Floor cleaning machine and control method and device thereof

Abstract

The present application relates to the technical field of floor cleaning machines, and discloses a floor cleaning machine, a control method and device thereof, the control method comprising: acquiring dirt information of the environment around the floor cleaning machine, the dirt information comprising at least a dirt position; determining first rotation orientation information of the floor cleaning machine based on the dirt position and the current position of the floor cleaning machine, the first rotation orientation information being the orientation of the floor cleaning machine when it is directly opposite the dirt position; determining whether the second rotation orientation information of the floor cleaning machine adjusted manually by a user is consistent with the first rotation orientation information; if yes, controlling the floor cleaning machine to work normally; and if no, automatically correcting the floor cleaning machine to the dirt position based on the orientation difference between the first rotation orientation information and the second rotation orientation information. The present application can correct the cleaning direction of the floor cleaning machine based on the orientation difference between the first rotation orientation information and the second rotation orientation information, so that the floor cleaning machine can be directly opposite the dirt position, ensuring the cleaning effect and improving the user experience.

Description

Technical Field

[0001] This invention relates to the field of floor scrubbing machine technology, specifically to floor scrubbing machines and their control methods and devices. Background Technology

[0002] As people's living standards continue to improve, floor scrubbers for indoor floor cleaning have gradually entered people's lives. Currently, most floor scrubbers on the market require users to actively exert force by hand to change or maintain the direction of the machine to clean the floor. After working with the floor scrubber for a long time, users experience significant physical exertion and fatigue, resulting in a poor experience. Furthermore, it is difficult for users to accurately position the machine to the dirty area when manually adjusting its direction, leading to poor cleaning results. Summary of the Invention

[0003] In view of this, the present invention provides a floor scrubber and its control method and device to solve the problem that most existing floor scrubbers require users to actively exert force by hand to change or maintain the direction of the machine to clean the floor, making it difficult to accurately adjust the machine to the dirty position, resulting in poor cleaning effect.

[0004] In a first aspect, the present invention provides a control method for a floor scrubber, the control method comprising:

[0005] Obtain dirt information about the environment surrounding the floor scrubber, including at least the location of the dirt;

[0006] Based on the location of the dirt and the current position of the floor scrubber, determine the first rotation direction information of the floor scrubber to rotate to face the location of the dirt;

[0007] Determine whether the second rotation orientation information of the floor scrubber, which is manually adjusted by the user, is consistent with the first rotation orientation information;

[0008] If yes, the floor scrubber will operate normally; otherwise, based on the positional difference between the first and second rotational position information, the floor scrubber will be automatically corrected to the dirty location.

[0009] Beneficial effects: By automatically detecting the location of dirt in the environment surrounding the floor scrubber, and then analyzing the location of the dirt and the position of the floor scrubber, the system determines the first rotation orientation information required for the floor scrubber to rotate to the location of the dirt. The first rotation orientation information includes the rotation direction and rotation angle. The system then further determines whether the second rotation orientation information adjusted by the user matches the first rotation orientation information. If they are inconsistent, it indicates that the user's adjustment is either insufficient or excessive, causing a deviation in the cleaning position of the floor scrubber. At this point, the control module of the floor scrubber adjusts the orientation angle a second time to correct the cleaning direction, ensuring that the floor scrubber is directly facing the dirt, guaranteeing cleaning effectiveness, and improving the user experience. This effectively solves the problem that in existing floor scrubbers with assist functions, users still habitually adjust the overall direction of the machine during the cleaning process, causing a deviation in the cleaning position and failing to accurately adjust the floor scrubber to the dirt location, thus affecting the cleaning effect.

[0010] In one optional implementation, the first rotation orientation information includes the theoretical rotation direction and the theoretical rotation angle α1;

[0011] Determining whether the second rotation orientation information of the floor scrubber, manually adjusted by the user, is consistent with the first rotation orientation information includes the following steps:

[0012] Obtain the actual rotation direction and actual rotation angle α2 of the floor scrubber adjusted by the user;

[0013] If the actual rotation direction is the same as the theoretical rotation direction, then the relationship between the theoretical rotation angle α1 and the actual rotation angle α2 should be further determined.

[0014] When the theoretical rotation angle α1 equals the actual rotation angle α2, the floor scrubber is controlled to work normally.

[0015] When the actual rotation angle α2 is less than the theoretical rotation angle α1, the floor scrubber is controlled to continue rotating by an angle Δα in the actual rotation direction until the dirty position is reached, where Δα = α1 - α2;

[0016] When the actual rotation angle α2 is greater than the theoretical rotation angle α1, the floor scrubber is controlled to rotate in the opposite direction by an angle △α′ to the dirty position, where △α′=α2-α1.

[0017] Beneficial effects: If the actual rotation angle (α2) is less than the theoretical rotation angle (α1), it means the user is not rotating the machine properly. The floor scrubber should be controlled to continue rotating by an angle Δα to the dirty position to correct the machine's position and ensure it is directly facing the dirty area, thus improving the cleaning effect. If the actual rotation angle (α2) is greater than the theoretical rotation angle (α1), it means the user is rotating excessively. The floor scrubber should be controlled to rotate by an angle Δα′ to the dirty position to correct the machine's position and ensure it is directly facing the dirty area, thus improving the cleaning effect.

[0018] In one optional implementation, when the actual rotation angle α2 is greater than the theoretical rotation angle α1, the floor scrubber is controlled to rotate in the opposite direction by an angle Δα′ to the dirty position, where Δα′=α2-α1, specifically including the following steps:

[0019] When the actual rotation angle α2 is greater than the theoretical rotation angle α1, the angle difference Δα′ = α2 - α1 is calculated.

[0020] And determine whether △α′ is greater than 180°; if so, control the floor scrubber to continue rotating by (360°-△α′) angle according to the actual rotation direction until the dirty position is reached;

[0021] If not, control the floor scrubber to rotate by an angle △α′ in the theoretical rotation direction until it reaches the dirty location.

