Floor cleaning machine and control method

Abstract

The present application provides a kind of floor washing machine and the control method of floor washing machine, floor washing machine includes: base, first roll brush and second roll brush;First roll brush is set to the first end of base;Second roll brush is set to the second end of base;The connection direction of first end and second end is the moving direction of base;Wherein, the rotating direction of first roll brush and second roll brush is opposite;The rotating speed of first roll brush and second roll brush size follows the moving direction change of base.The moving characteristics of floor washing machine are obtained by the sensor on base, body and handle, the motion state of floor washing machine is further determined, and then the rotating speed of first roll brush and second roll brush is adjusted.Compared with the existing double roll brush floor washing machine, the rotating speed of front and rear roll brushes is adjusted for different motion directions or motion states of floor washing machine.Floor washing machine can give different direction assistance according to different situations, so that users are more labor-saving whether they perform advancing or pulling back action, and user experience is improved.

Description

Technical Field

[0001] This invention relates to the field of household appliance technology, and in particular to a floor scrubber and its control method. Background Technology

[0002] Floor scrubbers, as a type of cleaning appliance, are increasingly popular among users, especially cordless floor scrubbers. These are particularly favored because they are battery-powered and free from the constraints of power cords. With the development of floor scrubber products, users are paying more and more attention to their cleaning efficiency. Dual-brush floor scrubbers, which can clean floors faster and more efficiently, are also gaining popularity.

[0003] Existing dual-brush floor scrubbers have two brushes that rotate in opposite directions. Generally, to save effort when the user pushes forward, the front brush is set to rotate at a higher speed than the rear brush. However, this type of floor scrubber requires more effort to pull backward because of the uneven pushing and pulling forces. Summary of the Invention

[0004] This invention provides a floor scrubbing machine and its control method to solve the defects of existing dual-brush floor scrubbing machines, such as uneven front and rear push-pull forces and difficulty in pulling backward.

[0005] According to a first aspect of the present invention, a floor scrubbing machine includes: a base, a first roller brush, and a second roller brush;

[0006] The first roller brush is disposed at the first end of the base;

[0007] The second roller brush is disposed at the second end of the base;

[0008] The connection direction between the first end and the second end is the moving direction of the base;

[0009] The first roller brush and the second roller brush rotate in opposite directions;

[0010] The rotational speeds of the first and second roller brushes change in accordance with the direction of movement of the base.

[0011] According to one embodiment of the present invention, it further includes: a driving unit and a first sensing unit;

[0012] The drive unit is connected to the first roller brush and the second roller brush respectively, and the first sensing unit is connected to the drive unit for detecting the drive parameters of the drive unit.

[0013] Alternatively, the drive unit is connected to both the first roller brush and the second roller brush, and the first sensing unit is connected to the drive unit to detect the drive parameters of the drive unit.

[0014] Specifically, this embodiment provides an implementation of a drive unit and a first sensing unit. The drive unit can be connected to the first roller brush and the second roller brush respectively. After receiving the drive parameters of the drive unit returned by the first sensing unit, the rotation speed of the first roller brush and the second roller brush is adjusted according to the drive parameters so that the user can push forward or pull backward with less effort.

[0015] Alternatively, the drive unit can be connected to both the first and second roller brushes simultaneously. After receiving the drive parameters returned by the first sensor unit, the drive unit adjusts the rotation speed of both the first and second roller brushes according to the drive parameters, so that the user can push forward or pull backward with less effort.

[0016] According to one embodiment of the present invention, it further includes: a body and a second sensing unit, the body being connected to the base, and the second sensing unit being disposed on the body for detecting the position parameters of the body;

[0017] And / or, further comprising: a handle and a third sensing unit, the handle being connected to the end of the body away from the base, the third sensing unit being connected to the handle for detecting the position parameters of the handle.

[0018] Specifically, this embodiment provides an implementation of a body, a handle, a second sensing unit, and a third sensing unit. The change in the body's posture is determined by the position parameters of the body returned by the second sensing unit, or by the position parameters of the handle within the range of the third sensing unit, or a combination of both, so as to further adjust the rotation speed of the first and second roller brushes.

