Intelligent scrubber and scrubber control method

Abstract

The embodiment of the application provides a kind of intelligent scrubber and scrubber control method, intelligent scrubber includes body, chassis, processor, negative pressure source and be set in the sewage tank of body, negative pressure source is connected with sewage tank, for providing negative pressure source and the sewage produced in cleaning process is pumped into sewage tank, it further includes angle detection device;Body and chassis are hinged, processor is set on body or chassis, wherein, body can be rotated around first axis and second axis respectively;Angle detection device is set on body and / or chassis, processor and angle detection device are electrically connected, for obtaining the rotation angle of body around first axis and / or second axis according to the detection signal of angle detection device;Negative pressure source and processor are electrically connected, processor is further used to control the output power of negative pressure source based on rotation angle;Wherein, first axis and second axis are perpendicular to each other.The embodiment of the application can improve the cleaning effect of scrubber when cleaning low area.

Description

Technical Field

[0001] This application relates to the field of floor scrubbing machine technology, and in particular to an intelligent floor scrubbing machine and a floor scrubbing machine control method. Background Technology

[0002] A floor scrubber is a cleaning machine suitable for cleaning hard floors while simultaneously vacuuming up and removing wastewater from the site. It boasts advantages such as environmental friendliness, energy efficiency, and high performance. However, when cleaning low areas (under furniture such as tables, sofas, coffee tables, bedside tables, and beds), existing floor scrubbers often shut off the negative pressure source to prevent water from entering, which results in poor cleaning performance.

[0003] Therefore, existing technologies have shortcomings and need to be improved and developed. Summary of the Invention

[0004] This application provides an intelligent floor scrubber and a floor scrubber control method, which can improve the cleaning effect of the floor scrubber when cleaning low-ceilinged areas.

[0005] This application provides an intelligent floor scrubbing machine, including a body, a chassis, a processor, a negative pressure source, and a wastewater tank disposed on the body. The negative pressure source is connected to the wastewater tank and is used to provide negative pressure to pump the wastewater generated during the cleaning process into the wastewater tank. It also includes an angle detection device.

[0006] The body is hinged to the chassis, and the processor is mounted on the body or the chassis, wherein the body can rotate about a first axis and a second axis respectively;

[0007] The angle detection device is disposed on the fuselage and / or the chassis, wherein the processor is electrically connected to the angle detection device and is used to obtain the rotation angle of the fuselage around the first axis and / or the second axis according to the detection signal of the angle detection device;

[0008] The negative pressure source is electrically connected to the processor, and the processor is also used to control the output power of the negative pressure source based on the rotation angle;

[0009] The first axis and the second axis are perpendicular to each other.

[0010] In the intelligent floor scrubber described in this application embodiment, the angle detection device includes a magnetic component and a Hall sensor;

[0011] One of the magnetic component and the Hall sensor is disposed on the body and the other is disposed on the chassis. The processor is electrically connected to the Hall sensor and is used to obtain the rotation angle of the body about the first axis and / or the second axis based on the signal strength of the Hall sensor.

[0012] In the intelligent floor scrubbing machine described in this application embodiment, the magnetic component includes a first magnetic component and a second magnetic component, the Hall sensor includes a first Hall sensor corresponding to the first magnetic component and at least one second Hall sensor corresponding to the second magnetic component, and the rotation angle includes the pitch angle of the machine body rotating about the first axis and the torsional angle of the machine body rotating about the second axis.

[0013] One of the first magnetic component and the first Hall sensor is disposed on the body and the other is disposed on the chassis. The processor is electrically connected to the first Hall sensor and is used to obtain the torsion angle based on the first signal strength of the first Hall sensor.

[0014] One of the second magnetic component and the second Hall sensor is disposed on the fuselage, and the other is disposed on the chassis. The processor is electrically connected to the second Hall sensor and is used to obtain the pitch angle based on the second signal strength of the second Hall sensor.

[0015] In the intelligent floor scrubber described in this application embodiment, the number of the second Hall sensors is two;

[0016] Two second Hall sensors are respectively mounted on the chassis, and the second magnetic element is mounted on the body.

[0017] In the intelligent floor scrubber described in the embodiments of this application, the second magnetic component is a ring magnet;

[0018] The angle formed by the lines connecting the two second Hall sensors and the center line of the annular magnet is greater than 0° and less than or equal to 98°.

