A cleaning machine and a control method thereof

Abstract

The present invention discloses a cleaning machine and a control method thereof, wherein the cleaning machine comprises: a roller brush and a roller brush motor for driving the roller brush to rotate; a preload force adjusting device for changing the preload force of the roller brush on the ground; and an identification device for identifying the type of dirt on the ground; wherein the roller brush motor, the preload force adjusting device and the identification device are all electrically connected to a control device provided on the cleaning machine, and the control device is used to receive and analyze identification information of the identification device, and control the preload force adjusting device to change the preload force of the roller brush on the ground according to the identification information. The cleaning machine realizes automatic identification of the type of dirt on the ground through the cooperation of the identification device and the control device, and adjusts the preload force of the roller brush on the ground through the preload force adjusting device, thereby realizing targeted cleaning of different types of stains. For stains with strong adhesion, the control device will increase the preload force of the roller brush to enhance the cleaning effect, thereby realizing effective cleaning of different types of stains and improving the cleaning efficiency and effect.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning machines, and in particular to a cleaning machine and a control method thereof. Background Art

[0002] As a multifunctional floor cleaning equipment, the cleaning machine is widely used in various places, such as commercial buildings, industrial plants, and family homes. Its unique design enables it to effectively absorb sewage while cleaning the floor, keeping the environment clean. After the cleaning work is completed, the existing cleaning machine can cooperate with the base to self-clean the dirty roller brush. By spraying cleaning liquid on the roller brush, the roller brush is rotated to contact with the scraper bar to cyclically scrape off the sewage on the roller brush, and then suck it away. This is repeated for a certain period of time to achieve a good cleaning effect.

[0003] For example, in the patent document of patent authorization announcement number: CN113907659A, the device includes a body, a floor brush device, a water cleaning device, a suction motor device, a base and a controller. The body plays a bearing role, and the floor brush device is connected to the body. The floor brush device includes a driving assembly and a roller brush member. The driving assembly is used to drive the roller brush member to rotate, and the roller brush member is used to contact the ground; the base is used to carry the floor brush device, and the base has a scraper bar, which is used to contact the surface of the roller brush member to remove garbage attached to the surface of the roller brush member when the roller brush member rotates; the water cleaning device is used to flow the cleaning liquid to the roller brush member to clean the roller brush member; the suction motor device is used to drive the sewage generated by cleaning to flow to the sewage tank; the controller is used to receive external input instructions, control the floor brush device, the water cleaning device, and the suction motor device to clean the roller brush member according to the first cleaning mode, the second cleaning mode or the third cleaning mode, thereby realizing self-cleaning of the roller brush member in different scenes.

[0004] Based on the search of the above patent authorization announcement number and the shortcomings found therein:

[0005] In order to adapt to the needs of floor cleaning of roller brushes in different scenarios, the existing technology mainly achieves this by adjusting the rotation speed of the roller brush. The faster the rotation speed, the higher the frequency of contact with the ground per unit time, which can theoretically provide a stronger cleaning effect. Although the existing cleaning machine is effective in most cases by adjusting the rotation speed of the roller brush to cope with different scenarios, it is difficult to achieve a good cleaning effect simply by increasing the rotation speed of the roller brush when facing stains with strong adhesion. Such stains are often tightly attached to the object to be cleaned, and even if the roller brush runs at the highest speed, it is difficult to effectively remove them. Summary of the invention

[0006] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a cleaning machine and a control method thereof to solve the technical problem that when faced with highly adhesive stains, such stains are often tightly attached to the object to be cleaned and are difficult to effectively peel off even when the roller brush runs at the highest speed.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] In a first aspect, an embodiment of the present invention provides a cleaning machine, comprising:

[0009] A roller brush and a roller brush motor for driving the roller brush to rotate;

[0010] A preload force adjusting device for changing the preload force of the roller brush on the ground;

[0011] An identification device for identifying the type of dirt on the ground;

[0012] Wherein, the roller brush motor, the preload force adjustment device and the identification device are all electrically connected to a control device provided on the cleaning machine, and the control device is used to receive and analyze the identification information of the identification device, and control the preload force adjustment device to change the preload force of the roller brush on the ground according to the identification information;