[0019] According to one embodiment of the present invention, it further includes: a first motion type and a second motion type;

[0020] In the first motion type, the first end is the head end of the base in the moving direction, the second end is the tail end of the base in the moving direction, and the rotational speed of the first roller brush is greater than the rotational speed of the second roller brush.

[0021] In the second motion type, the first end is the tail end of the base in the moving direction, the second end is the head end of the base in the moving direction, and the rotational speed of the first roller brush is less than the rotational speed of the second roller brush.

[0022] Specifically, this embodiment provides an implementation of a first motion type and a second motion type. In the first motion type, the first roller brush is in front and the second roller brush is behind in the motion direction, and the rotation speed of the first roller brush is greater than that of the second roller brush. In this case, the user pushes the floor scrubber forward with less effort. In the second motion type, the second roller brush is in front and the first roller brush is behind in the motion direction, and the rotation speed of the first roller brush is less than that of the second roller brush. In this case, the user pulls the floor scrubber backward with less effort.

[0023] According to a second aspect of the present invention, a control method for the above-described floor scrubber includes:

[0024] Obtain the movement characteristics of the floor scrubber;

[0025] If the movement feature is determined to satisfy a preset feature, then the movement state of the floor scrubber is determined based on the movement feature.

[0026] Adjust the rotational speed of the first and second roller brushes according to the motion state.

[0027] According to one embodiment of the present invention, the step of acquiring the movement characteristics of the floor scrubber specifically includes:

[0028] Acquire the first displacement and velocity parameters of the base within the continuous acquisition time period;

[0029] The movement feature is generated based on the first displacement parameter and the velocity parameter.

[0030] Specifically, this embodiment provides an implementation method for obtaining the movement characteristics of a floor scrubber. The movement characteristics are generated based on the first displacement parameters and speed parameters of the base. The movement characteristics are determined to satisfy preset characteristics. The movement state of the floor scrubber is determined based on the movement characteristics, and then the rotation speed of the first and second roller brushes is adjusted.

[0031] According to one embodiment of the present invention, the step of determining that the movement feature satisfies a preset feature specifically includes:

[0032] If the displacement and moving speed of the base within the continuous acquisition time period both meet the preset parameter thresholds, then the moving feature meets the preset feature.

[0033] Specifically, this embodiment provides an implementation method for determining whether the movement feature meets the preset features, by judging whether the movement feature of the base meets the preset features through the displacement and movement speed of the base.

[0034] According to one embodiment of the present invention, the step of acquiring the movement characteristics of the floor scrubber specifically includes:

[0035] Acquire the angular displacement parameters of the body and / or handle during the continuous acquisition time period, and the second displacement parameters of the base during the continuous acquisition time period;

[0036] The movement feature is generated based on the angular displacement parameter and the second displacement parameter.

[0037] Specifically, this embodiment provides an implementation method for obtaining the movement characteristics of a floor scrubber, which determines the movement characteristics by obtaining the angular displacement parameters of the machine body and / or handle and the second displacement parameters of the base.

[0038] According to one embodiment of the present invention, the step of determining that the movement feature satisfies a preset feature specifically includes:

[0039] If the angular displacement of the body and / or the handle within a continuous acquisition time period meets a preset angle threshold, and the second displacement parameter meets a preset displacement threshold, then the movement feature meets the preset feature.

[0040] Specifically, this embodiment provides an implementation method for determining whether the movement feature meets the preset features. By judging the angular displacement and the second displacement parameter, it is determined whether the movement feature meets the preset features.

[0041] According to one embodiment of the present invention, the motion state includes: a first motion type and a second motion type, wherein the movement directions of the base are opposite in the first motion type and the second motion type;

[0042] The step of adjusting the rotation speed of the first and second roller brushes according to the motion state specifically includes:

[0043] The motion state of the floor scrubber is determined to be the first motion type. The rotation speed of the first roller brush is adjusted to be greater than that of the second roller brush. In the first motion type, the first end is the head end of the base in the moving direction, and the second end is the tail end of the base in the moving direction.