[0019] In the intelligent floor scrubber described in this application embodiment, the number of the second Hall sensors is two;

[0020] Two second Hall sensors are respectively mounted on the body, and the second magnetic element is mounted on the chassis.

[0021] In the intelligent floor scrubber described in this application embodiment, the first magnetic component is disposed on the chassis, and the first Hall sensor is disposed on the machine body, wherein when the torsion angle is 0°, the signal strength of the first Hall sensor is zero.

[0022] In the intelligent floor scrubber described in this application embodiment, the first magnetic component is an arc-shaped magnet with an arc angle greater than or equal to 120°, wherein when the torsion angle is 0°, the first Hall sensor is positioned opposite the middle of the first magnetic component.

[0023] In the intelligent floor scrubbing machine described in this application embodiment, the first magnetic component is disposed on the machine body, and the first Hall sensor is disposed on the chassis, wherein when the torsion angle is 0°, the signal strength of the first Hall sensor is zero.

[0024] This application embodiment also provides a floor scrubbing machine control method, the method being applied to the intelligent floor scrubbing machine described in any of the above embodiments, the method comprising:

[0025] The detection signal from the angle detection device is acquired, and the rotation angle of the fuselage around the first axis and / or the second axis is acquired based on the detection signal.

[0026] The output power of the negative pressure source is controlled based on the rotation angle.

[0027] In the floor scrubber control method described in this application embodiment, the acquisition of the detection signal from the angle detection device, and the acquisition of the rotation angle of the machine body around the first axis and / or the second axis based on the detection signal, includes:

[0028] The first signal intensity of the first Hall sensor in the angle detection device is obtained, and the torsional angle of the fuselage rotating about the second axis is obtained based on the first signal intensity; and

[0029] The second signal strength of the second Hall sensor in the angle detection device is obtained, and the pitch angle of the fuselage rotating around the first axis is obtained based on the second signal strength;

[0030] The control of the output power of the negative pressure source based on the rotation angle includes:

[0031] The output power of the negative pressure source is controlled based on the pitch angle and the torsion angle.

[0032] In the floor scrubber control method described in this application embodiment, before controlling the output power of the negative pressure source based on the pitch angle and the torsion angle, the method further includes:

[0033] Obtain multiple preset pitch angle ranges and multiple preset torsion angle ranges;

[0034] The pitch angle is compared with a plurality of preset pitch angle intervals to determine a target preset pitch angle interval that includes the pitch angle from the plurality of preset pitch angle intervals; and the torsion angle is compared with a plurality of preset torsion angle intervals to determine a target preset torsion angle interval that includes the torsion angle from the plurality of preset torsion angle intervals.

[0035] The control of the output power of the negative pressure source based on the pitch angle and the torsion angle includes:

[0036] The output power of the negative pressure source is controlled based on the target preset pitch angle range and the target preset torsion angle range.

[0037] In the floor scrubber control method described in this application embodiment, controlling the output power of the negative pressure source based on the target preset pitch angle range and the target preset torsion angle range includes:

[0038] Based on a preset mapping relationship, obtain the mapped output power corresponding to the target preset pitch angle range and the target preset torsion angle range;

[0039] The mapped output power is used as the output power of the negative pressure source.

[0040] In the floor scrubber control method described in the embodiments of this application, the smaller the target preset pitch angle range and the larger the target preset torsion angle range, the smaller the corresponding mapped output power.

[0041] In the floor scrubber control method described in the embodiments of this application, after using the mapped output power as the output power of the negative pressure source, it further includes:

[0042] The dwell time of the fuselage within the preset pitch angle range and the preset torsion angle range of the target is obtained;

[0043] Compare the dwell time with the preset time;

[0044] If the dwell time is less than the preset time, the output power of the negative pressure source remains unchanged;

[0045] If the dwell time is greater than the preset time, then the output power of the negative pressure source is the mapped output power.

