Floor cleaning machine and control method

Abstract

The application provides a floor washing machine and a control method. The floor washing machine comprises a machine body, a cleaning liquid spraying system, a suction system, a dirtiness sensor, a motion detection device and a controller. The controller is connected with a first liquid delivery pump, the suction device, the dirtiness sensor and the motion detection device. The controller is configured to determine a target flow of the first cleaning liquid based on the dirtiness and the motion information, and control the liquid delivery flow of the first liquid delivery pump based on the target flow to control the liquid spraying flow of the spraying device. In this way, the spraying flow of the spraying device spraying the first cleaning liquid to the roller brush is adapted to the dirtiness of the ground and the motion state of the floor washing machine, which is beneficial to improve the cleaning effect and user experience.

Description

Technical Field

[0001] This invention relates to the field of floor scrubbing machine technology, and more particularly to a floor scrubbing machine and its control method. Background Technology

[0002] Floor scrubbers typically include a roller brush, a cleaning solution system, and a wastewater system. The cleaning solution system sprays cleaning solution onto the roller brush, which then drives the brush to scrub the floor. The wastewater system pumps debris and wastewater from the floor into a wastewater tank, saving time and effort. For example, Chinese invention patent application CN115868878A discloses a floor scrubber that includes a floor brush and a body rotatably connected to the brush. The body has a wastewater tank with a wastewater inlet pipe. The outlet of the wastewater inlet pipe is covered by a separation baffle. The separation baffle has a separation chamber in the downward rotation direction of the body for the wastewater inlet pipe to enter, and an air duct in the upward rotation direction of the body for gas exhaust.

[0003] However, conventional floor scrubbers typically spray cleaning fluid at a fixed flow rate. When the user pushes the scrubber forward quickly, less cleaning fluid is sprayed per unit area, resulting in poor cleaning effectiveness and requiring the user to repeatedly scrub the same area. When the user pushes the scrubber forward slowly, more cleaning fluid is sprayed per unit area, which can easily cause the floor to become slippery, leading to poor performance of the scrubber. Summary of the Invention

[0004] In view of the above-mentioned problems existing in the prior art, the present invention provides a floor scrubbing machine and a control method, the technical solution of the present invention is as follows.

[0005] The first aspect of the present invention provides a floor scrubbing machine, comprising:

[0006] The machine body has a roller brush and a suction port at the bottom;

[0007] A cleaning fluid spraying system includes a first storage tank, a first infusion pump, and a spraying device. The first storage tank is used to store a first cleaning fluid, and the spraying device is connected to the first storage tank through the first infusion pump. The spraying device is used to spray the first cleaning fluid onto the roller brush.

[0008] A sewage suction system includes a sewage tank and a suction device, wherein the sewage tank is connected to the suction port via the suction device, and the suction device is used to suction sewage through the suction port;

[0009] A turbidity sensor is used to detect the turbidity of the wastewater drawn through the suction port;

[0010] A motion detection device is used to detect the motion state of the floor scrubber and acquire motion information;

[0011] The controller is connected to the first infusion pump, the suction device, the turbidity sensor, and the motion detection device, respectively. The controller is configured as follows:

[0012] Based on the turbidity and the motion information, the target flow rate of the first cleaning fluid is determined;

[0013] Based on the target flow rate, the infusion flow rate of the first infusion pump is controlled to control the spray flow rate of the spraying device.

[0014] In some embodiments, the cleaning fluid spraying system further includes a second storage tank and a second infusion pump. The second storage tank is used to store a second cleaning fluid different from the first cleaning fluid. The spraying device is also connected to the second storage tank via the second infusion pump. The spraying device is used to spray a mixture of the first and second cleaning fluids onto the roller brush. The controller is specifically configured as follows:

[0015] Based on the turbidity and the motion information, the target flow rate of the mixture and the target mixing ratio of the second cleaning solution and the first cleaning solution are determined.

[0016] Based on the target flow rate and the target mixing ratio, the infusion flow rate of the first infusion pump and the infusion flow rate of the second infusion pump are controlled to control the spray flow rate of the spraying device and the mixing ratio of the second cleaning liquid and the first cleaning liquid in the sprayed mixture.

[0017] In some embodiments, the controller is specifically configured as follows:

[0018] Based on the motion information, the moving speed of the floor scrubber and the number of consecutive reciprocating movements of the floor scrubber are determined; the reciprocating movement includes the floor scrubber moving a first distance along a first direction, and then moving a second distance along a second direction opposite to the first direction; both the first distance and the second distance are less than a length threshold, and the time taken for the floor scrubber to move the first distance along the first direction and the time taken to move the second distance along the second direction are both less than a first duration;

[0019] Based on the turbidity, the moving speed of the floor scrubber, and the number of consecutive reciprocating movements of the floor scrubber, the target flow rate of the mixed liquid and the target mixing ratio of the second cleaning liquid and the first cleaning liquid are determined.

[0020] In some embodiments, the detergency of the mixture is positively correlated with the target mixing ratio; the controller is specifically configured as follows:

[0021] As the turbidity increases, the target flow rate of the mixture is increased, thereby increasing the target mixing ratio of the second cleaning solution to the first cleaning solution; and / or

[0022] As the moving speed of the floor scrubber increases, the target flow rate of the mixture increases, thereby increasing the target mixing ratio of the second cleaning solution and the first cleaning solution; and / or

[0023] As the number of reciprocating movements of the floor scrubber increases, the target flow rate of the mixed liquid increases, thereby increasing the target mixing ratio of the second cleaning liquid and the first cleaning liquid.

[0024] In some embodiments, the controller is specifically configured as follows:

[0025] Based on the turbidity, the first coefficient and the second coefficient are determined;

[0026] Based on the moving speed, the third and fourth coefficients are determined;

[0027] The fifth and sixth coefficients are determined based on the number of consecutive reciprocating movements of the floor scrubber.

[0028] The first coefficient, the third coefficient, and the fifth coefficient are weighted to determine the target flow rate;

[0029] The second coefficient, the fourth coefficient, and the sixth coefficient are weighted to determine the target mixing ratio.

