Cleaning device, cleaning system, control method for cleaning device, and electronic device and non-transitory computer-readable storage medium

Abstract

Disclosed herein are a cleaning device, a cleaning system, a control method for a cleaning device, and an electronic device and a non-transitory computer-readable storage medium. The cleaning device comprises a body (100), a cleaning head assembly (200), at least one operating component (101, 102), an angle measurement apparatus (600), and a controller (700), wherein the cleaning head assembly (200) is connected to the body (100) and is capable of cleaning a surface to be cleaned; the angle measurement apparatus (600) is suitable for acquiring rotation angle information of the body (100) relative to the cleaning head assembly (200); the controller (700) is controllably connected to the at least one operating component (10); and the controller (700) is used for adjusting the operation of the at least one operating component (10) on the basis of the rotation angle information.

Description

Cleaning device, cleaning system, control method of cleaning device, electronic device and non-transitory computer-readable storage medium

[0001] Cross-reference to Related Applications

[0002] This application claims priority to Chinese Patent Application No. 2024111324667, filed on August 16, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of cleaning devices, and in particular to a cleaning device, a cleaning system, a control method of a cleaning device, an electronic device and a non-transitory computer-readable storage medium. BACKGROUND

[0004] A sewage tank is provided in the cleaning device, and dirt on the surface to be cleaned is sucked into the sewage tank by a suction source. During the turning process of the cleaning device, no corresponding auxiliary system is usually provided, which causes various problems when the cleaning device changes the driving direction. For example, the cleaning device is not configured with a power source for assisting turning, which causes the cleaning device to exert great effort when turning. Or, when the cleaning device turns, the liquid in the sewage tank is close to the suction source due to the inclination of the body relative to the cleaning head, and is sucked into the suction source due to the suction force of the suction source, which causes damage to the suction source. SUMMARY

[0005] The present disclosure aims to at least be able to solve the technical problem that the cleaning device is prone to failure when turning. To this end, the present disclosure provides a cleaning device, a cleaning system, a control method of a cleaning device, an electronic device and a non-transitory computer-readable storage medium, which adjusts the work of the working component so that the cleaning device can smoothly realize turning.

[0006] The first aspect of the present disclosure provides a cleaning device, comprising:

[0007] a body,

[0008] a cleaning head assembly connected with the body and capable of cleaning a surface to be cleaned;

[0009] an angle detection device adapted to obtain rotation angle information of the body relative to the cleaning head assembly;

[0010] at least one working component; and

[0011] a controller connected with the at least one working component; the controller is configured to adjust the work of the at least one working component according to the rotation angle information.

[0012] The second aspect of the present disclosure provides a cleaning system comprising the cleaning device.

[0013] The third aspect of the present disclosure provides a control method of a cleaning device, the cleaning device comprising an angle detection device, a controller, at least one working component, and a body and a cleaning head assembly connected to each other, the cleaning head assembly being configured to clean a surface to be cleaned, the control method comprising:

[0014] obtaining, by the angle detection device, rotation angle information, the rotation angle information being a rotation angle of the body relative to the cleaning head assembly; and

[0015] adjusting, by the controller, the working of the at least one working component if the rotation angle information is within a set angle range.

[0016] The fourth aspect of the present disclosure provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the control method of the cleaning device as described above when executing the computer program.

[0017] The fifth aspect of the present disclosure provides a non-transitory computer readable storage medium comprising a computer program stored thereon, wherein the computer program is executable by a processor to implement the control method of the cleaning device as described above. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative effort based on these drawings.

[0019] FIG. 1 shows a perspective structural schematic diagram of a cleaning device according to an embodiment of the present disclosure;

[0020] FIG. 2 shows a schematic diagram of the internal structure of a cleaning device according to an embodiment of the present disclosure;

[0021] FIG. 3 shows a structural schematic diagram of an electronic device according to an embodiment of the present disclosure;

[0022] FIG. 4 shows a structural schematic diagram of an angle detection device of a cleaning device according to an embodiment of the present disclosure;

[0023] FIG. 5 shows a structural schematic diagram of a ring-shaped member of a cleaning device according to an embodiment of the present disclosure; and

[0024] Fig. 6 shows a structural schematic diagram of a cleaning head assembly of a cleaning device according to an embodiment of the present disclosure.

[0025] Reference signs: 100, machine body; 110, first support; 120, sliding sheet; 200, cleaning head assembly; 210, second support; 300, water level sensor; 500, electronic device; 510, processor; 520, communication interface; 530, memory; 540, communication bus; 610, ring-shaped piece; 620, angle sensor; 101, power-assisted wheel (working component); 102, suction source (working component); 600, angle detection device; 700, controller; 401, clean water tank; 402, dirty water tank; 201, first brush section; 202, second brush section; 203, water suction pump; 220, cleaning head. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present disclosure.

[0027] In addition, the present disclosure can repeatedly refer to numbers and / or letters in different examples, and such repetition is for the purpose of simplification and clarity, and does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides examples of various specific processes and materials, but those skilled in the art can realize the application of other processes and / or the use of other materials.

[0028] In the cleaning device, a dirty water tank is arranged, and dirt on the surface to be cleaned is sucked into the dirty water tank by the suction source. During the turning process of the cleaning device, no corresponding auxiliary system is generally arranged, which causes various problems when the cleaning device changes the driving direction. For example, the cleaning device is generally provided with two power-assisted wheels, however, the power-assisted wheels cannot change direction when the cleaning device turns, and the two power-assisted wheels are not designed with differential, and the cleaning device needs to rely on manpower to change the driving direction, causing the cleaning device to be difficult to turn. Alternatively, when the cleaning device turns, the machine body is inclined relative to the cleaning head, and the liquid in the dirty water tank is close to the suction source and enters the suction source due to the suction force of the suction source, causing the suction source to be damaged.

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

[0030] In a first aspect, embodiments of the present disclosure provide a cleaning device. Referring to FIG. 1, the cleaning device comprises a body 100, a cleaning head assembly 200, at least one working component, an angle detection apparatus 600, and a controller 700. In some embodiments, the cleaning head assembly 200 comprises a cleaning head 220 and is connected to the body 100, and can clean a surface to be cleaned. The angle detection apparatus 600 is adapted to obtain rotation angle information of the body 100 relative to the cleaning head assembly 200. The controller 700 is controllably connected to the at least one working component. The controller 700 is configured to adjust the operation of the at least one working component according to the rotation angle information.

[0031] The angle detection apparatus 600 can obtain the rotation angle information of the body 100 relative to the cleaning head assembly 200. In the case that the body 100 rotates relative to the cleaning head assembly 200 at an excessively large angle, the controller 700 can adjust the working component accordingly, so that the cleaning device can work normally and the risk of failure of the cleaning device can be reduced.

[0032] If the body 100 rotates relative to the cleaning head assembly 200 at an excessively large angle, the cleaning device may fail, for example, cannot turn, or the suction source 102 is filled with water. The angle detection apparatus 600 can obtain the rotation angle information of the body 100 relative to the cleaning head assembly 200, and the controller 700 can adjust the operating parameters of the working component according to the rotation angle information, so that the cleaning device can maintain a normal working state in the large-angle turning.

[0033] In some embodiments, the rotation angle information of the body 100 relative to the cleaning head assembly 200 is shown in FIG. 1 as a straight line a, which is the rotation angle of the body along its own axis relative to the cleaning head assembly 200. The direction b in FIG. 1 is the rotation angle direction of the body 100 relative to the cleaning head assembly 200.