[0022] Beneficial effects: By designing the above methods and steps, when the actual rotation direction is consistent with the theoretical rotation direction, a reasonable correction direction can be planned for the floor scrubber. This enables the floor scrubber to quickly correct its position, allowing it to rotate in the optimal direction, along the shortest path, and in the shortest time to reach the working position directly opposite the dirt. This method is time-efficient, highly effective, and energy-saving, thus improving the user experience.

[0023] In one optional implementation, determining whether the second rotation orientation information of the floor scrubber manually adjusted by the user is consistent with the first rotation orientation information further includes the following steps:

[0024] If the actual rotation direction is different from the theoretical rotation direction, calculate the sum of the theoretical rotation angle α1 and the actual rotation angle α2, where α = α1 + α2.

[0025] And determine whether α is greater than 180°;

[0026] If so, the floor scrubber will continue to rotate at a preset angle according to the actual rotation direction until the dirty position is reached, where the preset angle = 360° - α;

[0027] If not, control the floor scrubber to rotate in the opposite direction by an angle α until it reaches the dirty location.

[0028] Beneficial effects: By designing the above methods and steps, when the actual rotation direction is inconsistent with the theoretical rotation direction, a reasonable correction direction can be planned for the floor scrubber. This enables the floor scrubber to quickly correct its position, allowing it to rotate in the optimal direction, along the shortest path, and in the shortest time to reach the working position directly opposite the dirt. This method is time-efficient, highly effective, and energy-saving, thus improving the user experience.

[0029] In one alternative implementation, the floor scrubber is provided with a manual adjustment module for users to manually adjust the direction of the floor scrubber.

[0030] To determine whether the second rotation orientation information of the floor scrubber, manually adjusted by the user, is consistent with the first rotation orientation information, the following steps are performed beforehand:

[0031] Determine if the user manually adjusts the module:

[0032] If yes, then proceed to the step of determining whether the second rotation orientation information of the floor scrubber manually adjusted by the user is consistent with the first rotation orientation information; if no, then control the floor scrubber to automatically rotate to the dirty position.

[0033] Beneficial effects: If no user operation is detected, it indicates that the user has not manually adjusted the position of the floor scrubber. The floor scrubber can then work normally according to the current state, automatically correcting itself to the dirty position. There is no need to perform the step of judging whether the second rotation position information of the floor scrubber manually adjusted by the user is consistent with the first rotation position information. When the user is detected to have operated the manual adjustment module, it indicates that the user has manually adjusted the position of the floor scrubber. In this case, it is necessary to judge whether the user has adjusted the floor scrubber to a position directly facing the dirty position to avoid deviations in the position adjusted by the user, which would affect the cleaning effect of the floor scrubber.

[0034] In one alternative implementation, automatically orienting the floor scrubber to the dirty location includes the following steps:

[0035] When it is determined that the correction direction of the floor scrubber is clockwise, the speed of the drive wheel on the left side of the floor scrubber is controlled to be greater than the speed of the drive wheel on the right side of the floor scrubber.

[0036] When the direction of correction of the floor scrubber is determined to be counterclockwise, the speed of the drive wheel on the left side of the floor scrubber is controlled to be less than the speed of the drive wheel on the right side of the floor scrubber.

[0037] Beneficial effects: The floor scrubber has drive wheels at the bottom to propel the entire machine. These drive wheels are located on the left and right sides of the machine. When the correction direction is determined to be clockwise, the speed of the left drive wheel is increased to be greater than that of the right drive wheel, causing the scrubber to rotate clockwise to achieve the correction. When the correction direction is determined to be counterclockwise, the speed of the left drive wheel is decreased to be less than that of the right drive wheel, causing the scrubber to rotate counterclockwise to achieve the correction. By controlling the different speeds of the left and right drive wheels, the rotation direction of the floor scrubber is automatically adjusted. The steering method is simple and efficient, the steering control is more convenient, the steering precision and accuracy are higher, and it is easy to popularize and promote its use.

[0038] In one alternative implementation, the following steps are also performed during the process of orienting the floor scrubber to the dirty location:

[0039] Reduce the water flow rate of the floor scrubber.

[0040] Beneficial effects: By reducing the water flow rate during the secondary correction and adjustment of the floor scrubber's position, it is possible to effectively avoid excessive water flow during the correction process, which would cause water to accumulate around the floor scrubber, resulting in unnecessary waste of water resources, inconvenience in cleaning, increased cleaning difficulty, and a poor user experience.

[0041] In one alternative implementation, the following steps are also performed during the process of orienting the floor scrubber to the dirty location:

[0042] The suction power of the floor scrubber is determined by the magnitude of the orientation difference, and the suction power is positively correlated with the magnitude of the orientation difference.

[0043] Beneficial effects: If the positional difference is large, it indicates that the floor scrubber needs to rotate at a larger angle during the correction process, and the water spray coverage area is also larger. At this time, there is more water on the ground, so the suction power of the floor scrubber should be increased accordingly to quickly absorb water stains and prevent water stains from remaining. Conversely, if the positional difference between the first and second rotational positional information is small, it indicates that the floor scrubber needs to rotate at a smaller angle during the correction process, and the water spray coverage area is also smaller. At this time, there is less water on the ground, so the suction power of the floor scrubber should be reduced accordingly to save resources.

[0044] In one optional implementation, the dirt information further includes dirt type, dirt area, and dirt degree, and the control method further includes the following steps:

[0045] Based on the dirt information, determine the operating parameters of the floor scrubber, which include at least one of the following: suction power, water flow rate, and cleaning time.

[0046] Beneficial effects: By determining the operating parameters of the floor scrubber based on the dirt information, the dirt removal effect can be effectively ensured, while avoiding unnecessary waste of resources, thus achieving both good cleaning effect and energy saving.