[0013] The roller brush and the roller brush motor are both installed on the tractor housing provided by the cleaning machine, and the two roller brush motors are respectively installed on opposite sides of the tractor housing. The tractor housing is provided with a mounting cavity with an opening at the lower end, and the roller brush is rotatably arranged horizontally in the mounting cavity, and the rotating shafts at both ends of the roller brush pass through the tractor housing and are respectively connected to the two roller brush motors;

[0014] The preload force adjustment device includes two telescopic members respectively installed on opposite sides of the outer shell of the tractor head, the telescopic ends of the telescopic members are vertically downward and can perform lifting and lowering movements in the vertical direction, the two telescopic members are respectively opposite to the two roller brush motors up and down, a plurality of preload springs in a compressed state are arranged between the telescopic members and the roller brush motors opposite to the two roller brush motors up and down, the preload springs are vertically arranged between the telescopic ends of the telescopic members and the roller brush motors, when the telescopic ends of the telescopic members move downward, the preload springs are compressed, and the preload force of the roller brush on the ground increases; when the telescopic ends of the telescopic members move upward, the preload springs are stretched, and the preload force of the roller brush on the ground decreases.

[0015] Furthermore, the tractor shell is provided with a vertical slide groove along the vertical direction of the rotating shaft at both ends of the roller brush, the rotating shaft at both ends of the roller brush can rotatably pass through the vertical slide groove to be connected to the roller brush motor, and the roller brush and the roller brush motor can slide synchronously along the vertical direction in the vertical slide groove, when the roller brush slides to the highest point of the vertical slide groove, the lowest point of the roller brush is lower than the lowest point of the tractor shell.

[0016] Furthermore, a first guide slider is provided on the side of the roller brush motor facing the tractor shell, a first guide slot is provided on the side of the tractor shell facing the roller brush motor in a vertical direction, and the first guide slider is slidably installed in the first guide slot; a pressure block is connected to the telescopic end of the telescopic member, the preload spring is connected between the pressure block and the roller brush motor, a second guide slider is provided on the side of the pressure block facing the tractor shell, a second guide slot is provided on the side of the tractor shell facing the pressure block in a vertical direction, and the second guide slider is slidably installed in the second guide slot.

[0017] Furthermore, the pressing block comprises an upper pressing block and a lower pressing block, the lower pressing block is provided with a plurality of through holes extending upward and downward, the through holes correspond one to one with the preload springs, a threaded member is screwed in the through holes, the upper end of the preload spring extends into the through holes and is connected to the threaded member, a cross screw groove or a straight screw groove is provided on a side of the threaded member close to the upper opening of the through holes; the upper side of the upper pressing block is fixed to the telescopic end of the telescopic member, the lower side of the upper pressing block is detachably fixedly connected to the upper side of the lower pressing block, a plurality of first blind holes are opened upward on the lower side of the upper pressing block, the first blind holes correspond one to one with the through holes, and the first blind holes are used to accommodate the threaded member protruding out of the upper opening of the through holes;

[0018] The roller brush motor includes an outer shell and a motor body built into the outer shell. The power output end of the motor body is transmission-connected to the rotating shaft of the roller brush. A plurality of second blind holes are downwardly opened on the upper side of the outer shell. The second blind holes correspond one-to-one with the pre-tensioning springs. The lower end of the pre-tensioning spring extends into the second blind hole and is connected to the bottom of the second blind hole.

[0019] Furthermore, the cleaning machine also includes a scraper bar for scraping off liquid and dirt on the roller brush, and the length direction of the scraper bar is parallel to the axial direction of the roller brush; wherein the cleaning machine also includes a scraper travel device, and the scraper travel device is used to drive the roller brush to approach or move away from the scraper bar, and a pressure sensor is provided at the lowest end of the vertical slide groove, and the scraper travel device and the pressure sensor are electrically connected to the control device, and the control device is used to receive and analyze the pressure information of the pressure sensor, and control the scraper travel device to drive the roller brush to approach or move away from the scraper bar according to the pressure information.

