A pressure self-adaptive adjusting system and control method for a scrubber disc of a scrubber

Abstract

This invention relates to an adaptive pressure adjustment system and control method for a floor scrubber brush, belonging to the field of cleaning equipment technology. The system includes a brush assembly, a lifting actuator, a pressure detection module, a current detection module, a floor material identification module, and a controller. The pressure detection module directly detects the brush's contact pressure with the ground; the current detection module detects the current of the brush drive motor; the floor material identification module identifies the material of the ground in front; and the controller adjusts the brush height based on the deviation between the target pressure corresponding to the material and the actual pressure. The method includes steps such as material identification, target pressure matching, closed-loop pressure adjustment, and current safety protection. This invention, through dual feedback of direct pressure detection and current detection, combined with adaptive floor material identification, has the advantages of precise pressure control, strong adaptability to operating conditions, and automatic compensation for brush wear.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, and in particular to an adaptive adjustment system and control method for the brush pressure of a floor scrubber. Background Technology

[0002] Floor scrubbers, as a highly efficient floor cleaning device, are widely used in commercial venues such as shopping malls, airports, hospitals, and factory workshops. The brush assembly is the core actuator of the floor scrubber, and the pressure exerted by the brush on the floor directly affects the cleaning effect and the energy consumption of the equipment: if the pressure is too low, the friction between the bristles and the floor is insufficient, making it difficult to remove stubborn stains; if the pressure is too high, it will not only cause wear and even scratches on the floor, but also lead to overload of the brush motor, excessive wear of the bristles, and increased resistance of the floor scrubber, affecting the lifespan and endurance of the equipment.

[0003] The existing technology for adjusting the brush pressure of floor scrubbers has the following main shortcomings: Fixed pressure or manually adjustable methods have poor adaptability. Some floor scrubbers use a fixed pressure method where the brush plate presses against the ground by its own weight. The pressure of the brush on the ground is not adjustable. On soft or rough surfaces, the operating current is too high, which can easily cause damage to the ground or overload the motor. When dealing with stubborn stains, the lack of additional pressure results in low cleaning efficiency. Other floor scrubbers allow for pressure adjustment via a manual switch or adjustment mechanism, but this method relies on the operator's experience and judgment, making it difficult to accurately control the pressure. Improper operation can easily lead to motor overload or damage to the ground.

[0004] Existing automatic adjustment solutions mostly rely on indirect detection methods, resulting in slow response and insufficient adaptability. Some solutions indirectly determine the load by detecting changes in the current of the brush device motor, and then use algorithms to control the lifting push rod to adjust the brush height. This indirect detection method cannot directly sense the actual contact pressure between the brush and the ground, and the motor current is affected by various factors (such as changes in ground material, brush wear, and motor temperature rise), leading to significant signal interference. The adjustment accuracy and response speed are insufficient to meet the demands of complex working conditions. Furthermore, existing solutions often employ simple threshold comparison logic, lacking the ability to identify different ground materials and stain types, thus failing to achieve true "adaptive" adjustment.

[0005] In existing solutions, pressure regulation and brush disc wear compensation are disconnected. As the brush disc is used over time, the bristles gradually wear down and shorten, resulting in decreasing pressure on the ground at the same lifting position and reduced cleaning effectiveness. Existing solutions mostly use fixed lifting strokes or manual compensation methods, which cannot automatically sense bristle wear and adjust the brush disc height accordingly to maintain constant pressure, causing the cleaning effect to decline with the increase of brush disc usage time.

[0006] There is a lack of comprehensive optimization for multiple operating conditions. In actual operation, floor scrubbers face various switching conditions (such as switching from tile floors to carpets, from light dust to stubborn oil stains, etc.). Existing solutions do not coordinate and optimize the identification of floor materials, the assessment of stain intensity, and pressure adjustment, making it difficult to achieve the optimal balance between cleaning effect and energy consumption under different operating conditions.

[0007] To address the aforementioned technical problems, this invention provides a floor scrubber brush pressure adaptive adjustment system and control method that integrates a dual feedback mechanism of direct pressure detection and motor current detection, and features ground material recognition and automatic brush wear compensation, in order to achieve precise closed-loop control of the ground pressure. Summary of the Invention

[0008] To address the aforementioned issues, this invention provides an adaptive adjustment system and control method for the brush pressure of a floor scrubber.