[0047] Secondly, the present invention also provides a control device for a floor scrubber, applicable to the control method of the floor scrubber in any of the above embodiments, the control device comprising:

[0048] The acquisition module is used to acquire dirt information about the environment around the floor scrubber, including at least the location of the dirt.

[0049] The analysis module is used to determine the first rotation orientation information of the floor scrubber to face the dirt position based on the location of the dirt and the current position of the floor scrubber.

[0050] The judgment module is used to determine whether the second rotation orientation information of the floor scrubber manually adjusted by the user is consistent with the first rotation orientation information;

[0051] The control module is used to control the operation of the floor scrubber based on the judgment result of the judgment module. When the judgment module determines that the second rotation orientation information of the floor scrubber adjusted by the user is consistent with the first rotation orientation information, the control module controls the floor scrubber to work normally.

[0052] When the judgment module determines that the second rotation orientation information of the floor scrubber adjusted by the user is inconsistent with the first rotation orientation information, the control module automatically corrects the floor scrubber to the dirty position based on the orientation difference between the first rotation orientation information and the second rotation orientation information.

[0053] Thirdly, the present invention also provides a floor scrubbing machine, employing a control method for the floor scrubbing machine according to any of the above embodiments, the floor scrubbing machine comprising:

[0054] body;

[0055] The dirt detection module is installed on the machine body and is used to obtain dirt information of the environment around the floor scrubber. The dirt information includes at least the location of the dirt.

[0056] The manual adjustment module is located on the top of the machine body, allowing users to manually adjust the direction of the floor scrubber;

[0057] The steering drive module, located at the bottom of the machine body, is used to automatically adjust the direction and working position of the floor scrubber.

[0058] In one optional implementation, the steering drive module includes two sets of drive wheels distributed on the left and right sides of the floor scrubber, and two sets of drive motors adapted to drive the two sets of drive wheels to rotate respectively. Attached Figure Description

[0059] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0060] Figure 1 This is a simplified structural diagram of the floor scrubber in an embodiment of the present invention;

[0061] Figure 2 This is a flowchart illustrating the first embodiment of the floor scrubber control method in this invention.

[0062] Figure 3 This is a flowchart illustrating a second embodiment of the floor scrubber control method in this invention.

[0063] Figure 4 This is a flowchart illustrating the third embodiment of the floor scrubber control method in this invention.

[0064] Explanation of reference numerals in the attached figures:

[0065] 10. Body; 20. Handle; 21. Manual adjustment module; 30. Base; 31. Drive wheel. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0067] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for 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 invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0068] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0069] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0070] As people's living standards continue to improve, floor scrubbers for indoor floor cleaning have gradually entered people's lives. Currently, most floor scrubbers on the market require users to actively exert force by hand to change or maintain the direction of the machine to clean the floor. After working with the floor scrubber for a long time, users experience significant physical exertion and fatigue, resulting in a poor experience. Furthermore, it is difficult for users to accurately position the machine to the dirty area when manually adjusting its direction, leading to poor cleaning results.

[0071] While floor scrubbers in related technologies offer power assistance through self-driving devices, saving energy and alleviating fatigue and discomfort from prolonged operation of heavy machines, users still tend to adjust the machine's direction when encountering obstacles such as tables, wardrobes, or chairs, or when the adjacent floor is dirty. This often results in over- or under-adjustment, causing cleaning deviations and preventing the machine from accurately targeting the dirty areas, thus affecting cleaning effectiveness.

[0072] The following is combined with Figures 1 to 4 The following describes embodiments of the present invention.

[0073] According to embodiments of the present invention, in one aspect, the present invention provides a control method for a floor scrubber, combined with Figure 1 , Figure 2 As shown, the control method includes the following steps:

[0074] Step S101: Obtain dirt information of the environment around the floor scrubber, including at least the location of the dirt;

[0075] Step S102: Based on the location of the dirt and the current position of the floor scrubber, determine the first rotation orientation information of the floor scrubber to rotate to face the location of the dirt;

[0076] Step S103: Determine whether the second rotation orientation information of the floor scrubber manually adjusted by the user is consistent with the first rotation orientation information;

[0077] If yes, proceed to step S104; if no, proceed to step S105.

[0078] Step S104: Control the floor scrubber to operate normally;

[0079] Step S105: Based on the positional difference between the first rotational position information and the second rotational position information, the floor scrubber is automatically corrected to the dirty position.

[0080] In the above embodiment, the system automatically detects the location of dirt in the environment surrounding the floor scrubber, and then analyzes the first rotation orientation information required for the floor scrubber to rotate to the location of the dirt based on the location of the dirt and the position of the floor scrubber. The first rotation orientation information includes the rotation direction and rotation angle. Then, it is further determined whether the second rotation orientation information of the floor scrubber adjusted by the user is consistent with the first rotation orientation information. If they are inconsistent, it means that the user has not adjusted it properly or has adjusted it excessively, and the cleaning position of the floor scrubber has deviated. At this time, the control module of the floor scrubber adjusts the orientation angle of the floor scrubber a second time to correct the cleaning direction of the floor scrubber, so that the floor scrubber can be directly facing the location of the dirt, ensuring the cleaning effect. This effectively solves the problem that in existing floor scrubbers with assist function, users still habitually adjust the direction of the whole machine during the cleaning process, causing the cleaning position to deviate and failing to accurately adjust the floor scrubber to the location of the dirt, thus affecting the cleaning effect.

[0081] Specifically, in step S101, the dirt information of the environment surrounding the floor scrubber can be obtained through detection devices such as an image acquisition module, an infrared detection module, and a capacitive sensor to determine the location and degree of dirt. In step S102, the floor scrubber can determine its rotation orientation information when it rotates to face the dirt position based on the dirt position obtained in step S101 and its current position. The rotation orientation information includes the rotation direction and the rotation angle. In steps S103 to S105, if it is determined that the floor scrubber's manually adjusted orientation information is inconsistent with the first rotation orientation information inferred in step S102, it indicates that the user has over-adjusted or under-adjusted. The floor scrubber's position is then corrected based on the difference between the first and second rotation orientation information, so that the floor scrubber can rotate to a position directly facing the dirt position. If it is determined that the first and second rotation orientation information are consistent, it indicates that the user's adjusted position is directly facing the dirt position, eliminating the need for secondary adjustment and saving energy.