[0020] Furthermore, the scraper bar is installed on the body of the cleaning machine, and the scraper travel device includes a travel motor, a transmission shaft, a transmission gear, and a transmission rack. The travel motor is fixed on the body, and the transmission rack is fixed on the drag head shell. The transmission shaft is connected to the travel motor and is fixed in a relative position to the travel motor. The transmission gear is installed at both ends of the transmission shaft and meshes with the transmission rack. When the travel motor drives the transmission shaft to rotate, the transmission shaft drives the transmission gear to rotate, and the transmission gear drives the transmission rack to move linearly in the horizontal direction, so that the drag head shell approaches or moves away from the body, thereby driving the roller brush to approach or move away from the scraper bar.

[0021] Furthermore, the identification device is a camera, and the camera is used to obtain real-time image information of dirt on the ground;

[0022] Alternatively, the identification device is a sonic wave detector, which is used to transmit sonic waves to the ground and receive reflected waves;

[0023] Alternatively, the identification device includes a shooting camera and an acoustic wave detector, wherein the shooting camera is used to obtain real-time image information of ground dirt, and the acoustic wave detector is used to emit acoustic waves to the ground and receive reflected acoustic waves.

[0024] In a second aspect, an embodiment of the present invention provides a cleaning machine control method, which is applied to the cleaning machine as described above, wherein the cleaning machine control method includes a ground cleaning method, and the ground cleaning method includes the following steps:

[0025] Acquire identification information of the identification device and analyze to obtain the type of dirt;

[0026] Match the corresponding preset preload force according to the dirt type;

[0027] The preload force adjusting device is controlled according to the matched preset preload force to increase or decrease the preload force of the roller brush on the ground.

[0028] Furthermore, the obtaining of the identification information of the identification device and analyzing to obtain the dirt type includes the following steps:

[0029] Acquire real-time image information of the shooting camera;

[0030] Matching the real-time image information of the camera with the data in the dirt image database stored in the control device, and selecting the closest dirt type from the dirt image database;

[0031] or,

[0032] Performing signal processing and analysis on the reflected waves received by the acoustic wave detector to obtain acoustic wave characteristic parameters of the detected object;

[0033] Compare the acoustic wave characteristic parameters of the detected object with the data in the acoustic wave characteristic database stored in the control device, and select the most similar dirt type from the acoustic wave characteristic database;

[0034] or,

[0035] Acquire the real-time image information of the shooting camera and analyze and compare it to obtain a first dirt type;

[0036] Performing signal processing, analysis, and comparison on the reflected waves received by the acoustic wave detector to obtain a second dirt type;

[0037] Comparing whether the first dirt type is the same as the second dirt type;

[0038] If they are the same, the dirt type is output as the final judgment result;

[0039] If not, re-survey or skip the dirty area.

[0040] Furthermore, the cleaning machine control method includes a roller brush self-cleaning method, and the roller brush self-cleaning method includes the following steps:

[0041] Controlling the telescopic end of the telescopic member to retract to an extreme position, and obtaining a pressure value of the pressure sensor;

[0042] Comparing the pressure value of the pressure sensor with a preset pressure standard value;

[0043] If the pressure value of the pressure sensor is greater than the preset pressure standard value, the scraping amount advancing device controls the roller brush to approach the scraping strip;

[0044] If the pressure value of the pressure sensor is less than or equal to the preset pressure standard value, the scraping amount advancing device controls the roller brush to move away from the scraping strip to an initial position.

[0045] The cleaning machine of the present invention can automatically identify the type of dirt on the ground through the cooperation of the identification device and the control device, and adjust the pre-tightening force of the roller brush on the ground through the pre-tightening force adjustment device, so as to realize targeted cleaning of different types of stains. For stains with strong adhesion, the control device will increase the pre-tightening force of the roller brush to enhance the cleaning effect, thereby realizing effective cleaning of different types of stains and improving the cleaning efficiency and effect.