[0009] The floor scrubber brush pressure adaptive adjustment system provided by this invention adopts the following technical solution: An adaptive pressure adjustment system for a floor scrubber brush includes a brush assembly, a lifting actuator, a pressure detection module, a current detection module, a floor material identification module, and a controller. The brush assembly, used for floor cleaning, includes a brush drive motor and a brush mounted on the output end of the motor. The lifting actuator is connected to the brush assembly and drives it to move up and down relative to the scrubber chassis, thereby changing the contact pressure of the brush against the floor. The pressure detection module is located between the brush assembly and the lifting actuator, directly detecting the real-time contact pressure of the brush against the floor and outputting a pressure detection signal. The current detection module and... The brush drive motor is connected to a module for real-time detection of the motor's operating current and outputting a current detection signal. The floor material identification module is installed at the front of the floor scrubber chassis or on the brush assembly to identify the floor material type and output a material identification signal before the brush contacts the floor. The controller is connected to the pressure detection module, current detection module, floor material identification module, and lifting actuator to receive the pressure detection signal, current detection signal, and material identification signal. Based on the deviation between the preset target pressure value and the pressure detection signal, the controller generates a lifting control command and outputs it to the lifting actuator to adjust the brush pressure on the floor.

[0010] By adopting the above technical solution, the system integrates a dual feedback mechanism of direct pressure detection and indirect current detection. The pressure detection module directly measures the actual contact pressure between the brush and the ground, providing accurate feedback for pressure closed-loop control and avoiding the lag and interference problems of indirect detection (relying solely on current). The ground material recognition module senses the ground type ahead in advance, and the controller retrieves the corresponding optimal target pressure value from a preset mapping table, realizing adaptive control of "material prediction - pressure pre-adjustment". The current detection module serves as a safety redundancy; when the brush encounters abnormal resistance (such as ground protrusions or foreign object jamming) causing a sudden increase in current, it can forcibly unload the pressure, protecting the motor and the ground.

[0011] Furthermore, the pressure detection module includes a pressure sensor, which is installed between the housing of the brush drive motor and the connection part of the lifting actuator, or between the output shaft of the brush drive motor and the brush.

[0012] By adopting the above technical solution, the pressure sensor directly bears the reaction force of the brush assembly on the ground, and the output signal has a linear relationship with the contact pressure, resulting in high measurement accuracy and fast response. Pressure signals can be effectively acquired in both installation positions; the former measures the overall pressure, while the latter measures the axial pressure, allowing for selection based on structural layout.

[0013] Furthermore, the lifting actuator includes a lifting motor, a transmission assembly, and a position feedback unit; the position feedback unit is used to detect the lifting displacement of the brush assembly relative to the chassis of the floor scrubber in real time and output a position feedback signal to the controller.

[0014] By adopting the above technical solution, the position feedback unit (such as a potentiometer or Hall encoder) enables the controller to know the absolute height position of the brush disk, and combines pressure feedback to realize position-pressure cascade control, while providing a displacement reference for brush wear compensation.

[0015] Furthermore, the floor material recognition module includes at least one of an optical sensor, an ultrasonic sensor, or an image recognition camera, for identifying the material type of ceramic tile, marble, wood flooring, carpet, or epoxy flooring.

[0016] By employing the above technical solutions, optical sensors distinguish materials based on differences in reflectivity, ultrasonic sensors differentiate between soft and hard surfaces based on echo intensity, and image recognition cameras can be combined with AI algorithms for more accurate classification. Multi-sensor fusion can improve recognition accuracy.

[0017] Furthermore, it also includes a bristle wear compensation module, which is connected to the controller. The bristle wear compensation module is used to calculate the amount of bristle wear based on the brush disk usage time or the pressure attenuation at the standard lifting position of the brush disk by the pressure detection module, and outputs a compensation signal to the controller to increase the descent stroke of the lifting actuator to maintain a constant pressure to the ground.

[0018] By adopting the above technical solution, the bristle wear compensation module automatically monitors the degree of bristle wear. When it detects pressure decay at the same lifting position, the controller automatically increases the descent stroke, so that the brush disc always contacts the ground with constant pressure, thus extending the effective cleaning life.