[0034] In some embodiments, the working component comprises a suction source 102. The cleaning device further comprises a sewage tank 402, and the suction source 102 is configured to suck dirt on the surface to be cleaned into the sewage tank 402. The controller 700 adjusts the power of the suction source 102 according to the rotation angle information.

[0035] If the body 100 rotates relative to the cleaning head assembly 200 at an excessively large angle, the liquid in the sewage tank 402 is close to the suction source 102 and is subjected to the suction force of the suction source 102, so that the liquid in the sewage tank 402 is easily sucked into the suction source 102. Adjusting the power of the suction source 102 according to the rotation angle information can make the suction source 102 work at an appropriate power, which can ensure the normal operation of the suction source 102 and reduce the risk of the liquid in the sewage tank 402 entering the suction source 102.

[0036] In the case of setting the cleaning device to travel in a straight line, the rotation angle of the machine body 100 relative to the cleaning head assembly 200 is zero degrees, and in the case of setting the cleaning device to turn left and right, the rotation angle of the machine body 100 relative to the cleaning head assembly 200 is greater than zero. In the case of turning the cleaning device left or right, due to the inertial effect of turning, the sewage in the sewage tank 402 is close to the suction source 102, and the sewage is sucked into the suction source 102 by the suction force of the suction source 102, thereby causing damage to the suction source 102. The embodiment of the present disclosure adjusts the power of the suction source 102, thereby limiting the suction force of the suction source 102, to limit the liquid in the sewage tank 402 from entering the suction source 102.

[0037] In some embodiments, if the angle of rotation of the machine body 100 relative to the cleaning head assembly 200 is too large, the inclination of the machine body 100 is too large, causing the sewage in the sewage tank 402 to be close to the suction source 102, and the sewage is easily sucked into the suction source 102 by the suction force of the suction source. In the embodiment of the present disclosure, the power of the suction source 102 is adjusted according to the rotation angle information to control the suction force of the suction source 102 within a suitable range, thereby reducing the risk of sewage entering the suction source 102. In one embodiment, the suction source 102 is a fan.

[0038] The cleaning device includes but is not limited to a scrubber.

[0039] In some embodiments, the controller 700 is further configured to:

[0040] obtain the current power of the suction source 102; and

[0041] adjust the power of the suction source 102 according to the rotation angle information and the current power.

[0042] Based on the rotation angle information, it can be determined whether the rotation angle of the machine body 100 relative to the cleaning head assembly 200 is too large, and then the distance between the highest water level of the sewage tank 402 and the fan is determined. In combination with the distance between the highest water level of the sewage tank 402 and the fan and the current power of the suction source 102, the power of the suction source 102 is adjusted, so that the suction source operates at an appropriate power, to limit the sewage from entering the fan while ensuring the operation of the suction source 102.

[0043] In some embodiments, the controller 700 is further configured to:

[0044] if the current power is greater than the set power and the rotation angle information is greater than the first set angle, reduce the power of the suction source 102;

[0045] if the current power is less than or equal to the set power and the rotation angle information is greater than the first set angle, control the suction source 102 to maintain the current power;

[0046] If the current power is less than or equal to the set power and the rotation angle information is less than or equal to the first set angle, the controller controls the suction source 102 to maintain the current power.

[0047] If the current power is greater than the set power and the rotation angle information is less than or equal to the first set angle, the controller controls the suction source 102 to maintain the current power.

[0048] In the case where the rotation angle information is greater than the first set angle, the sewage in the sewage tank 402 is inclined under the action of gravity, and the highest water level of the sewage tank 402 is close to the fan. At this time, if the current power of the suction source 102 is greater than the set power, the power of the suction source 102 is reduced, and the suction source 102 is operated at a lower power, so as to reduce the risk of sewage in the sewage tank 402 entering the fan. If the current power of the suction source 102 is less than the set power, the suction of the fan is not enough to suck the sewage in the sewage tank 402 into the fan. Alternatively, the suction of the water pump 203 is small, and the water pump 203 does not need to be adjusted. At this time, the controller controls the suction source 102 to maintain the current power, so that the cleaning device can work normally.

[0049] In the case where the rotation angle information is less than or equal to the first set angle, the sewage in the sewage tank 402 is within a safe water level range, and the sewage will not be sucked into the fan by the suction of the fan. The controller controls the suction source 102 to maintain the current power, so that the cleaning device can work normally.

[0050] It can be understood that the first set angle is the maximum angle for the cleaning device to work normally. In the case where the angle of the machine body 100 relative to the cleaning head assembly 200 is the first set angle, the sewage in the sewage tank 402 is at a safe water level. At this time, the power of the fan is not enough to suck the sewage in the sewage tank 402 into the fan. If the angle of the machine body 100 relative to the cleaning head assembly 200 is greater than the first set angle. At this time, the power of the fan is adjusted to reduce the risk of sewage entering the fan. Alternatively, the power of the water pump 203 can be adjusted to limit the sewage in the sewage tank 402, so that the sewage is still within the installed water level range when the machine body 100 is inclined, thereby limiting the sewage from entering the fan.

[0051] It can be understood that the angle detection device 600 can be a three-axis gyroscope, which can measure the angular velocity of an object in three-dimensional space. By setting the gyroscope on the machine body 100, the angle of the machine body 100 relative to the cleaning head assembly 200 is obtained, and the suction source 102 is adjusted accordingly.

[0052] In some embodiments, the controller 700 is further configured to:

[0053] If the rotation angle information is between 80° and 90°, the power of the suction source 102 is adjusted to between 0W and 20W;

[0054] If the rotation angle information is between 30° and 80°, the power of the suction source 102 is adjusted to between 30W and 50W; and

[0055] If the rotation angle information is between 0° and 30°, the power of the suction source 102 is adjusted to between 80W and 100W.

[0056] Based on the rotation angle information, the degree of inclination of the machine body 100 can be determined, and the power of the suction source 102 can be adjusted according to the degree of inclination of the machine body 100. It can be understood that the angle of the machine body 100 relative to the cleaning head assembly 200 is inversely proportional to the power of the suction source 102, and the greater the angle, the lower the power. The rotation angle information is divided into three levels, and the power of the suction source 102 is adjusted to three different power levels according to different rotation angle information, so as to prevent the sewage in the sewage tank 402 from being close to the fan due to the inclination of the machine body 100, causing the sewage to enter the fan due to the suction of the fan. According to the rotation angle information, the angle of the machine body 100 relative to the cleaning head assembly 200 can be divided into multiple angle levels, and the suction source 102 can be provided with corresponding power levels, so as to adjust the suction source 102 to an appropriate power according to different angles.

[0057] In some embodiments, the angle of the machine body 100 relative to the cleaning head assembly 200 can be divided into multiple angle levels according to the rotation angle information, and the power of the suction source 102 can be gradually reduced according to the change of the angle level.

[0058] In some embodiments, the angle between the machine body and the cleaning head assembly in a plane perpendicular to the working surface of the cleaning head assembly and parallel to the front-rear direction of the cleaning device is the pitch angle. The controller 700 can adjust the power of the suction source 102 according to the pitch angle and the rotation angle information at the same time. The working surface of the cleaning head assembly is the surface of the cleaning head assembly acting on the surface to be cleaned.

[0059] The controller 700 can control the power of the suction source 102 according to the pitch angle and the rotation angle information at the same time, so as to ensure that the power of the suction source 102 can be reduced to a small enough power when the pitch angle and the rotation angle information increase at the same time, and ensure that the suction of the suction source 102 is not enough to suck the sewage into the suction source 102.