[0044] The motion state of the floor scrubber is determined to be the second motion type. The rotation speed of the first roller brush is adjusted to be less than that of the second roller brush. In the second motion type, the first end is the tail end of the base in the moving direction, and the second end is the head end of the base in the moving direction.

[0045] Specifically, this embodiment provides an implementation method for adjusting the rotation speed of the first roller brush and the second roller brush according to the motion state. By judging the motion state of the floor scrubber, the adjustment strategy for the rotation speed of the first roller brush and the second roller brush is determined.

[0046] According to one embodiment of the present invention, the step of adjusting the rotational speed of the first roller brush and the second roller brush according to the motion state specifically includes:

[0047] Once it is determined that the floor scrubber is switching from the first motion type to the second motion type, the instantaneous rotation speed of the second roller brush is increased to the instantaneous rotation speed of the first roller brush, and then the rotation speed of the first roller brush is reduced to the first preset rotation speed.

[0048] Once it is determined that the floor scrubber is switching from the second motion type to the first motion type, the instantaneous rotation speed of the first roller brush is increased to the instantaneous rotation speed of the second roller brush, and then the rotation speed of the second roller brush is reduced to the second preset rotation speed.

[0049] The floor scrubber is determined to be stationary, and the rotational speed of the first roller brush is the same as that of the second roller brush.

[0050] Specifically, this embodiment provides an implementation method for adjusting the rotation speed of the first roller brush and the second roller brush according to the motion state, adjusting the rotation speed of the first roller brush and the second roller brush when switching between the first motion type and the second motion type.

[0051] The above-mentioned one or more technical solutions of the present invention have at least one of the following technical effects: The floor scrubber and control method provided by the present invention acquire the movement characteristics of the floor scrubber through sensors on the base, body and handle. If the movement characteristics meet the preset characteristics, the movement state of the floor scrubber can be further determined, and then the rotation speed of the first and second roller brushes can be adjusted. Compared with the existing dual-brush floor scrubbers, the rotation speed of the front and rear roller brushes can be adjusted according to different movement directions or movement states of the floor scrubber. The floor scrubber can provide assistance in different directions according to different situations, making it easier for users to push or pull back, thus improving the user experience. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0053] Figure 1 This is one of the structural schematic diagrams of the floor scrubber provided by the present invention;

[0054] Figure 2 This is the second structural schematic diagram of the floor scrubber provided by the present invention;

[0055] Figure 3This is the third structural schematic diagram of the floor scrubber provided by the present invention;

[0056] Figure 4 This is the fourth structural schematic diagram of the floor scrubber provided by the present invention;

[0057] Figure 5 This is one of the flowcharts illustrating the control method for the floor scrubber provided by the present invention;

[0058] Figure 6 This is the second flowchart illustrating the control method for the floor scrubber provided by the present invention;

[0059] Figure 7 This is the third flowchart illustrating the control method for the floor scrubber provided by this invention;

[0060] Figure 8 This is the fourth flowchart illustrating the control method for the floor scrubber provided by this invention;

[0061] Figure 9 This is the fifth flowchart illustrating the control method for the floor scrubber provided by the present invention;

[0062] Figure 10 This is the sixth flowchart illustrating the control method for the floor scrubber provided by this invention;

[0063] Figure 11 This is the seventh flowchart illustrating the control method for the floor scrubber provided by this invention;

[0064] Figure 12 This is the fifth structural schematic diagram of the floor scrubber provided by the present invention.

[0065] Figure label:

[0066] 10. Base; 20. First roller brush; 30. Second roller brush; 40. Drive unit; 50. First sensor unit; 60. Body; 70. Second sensor unit; 80. Handle; 90. Third sensor unit. Detailed Implementation

[0067] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0068] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention 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. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0069] The following is based on Figures 1 to 12 The present invention describes a floor scrubbing machine and a method for controlling the floor scrubbing machine.