[0046] The intelligent floor scrubber provided in this application embodiment adds an angle detection device, which is electrically connected to the processor of the intelligent floor scrubber. The angle detection device obtains the rotation angle of the machine body around a first axis and / or a second axis. That is, when the machine body rotates around the first axis and / or the second axis, the detection signal of the angle detection device changes. The processor then collects this detection signal and obtains the rotation angle of the machine body around the first axis and / or the second axis based on this signal. Finally, the output power of the negative pressure source is controlled based on this rotation angle. Therefore, when cleaning low-lying areas, it is not necessary to turn off the negative pressure source. The output power of the negative pressure source can be adjusted according to the rotation angle, preventing water from entering the negative pressure source and improving the cleaning effect. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a structural schematic diagram of the intelligent floor scrubber provided in an embodiment of this application.

[0049] Figure 2 This is a schematic diagram of the structure of the intelligent floor scrubber provided in the embodiment of this application, which allows the machine body to rotate around a first axis.

[0050] Figure 3 This is a schematic diagram of the structure of the intelligent floor scrubber provided in this application embodiment, which allows the machine body to rotate around a second axis.

[0051] Figure 4 This is a schematic diagram showing the relative installation positions of the two second Hall sensors and the second magnetic component provided in an embodiment of this application.

[0052] Figure 5 This is a schematic diagram showing the relative installation positions of the first Hall sensor and the first magnetic component, as provided in an embodiment of this application.

[0053] Figure 6 This is a flowchart illustrating the floor scrubbing machine control method provided in an embodiment of this application.

[0054] Figure 7 The mapping output power diagrams corresponding to the target preset pitch angle range and the target preset torsion angle range provided in the embodiments of this application. Detailed Implementation

[0055] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0056] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0057] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0058] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0059] The following disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0060] This application provides an embodiment of an intelligent floor scrubbing machine 1000. (Reference) Figures 1 to 5 The intelligent floor scrubber 1000 includes a body 10, a chassis 20, a processor (not shown in the figure), a negative pressure source (not shown in the figure), and a wastewater tank (not shown in the figure) disposed in the body 10. The negative pressure source is connected to the wastewater tank and is used to provide negative pressure to draw wastewater generated during the cleaning process into the wastewater tank. For example, the negative pressure source is a blower. The intelligent floor scrubber 1000 also includes an angle detection device 30.

[0061] The body 10 is hinged to the chassis 20, and the processor is mounted on either the body 10 or the chassis 20. The body 10 is rotatable about a first axis and a second axis, respectively. For example, as shown... Figure 1 As shown, the hinged structure of the fuselage 10 and the chassis 20 includes a rotating shaft, the axis of which is the first axis. The fuselage 10 can rotate around the rotating shaft, that is, the fuselage 10 can rotate around the first axis.

[0062] The first axis and the second axis are perpendicular to each other. For example... Figure 1 As shown, the intelligent floor scrubber 1000 includes a handle assembly 40, which includes a handle 401 and a connecting rod 402. One end of the connecting rod 402 is connected to the handle 401, and the other end is connected to the machine body 10. The axis of the connecting rod 402 is a second axis. The second axis is the location of the connection line between the handle 401 and the first axis, and the connection line is perpendicular to the axis of rotation. The machine body 10 can rotate relative to the chassis 20 around the second axis.

[0063] An angle detection device 30 is mounted on the fuselage 10 and / or chassis 20. The processor is electrically connected to the angle detection device 30 and is used to obtain the rotation angle of the fuselage 10 around the first axis and / or the second axis based on the detection signal of the angle detection device 30.

[0064] When the fuselage 10 rotates relative to the chassis 20 around the first axis and / or the second axis, the detection signal of the angle detection device 30 will change. At this time, the processor will obtain the rotation angle of the fuselage 10 around the first axis and / or the second axis based on the detection signal of the angle detection device 30.

[0065] The negative pressure source is electrically connected to the processor, which is also used to control the output power of the negative pressure source based on the rotation angle.

[0066] Specifically, after the processor obtains the rotation angle of the fuselage 10 around the first axis and / or the second axis based on the detection signal from the angle detection device 30, the processor controls the output power of the negative pressure source based on the rotation angle. When the processor controls the output power of the negative pressure source based on the rotation angle, the magnitude of the output power of the negative pressure source is related to the magnitude of the rotation angle, and the output power of the negative pressure source is not zero.