[0060] In some embodiments, the front-rear direction of the cleaning device is a direction parallel to the straight driving direction of the cleaning device.

[0061] It can be understood that two angle detecting devices 600 can be provided to obtain the pitch angle and the rotation angle of the machine body 100 respectively. Alternatively, the angle detecting device 600 can be a three-axis gyroscope to obtain the pitch angle and the rotation angle of the machine body 100.

[0062] In some embodiments, the power of the suction source 102 is reduced if the pitch angle is in the first range.

[0063] The power of the suction source 102 is reduced if the rotation angle is in the second range.

[0064] It can be understood that the power of the suction source 102 is reduced if the pitch angle is in the first range or the rotation angle is in the second range. In the normal working state of the cleaning device, the pitch angle is usually greater than zero so as to push the cleaning device to move on the surface to be cleaned. If the pitch angle is in the first range, the power of the suction source 102 is reduced. At this time, if the machine body 100 rotates relative to the cleaner head assembly 200 in the circumferential direction, the rotation angle changes so that the rotation angle is in the second range, and the power of the suction source 102 is reduced again to prevent the dirty water from entering the fan.

[0065] For example, the first range is greater than 50°, and the second range is greater than 10°. At the beginning, the machine body 100 moves linearly on the surface to be cleaned with a pitch angle of 40°, and the power of the suction source 102 is 100W. If the pitch angle of the machine body 100 changes to 55°, the power of the suction source 102 is reduced from 100W to 80W. If the machine body 100 rotates relative to the cleaner head assembly 200, the cleaning device turns, and the rotation angle changes to 15°, the power of the suction source 102 is reduced again so that the power of the suction source 102 is reduced from 80W to 60W.

[0066] In the case that the machine body 100 is set to be perpendicular to the cleaner head assembly 200, the pitch angle between the machine body 100 and the cleaner head assembly 200 is zero. In the working process of the cleaning device, the angle of the machine body 100 relative to the cleaner head assembly 200 is greater than or equal to zero.

[0067] In some embodiments, the angle detecting device 600 comprises a ring 610 and an angle sensor 620, one of which is arranged on the body 100 and the other is arranged on the cleaning head assembly 200. The angle sensor 620 is adapted to detect the rotation angle of the ring 610, and thus obtain the rotation angle information of the body 100 relative to the cleaning head assembly 200. The ring 610 can be arranged on the body 100, and the angle sensor 620 is arranged on the cleaning head assembly 200. The ring 610 can also be arranged on the cleaning head assembly 200, and the angle sensor 620 is arranged on the body 100, and the embodiments of the present disclosure do not limit this. As shown in FIG. 4, a first support 110 can be arranged on the body 100, and a second support 210 can be arranged on the cleaning head assembly 200. The angle sensor 620 is arranged on the first support 110, and the ring 610 is arranged on the second support 210.

[0068] In some embodiments, the ring 610 is a code disc, the ring 610 is provided with at least two partitions along the circumferential direction thereof, at least one of the light reflection ability and the area size of each partition is different, and the angle sensor 620 is an optical sensor. The angle sensor 620 can determine the angle of the ring 610 by at least one of the light reflection ability and the area size of each partition.

[0069] In some embodiments, the optical sensor comprises a light emitting member and a light receiving member. The light emitted by the light emitting member is reflected by the code disc and received by the light receiving member. The roughness of each partition is different, resulting in different intensities of the light reflected by each partition. The optical sensor can determine the angle of the code disc according to the different intensities of the received light, and thus determine the angle of the body 100 relative to the cleaning head assembly 200.

[0070] In some embodiments, the size of each partition is different, and the angle of the code disc is determined by the amount of light reflected by different partitions, and thus the angle of the body 100 relative to the cleaning head assembly 200 is determined. In other embodiments, the roughness and the area size of each partition can also be different to improve the accuracy of detection.

[0071] Referring to FIG. 5, in some embodiments, the ring 610 is a ring-shaped resistance sheet, the body 100 has a sliding sheet 120, and the angle sensor 620 is a resistance sensor. The sliding sheet 120 is in sliding connection with the ring-shaped resistance sheet. The contact position of the sliding sheet 120 and the ring-shaped resistance sheet changes with the rotation of the body 100, and the resistance sensor can measure the resistance change of the ring-shaped resistance sheet. The rotation of the body 100 relative to the cleaning head assembly 200 causes the sliding sheet 120 to contact different positions of the ring-shaped resistance sheet. The resistance data is collected by the resistance sensor, and thus the rotation angle of the body is determined.

[0072] In some embodiments, the suction source 102 is a fan. The cleaning device further comprises a water pump 203 and a clean water tank 401, and the cleaning head assembly comprises a cleaning head 220. The water pump 203 is configured to deliver the liquid in the clean water tank 401 to the cleaning head 220. The controller 700 can adjust the power of the fan and the water pump 203 according to the rotation angle information. In the case of normal operation of the cleaning device, the fan and the water pump 203 are controlled to operate normally. In the case of that the rotation angle information indicates that the rotation angle of the machine body 100 relative to the cleaning head assembly 200 is too large, the power of the water pump 203 is reduced to reduce the sewage on the surface to be cleaned, and thus the amount of sewage in the sewage tank 402 is limited to limit the sewage from entering the fan. On the other hand, the power of the fan is controlled to limit the suction of the fan, thereby reducing the risk of sewage entering the fan. In an embodiment, the cleaning head 220 can be a roller brush, a cloth, or a disc brush.

[0073] In the embodiments of the present disclosure, in the case that the inclination angle of the machine body 100 is too large, the power of the fan and the water pump 203 is intervened to reduce the probability of the sewage in the sewage tank 400 entering the fan, thereby preventing the fan from being damaged by water, and thus improving the service life of the cleaning device. In the case that the machine body 100 returns to the normal working angle, the fan and the water pump 203 can be adjusted to the normal working power. The embodiments of the present disclosure can solve the problem that the fan is prone to water in the operation process due to the too large inclination angle of the machine body 100 by adjusting the power of the suction source 102 without stopping the machine.

[0074] In the case that the inclination angle of the machine body 100 is too large, if the power of the water pump 203 is too large, the water pump 203 continuously transports a large amount of clean water to the cleaning head assembly 200, and the cleaning head assembly 200 acts on the surface to be cleaned, resulting in too much sewage on the surface to be cleaned, thereby increasing the sewage in the sewage tank 400. In the embodiments of the present disclosure, the power of the water pump 203 is adjusted according to the rotation angle information to control the sewage on the surface to be cleaned, so as to avoid the sewage level in the sewage tank 402 rising, thereby reducing the risk of sewage entering the suction source 102.

[0075] In some embodiments, the controller 700 is further configured to:

[0076] obtain a current rotation speed of the cleaning head 220; and

[0077] if the rotation angle information is greater than the second set angle and the current rotation speed is greater than the set speed, the rotation speed of the cleaning head 220 is reduced.

[0078] If the rotation angle is greater than the second set angle, the body 100 rotates relative to the cleaning head assembly 200 in the circumferential direction, and the cleaning device changes the driving direction. At this time, the rotation speed of the cleaning head 220 is reduced to reduce the friction between the cleaning head assembly 200 and the surface to be cleaned, so that the cleaning device can smoothly perform the steering work. The cleaning head assembly 200 can include a support frame, and the cleaning head 220 is rotationally connected to the support frame. Through the rotation of the cleaning head 220, the surface to be cleaned is cleaned. The current rotation speed of the cleaning head 220 is the rotation speed of the cleaning head 220 relative to the support frame.

