the chassis's forward and reverse movements and the cleaning area. The cleaning device is prone to abnormalities due to improper operation or long service life. If these abnormalities are not detected promptly, they may affect the normal use of the cleaning device or even damage it.SUMMARY OF THE INVENTION

[0003] The embodiments of the present application provide a control method for a cleaning device, a cleaning device, and a computer storage medium, which are at least used to solve the above-mentioned problem of being unable to promptly detect abnormalities in the cleaning device.

[0004] The control method for cleaning device of the embodiments of the present disclosure is applied in the cleaning device, the cleaning device includes a chassis and an operating rod rotatably mounted on the chassis. The control method for cleaning device includes: acquiring state information of the cleaning device when the operating rod is in a free state; and determining whether the cleaning device is abnormal according to the state information.

[0005] In some embodiments, determining whether the cleaning device is abnormal according to the state information, includes: determining whether a posture of the cleaning device is abnormal according to the status information; if the posture of the cleaning device is abnormal, the control method further comprises: controlling the cleaning device to issue an abnormality reminder.

[0006] In some embodiments, the free state is a locked state, the state information includes a roll angle between the operating rod and the chassis; when the operating rod is in the locked state, determining whether the posture of the cleaning device is an abnormal posture according to the state information, includes: determining that the posture of the cleaning device is the abnormal posture if the roll angle is greater than a first angle threshold.

[0007] In some embodiments, the free state is a locked state, the state information includes a roll angle between the operating rod and the chassis and a duration recorded by a timer; when the operating rod is in the locked state, determining whether the posture of the cleaning device is an abnormal posture according to the state information, includes determining that the posture of the cleaning device is the abnormal posture if the roll angle is greater than a second angle threshold and the duration exceeds a first preset duration.

[0008] In some embodiments, the free state is a locked state, the state information includes an acceleration of the operating rod; when the operating rod is in the locked state, determining whether the posture of the cleaning device is an abnormal posture according to the state information, includes determining that the posture of the cleaning device is the abnormal posture if the acceleration is greater than a first acceleration threshold.

[0009] In some embodiments, the free state is a locked state, the state information includes an acceleration of the operating rod; when the operating rod is in the locked state, determining whether the posture of the cleaning device is an abnormal posture according to the state information, includes determining that the posture of the cleaning device is the abnormal posture if the acceleration is greater than a second acceleration threshold and becomes 0 within a set time period.

[0010] In some embodiments, the free state is a locked state, the state information includes a distance between the operating rod and a surface to be cleaned; when the operating rod is in the locked state, determining whether the posture of the cleaning device is an abnormal posture according to the state information, includes: determining that the posture of the cleaning device is the abnormal posture if the distance is less than a preset distance threshold.

[0011] In some embodiments, the free state is a lying state, the state information includes whether the cleaning device is in operation; when the operating rod is in the lying state, determining whether the posture of the cleaning device is an abnormal posture according to the state information, includes: determining that the cleaning device is in the abnormal posture if the cleaning device is not in operation.

[0012] In some embodiments, the free state is a lying state, the state information includes whether the cleaning device is in operation; when the operating rod is in the lying state, determining whether the posture of the cleaning device is an abnormal posture according to the state information, includes: determining that the cleaning device is in the abnormal posture if the cleaning device is not in operation and a time in the lying state is greater than a second preset duration.

[0013] In some embodiments, the cleaning device includes a sensor, the state information includes sensing data acquired by the sensor; when the operating rod is in the free state, the sensing data is within a first preset range; acquiring the state information of the cleaning device, includes: acquiring the sensing data; determining whether the cleaning device is abnormal according to the state information, includes: determining that the sensor of the cleaning device is abnormal if the sensing data exceeds the first preset range.

[0014] In some embodiments, the free state comprises at least one of a locked state, a lying state, and a charging state.

[0015] In some embodiments, if the sensor is abnormal and the operating rod is in the free state, the control method further comprises: controlling the sensor to perform a calibration operation.

[0016] The cleaning device of the embodiments of the present disclosure includes a chassis, an operating rod, and one or more processors mounted on the chassis and / or the operating rod. The operating rod is rotatably mounted on the chassis. The one or more processors are configured to execute the control method described in any of the above embodiments.

[0017] The computer storage medium of the embodiments of the present application stores a computer program, when the computer program is executed by one or more processors, the control method described in any of the above embodiments is implemented.

[0018] In the control method for a cleaning device, cleaning device and computer storage medium of the embodiments of the present application, when the operating rod is in the free state, the processor can determine whether the cleaning device is abnormal based on the acquired status information of the cleaning device, so that abnormalities of the cleaning device caused by improper operation or long service life can be discovered in time, ensuring the normal use of the cleaning device and avoiding damage to the cleaning device.

[0019] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the embodiments of the present application.BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: FIG. 1 is a flow chart of a control method for a cleaning device according to some embodiments of the present application; FIG. 2 is a schematic diagram of the structure of the cleaning device according to some embodiments of the present application from various perspectives; FIG. 3 is a schematic diagram of the structure of the cleaning device according to some embodiments of the present application from various perspectives; FIG. 4 is a flow chart of the control method for the cleaning device according to some embodiments of the present application; FIG. 5 is a flow chart of the control method for the cleaning device according to some embodiments of the present application; FIG. 6 is a schematic diagram of the structure of the cleaning device according to some embodiments of the present application from various perspectives; FIGS. 7 and 8 are flow charts of the control method of the cleaning device according to some embodiments of the present application; FIG. 9 is a schematic diagram of a locked state and tilted position of the cleaning device according to some embodiments of the present application; FIG. 10 to FIG. 15 are flow charts of the control method of the cleaning device according to some embodiments of the present application; FIG. 16 is a schematic diagram of a connection between a computer storage medium and a processor according to some embodiments of the present application.

[0021] Key Elements Symbols: cleaning device 100; surface to be cleaned 200; chassis 10, upper surface 11; operating rod 20, main body 21, extension rod 23; sensor 30; processor 40; cleaning assembly 50, cleaning member 51; dirt suction assembly 60; dirt tank 70; water supply assembly 80; handle 90. DETAILED DESCRIPTION

[0022] The following further describes the embodiments of the present application in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions. Furthermore, the embodiments of the present application described below in conjunction with the accompanying drawings are exemplary and are intended only to explain the embodiments of the present application and are not to be construed as limiting the present application.

[0023] Cleaning devices are primarily used for cleaning floors and is typically used in home interiors and large venues. Currently, the cleaning device on the market typically includes a chassis and an operating rod mounted on the chassis. Users can manipulate the operating rod to control the chassis's forward and reverse movements and the cleaning area. The cleaning device is prone to abnormalities due to improper operation or long service life. If these abnormalities are not discovered in time, they may affect the normal use of the cleaning device or even damage the cleaning device. In order to solve the problem of not being able to detect abnormalities of cleaning device in a timely manner, the present application provides a control method for a cleaning device (shown in FIG. 1), a cleaning device 100 (shown in FIG. 2) and a computer storage medium 300 (shown in FIG. 16).

[0024] Referring to FIG. 1 and FIG. 2, the control method of the cleaning device according to the embodiment of the present application includes: 01: when the operating rod is in a free state, acquiring state information of the cleaning device 100; and 03: according to the state information, determining whether the cleaning device 100 is abnormal.

[0025] The control method of the cleaning device can be applied to the cleaning device 100, as shown in FIG. 2, wherein Figure (a) is a side view of the cleaning device 100, Figure (b) is a front view of the cleaning device 100, and Figure (c) is a schematic diagram of the cross-section of a main body 21 of the operating rod 20 when the main body 21 of the operating rod 20 is completely perpendicular to an upper surface 11 of the chassis 10 (a side of the chassis 10 opposite to the surface 200 to be cleaned). The cleaning device 100 includes a chassis 10, an operating rod 20, a sensor 30, and one or more processors 40. The operating rod 20 is rotatably connected to the chassis 10. The sensor 30 is disposed on the chassis 10 and / or the operating rod 20. The cleaning device 100 includes a handheld cleaning device, that is, any device that requires manual locking of the operating rod 20 and whose chassis 10 has traction, including but not limited to a sweeper, a scrubber, a mop, a vacuum cleaner, and the like.