[0070] Figure 1 This is one of the structural schematic diagrams of the floor scrubber provided by the present invention. From... Figure 1 As can be seen, the floor scrubber includes a base 10, a body 60, and a handle 80. The body 60 is connected to the base 10, and the handle 80 is located at the end of the body 60 away from the base 10 and is connected to the body 60. Users can push or pull the floor scrubber by applying a pushing or pulling force to the handle 80.

[0071] Specifically, existing dual-brush floor scrubbers require considerable effort to pull backward due to uneven pushing and pulling forces. By incorporating a first sensor unit 50, a second sensor unit 70, a third sensor unit 90, and a drive unit 40, the system addresses this issue. The first sensor unit 50 is connected to the drive unit 40 to detect its driving parameters; the second sensor unit 70 detects the position parameters of the machine body 60; and the third sensor unit 90 detects the position parameters of the handle 80. Based on these three parameters, the rotation speeds of the first and second roller brushes 20 and 30 are adjusted. This allows the floor scrubber to provide assistance in different directions depending on the situation when pushing or pulling the scrubber forward or backward, reducing user effort and improving the user experience.

[0072] according to Figure 2 and Figure 12 As shown, the floor scrubber includes a first roller brush 20, a second roller brush 30, and a first sensor unit 50. The first roller brush 20 and the second roller brush 30 are respectively disposed at the first end and the second end of the base 10. The first sensor unit 50 is connected to the drive unit 40 to detect the drive parameters of the drive unit 40. The first roller brush 20 and the second roller brush 30 rotate in opposite directions.

[0073] Figure 3 This is the third structural schematic diagram of the floor scrubber provided by the present invention. From... Figure 3As can be seen, the floor scrubber includes a body 60 and a second sensor 70. The body 60 is connected to the base 10, and the second sensor 70 is disposed on the body 60 to detect the position parameters of the body 60.

[0074] Figure 4 This is the fourth structural schematic diagram of the floor scrubber provided by the present invention. From... Figure 4 As can be seen, the floor scrubber includes a handle 80 and a third sensor 90. The handle 80 is connected to the body 60, and the third sensor 90 is located on the handle 80 to detect the position parameters of the handle 80.

[0075] According to one embodiment of the present invention, the method further includes: a first motion type and a second motion type; in the first motion type, the first end is the head end of the base 10 in the moving direction, the second end is the tail end of the base 10 in the moving direction, and the rotational speed of the first roller brush 20 is greater than the rotational speed of the second roller brush 30; in the second motion type, the first end is the tail end of the base 10 in the moving direction, the second end is the head end of the base 10 in the moving direction, and the rotational speed of the first roller brush 20 is less than the rotational speed of the second roller brush 30.

[0076] Figure 5 This is one of the flowcharts illustrating the control method for the floor scrubber provided by the present invention. Figure 5 It includes steps S100, S200 and S300.

[0077] Step S100: Obtain the movement characteristics of the floor scrubber;

[0078] It should be noted that, for acquiring motion features, corresponding sensors and controllers can be set up. The sensors can be displacement sensors, angle sensors, or speed sensors, etc.

[0079] Step S200: If the movement characteristics meet the preset characteristics, then determine the movement state of the floor scrubber based on the movement characteristics;

[0080] Step S300: Adjust the rotation speed of the first roller brush 20 and the second roller brush 30 according to the motion state.

[0081] Specifically, in existing dual-brush floor scrubbers, the two brushes rotate in opposite directions, with the front brush rotating at a higher speed than the rear brush. This type of floor scrubber requires more effort to pull backward due to the uneven pushing and pulling forces.

[0082] Furthermore, the movement characteristics of the floor scrubber are acquired through sensors on the base 10, body 60, and handle 80. If the movement characteristics meet the preset characteristics, the movement state of the floor scrubber can be further determined, and the rotation speed of the first roller brush 20 and the second roller brush 30 can be adjusted. Compared with the existing dual-brush floor scrubbers, the rotation speed of the front and rear roller brushes can be adjusted according to different movement directions or movement states of the floor scrubber. The floor scrubber can provide assistance in different directions according to different situations, making it easier for users to push or pull back, thus improving the user experience.