[0079] In some embodiments, the cleaning head 220 includes a first brush section 201 and a second brush section 202, and the first brush section 201 and the second brush section 202 rotate in the same direction to drive the cleaning device to move on the surface to be cleaned.

[0080] In some embodiments, the controller 700 is further configured to:

[0081] If the rotation angle is greater than the third set angle, the rotation speeds of the first brush section 201 and the second brush section 202 are controlled to be different, so that the cleaning device changes the driving direction.

[0082] By controlling the rotation speeds of the first brush section 201 and the second brush section 202 to be different, the first brush section 201 and the second brush section 202 move at different speeds, so that the cleaning device cannot continue to move in a straight line in the original direction, thereby changing the driving direction of the cleaning device.

[0083] In some embodiments, the controller 700 is further configured to:

[0084] The second initial rotation speed of the cleaning head 220 and the rotation direction of the body 100 relative to the cleaning head assembly 200 are obtained; and

[0085] Based on the second initial rotation speed, the rotation direction, and the rotation angle information, the rotation speeds of the first brush section 201 and the second brush section 202 are calculated.

[0086] Based on the second initial rotation speed of the cleaning head 220 and the rotation angle information, the speed difference between the first brush section 201 and the second brush section 202 is determined, and the rotation speeds of the first brush section 201 and the second brush section 202 are calculated to realize the steering of the cleaning device.

[0087] When the cleaning device is set to move in a straight line on the surface to be cleaned, the rotation angle between the body 100 and the cleaning head assembly 200 is zero, and the first brush section 201 and the second brush section 202 are respectively arranged on the two sides of the moving direction of the cleaning device. When the rotation angle is greater than the third set angle, if the rotation direction is towards the first brush section 201, the rotation speed of the second brush section 202 is increased or the rotation speed of the first brush section 201 is decreased. If the rotation direction is towards the second brush section 202, the rotation speed of the first brush section 201 is increased or the rotation speed of the second brush section 202 is decreased, so as to realize the turning of the cleaning device.

[0088] In some embodiments, the working component further comprises two booster wheels 101, and the controller 700 is further configured to:

[0089] If the rotation angle information is greater than the fourth set angle, the rotation speeds of the two booster wheels 101 are controlled to be different, so that the cleaning device changes the moving direction.

[0090] By controlling the rotation speeds of the two booster wheels 101 to be different, the two booster wheels 101 move at different speeds, so that the cleaning device cannot continue to move in a straight line in the original direction, and thus the cleaning device changes the moving direction.

[0091] In some embodiments, the controller 700 is further configured to:

[0092] obtain a first initial rotation speed of the two booster wheels 101 and a rotation direction of the body 100 relative to the cleaning head assembly 200; and

[0093] based on the first initial rotation speed, the rotation direction and the rotation angle information, calculate the rotation speeds of the two booster wheels 101.

[0094] based on the first initial rotation speed of the two booster wheels 101 and the rotation angle information, determine the speed difference of the two booster wheels 101, and thus calculate the rotation speeds of the two booster wheels 101, so as to realize the turning of the cleaning device.

[0095] The two booster wheels are respectively arranged on the two sides of the moving direction of the cleaning device. When the rotation angle is greater than the fourth set angle, if the rotation direction is towards one of the booster wheels 101, the rotation speed of the booster wheel 101 is increased or the rotation speed of the other booster wheel 101 is increased, so as to realize the turning of the cleaning device.

[0096] In some embodiments, referring to FIG. 2, the cleaning device further comprises at least two water level sensors 300, and the water level sensors 300 are adapted to obtain the water level information of the sewage tank 402 or the clean water tank 401. The two water level sensors 300 can collect the water level information at different positions of the sewage tank 402, so as to make a more accurate judgment on the actual water level of the sewage tank 402.

[0097] In some embodiments, the controller 700 is further configured to:

[0098] acquire detection information of at least two water level sensors 300, and if the detection information of at least one water level sensor 300 is abnormal or the detected water level is less than the set water level, calculate the actual water level of the water tank 400 according to the detection information acquired by the other water level sensors 300.

[0099] When one or more water level sensors 300 fail, the detection information of the corresponding water level sensor 300 will be abnormal. Alternatively, in the case that the body 100 is tilted at too large an angle, some water level sensors 300 will not be in contact with water, and the detected water level will be less than the set water level, thereby causing incorrect judgment of the actual water level of the sewage tank 402, or even misjudging that the sewage tank 402 is out of water. Calculating the actual water level of the sewage tank 402 according to the detection information acquired by the other water level sensors 300 can avoid incorrect judgment of the actual water level of the sewage tank 402. For example, as shown in FIG. 2, two water level sensors 300 are provided, and if the detection information of one of the water level sensors 300 is abnormal or the detected water level is less than the set water level, the actual water level of the sewage tank 402 is calculated according to the detection information acquired by the other water level sensor 300.

[0100] In some embodiments, the controller 700 is further configured to:

[0101] If the rotation angle information is greater than the fifth set angle, an alarm is sent to the user.

[0102] By sending an alarm to the user, the user can be reminded that the rotation angle of the body 100 is too large, achieving the effect of risk warning, and avoiding accidents such as shutdown or water entering the fan caused by the user continuously increasing the rotation angle of the body 100.

[0103] In some embodiments, the user can be reminded that the rotation angle of the body 100 is too large by means of buzzer alarm, body 100 vibration, voice reminder, etc.

[0104] In some embodiments, the cleaning device comprises a display screen, which is suitable for displaying the rotation angle information.

[0105] Through the display screen, the user can be informed of the rotation angle information of the body 100 relative to the cleaning head assembly 200 in real time, and the user can obtain the rotation angle information in time during operation, thereby avoiding the body 100 being tilted at too large an angle due to improper operation, affecting the cleaning effect or causing device failure. In the case that the rotation angle information is greater than the fifth set angle, an alarm can be sent to the user in the form of text reminder on the display screen, achieving the effect of risk warning.

[0106] The second aspect embodiment of the present disclosure provides a cleaning system comprising the cleaning device of the first aspect embodiment.

[0107] It can be understood that the cleaning device has the beneficial effects of the above embodiments, and the cleaning system accordingly has the beneficial effects of the above embodiments, and the specific embodiments can refer to the above embodiments. The present application will not be repeated here.

[0108] The third aspect embodiment of the present disclosure provides a control method of a cleaning device, the cleaning device comprising an angle detection device 600, a controller 700, at least one working component, and a body and a cleaning head assembly connected to each other, the cleaning head assembly being used to clean a surface to be cleaned, the control method comprising:

[0109] obtaining the rotation angle information by the angle detection device 600; and

[0110] if the rotation angle information is within the set angle range, adjusting the working of the at least one working component by the controller 700, the rotation angle information being the rotation angle of the body 100 relative to the cleaning head assembly 200.

[0111] By the angle detection device 600, the rotation angle information of the body 100 relative to the cleaning head assembly 200 can be obtained. In the case that the angle of the body 100 relative to the cleaning head assembly 200 is too large, the working component is adjusted by the controller 700 accordingly, so that the cleaning device can work in a normal state, reducing the risk of failure of the cleaning device.

[0112] In some embodiments, the working component comprises a suction source 102. The cleaning device further comprises a sewage tank 402, and the suction source 102 is used to suck dirt on the surface to be cleaned into the sewage tank 402, and the method comprises:

[0113] adjusting the power of the suction source 102 according to the rotation angle information by the controller 700.

[0114] Adjusting the power of the suction source 102 according to the rotation angle information makes the suction source 102 work at an appropriate power, which reduces the risk of liquid in the sewage tank 402 entering the suction source 102 while ensuring the normal working of the suction source 102.