[0026] The cleaning device 100 may further include a cleaning assembly 50, a dirt suction assembly 60, a dirt tank 70, and a water supply assembly 80. The cleaning assembly 50 may be mounted on the chassis 10 and may include a cleaning member 51. When the chassis 10 is supported on the surface to be cleaned 200, the cleaning member 51 may rotate relative to the chassis 10 to clean dirt on the surface 200 to be cleaned and pull the cleaning device 100 relative to the surface 200 to be cleaned. The dirt suction assembly 60 can be mounted on the operating rod 20 and can provide power to collect dirt swept by the cleaning member 51, thereby collecting dirt on the surface 200 to be cleaned into the dirt tank 70. The water supply assembly 80 can be mounted on the operating rod 20 or on the chassis 10 and can supply water to the cleaning member 51 so that the cleaning member 51 can mop the surface 200 to be cleaned. Exemplarily, the surface 200 to be cleaned can be the ground in a building; or, the surface 200 to be cleaned can also be the surface of other objects that need to be cleaned, such as a wall or a bed surface. It should be noted that, in some embodiments, the cleaning member 51 can be a roller brush. In some embodiments, the installation position of each component of the cleaning device 100 shown in FIG. 2 is only an exemplary description. In other embodiments, the installation position of each component of the cleaning device 100 can also be other forms, and description is not listed one by one at this.

[0027] The operating rod 20 may include a main body 21, which may be a housing. The housing may be approximately cylindrical, such as a cylindrical, triangular, quadrangular, or multi-sided prism. The main body 21 may include a first end and a second end disposed opposite each other. The first end is rotatably connected to the chassis 10. When the operating rod 20 is perpendicular or approximately perpendicular to the surface 200 to be cleaned, the second end of the main body 21 is an end away from the surface 200 to be cleaned. The rotation of the operating rod 20 relative to the chassis 10 includes rotation around the Pitch axis shown in (a) of FIG. 2 and rotation around the Roll axis shown in Figures (a) or (c) of FIG. 2. From the perspective of a user using the cleaning device 100 for cleaning, when the operating rod 20 rotates around the Pitch axis, it is manifested as the user pushing or pulling the operating rod 20 forward or backward, as shown in Figure (a) of FIG. 2; when the operating rod 20 rotates back and forth around the Roll axis, it is manifested as the user twisting the main body 21 of the operating rod 20 to the left or right, as shown in Figure (c) of FIG. 2.

[0028] In addition, if a reference coordinate system of a Cartesian rectangular coordinate system is established, the YZ plane is parallel to the upper surface 11 of the chassis 10, the positive direction of the Z axis is the forward direction of the cleaning device 100, and the negative direction of the Z axis is the backward direction of the cleaning device 100; the positive direction of the Y axis is the left direction when the user performs the cleaning operation, and the negative direction of the Y axis is the right direction when the user performs the cleaning operation; the X axis is perpendicular to the YZ plane, with the direction upward away from the upper surface 11 of the chassis 10 as the positive direction, and the direction downward away from the upper surface 11 of the chassis 10 as the negative direction. The Pitch axis is the same as the Y axis, and the angle between the long axis (the axis in the longitudinal direction) of the main body 21 and the opposite direction of the Z axis is defined as a pitch angle P between the operating rod 20 and the chassis 10. The Roll axis and the Z axis are in the same plane, and the extension direction of the Roll axis is consistent with the extension direction of the long axis of the main body 21, as shown in Figure (a) of FIG. 2; when the main body 21 of the operating rod 20 is completely perpendicular to the upper surface 11 of the chassis 10, the extension direction of the short axis (the axis perpendicular to the long axis) of the main body 21 is also consistent with the extension direction of the Z axis, as shown in Figure (c) of FIG. 2.

[0029] Furthermore, in order to adjust the length of the operating rod 20 to meet the needs of different users, the operating rod 20 may further include an extension rod 23, which is mounted on the second end of the main body 21. Furthermore, in order to facilitate the user to operate the cleaning device 100 when cleaning the surface 200 to be cleaned, the operating rod 20 may further include a handle 90, which can be mounted on the second end of the main body 21 via the extension rod 23.

[0030] The sensor 30 is a component for detecting operating parameters of each component on cleaning device 100. Wherein, the data detected by sensor 30 are collectively referred to as "sensing data" hereinafter. The sensor 30 may include an angle detection sensor, an acceleration sensor, a distance sensor or a timer, etc. The angle detection sensor may be mounted on the chassis 10 and / or the operating rod 20 and configured to detect a pitch angle P between the operating rod 20 and the chassis 10. In this case, the "sensing data" may include the pitch angle P. The angle detection sensor may also be configured to detect a roll angle R between the operating rod 20 and the chassis 10. In this case, the "sensing data" may include the roll angle R. For example, when the angle detection sensor includes a magnet and a Hall sensor, one of the magnet and the Hall sensor may be mounted on the chassis 10, and the other may be mounted on the operating rod 20. The acceleration sensor may be mounted on the operating rod 20 to detect the acceleration of the operating rod 20. In this case, the "sensing data" may include acceleration data. The distance sensor can be mounted on the operating rod 20 and / or the chassis 10, and is used to detect the distance between a first point on the chassis 10 and a second point on the operating rod 20, or the vertical distance from a certain point on the operating rod 20 to the plane where the chassis 10 is located, or the vertical distance from a certain point on the operating rod 20 to the surface 200 to be cleaned. In this case, the "sensing data" may include distance data. Wherein, the acceleration sensor includes but is not limited to accelerometer, gyroscope or inertial measurement unit etc. The range sensor includes but is not limited to laser distance sensor, ultrasonic distance sensor or infrared distance sensor etc. The timer can be mounted on chassis 10 and / or operating rod 20, and is used to record time.

[0031] The processor 40 is used for analyzing / processing data and giving instructions to the parts of actuator (for example operating rod 20 and cleaning element 51) or control actuator on the cleaning device 100. The processor 40 can be one or more. The processor 40 can be mounted on chassis 10 and / or operating rod 20, and is communicated (wired-electrically connected or wirelessly and electrically connected) with sensor 30. The processor 40 obtains the sensing data detected by the sensor 30, analyzes and processes the sensing data to obtain analysis and processing results, and further issues execution instructions to the execution mechanism or controls the execution mechanism based on the analysis and processing results. The execution mechanism will then perform relevant operations according to the execution instructions or according to the control execution. Please refer to FIGS. 1 and 2 together, in the embodiment of the present application, one or more processors 40 can execute the methods in 01 and 03, that is, when the operating rod 20 is in a free state, one or more processors 40 obtain the status information of the cleaning device 100; and determine whether the cleaning device 100 is abnormal based on the status information.