[0030] In some embodiments, the floor scrubber has multiple preset and sequentially increasing turbidity levels, each turbidity level having a corresponding turbidity range, a first coefficient, and a second coefficient, wherein the turbidity range is positively correlated with the turbidity level; the controller is specifically configured to: determine the current turbidity level of the floor scrubber based on the detected turbidity and the turbidity range; update the first coefficient and the second coefficient if the turbidity level changes and the changed turbidity level remains for a second duration; and / or

[0031] The floor scrubber has multiple preset speed levels that increase sequentially. Each speed level has a corresponding travel speed range, a third coefficient, and a fourth coefficient, where the travel speed range is positively correlated with the speed level. The controller is specifically configured to: determine the speed level of the floor scrubber based on its travel speed and the travel speed range; update the third and fourth coefficients when the speed level changes; and / or

[0032] The floor scrubber has multiple preset and sequentially increasing reciprocating movement speeds. Each reciprocating movement speed has a corresponding range of reciprocating movement frequency, a fifth coefficient, and a sixth coefficient. The range of reciprocating movement frequency is positively correlated with the reciprocating movement speed. The controller is specifically configured to determine the reciprocating movement speed of the floor scrubber, as well as the fifth coefficient and the sixth coefficient corresponding to the reciprocating movement speed, based on the continuous reciprocating movement frequency and the range of reciprocating movement frequency of the floor scrubber.

[0033] In some embodiments, the floor scrubber has multiple progressively increasing cleaning levels, each cleaning level having a corresponding range of dirt levels, a range of movement speeds, a range of reciprocating movement times, a flow rate, and a mixing ratio; the controller is configured to:

[0034] Based on the degree of turbidity, determine the cleaning level corresponding to the degree of turbidity;

[0035] Based on the moving speed, determine the cleaning level corresponding to the moving speed;

[0036] Based on the number of consecutive reciprocating movements of the floor scrubber, a cleaning level corresponding to the number of consecutive reciprocating movements of the floor scrubber is determined.

[0037] The highest cleaning level among the cleaning levels corresponding to the degree of turbidity, the cleaning levels corresponding to the moving speed, and the cleaning levels corresponding to the number of consecutive reciprocating movements of the floor scrubber is determined as the target cleaning level, and the level flow rate and level mixing ratio of the target cleaning level are determined as the target flow rate and target mixing ratio, respectively.

[0038] In some embodiments, the motion detection device includes a first Hall sensor, a second Hall sensor, and a magnet;

[0039] The magnet is disposed on the rim of the roller brush, and the first Hall sensor and the second Hall sensor are sequentially disposed near the rim of the roller brush along the rotation direction of the roller brush; or

[0040] The magnet is positioned near the rim of the roller brush, and the first Hall sensor and the second Hall sensor are sequentially positioned on the rim of the roller brush along the rotation direction of the roller brush; or

[0041] The magnet is disposed on the rim of the roller of the machine body, and the first Hall sensor and the second Hall sensor are sequentially disposed near the rim of the roller along the rotation direction of the roller; or

[0042] The magnet is positioned near the rim of the roller on the machine body, and the first Hall sensor and the second Hall sensor are sequentially positioned on the rim of the roller along the rotation direction of the roller.

[0043] In some embodiments, the controller is further configured to:

[0044] If the turbidity exceeds the first turbidity threshold and remains there for a third duration, a prompting operation is performed to remind the user that the floor scrubber needs to perform a self-cleaning operation.

[0045] A second aspect of the present invention provides a control method applied to a floor scrubber. The floor scrubber includes a body, a cleaning fluid spraying system, a suction system, a turbidity sensor, and a motion detection device. The bottom of the body is provided with a roller brush and a suction port. The cleaning fluid spraying system includes a first storage tank, a first infusion pump, and a spraying device. The first storage tank stores a first cleaning fluid, and the spraying device is connected to the first storage tank via the first infusion pump. The spraying device is used to spray the first cleaning fluid onto the roller brush. The suction system includes a wastewater tank and a suction device. The wastewater tank is connected to the suction port via the suction device, and the suction device is used to suction wastewater through the suction port. The turbidity sensor is used to detect the turbidity of the wastewater suctioned through the suction port. The motion detection device is used to detect the motion state of the floor scrubber and acquire motion information. The control method includes:

[0046] Based on the turbidity and the motion information, the target flow rate of the first cleaning fluid is determined;

[0047] Based on the target flow rate, the infusion flow rate of the first infusion pump is controlled to control the spray flow rate of the spraying device.

[0048] The floor scrubber of this invention is equipped with a turbidity sensor for detecting the turbidity of the pumped wastewater and a motion detection device for detecting the motion state of the floor scrubber. The controller can control the flow rate of the first infusion pump based on the turbidity and motion information, thereby controlling the spray flow rate of the spraying device. This makes the spray flow rate of the first cleaning liquid sprayed by the spraying device onto the roller brush compatible with the degree of dirt on the ground and the motion state of the floor scrubber, which is beneficial to improving the cleaning effect and user experience. Attached Figure Description

[0049] Figure 1 This is a perspective view of a floor scrubber according to an embodiment of the present invention;

[0050] Figure 2 This is a schematic diagram of a floor scrubber according to an embodiment of the present invention;

[0051] Figure 3 This is a flowchart of the control method according to an embodiment of the present invention.

[0052] Explanation of reference numerals in the attached figures:

[0053] 10-Body; 11-Controller; 12-Turbidity sensor; 13-First Hall sensor; 14-First infusion pump; 15-Second infusion pump; 16-Roller brush; 17-Magnet; 18-Roller; 19-Second Hall sensor. Detailed Implementation

[0054] To enable those skilled in the art to better understand the technical solutions of the embodiments of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0055] This invention provides a floor scrubbing machine, see [link / reference] Figure 1 and Figure 2 As shown, the floor scrubber of this embodiment includes: a body 10, a cleaning liquid spraying system, a dirt suction system, a dirt level sensor 12, a motion detection device, and a controller 11.

[0056] The bottom of the body 10 is provided with a roller brush 16 and a suction port. Optionally, the bottom of the body 10 may be provided with a roller brush cavity, and the bottom surface of the body 10 may have an opening communicating with the roller brush cavity. The roller brush 16 is rotatably disposed in the roller brush cavity, and at least a portion of the rim of the roller brush 16 protrudes from the bottom surface of the body 10 through the opening so as to contact the ground. Optionally, the suction port may be disposed in the roller brush cavity, or on the bottom surface of the body 10, or suction ports may be provided on both the roller brush cavity and the bottom surface of the body 10. Optionally, the bottom of the body 10 may also be provided with a roller 18. For example, the roller brush 16 may be disposed near the front end of the body 10, and the roller 18 may be disposed near the rear end of the body 10. Figure 1 As shown.