[0082] It should be noted that, in this embodiment, the orientation information between the floor scrubber and the dirty location is determined based on the central axis of the floor scrubber.

[0083] In some more specific embodiments, the first rotation orientation information includes the theoretical rotation direction and the theoretical rotation angle α1;

[0084] Combination Figure 1 , Figure 3 As shown, determining whether the second rotation orientation information of the floor scrubber manually adjusted by the user is consistent with the first rotation orientation information includes the following steps:

[0085] Step S201: Obtain the actual rotation direction and actual rotation angle α2 of the floor scrubber adjusted by the user;

[0086] Step S202: If the actual rotation direction is the same as the theoretical rotation direction, then further determine the relationship between the theoretical rotation angle α1 and the actual rotation angle α2;

[0087] Step S203: When the theoretical rotation angle α1 is equal to the actual rotation angle α2, control the floor scrubber to work normally;

[0088] Step S204: When the actual rotation angle α2 is less than the theoretical rotation angle α1, control the floor scrubber to continue rotating by an angle Δα in the actual rotation direction until the dirty position is reached, where Δα = α1 - α2;

[0089] Step S205: When the actual rotation angle α2 is greater than the theoretical rotation angle α1, control the floor scrubber to rotate in the opposite direction by an angle △α′ to the dirty position, where △α′=α2-α1.

[0090] In the above embodiment, the second rotation orientation information includes the actual rotation direction and actual rotation angle α2 of the floor scrubber, that is, the rotation direction and rotation angle of the floor scrubber manually adjusted by the user. When it is determined that the direction of the floor scrubber adjusted by the user is consistent with the calculated theoretical rotation direction of the floor scrubber, the relationship between the actual rotation angle (i.e., α2) and the theoretical rotation angle (i.e., α1) is further determined. If the two are equal, it means that the user's manual adjustment is error-free and the floor scrubber can be controlled to work normally. If it is determined that the actual rotation angle (i.e., α2) is less than the theoretical rotation angle (i.e., α1), it means that the user's rotation is not in place, and the floor scrubber needs to be controlled to continue rotating by an angle Δα to the dirty position to correct the position of the floor scrubber so that the floor scrubber can face the dirty position and improve the cleaning effect. If it is determined that the actual rotation angle (i.e., α2) is greater than the theoretical rotation angle (i.e., α1), it means that the user's rotation is excessive, and the floor scrubber is controlled to rotate by an angle Δα′ to the dirty position to correct the position of the floor scrubber so that the floor scrubber can face the dirty position and improve the cleaning effect.

[0091] In some preferred embodiments, step S204 further includes the following steps:

[0092] Step S2041: When the actual rotation angle α2 is greater than the theoretical rotation angle α1, calculate the angle difference △α′=α2-α1.

[0093] Step S2042: Determine whether △α′ is greater than 180°;

[0094] If yes, proceed to step S2043; if no, proceed to step S2044.

[0095] Step S2043: Control the floor scrubber to continue rotating (360° - △α′) angle in the actual rotation direction until it reaches the dirty position;

[0096] Step S2044: Control the floor scrubber to rotate △α′ in the theoretical rotation direction (i.e., the opposite of the actual rotation direction) to the dirty position.

[0097] In the above embodiment, when the user manually adjusts the angle beyond the specified range by a large margin, specifically when △α′>180°, the floor scrubber is controlled to continue rotating by (360°-△α′) angle according to the actual rotation direction adjusted by the user until it reaches the dirty position. When the user manually adjusts the angle beyond the specified range by a small margin, specifically when △α′≤180°, the floor scrubber is controlled to rotate in the opposite direction by △α′ angle until it reaches the dirty position. Through the design of the above method steps, a reasonable correction direction can be planned for the floor scrubber, which can quickly correct the position of the floor scrubber, so that it can quickly rotate to the working position directly opposite the dirty position in the shortest path and the shortest time with the optimal rotation direction. This method is time-saving, efficient, and energy-saving, which is beneficial to improving the user experience.

[0098] In some embodiments, combined with Figure 1 and Figure 4 As shown, determining whether the second rotation orientation information of the floor scrubber manually adjusted by the user is consistent with the first rotation orientation information includes the following steps:

[0099] Step S301: If the actual rotation direction is different from the theoretical rotation direction, calculate the sum of the theoretical rotation angle α1 and the actual rotation angle α2, where α = α1 + α2.

[0100] Step S302: Determine whether α is greater than 180°;

[0101] If yes, proceed to step S303; if no, proceed to step S304.

[0102] Step S303: Control the floor scrubber to continue rotating at a preset angle according to the actual rotation direction until the dirty position is reached, where the preset angle = 360° - α;

[0103] Step S304: Control the floor scrubber to rotate in the opposite direction of the theoretical rotation angle by α until it reaches the dirty position.

[0104] In the above embodiment, when it is determined that the direction of the floor scrubber adjusted by the user is opposite to the calculated theoretical rotation direction of the floor scrubber, the sum of the actual rotation angle (i.e., α2) and the theoretical rotation angle (i.e., α1) α is further calculated. When it is determined that α is greater than 180°, it indicates that the current position of the floor scrubber is significantly different from the position of the dirt. At this time, the floor scrubber is controlled to continue rotating (360°-α) angles in the actual rotation direction to the position of the dirt, using the most reasonable rotation direction and the shortest path to reach the position of the dirt. When it is determined that α is less than or equal to 180°, it indicates that the current position of the floor scrubber is significantly different from the position of the dirt. At this time, the floor scrubber is controlled to rotate α angles in the opposite direction to the position of the dirt, using the most reasonable rotation direction and the shortest path to reach the position of the dirt. By designing the above methods and steps, when the actual rotation direction adjusted by the user is inconsistent with the theoretical rotation direction obtained through calculation, a reasonable correction direction can be planned for the floor scrubber. This enables the floor scrubber to quickly correct its position, allowing it to rotate in the optimal direction, along the shortest path, and in the shortest time to reach the working position directly opposite the dirt. This process is time-efficient, highly effective, and energy-saving, thus improving the user experience.

