CN111802971A

CN111802971A - Cleaning machine and control method thereof

Info

Publication number: CN111802971A
Application number: CN201910290571.6A
Authority: CN
Inventors: 左海江
Original assignee: Tineco Intelligent Technology Co Ltd
Current assignee: Tineco Intelligent Technology Co Ltd
Priority date: 2019-04-11
Filing date: 2019-04-11
Publication date: 2020-10-23
Anticipated expiration: 2039-04-11
Also published as: CN111802971B

Abstract

The embodiment of the invention provides a cleaning machine and a control method thereof, wherein the cleaning machine comprises a machine body and a ground brush, the machine body and the ground brush are mutually rotatably connected, a recovery barrel and a main motor are arranged on the machine body, and the cleaning machine further comprises: the state recognition device is used for recognizing the working state of the machine body; the working state of the machine body comprises a first state; the first state is a state when an included angle between the machine body and the ground is smaller than or equal to a preset angle; and the switching device is connected with the state recognition device and used for switching off the main motor when the machine body is in a first state. The technical scheme provided by the embodiment of the invention can greatly improve the use safety of the cleaning machine.

Description

Cleaning machine and control method thereof

Technical Field

The invention relates to the field of daily cleaning, in particular to a cleaning machine and a control method thereof.

Background

As a common cleaning device, the safety of the washing machine is more and more emphasized along with the wide use of the washing machine.

Hand-held type cleaning machine on the existing market generally includes recycling bin, main motor on the fuselage, and the recycling bin is used for holding from the inspiratory sewage of scrubbing brush, and main motor provides the negative pressure power supply of suction for the cleaning machine. The main motor is generally positioned above the recycling bin, and in the using process, once the machine body is inclined to a certain angle, sewage of the recycling bin is possibly sucked into the main motor, so that the main motor is easily damaged or an electric shock accident is caused due to water inflow of the main motor, and the safety cannot be guaranteed.

Disclosure of Invention

In view of the above, the present invention has been made to solve the above problems or at least partially solve the above problems.

The embodiment of the invention provides a cleaning machine, which comprises a machine body and a floor brush,

the fuselage with the scrubbing brush rotation of each other is connected, be equipped with recycling bin and main motor on the fuselage, its characterized in that still includes:

the state recognition device is used for recognizing the working state of the machine body; the working state of the machine body comprises a first state; the first state is a state when an included angle between the machine body and the ground is smaller than or equal to a preset angle;

and the switching device is connected with the state recognition device and used for switching off the main motor when the machine body is in a first state.

Further, the working state of the machine body further comprises a second state, the second state is a state when an included angle between the machine body and the ground is larger than a preset angle, and the switching device is used for maintaining the main motor to operate when the machine body is in the second state.

Further, the state recognition device comprises a sensing piece and a triggering piece; the induction part is arranged on one of the floor brush and the machine body, and the trigger part is arranged on the other of the floor brush and the machine body;

in the process that the machine body rotates relative to the floor brush, the induction piece and the trigger piece can be switched between a mutually matched state and a mutually separated state;

the state recognition device is used for determining the working state of the machine body according to the relative state of the induction piece and the trigger piece, wherein the relative state comprises the mutual matching state and the mutual separation state.

Further, in the above-mentioned case,

the state recognition device is specifically configured to: when the induction piece and the trigger piece are in a mutually matched state, determining that the machine body is in a first state, and when the induction piece and the trigger piece are in a mutually separated state, determining that the machine body is in a second state;

alternatively, the first and second electrodes may be,

the state recognition device is specifically configured to: when the induction piece and the trigger piece are in a mutually matched state, the body is determined to be in a second state, and when the induction piece and the trigger piece are in a mutually separated state, the body is determined to be in a first state.

Furthermore, the sensing piece is a metal elastic piece, and the triggering piece is a protrusion;

when the machine body rotates towards the ground, the metal elastic sheet is relatively close to the protrusion, and when the metal elastic sheet is relatively close to the protrusion until the protrusion abuts against the metal elastic sheet, the protrusion and the metal elastic sheet are in a mutually matched state.