[0032] Wherein, the "free state" refers to the state when cleaning device 100 is not dominated by the user, i.e. cleaning device 100 is in the state when there is no user intervention. Specifically, the free state of cleaning device 100 may include at least one of a locked state of cleaning device 100, a lying state of cleaning device 100 and a charging state of cleaning device 100. Wherein, the locked state of the cleaning device 100 means that when viewed from the side, the operating rod 20 is in an almost upright posture relative to the chassis 10 (the pitch angle range is 90°±a; exemplarily, a=10°, but not limited to this, it can be understood that the value of a can be adjusted according to actual conditions), and the operating rod 20 and the chassis 10 are locked, and the cleaning device 100 can still be in an upright posture without human assistance. As shown in figure (a) of FIG. 3, in the locked state, the operating rod 20 cannot rotate about the pitch axis, but can rotate about the roll axis, meaning that the operating rod 20 can still rotate. As shown in figure (b) of FIG. 3, the lying state of the cleaning device 100 refers to the state in which the operating rod 20 is in the lowest limit position relative to the chassis 10. In the lying state, the pitch angle between the operating rod 20 and the chassis 10 is at a fixed angle. For example, the fixed angle may range from [-2°, 5°]. It should be noted that the fixed angle may be different for different models of cleaning device 100. As shown in figure (c) of FIG. 3, the charging state of the cleaning device 100 refers to the state when the cleaning device 100 is docked with the base. At this time, the posture of the operating rod 20 of the cleaning device 100 can be assisted by the base to stand upright. The backrest of the base supports the operating rod 20, and the operating rod 20 cannot swing back and forth or left and right. At this time, the posture of the operating rod 20 is the most correct.

[0033] The "status information" includes the "sensing data" collected by the "sensor 30" mentioned above. The "Status information" also includes the "working data" (working status and operating parameters) of the cleaning device 100 itself, such as whether the cleaning device 100 is in operation, and the operating parameters of each component in the cleaning device 100, such as the opening status of the dirt suction assembly 60, the power of the dirt suction assembly 60, the opening status of the water supply component 80, the power of the water supply component 80, the opening status of the cleaning member 51 and the power of the cleaning member 51, etc.

[0034] Under normal use, the cleaning device 100 of the present application requires the user to hold the operating rod 20 for operation. When the user does not hold the operating rod 20, that is, when the cleaning device 100 is not under the control of the user, the cleaning device 100 may have abnormal posture, such as being knocked over and tilting abnormally, or tilting abnormally when the roll angle exceeds the limit in the locked state.

[0035] In the control method of the cleaning device and the cleaning device 100 of the embodiment of the present application, when the operating rod 20 is in the free state, the processor 40 can determine whether the cleaning device 100 is abnormal based on the acquired status information of the cleaning device 100, so that abnormalities of the cleaning device 100 caused by improper operation or long service life can be discovered in time, ensuring the normal use of the cleaning device 100 and avoiding damage to the cleaning device 100.

[0036] Referring to FIG. 4, in some embodiments, 03: according to the state information, determining whether the cleaning device 100 is abnormal, includes: 031: determining whether the posture of the cleaning device 100 is an abnormal posture according to the status information; If the posture of the cleaning device 100 is abnormal, the control method further includes: 05: controlling the cleaning device 100 to issue an abnormality reminder.

[0037] Referring to FIG. 2, one or more processors 40 are capable of executing the method in 031, that is, one or more processors 40 are configured to determine whether the posture of the cleaning device 100 is the abnormal posture based on the status information, and if so, to control the cleaning device 100 to issue the abnormal reminder.

[0038] The "posture of the cleaning device 100" specifically refers to the posture of the operating rod 20 of the cleaning device 100, which is mainly measured by the pitch angle and the roll angle between the operating rod 20 and the chassis 10. Generally, when a user holds the operating rod 20 of the cleaning device 100, the cleaning device 100 is in operation, and at this time, the posture of the cleaning device 100 is generally normal. When the cleaning device 100 is in the free state without being controlled by the user, the operating rod 20 of the cleaning device 100 is normally in a relatively fixed posture. However, the cleaning device 100 is easily affected by various external environments, causing the posture of the operating rod 20 to become abnormal. The abnormal posture can easily cause damage to the cleaning device 100, for example, it can be easily knocked over and damaged by the user. Therefore, processor 40 needs to utilize some sensing data collected by the sensor 30 or the working data of cleaning device 100 self operation to determine whether cleaning device 100 is in the normal posture, when cleaning device 100 is in the abnormal situation, the processor 40 also will control reminder unit to remind user. After receiving reminder, user can adjust the cleaning device 100 immediately and make the posture of the operating rod 20 return normal, thereby can avoid the cleaning device 100 from being damaged because of posture abnormality.

[0039] It should be noted that cleaning device 100 issues abnormal reminder includes: cleaning device 100 issues auditory reminder, visual reminder, tactile reminder or olfactory reminder. Wherein, the reminder unit includes but is not limited to being a loudspeaker, a display screen, an indicator light, a vibrator or an odor sensor etc. Particularly, the auditory reminder includes but is not limited to being enough to cause the sound of user's attention etc. by the loudspeaker (not shown in the figure, can be mounted in at least one in the chassis 10, the operating rod 20 and the dirt tank 70) playing abnormal content, rapid music or alarm sound. The visual reminder include, but are not limited to, a reminder via a display screen (not shown, which may be mounted on at least one of the chassis 10, the operating lever 20, and the dirt tank 70) displaying abnormal text or an abnormal image, or a reminder via a flashing indicator light (not shown, which may be mounted on at least one of the chassis 10, the operating rod 20, and the dirt tank 70). The tactile reminder includes, but are not limited to a reminder via vibration feedback emitted by a vibrator (not shown, which may be mounted on at least one of the chassis 10, the operating rod 20, and the waste tank 70). The olfactory reminder includes but is not limited to a reminder using special smells emitted by an odor sensor 30 (not shown, which may be installed on at least one of the chassis 10, the operating rod 20, and the dirt tank 70).

[0040] Please refer to FIG. 5, in some embodiments, the free state is a locked state, and the state information includes the roll angle between the operating rod 20 and the chassis 10. When the operating rod 20 is in the locked state, 031: determining whether the posture of the cleaning device 100 is the abnormal posture according to the status information, includes: 0311: determining that the posture of the cleaning device 100 is the abnormal posture if the roll angle is greater than a first angle threshold.

[0041] Referring to FIG. 2, one or more processors 40 can execute the method in 0311, that is, the one or more processors 40 are further configured to: determining that the posture of the cleaning device 100 is the abnormal posture if the roll angle is greater than the first angle threshold.

[0042] Please refer to FIG. 6, figure (a) is a side view of the cleaning device 100, figure (b) is a front view of the cleaning device 100, and figure (c) is a schematic diagram of the cross-section of the main body 21 of the operating rod 20 when the main body 21 of the operating rod 20 is completely perpendicular to the upper surface 11 of the chassis 10.

[0043] When the cleaning device 100 is in the locked state, the operating rod 20 is locked and cannot rotate relative to the chassis 10 around the Pitch axis, but can rotate relative to the chassis 10, that is, the operating rod 20 can rotate around the Roll axis. Based on this, when the pitch angle of the operating rod 20 detected by the angle sensor reaches a locked pitch angle P0, as shown in figure (a) of FIG. 6, it can be determined that the cleaning device 100 is in the locked state; or, the sensor 30 can further include an in-position sensor, and when the in-position sensor senses that a certain mechanical structure is in place, it can be determined that the cleaning device 100 is in the locked state. In the present application, the value of the locked pitch angle P0 is a known value, which can be an empirical value obtained before the cleaning device 100 leaves the factory, or a set value input when the cleaning device 100 is manually used after the cleaning device 100 leaves the factory, or an empirical value obtained by the processor 40 processing historical data after the cleaning device 100 leaves the factory.

[0044] When the roll angle R of the operating rod 20 is greater than the first angle threshold R0, as shown in figure (c) of FIG. 6, the processor 40 determines that the cleaning device 100 is abnormally tilted. In this state, the operating rod 20 is tilted, which can cause the cleaning device 100 to be unstable after being locked. The center of gravity of the operating rod 20 is not at the center of the long axis, but rather at a side of the operating rod 20, making it easily tipped over, causing damage to the cleaning device 100. Therefore, when it is determined that the cleaning device 100 is abnormally tilted, the processor 40 can also control the reminder unit to issue an abnormal reminder. The user can twist the operating rod 20 according to the reminder so that the roll angle R of the operating rod 20 is less than the first angle threshold R0, and adjust the position of the center of gravity of the operating rod 20. After the center of gravity is adjusted, the operating rod 20 is not easily knocked over, thereby avoiding damage to the cleaning device 100 caused by the cleaning device 100 falling over by the touch.