[0057] The cleaning fluid spraying system includes a first storage tank, a first infusion pump 14, and a spraying device. The first storage tank stores a first cleaning fluid, and the spraying device is connected to the first storage tank via the first infusion pump 14. The spraying device is used to spray the first cleaning fluid onto the roller brush 16. Optionally, the first cleaning fluid can be clean water or a cleaning agent specifically designed for floor cleaning.

[0058] The sludge suction system includes a sludge tank and a suction device. The sludge tank is connected to the suction port via the suction device, which is used to suction sludge through the suction port. Of course, the suction device can also suction garbage through the suction port. Optionally, the suction device can be a suction motor, a washing liquid pump, or a fan, etc.

[0059] The turbidity sensor 12 is used to detect the turbidity of the wastewater pumped through the suction port. Optionally, the turbidity sensor 12 may be installed at the suction port, on the pipe between the suction port and the suction device, or on the pipe between the suction device and the wastewater tank, etc.

[0060] The motion detection device is used to detect the motion state of the floor scrubber and acquire motion information. Optionally, the motion information includes, but is not limited to, the moving speed, moving direction, and moving distance of the floor scrubber.

[0061] The controller 11 is connected to the first infusion pump 14, the suction device, the turbidity sensor 12, and the motion detection device, respectively. Figure 3 As shown, the controller 11 is configured to: determine the target flow rate of the first cleaning fluid based on the turbidity and the motion information; and control the infusion flow rate of the first infusion pump 14 based on the target flow rate to control the spray flow rate of the spraying device.

[0062] The floor scrubber of this invention is equipped with a turbidity sensor 12 for detecting the turbidity of the pumped wastewater, and a motion detection device for detecting the motion state of the floor scrubber. The controller 11 can control the flow rate of the first infusion pump 14 based on the turbidity and motion information, thereby controlling the spray flow rate of the spraying device. This makes the spray flow rate of the first cleaning liquid sprayed by the spraying device onto the roller brush 16 compatible with the degree of dirt on the ground and the motion state of the floor scrubber, which is beneficial to improving the cleaning effect and user experience.

[0063] In some embodiments, the cleaning fluid spraying system further includes a second storage tank and a second infusion pump 15. The second storage tank is used to store a second cleaning fluid different from the first cleaning fluid. The spraying device is also connected to the second storage tank via the second infusion pump 15. The spraying device is used to spray a mixture of the first and second cleaning fluids onto the roller brush 16. The controller 11 is specifically configured to: determine the target flow rate of the mixture and the target mixing ratio of the second and first cleaning fluids based on the turbidity and the motion information; and control the infusion flow rate of the first infusion pump 14 and the infusion flow rate of the second infusion pump 15 based on the target flow rate and the target mixing ratio, thereby controlling the spray flow rate of the spraying device and the mixing ratio of the second and first cleaning fluids in the sprayed mixture. In this way, not only the spray flow rate of the spraying device can be adjusted, but also the mixing ratio of the second and first cleaning fluids in the mixture can be adjusted, further improving the cleaning effect.

[0064] Optionally, the second cleaning solution can be water or a cleaning agent specifically designed for floor cleaning. For example, the first cleaning solution can be water, and the second cleaning solution can be a cleaning agent. Alternatively, the first cleaning solution can be a cleaning agent, and the second cleaning solution can be water. Or, the first and second cleaning solutions can be different types of cleaning agents.

[0065] In some embodiments, the controller 11 is specifically configured to: determine the moving speed of the floor scrubber and the number of consecutive reciprocating movements of the floor scrubber based on the motion information; the reciprocating movement includes the floor scrubber moving a first distance along a first direction and then moving a second distance along a second direction opposite to the first direction; both the first distance and the second distance are less than a length threshold, and the time taken for the floor scrubber to move the first distance along the first direction and the time taken to move the second distance along the second direction are both less than a first duration; and determine the target flow rate of the mixed liquid and the target mixing ratio of the second cleaning liquid and the first cleaning liquid based on the turbidity, the moving speed of the floor scrubber, and the number of consecutive reciprocating movements of the floor scrubber.

[0066] Optionally, the first direction can be the forward direction of the floor scrubber, and the second direction can be the backward direction of the floor scrubber. Alternatively, the first direction can be the backward direction of the floor scrubber, and the second direction can be the forward direction of the floor scrubber.

[0067] The reciprocating motion of a floor scrubber usually indicates that the floor was not thoroughly cleaned in a single pass, indirectly suggesting a high level of dirt. Adjusting the target mixing ratio based on the dirt level, the scrubber's speed, and the number of consecutive reciprocating passes allows the scrubber to specifically enhance its cleaning ability, achieving better cleaning results and improving its overall intelligence.

[0068] In some embodiments, the detergency of the mixture is positively correlated with the target mixing ratio. Optionally, the detergency of the second cleaning solution may be stronger than that of the first cleaning solution. For example, the first cleaning solution may be water, and the second cleaning solution may be a detergent.

[0069] Based on this, the controller 11 is specifically configured to: increase the target flow rate of the mixture and increase the target mixing ratio of the second cleaning liquid and the first cleaning liquid as the turbidity increases; and / or increase the target flow rate of the mixture and increase the target mixing ratio of the second cleaning liquid and the first cleaning liquid as the moving speed of the floor scrubber increases; and / or increase the target flow rate of the mixture and increase the target mixing ratio of the second cleaning liquid and the first cleaning liquid as the number of continuous reciprocating movements of the floor scrubber increases.

[0070] Thus, when the ground is heavily soiled, the floor scrubber moves quickly, or the same area is being cleaned repeatedly, the spray flow rate of the mixed solution can be increased, and the detergency of the mixed solution can be improved by increasing the target mixed solution ratio. When the ground is lightly soiled, the floor scrubber moves slowly, or the same area is not being cleaned repeatedly, the spray volume of the mixed solution can be reduced, and the amount of the second cleaning solution with stronger detergency can be reduced by lowering the target mixed ratio, which helps to reduce operating costs.

[0071] In some embodiments, the controller 11 is specifically configured to: determine a first coefficient and a second coefficient based on the turbidity; determine a third coefficient and a fourth coefficient based on the moving speed; determine a fifth coefficient and a sixth coefficient based on the number of consecutive reciprocating movements of the floor scrubber; perform weighted processing on the first coefficient, the third coefficient, and the fifth coefficient to determine the target flow rate; and perform weighted processing on the second coefficient, the fourth coefficient, and the sixth coefficient to determine the target mixing ratio.