Optionally, the sensing member has a sensing area for sensing the trigger member in a preset area, and the trigger member enters or leaves the sensing area in the process of rotating the body relative to the floor brush;

when the trigger piece is positioned in the induction area, the induction piece and the trigger piece are in a mutually matched state; when the trigger piece is located outside the induction area, the induction piece and the trigger piece are in a mutually separated state.

Optionally, the state identification device comprises an angle measurement element and a control element;

the angle measuring element is used for measuring an included angle between the machine body and the ground;

the control element is connected with the angle measuring element and used for determining the working state of the machine body according to the included angle measured by the angle measuring element and the preset angle.

Optionally, the state identification device includes a distance measurement element and a control element;

the distance measuring element is arranged on the machine body and used for measuring the distance from a preset measuring point on the machine body to the ground;

the control element is connected with the distance measuring element and used for determining the working state of the machine body according to the distance value measured by the distance measuring element.

Further, an included angle value is provided between the machine body and the ground, and the control element is specifically configured to:

determining the working state of the machine body according to the distance value measured by the distance measuring element and a preset corresponding relation; and the preset corresponding relation is the corresponding relation between the distance value from the preset measuring point to the ground and the included angle value.

Optionally, an included angle value is provided between the body and the ground, and the control element is specifically configured to:

and determining the included angle value according to the distance value measured by the distance measuring element and the distance value of a preset measuring point extending to the ground along the length direction of the machine body, and determining the working state of the machine body according to the included angle value and the preset angle.

The embodiment of the invention also provides a control method of the cleaning machine, the cleaning machine comprises a machine body and a floor brush, the machine body and the floor brush are mutually rotatably connected, the machine body is provided with a recovery barrel and a main motor, and the method comprises the following steps:

identifying the working state of the machine body; the working state of the machine body comprises a first state, wherein the first state is a state when an included angle between the machine body and the ground is smaller than or equal to a preset angle;

and when the main body is in a first state, the main motor is switched off.

An embodiment of the present invention further provides a computer-readable storage medium storing computer instructions, where the computer instructions, when executed by a processor, implement the control method of the washing machine as described above.

The cleaning machine comprises a machine body and a ground brush which are mutually rotatably connected, wherein the machine body is provided with a recovery barrel and a main motor, the working state of the machine body is determined through a state recognition device, and the working state of the machine body comprises a first state; the first state is a state when an included angle between the machine body and the ground is smaller than or equal to a preset angle; the switch device is connected with the state recognition device and used for switching off the main motor when the cleaning machine body is in the first state, so that the main motor is effectively prevented from being damaged or causing electric shock accidents due to water entering the main motor in the working state, and the safety of the cleaning machine is greatly improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic view of a part of a washing machine according to an embodiment of the present invention;

fig. 2 is a schematic view of a partial internal structure of the cleaning machine in a second state according to an embodiment of the present invention;

FIG. 3 is an enlarged view taken at A in FIG. 2;

fig. 4 is a schematic view of a partial internal structure of the cleaning machine in a first state according to an embodiment of the present invention;

FIG. 5 is an enlarged view of FIG. 4 at B;

FIG. 6 is a first schematic control block diagram of the cleaning machine according to an embodiment of the present invention;

fig. 7 is a second control schematic block diagram of the cleaning machine according to an embodiment of the present invention;

FIG. 8 is a schematic view of a part of a washing machine according to another embodiment of the present invention;

FIG. 9 is a control schematic diagram of a washing machine according to another embodiment of the present invention;

FIG. 10 is a control schematic diagram of a washing machine according to yet another embodiment of the present invention;

fig. 11 is a flowchart of a control method of a washing machine according to an embodiment of the present invention.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect.

Furthermore, the term "coupled" is intended to include any direct or indirect coupling. Thus, if a first device couples to a second device, that connection may be through a direct connection, or through an indirect connection via other devices. The following description is of the preferred embodiment for carrying out the invention, and is made for the purpose of illustrating the general principles of the invention and not for the purpose of limiting the scope of the invention. The scope of the present invention is defined by the appended claims.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

Various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Example one

FIG. 1 is a schematic view of a part of a washing machine according to an embodiment of the present invention; FIG. 6 is a block diagram of a control scheme of the washing machine according to an embodiment of the present invention; as shown in fig. 1 and 6, the cleaning machine provided in this embodiment includes a machine body 10 and a floor brush 20, the machine body 10 and the floor brush 20 are rotatably connected to each other, and the machine body 10 is provided with a recycling bin 11 and a main motor (not shown in the drawings).