[0115] If the angle of rotation of the machine body 100 relative to the cleaning head assembly 200 is too large, the liquid in the silt tank 402 can be close to the suction source 102 and be subjected to the suction force of the suction source 102, and the liquid in the silt tank 402 can easily enter the suction source 102. At this time, if the suction source 102 is directly turned off, the user experience will be affected, and the cleaning effect will be reduced. At the same time, frequent turning on and off of the suction source 102 can cause damage to the suction source 102 and affect the service life of the suction source 102. In the embodiments of the present disclosure, the power of the suction source is adjusted according to the rotation angle information, the power of the suction source 102 is adjusted in time without stopping, and the risk of water entering the suction source 102 is reduced.

[0116] The rotation angle information can be obtained by the angle detection device 600. The rotation angle information can include at least one of the pitch angle and the rotation angle of the machine body 100.

[0117] In some embodiments, the method further includes:

[0118] obtaining the current power of the suction source 102; and

[0119] adjusting the power of the suction source 102 according to the rotation angle information and the current power.

[0120] The risk of water entering the suction source 102 is judged by the current power and the rotation angle information, and the power of the suction source 102 is adjusted.

[0121] In some embodiments, the method further includes:

[0122] if the current power is greater than the set power and the rotation angle information is greater than the first set angle, reducing the power of the suction source 102;

[0123] if the current power is less than or equal to the set power and the rotation angle information is greater than the first set angle, controlling the suction source 102 to maintain the current power;

[0124] if the current power is less than or equal to the set power and the rotation angle information is less than or equal to the first set angle, controlling the suction source 102 to maintain the current power; and

[0125] if the current power is greater than the set power and the rotation angle information is less than or equal to the first set angle, controlling the suction source 102 to maintain the current power.

[0126] In the case that the current power of the suction source 102 is greater than the set power (for example, 20W), if the rotation angle information is greater than the first set angle (for example, 80°), the sewage in the sewage tank 402 is inclined and the highest water level of the sewage tank 402 is close to the fan. By reducing the power of the fan, the suction of the fan is not enough to suck the sewage in the sewage tank 402 into the fan. In the case that the current power of the suction source 102 is less than or equal to the set power or the rotation angle information is less than or greater than the first set angle, the power of the suction source 102 does not need to be adjusted.

[0127] In some embodiments, the method further comprises:

[0128] if the rotation angle information is between 80° and 90°, adjusting the power of the suction source 102 to between 0W and 20W;

[0129] if the rotation angle information is between 30° and 80°, adjusting the power of the suction source 102 to between 30W and 50W; and

[0130] if the rotation angle information is between 0° and 30°, adjusting the power of the suction source 102 to between 80W and 100W.

[0131] According to the rotation angle information being in different ranges, the power of the suction source 102 is adjusted to different power sizes to limit the liquid in the tank from being sucked into the suction source 102 by the suction of the suction source 102.

[0132] In some embodiments, the angle between the machine body 100 and the cleaning head assembly 200 in a plane perpendicular to the working surface of the cleaning head assembly and parallel to the front-rear direction of the cleaning device is a pitch angle. The controller 700 can simultaneously adjust the power of the suction source 102 according to the pitch angle and the rotation angle information.

[0133] According to the pitch angle and the rotation angle information, the power of the suction source 102 is reduced multiple times, which can timely adjust the power of the suction source 102 when the machine body 100 changes the angle in each direction relative to the cleaning head assembly 200, to ensure the safety of the operation of the cleaning device.

[0134] In some embodiments, the cleaning device further comprises two booster wheels 101, and the method further comprises:

[0135] if the rotation angle information is greater than a fourth set angle, controlling the rotation speeds of the two booster wheels 101 to be different, so that the cleaning device changes the driving direction.

[0136] By controlling the rotation speeds of the two booster wheels 101 to be different, the two booster wheels 101 drive at different speeds, so that the cleaning device cannot continue to move linearly in the original direction, and thus the cleaning device changes the driving direction.

[0137] In some embodiments, the method further comprises:

[0138] obtaining a first initial rotation speed of the two booster wheels 101 and a rotation direction of the body 100 relative to the cleaning head assembly 200; and

[0139] calculating the rotation speed of the two booster wheels 101 based on the first initial rotation speed, the rotation direction, and the rotation angle information.

[0140] adjusting the speed of the two booster wheels 101 based on the first initial rotation speed, the rotation direction, and the rotation angle information, so that the cleaning device changes direction while maintaining the original driving speed.

[0141] In some embodiments, the cleaning device further comprises a water pump 203 and a water tank 401, and the cleaning head assembly comprises a cleaning head 220. The water pump 203 is configured to deliver liquid from the water tank 401 to the cleaning head 220.

[0142] In some embodiments, the method further comprises:

[0143] obtaining a current rotation speed of the cleaning head 220; and

[0144] if the rotation angle is greater than a second set angle and the current rotation speed is greater than a set speed, reducing the rotation speed of the cleaning head 220.

[0145] If the current rotation speed is greater than the set speed, the friction between the cleaning head 220 and the surface to be cleaned is large, which is not conducive to the turning of the cleaning device. Therefore, reducing the rotation speed of the cleaning head 220 can reduce the friction between the cleaning head 220 and the surface to be cleaned, so that the cleaning device can smoothly change direction.

[0146] In some embodiments, the cleaning head 220 comprises a first brush section 201 and a second brush section 202, and the first brush section 201 and the second brush section 202 rotate in the same direction; the method further comprises:

[0147] if the rotation angle is greater than a third set angle, controlling the rotation speeds of the first brush section 201 and the second brush section 202 to be different, so that the cleaning device changes driving direction.

[0148] controlling the rotation speeds of the first brush section 201 and the second brush section 202 to be different, and using the difference between the first brush section 201 and the second brush section 202 to change the driving direction of the cleaning device.

[0149] In some embodiments, the method further comprises:

[0150] obtaining a second initial rotation speed of the cleaning head 220 and a rotation direction of the body 100 relative to the cleaning head assembly 200; and

[0151] Based on the second initial rotating speed, the rotating direction and the rotating angle information, the rotating speed of the first brush section 201 and the second brush section 202 is calculated.

[0152] The rotating speed of the first brush section 201 and the second brush section 202 is adjusted by the second initial rotating speed, the rotating direction and the rotating angle information, so that the cleaning device realizes steering on the basis of maintaining the original driving speed.

[0153] In some embodiments, the cleaning device further comprises at least two water level sensors 300, the water level sensors 300 are suitable for obtaining water level information of the sewage tank 402, and the method further comprises:

[0154] The detection information of the at least two water level sensors 300 is obtained, if the detection information of at least one water level sensor 300 is abnormal or the detected water level is less than the set water level, the actual water level of the sewage tank 402 is calculated according to the detection information obtained by the other water level sensors 300.

[0155] In order to avoid false judgment of the actual water level of the water tank 400 due to the failure of the water level sensor 300 or the water level sensor 300 not being in contact due to the inclination of the machine body 100, the actual water level of the sewage tank 402 can be calculated by using the detection information obtained by the other water level sensors 300 when the detection information of at least one water level sensor 300 is abnormal or less than the set water level.

[0156] In some embodiments, the method further comprises:

[0157] If the rotating angle information is greater than the fifth set angle, an alarm is sent to the user.

[0158] By sending an alarm to the user, the user can be reminded that the rotating angle of the machine body 100 is too large, achieving the effect of early warning.