[0072] Optionally, the target traffic volume can be calculated using the following formula.

[0073] Ft=(A1*K1+A3*K3+A5*K5)*Fb

[0074] Where Ft represents the target flow; K1 represents the first coefficient; K3 represents the third coefficient; K5 represents the fifth coefficient; A1, A3 and A5 are the weighting coefficients, and the values ​​of A1, A3 and A5 range from 0 to 100%, A1+A3+A5=100%; Fb is the base flow.

[0075] For example, when Fb = 60 ml / min, A1 = 50%, K1 = 1.8, A3 = 30%, K3 = 1, A5 = 20%, K5 = 1, Ft = 84 ml / min.

[0076] Optionally, the target mixing ratio can be calculated using the following formula.

[0077] F2: F1=1: (A2*K2+A4*K4+A6*K6)*St

[0078] Wherein, F1 is the flow rate of the first cleaning fluid; F2 is the flow rate of the second cleaning fluid; St is the baseline proportional coefficient; K2 is the second coefficient; K4 is the fourth coefficient; K6 is the sixth coefficient; and A2, A4, and A6 are the weighting coefficients.

[0079] For example, when St = 40, A2 = 60%, K2 = 0.8, A4 = 30%, K4 = 1.0, A6 = 10%, and K6 = 1.0, F2:F1 = 1:35.2. When Ft = 84 ml / min, then F1 = 81.61 ml / min and F2 = 2.39 ml / min. The flow rates of the first infusion pump 14 and the second infusion pump 15 can be controlled based on F1 and F2.

[0080] In practical implementation, the first and second coefficients can be controlled linearly or nonlinearly. In one case, K1 = P1 * Ko, K2 = P2 * Ko, where Ko is the detected turbidity, P1 is a first fixed constant, and P2 is a second fixed constant. Thus, by obtaining the turbidity detected by the turbidity sensor 12, the corresponding K1 and K2 can be calculated in real time, and the infusion flow rates of the first infusion pump 14 and the second infusion pump 15 can be precisely adjusted.

[0081] In another scenario, the floor scrubber has multiple preset and sequentially increasing turbidity levels. Each turbidity level has a corresponding turbidity range, a first coefficient, and a second coefficient, with the turbidity range being positively correlated with the turbidity level. The controller 11 is specifically configured to: determine the current turbidity level of the floor scrubber based on the detected turbidity and the turbidity range; and update the first and second coefficients if the turbidity level changes and remains at the changed level for a second duration. Adjusting the first and second coefficients based on the turbidity level can, to a certain extent, achieve real-time adjustment of the target flow rate and target mixing ratio, and avoid frequent adjustments to the infusion flow rates of the first and second infusion pumps 14 and 15, thus simplifying the control logic.

[0082] Optionally, the first coefficient may be positively correlated with the turbidity level, and the second coefficient may be negatively correlated with the turbidity level. Thus, when the turbidity level increases and remains elevated for a second duration, increasing the first coefficient and decreasing the second coefficient increases the target flow rate of the mixture, increases the target mixing ratio, and raises the proportion of the second cleaning solution in the mixture.

[0083] For example, the floor scrubber may have three turbidity levels: low, medium, and high. The turbidity ranges corresponding to the low, medium, and high turbidity levels are 0-299, 300-699, and 700-100, respectively. The first coefficients corresponding to the low, medium, and high turbidity levels are 0.8, 1.2, and 1.8, respectively, and the second coefficients corresponding to the low, medium, and high turbidity levels are also 1.8, 1.2, and 0.8, respectively. When the turbidity is 1000-700, K1 = 1.8, K2 = 0.8; when the turbidity is 699-300, K1 = 1.2, K2 = 1.2; when the turbidity is 299-0, K1 = 0.8, K2 = 1.8.

[0084] In practical implementation, the third and fourth coefficients can also be controlled linearly or nonlinearly. In one case, K3 = Va / V1, where Va represents the actual moving speed of the floor scrubber and V1 represents the first reference speed of the floor scrubber. K4 = Va / V2, where Va represents the actual moving speed of the floor scrubber and V2 represents the second reference speed of the floor scrubber. Thus, the third and fourth parameters can be linearly adjusted based on the moving speed of the floor scrubber to precisely control the spray flow rate of the mixed solution and the mixing ratio of the second and first cleaning solutions in the mixed solution.

[0085] In another scenario, the floor scrubber has multiple preset, progressively increasing speed levels. Each speed level has a corresponding travel speed range, a third coefficient, and a fourth coefficient, with the travel speed range being positively correlated with the speed level. The controller 11 is specifically configured to: determine the speed level of the floor scrubber based on its travel speed and the travel speed range; and update the third and fourth coefficients when the speed level changes. This allows for adjustment of the spray flow rate of the mixed solution and the mixing ratio of the second and first cleaning solutions based on the speed level gradient. This ensures control accuracy to a certain extent while avoiding frequent adjustments to the first and second pumps, thus improving the stability of the floor scrubber.

[0086] Optionally, the third coefficient is positively correlated with the speed setting, while the fourth coefficient may be negatively correlated with the speed setting. Thus, when the floor scrubber's moving speed increases, the third coefficient increases and the fourth coefficient decreases, thereby increasing the spray flow rate of the mixed solution and increasing the proportion of the second cleaning solution in the mixed solution.

[0087] For example, the floor scrubber may have three speed settings: low, medium, and high. The corresponding speed ranges for these three speed settings are less than or equal to 1.5 km / h, 1.5 km / h to 2 km / h, and greater than 2 km / h, respectively. The third coefficients corresponding to the low, medium, and high speed settings are 0.8, 1.0, and 1.2, respectively. The fourth coefficients corresponding to the low, medium, and high speed settings are 1.2, 1.0, and 0.8, respectively.

[0088] In practical implementation, the fifth and sixth coefficients can be controlled linearly and nonlinearly. In one case, K5 = P3 * Y, where P3 is a fixed constant and Y is the number of consecutive reciprocating movements of the floor scrubber. K6 = P4 * Y, where P4 is a fixed constant and Y is the number of consecutive reciprocating movements of the floor scrubber. Thus, the fifth and sixth parameters can be linearly adjusted based on the number of consecutive reciprocating movements of the floor scrubber, precisely controlling the spray flow rate of the mixed solution and the mixing ratio of the second and first cleaning solutions.