[0019] The present invention also provides a method for adaptive adjustment and control of brush pressure of a floor scrubber based on the above system, comprising the following steps: Step S1: The floor material recognition module detects the material type of the floor to be cleaned in front of the floor scrubber, generates a material recognition signal, and transmits it to the controller; Step S2: The controller retrieves the target pressure value corresponding to the material type from the preset pressure mapping table based on the received material identification signal; Step S3: The actual contact pressure of the brush plate on the ground is collected in real time through the pressure detection module, a pressure detection signal is generated and transmitted to the controller; Step S4: The controller compares the pressure detection signal with the target pressure value and calculates the pressure deviation; Step S5: When the absolute value of the pressure deviation exceeds the preset threshold, the controller outputs a lifting control command to the lifting actuator to adjust the height of the brush assembly so that the actual contact pressure approaches the target pressure value. Step S6: During the pressure regulation process, the controller simultaneously receives the operating current of the brush drive motor from the current detection module. When the operating current exceeds the preset current upper limit threshold, the controller forcibly executes the pressure unloading operation and controls the lifting actuator to raise the brush assembly to reduce the pressure to the ground.

[0020] By adopting the above technical solution, this method realizes a complete control logic of "pre-identification - pre-setting - closed-loop adjustment - safety protection". Ground material pre-identification allows the system to set a suitable target pressure before the brush contacts the ground, avoiding the lag of adjustment after contact in traditional solutions. Pressure closed-loop adjustment ensures steady-state accuracy, and current safety protection provides overload redundancy.

[0021] Furthermore, the pressure mapping table in step S2 pre-stores various types of ground materials and their corresponding optimal pressure values. The optimal pressure values ​​are pre-calibrated based on the hardness, friction coefficient, and cleaning difficulty of the ground material.

[0022] By adopting the above technical solution, the pressure mapping table can be calibrated experimentally. For example, the optimal pressure for tile floors is 50N, for carpets it is 80N, and for wood floors it is 40N. Users can also customize the adjustment according to the actual cleaning effect, enhancing flexibility.

[0023] Furthermore, in step S5, the lifting control of the controller adopts a proportional-integral-derivative closed-loop control algorithm. The controller calculates the adjustment amount and adjustment speed of the lifting actuator based on the proportional, integral and derivative values ​​of the pressure deviation.

[0024] By adopting the above technical solution, the PID algorithm can quickly respond to pressure deviation and eliminate steady-state error. At the same time, the introduction of the derivative term can suppress overshoot, making the brush height adjustment smooth and avoiding impact on the ground.

[0025] Furthermore, it also includes an automatic brush wear compensation step: the controller records the trigger displacement value of each brush disc descending from the initial position to contact the ground. When the trigger displacement value gradually increases with the use time and the cumulative increment exceeds the preset wear threshold, the controller will adjust the target lifting reference position in step S5 by a compensation increment so that the brush disc can still maintain the initial contact pressure after the brush bristles are worn.

[0026] By adopting the above technical solution, automatic compensation for brush bristle wear utilizes position feedback information. When the brush bristles become shorter, the brush disc needs to descend further to contact the ground. The controller identifies this increment and permanently corrects the zero-point position to ensure the effective range of subsequent pressure adjustment.

[0027] Furthermore, it also includes a pressure-current dual-redundant safety protection step: the controller simultaneously monitors the pressure detection signal and the current detection signal. When the changing trends of the pressure detection signal and the current detection signal are inconsistent and continue for more than a preset time, the controller determines that the detection channel is abnormal, switches to the redundant protection mode, and uses the current detection signal as the dominant control signal or issues a sensor fault alarm.

[0028] By adopting the above technical solution, dual redundancy protection improves the system's fault tolerance. For example, when the pressure sensor fails, the controller can temporarily rely on the current closed loop to maintain basic pressure control and issue an alarm to prompt maintenance, thus preventing equipment shutdown.