[0067] In some embodiments, the angle detection device 30 includes a magnetic element 301 and a Hall sensor 302; one of the magnetic element 301 and the Hall sensor 302 is disposed on the body 10 and the other is disposed on the chassis 20, wherein the processor is electrically connected to the Hall sensor 302 and is used to obtain the rotation angle of the body 10 about the first axis and / or the second axis based on the signal strength of the Hall sensor 302.

[0068] For example, the magnetic component 301 can be mounted on the body 10, and the Hall sensor 302 can be mounted on the chassis 20; or the magnetic component 301 can be mounted on the chassis 20, and the Hall sensor 302 can be mounted on the body 10.

[0069] When the fuselage 10 rotates relative to the chassis 20 around the first axis and / or the second axis, the signal strength of the Hall sensor 302 will change. At this time, the processor will obtain the rotation angle of the fuselage 10 around the first axis and / or the second axis based on the signal strength of the Hall sensor 302.

[0070] In some embodiments, the magnetic element 301 includes a first magnetic element 3011 and a second magnetic element 3012, the Hall sensor 302 includes a first Hall sensor 3021 corresponding to the first magnetic element 3011 and at least one second Hall sensor 3022 corresponding to the second magnetic element 3012, and the rotation angle includes the pitch angle of the fuselage 10 rotating about the first axis and the torsion angle of the fuselage 10 rotating about the second axis.

[0071] When the fuselage 10 rotates around the first axis, if the pitch angle decreases, the water surface in the sewage tank will approach the air vent of the negative pressure source. If the output power of the negative pressure source is too high at this time, sewage will enter the negative pressure source. Therefore, the output power of the negative pressure source should be reduced to prevent sewage from entering the negative pressure source.

[0072] In addition, the intelligent floor scrubber 1000 includes a solid waste bin, with a partition between the solid waste bin and the wastewater bin, and a drain outlet in the middle of the partition. When the intelligent floor scrubber 1000 is working, the wastewater it absorbs passes through the solid waste bin and enters the wastewater bin through the drain outlet. When the rotation angle of the machine body 10 is zero, the wastewater in the solid waste bin will collect at the drain outlet and enter the wastewater bin. When the rotation angle of the machine body 10 is greater than zero, the drain outlet rotates with the machine body 10, and its position becomes higher, higher than the area where the wastewater collects. Wastewater is less likely to enter the wastewater bin through the drain outlet, thus accumulating in the solid waste bin. The wastewater in the solid waste bin is close to the air vent of the negative pressure source. If the output power of the negative pressure source is too high, wastewater will enter the negative pressure source. Therefore, the probability of water entering the negative pressure source can be reduced by lowering the output power. When the machine body 10 rotates around the second axis, if the rotation angle increases, wastewater will accumulate in the solid waste bin, and the larger the rotation angle, the more wastewater accumulates in the solid waste bin. The more wastewater accumulates in the solid waste bin, the closer the wastewater level will be to the negative pressure source. If the output power of the negative pressure source is too high, wastewater will enter the negative pressure source. Therefore, the output power of the negative pressure source should be appropriately reduced to prevent wastewater from entering the negative pressure source.

[0073] When the fuselage 10 lies flat on the ground, the pitch angle is 0°. As the fuselage 10 rotates around the first axis and moves away from the ground, the pitch angle gradually increases.

[0074] One of the first magnetic component 3011 and the first Hall sensor 3021 is disposed on the body 10 and the other is disposed on the chassis 20. The processor is electrically connected to the first Hall sensor 3021 and is used to obtain the torsion angle based on the first signal strength of the first Hall sensor 3021.

[0075] For example, the first magnetic component 3011 can be mounted on the body 10 and the first Hall sensor 3021 can be mounted on the chassis 20, or the first magnetic component 3011 can be mounted on the chassis 20 and the first Hall sensor 3021 can be mounted on the body 10.

[0076] One of the second magnetic component 3012 and the second Hall sensor 3022 is disposed on the fuselage 10 and the other is disposed on the chassis 20. The processor is electrically connected to the second Hall sensor 3022 and is used to obtain the pitch angle based on the second signal strength of the second Hall sensor 3022.

[0077] For example, the second magnetic component 3012 can be mounted on the body 10 and the second Hall sensor 3022 can be mounted on the chassis 20, or the second magnetic component 3012 can be mounted on the chassis 20 and the second Hall sensor 3022 can be mounted on the body 10.