[0159] FIG. 3 illustrates an example of an entity structure of an electronic device. As shown in FIG. 3, the electronic device can include a processor 510, a communications interface 520, a memory 530, and a communications bus 540. In some embodiments, the processor 510, the communications interface 520, and the memory 530 complete communication with each other through the communications bus 540. The processor 510 can invoke the logical instructions in the memory 530 to execute the control method of the cleaning device, the method comprising:

[0160] obtaining rotating angle information; and

[0161] If the rotating angle information is within a set angle range, the power of the suction source 102 is adjusted, and the rotating angle information is the rotating angle of the machine body 100 relative to the cleaning head assembly 200.

[0162] Moreover, the logic instructions in the memory 530 described above can be implemented in the form of software functional units and sold or used as independent products, which can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present disclosure essentially or the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for making a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present disclosure. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0163] In another aspect, the present disclosure also provides a non-transitory computer readable storage medium, including a computer program stored thereon, which is executed by a processor to implement the electric vehicle control method provided by the above method, the method comprising:

[0164] obtaining rotation angle information; and

[0165] if the rotation angle information is within a set angle range, adjusting the power of the suction source 102, the rotation angle information being the rotation angle of the machine body 100 relative to the cleaning head assembly 200.

[0166] The first aspect of the present disclosure provides a cleaning device, comprising:

[0167] a machine body,

[0168] a cleaning head assembly connected to the machine body and capable of cleaning a surface to be cleaned;

[0169] an angle detection device adapted to obtain rotation angle information of the machine body relative to the cleaning head assembly;

[0170] at least one working component; and

[0171] a controller controllably connected to the at least one working component, the controller being configured to adjust the operation of the at least one working component according to the rotation angle information.

[0172] In some embodiments, the working component includes a suction source; the cleaning device further includes a sewage tank, the suction source being configured to suck dirt on the surface to be cleaned into the sewage tank, and the controller being configured to adjust the power of the suction source according to the rotation angle information.

[0173] In some embodiments, the controller is further configured to:

[0174] obtain a current power of the suction source; and

[0175] adjust the power of the suction source according to the rotation angle information and the current power.

[0176] In some embodiments, the controller is further configured to:

[0177] if the current power is greater than the set power and the rotation angle information is greater than a first set angle, decrease the power of the suction source;

[0178] if the current power is less than or equal to the set power and the rotation angle information is greater than the first set angle, control the suction source to maintain the current power;

[0179] if the current power is less than or equal to the set power and the rotation angle information is less than or equal to the first set angle, control the suction source to maintain the current power; and

[0180] if the current power is greater than the set power and the rotation angle information is less than or equal to the first set angle, control the suction source to maintain the current power.

[0181] In some embodiments, the controller is further configured to:

[0182] if the rotation angle information is between 80° and 90°, adjust the power of the suction source to be between 0W and 20W;

[0183] if the rotation angle information is between 30° and 80°, adjust the power of the suction source to be between 30W and 50W; and

[0184] if the rotation angle information is between 0° and 30°, adjust the power of the suction source to be between 80W and 100W.

[0185] In some embodiments, an included angle between the main body and the cleaning head assembly in a plane perpendicular to a working surface of the cleaning head assembly and parallel to a front-rear direction of the cleaning device is a pitch angle; the controller can adjust the power of the suction source according to the pitch angle and the rotation angle information.

[0186] In some embodiments, the working component further comprises two booster wheels, and the controller is further configured to:

[0187] if the rotation angle is greater than a fourth set angle, control the rotation speeds of the two booster wheels to be different, so that the cleaning device changes the driving direction.

[0188] In some embodiments, the controller is further configured to:

[0189] obtain a first initial rotation speed of the two booster wheels and a rotation direction of the body relative to the cleaning head assembly; and

[0190] calculate rotation speeds of the two booster wheels based on the first initial rotation speed, the rotation direction, and the rotation angle information.

[0191] In some embodiments, the suction source is a fan; the cleaning device further comprises a water pump and a clean water tank 401, the cleaning head assembly comprises a cleaning head; the water pump is configured to deliver liquid of the clean water tank to the cleaning head; and the controller adjusts power of the water pump according to the rotation angle information.

[0192] In some embodiments, the controller is further configured to:

[0193] obtain a current rotation speed of the cleaning head; and

[0194] if the rotation angle information is greater than a second set angle and the current rotation speed is greater than a set speed, reduce the rotation speed of the cleaning head.

[0195] In some embodiments, the cleaning head comprises a first brush section and a second brush section, the first brush section and the second brush section rotate in the same direction.

[0196] The controller is further configured to:

[0197] if the rotation angle is greater than a third set angle, control rotation speeds of the first brush section and the second brush section to be different, so that the cleaning device changes a driving direction.

[0198] In some embodiments, the controller is further configured to:

[0199] obtain a second initial rotation speed of the cleaning head and a rotation direction of the body relative to the cleaning head assembly; and

[0200] calculate rotation speeds of the first brush section and the second brush section based on the second initial rotation speed, the rotation direction, and the rotation angle.

[0201] In some embodiments, the cleaning device further comprises at least two water level sensors, the water level sensors are adapted to obtain water level information of the dirty water tank or the clean water tank; and the controller is further configured to:

[0202] obtain detection information of the at least two water level sensors; and

[0203] If the detection information of at least one of the water level sensors is abnormal or the detected water level is less than the set water level, the actual water level of the sewage tank or the clean water tank is calculated according to the detection information obtained by the other water level sensors.

[0204] In some embodiments, the controller is further configured to:

[0205] If the rotation angle information is greater than a fifth set angle, an alarm is sent to a user.

[0206] In some embodiments, the cleaning device comprises a display screen adapted to display the rotation angle information.

[0207] In some embodiments, the angle detection device comprises a ring-shaped member and an angle sensor, one of which is arranged on the machine body and the other of which is arranged on the cleaning head assembly, and the angle sensor is adapted to detect the rotation angle of the ring-shaped member.

[0208] In some embodiments, the ring-shaped member is a code disc, at least two partitions are arranged along the circumferential direction of the code disc, and the light reflection ability and / or area size of each partition are different; and the angle sensor is an optical sensor.

[0209] In some embodiments, the optical sensor comprises a light emitting member and a light receiving member, the light emitted by the light emitting member is reflected by the code disc and then received by the light receiving member, and the roughness of each partition is different.

[0210] In some embodiments, the ring-shaped member is a ring-shaped resistance sheet, the machine body has a sliding sheet, and the angle sensor is a resistance sensor; the sliding sheet is in sliding connection with the ring-shaped resistance sheet, the contact position of the sliding sheet and the ring-shaped resistance sheet changes through the rotation of the machine body, and the resistance sensor can measure the resistance change of the ring-shaped resistance sheet.

[0211] The second aspect of the present disclosure provides a cleaning system comprising the cleaning device described above.

[0212] The third aspect of the present disclosure provides a control method of a cleaning device, the cleaning device comprising an angle detection device, a controller, at least one working component, and a machine body and a cleaning head assembly connected to each other, the cleaning head assembly being configured to clean a surface to be cleaned, the control method comprising:

[0213] obtaining rotation angle information through the angle detection device;

[0214] If the rotation angle information is within a set angle range, adjusting the operation of at least one working component through the controller, the rotation angle information being the rotation angle of the machine body relative to the cleaning head assembly.

[0215] In some embodiments, the working component comprises a suction source; the cleaning device further comprises a sewage tank, the suction source is used to suck dirt on the surface to be cleaned into the sewage tank, and the method comprises:

[0216] The controller adjusts the power of the suction source according to the rotation angle information.