The cleaning machine that this embodiment provided still includes: a state recognition device 30 and a switching device 40.

Wherein, the state recognition device 30 is used for recognizing the working state of the fuselage 10; the operating state of the body 10 includes a first state; the first state is a state when an included angle alpha between the machine body 10 and the ground is smaller than or equal to a preset angle; it can be understood that the recycling bin 11 is arranged on the machine body 10, the machine body 10 drives the recycling bin 11 to rotate in the rotating process, the smaller the included angle α between the machine body 10 and the ground is, the higher the possibility that the sewage in the recycling bin 11 is poured out to flow into the main motor is, and therefore, the possibility that the sewage in the recycling bin 11 is poured out can be determined according to the rotating condition of the machine body 10.

The switching device 40 is connected to the state recognition device 30 for turning off the main motor when the main body 10 is in the first state. Specifically, the cleaning machine may be provided with a power supply circuit for supplying power to the main motor, and the power supply circuit may be provided with a switch device 40 for controlling the on/off of the power supply circuit. It should be noted that the switching device 40 and the state recognition device 30 in the present embodiment may be mechanically or electrically connected, and when the switching device 40 and the state recognition device 30 are mechanically connected, the switching device 40 may be a mechanical switch, for example, the operation of the state recognition device 30 may drive the switching device 40 to be turned off, and when the switching device 40 and the state recognition device 30 are electrically connected, the switching device 40 may be turned off upon receiving a signal from the state recognition device 30.

In the present embodiment, for example, 45 ° may be set as the preset angle, and of course, a person skilled in the art may set a different angle as the preset angle according to actual conditions, when the machine body 10 reaches the preset angle, the sewage in the recovery tank 11 on the machine body 10 is about to be poured out but is not yet poured out, and the power supply circuit of the main motor may be cut off by the switch device 40 before the sewage in the recovery tank 11 is not yet poured out, so as to protect the main motor.

Further, as shown in fig. 7, the cleaning machine provided in this embodiment may further include an alarm device 50, where the alarm device 50 may be connected to the state recognition device 30, and when the state recognition device 30 recognizes that the working state of the machine body 10 is the first state, the alarm device 50 sends an alarm signal, and specifically, the alarm signal sent by the alarm device 50 may include at least one of the following: flash signal, buzzing signal, voice broadcast signal. Once the body 10 reaches the first state, the alarm device 50 sends an alarm signal to indicate to the user that the body 10 is at a dangerous tilt angle, and to indicate to the user that the body 10 is prevented from continuing to rotate toward the ground. Of course, the alarm device 50 is effective only when the user manually tips the body 10, and even if the alarm device 50 generates an alarm signal when the body 10 suddenly tips, the user does not have time to perform an operation of preventing the body 10 from continuing to rotate, and in this case, the power supply circuit is cut off by the switching device 40, so that the main motor is prevented from entering water in the operating state, and an electric shock accident is effectively prevented.

The cleaning machine provided by the embodiment comprises a machine body and a ground brush which are mutually rotatably connected, wherein the machine body is provided with a recovery barrel and a main motor, the working state of the machine body is determined through a state recognition device, and the working state of the machine body comprises a first state; the first state is a state when an included angle between the machine body and the ground is smaller than or equal to a preset angle; the switch device is connected with the state recognition device and used for switching off the main motor when the cleaning machine body is in the first state, so that the main motor is effectively prevented from being damaged or causing electric shock accidents due to water entering the main motor in the working state, and the safety of the cleaning machine is greatly improved.

Example two

In this embodiment, the state recognition device 30 is further refined on the basis of the first embodiment, specifically, the working state of the airframe 10 may further include a second state, where the second state is a state where an included angle between the airframe 10 and the ground is greater than a preset angle, and the switch device 40 maintains the main motor to operate when the airframe 10 is in the second state.