[0078] In some embodiments, there are two second Hall sensors 3022, which are respectively disposed on the chassis 20, and the second magnetic element 3012 is disposed on the body 10.

[0079] Because the second magnetic element 3012 has N and S poles, the magnetic field of the Hall sensor 3022 changes with its relative position to the second magnetic element 3012. In one example, there are two second Hall sensors 3022. As the fuselage 10 rotates around the first axis, the relative positions of the two Hall sensors 3022 and the second magnetic element 3012 change, and the second signal strength of the two Hall sensors 3022 also changes accordingly. When the two Hall sensors 3022 rotate around the second magnetic element 3012 once, the two signals generated by the two Hall sensors 3022 are non-overlapping due to their different relative positions, which can more accurately identify the torsion angle of the fuselage 10. Since the relative positions of the two Hall sensors 3022 and the second magnetic component 3012 are different (i.e., the pitch angles of the fuselage 10 rotating around the first axis are different), the second signal strengths of the two Hall sensors 3022 are also different. Therefore, the pitch angle of the fuselage 10 rotating around the first axis can be calculated based on the second signal strengths of the two Hall sensors 3022. For example, assuming that the second signal strengths of the two second Hall sensors 3022 at this time are H1 and H2 respectively, the formula for calculating the pitch angle θ is:

[0080] θ=tan -1 H1 / H2.

[0081] In some embodiments, the second magnetic element 3012 is a ring magnet, and the angle formed by the line connecting the two second Hall sensors 3022 and the center line of the ring magnet is greater than 0° and less than or equal to 98°.

[0082] For example, such as Figure 4 As shown, the angle formed by the lines connecting the two second Hall sensors 3022 and the center line of the ring magnet is 90°.

[0083] In some embodiments, there are two second Hall sensors 3022, which are respectively disposed on the body 10, and the second magnetic element 3012 is disposed on the chassis 20.

[0084] In some embodiments, a first magnetic element 3011 is disposed on a chassis 20, and a first Hall sensor 3021 is disposed on a body 10, wherein the signal strength of the first Hall sensor 3021 is zero when the torsion angle is 0°.

[0085] If the first magnetic element 3011 is mounted on the chassis 20 and the first Hall sensor 3021 is mounted on the body 10, then when the body 10 rotates relative to the chassis 20 around the first axis, the first Hall sensor 3021 will rotate along with the body 10, and the distance between it and the first magnetic element 3011 will remain constant. During this rotation, the signal strength of the first Hall sensor 3021 changes linearly with the torsion angle. The processor can then calculate the torsion angle of the body 10 relative to the chassis 20 around the first axis based on this signal strength.

[0086] In some embodiments, the first magnetic element 3011 is an arc-shaped magnet with an arc angle greater than or equal to 120°, wherein when the torsion angle is 0°, the first Hall sensor 3021 is positioned opposite the middle of the first magnetic element 3011.

[0087] like Figure 5 As shown, the first magnetic component 3011 is an arc-shaped magnet. When the torsion angle is 0°, the first Hall sensor 3021 is positioned in the middle of the arc-shaped magnet. At this time, the rotation of the body 10 to the left and to the right around the second axis is structurally symmetrical. The subsequent torsion angle does not distinguish between left and right rotations; their identical values ​​represent symmetrical positions in the two directions.

[0088] In some embodiments, a first magnetic element 3011 is disposed on the body 10, and a first Hall sensor 3021 is disposed on the chassis 20, wherein the signal strength of the first Hall sensor 3021 is zero when the torsion angle is 0°.

[0089] If the first magnetic component 3011 is disposed on the fuselage 10 and the first Hall sensor 3021 is disposed on the chassis 20, then when the fuselage 10 rotates relative to the chassis 20 around the first axis, the first magnetic component 3011 will rotate along with the fuselage 10, and the distance between it and the first Hall sensor 3021 will remain constant. During the rotation of the first magnetic component 3011 with the fuselage 10, the first signal strength of the first Hall sensor 3021 will change linearly with the torsion angle of the fuselage. The processor can then calculate the torsion angle of the fuselage 10 relative to the chassis 20 around the first axis based on the first signal strength.