[0083] Figure 6 This is the second flowchart illustrating the control method for the floor scrubber provided by this invention. Figure 6 It includes steps S110 and S120.

[0084] Step S110: Obtain the first displacement and velocity parameters of the base 10 within the continuous acquisition time period;

[0085] Step S120: Generate a movement feature based on the first displacement parameter and velocity parameter.

[0086] Specifically, a movement feature is generated based on the first displacement parameter and speed parameter of the base 10. The movement feature is determined to satisfy the preset feature. The movement state of the floor scrubber is determined based on the movement feature. Then, the rotation speed of the first roller brush 20 and the second roller brush 30 is adjusted. That is, the cleaning direction of the floor scrubber can be determined based on the change in the direction of displacement in the first displacement parameter and the speed parameter. The adjustment strategy of the rotation speed of the first roller brush 20 and the second roller brush 30 is determined according to the cleaning direction so that the user can save effort when pushing or pulling back.

[0087] Figure 7 This is the third flowchart illustrating the control method for the floor scrubber provided by this invention. Figure 7 This includes step S210.

[0088] Step S210: If the displacement and moving speed of the base 10 within the continuous acquisition time period both meet the preset parameter threshold, then the moving feature meets the preset feature.

[0089] Specifically, the displacement and moving speed of the base 10 are used to determine whether the moving characteristics of the base 10 meet the preset characteristics.

[0090] Figure 8 This is the fourth flowchart illustrating the control method for the floor scrubber provided by this invention. Figure 8 It includes steps S130 and S140.

[0091] Step S130: Obtain the angular displacement parameters of the body 60 and / or handle 80 during the continuous acquisition time period, and the second displacement parameters of the base 10 during the continuous acquisition time period;

[0092] Step S140: Generate a movement feature based on the angular displacement parameter and the second displacement parameter.

[0093] Specifically, when cleaning certain special locations, such as spaces that are relatively small or narrow, the user needs to adjust the angle of the machine body 60 using the handle 80 to ensure that the machine body 60 is in a position that allows it to enter the special location before cleaning the floor with the floor scrubber. Alternatively, by obtaining the angular displacement parameters of the machine body 60 and / or the handle 80 and the second displacement parameters of the base 10, the user can determine the movement characteristics and thus decide whether to push or pull the floor scrubber, thereby further controlling the rotation speed of the first roller brush 20 and the second roller brush 30.

[0094] Figure 9 This is the fifth flowchart illustrating the control method for the floor scrubber provided by this invention. Figure 9 This includes step S220.

[0095] Step S220: If the angular displacement of the body 60 and / or handle 80 within the continuous acquisition time period meets the preset angle threshold, and the second displacement parameter meets the preset displacement threshold, then the movement feature meets the preset feature.

[0096] Specifically, by judging the angular displacement and the second displacement parameters, it is determined whether the movement characteristics meet the preset characteristics, and then it is determined whether the user wants to push or pull back the floor scrubber, and further the rotation speed of the first roller brush 20 and the second roller brush 30 is controlled.

[0097] It should be noted that, under normal circumstances, when cleaning special locations such as the space under a desk, the user turns the handle 80 downwards and the base 10 forward to perform a pushing operation, and turns the handle 80 upwards and the base 10 backwards to perform a pulling operation.

[0098] Figure 10 This is the sixth flowchart illustrating the control method for the floor scrubber provided by this invention. Figure 10 It includes steps S310 and S320.

[0099] Step S310: Determine the motion state of the floor scrubber as the first motion type, and adjust the rotation speed of the first roller brush 20 to be greater than the rotation speed of the second roller brush 30. In the first motion type, the first end is the head end of the base 10 in the moving direction, and the second end is the tail end of the base 10 in the moving direction.

[0100] Specifically, when the floor scrubber is determined to be in the first motion state, that is, when the user wants to push the machine forward, the rotation speed of the first roller brush 20 is adjusted to be greater than that of the second roller brush 30, so as to provide assistance to the floor scrubber to move forward, making it easier for the user to push the floor scrubber.