[0089] In another configuration, the floor scrubber has multiple preset and sequentially increasing reciprocating speed settings. Each reciprocating speed setting has a corresponding range of reciprocating movement frequency, a fifth coefficient, and a sixth coefficient, with the range of reciprocating movement frequency being positively correlated with the reciprocating speed setting. The controller 11 is specifically configured to determine the reciprocating speed setting of the floor scrubber, as well as the corresponding fifth and sixth coefficients, based on the continuous number of reciprocating movements and the range of reciprocating movements. This allows for adjustment of the spray flow rate of the mixed solution and the mixing ratio of the second and first cleaning solutions based on the reciprocating speed setting gradient. This ensures control accuracy to a certain extent while avoiding frequent adjustments to the first and second infusion pumps 14 and 15, thus improving the stability of the floor scrubber.

[0090] Optionally, the fifth coefficient may be positively correlated with the reciprocating movement speed, and the sixth coefficient may be negatively correlated with the reciprocating movement speed. Thus, when the floor scrubber moves continuously in a reciprocating motion, the fifth coefficient is increased and the sixth coefficient is decreased, thereby increasing the spray flow rate of the mixed solution and increasing the proportion of the second cleaning solution in the mixed solution to achieve a better cleaning effect.

[0091] Optionally, when the distance the floor scrubber moves in the first direction or the second direction exceeds a length threshold, or when the time the floor scrubber takes to move in the first direction or the time it takes to move in the second direction exceeds a certain duration, it can be determined that the floor scrubber has resumed normal movement and will no longer perform reciprocating movements. The floor that has been reciprocated may have already been cleaned, and the number of consecutive reciprocating movements can be reset to zero. At the same time, the fifth and sixth coefficients can be updated. For example, the fifth and sixth coefficients can be restored to their default values.

[0092] For example, the floor scrubber may have three reciprocating movement speeds: low, medium, and high. The corresponding reciprocating movement ranges for these three speeds are 1, 2, and 3, respectively. The fifth coefficients for these speeds are 1.1, 1.2, and 1.5, respectively, and the sixth coefficients are 1.5, 1.2, and 1.1, respectively. The default value for the fifth coefficient can be 1.0, and the default value for the sixth coefficient can be 1.8. When Y is 1, K3 = 1.1, K4 = 1.5; when Y is 2, K3 = 1.2, K4 = 1.2; when Y is 3, K3 = 1.5, K4 = 1.1; when Y is 0, K3 = 1.0, K4 = 1.8.

[0093] In some embodiments, the floor scrubber has multiple progressively increasing cleaning levels, each of which has a corresponding range of dirt levels, a range of movement speeds, a range of reciprocating movement counts, a flow rate, and a mixing ratio. The controller 11 is configured to: determine a cleaning level corresponding to the dirt level based on the dirt level; determine a cleaning level corresponding to the movement speed of the floor scrubber based on the movement speed of the floor scrubber; determine a cleaning level corresponding to the number of consecutive reciprocating movement counts of the floor scrubber based on the number of consecutive reciprocating movement counts; determine the highest cleaning level among the cleaning levels corresponding to the dirt level, the movement speed, and the number of consecutive reciprocating movement counts as the target cleaning level; and determine the flow rate and mixing ratio of the target cleaning level as the target flow rate and target mixing ratio, respectively. For example, the floor scrubber may have three cleaning levels: high, medium, and low. When the highest cleaning level, determined based on the degree of soiling, moving speed, and the number of consecutive reciprocating movements of the scrubber, is the high cleaning level, the spray flow rate of the mixed solution can be increased, and the proportion of detergent in the mixed solution can be increased. When all cleaning levels, determined based on the degree of soiling, moving speed, and the number of consecutive reciprocating movements of the scrubber, are low cleaning levels, the spray flow rate of the mixed solution can be reduced, and the proportion of detergent in the mixed solution can be decreased.

[0094] In some embodiments, the motion detection device includes a first Hall sensor 13, a second Hall sensor 19, and a magnet 17. The first Hall sensor 13, the second Hall sensor 19, and the magnet 17 can be arranged in multiple ways. In a first case, the magnet 17 can be disposed on the rim of the roller brush 16, and the first Hall sensor 13 and the second Hall sensor 19 are sequentially disposed near the rim of the roller brush 16 along the rotation direction of the roller brush 16. In a second case, the magnet 17 is disposed near the rim of the roller brush 16, and the first Hall sensor 13 and the second Hall sensor 19 are sequentially disposed on the rim of the roller brush 16 along the rotation direction of the roller brush 16. In a third case, the magnet 17 is disposed on the rim of the roller 18 of the body 10, and the first Hall sensor 13 and the second Hall sensor 19 are sequentially disposed near the rim of the roller 18 along the rotation direction of the roller 18. In the fourth case, the magnet 17 is located near the rim of the roller 18 of the body 10, and the first Hall sensor 13 and the second Hall sensor 19 are sequentially arranged on the rim of the roller 18 along the rotation direction of the roller 18.

[0095] Taking the fourth scenario as an example, the controller 11 is connected to both the first Hall sensor 13 and the second Hall sensor 19. Specifically, the controller 11 is configured to determine the moving speed and direction of the roller 18 based on the detection results of the first Hall sensor 13 and the second Hall sensor 19. Using a Hall sensor in conjunction with a magnet 17 to detect the moving speed and direction of the roller 18 is not only structurally simple but also easy to implement.

[0096] Optionally, taking the fourth case as an example, one or more magnets 17 can be provided on the roller 18. That is, the number of magnets 17 can be one or n. The moving speed of the roller 18 can be calculated using the formula V = 2πr / T; where V represents the moving speed of the roller 18; r represents the rotation radius of the magnet 17, that is, the distance of the magnet 17 from the axis of the roller 18; and T represents the time it takes for the magnet 17 to rotate one revolution, which can be determined by the time period of the first Hall sensor 13 and / or the second Hall sensor 19.

