Cleaning device and control method thereof, and computer-readable storage medium

Abstract

Disclosed are a cleaning device and a control method thereof, and a computer-readable storage medium. The cleaning device includes a device body, a cleaning module and a thickness measurement module. The cleaning module is provided on the device body and is provided with a water outlet and a water suction port, the water outlet is configured to discharge water toward the carpet, and the water suction port is configured to suck water from the carpet. The thickness measurement module is provided on the device body and is configured to obtain the thickness parameter of the carpet. The cleaning module is configured to control the outflow of the water outlet and/or the suction power of the water suction port according to the thickness parameter.

What is claimed is: 
     
         1 . A cleaning device, comprising:
 a device body;   a cleaning module provided on the device body and provided with a water outlet and a water suction port, wherein the water outlet is configured to discharge water toward a carpet, and the water suction port is configured to suck water from the carpet; and   a thickness measurement module provided in the device body, wherein the thickness measurement module is configured to obtain a thickness parameter of the carpet, and the cleaning module is configured to control an outflow of the water outlet and/or a suction power of the water suction port according to the thickness parameter.   
     
     
         2 . The cleaning device of  claim 1 , wherein the device body is provided with a floating member, the floating member is movably provided on the device body and maintains a state of being close to a surface of the carpet, so as to adapt the thickness parameter;
 the thickness measurement module comprises a first sensor fixed to the device body, and the first sensor is opposite to the floating member and is configured to detect a distance between the floating member and the first sensor.   
     
     
         3 . The cleaning device of  claim 2 , wherein the device body comprises a sewage tank, the floating member is configured as a floating suction nozzle that communicates with the cleaning module and the sewage tank, and the floating suction nozzle is provided with the water suction port and is rotatably provided on the device body, to allow the water suction port to maintain a state of being close to the surface of the carpet. 
     
     
         4 . The cleaning device of  claim 3 , wherein a rotational connection position of the floating suction nozzle and the device body is provided adjacent to a communication port where the floating suction nozzle is communicated with the sewage tank, a distance between the water suction port and the rotational connection position is greater than a distance between the communication port and the rotational connection position, and the first sensor is provided adjacent to the water suction port. 
     
     
         5 . The cleaning device of  claim 1 , wherein the thickness measurement module comprises a second sensor, and the second sensor is provided tilted or vertically downward and is configured to measure a distance between the device body and a surface of the carpet. 
     
     
         6 . The cleaning device of  claim 5 , wherein the second sensor is provided on a side of the device body and is configured as a line laser sensor, the line laser sensor is configured to project a horizontal line laser parallel to a side surface of the device body towards the carpet, and/or the line laser sensor is configured to project a vertical line laser on a vertical surface towards the carpet; or
 the second sensor is provided at a bottom of the device body and is vertically opposite to the surface of the carpet.   
     
     
         7 . The cleaning device of  claim 1 , wherein the thickness measurement module comprises a current detector, the device body is provided with driving wheels, the current detector is configured to obtain a current signal of the driving wheels, and the thickness measurement module is configured to obtain the thickness parameter according to the current signal. 
     
     
         8 . A method for controlling the cleaning device of  claim 1 , comprising:
 obtaining a thickness parameter collected by a thickness measurement module of the cleaning device;   controlling a cleaning module of the cleaning device to operate at a preset gear according to the thickness parameter, wherein multiple preset gears are provided, and the cleaning module at each of the preset gears has different outflow and/or suction power; and   controlling the cleaning device to clean a carpet at a selected preset gear.   
     
     
         9 . The method of  claim 8 , wherein the thickness measurement module is configured as a sensor, the cleaning module comprises a floating suction nozzle, and obtaining the thickness parameter collected by the thickness measurement module of the cleaning device comprising:
 obtaining, by a processor, a ground height of a device body of the cleaning device and storing, by the processor, the ground height in the memory;   obtaining, by a sensor, a distance between the sensor and the floating suction nozzle or a distance between the device body and a surface of the carpet, as a thickness signal; and   comparing, by the processor, the ground height with the thickness signal to obtain the thickness parameter.   
     
     
         10 . The method of  claim 9 , wherein the sensor is configured as a line laser sensor, and obtaining, by the sensor, the distance between the device body and the surface of the carpet as the thickness signal comprises:
 projecting, by a transmitting end of the line laser sensor, a horizontal line laser and/or a vertical line laser on the surface of the carpet;   obtaining, by a receiving end of the line laser sensor, a position parameter and a reflectivity parameters of the horizontal line laser or the vertical line laser; and   obtaining, by the processor, the thickness signal based on the position parameter, and/or obtaining, by the processor, a type of the carpet based on the reflectivity parameter.   
     
     
         11 . The method of  claim 8 , wherein controlling the cleaning module of the cleaning device to operate at the preset gear according to the thickness parameter comprises:
 obtaining, by a processor, a standard distance that the cleaning device moves and storing the standard distance in the memory;   based on the thickness parameter, determining, by the processor, an outflow of a water outlet of the cleaning module in the standard distance as standard outflow, wherein the thickness parameter is positively correlated with the standard outflow; and   based on the standard outflow, determining, by the processor, a suction power of a water suction port of the cleaning module as a standard suction power, wherein the standard outflow is positively correlated with the standard suction power.   
     
     
         12 . A non-transitory computer-readable storage medium, wherein a cleaning control program is stored on the non-transitory computer-readable storage medium, and the method for controlling the cleaning device of  claim 8  is implemented when the cleaning control program is executed by a processor.