[0101] Step S320: Determine the motion state of the floor scrubber as the second motion type, and adjust the rotation speed of the first roller brush 20 to be less than the rotation speed of the second roller brush 30. In the second motion type, the first end is the tail end of the base 10 in the moving direction, and the second end is the head end of the base 10 in the moving direction.

[0102] Specifically, when the floor scrubber is determined to be in the second motion state, that is, when the user wants to pull it back, the rotation speed of the second roller brush 30 in front is adjusted to be greater than the rotation speed of the first roller brush 20 behind, so as to give the floor scrubber a backward assist, making it easier for the user to pull the floor scrubber back.

[0103] Figure 11 This is the seventh flowchart illustrating the control method for the floor scrubber provided by this invention. Figure 11 It includes steps S330, S340 and S350.

[0104] Step S330: Determine that the floor scrubber is switching from the first motion type to the second motion type, increase the instantaneous speed of the second roller brush 30 to the instantaneous speed of the first roller brush 20, and then decrease the speed of the first roller brush 20 to the first preset speed.

[0105] Specifically, when users are using a floor scrubber for cleaning, the cleaning direction is not constant, but frequently switches between pushing forward and pulling back. At this time, if it is determined that the floor scrubber is switching from the first motion type to the second motion type, that is, from pushing forward to pulling back, the speed of the second roller brush 30 is increased to be the same as the speed of the first roller brush 20, and then the speed of the first roller brush 20 is reduced.

[0106] In a possible implementation, the switching of the floor scrubber's motion state can be determined based on the speed sensor. When moving forward or backward, the speed decreases sharply, that is, when the user applies a reverse force, it can be determined that the user wants to switch the floor scrubber from the first motion type to the second motion type.

[0107] In a possible implementation, a force sensor can be installed at the handle 80 to determine the instantaneous direction and magnitude of the force applied by the user's hand.

[0108] Step S340: Determine that the floor scrubber is switching from the second motion type to the first motion type, increase the instantaneous speed of the first roller brush 20 to the instantaneous speed of the second roller brush 30, and then decrease the speed of the second roller brush 30 to the second preset speed.

[0109] Specifically, if it is determined that the floor scrubber switches from the second motion type to the first motion type, that is, from pulling back to pushing forward, the speed of the first roller brush 20 is increased to be the same as that of the second roller brush 30, and then the speed of the second roller brush 30 is reduced.

[0110] Step S350: Determine that the floor scrubber is stationary, and that the rotation speed of the first roller brush 20 is the same as that of the second roller brush 30.

[0111] Specifically, the floor scrubber is not constantly moving during the cleaning process. If a certain area of ​​the floor is heavily soiled, it needs to stay for a period of time to continuously clean the same spot. If the floor scrubber is detected to be stationary, that is, in the same position, the rotation speed of the first roller brush 20 and the second roller brush 30 is adjusted to be the same.

[0112] The floor scrubber and its control method provided by this invention acquire the movement characteristics of the floor scrubber through sensors on the base, body, and handle. If the movement characteristics meet preset characteristics, the movement state of the floor scrubber can be further determined, and the rotation speed of the first and second roller brushes can be adjusted accordingly. Compared with existing dual-brush floor scrubbers, this invention adjusts the rotation speed of the front and rear roller brushes according to different movement directions or states of the floor scrubber. The floor scrubber can provide assistance in different directions according to different situations, making it easier for users to push or pull back, thus improving the user experience.

[0113] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "method," "specific method," or "some methods," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or method is included in at least one embodiment or method of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or method. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or methods. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or methods described in this specification, as well as the features of different embodiments or methods.