[0045] It should be noted that the value of the first angle threshold R0 is also a known value, it can be an empirical value obtained before the cleaning device 100 leaves the factory, or it can be a set value input when the cleaning device 100 is manually used after leaving the factory, or it can be an empirical value obtained by the processor 40 processing historical data after the cleaning device 100 leaves the factory.

[0046] Referring to FIG. 7, in some embodiments, the free state is the locked state, and the state information includes the roll angle between the operating rod 20 and the chassis 10 and the duration recorded by the timer; when the operating rod 20 is in the locked state, 031: determining whether the posture of the cleaning device 100 is the abnormal posture according to the status information, includes: 0312: determining that the posture of the cleaning device 100 is the abnormal posture if the roll angle is greater than a second angle threshold and the duration exceeds a first preset duration.

[0047] Please refer to FIG. 2, one or more processors 40 can execute the method in 0312, that is, one or more processors 40 are also used to: determine that the posture of the cleaning device 100 is the abnormal posture if the roll angle is greater than the second angle threshold and the duration exceeds the first preset duration.

[0048] The explanation and determination of the "locked state" in this embodiment are the same as those explained above and will not be repeated here. Furthermore, the sensor 30 of the cleaning device 100 of this embodiment further includes the timer, which can record the duration of the roll angle being greater than the second angle threshold. Specifically, when the roll angle is greater than the second angle threshold for the first time, the timer starts counting until the state of the roll angle being greater than the second angle threshold is broken, that is, the roll angle is less than the second angle threshold, the timer ends counting, and the duration of the roll angle being greater than the second angle threshold can be obtained based on the start time and the end time.

[0049] The value of the second angle threshold is also a known value, it can be an empirical value obtained before the cleaning device 100 leaves the factory, or it can be a set value input when the cleaning device 100 is manually used after leaving the factory, or it can be an empirical value obtained by the processor 40 processing historical data after the cleaning device 100 leaves the factory. The value of the first preset duration is also a known value, it can be an empirical value obtained before the cleaning device 100 leaves the factory, or it can be a set value input when the cleaning device 100 is manually used after leaving the factory, or it can be an empirical value obtained by the processor 40 processing historical data after the cleaning device 100 leaves the factory.

[0050] In some embodiments, the second angle threshold and the first angle threshold can be the same, for example, the first angle threshold and the second angle threshold can both be 45°. When the cleaning device 100 is in the locked state, the roll angle may be greater than the second angle threshold (the first angle threshold) due to external factors, such as a user draping a piece of clothing over the operating rod 20, increasing the roll angle. In this case, according to the embodiment shown in FIG. 5, it can be directly determined that the posture of the cleaning device 100 is abnormal, that is, the operating rod 20 is abnormally tilted, and the reminder unit can issue a reminder to alert the user. However, if the user eliminates the external environmental influence, such as removing the clothing on the operating rod 20, the roll angle is likely to return to the normal value. In other words, the abnormal tilt state did not persist for a long time. Therefore, the processor 40 determines that the posture of the cleaning device 100 is abnormal only when the roll angle is greater than the second angle threshold and the duration of the roll angle greater than the second angle threshold exceeds the first preset time. Then, the processor controls the reminder unit to issue the reminder. This can avoid the situation where the user fails to notice the abnormal posture when the abnormal state is issued after a short period of time, which can cause the user to be confused and thus reduce the user experience.

[0051] In other embodiments, the second angle threshold and the first angle threshold may also be different. Specifically, in some embodiments, the first angle threshold is greater than the second angle threshold. For example, the first angle threshold is 45°, and the second angle threshold is 30°. When the cleaning device 100 is in the locked state, the roll angle may be greater than the second angle threshold of 30° due to external factors. For example, the user accidentally puts a piece of clothing on the operating rod 20, causing the roll angle to gradually increase slowly, and the influence of the clothing on the operating rod 20 will not be eliminated by the user in a short time. At this time, if according to the implementation shown in FIG. 5, the posture of the cleaning device 100 can only be determined to be abnormal when the roll angle increases to 45°. This process is relatively slow, and it will take a long time for the processor 40 to determine the posture abnormality based on the first angle threshold of 45° and control the reminder unit to issue the reminder. Therefore, when the roll angle is greater than the second angle threshold of 30° and the duration of the roll angle being greater than the second angle threshold of 30° exceeds the first preset duration, the processor 40 determines that the posture of the cleaning device 100 is abnormal, and then controls the reminder unit to issue the reminder. This can improve the determination efficiency and prevent the operating rod of the cleaning device 100 from being in the tilted state for a long time.

[0052] Referring to FIG. 8, in some embodiments, the free state is the locked state, and the state information includes the acceleration of the operating rod 20; when the operating rod 20 is in the locked state, 031: determining whether the posture of the cleaning device 100 is the abnormal posture according to the status information, includes: 0313: determining that the posture of the cleaning device 100 is the abnormal posture if the acceleration is greater than a first acceleration threshold.

[0053] Referring to FIG. 2, the one or more processors 40 are capable of executing the method in 0313, that is, the one or more processors 40 are further configured to: determine that the posture of the cleaning device 100 is the abnormal posture if the acceleration is greater than the first acceleration threshold.

[0054] The explanation and determination of the "locked state" in this embodiment are the same as explained above and will not be repeated here. The "first acceleration threshold" is determined by the acceleration of the operating rod 20 during normal mopping operation of the cleaning device 100 by the user, it is a known value and can be an empirical value obtained before the cleaning device 100 leaves the factory, a set value input during post-manufacturer use of the cleaning device 100, or an empirical value obtained by the processor 40 processing historical data after the cleaning device 100 leaves the factory.

[0055] When the user normally uses the cleaning device 100 for mopping, the acceleration of the operating rod 20 is generally less than the first acceleration threshold. For example, the acceleration of the operating rod 20 may include the rotational acceleration of the operating rod 20 around the pitch axis when the user pushes or pulls the cleaning device 100 back and forth, and / or the acceleration of the operating rod 20 moving back and forth. In the locked state, as shown in figure (a) of FIG. 9, if the acceleration of the operating rod 20 is greater than the first acceleration threshold, it indicates that the cleaning device 100 has instantly fallen to the ground, as shown in figure (b) of FIG. 9, for example, the cleaning device 100 may instantly fall to the ground due to the abnormal tilt and unstable center of gravity as mentioned above, or it may instantly fall to the ground due to being hit by a person or object. Once the cleaning device 100 is lying on the ground, if the user is not promptly reminded, the dirt in the dirt tank 70 of the cleaning device 100 may leak onto the ground or enter the dirt suction assembly 60, rendering it inoperable, due to the inoperability of some components within the cleaning device 100. In addition, the cleaning device 100, especially the long operating rod 20, may trip the elderly in the home, or the user may accidentally step on the cleaning device 100 and damage it. Therefore, when the acceleration is greater than the first acceleration threshold, the processor 40 may determine that the posture of the cleaning device 100 is abnormal, and subsequently control the reminder unit to issue the reminder. After receiving the reminder, the user can lift up the cleaning device 100 lying on the ground, thereby preventing the dirt in the dirt tank 70 of the cleaning device 100 from leaking onto the ground or entering the dirt suction assembly 60, causing it to fail, preventing safety accidents caused by the elderly tripping, and preventing the cleaning device 100 from being damaged by the user.