[0097] Optionally, taking the fourth case as an example, the first Hall sensor 13 and the second Hall sensor 19 can be sequentially arranged along the positive rotation direction of the roller 18. The positive rotation direction can be the rotation direction of the roller 18 when the floor scrubber moves forward. Correspondingly, the negative rotation direction is the rotation direction of the roller 18 when the floor scrubber moves backward. Thus, in the positive rotation direction of the roller 18, the first Hall sensor 13 is located in front of the second Hall sensor 19. During the forward rotation of the roller 18, the magnet 17 on the roller 18 first passes the second Hall sensor 19, and then passes the first Hall sensor 13. During the backward rotation of the roller 18, the magnet 17 on the roller 18 first passes the first Hall sensor 13, and then passes the second Hall sensor 19. The first Hall sensor 13 and the second Hall sensor 19 can be configured to output a high-level signal "1" when the magnet 17 enters the detection range, and output a low-level signal "0" when the magnet 17 leaves the detection range. Based on this, if the first Hall sensor 13 and the second Hall sensor 19 continuously transmit a set of signals "01-11-10", it can be determined that the roller 18 rotates in the forward direction. If the first Hall sensor 13 and the second Hall sensor 19 continuously transmit a set of signals "10-11-01", it can be determined that the roller 18 rotates in the backward direction.

[0098] It should be noted that the motion detection device is not limited to the structure of Hall sensor 13 and magnet 17 working together; the motion detection device may also use, for example, photoelectric sensor, angular velocity sensor, etc.

[0099] In some embodiments, the controller 11 is further configured to: when the turbidity exceeds a first turbidity threshold and remains so for a third duration, perform a prompting operation to remind the user that the floor scrubber needs to perform a self-cleaning operation. Thus, when the suction port or suction pipe of the floor scrubber becomes clogged, the user is reminded that the floor scrubber needs to perform a self-cleaning operation, which helps maintain the cleaning effect of the floor scrubber.

[0100] Optionally, the first turbidity threshold can correspond to the lower limit of the highest turbidity level or the highest cleaning level. Thus, when the turbidity remains at the highest turbidity level or the highest cleaning level, it can be determined that the suction port or suction pipe is blocked, and a prompt operation can be performed.

[0101] Optionally, if the turbidity exceeds a first turbidity threshold and remains there for a third duration, the controller 11 may further determine whether the target flow rate and the target mixing ratio are at their highest settings. If yes, a prompting action may be performed. If no, the target flow rate and the target mixing ratio may be updated.

[0102] Optionally, during the self-cleaning process of the floor scrubber, the controller 11 can be configured to: determine whether the self-cleaning duration has reached a fourth duration; if so, continue self-cleaning; if so, determine whether the turbidity is less than a second turbidity threshold based on the detection result of the turbidity sensor 12; if the turbidity is greater than the second turbidity threshold, continue self-cleaning; if the turbidity is less than the second turbidity threshold, determine whether the time the turbidity remains below the second turbidity threshold has reached a fifth duration; if the time the turbidity remains below the second turbidity threshold has not reached the fifth duration, continue self-cleaning; if the time the turbidity remains below the second turbidity threshold has reached the fifth duration, terminate the self-cleaning operation early. This achieves a better self-cleaning effect.

[0103] This invention also provides a control method for a floor scrubber. The floor scrubber includes a body 10, a cleaning fluid spraying system, a suction system, a turbidity sensor 12, and a motion detection device. The bottom of the body 10 is provided with a roller brush 16 and a suction port. The cleaning fluid spraying system includes a first storage tank, a first infusion pump 14, and a spraying device. The first storage tank stores a first cleaning fluid, and the spraying device is connected to the first storage tank via the first infusion pump 14. The spraying device sprays the first cleaning fluid onto the roller brush 16. The suction system includes a wastewater tank and a suction device. The wastewater tank is connected to the suction port via the suction device, and the suction device is used to suction wastewater and / or garbage through the suction port. The turbidity sensor 12 is used to detect the turbidity of the wastewater suctioned through the suction port. The motion detection device is used to detect the motion state of the floor scrubber and obtain motion information.

[0104] See Figure 3 As shown, the control method of this embodiment of the invention may specifically include the following steps.

[0105] S210, based on the turbidity and the motion information, determine the target flow rate of the first cleaning fluid.

[0106] S220, based on the target flow rate, control the infusion flow rate of the first infusion pump 14 to control the spray flow rate of the spraying device.

[0107] In some embodiments, the cleaning fluid spraying system further includes a second storage tank and a second infusion pump 15. The second storage tank is used to store a second cleaning fluid that is different from the first cleaning fluid. The spraying device is also connected to the second storage tank through the second infusion pump 15. The spraying device is used to spray a mixture of the first cleaning fluid and the second cleaning fluid onto the roller brush 16.

[0108] Step S210, based on the turbidity and the motion information, determines the target flow rate of the first cleaning fluid, including:

[0109] Based on the turbidity and the motion information, the target flow rate of the mixture and the target mixing ratio of the second cleaning solution and the first cleaning solution are determined.

[0110] Correspondingly, step S220, based on the target flow rate, controls the infusion flow rate of the first infusion pump 14 to control the spray flow rate of the spraying device, including:

[0111] Based on the target flow rate and the target mixing ratio, the infusion flow rate of the first infusion pump 14 and the infusion flow rate of the second infusion pump 15 are controlled to control the spray flow rate of the spraying device and the mixing ratio of the second cleaning liquid and the first cleaning liquid in the sprayed mixture.

[0112] In some embodiments, determining the target flow rate of the mixture and the target mixing ratio of the second cleaning fluid to the first cleaning fluid based on the turbidity and the motion information includes:

[0113] Based on the motion information, the moving speed of the floor scrubber and the number of consecutive reciprocating movements of the floor scrubber are determined; the reciprocating movement includes the floor scrubber moving a first distance along a first direction, and then moving a second distance along a second direction opposite to the first direction; both the first distance and the second distance are less than a length threshold, and the time taken for the floor scrubber to move the first distance along the first direction and the time taken to move the second distance along the second direction are both less than a first duration;

[0114] Based on the turbidity, the moving speed of the floor scrubber, and the number of consecutive reciprocating movements of the floor scrubber, the target flow rate of the mixed liquid and the target mixing ratio of the second cleaning liquid and the first cleaning liquid are determined.