[0114] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a floor scrubber, characterized in that, The floor scrubber includes: a base, a first roller brush, and a second roller brush; the first roller brush is disposed at a first end of the base; the second roller brush is disposed at a second end of the base; the connection direction between the first end and the second end is the moving direction of the base; wherein, the rotation directions of the first roller brush and the second roller brush are opposite; the rotation speed of the first roller brush and the second roller brush changes with the moving direction of the base; The method includes: Obtain the movement characteristics of the floor scrubber; If the movement feature is determined to satisfy a preset feature, then the movement state of the floor scrubber is determined based on the movement feature. Adjust the rotational speed of the first and second roller brushes according to the motion state; The motion states include: a first motion type and a second motion type, wherein the movement directions of the base are opposite in the first motion type and the second motion type; The step of adjusting the rotation speed of the first and second roller brushes according to the motion state specifically includes: The motion state of the floor scrubber is determined to be the first motion type. The rotation speed of the first roller brush is adjusted to be greater than that of the second roller brush. In the first motion type, the first end is the head end of the base in the moving direction, and the second end is the tail end of the base in the moving direction. The motion state of the floor scrubber is determined to be the second motion type. The rotation speed of the first roller brush is adjusted to be less than that of the second roller brush. In the second motion type, the first end is the tail end of the base in the moving direction, and the second end is the head end of the base in the moving direction. The step of adjusting the rotation speed of the first and second roller brushes according to the motion state specifically includes: Once it is determined that the floor scrubber is switching from the first motion type to the second motion type, the instantaneous rotation speed of the second roller brush is increased to the instantaneous rotation speed of the first roller brush, and then the rotation speed of the first roller brush is reduced to the first preset rotation speed. Once it is determined that the floor scrubber is switching from the second motion type to the first motion type, the instantaneous rotation speed of the first roller brush is increased to the instantaneous rotation speed of the second roller brush, and then the rotation speed of the second roller brush is reduced to the second preset rotation speed. The floor scrubber is determined to be stationary, and the rotational speed of the first roller brush is the same as that of the second roller brush.

2. The control method for a floor scrubber according to claim 1, characterized in that, The floor scrubber also includes: a drive unit and a first sensor unit; The drive unit is connected to the first roller brush and the second roller brush respectively, and the first sensing unit is connected to the drive unit for detecting the drive parameters of the drive unit. Alternatively, the drive unit is connected to both the first roller brush and the second roller brush, and the first sensing unit is connected to the drive unit to detect the drive parameters of the drive unit.

3. The control method for a floor scrubber according to claim 1, characterized in that, The floor scrubber also includes: a body and a second sensor unit, the body being connected to the base, and the second sensor unit being disposed on the body for detecting the position parameters of the body; And / or, further comprising: a handle and a third sensing unit, the handle being connected to the end of the body away from the base, the third sensing unit being connected to the handle for detecting the position parameters of the handle.

4. The control method for a floor scrubber according to any one of claims 1 to 3, characterized in that, Also includes: In the first motion type, the first end is the head end of the base in the moving direction, the second end is the tail end of the base in the moving direction, and the rotational speed of the first roller brush is greater than the rotational speed of the second roller brush. In the second motion type, the first end is the tail end of the base in the moving direction, the second end is the head end of the base in the moving direction, and the rotational speed of the first roller brush is less than the rotational speed of the second roller brush.

5. The control method for a floor scrubber according to any one of claims 1 to 3, characterized in that, The step of acquiring the movement characteristics of the floor scrubber specifically includes: Acquire the first displacement and velocity parameters of the base within the continuous acquisition time period; The movement feature is generated based on the first displacement parameter and the velocity parameter.

6. The control method for a floor scrubber according to claim 5, characterized in that, The step of determining that the movement feature satisfies the preset feature specifically includes: If the displacement and moving speed of the base within the continuous acquisition time period both meet the preset parameter thresholds, then the moving feature meets the preset feature.

7. The control method for a floor scrubber according to any one of claims 1 to 3, characterized in that, The step of acquiring the movement characteristics of the floor scrubber specifically includes: Acquire the angular displacement parameters of the body and / or handle during the continuous acquisition time period, and the second displacement parameters of the base during the continuous acquisition time period; The movement feature is generated based on the angular displacement parameter and the second displacement parameter.

8. The control method for a floor scrubber according to claim 7, characterized in that, The step of determining that the movement feature satisfies the preset feature specifically includes: If the angular displacement of the body and / or the handle within a continuous acquisition time period meets a preset angle threshold, and the second displacement parameter meets a preset displacement threshold, then the movement feature meets the preset feature.

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