[0056] Referring to FIG. 10, in some embodiments, the free state is the locked state, and the state information includes the acceleration of the operating rod 20. When the operating rod 20 is in the locked state, determining whether the posture of the cleaning device 100 is the abnormal posture according to the state information, includes: 0314: determining that the posture of the cleaning device 100 is the abnormal posture if the acceleration is greater than the second acceleration threshold and becomes 0 within a set time period.

[0057] Referring to FIG. 9, the one or more processors 40 may be capable of executing the method in 0314, that is, the one or more processors 40 may be further configured to: determine that the posture of the cleaning device 100 is the abnormal posture if the acceleration is greater than the second acceleration threshold and becomes 0 within the set time period.

[0058] The explanation and determination method of the "locked state" in this embodiment are the same as those explained above and will not be repeated here. The "second acceleration threshold" is also determined by the acceleration of the operating rod 20 when the user normally uses the cleaning device 100 to mop and wipe. It is a known value and can be an empirical value obtained before the cleaning device 100 leaves the factory, a set value input by the user during use of the cleaning device 100 after the cleaning device 100 leaves the factory, or an empirical value obtained by the processor 40 processing historical data after the cleaning device 100 leaves the factory.

[0059] When the user normally uses the cleaning device 100 for mopping, the acceleration of the operating rod 20 is usually less than the second acceleration threshold. In the locked state, as shown in figure (a) of FIG. 9, if the acceleration of the operating rod 20 is greater than the second acceleration threshold, it indicates that the cleaning device 100 is tipping over, but it does not necessarily reach the lying state as shown in figure (b) of FIG. 9, for example, it leans against the wall after half-tipping over. Therefore, in the embodiment of the present application, only when the acceleration is usually greater than the second acceleration threshold and becomes 0 within the set time period, it indicates that the tipping process is completed and the cleaning device 100 reaches the lying state as shown in figure (b) of FIG. 3. Once the cleaning device 100 is lying on the ground, if the user is not promptly reminded, some components inside the cleaning device 100 may not be operating, which may cause the dirt in the dirt tank 70 of the cleaning device 100 to leak onto the ground or enter the dirt suction assembly 60, rendering it inoperable. The cleaning device 100, especially the long operating rod 20, may trip the elderly in the home, or the user may accidentally step on the cleaning device 100 and damage it. Therefore, the processor 40 can determine that the posture of the cleaning device 100 is the abnormal posture only when the acceleration is greater than the second acceleration threshold and becomes 0 within the set time period, and can subsequently control the reminder unit to issue the reminder. After receiving the reminder, the user can lift up the cleaning device 100 lying on the ground to avoid the dirt in the dirt tank 70 of the cleaning device 100 from leaking to the ground or entering the dirt suction assembly 60 to make it ineffective, the safety accident caused by the elderly tripping, and the problem of damage to the cleaning device 100 caused by the user stepping on the cleaning device 100. Compared to determining that the posture of the cleaning device 100 is the abnormal posture simply by determining that the acceleration is greater than a certain acceleration threshold, the determination in the embodiment of the present application is more accurate and avoids issuing erroneous reminders to the user.

[0060] In some embodiments, the second acceleration threshold value may be the same as the first acceleration threshold value. In other embodiments, the second acceleration threshold value may be different from the first acceleration threshold value. Specifically, in some embodiments, the second acceleration threshold value is less than the first acceleration threshold value. For example, the second acceleration threshold value may be 1 gm / s 2< and the first angular velocity threshold value may be 2 gm / s 2< . Although the tipping over of the cleaning device 100 generally occurs instantaneously, the tipping over of some cleaning devices 100 does not occur instantaneously, but is a slower process than the instantaneous tipping over. Compared with the normal locking state, the acceleration value of this slow tipping over increases, but is still smaller than the acceleration of the instantaneous tipping over, and the acceleration value after lying on the ground will become 0 m / s 2< . In the event of the slow tipping over and lying down, if the embodiment shown in FIG. 8 is adopted, since the acceleration of the operating rod 20 cannot be greater than the first acceleration threshold value of 2 gm / s 2< , the processor 40 mistakenly determines that the posture of the cleaning device 100 is the normal posture, and will not control the reminder unit to issue the reminder, resulting in the dirt in the dirt tank 70 of the cleaning device 100 leaking to the ground or entering the dirt suction assembly 60 to render it ineffective, the safety accident caused by the elderly person tripping, and damage to the cleaning device 100 caused by the user stepping on the cleaning device 100. Therefore, if the acceleration is greater than the second acceleration threshold of 1 gm / s 2< and becomes 0 within the set time period, the processor 40 determines that the posture of the cleaning device 100 is the abnormal posture, thereby avoiding mis-determination. After receiving the reminder, the user can lift up the cleaning device 100 lying on the ground, thereby preventing the dirt in the dirt tank 70 of the cleaning device 100 from leaking to the ground or entering the dirt suction assembly 60 to make it ineffective, preventing safety accidents caused by the elderly tripping, and preventing the cleaning device 100 from being damaged by the user stepping on it.

[0061] The "set duration period" is determined by the time it takes for the cleaning device 100 in the locked state to slowly tilt and lie down. It is usually a known smaller value, which conforms to the characteristic that slow tilting and lying down takes a shorter time, but takes longer than instantaneous tilting and lying on the ground. It can be an empirical value obtained before the cleaning device 100 leaves the factory, or it can be a set value input when the cleaning device 100 is manually used after leaving the factory, or it can be an empirical value obtained by the processor 40 processing historical data after the cleaning device 100 leaves the factory.

[0062] Referring to FIG. 11, in some embodiments, the free state is the locked state, and the state information includes the distance between the operating rod 10 and the surface 200 to be cleaned; when the operating rod 20 is in the locked state, 031: determining whether the posture of the cleaning device 100 is the abnormal posture according to the status information, includes: 0315: determining that the posture of the cleaning device 100 is the abnormal posture if the distance is less than a preset distance threshold.

[0063] Referring to FIG. 9, the one or more processors 40 may be capable of executing the method in 0315, that is, the one or more processors 40 may be further configured to: determine that the posture of the cleaning device 100 is the abnormal posture if the distance is less than the preset distance threshold.

[0064] The explanation and determination of the "locked state" in this embodiment are the same as explained above and will not be repeated here. The "preset distance threshold" is also determined by the vertical distance between a certain point A on the operating rod 20 and the surface 200 to be cleaned when the user normally uses the cleaning device 100 for mopping. It is a known value and can be an empirical value obtained before the cleaning device 100 leaves the factory, a set value input during use of the cleaning device 100 after leaving the factory, or an empirical value obtained by the processor 40 processing historical data after the cleaning device 100 leaves the factory.

[0065] When the user normally uses the cleaning device 100 for mopping, the vertical distance between the fixed point A on the operating rod 20 and the surface 200 to be cleaned is greater than the preset distance threshold. In the locked state, as shown in figure (a) of FIG. 9, if the distance is less than the preset distance threshold, it indicates that the cleaning device 100 has fallen to the ground, as shown in figure (b) of FIG. 9, for example, the cleaning device 100 may have fallen to the ground due to the aforementioned abnormal tilt and unstable center of gravity, or may have fallen to the ground due to a person or object hitting it, or may have fallen to the ground slowly due to relatively light pressure. Once the cleaning device 100 is lying on the ground, if the user is not promptly reminded, some components inside the cleaning device 100 may not be operating, which may cause the dirt in the dirt tank 70 of the cleaning device 100 to leak onto the ground or enter the dirt suction assembly 60, rendering it inoperable. In addition, the cleaning device 100, especially the long operating rod 20, may trip the elderly in the home, or the user may accidentally step on the cleaning device 100 and damage it. Therefore, when the vertical distance between the fixed point A on the operating rod 20 and the surface 200 to be cleaned is greater than the preset distance threshold, the processor 40 can determine that the posture of the cleaning device 100 is the abnormal posture, and subsequently control the reminder unit to issue the reminder. After receiving the reminder, the user can lift the cleaning device 100 lying on the ground to prevent the dirt in the dirt tank 70 of the cleaning device 100 from leaking onto the ground or entering the dirt suction assembly 60, causing it to fail, preventing safety accidents caused by the elderly tripping, and preventing the cleaning device 100 from being damaged by the user.