[0029] In summary, the present invention has at least one of the following beneficial effects: 1. It adopts dual feedback of direct pressure sensor and current sensor, which has high pressure closed-loop control accuracy and fast response, avoiding the lag and interference problems of indirect detection schemes; 2. The introduction of a ground material pre-identification module enables the pre-setting of target pressure for material adaptation, allowing the system to adjust to the appropriate pressure before the brush contacts the ground, thereby improving the cleaning effect and energy efficiency under different working conditions. 3. Through the automatic brush wear compensation mechanism, the descent stroke is automatically increased according to the changes in lifting displacement, maintaining constant pressure on the ground and extending the effective service life of the brush disc; 4. The system combines PID closed-loop control with current safety protection, ensuring both stable pressure regulation and rapid unloading during overload. Dual redundancy monitoring also improves the system's reliability and safety. Attached Figure Description

[0030] Figure 1 This is a system structure block diagram according to an embodiment of the present invention; Figure 2 This is a flowchart illustrating the pressure regulation and control process according to an embodiment of the present invention. Figure 3 This is a schematic diagram illustrating the brush bristle wear compensation principle according to an embodiment of the present invention; Figure 4 This is a logic diagram for pressure-current dual redundancy protection in an embodiment of the present invention.

[0031] In the diagram: 1. Brush plate assembly; 11. Brush plate drive motor; 12. Brush plate; 2. Lifting actuator; 21. Lifting motor; 22. Transmission assembly; 23. Position feedback unit; 3. Pressure detection module; 31. Pressure sensor; 4. Current detection module; 5. Ground material recognition module; 6. Controller; 7. Brush bristle wear compensation module. Detailed Implementation

[0032] The following is in conjunction with the appendix Figure 1-4 The present invention will be described in further detail below.

[0033] This invention discloses an adaptive adjustment system and control method for the brush pressure of a floor scrubber. (Refer to...) Figure 1 The system includes a brush assembly 1, a lifting actuator 2, a pressure detection module 3, a current detection module 4, a ground material recognition module 5, and a controller 6.

[0034] The brush assembly 1, used for floor cleaning, includes a brush drive motor 11 and a brush disc 12 mounted on the output end of the brush drive motor 11. The brush drive motor 11 is a DC brushless motor, and its output shaft is rigidly connected to the rotating shaft of the brush disc 12 via a spline or flange. The brush disc 12 is disc-shaped with bristles embedded at the bottom. The bristles are made of nylon or polypropylene and are used to contact the floor and rub to remove stains.

[0035] The lifting actuator 2 is connected to the brush assembly 1 and is used to drive the brush assembly 1 to move up and down relative to the chassis of the floor scrubber, thereby changing the contact pressure of the brush 12 on the ground. The lifting actuator 2 includes a lifting motor 21, a transmission assembly 22, and a position feedback unit 23. The lifting motor 21 is a stepper motor or a DC geared motor, fixed to the chassis of the floor scrubber. The transmission assembly 22 is a lead screw and nut pair or a gear and rack mechanism. The output shaft of the lifting motor 21 is connected to the lead screw through a coupling. A nut is sleeved on the lead screw, and the nut is fixedly connected to the housing of the brush drive motor 11. When the lifting motor 21 rotates, the lead screw drives the nut and the brush assembly 1 to move up and down. The position feedback unit 23 is a potentiometer or a Hall encoder, installed between the fixed end and the moving end of the lifting actuator 2, used to detect the lifting displacement of the brush assembly 1 relative to the chassis in real time, and output a position feedback signal to the controller 6. The position feedback unit 23 has a range of 0-100mm and a resolution of 0.1mm.

[0036] The pressure detection module 3 is located between the brush plate assembly 1 and the lifting actuator 2, and is used to directly detect the real-time contact pressure of the brush plate 12 on the ground. In this embodiment, the pressure detection module 3 includes a pressure sensor 31, which is a spoke-type or S-type tension / compression sensor with a range of 0-200N and an output voltage signal of 0-5V. The pressure sensor 31 is installed between the housing of the brush plate drive motor 11 and the nut of the transmission assembly 22, that is, the nut is connected to the housing of the brush plate drive motor 11 through the pressure sensor 31. When the brush plate 12 contacts the ground, the ground reaction force is transmitted to the pressure sensor 31 through the brush plate 12 and the housing of the brush plate drive motor 11. The sensor output voltage is proportional to the contact pressure. The output terminal of the pressure sensor 31 is connected to the analog input port of the controller 6.