[0090] All of the above-mentioned optional technical solutions can be combined in any way to form the optional embodiments of this application, and will not be described in detail here.

[0091] As can be seen from the above, the intelligent floor scrubber 1000 provided in this application embodiment, by adding an angle detection device 30 and electrically connecting the angle detection device 30 to the processor of the intelligent floor scrubber 1000, obtains the rotation angle of the body 10 of the intelligent floor scrubber 1000 around the first axis and / or the second axis. That is, when the body 10 rotates around the first axis and / or the second axis, the detection signal of the angle detection device 30 will change. At this time, the processor collects the detection signal of the angle detection device 30, and then obtains the rotation angle of the body 10 around the first axis and / or the second axis based on the detection signal. Finally, the output power of the negative pressure source is controlled based on the rotation angle. Therefore, when the floor scrubber cleans low areas, it is not necessary to turn off the negative pressure source for cleaning; only the output power of the negative pressure source needs to be adjusted according to the rotation angle, which greatly improves the cleaning effect.

[0092] This application also provides a floor scrubbing machine control method, which is applied to the intelligent floor scrubbing machine described in any of the above embodiments.

[0093] Please see Figure 6 , Figure 6 This is a flowchart illustrating the floor scrubbing machine control method provided in an embodiment of this application. The method may include the following steps:

[0094] Step 101: Obtain the detection signal from the angle detection device, and obtain the rotation angle of the fuselage around the first axis and / or the second axis based on the detection signal.

[0095] The first axis and the second axis are perpendicular to each other.

[0096] Step 102: Control the output power of the negative pressure source based on the rotation angle.

[0097] In some embodiments, the detection signal of the angle detection device, based on the detection signal, acquires the rotation angle of the fuselage about a first axis and / or a second axis, including:

[0098] The first signal intensity of the first Hall sensor in the angle detection device is obtained, and the torsional angle of the fuselage rotating about the second axis is obtained based on the first signal intensity; and

[0099] The second signal strength of the second Hall sensor in the angle detection device is obtained, and the pitch angle of the fuselage rotating around the first axis is obtained based on the second signal strength;

[0100] The control of the output power of the negative pressure source based on the rotation angle includes:

[0101] The output power of the negative pressure source is controlled based on the pitch angle and the torsion angle.

[0102] When there are two second Hall sensors in the angle detection device, assuming the second signal intensities of the two second Hall sensors are H1 and H2 respectively, the formula for calculating the pitch angle θ of the fuselage rotating around the first axis is: θ = tan -1 H1 / H2.

[0103] In some embodiments, before controlling the output power of the negative pressure source based on the pitch angle and the torsion angle, the method further includes:

[0104] Obtain multiple preset pitch angle ranges and multiple preset torsion angle ranges;

[0105] The pitch angle is compared with a plurality of preset pitch angle intervals to determine a target preset pitch angle interval that includes the pitch angle from the plurality of preset pitch angle intervals; and the torsion angle is compared with a plurality of preset torsion angle intervals to determine a target preset torsion angle interval that includes the torsion angle from the plurality of preset torsion angle intervals.

[0106] The control of the output power of the negative pressure source based on the pitch angle and the torsion angle includes:

[0107] The output power of the negative pressure source is controlled based on the target preset pitch angle range and the target preset torsion angle range.

[0108] For example, if there are three preset pitch angle ranges, namely 0°~5°, 5°~20°, and 20°~30°, and the pitch angle is 15°, then the target preset pitch angle range including this pitch angle (15°) is 5°~20°. As another example, if there are three preset torsion angle ranges, namely 0°~10°, 10°~30°, and 30°~90°, and the torsion angle is 45°, then the target preset torsion angle range including this torsion angle (45°) is 30°~90°.

[0109] Those skilled in the art can set multiple preset pitch angle ranges and multiple preset torsion angle ranges according to actual conditions, without making specific restrictions here.

[0110] In some embodiments, controlling the output power of the negative pressure source based on the target preset pitch angle range and the target preset torsion angle range includes:

[0111] Based on a preset mapping relationship, obtain the mapped output power corresponding to the target preset pitch angle range and the target preset torsion angle range;

[0112] The mapped output power is used as the output power of the negative pressure source.