[0217] In some embodiments, the current power of the suction source is obtained; and

[0218] The controller adjusts the power of the suction source according to the rotation angle information and the current power.

[0219] In some embodiments, further comprising:

[0220] If the current power is greater than the set power and the rotation angle information is greater than the first set angle, the power of the suction source is reduced;

[0221] If the current power is less than or equal to the set power and the rotation angle information is greater than the first set angle, the suction source is controlled to maintain the current power;

[0222] If the current power is less than or equal to the set power and the rotation angle information is less than or equal to the first set angle, the suction source is controlled to maintain the current power; and

[0223] If the current power is greater than the set power and the rotation angle information is less than or equal to the first set angle, the suction source is controlled to maintain the current power.

[0224] In some embodiments, further comprising:

[0225] If the rotation angle information is between 80° and 90°, the power of the suction source is adjusted to between 0W and 20W;

[0226] If the rotation angle information is between 30° and 80°, the power of the suction source is adjusted to between 30W and 50W; and

[0227] If the rotation angle information is between 0° and 30°, the power of the suction source is adjusted to between 80W and 100W.

[0228] In some embodiments, in a plane perpendicular to the working surface of the cleaning head assembly and parallel to the front-rear direction of the cleaning device, the included angle between the body and the cleaning head assembly is a pitch angle; the controller can adjust the power of the suction source according to the pitch angle and the rotation angle information at the same time.

[0229] In some embodiments, the working component further comprises two assisting wheels, and the method further comprises:

[0230] If the rotation angle information is greater than a fourth set angle, the rotation speeds of the two assisting wheels are controlled to be different, so that the cleaning device changes the driving direction.

[0231] In some embodiments, the method further comprises:

[0232] obtaining a first initial rotation speed of the two assisting wheels and a rotation direction of the body relative to the cleaning head assembly; and

[0233] calculating the rotation speeds of the two assisting wheels based on the first initial rotation speed, the rotation direction, and the rotation angle information.

[0234] In some embodiments, the cleaning device further comprises a water pump and a clean water tank, and the cleaning head assembly comprises a cleaning head; the water pump is configured to deliver liquid in the clean water tank to the cleaning head; and the controller adjusts the power of the water pump according to the rotation angle information.

[0235] In some embodiments, the control method further comprises: obtaining a current rotation speed of the cleaning head; and

[0236] If the rotation angle information is greater than a second set angle and the current rotation speed is greater than a set speed, the rotation speed of the cleaning head is reduced.

[0237] In some embodiments, the cleaning head comprises a first brush section and a second brush section, and the first brush section and the second brush section rotate in the same direction.

[0238] If the rotation angle information is greater than a third set angle, the rotation speeds of the first brush section and the second brush section are controlled to be different, so that the cleaning device changes the driving direction.

[0239] In some embodiments, the method further comprises:

[0240] obtaining a second initial rotation speed of the cleaning head and a rotation direction of the body relative to the cleaning head assembly; and

[0241] calculating the rotation speeds of the first brush section and the second brush section based on the second initial rotation speed, the rotation direction, and the rotation angle information.

[0242] In some embodiments, the cleaning device further comprises at least two water level sensors, and the water level sensors are adapted to obtain water level information of the sewage tank or the clean water tank; the two water level sensors are oppositely arranged.

[0243] Obtain detection information of the two water level sensors, if the detection information of one of the water level sensors is abnormal or the detected water level is less than a set water level, then calculate the actual water level of the water tank according to the detection information obtained by the other water level sensor.

[0244] In some embodiments, if the rotation angle information is greater than a fifth set angle, an alarm is sent to the user.

[0245] The fourth aspect of the present disclosure provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and in some embodiments, the processor implements the control method of the cleaning device as described above when executing the computer program.

[0246] The fifth aspect of the present disclosure provides a non-transitory computer-readable storage medium, including a computer program stored thereon, and in some embodiments, the computer program is executed by a processor to implement the control method of the cleaning device as described above.

[0247] The embodiments of the present disclosure have at least the following beneficial effects:

[0248] Through the angle detection device, the rotation angle information of the machine body relative to the cleaning head assembly can be obtained; in the case that the angle of the machine body relative to the cleaning head assembly is too large, the working part is adjusted by the controller accordingly, so that the cleaning device can work in a normal state, and the risk of cleaning device failure is reduced.

[0249] The device embodiments described above are only schematic, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., they can be located in one place, or distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment scheme. Those skilled in the art can understand and implement without creative labor.

[0250] From the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be realized by means of software plus a necessary general hardware platform, and of course, it can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0251] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, and are not intended to limit the same. Although the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still make modifications to the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to part of the technical features. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A cleaning device, comprising: a body, a cleaning head assembly connected to the body and capable of cleaning a surface to be cleaned, an angle detection device adapted to obtain a rotation angle information of the body relative to the cleaning head assembly, at least one working component, and a controller controllably connected to the at least one working component, the controller being configured to adjust a working of the at least one working component according to the rotation angle information. The working component comprises a suction source, and the cleaning device further comprises a dirty water tank, the suction source being configured to suck dirt on the surface to be cleaned into the dirty water tank, and the controller is configured to adjust a power of the suction source according to the rotation angle information.

2. The cleaning apparatus of claim 1, wherein, The controller is further configured to:

3. The cleaning apparatus of claim 2, wherein, obtain a current power of the suction source, and adjust the power of the suction source according to the rotation angle information and the current power. The controller is further configured to:

4. The cleaning apparatus of claim 3, wherein, decrease the power of the suction source if the current power is greater than a set power and the rotation angle information is greater than a first set angle, control the suction source to maintain the current power if the current power is less than or equal to the set power and the rotation angle information is greater than the first set angle, control the suction source to maintain the current power if the current power is less than or equal to the set power and the rotation angle information is less than or equal to the first set angle, and control the suction source to maintain the current power if the current power is greater than the set power and the rotation angle information is less than or equal to the first set angle. The controller is further configured to: adjust the power of the suction source to be between 0 W and 20 W if the rotation angle information is between 80° and 90°, 5. The cleaning apparatus of claim 2, wherein, adjust the power of the suction source to be between 30 W and 50 W if the rotation angle information is between 30° and 80°, and adjust the power of the suction source to be between 80 W and 100 W if the rotation angle information is between 0° and 30°. An included angle between the body and the cleaning head assembly is a pitch angle in a plane perpendicular to a working surface of the cleaning head assembly and parallel to a front-rear direction of the cleaning device, and the controller is capable of adjusting the power of the suction source according to the pitch angle and the rotation angle information. The working component further comprises two booster wheels, and the controller is further configured to:

6. The cleaning apparatus of claim 2, wherein, control rotational speeds of the two booster wheels to be different to cause the cleaning device to change a driving direction if the rotation angle is greater than a fourth set angle.

7. The cleaning apparatus of any one of claims 1 to 6, wherein, The controller is further configured to: obtain a first initial rotational speed of the two booster wheels and a rotation direction of the body relative to the cleaning head assembly, 8. The cleaning apparatus of claim 7, wherein, calculate the rotational speeds of the two booster wheels based on the first initial rotational speed, the rotation direction and the rotation angle information. The cleaning device further comprises a water pump and a clean water tank, and the cleaning head assembly comprises a cleaning head, the water pump being configured to deliver liquid in the clean water tank to the cleaning head, and the controller is configured to adjust a power of the water pump according to the rotation angle information. The controller is further configured to:

9. The cleaning apparatus of claim 2, wherein, obtain a current rotation speed of the cleaning head, and 10. The cleaning apparatus of claim 9, wherein, ​ ​ If the rotation angle information is greater than a second set angle and the current rotation speed is greater than a set speed, the rotation speed of the cleaning head is reduced.