[0105] In some embodiments, the floor scrubber is provided with a manual adjustment module 21 for users to manually adjust the direction of the floor scrubber;

[0106] To determine whether the second rotation orientation information of the floor scrubber, manually adjusted by the user, is consistent with the first rotation orientation information, the following steps are performed beforehand:

[0107] Step S401: Determine if the user has operated the manual adjustment module 21.

[0108] If yes, proceed to step S402; if no, proceed to step S403.

[0109] Step S402: Execute the step of determining whether the second rotation orientation information of the floor scrubber manually adjusted by the user is consistent with the first rotation orientation information;

[0110] Step S403: Control the floor scrubber to automatically rotate to the dirty area.

[0111] In the above embodiment, after the machine is turned on, it can detect whether the user has manually adjusted the module 21. If the user does not operate, it means that the user has not manually adjusted the position of the floor scrubber. The floor scrubber can then work normally according to the current state and automatically correct itself to the dirty position. There is no need to perform the step of judging whether the second rotation position information of the floor scrubber manually adjusted by the user is consistent with the first rotation position information. When the user operates the manual adjustment module 21, it means that the user has manually adjusted the position of the floor scrubber. Then it is necessary to judge whether the user has adjusted the floor scrubber to a position directly facing the dirty position to avoid deviation in the position adjusted by the user, which would affect the cleaning effect of the floor scrubber.

[0112] In some embodiments, automatically correcting the floor scrubber to the dirty location includes the following steps:

[0113] Step S501: When it is determined that the correction direction of the floor scrubber is clockwise, the rotation speed of the drive wheel 31 located on the left side of the floor scrubber is controlled to be greater than the rotation speed of the drive wheel 31 located on the right side of the floor scrubber.

[0114] Step S502: When it is determined that the correction direction of the floor scrubber is counterclockwise, the rotation speed of the drive wheel 31 located on the left side of the floor scrubber is controlled to be less than the rotation speed of the drive wheel 31 located on the right side of the floor scrubber.

[0115] In the above embodiment, the bottom of the floor scrubber is provided with drive wheels 31 for driving the entire machine. The drive wheels 31 are distributed on the left and right sides of the floor scrubber. When the correction direction is determined to be clockwise, the rotation speed of the left drive wheel 31 is controlled to be greater than that of the right drive wheel 31, so that the floor scrubber rotates in a clockwise direction to achieve the correction purpose. When the correction direction is determined to be counterclockwise, the rotation speed of the left drive wheel 31 is controlled to be less than that of the right drive wheel 31, so that the floor scrubber rotates in a counterclockwise direction to achieve the correction purpose. By controlling the different rotation speeds of the left and right drive wheels 31, the rotation direction of the floor scrubber is automatically adjusted. The steering method is simple and efficient, the steering control is more convenient, the steering accuracy and precision are higher, it is easy to popularize, and it is conducive to the use and promotion of the floor scrubber.

[0116] In some embodiments, the following steps are also performed during the process of orienting the floor scrubber to the dirty location:

[0117] Step S601: Reduce the water flow rate of the floor scrubber.

[0118] In the above embodiments, by reducing the water flow rate of the floor scrubber during the secondary correction and adjustment of its position, it is possible to effectively avoid excessive water flow during the correction process, which would cause water to surround the floor scrubber, resulting in unnecessary waste of water resources, inconvenience in cleaning, increased cleaning difficulty, and a poor user experience.

[0119] It should be noted that in the above embodiments, "reduced water flow rate" refers to the water flow rate relative to the normal cleaning operation of the floor scrubber. For example, if the water flow rate of the floor scrubber during normal operation is Q1, and the water flow rate during the process of correcting the floor scrubber to the dirty position is Q2, then Q1 < Q2. Of course, in other alternative embodiments, the water flow rate of the floor scrubber can also be controlled to be less than a set flow rate threshold.

[0120] For example, the floor scrubber has a default working mode and an automatic working mode. The default working mode includes a deep cleaning mode, a medium cleaning mode, and a gentle cleaning mode, with different water flow rates corresponding to different cleaning modes. For instance, if the user selects the floor scrubber to work in deep cleaning mode, the corresponding water flow rate for deep cleaning mode is 5L / min. Then, during the process of correcting the position of the floor scrubber, the water flow rate is controlled to be less than 5L / min. The automatic working mode allows the floor scrubber to automatically select deep cleaning mode, medium cleaning mode, or gentle cleaning mode based on the level of dirt, or automatically match the corresponding working parameters. For instance, if a heavy level of dirt is detected, the water flow rate is controlled to be greater than 10L / min. Therefore, during the process of correcting the position of the floor scrubber, the water flow rate is controlled to be less than 10L / min.

[0121] In some embodiments, the following steps are also performed during the process of orienting the floor scrubber to the dirty location:

[0122] Step S701: Determine the suction power of the floor scrubber based on the magnitude of the orientation difference, wherein the suction power is positively correlated with the magnitude of the orientation difference.

[0123] In the above embodiments, a large azimuth difference indicates that the floor scrubber needs to rotate a larger angle during the correction process, resulting in a larger water spray coverage area. In this case, there is more water on the ground, so the suction power of the floor scrubber should be increased accordingly. This increased suction power allows for rapid absorption of water stains, preventing water residue and effectively solving the problem of water residue on the ground caused by adjusting the cleaning direction of the floor scrubber. Conversely, when the azimuth difference between the first and second rotation azimuth information is small, it indicates that the floor scrubber needs to rotate a smaller angle during the correction process, resulting in a smaller water spray coverage area. In this case, there is less water on the ground, so the suction power of the floor scrubber should be reduced accordingly to conserve resources.