Fig. 2 is a schematic view of a partial internal structure of the cleaning machine in a second state according to an embodiment of the present invention; FIG. 3 is an enlarged view taken at A in FIG. 2; fig. 4 is a schematic view of a partial internal structure of the cleaning machine in a first state according to an embodiment of the present invention; FIG. 5 is an enlarged view of FIG. 4 at B; as shown in fig. 2 to 5, the state recognition device 30 may include a sensing member 31 and a triggering member 32; the sensing member 31 is provided on one of the floor brush 20 and the body 10, and the triggering member 32 is provided on the other of the floor brush 20 and the body 10. For example, the sensing member 31 is disposed on the floor brush 20 and the triggering member 32 is disposed on the body 10, or the sensing member 31 is disposed on the body 10 and the triggering member 32 is disposed on the floor brush 20. It should be noted that the main body of the present invention includes the main body itself and the rotary connection portion between the main body and the floor brush.

The sensing member 31 and the triggering member 32 can be switched between a mutually engaged state and a mutually disengaged state during the rotation of the body 10 relative to the floor brush 20; the state recognition device 30 is used for determining the working state of the body 10 according to the relative state of the sensing member 31 and the triggering member 32, wherein the relative state comprises a mutual matching state and a mutual separation state.

It should be noted that the mutual matching state in the present embodiment is not limited to the sensing member 31 and the triggering member 32 being completely matched in structural shape. Instead, the sensing member 31 and the triggering member 32 are mutually matched, and the triggering member 32 can trigger the sensing member 31.

During the rotation of the body 10, the relative position relationship between the sensing member 31 and the triggering member 32 changes, so that the sensing member 31 and the triggering member 32 can be switched between the mutually engaged state and the mutually disengaged state. Specifically, for example, in the process that the body 10 rotates from the upright state to the ground, the sensing element 31 and the triggering element 32 gradually approach each other, when the body 10 rotates to an included angle α with the ground greater than a preset angle, the sensing element 31 and the triggering element 32 may be in a mutually separated state, and when the body 10 rotates to an included angle α with the ground to reach the preset angle, the sensing element 31 and the triggering element 32 may be in a mutually engaged state, or after the body 10 reaches the first state, the sensing element 31 and the triggering element 32 may be always maintained in a mutually engaged state.

In particular, the state recognition means 30 are configured in particular for: when the sensing member 31 and the triggering member 32 are in a mutually matched state, the body 10 is determined to be in a first state, and when the sensing member 31 and the triggering member 32 are in a mutually separated state, the body 10 is determined to be in a second state.

Specifically, the sensing element 31 is a metal elastic sheet arranged on one of the floor brush 20 and the body 10, and the triggering element 32 is a protrusion arranged on the other of the floor brush 20 and the body 10; the metal elastic sheet and the protrusion are both positioned beside the rotating shaft of the machine body 10 and the floor brush 20. When the body 10 rotates towards the ground, the metal elastic sheet and the protrusion are relatively close to each other, and when the metal elastic sheet and the protrusion are relatively close to each other until the protrusion abuts against the metal elastic sheet, the protrusion and the metal elastic sheet are in a mutually matched state. As shown in fig. 2 to 5, the metal elastic sheet is disposed on the floor brush 20, the protrusion is disposed on the body 10, and the floor brush 20 and the body 10 are hinged together through a rotating shaft. Specifically, the protrusion may be located on an edge of a fixed wheel 10a on the body 10 and protrude outward in a radial direction of the fixed wheel 10 a. As shown in fig. 3, the metal elastic sheet may be pre-bent into an arch shape, or both ends of the metal elastic sheet may be fixed on the floor brush 20, and the middle portion of the metal elastic sheet protrudes toward the fixed wheel 10a, so that the metal elastic sheet can be pressed by the protrusion on the body 10 to deform. As shown in fig. 2 and 4, in the process that the body 10 rotates towards the ground, the fixed wheel 10a correspondingly rotates counterclockwise, the protrusion on the fixed wheel 10a moves towards the metal elastic sheet, before the body 10 rotates to a preset angle, the metal elastic sheet is not abutted by the protrusion, the metal elastic sheet and the protrusion are in a mutually separated state (as shown in fig. 2), and at this time, the body 10 is in a second state. When the body 10 rotates to a preset angle, the protrusion on the fixed wheel 10a abuts against the metal elastic sheet, so that the metal elastic sheet and the protrusion are in a mutually matched state (as shown in fig. 4), that is, the sensing member 31 and the triggering member 32 are in a mutually matched state, and at this time, the body 10 is in the first state.