[0066] Referring to FIG. 12, in some embodiments, the free state is the lying state, and the state information includes whether the cleaning device 100 is in operation; when the operating rod 20 is in the lying state, 03: according to the state information, determining whether the cleaning device 100 is abnormal, includes: 0316: determining that the cleaning device 100 is in the abnormal posture if the cleaning device 100 is not in operation.

[0067] Referring to FIG. 2, the one or more processors 40 may be capable of executing the method in 0316, that is, the one or more processors 40 may be further configured to: determine that the cleaning device 100 is in the abnormal posture if the cleaning device 100 is not in operation.

[0068] The explanation and determination of the "lying state" in this embodiment are the same as explained above and will not be repeated here. In some cases, when the cleaning device 100 is in the "lying state", the cleaning device 100 is in operation, where the cleaning device 100 being in operation means that at least one of the cleaning assembly 50, the dirt suction assembly 60, and the water supply assembly 80 in the cleaning device 100 is operating, for example, the cleaning member 51 of the cleaning assembly 50 is rotating, the dirt suction assembly 60 is sucking dirt, and the water supply assembly 80 is supplying water. In other cases, when the cleaning device 100 is in the "lying state", the cleaning device 100 is not in operation. Specifically, the power button of the cleaning device 100 is turned off and is in a pause state or a standby state. More specifically, the cleaning device 100 is not in operation means that the cleaning assembly 50, the dirt suction assembly 60 and the water supply assembly 80 in the cleaning device 100 are not turned on and operated. At this time, the operating rod 20 and the chassis 10 are not locked, and the operating rod 20 lies on the ground. Since some components inside the cleaning device 100 are not operating, the dirt in the dirt tank 70 of the cleaning device 100 may leak to the ground or enter the dirt suction assembly 60, making it ineffective. Therefore, when the operating rod 20 is in the lying state, if the cleaning device 100 is not in operation, the processor 40 determines that the cleaning device 100 is in the abnormal posture; subsequently, the processor 40 issues the reminder through reminder unit the according to the control, and the user can lift the operating rod 20 after receiving the reminder, which can prevent the dirt in the dirt tank 70 of the cleaning device 100 from leaking to the ground or entering the dirt suction assembly 60 and making it ineffective.

[0069] Referring to FIG. 13, in some embodiments, the free state is a lying state, and the state information includes whether the cleaning device 100 is in operation; when the operating rod 20 is in the lying state, 03: according to the status information determining whether the posture of the cleaning device 100 is the abnormal posture, includes: 0317: determining that the cleaning device 100 is in the abnormal posture if the cleaning device 100 is not in operation and the time in the lying state is greater than a second preset duration.

[0070] Referring to FIG. 2, the one or more processors 40 may be capable of executing the method in 0317, that is, the one or more processors 40 may be further configured to: determine that the cleaning device 100 is in the abnormal posture if the cleaning device 100 is not in operation and the time in the lying state is greater than the second preset duration.

[0071] The interpretation and determination of the "lying state" in this embodiment are the same as those explained above, and the interpretation of "cleaning device 100 is not in operation" is the same as those explained above and will not be repeated here. The value of the "second preset duration" is a known value, which can be an empirical value obtained before the cleaning device 100 leaves the factory, a set value input when the cleaning device 100 is used after leaving the factory, or an empirical value obtained by the processor 40 processing historical data after the cleaning device 100 leaves the factory.

[0072] When the operating rod 20 is in the lying state, although some components inside the cleaning device 100 are not running, the dirt in the dirt tank 70 of the cleaning device 100 may leak to the ground or enter the dirt suction assembly 60, making it ineffective. However, in the actual cleaning process of using the cleaning device 100, the user may be interrupted by something and shut down the cleaning device 100 and lay the operating rod 20 down to deal with other things, such as opening the door for a guest. Once the operating rod 20 is in the lying state and the cleaning device 100 is not running, it is determined that the cleaning device 100 is in the abnormal posture, and the processor 40 will immediately control the reminder unit to issue the reminder. However, after the operating rod 20 is laid down, it is a relatively slow process for the dirt in the dirt tank 70 to leak to the ground or enter the dirt suction assembly 60 to render it ineffective. The time during which the user finishes performing other things may not be enough for the dirt in the dirt tank 70 to leak to the ground or enter the dirt suction assembly 60 to render it ineffective. At this time, the reminder of the reminder unit will cause trouble to the user. Therefore, when the operating rod 20 is in the lying state, if the cleaning device 100 is not in operation and the time in the lying state is greater than the second preset duration, the processor 40 will determine that the cleaning device 100 is in the abnormal posture, which can ensure that subsequent reminders are more effective and will not cause trouble to the user.

[0073] Referring to FIG. 14, in some embodiments, the cleaning device 100 includes the sensor 30, and the state information includes sensing data acquired by the sensor 30; when the operating rod 20 is in the free state, the sensing data is within a first preset range; 01: acquiring the state information of the cleaning device 100, includes: 011: acquiring the sensing data; 03: according to the state information, determining whether the cleaning device 100 is abnormal, includes: 033: determining that the sensor 30 of the cleaning device 100 is abnormal if the sensing data exceeds the first preset range.

[0074] Referring to FIG. 2, the one or more processors 40 can execute the methods in the method of 011 and 033, that is, the one or more processors 40 are further configured to: acquire the sensing data; determine that the sensor 30 of the cleaning device 100 is abnormal if the sensing data exceeds the first preset range.

[0075] The explanations of "free state", "sensor 30" and "sensing data" in this embodiment are the same as those explained above and will not be repeated here. When the cleaning device 100 is in a normal free state, the sensing data X detected by the sensor 30 should theoretically be within the first preset range [X1, X2]. However, in reality, when the cleaning device 100 is in the normal free state, the sensing data X detected by the sensor 30 exceeds the first preset range [X1, X2], for example, X>X2, or X<X1. The processor 40 may then confirm that an abnormality has occurred in the sensor 30. Subsequently, the processor 40 may control the reminder unit to issue the reminder of the abnormality of the sensor 30. The user may repair the sensor 30 by themselves or send the sensor 30 to after-sales service for repair based on the reminder of the abnormality of the sensor 30 issued by the control unit, so as to avoid further damage to the sensor 30 due to long-term use.

[0076] In some embodiments, the "free state" is the "locked state", the "sensor 30" is the angle detection sensor, and the "sensing data" is the pitch angle P between the operating rod 20 and the chassis 10. When the cleaning device 100 is in the normal locked state, the pitch angle P between the operating rod 20 and the chassis 10 detected by the angle detection sensor should theoretically be within a first preset range [P11, P21]. In fact, when the cleaning device 100 is in the normal locked state, the pitch angle P between the operating rod 20 and the chassis 10 detected by the angle detection sensor exceeds the first preset range [P11, P21], for example, P>P21, or P<P11, then the processor 40 can confirm that the angle detection sensor has an abnormality, and subsequently the processor 40 can control the reminder unit to issue a reminder of the abnormality of the angle detection sensor. The user can perform self-repair or send it to after-sales service for repair based on the reminder of the abnormality of the angle detection sensor issued by the reminder unit, so as to avoid angle detection inaccuracy due to sensor inaccuracy, thereby affecting the determination of the status information of the cleaning device 100, thereby affecting the normal use of the cleaning device 100.