11. The cleaning apparatus of claim 9, wherein, The cleaning head comprises a first brush section and a second brush section, and the first brush section and the second brush section rotate in the same direction. The controller is further configured to: If the rotation angle is greater than a third set angle, the rotation speeds of the first brush section and the second brush section are controlled to be different, so that the cleaning device changes the driving direction.

12. The cleaning apparatus of claim 11, wherein, The controller is further configured to: Obtain a second initial rotation speed of the cleaning head and a rotation direction of the body relative to the cleaning head assembly; and Based on the second initial rotation speed, the rotation direction and the rotation angle, the rotation speeds of the first brush section and the second brush section are calculated.

13. The cleaning device according to any one of claims 1 to 6, further comprising at least two water level sensors adapted to obtain water level information of the dirty water tank or the clean water tank; the controller is further configured to: Obtain detection information of the at least two water level sensors; and If the detection information of at least one of the water level sensors is abnormal or the detected water level is less than a set water level, the actual water level of the dirty water tank or the clean water tank is calculated according to the detection information obtained by the other water level sensors.

14. The cleaning apparatus of any one of claims 1 to 6, wherein, The controller is further configured to: If the rotation angle information is greater than a fifth set angle, an alarm is sent to the user.

15. The cleaning device according to any one of claims 1 to 6, comprising a display screen adapted to display the rotation angle information.

16. The cleaning apparatus of any one of claims 1 to 6, wherein, The angle detection device comprises a ring-shaped member and an angle sensor, one of which is arranged on the body and the other of which is arranged on the cleaning head assembly, and the angle sensor is adapted to detect the rotation angle of the ring-shaped member.

17. The cleaning apparatus of claim 16, wherein, The ring-shaped member is a code disc, and the code disc is provided with at least two partitions along the circumferential direction, and the light reflection ability and / or area size of each partition are different; and the angle sensor is an optical sensor.

18. The cleaning apparatus of claim 17, wherein, The optical sensor comprises a light emitting member and a light receiving member, and the light emitted by the light emitting member is reflected by the code disc and then received by the light receiving member; and the roughness of each partition is different.

19. The cleaning apparatus of claim 16, wherein, The ring-shaped member is a ring-shaped resistance sheet, the body has a sliding sheet, and the angle sensor is a resistance sensor; The sliding sheet is in sliding connection with the ring-shaped resistance sheet, the contact position of the sliding sheet and the ring-shaped resistance sheet changes through the rotation of the body, and the resistance sensor can measure the resistance change of the ring-shaped resistance sheet.

20. A cleaning system comprising the cleaning device according to any one of claims 1 to 19.

21. A control method of a cleaning apparatus including an angle detection device, a controller, at least one working part, and a main body and a cleaning head assembly connected to each other, the cleaning head assembly being used to clean a surface to be cleaned, wherein, The method comprises: Obtaining rotation angle information by the angle detection device; and If the rotation angle information is within a set angle range, adjusting the work of at least one of the working components by the controller, and the rotation angle information is the rotation angle of the body relative to the cleaning head assembly.

22. The control method of the cleaning apparatus according to claim 21, wherein The working component comprises a suction source; The cleaning device further comprises a dirty water tank, and the suction source is used to suck dirt on the surface to be cleaned into the dirty water tank, and the method comprises: The controller adjusts the power of the suction source according to the rotation angle information.

23. The control method of the cleaning device according to claim 22, further comprising: obtaining a current power of the suction source; and the controller adjusts the power of the suction source according to the rotation angle information and the current power.

24. The control method of the cleaning device according to claim 23, further comprising: if the current power is greater than the set power and the rotation angle information is greater than a first set angle, reducing the power of the suction source; if the current power is less than or equal to the set power and the rotation angle information is greater than the first set angle, controlling the suction source to maintain the current power; if the current power is less than or equal to the set power and the rotation angle information is less than or equal to the first set angle, controlling the suction source to maintain the current power; and if the current power is greater than the set power and the rotation angle information is less than or equal to the first set angle, controlling the suction source to maintain the current power.

25. The control method of the cleaning device according to claim 22, further comprising: if the rotation angle information is between 80° and 90°, adjusting the power of the suction source to be between 0W and 20W; if the rotation angle information is between 30° and 80°, adjusting the power of the suction source to be between 30W and 50W; and if the rotation angle information is between 0° and 30°, adjusting the power of the suction source to be between 80W and 100W.

26. The control method of the cleaning apparatus according to claim 22, wherein In a plane perpendicular to a working surface of the cleaning head assembly and parallel to a front-rear direction of the cleaning device, an included angle between the body and the cleaning head assembly is a pitch angle; the controller is capable of adjusting the power of the suction source according to the pitch angle and the rotation angle information simultaneously.

27. The control method of the cleaning device according to any one of claims 21 to 26, wherein, The working component further comprises two booster wheels, and the method further comprises: if the rotation angle information is greater than a fourth set angle, controlling the rotation speeds of the two booster wheels to be different so that the cleaning device changes the driving direction.

28. The control method of the cleaning device according to claim 27, further comprising: obtaining a first initial rotation speed of the two booster wheels and a rotation direction of the body relative to the cleaning head assembly; and calculating the rotation speeds of the two booster wheels based on the first initial rotation speed, the rotation direction and the rotation angle information.

29. The control method of the cleaning apparatus according to claim 22, wherein, The cleaning device further comprises a water pump and a water tank, and the cleaning head assembly comprises a cleaning head; the water pump is configured to deliver liquid in the water tank to the cleaning head; the controller adjusts the power of the water pump according to the rotation angle information.

30. The control method of the cleaning device according to claim 29, further comprising: obtaining a current rotation speed of the cleaning head; and if the rotation angle information is greater than a second set angle and the current rotation speed is greater than a set speed, reducing the rotation speed of the cleaning head.

31. The control method of the cleaning apparatus according to claim 29, wherein The cleaning head comprises a first brush section and a second brush section, and the first brush section and the second brush section rotate in the same direction. If the rotation angle information is greater than a third set angle, the rotation speeds of the first brush section and the second brush section are controlled to be different, so that the cleaning device changes the driving direction.

32. The control method of the cleaning device according to claim 31, further comprising: obtaining a second initial rotation speed of the cleaning head and a rotation direction of the body relative to the cleaning head assembly; and calculating the rotation speeds of the first brush section and the second brush section based on the second initial rotation speed, the rotation direction and the rotation angle information. The cleaning device further comprises at least two water level sensors adapted to obtain water level information of the dirty water tank or the clean water tank, and the two water level sensors are oppositely arranged.

33. The control method of the cleaning apparatus according to claim 29, wherein, Obtaining detection information of the at least two water level sensors, and if the detection information of at least one of the water level sensors is abnormal or the detected water level is less than a set water level, calculating the actual water level of the water tank according to the detection information obtained by the other water level sensors. If the rotation angle information is greater than a fifth set angle, an alarm is sent to the user.

34. The control method of the cleaning apparatus according to claim 21, wherein, The computer program is executed by the processor to implement the control method of the cleaning device according to any one of claims 21 to 34.

35. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and capable of running on the processor, wherein, The computer program is executed by the processor to implement the control method of the cleaning device according to any one of claims 21 to 34.

36. A non-transitory computer-readable storage medium comprising a computer program stored thereon, wherein, ​

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