[0115] In some embodiments, the detergency of the mixture is positively correlated with the target mixing ratio; determining the target flow rate of the mixture and the target mixing ratio of the second cleaning solution to the first cleaning solution based on the turbidity, the moving speed of the floor scrubber, and the number of consecutive reciprocating movements of the floor scrubber includes:

[0116] As the turbidity increases, the target flow rate of the mixture is increased, thereby increasing the target mixing ratio of the second cleaning solution to the first cleaning solution; and / or

[0117] As the moving speed of the floor scrubber increases, the target flow rate of the mixture increases, thereby increasing the target mixing ratio of the second cleaning solution and the first cleaning solution; and / or

[0118] As the number of reciprocating movements of the floor scrubber increases, the target flow rate of the mixed liquid increases, thereby increasing the target mixing ratio of the second cleaning liquid and the first cleaning liquid.

[0119] In some embodiments, determining the target flow rate of the mixture and the target mixing ratio of the second cleaning solution to the first cleaning solution based on the turbidity, the moving speed of the floor scrubber, and the number of consecutive reciprocating movements of the floor scrubber includes:

[0120] Based on the turbidity, the first coefficient and the second coefficient are determined;

[0121] Based on the moving speed, the third and fourth coefficients are determined;

[0122] The fifth and sixth coefficients are determined based on the number of consecutive reciprocating movements of the floor scrubber.

[0123] The first coefficient, the third coefficient, and the fifth coefficient are weighted to determine the target flow rate;

[0124] The second coefficient, the fourth coefficient, and the sixth coefficient are weighted to determine the target mixing ratio.

[0125] In some embodiments, the floor scrubber has multiple preset and sequentially increasing dirt levels, each dirt level having a corresponding dirt range, a first coefficient, and a second coefficient, wherein the dirt range is positively correlated with the dirt level; determining the first coefficient and the second coefficient based on the dirt level includes:

[0126] Based on the detected turbidity and the turbidity range, determine the current turbidity level of the floor scrubber; if the turbidity level changes and remains at the changed turbidity level for a second duration, update the first coefficient and the second coefficient; and / or

[0127] The floor scrubber has multiple preset speed levels that increase sequentially. Each speed level has a corresponding moving speed range, a third coefficient, and a fourth coefficient. The moving speed range is positively correlated with the speed level.

[0128] The determination of the third and fourth coefficients based on the moving speed includes:

[0129] Based on the moving speed and range of the floor scrubber, determine the speed level of the floor scrubber; if the speed level changes, update the third and fourth coefficients; and / or

[0130] The floor scrubber has multiple preset and sequentially increasing reciprocating movement speeds. Each reciprocating movement speed has a corresponding range of reciprocating movement frequency, a fifth coefficient, and a sixth coefficient. The range of reciprocating movement frequency is positively correlated with the reciprocating movement speed.

[0131] The determination of the fifth and sixth coefficients based on the number of consecutive reciprocating movements of the floor scrubber includes:

[0132] Based on the number of consecutive reciprocating movements of the floor scrubber and the range of the number of reciprocating movements, the reciprocating movement gear of the floor scrubber is determined, as well as the fifth coefficient and the sixth coefficient corresponding to the reciprocating movement gear.

[0133] In some embodiments, the floor scrubber has a plurality of progressively increasing cleaning levels, each of which has a corresponding range of dirt levels, a range of moving speeds, a range of reciprocating movement times, a range of flow rates, and a range of mixing ratios.

[0134] Determining the target flow rate of the mixed solution and the target mixing ratio of the second cleaning solution to the first cleaning solution based on the turbidity, the moving speed of the floor scrubber, and the number of consecutive reciprocating movements of the floor scrubber includes:

[0135] Based on the degree of turbidity, determine the cleaning level corresponding to the degree of turbidity;

[0136] Based on the moving speed, determine the cleaning level corresponding to the moving speed;

[0137] Based on the number of consecutive reciprocating movements of the floor scrubber, a cleaning level corresponding to the number of consecutive reciprocating movements of the floor scrubber is determined.

[0138] The highest cleaning level among the cleaning levels corresponding to the degree of turbidity, the cleaning levels corresponding to the moving speed, and the cleaning levels corresponding to the number of consecutive reciprocating movements of the floor scrubber is determined as the target cleaning level, and the level flow rate and level mixing ratio of the target cleaning level are determined as the target flow rate and target mixing ratio, respectively.

[0139] In some embodiments, the method further includes:

[0140] If the turbidity exceeds the first turbidity threshold and remains there for a third duration, a prompting operation is performed to remind the user that the floor scrubber needs to perform a self-cleaning operation.

[0141] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the present invention. The scope of protection of the present invention is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to the present invention within its spirit and scope of protection, and such modifications or equivalent substitutions should also be considered to fall within the scope of protection of the present invention.

Claims

1. A floor scrubbing machine, characterized in that, include: The machine body has a roller brush and a suction port at the bottom; A cleaning fluid spraying system includes a first storage tank, a first infusion pump, and a spraying device. The first storage tank is used to store a first cleaning fluid, and the spraying device is connected to the first storage tank through the first infusion pump. The spraying device is used to spray the first cleaning fluid onto the roller brush. A sewage suction system includes a sewage tank and a suction device, wherein the sewage tank is connected to the suction port via the suction device, and the suction device is used to suction sewage through the suction port; A turbidity sensor is used to detect the turbidity of the wastewater drawn through the suction port; A motion detection device is used to detect the motion state of the floor scrubber and acquire motion information; The controller is connected to the first infusion pump, the suction device, the turbidity sensor, and the motion detection device, respectively. The controller is configured as follows: Based on the turbidity and the motion information, the target flow rate of the first cleaning fluid is determined; Based on the target flow rate, the infusion flow rate of the first infusion pump is controlled to control the spray flow rate of the spraying device; The cleaning fluid spraying system also includes a second storage tank and a second infusion pump, wherein the second storage tank is used to store a second cleaning fluid that is different from the first cleaning fluid. Based on the motion information, the moving speed of the floor scrubber and the number of consecutive reciprocating movements of the floor scrubber are determined; The reciprocating movement includes the floor scrubber moving a first distance along a first direction and then moving a second distance along a second direction opposite to the first direction; both the first distance and the second distance are less than a length threshold, and the time taken for the floor scrubber to move the first distance along the first direction and the time taken to move the second distance along the second direction are both less than a first duration; The spraying device is also connected to the second liquid storage tank via the second infusion pump, and the spraying device is used to spray a mixture of the first cleaning liquid and the second cleaning liquid onto the roller brush; Based on the turbidity, the moving speed of the floor scrubber, and the number of consecutive reciprocating movements of the floor scrubber, the target flow rate of the mixed liquid and the target mixing ratio of the second cleaning liquid and the first cleaning liquid are determined.