[0037] The current detection module 4 is connected in series with the power supply circuit of the brush drive motor 11 to detect the operating current of the brush drive motor 11 in real time. In this embodiment, the current detection module 4 uses a Hall current sensor (such as ACS712), whose input terminal is connected in series with the positive power supply line of the brush drive motor 11, and whose output terminal outputs a voltage of 0-5V corresponding to a current of 0-20A. The current detection signal is transmitted to another analog input port of the controller 6.

[0038] The floor material identification module 5 is installed at the front of the floor scrubber chassis (in front of the brush assembly 1, at a height of 5-10cm above the ground) to identify the type of floor material before the brush 12 contacts the ground. In this embodiment, the floor material identification module 5 includes an infrared optical sensor and an image recognition camera. The infrared optical sensor distinguishes between tiles, wood flooring, carpets, etc., by detecting the reflectivity of different material surfaces; the image recognition camera captures images of the floor texture, identifies the material type through an edge computing unit (built into the camera module), and outputs a digital encoded signal (such as 0-7) to the digital input port of the controller 6. Identifiable materials include tiles, marble, wood flooring, carpets, epoxy flooring, etc.

[0039] Controller 6 is an embedded microcontroller (such as the STM32F103 series), which integrates an ADC analog-to-digital converter, a PWM output module, a timer, and multiple I / O ports. Controller 6 is connected to the pressure detection module 3 (ADC input), the current detection module 4 (ADC input), the floor material recognition module 5 (digital input), the lifting actuator 2 (PWM control port and direction port of the driver for the lifting motor 21), and the position feedback unit 23 (ADC input). Controller 6 has a pre-stored pressure mapping table, for example: ceramic tile 50N, marble 55N, wood flooring 40N, carpet 80N, epoxy flooring 45N. Controller 6 also has a built-in PID control algorithm software module and a brush wear compensation module 7 (software function module).

[0040] Reference Figure 2 The specific flow of the control method of the present invention is as follows: Step S1: The floor material recognition module 5 detects the material type of the floor to be cleaned in front of the floor scrubber and outputs a material recognition signal to the controller 6. The controller 6 reads the signal and determines that the current floor is one of the following: tile, wood flooring, carpet, etc.

[0041] Step S2: The controller 6 retrieves the corresponding target pressure value P_target from the pressure mapping table based on the material identification signal. For example, when the material is identified as ceramic tile, P_target = 50N.

[0042] Step S3: The pressure detection module 3 collects the actual contact pressure P_actual of the brush plate 12 on the ground in real time, and the controller 6 reads the voltage value of the pressure sensor 31 through the ADC and converts it into a pressure value (N).

[0043] Step S4: Controller 6 calculates the pressure deviation e = P_target - P_actual.

[0044] Step S5: Controller 6 determines whether |e| is greater than a preset threshold (e.g., 3N). If it is, the PID algorithm is executed. The PID parameters are: proportional coefficient Kp=10, integral coefficient Ki=2, derivative coefficient Kd=1, and control cycle 50ms. The PID output value is converted into the PWM duty cycle and direction signal (up or down) of the lifting motor 21, and output to the driver of the lifting motor 21 through the PWM port of controller 6. The lifting motor 21 rotates, driving the brush assembly 1 to rise and fall through the lead screw nut. If the actual pressure is too low (e>0), controller 6 outputs a descent command to increase the pressure of brush 12 on the ground; if the actual pressure is too high (e<0), it outputs an ascending command to decrease the pressure. During the adjustment process, the position feedback unit 23 sends the lifting displacement to controller 6 in real time for position monitoring and overtravel protection. When the pressure deviation |e|≤3N, the adjustment stops, and the current height is maintained.

[0045] Step S6: During pressure regulation, the controller 6 simultaneously reads the current value I_motor output by the current detection module 4 via the ADC. If I_motor > I_max (preset current upper limit, such as 15A), the controller 6 immediately outputs a forced rise command, raising the brush assembly 1 by 3-5mm, rapidly reducing the pressure of the brush 12 on the ground. After unloading, wait 0.5 seconds before gradually restoring the original height. This step is used to deal with sudden jamming or overload, protecting the brush drive motor 11 and the ground.