[0113] For example, such as Figure 7 As shown in the figure. Pitch is the target preset pitch angle, and Roll is the target preset torsion angle. Pitch < 5° means the target preset pitch angle range is 0° to 5°, and Roll < 10° means the target preset torsion angle range is 0° to 10°. At this time, the mapped output power corresponding to the target preset pitch angle range of 0° to 5° and the target preset torsion angle range of 0° to 10° is 15 watts.

[0114] like Figure 7 As shown, in some embodiments, the smaller the target preset pitch angle range and the larger the target preset torsion angle range, the smaller the corresponding mapped output power.

[0115] The smaller the target preset pitch angle range and the larger the target preset torsion angle range, the lower the area the floor scrubber is cleaning. In this case, to prevent water from entering the negative pressure source, the output power of the negative pressure source needs to be reduced.

[0116] In some embodiments, after using the mapped output power as the output power of the negative pressure source, the method further includes:

[0117] The dwell time of the fuselage within the preset pitch angle range and the preset torsion angle range of the target is obtained;

[0118] Compare the dwell time with the preset time;

[0119] If the dwell time is less than the preset time, the output power of the negative pressure source remains unchanged;

[0120] If the dwell time is greater than the preset time, then the output power of the negative pressure source is the mapped output power.

[0121] Since changes in output power can cause changes in sound, a time delay strategy was implemented to prevent the negative pressure source from responding too quickly and creating a poor user experience. Specifically, the output power of the negative pressure source is only adjusted to the mapped output power when the device remains within the target preset pitch angle range and the target preset torsion angle range for a time longer than a preset time; otherwise, the original output power remains unchanged.

[0122] Those skilled in the art can set the preset time according to the actual situation, and no specific restrictions are imposed here.

[0123] The intelligent floor scrubber and floor scrubber control method provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the methods and core ideas of this application; at the same time, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A smart floor scrubbing machine, comprising a body, a chassis, a processor, a negative pressure source, and a wastewater tank disposed on the body, wherein the negative pressure source is connected to the wastewater tank and is used to provide negative pressure to pump wastewater generated during the cleaning process into the wastewater tank, characterized in that, It also includes an angle detection device; The body is hinged to the chassis, and the processor is mounted on the body or the chassis, wherein the body can rotate about a first axis and a second axis respectively; The angle detection device is disposed on the fuselage and / or the chassis, wherein the processor is electrically connected to the angle detection device and is used to obtain the rotation angle of the fuselage about the first axis and / or the second axis according to the detection signal of the angle detection device. The rotation angle includes the pitch angle of the fuselage about the first axis and the torsion angle of the fuselage about the second axis. The negative pressure source is electrically connected to the processor. The processor is also used to control the output power of the negative pressure source based on the rotation angle. The output power of the negative pressure source is not zero, and the output power of the negative pressure source is positively correlated with the pitch angle and negatively correlated with the torsion angle. The first axis and the second axis are perpendicular to each other.

2. The intelligent floor scrubber as described in claim 1, characterized in that, The angle detection device includes a magnetic component and a Hall sensor; One of the magnetic component and the Hall sensor is disposed on the body and the other is disposed on the chassis. The processor is electrically connected to the Hall sensor and is used to obtain the rotation angle of the body about the first axis and / or the second axis based on the signal strength of the Hall sensor.

3. The intelligent floor scrubber as described in claim 2, characterized in that, The magnetic component includes a first magnetic component and a second magnetic component, and the Hall sensor includes a first Hall sensor corresponding to the first magnetic component and at least one second Hall sensor corresponding to the second magnetic component. One of the first magnetic component and the first Hall sensor is disposed on the body and the other is disposed on the chassis. The processor is electrically connected to the first Hall sensor and is used to obtain the torsion angle based on the first signal strength of the first Hall sensor. One of the second magnetic component and the second Hall sensor is disposed on the fuselage, and the other is disposed on the chassis. The processor is electrically connected to the second Hall sensor and is used to obtain the pitch angle based on the second signal strength of the second Hall sensor.

4. The intelligent floor scrubbing machine as described in claim 3, characterized in that, The number of the second Hall sensors is two; Two second Hall sensors are respectively mounted on the chassis, and the second magnetic element is mounted on the body.