2. The floor scrubber according to claim 1, characterized in that, The controller is specifically configured as follows: Based on the turbidity and the motion information, the target flow rate of the mixture and the target mixing ratio of the second cleaning solution and the first cleaning solution are determined. Based on the target flow rate and the target mixing ratio, the infusion flow rate of the first infusion pump and the infusion flow rate of the second infusion pump are controlled to control the spray flow rate of the spraying device and the mixing ratio of the second cleaning liquid and the first cleaning liquid in the sprayed mixture.

3. The floor scrubbing machine according to claim 2, characterized in that, The detergency of the mixture is positively correlated with the target mixing ratio; the controller is specifically configured as follows: As the turbidity increases, the target flow rate of the mixture is increased, thereby increasing the target mixing ratio of the second cleaning solution to the first cleaning solution; and / or As the moving speed of the floor scrubber increases, the target flow rate of the mixture increases, thereby increasing the target mixing ratio of the second cleaning solution and the first cleaning solution; and / or As the number of reciprocating movements of the floor scrubber increases, the target flow rate of the mixture increases, thereby increasing the target mixing ratio of the second cleaning solution and the first cleaning solution.

4. The floor scrubbing machine according to claim 3, characterized in that, The controller is specifically configured as follows: Based on the turbidity, the first coefficient and the second coefficient are determined; Based on the aforementioned movement speed, the third and fourth coefficients are determined; The fifth and sixth coefficients are determined based on the number of consecutive reciprocating movements of the floor scrubber. The first coefficient, the third coefficient, and the fifth coefficient are weighted to determine the target flow rate; The second coefficient, the fourth coefficient, and the sixth coefficient are weighted to determine the target mixing ratio.

5. The floor scrubbing machine according to claim 4, characterized in that, The floor scrubber has multiple preset and sequentially increasing dirt levels, each of which has a corresponding dirt range, a first coefficient, and a second coefficient. The dirt range is positively correlated with the dirt level. The controller is specifically configured to: determine the current dirt level of the floor scrubber based on the detected dirt and the dirt range; update the first coefficient and the second coefficient if the dirt level changes and remains at the changed level for a second duration; and / or The floor scrubber has multiple preset speed levels that increase sequentially. Each speed level has a corresponding travel speed range, a third coefficient, and a fourth coefficient, where the travel speed range is positively correlated with the speed level. The controller is specifically configured to: determine the speed level of the floor scrubber based on its travel speed and the travel speed range; update the third and fourth coefficients when the speed level changes; and / or The floor scrubber has multiple preset and sequentially increasing reciprocating movement speeds. Each reciprocating movement speed has a corresponding range of reciprocating movement frequency, a fifth coefficient, and a sixth coefficient. The range of reciprocating movement frequency is positively correlated with the reciprocating movement speed. The controller is specifically configured to determine the reciprocating movement speed of the floor scrubber, as well as the fifth coefficient and the sixth coefficient corresponding to the reciprocating movement speed, based on the continuous reciprocating movement frequency and the range of reciprocating movement frequency of the floor scrubber.

6. The floor scrubbing machine according to claim 3, characterized in that, The floor scrubber has multiple progressively increasing cleaning levels, each with a corresponding range of dirt levels, movement speed, number of reciprocating movements, flow rate, and mixing ratio; the controller is configured as follows: Based on the degree of turbidity, determine the cleaning level corresponding to the degree of turbidity; Based on the moving speed, determine the cleaning level corresponding to the moving speed; Based on the number of consecutive reciprocating movements of the floor scrubber, a cleaning level corresponding to the number of consecutive reciprocating movements of the floor scrubber is determined. The highest cleaning level among the cleaning levels corresponding to the degree of turbidity, the cleaning levels corresponding to the moving speed, and the cleaning levels corresponding to the number of consecutive reciprocating movements of the floor scrubber is determined as the target cleaning level, and the level flow rate and level mixing ratio of the target cleaning level are determined as the target flow rate and target mixing ratio, respectively.

7. The floor scrubber according to claim 1, characterized in that, The motion detection device includes a first Hall sensor, a second Hall sensor, and a magnet; The magnet is disposed on the rim of the roller brush, and the first Hall sensor and the second Hall sensor are sequentially disposed near the rim of the roller brush along the rotation direction of the roller brush; or The magnet is positioned near the rim of the roller brush, and the first Hall sensor and the second Hall sensor are sequentially positioned on the rim of the roller brush along the rotation direction of the roller brush; or The magnet is disposed on the rim of the roller of the machine body, and the first Hall sensor and the second Hall sensor are sequentially disposed near the rim of the roller along the rotation direction of the roller; or The magnet is positioned near the rim of the roller on the machine body, and the first Hall sensor and the second Hall sensor are sequentially positioned on the rim of the roller along the rotation direction of the roller.

8. The floor scrubber according to claim 1, characterized in that, The controller is also configured to: If the turbidity exceeds the first turbidity threshold and remains there for a third duration, a prompting operation is performed to remind the user that the floor scrubber needs to perform a self-cleaning operation.

9. A control method applied to the floor scrubber according to any one of claims 1-8, characterized in that, The control method includes: Based on the turbidity and the motion information, the target flow rate of the first cleaning fluid is determined; Based on the target flow rate, the infusion flow rate of the first infusion pump is controlled to control the spray flow rate of the spraying device; The cleaning fluid spraying system also includes a second storage tank and a second infusion pump, wherein the second storage tank is used to store a second cleaning fluid that is different from the first cleaning fluid. Based on the motion information, the moving speed of the floor scrubber and the number of consecutive reciprocating movements of the floor scrubber are determined; the reciprocating movement includes the floor scrubber moving a first distance along a first direction, and then moving a second distance along a second direction opposite to the first direction; both the first distance and the second distance are less than a length threshold, and the time taken for the floor scrubber to move the first distance along the first direction and the time taken to move the second distance along the second direction are both less than a first duration; The spraying device is also connected to the second liquid storage tank via the second infusion pump, and the spraying device is used to spray a mixture of the first cleaning liquid and the second cleaning liquid onto the roller brush; Based on the turbidity, the moving speed of the floor scrubber, and the number of consecutive reciprocating movements of the floor scrubber, the target flow rate of the mixed liquid and the target mixing ratio of the second cleaning liquid and the first cleaning liquid are determined.

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