[0046] Reference Figure 3 The automatic brush wear compensation process is as follows: Controller 6 records the displacement value D_contact (measured by position feedback unit 23) each time the brush disc 12 descends from its upper limit (fully raised) to the point where pressure sensor 31 first detects contact pressure (pressure > 5N). Initially, D0 = 30mm. As the brush disc 12 is used for longer periods (e.g., 200 hours), the brush bristles wear down and shorten, requiring the brush disc 12 to descend further to contact the ground. D_contact gradually increases to 35mm, with the cumulative increment of 5mm exceeding the preset wear threshold of 2mm. Controller 6 determines that the brush bristles are worn and raises the lifting reference zero point by 5mm, meaning a descent of 35mm is now considered ground contact. During PID control, an adjustment is added to this reference, ensuring that the brush disc 12 maintains the same initial contact pressure even after the brush bristles wear down. Controller 6 automatically checks D_contact every 10 hours and performs incremental accumulation to achieve continuous automatic compensation.

[0047] Reference Figure 4The pressure-current dual-redundancy safety protection steps are as follows: Controller 6 simultaneously monitors the changing trends of both the pressure detection signal and the current detection signal. Under normal operating conditions, when the pressure of the brush disk 12 against the ground increases, the frictional resistance increases, and the operating current of the brush disk drive motor 11 also increases accordingly; the two are positively correlated. If controller 6 detects that the pressure signal remains basically unchanged (change rate <5% / s) while the current signal suddenly increases by more than 20% and lasts for more than 2 seconds, it determines that the pressure sensor 31 may be faulty (such as stuck or open circuit). At this time, controller 6 automatically switches to the redundancy protection mode: using the current detection signal as the dominant control signal, the target current value is set to the average value under normal operating conditions (such as 10A), and the lifting actuator 2 is adjusted by PID control to stabilize the current near the target value, maintaining basic pressure control. At the same time, controller 6 issues an audible and visual fault alarm through a buzzer and LED indicator, prompting the user to check the pressure sensor 31. When the pressure sensor 31 returns to normal, the system automatically switches back to the main control mode.

[0048] The implementation principle of this embodiment is as follows: After the floor scrubber starts, the floor material recognition module 5 senses the type of floor ahead in advance, and the controller 6 sets the target pressure P_target. After the brush 12 descends and contacts the floor, the pressure sensor 31 provides real-time feedback of the actual pressure P_actual. The controller 6 uses a PID algorithm to drive the lifting motor 21 to fine-tune the height, keeping the pressure constant at the target value. If a current overload is detected, the brush is immediately lifted to relieve the load. As the brush bristles wear down, the position feedback unit 23 detects an increase in the contact displacement D_contact, and the controller 6 automatically compensates for the zero point of the lifting reference. If the pressure sensor fails, the system automatically switches to the current closed-loop emergency mode. Through the above mechanism, precise, adaptive, safe, and reliable closed-loop control of the brush pressure on the floor is achieved.

[0049] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A floor scrubber brush pressure adaptive adjustment system, characterized in that, include: A brush assembly (1) is used to perform floor cleaning. The brush assembly (1) includes a brush drive motor (11) and a brush (12) installed at the output end of the brush drive motor (11). The lifting actuator (2) is connected to the brush assembly (1) and is used to drive the brush assembly (1) to move up and down relative to the chassis of the floor scrubber, so as to change the contact pressure of the brush (12) on the ground. The pressure detection module (3) is located between the brush assembly (1) and the lifting actuator (2) and is used to directly detect the real-time contact pressure of the brush (12) on the ground and output a pressure detection signal. The current detection module (4) is connected to the brush drive motor (11) and is used to detect the working current of the brush drive motor (11) in real time and output the current detection signal. The ground material identification module (5) is installed on the front of the floor scrubber chassis or on the brush assembly (1) to identify the ground material type and output a material identification signal before the brush (12) contacts the ground. The controller (6) is connected to the pressure detection module (3), the current detection module (4), the ground material identification module (5) and the lifting actuator (2) respectively. It is used to receive the pressure detection signal, the current detection signal and the material identification signal, and generate a lifting control command based on the deviation between the preset target pressure value and the pressure detection signal, and output it to the lifting actuator (2) to adjust the pressure of the brush plate (12) on the ground.

2. The adaptive adjustment system for brush pressure of a floor scrubber according to claim 1, characterized in that: The pressure detection module (3) includes a pressure sensor (31), which is installed between the housing of the brush drive motor (11) and the connection between the lifting actuator (2), or between the output shaft of the brush drive motor (11) and the brush (12).