Alternatively, in other embodiments, the metal elastic sheet may be disposed on the body 10, and the protrusion may be disposed on the floor brush 20, which is not limited in the present invention.

As another alternative, the state identification device 30 may also be configured specifically to: when the sensing member 31 and the triggering member 32 are in a mutually matched state, the body 10 is determined to be in the second state, and when the sensing member 31 and the triggering member 32 are in a mutually separated state, the body 10 is determined to be in the first state.

The following describes, with reference to a specific application scenario, the dump protection of the cleaning machine provided in the embodiment of the present application:

application scenarios:

when a user holds the cleaning machine to clean the ground, if the machine body is operated to rotate towards the ground or the user does not hold the machine body and causes the machine body to suddenly tilt and rotate towards the ground, the trigger piece (protrusion) approaches to the induction piece (metal elastic piece) until the trigger piece abuts against the induction piece, and therefore the trigger switch device disconnects a power supply circuit of the main motor.

EXAMPLE III

The difference between this embodiment and the second embodiment is that the sensing member and the triggering member have different specific structures, and the sensing member may have a sensing area for sensing the triggering member in a predetermined area, and the triggering member enters or leaves the sensing area during the rotation of the body 10 relative to the floor brush 20. Specifically, the sensing member may be an infrared sensor disposed on the floor brush 20, the triggering member may be a component disposed on the body 10, and during the rotation of the body 10, the component may extend into the sensing area of the infrared sensor or leave the sensing area of the infrared sensor, and when the triggering member is located in the sensing area, the sensing member and the triggering member are in a mutually-matched state. When the trigger piece is located outside the induction area, the induction piece and the trigger piece are in a mutually separated state. When the sensing piece and the triggering piece are in a mutually matched state, the machine body 10 is determined to be in a first state, and when the sensing piece and the triggering piece are in a mutually separated state, the machine body 10 is determined to be in a second state.

Or, in the rotation process of the body 10 relative to the floor brush, before the body 10 reaches the preset angle, the trigger member may be located in the sensing area, the trigger member and the sensing member are in a mutually-matched state, in the continuous rotation process of the body 10, the trigger member may gradually leave the sensing area until the sensing area cannot sense the trigger member, and at this time, the trigger member and the sensing member are in a mutually-separated state. When the sensing piece and the triggering piece are in a mutually matched state, the machine body 10 is determined to be in a second state, and when the sensing piece and the triggering piece are in a mutually separated state, the machine body 10 is determined to be in a first state.

application scenarios:

when a user holds the cleaning machine to clean the ground, if the machine body rotates towards the ground or the machine body is suddenly inclined towards the ground and rotates due to the fact that the user does not hold the machine body, the trigger piece approaches to the induction piece (induction area) until the trigger piece enters the induction area of the induction piece, and therefore the trigger switch device is triggered to disconnect a power supply circuit of the main motor; or in the process that the machine body tilts and rotates towards the ground, the trigger piece moves from the position located in the sensing area of the sensing piece to the position away from the sensing area of the sensing piece until the trigger piece is located outside the sensing area, and therefore the trigger switch device is triggered to cut off the power supply circuit of the main motor.

Example four

In this embodiment, based on the first embodiment, a different implementation manner is provided as compared with the second embodiment and the third embodiment, and the specific structure of the state identification device 30 is different, and fig. 8 is a schematic partial structure diagram of a cleaning machine according to another embodiment of the present invention; fig. 9 is a control schematic diagram of a washing machine according to another embodiment of the present invention.

As shown in fig. 8 and 9, in particular, the state recognition device 30 may include a ranging element 33 and a control element 34. The distance measuring element 33 is disposed on the body 10 and is used for measuring a distance D from a preset measuring point Q on the body 10 to the ground. In this embodiment, the distance measuring element 33 may be a distance measuring sensor, and specifically, may be any one of the following: ultrasonic ranging sensor, laser ranging sensor, infrared ranging sensor. The predetermined measurement point Q may be an emission point of ultrasonic waves, laser light, or infrared rays emitted from the distance measuring element 33. According to the Pythagorean theorem, because the distance values correspond to the angle values one to one, the corresponding angle values can be obtained according to the distance values. The smaller the distance D between the body 10 and the ground, the smaller the corresponding included angle between the body 10 and the ground, and the control element 34 may be connected to the distance measuring element 33, and the control element 34 is configured to determine the operating state of the body according to the distance value measured by the distance measuring element 33. The distance from the machine body 10 to the ground is measured through the distance measuring element 33, only one distance measuring element 33 needs to be arranged, the cost is low, and the measuring speed is high.