[0077] Similarly, when the cleaning device 100 is in the normal locked state, the roll angle R between the operating rod 20 and the chassis 10 detected by the angle detection sensor should theoretically be within the first preset range [R1, R2]. However, in reality, when the cleaning device 100 is in the normal locked state, the roll angle R between the operating rod 20 and the chassis 10 detected by the angle detection sensor exceeds the first preset range [R1, R2], for example, R>R2, or R<R1. The processor 40 may determine that an abnormality has occurred in the angle detection sensor. Subsequently, the processor 40 can control the reminder unit to issue the reminder of the abnormality of the angle detection sensor. The user can perform self-repair or send it to after-sales service for repair based on the reminder of the abnormality of the angle detection sensor issued by the reminder unit to avoid angle detection inaccuracy due to sensor inaccuracy, which in turn affects the determination of the status information of the cleaning device 100, thereby affecting the normal use of the cleaning device 100.

[0078] When the "free state" is the "locked state", the "sensor 30" is the acceleration sensor or the distance sensor, and the "sensing data" corresponds to the acceleration of the operating rod 20 or the distance between point A on the operating rod 20 and point B on the chassis 10, the logic for determining an abnormality in the corresponding acceleration sensor or distance sensor is the same as the logic for determining an abnormality in the angle detection sensor, and an example is not provided here.

[0079] In other embodiments, the "free state" is the "lying state", the "sensor 30" is the angle detection sensor, and the "sensing data" is the pitch angle P between the operating rod 20 and the chassis 10. When the cleaning device 100 is in the normal lying state, the pitch angle P between the operating rod 20 and the chassis 10 detected by the angle detection sensor should theoretically be within the first preset range [P12, P22]. In fact, when the cleaning device 100 is in the normal lying state, the pitch angle P between the operating rod 20 and the chassis 10 detected by the angle detection sensor exceeds the first preset range [P12, P22], for example, P>P22, or P<P12, then the processor 40 may determine that the angle detection sensor is abnormal. Subsequently, the processor 40 can control the reminder unit to issue the reminder of the abnormality of the angle detection sensor. The user can perform self-repair or send it to after-sales service for repair based on the reminder of the abnormality of the angle detection sensor issued by the control unit to avoid angle detection inaccuracy due to sensor inaccuracy, which in turn affects the determination of the status information of the cleaning device 100, thereby affecting the normal use of the cleaning device 100.

[0080] When the "free state" is the "locked state", the "sensor 30" is the acceleration sensor or the distance sensor, and the "sensing data" corresponds to the acceleration of the operating rod 20 or the distance between point A on the operating rod 20 and point B on the chassis 10, the logic for determining an abnormality in the corresponding acceleration sensor or distance sensor is the same as the logic for determining an abnormality in the angle detection sensor, and an example is not provided here.

[0081] In other embodiments, the "free state" is the "charging state", the "sensor 30" is the angle detection sensor, and the "sensing data" is the pitch angle P between the operating rod 20 and the chassis 10. When the cleaning device 100 is in a normal charging state, the pitch angle P between the operating rod 20 and the chassis 10 detected by the angle detection sensor should theoretically be within a first preset range [P13, P23]. In fact, when the cleaning device 100 is in the normal charging state, if the pitch angle P between the operating rod 20 and the chassis 10 detected by the angle detection sensor exceeds the first preset range [P13, P23], for example, P>P23, or P<P13, the processor 40 may determine that the angle detection sensor is abnormal. Subsequently, the processor 40 can control the reminder unit to issue the reminder of the abnormality of the angle detection sensor. The user can perform self-repair or send it to after-sales service for repair based on the reminder of the abnormality of the angle detection sensor issued by the control unit to avoid angle detection inaccuracy due to sensor inaccuracy, which in turn affects the determination of the status information of the cleaning device 100, thereby affecting the normal use of the cleaning device 100.

[0082] When the "free state" is the "charging state", the "sensor 30" is the acceleration sensor or the distance sensor, and the "sensing data" corresponds to the acceleration of the operating rod 20 or the distance between point A on the operating rod 20 and point B on the chassis 10, the logic for determining an abnormality in the corresponding acceleration sensor or distance sensor is the same as the logic for determining an abnormality in the angle detection sensor, and an example is not provided here.

[0083] In some embodiments, the cleaning device 100 may include a self-calibration function, in addition to issuing the abnormal reminder issued by the reminder unit so that the user can perform self-repair or send it to the after-sales service for repair based on the abnormal reminder of the angle detection sensor. Specifically: Referring to FIG. 15, if the sensor 30 is abnormal and the operating rod 20 is in the free state, the control method further includes: 07: controlling the sensor 30 to perform a calibration operation.

[0084] Referring to FIG. 2, the one or more processors 40 can execute the method in 07, that is, the one or more processors 40 are further configured to: control the sensor 30 to perform a calibration operation.

[0085] Since the cleaning device 100 in the free state without user intervention is in a relatively fixed posture, if the value detected by the sensor 30 exceeds the normal range corresponding to the fixed posture, it means that the sensor 30 is broken or inaccurate. The processor 40 is also used to perform calibration in the same fixed posture based on the inaccurate situation, thereby eliminating the need for users to perform self-repair or go to after-sales service for inspection, saving users time and also saving costs.

[0086] Specifically, in the free state, the posture of the cleaning device 100 is usually fixed, at this time, if the sensor 30 is not abnormal, the sensing data detected by the sensor 30 can be used as the reference sensing data for calibration in the corresponding free state. For example, if the sensor 30 is not abnormal, when the cleaning device 100 is in the locked state, the sensing data detected by the sensor 30 can be used as the reference sensing data for calibration in the locked state; for another example, when the cleaning device 100 is in the lying state, the sensing data detected by the sensor 30 can be used as reference sensing data for calibration in the lying state; for another example, when the cleaning device 100 is in the charging state, the sensing data detected by the sensor 30 can be used as reference sensing data for calibration in the charging state. The processor 40 is also used for: obtaining the current sensing data X that sensor 30 collects when the cleaning device 100 is in the free state; and calibrating the sensor 30 according to the reference sensing data X0 and the current sensing data X when the sensor 30 is not damaged, so that the sensing data collected by the subsequent sensor 30 are all accurate, thereby ensuring that the cleaning device 100 can operate normally. Wherein, the reference sensing data X0 may be data collected by the sensor 30 within a period of time (a relatively short period of time, such as one week, one month, etc.) after the cleaning device 100 leaves the factory.

[0087] In one example, after determining that the angle detection sensor is abnormal by the method in 033, when the cleaning device 100 is in the locked state, the processor 40 controls the angle detection sensor to perform calibration operation. Specifically, the processor 40 is used for: obtaining, when the cleaning device 100 is in the locked state, the current pitch angle P collected by the angle detection sensor; and calibrating the angle detection sensor according to the reference pitch angle P0 and the current pitch angle P when the sensor 30 is not damaged. Wherein, the reference pitch angle P0 can be the pitch angle value that the sensor 30 collects within a period of time (short time, such as within a week, within a month, etc.) after the cleaning device 100 leaves the factory. For example, assuming that current pitch angle P is 100°, and the reference pitch angle P0 is 98°, then the zero value of the angle detection sensor is lowered 2°, to ensure that the pitch angle collected by the subsequent angle detection sensor is all accurate.

[0088] In another example, after determining that the angle detection sensor is abnormal by the method in 033, when the cleaning device 100 is in the lying state, the processor 40 controls the angle detection sensor to perform the calibration operation. Specifically, the processor 40 is used for: obtaining the current pitch angle P collected by the angle detection sensor when the cleaning device 100 is in the lying state; and calibrating the angle detection sensor according to the reference pitch angle P0 and the current pitch angle P when the sensor 30 is not damaged. Wherein, the reference pitch angle P0 can be the pitch angle value that the sensor 30 collects within a period of time (short time, such as within a week, within a month, etc.) after the cleaning device 100 leaves the factory. For example, assuming that the current pitch angle P is 0°, and the reference pitch angle P0 is -2°, then the zero value of the angle detection sensor is lowered by 2°, to ensure that the pitch angle collected by the subsequent angle detection sensor is all accurate.