[0124] In some embodiments, the dirt information further includes dirt type, dirt area, and dirt degree, and the control method further includes the following steps:

[0125] Step S801: Based on the dirt information, determine the operating parameters of the floor scrubber, wherein the operating parameters include at least one of suction power, water flow rate, and cleaning time.

[0126] By determining the operating parameters of the floor scrubber based on the dirt information, the dirt removal effect can be effectively ensured without causing unnecessary waste of resources, thus achieving both good cleaning results and energy saving.

[0127] In this embodiment, the floor scrubber includes, but is not limited to, loads such as a suction motor and a water pump motor. Increasing the speed of the suction motor increases suction power, enabling rapid water absorption and preventing residue. Alternatively, decreasing the speed of the suction motor reduces suction power, saving energy. The water flow rate can also be reduced by decreasing the speed of the water pump motor, or increased by increasing the speed of the water pump motor.

[0128] According to an embodiment of the present invention, in another aspect, a control device for a floor scrubber is provided, applicable to the control method of the floor scrubber in any of the above embodiments. The control device includes an acquisition module, an analysis module, a judgment module, and a control module. The acquisition module is used to acquire dirt information of the environment surrounding the floor scrubber, the dirt information including at least the location of the dirt. The analysis module is used to determine a first rotation orientation information of the floor scrubber to rotate to face the dirt location based on the dirt location and the current position of the floor scrubber. The judgment module is used to determine whether the second rotation orientation information of the floor scrubber manually adjusted by the user is consistent with the first rotation orientation information. The control module is used to control the operation of the floor scrubber according to the judgment result of the judgment module. When the judgment module determines that the second rotation orientation information of the floor scrubber adjusted by the user is consistent with the first rotation orientation information, the control module controls the floor scrubber to operate normally. When the judgment module determines that the second rotation orientation information of the floor scrubber adjusted by the user is inconsistent with the first rotation orientation information, the control module automatically corrects the floor scrubber to the dirt location based on the orientation difference between the first rotation orientation information and the second rotation orientation information.

[0129] According to an embodiment of the present invention, in another aspect, a floor scrubber is provided, employing a control method for the floor scrubber according to any of the above embodiments. The floor scrubber includes: a machine body 10, a dirt detection module, and a manual adjustment module 21.

[0130] The dirt detection module is located on the machine body 10 and is used to obtain dirt information of the surrounding environment of the floor scrubber. The dirt information includes at least the location of the dirt. The manual adjustment module 21 is located on the top of the machine body 10 and is used for users to manually adjust the direction of the floor scrubber. The steering drive module is located on the bottom of the machine body 10 and is used to automatically adjust the direction and working position of the floor scrubber.

[0131] Specifically, the dirt detection module includes, but is not limited to, an infrared detection mechanism, an image acquisition mechanism, a capacitive sensor, and a dust sensor.

[0132] For example, the dirt detection module includes a dust sensor installed on the lower part of the body 10. The dust sensor can identify the degree of dirt in the vicinity, and then adjust the overall orientation of the machine to achieve directional adjustment. Alternatively, the dirt detection module includes a capacitive sensor installed on the bottom of the body 10. The capacitive sensor is in contact with the ground, and the change in capacitance is used to determine the degree of dirt in the vicinity and other information.

[0133] Furthermore, the manual adjustment module 21 includes, but is not limited to, a universal hand crank, a touch-screen LCD hand crank, and directional controllable buttons. The manual adjustment module 21 allows users to manually adjust the direction. This module can recognize the angle and direction adjusted by the user and adjust the overall direction of the machine accordingly.

[0134] Optionally, a handle 20 is provided on the machine body 10, and a manual adjustment module 21 is provided on the handle 20. Specifically, the manual adjustment module 21 includes a universal hand crank device provided on the handle 20. The device is equipped with a direction sensor. When the user adjusts the direction hand crank, the direction sensor obtains the size and direction of the angle adjusted by the user and sends it to the control module of the floor scrubber.

[0135] For example, the manual adjustment module 21 can be a universal hand crank. When the user needs to adjust the direction, they only need to adjust the universal hand crank to control the working direction of the floor scrubber. The manual adjustment module 21 is connected to the main control board of the floor scrubber. If the user operates the manual adjustment module 21, it will trigger a change in the voltage level of the main control chip pin controlled by the main control board, which indicates that the direction needs to be adjusted. If the voltage level does not change, no adjustment is required.

[0136] In some embodiments, the steering drive module includes two sets of drive wheels 31 distributed on the left and right sides of the floor scrubber, and two sets of drive motors adapted to drive the two sets of drive wheels 31 to rotate respectively.

[0137] In this embodiment, if the correction direction is determined to be clockwise, the speed of the left drive motor is controlled to be greater than the speed of the right drive motor; if the correction direction is counterclockwise, the speed of the left drive motor is controlled to be less than the speed of the right drive motor.

[0138] Specifically, in this embodiment, the steering drive module acts as an assistive device, helping to adjust the direction and position of the floor scrubber. Optionally, the steering drive module is similar to a wheel-like device, mounted on the base 30 of the floor scrubber and distributed on the left and right sides of the floor brush on the base 30. After determining the direction angle to be corrected, the control module will match different speeds to the two drive wheels 31 according to the angle, thereby achieving a change in direction.