3. The adaptive adjustment system for the brush pressure of a floor scrubber according to claim 1, characterized in that: The lifting actuator (2) includes a lifting motor (21), a transmission assembly (22), and a position feedback unit (23); the position feedback unit (23) is used to detect the lifting displacement of the brush assembly (1) relative to the chassis of the floor scrubber in real time, and output a position feedback signal to the controller (6).

4. The adaptive adjustment system for the brush pressure of a floor scrubber according to claim 1, characterized in that: The ground material identification module (5) includes at least one of an optical sensor, an ultrasonic sensor, or an image recognition camera, for identifying the material type of ceramic tile, marble, wood flooring, carpet, or epoxy flooring.

5. The adaptive adjustment system for brush pressure of a floor scrubber according to claim 1, characterized in that: It also includes a bristle wear compensation module (7), which is connected to the controller (6) and is used to calculate the amount of bristle wear based on the usage time of the brush disc (12) or the pressure attenuation of the pressure detection module (3) at the standard lifting position of the brush disc (12), and output a compensation signal to the controller (6) to increase the descent stroke of the lifting actuator (2) to maintain a constant pressure to the ground.

6. A method for adaptive adjustment and control of brush pressure in a floor scrubber based on the system described in any one of claims 1 to 5, characterized in that, Includes the following steps: Step S1: The material type of the floor to be cleaned in front of the floor scrubber is detected by the floor material recognition module (5), a material recognition signal is generated and transmitted to the controller (6); Step S2: The controller (6) retrieves the target pressure value corresponding to the material type from the preset pressure mapping table based on the received material identification signal; Step S3: The actual contact pressure of the brush plate (12) on the ground is collected in real time by the pressure detection module (3), a pressure detection signal is generated and transmitted to the controller (6); Step S4: The controller (6) compares the pressure detection signal with the target pressure value and calculates the pressure deviation; Step S5: When the absolute value of the pressure deviation exceeds the preset threshold, the controller (6) outputs a lifting control command to the lifting actuator (2) to adjust the height of the brush assembly (1) so that the actual contact pressure approaches the target pressure value. Step S6: During the pressure regulation process, the controller (6) simultaneously receives the working current of the brush drive motor (11) fed back by the current detection module (4). When the working current exceeds the preset current upper limit threshold, the controller (6) forcibly executes the pressure unloading operation and controls the lifting actuator (2) to lift the brush assembly (1) to reduce the pressure to the ground.

7. The adaptive adjustment and control method for the brush pressure of a floor scrubber according to claim 6, characterized in that, The pressure mapping table in step S2 pre-stores various types of ground materials and their corresponding optimal pressure values. The optimal pressure values ​​are pre-calibrated based on the hardness, friction coefficient, and cleaning difficulty of the ground material.

8. The adaptive adjustment and control method for the brush pressure of a floor scrubber according to claim 6, characterized in that, In step S5, the lifting control of the controller (6) adopts a proportional-integral-derivative closed-loop control algorithm. The controller (6) calculates the adjustment amount and adjustment speed of the lifting actuator (2) based on the proportional value, integral value and derivative value of the pressure deviation.

9. The adaptive adjustment and control method for the brush pressure of a floor scrubber according to claim 6, characterized in that, It also includes an automatic bristle wear compensation step: The controller (6) records the trigger displacement value of the brush disk (12) from the initial position to the ground each time. When the trigger displacement value gradually increases with the use time and the cumulative increment exceeds the preset wear threshold, the controller (6) adjusts the target lifting reference position in step S5 by a compensation increment so that the brush disk (12) can still maintain the initial contact pressure after the brush bristles are worn.

10. The adaptive adjustment and control method for brush pressure of a floor scrubber according to claim 6, characterized in that, It also includes pressure-current dual-redundant safety protection steps: The controller (6) simultaneously monitors the pressure detection signal and the current detection signal. When the change trends of the pressure detection signal and the current detection signal are inconsistent and continue for more than a preset time, the controller (6) determines that the detection channel is abnormal, switches to the redundant protection mode, uses the current detection signal as the dominant control signal or issues a sensor fault alarm.

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