5. The intelligent floor scrubber as described in claim 4, characterized in that, The second magnetic component is a ring magnet; The angle formed by the lines connecting the two second Hall sensors and the center line of the annular magnet is greater than 0° and less than or equal to 98°.

6. The intelligent floor scrubber as described in claim 3, characterized in that, The number of the second Hall sensors is two; Two second Hall sensors are respectively mounted on the body, and the second magnetic element is mounted on the chassis.

7. The intelligent floor scrubber as described in claim 3, characterized in that, The first magnetic component is disposed on the chassis, and the first Hall sensor is disposed on the body, wherein the signal strength of the first Hall sensor is zero when the torsion angle is 0°.

8. The intelligent floor scrubber as described in claim 3, characterized in that, The first magnetic component is an arc-shaped magnet with an arc angle greater than or equal to 120°, wherein when the torsion angle is 0°, the first Hall sensor is positioned opposite the middle of the first magnetic component.

9. The intelligent floor scrubber as described in claim 3, characterized in that, The first magnetic component is disposed on the body, and the first Hall sensor is disposed on the chassis, wherein the signal strength of the first Hall sensor is zero when the torsion angle is 0°.

10. The intelligent floor scrubber as described in claim 1, characterized in that, The intelligent floor scrubbing machine also includes a solid waste bin, and a partition is provided between the solid waste bin and the wastewater bin, with a drain outlet provided on the partition; When the torsion angle is zero, the wastewater in the solid waste bin collects at the drain and enters the wastewater bin through the drain. When the torsion angle is greater than zero, the drain outlet twists with the machine body, and the position of the drain outlet becomes higher.

11. A method for controlling a floor scrubber, characterized in that, The method is applied to the intelligent floor scrubber according to any one of claims 1 to 9, and the method includes: The detection signal from the angle detection device is acquired, and the rotation angle of the fuselage around the first axis and / or the second axis is acquired based on the detection signal. The output power of the negative pressure source is controlled based on the rotation angle.

12. The floor scrubber control method as described in claim 11, characterized in that, The detection signal of the angle acquisition detection device is used to acquire the rotation angle of the fuselage around the first axis and / or the second axis, including: The first signal intensity of the first Hall sensor in the angle detection device is obtained, and the torsional angle of the fuselage rotating about the second axis is obtained based on the first signal intensity; and The second signal strength of the second Hall sensor in the angle detection device is obtained, and the pitch angle of the fuselage rotating around the first axis is obtained based on the second signal strength; The control of the output power of the negative pressure source based on the rotation angle includes: The output power of the negative pressure source is controlled based on the pitch angle and the torsion angle.

13. The floor scrubber control method as described in claim 12, characterized in that, Before controlling the output power of the negative pressure source based on the pitch angle and the torsion angle, the method further includes: Obtain multiple preset pitch angle ranges and multiple preset torsion angle ranges; The pitch angle is compared with a plurality of preset pitch angle intervals to determine a target preset pitch angle interval that includes the pitch angle from the plurality of preset pitch angle intervals; and the torsion angle is compared with a plurality of preset torsion angle intervals to determine a target preset torsion angle interval that includes the torsion angle from the plurality of preset torsion angle intervals. The control of the output power of the negative pressure source based on the pitch angle and the torsion angle includes: The output power of the negative pressure source is controlled based on the target preset pitch angle range and the target preset torsion angle range.

14. The floor scrubber control method as described in claim 13, characterized in that, The control of the output power of the negative pressure source based on the target preset pitch angle range and the target preset torsion angle range includes: Based on a preset mapping relationship, obtain the mapped output power corresponding to the target preset pitch angle range and the target preset torsion angle range; The mapped output power is used as the output power of the negative pressure source.

15. The floor scrubber control method as described in claim 14, characterized in that, The smaller the target preset pitch angle range and the larger the target preset torsion angle range, the smaller the corresponding mapped output power.

16. The floor scrubber control method as described in claim 14, characterized in that, After using the mapped output power as the output power of the negative pressure source, the method further includes: The dwell time of the fuselage within the preset pitch angle range and the preset torsion angle range of the target is obtained; Compare the dwell time with the preset time; If the dwell time is less than the preset time, the output power of the negative pressure source remains unchanged; If the dwell time is greater than the preset time, then the output power of the negative pressure source is the mapped output power.

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