[0139] Furthermore, the main control board initiates steering drive module control actions, controlling the drive wheels 31 on the left and right sides of the floor scrubber to rotate at different speeds, thereby adjusting the overall machine direction. The assist device functions as follows: The assist device is a device that drives the entire machine to change direction. After acquiring the direction magnitude, the main control board will match different speeds to the motors on both sides of the assist device according to the direction magnitude, achieving direction adjustment. The manual adjustment module 21 acquires the user's desired angle and direction, and matches different speeds to the motors on both sides of the assist device according to the angle and direction, achieving direction adjustment. The number of assist devices is evenly distributed on the left and right sides; during direction adjustment, the direction is adjusted by controlling the speed of the drive motors on both sides.

[0140] In some more preferred embodiments, if a user is detected to have a tendency to rotate the manual adjustment module 21 clockwise, the speed of the drive motor on the left is controlled to be greater than the speed of the drive motor on the right to provide assistance; if a user is detected to have a tendency to rotate the manual adjustment module 21 counterclockwise, the speed of the drive motor on the left is controlled to be less than the speed of the drive motor on the right to provide assistance.

[0141] This invention achieves precise adjustment of the floor scrubber's working direction by acquiring the directional angle parameters operated by the user on the manual adjustment module 21, and correspondingly adjusting the speed of the drive motors on both sides of the steering drive module. This reduces the user's cleaning workload. If the user's adjusted direction is not directed to a heavily soiled area, the control module will control the speed of the drive motors on both sides according to the size of the angle deviation, readjusting the floor scrubber's direction to the heavily soiled area, thus correcting the floor scrubber's direction. Simultaneously, by adjusting the load parameters of the suction motor and water pump motor, the system absorbs residual water stains on the floor, ensuring effective cleaning.

[0142] Specifically, by installing a manual adjustment module 21 for directional adjustment on the handle 20 of the floor scrubber, the user can easily adjust the cleaning direction and overall speed of the machine. Based on the information about the dirt in the surrounding environment, if the user's adjusted direction is not directed to a heavily soiled area, the dirt detection module will send a feedback signal based on the magnitude of the angular deviation, prompting the main controller to readjust the floor scrubber's direction to the heavily soiled area, thus correcting the cleaning position. During the correction process, the cleaning direction of the floor scrubber is adjusted through the steering drive module, eliminating the need for the user to actively exert force or manually change or maintain the machine's directional cleaning, thus preventing fatigue during prolonged use.

[0143] Furthermore, during the direction adjustment process, the operating parameters of the load are also controlled, such as reducing the speed of the water pump motor and determining the suction force based on the magnitude of the azimuth difference, thereby absorbing water stains on the ground and avoiding water stains residue, thus ensuring the cleaning effect. This effectively solves the problem of cleaning fatigue caused by the traditional method of users changing the working direction of the whole machine by exerting force by hand for a long time, as well as the problem of water stains residue on the ground caused by adjusting the cleaning direction of the floor scrubber.

[0144] Furthermore, in this embodiment, a manual adjustment module 21 for direction adjustment is added to the handle 20. The user adjusts the overall machine direction by operating the manual adjustment module 21. After recognizing the user's manually adjusted direction angle, the control module obtains the required adjustment angle parameters and direction based on the theoretical rotation direction and angle of the floor scrubber, and controls the rotation speed of the drive motors on both sides of the steering drive module. The drive wheels 31 and drive motors of the steering drive module are distributed on the left and right sides of the bottom of the floor scrubber. By giving the left and right drive motors different speeds, with the specific rotation speed parameters adapted according to the corresponding algorithm, the overall machine direction is changed, achieving the purpose of direction adjustment.

[0145] Optionally, the dirt detection module includes a capacitive sensor located around the floor brush of the floor scrubber. The capacitive sensor combines the angle and direction adjusted by the manual adjustment module 21 with the areas of heavier dirt it identifies in the surrounding area. If the adjusted angle fails to directionally adjust to the area of ​​heavier dirt, the main controller will make a fine-tuning action to adjust the whole machine to the direction of that area, thereby improving the cleaning effect.

[0146] To facilitate understanding of the present invention, this embodiment provides the working process of one implementation of the floor scrubber, as detailed below:

[0147] After the machine is started, it checks whether the user has operated the manual adjustment module 21. If no operation is detected, the floor scrubber operates normally according to the current state. If user operation of the manual adjustment module 21 is detected, the direction and angle parameter A of the user's adjustment is obtained. Optionally, if the user tends to adjust clockwise, the speed of the left drive motor is controlled to be greater than that of the right drive motor; if the user tends to adjust counterclockwise, the speed of the left drive motor is controlled to be less than that of the right drive motor.

[0148] Furthermore, the control module compares the angle parameter A and direction adjusted by the user with the direction of the heaviest dirt detected by the dirt detection module. If angle parameter A is greater than or less than angle B of the heavily soiled area, the control module adjusts the signals of the drive motors on both sides. Based on the deviation between angles A and B, the control module adjusts the speed of the left and right drive motors accordingly, enabling directional cleaning of heavily soiled areas. If angles A and B are equal, then adjustment is based on angle A.

[0149] Furthermore, during the direction adjustment process, other load parameters of the floor scrubber are adjusted, such as reducing the water flow rate of the water pump motor and adjusting the suction power of the suction motor, which helps to absorb water stains on the floor. During the direction adjustment process, it is determined whether the direction and angle of the floor scrubber have been adjusted completely. If the adjustment is complete, the corresponding load parameters are restored to the parameter levels corresponding to the current working mode of the floor scrubber, such as increasing the water flow rate to the flow rate level corresponding to the current working mode, and the machine continues to work in the adjusted direction. If the feedback indicates that the adjustment is not complete, the operation of controlling the different speeds of the left and right drive motors to adjust the cleaning direction of the floor scrubber continues.

[0150] It should be explained that the program has a corresponding algorithm for adjusting the direction and angle of the floor scrubber. This algorithm matches the speed of the drive motors on both sides by detecting the current adjustment angle. There is a corresponding timer for different angle adjustments. If the timer for the adjustment is reached, the direction adjustment is considered complete; otherwise, it is not.