The control element 34 may be used in particular for: determining the working state of the fuselage 10 according to the distance value measured by the distance measuring element 33 and a preset corresponding relationship; the preset corresponding relationship is a corresponding relationship between a distance value D from a preset measuring point on the body 10 to the ground and an included angle α between the body and the ground.

For example, if the preset angle is θ during normal use, and the corresponding distance value at the angle is D1, when the value measured by the distance measuring module is less than or equal to D1, which means that the angle between the main body 10 and the ground is less than or equal to θ at this time, the main body 10 is in the first state, and at this time, the switch device 40 may cut off the power supply circuit of the main motor to turn off the main motor, thereby achieving the purpose of protecting the product.

Optionally, an included angle value exists between the body 10 and the ground, and an included angle value α between the body 10 and the ground at this time can be determined according to a distance value D between a preset measurement point Q of the body 10 and the ground, which is measured by the distance measuring element 33, and a corresponding relationship between the distance value D between the preset measurement point and the ground and the included angle value, and then the included angle value α between the body 10 and the ground is compared with the preset angle to determine the working state of the body 10.

As a further alternative, the control element 34 may also be used in particular for: and determining an included angle value alpha between the machine body 10 and the ground according to the distance value D measured by the distance measuring element and the distance value L of the preset measuring point Q extending to the ground along the length direction of the machine body 10, and determining the working state of the machine body 10 according to the included angle value alpha between the machine body 10 and the ground and the preset angle. That is, the included angle α between the body 10 and the ground is specifically calculated according to the pythagorean theorem based on the distance value D measured by the distance measuring element and the distance value L of the preset measuring point Q extending to the ground along the length direction of the body 10, and the following formula can be specifically referred to: sin α D/L, from which the pinch angle value α can be determined. The ratio of the value of the included angle α to the magnitude of the preset angle then determines the operating state of the body 10.

application scenarios:

when a user holds the cleaning machine to clean the ground, the distance measuring element continuously measures the distance value from a preset measuring point on the machine body to the ground, if the machine body is operated to rotate towards the ground, or the machine body is not held by the user and is suddenly inclined towards the ground in the rotating process, the distance from the machine body 10 to the ground is continuously reduced, and when the distance value is small to the preset distance value, the trigger switch device disconnects the power supply circuit of the main motor.

EXAMPLE five

Fig. 10 is a control schematic diagram of a washing machine according to another embodiment of the present invention. The present embodiment is based on the first embodiment, and is different from the above embodiments, as shown in fig. 10, the state recognition device 30 may include an angle measurement element 35 and a control element 36;

the angle measuring element 35 is used for measuring the included angle between the machine body 10 and the ground; specifically, for example, the angle measuring element 35 may include a hall sensor, the hall sensor may be disposed on the body 10, the floor brush 20 may be disposed with a magnet, and an included angle between the body 10 and the floor brush 20 may be measured by using the hall sensor and the magnet in cooperation. The control unit 36 is connected to the angle measuring unit 35, and is used for determining the operating state of the body 10 according to the included angle measured by the angle measuring unit 35 and a preset angle.

It can be understood that, since the floor brush 20 is in contact with the ground during the operation of the washing machine, the angle measuring element 35 measures the angle between the reverse extension lines of the body 10 and the floor brush 20, which is equivalent to the angle between the body 10 and the ground, and since the measurement of the angle between the body 10 and the ground is inconvenient, the angle between the body 10 and the ground can be determined by measuring the angle between the reverse extension lines of the body 10 and the floor brush 20.

Optionally, the included angle between the body 10 and the ground can be obtained by measuring the included angle between the body 10 and the ground brush 20, for example, the included angle between the body 10 and the ground brush 20 is 120 °, the included angle between the reverse extension lines of the body 10 and the ground brush 20 is 60 °, and the included angle between the body 10 and the ground is 60 °.