[0089] In another example, after determining that the angle detection sensor is abnormal by the method in 033, when the cleaning device 100 is in the charging state, the processor 40 controls the angle detection sensor to perform the calibration operation. Specifically, the processor 40 is used for: obtaining when the cleaning device 100 is in the charging state, the current pitch angle P that the angle detection sensor collects; and according to the reference pitch angle P0 when the sensor 30 is not damaged and the current pitch angle P, the angle detection sensor is calibrated. Wherein, the reference pitch angle P0 can be the pitch angle value that the sensor 30 collects within a period of time (short time, such as within a week, within a month, etc.) after the cleaning device 100 leaves the factory. For example, assuming that the current pitch angle P is 95°, and the reference pitch angle P0 is 96°, then the zero value of the angle detection sensor is raised 1°, to ensure that the pitch angle collected by the subsequent angle detection sensor is all accurate. In addition, it should be noted that, as mentioned above, the charging state of the cleaning device 100 is the state when the cleaning device 100 is docked with the base, and the posture of the operating rod 20 of the cleaning device 100 is aligned with the auxiliary standing of the base. At this time, the posture of the operating rod 20 is the most correct and the least likely to change, the sensing data of the sensor 30 in this state is the most reliable as the reference sensing data X0, and the calibration result obtained by performing the calibration operation of the sensor 30 in this state is also the most accurate.

[0090] In the "locked state", the "lying state" and the "charging state", when the "sensor 30" is the acceleration sensor or the distance sensor and the "sensing data" corresponds to the acceleration of the operating rod 20 or the distance between the point A on the operating rod 20 and the point B on the chassis 10, the logic used by the processor 40 to calibrate the acceleration sensor or the distance sensor is the same as the logic used to calibrate the angle detection sensor, and an example is not provided here.

[0091] Referring to FIG. 16, the present application further provides a computer storage medium 300 on which a computer program 302 is stored. When the computer program 302 is executed by the one or more processors 40, the control method described in any of the above embodiments is implemented.

[0092] Referring to FIG. 1 and FIG. 2, for example, when the computer program 302 is executed by the processor 40, the following control method is implemented: 01: when the operating rod is in a free state, acquiring state information of the cleaning device 100; and 03: according to the state information, determining whether the cleaning device 100 is abnormal.

[0093] For another example, when the computer program 302 is executed by the processor 40, the control methods in 011, 031, 0311, 0312, 0313, 0314, 0315, 0316, 0317, 033, and 07 can also be implemented.

[0094] In the computer storage medium 300 of the present application, when the operating rod 20 is in the free state, the processor 40 can determine whether the cleaning device 100 is abnormal based on the acquired data of the cleaning device 100, so that abnormalities of the cleaning device 100 caused by improper operation or long service life can be discovered in time, thereby ensuring the normal use of the cleaning device 100 and avoiding damage to the cleaning device 100.

[0095] In the description of this specification, reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

[0096] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0097] The logic and / or steps represented in the flowchart or otherwise described herein may be considered, for example, as a sequenced list of executable instructions for implementing the logical functions, and may be embodied in any computer-readable storage medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a computer-readable storage medium is any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable storage media include the following: an electrical connection having one or more wires (electronic devices), a portable computer disk cartridge (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read-only memory (CDROM). In addition, the computer-readable storage medium may even be paper or other suitable medium on which the program is printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner as necessary, and then stored in a computer memory.

[0098] It should be understood that various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one of the following technologies known in the art or a combination thereof: a discreet logic circuit having a logic gate circuit for implementing logic functions on data signals, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0099] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment. In addition, the functional units in the various embodiments of the present application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The above-mentioned storage medium can be a read-only memory, a magnetic disk or an optical disk, etc.

[0100] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are illustrative and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application. The scope of the present application is defined by the claims and their equivalents.

Claims

1. A control method for cleaning device, the cleaning device comprising a chassis and an operating rod rotatably mounted on the chassis; the control method comprising: acquiring state information of the cleaning device when the operating rod is in a free state; and determining whether the cleaning device is abnormal according to the state information.

2. The control method according to claim 1, wherein determining whether the cleaning device is abnormal according to the state information, comprises: determining whether a posture of the cleaning device is abnormal according to the status information; if the posture of the cleaning device is abnormal, the control method further comprises: controlling the cleaning device to issue an abnormality reminder.

3. The control method according to claim 2, wherein the free state is a locked state, the state information comprises a roll angle between the operating rod and the chassis; when the operating rod is in the locked state, determining whether the posture of the cleaning device is an abnormal posture according to the state information, comprises: determining that the posture of the cleaning device is the abnormal posture if the roll angle is greater than a first angle threshold.

4. The method according to claim 2, wherein the free state is a locked state, the state information comprises a roll angle between the operating rod and the chassis and a duration recorded by a timer; when the operating rod is in the locked state, determining whether the posture of the cleaning device is an abnormal posture according to the state information, comprises: determining that the posture of the cleaning device is the abnormal posture if the roll angle is greater than a second angle threshold and the duration exceeds a first preset duration.

5. The method according to claim 2, wherein the free state is a locked state, the state information comprises an acceleration of the operating rod; when the operating rod is in the locked state, determining whether the posture of the cleaning device is an abnormal posture according to the state information, comprises: determining that the posture of the cleaning device is the abnormal posture if the acceleration is greater than a first acceleration threshold.

6. The method according to claim 2, wherein the free state is a locked state, the state information comprises an acceleration of the operating rod; when the operating rod is in the locked state, determining whether the posture of the cleaning device is an abnormal posture according to the state information, comprises: determining that the posture of the cleaning device is the abnormal posture if the acceleration is greater than a second acceleration threshold and becomes zero (0) within a set time period.

7. The method according to claim 2, wherein the free state is a locked state, the state information comprises a distance between the operating rod and a surface to be cleaned; when the operating rod is in the locked state, determining whether the posture of the cleaning device is an abnormal posture according to the state information, comprises: determining that the posture of the cleaning device is the abnormal posture if the distance is less than a preset distance threshold.

8. The method according to claim 2, wherein the free state is a lying state, the state information comprises whether the cleaning device is in operation; when the operating rod is in the lying state, determining whether the posture of the cleaning device is an abnormal posture according to the state information, comprises: determining that the cleaning device is in the abnormal posture if the cleaning device is not in operation.

9. The method according to claim 2, wherein the free state is a lying state, the state information comprises whether the cleaning device is in operation; when the operating rod is in the lying state, determining whether the posture of the cleaning device is an abnormal posture according to the state information, comprises: determining that the cleaning device is in the abnormal posture if the cleaning device is not in operation and a time in the lying state is greater than a second preset duration.

10. The method according to claim 1, wherein the cleaning device comprises a sensor, the state information comprises sensing data acquired by the sensor; when the operating rod is in the free state, the sensing data is within a first preset range; acquiring the state information of the cleaning device, comprises: acquiring the sensing data; determining whether the cleaning device is abnormal according to the state information, comprises: determining that the sensor of the cleaning device is abnormal if the sensing data exceeds the first preset range.

11. The method according to claim 10, wherein the free state comprises at least one of a locked state, a lying state, and a charging state.

12. The method according to claim 10, wherein if the sensor is abnormal and the operating rod is in the free state, the control method further comprises: controlling the sensor to perform a calibration operation.

13. A cleaning device, comprising: a chassis; an operating rod, the operating rod rotatably mounted on the chassis; and one or more processors mounted on the chassis and / or the operating rod, the one or more processors configured to execute the control method according to any one of claims 1 to 12.

14. A computer storage medium storing a computer program, when the computer program executed by one or more processors, implementing the control method according to any one of claims 1 to 12.

Images