[0151] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A control method of a scrubber, characterized by, The control method includes: Obtain dirt information about the environment surrounding the floor scrubber, wherein the dirt information includes at least the location of the dirt; Based on the location of the dirt and the current position of the floor scrubber, determine the first rotation orientation information of the floor scrubber to rotate to face the location of the dirt; Determine whether the second rotation orientation information of the floor scrubber, which is manually adjusted by the user, is consistent with the first rotation orientation information; If yes, the floor scrubber will operate normally; otherwise, based on the positional difference between the first and second rotational position information, the floor scrubber will be automatically corrected to the dirty location.

2. The control method of the scrubber of claim 1, characterized by, The first rotation orientation information includes the theoretical rotation direction and the theoretical rotation angle α1; The determination of whether the second rotation orientation information of the floor scrubber manually adjusted by the user is consistent with the first rotation orientation information specifically includes the following steps: Obtain the actual rotation direction and actual rotation angle α2 of the floor scrubber adjusted by the user; If the actual rotation direction is the same as the theoretical rotation direction, then the relationship between the theoretical rotation angle α1 and the actual rotation angle α2 should be further determined. When the theoretical rotation angle α1 equals the actual rotation angle α2, the floor scrubber is controlled to work normally. When the actual rotation angle α2 is less than the theoretical rotation angle α1, the floor scrubber is controlled to continue rotating by an angle Δα in the actual rotation direction until the dirty position is reached, where Δα = α1 - α2; When the actual rotation angle α2 is greater than the theoretical rotation angle α1, the floor scrubber is controlled to rotate in the opposite direction by an angle △α′ to the dirty position, where △α′=α2-α1.

3. The control method of the scrubber of claim 2, wherein, The determination of whether the second rotation orientation information of the floor scrubber manually adjusted by the user is consistent with the first rotation orientation information further includes the following steps: If the actual rotation direction is different from the theoretical rotation direction, calculate the sum of the theoretical rotation angle α1 and the actual rotation angle α2, where α = α1 + α2. And determine whether α is greater than 180°; If so, the floor scrubber will continue to rotate at a preset angle according to the actual rotation direction until the dirty position is reached, where the preset angle = 360° - α; If not, control the floor scrubber to rotate in the opposite direction by an angle α until it reaches the dirty location.

4. The control method for a floor scrubber according to any one of claims 1 to 3, characterized in that, The floor scrubber is equipped with a manual adjustment module for users to manually adjust the direction of the floor scrubber; Before determining whether the second rotation orientation information of the floor scrubber manually adjusted by the user is consistent with the first rotation orientation information, the following steps are performed: Determine whether the user has operated the manual adjustment module: If yes, then proceed to the step of determining whether the second rotation orientation information of the floor scrubber manually adjusted by the user is consistent with the first rotation orientation information; if no, then control the floor scrubber to automatically rotate to the dirty position.

5. The control method for a floor scrubber according to any one of claims 1 to 3, characterized in that, The process of automatically correcting the floor scrubber to the dirty location includes the following steps: When it is determined that the correction direction of the floor scrubber is clockwise, the speed of the drive wheel on the left side of the floor scrubber is controlled to be greater than the speed of the drive wheel on the right side of the floor scrubber. When the direction of correction of the floor scrubber is determined to be counterclockwise, the speed of the drive wheel on the left side of the floor scrubber is controlled to be less than the speed of the drive wheel on the right side of the floor scrubber.

6. The control method for a floor scrubber according to any one of claims 1 to 3, characterized in that, During the process of orienting the floor scrubber to the dirty area, the following steps are also performed: Reduce the water flow rate of the floor scrubber.

7. The control method for a floor scrubber according to any one of claims 1 to 3, characterized in that, During the process of orienting the floor scrubber to the dirty area, the following steps are also performed: The suction power of the floor scrubber is determined based on the magnitude of the orientation difference, wherein the suction power is positively correlated with the magnitude of the orientation difference.

8. The control method for a floor scrubber according to any one of claims 1 to 3, characterized in that, The dirt information also includes dirt type, dirt area, and dirt degree; the control method further includes the following steps: Based on the dirt information, the operating parameters of the floor scrubber are determined, wherein the operating parameters include at least one of suction power, water flow rate, and cleaning time.

9. A control device for a floor scrubber, applicable to the control method of the floor scrubber according to any one of claims 1 to 8, characterized in that, The control device includes: The acquisition module is used to acquire dirt information of the environment around the floor scrubber, and the dirt information includes at least the location of the dirt. The analysis module is used to determine the first rotation orientation information of the floor scrubber to be directly facing the dirty position based on the location of the dirt and the current position of the floor scrubber. The judgment module is used to determine whether the second rotation orientation information of the floor scrubber manually adjusted by the user is consistent with the first rotation orientation information; The control module is used to control the operation of the floor scrubber based on the judgment result of the judgment module. When the judgment module determines that the second rotation orientation information of the floor scrubber adjusted by the user is consistent with the first rotation orientation information, the control module controls the floor scrubber to work normally. When the judgment module determines that the second rotation orientation information of the floor scrubber adjusted by the user is inconsistent with the first rotation orientation information, the control module automatically corrects the floor scrubber to the dirty position based on the orientation difference between the first rotation orientation information and the second rotation orientation information.

10. A floor scrubber, employing the control method for the floor scrubber according to any one of claims 1 to 8, characterized in that, The floor scrubbing machine includes: body; A dirt detection module, installed on the machine body, is used to acquire dirt information about the environment around the floor scrubber, and the dirt information includes at least the location of the dirt. The manual adjustment module is located on the top of the machine body, allowing users to manually adjust the direction of the floor scrubber; The steering drive module, located at the bottom of the machine body, is used to automatically adjust the direction and working position of the floor scrubber.

11. The floor scrubber according to claim 10, characterized in that, The steering drive module includes two sets of drive wheels distributed on the left and right sides of the floor scrubber, and two sets of drive motors adapted to drive the two sets of drive wheels to rotate respectively.

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