The following describes the cleaning mode selection of the cleaning appliance provided in the embodiment of the present application with reference to specific application scenarios:

application scenarios:

when a user holds the cleaning machine to clean the ground, the angle measuring element continuously measures the included angle between the machine body and the reverse extension line of the floor brush, if the machine body is operated to rotate towards the ground, or the user does not hold the machine body and leads the machine body to suddenly tilt towards the ground in the rotating process, and when the measured included angle is equal to or smaller than a preset angle, the trigger switch device disconnects the power supply circuit of the main motor.

The cleaning machine provided by the embodiment of the invention has the advantages that the dumping protection function is arranged, so that the problem that the service life of the main motor is influenced by water inflow of the main motor caused by improper use in the use process can be effectively prevented, the safety of the cleaning machine can be effectively improved, and the occurrence of electric shock accidents can be prevented.

EXAMPLE six

Fig. 11 is a flowchart of a control method of a washing machine according to an embodiment of the present invention. As shown in fig. 11, this embodiment provides a control method of a cleaning machine, the cleaning machine includes a machine body and a ground brush, the machine body and the ground brush are rotatably connected to each other, a recycling bin and a main motor are provided on the machine body, the method includes:

s101, identifying the working state of the machine body; the working state of the machine body comprises a first state, wherein the first state is a state when an included angle between the machine body and the ground is smaller than or equal to a preset angle;

and S102, when the machine body is in the first state, the main motor is turned off.

The principle and function of the control method of the cleaning machine provided by this embodiment may refer to the above embodiments, and are not described herein again.

EXAMPLE seven

The present embodiment provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the control method of a washer as provided in the sixth embodiment.

For the principles and functions of the computer-readable storage medium storing computer instructions provided in this embodiment, reference may be made to the above-described embodiments, which are not described herein again.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above technical solutions may be embodied in the form of a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., which includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the various embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a cleaning machine, includes fuselage and scrubbing brush, the fuselage with scrubbing brush rotation each other is connected, be equipped with recycling bin and main motor on the fuselage, its characterized in that still includes:

the state recognition device is used for recognizing the working state of the machine body; the working state of the machine body comprises a first state, wherein the first state is a state when an included angle between the machine body and the ground is smaller than or equal to a preset angle;

and the switching device is connected with the state recognition device and used for switching off the main motor when the machine body is in the first state.

2. The cleaning machine of claim 1, wherein the operating state of the machine body further includes a second state, the second state being a state when an included angle between the machine body and the ground is greater than a preset angle, the switching device maintaining the main motor to operate when the machine body is in the second state.

3. The washing machine as claimed in claim 2, characterized in that said condition recognition means comprise a sensing member and a triggering member; the induction part is arranged on one of the floor brush and the machine body, and the trigger part is arranged on the other of the floor brush and the machine body;

4. The cleaning machine according to claim 3, wherein the state recognition device is specifically configured to: when the induction piece and the trigger piece are in a mutually matched state, determining that the machine body is in a first state, and when the induction piece and the trigger piece are in a mutually separated state, determining that the machine body is in a second state;

alternatively, the first and second electrodes may be,

5. The cleaning machine of claim 3, wherein the sensing member is a metal dome and the triggering member is a protrusion;

6. The washing machine as claimed in claim 4, wherein the induction member has an induction area for inducing the trigger member in a predetermined area, the trigger member entering or leaving the induction area during rotation of the body with respect to the floor brush;

7. The cleaning machine of claim 1 wherein the status identification device includes an angle measuring element and a control element;

8. The washing machine as claimed in claim 1, characterized in that the state recognition means comprise a distance measuring element and a control element;

9. The washing machine according to claim 8, characterized in that said fuselage has an included angle value with the ground, said control element being in particular adapted to:

10. The washing machine according to claim 8, characterized in that said fuselage has an included angle value with the ground, said control element being in particular adapted to:

11. A control method of a cleaning machine is characterized in that the cleaning machine comprises a machine body and a floor brush, the machine body and the floor brush are mutually rotatably connected, a recovery barrel and a main motor are arranged on the machine body, and the method comprises the following steps:

and when the main body is in a first state, the main motor is switched off.

12. A computer-readable storage medium storing computer instructions, which when executed by a processor implement the control method of a washer according to claim 11.