[0046] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A three-dimensional view of a cleaning machine according to an embodiment of the present invention;

[0048] Figure 2 It is a first structural schematic diagram of the drag head part of the cleaning machine in an embodiment of the present invention;

[0049] Figure 3 A second structural schematic diagram of the drag head part of the cleaning machine in an embodiment of the present invention;

[0050] Figure 4 It is a third structural schematic diagram of the drag head part of the cleaning machine in the embodiment of the present invention;

[0051] Figure 5 It is a fourth structural schematic diagram of the drag head part of the cleaning machine in an embodiment of the present invention;

[0052] Figure 6 A side view of the drag head portion of a cleaning machine according to an embodiment of the present invention;

[0053] Figure 7 It is a schematic diagram of the matching structure of the pressing block and the roller brush motor in the cleaning machine according to an embodiment of the present invention;

[0054] Figure 8 It is a schematic diagram of the meshing structure of the transmission gear and the transmission rack in the cleaning machine according to the embodiment of the present invention;

[0055] Fig. 9 It is a schematic diagram of the separation structure of the transmission gear and the transmission rack in the cleaning machine according to an embodiment of the present invention;

[0056] Fig.10 It is a schematic diagram of the coordination structure of the roller brush and the scraper strip in the cleaning machine according to the embodiment of the present invention;

[0057] Fig.11 It is a flow chart of a floor cleaning method in a cleaning machine control method according to an embodiment of the present invention;

[0058] Fig.12 It is a schematic diagram of a first sub-process of a floor cleaning method in a cleaning machine control method according to an embodiment of the present invention;

[0059] Fig.13 It is a schematic diagram of a second sub-process of the ground cleaning method in the cleaning machine control method according to an embodiment of the present invention;

[0060] Fig.14 It is a schematic diagram of a third sub-process of the ground cleaning method in the cleaning machine control method according to an embodiment of the present invention;

[0061] Fig.15 It is a flow chart of the roller brush self-cleaning method in the cleaning machine control method according to an embodiment of the present invention.

[0062] Description of reference numerals:

[0063] 1. Tractor head; 11. Roller brush; 12. Roller brush motor; 121. First guide slider; 13. Preload force adjustment device; 131. Telescopic member; 132. Preload spring; 133. Pressure block; 1331. Second guide slider; 1332. Upper pressure block; 1333. Lower pressure block; 1334. Threaded member; 14. Tractor head housing; 141. Mounting cavity; 142. Vertical slide groove; 143. First guide slide groove; 144. Second guide slide groove; 15. Scraper strip; 16. Scraper travel device; 161. Travel motor; 162. Transmission shaft; 163. Transmission gear; 164. Transmission rack; 2. Body; 3. Handle; 4. Base. DETAILED DESCRIPTION

[0064] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0065] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0066] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “resin”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, etc., indicating orientations or positional relationships are orientations or positional relationships based on the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0067] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0068] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be connected, detachably connected, or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0069] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0070] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0071] Please see attached Figures 1 to 5 as well as Fig.10 An embodiment of the present invention provides a cleaning machine, comprising: a roller brush 11 and a roller brush motor 12 for driving the roller brush 11 to rotate; a preload force adjustment device 13 for changing the preload force of the roller brush 11 on the ground; and an identification device for identifying the type of dirt on the ground; wherein the roller brush motor 12, the preload force adjustment device 13 and the identification device are all electrically connected to a control device provided on the cleaning machine, and the control device is used to receive and analyze identification information of the identification device, and control the preload force adjustment device 13 to change the preload force of the roller brush 11 on the ground according to the identification information.

[0072] It is understandable that this embodiment can automatically identify the type of dirt on the ground through the cooperation of the recognition device and the control device. The control device adjusts the preload force of the roller brush 11 on the ground through the preload force adjustment device 13 according to the recognition information, so as to achieve targeted cleaning of different types of stains. Specifically, when the cleaning machine is working, the recognition device will obtain the dirt information of the ground in real time, such as the color, shape, reflection characteristics of the stain, etc. The control device receives the recognition information transmitted by the recognition device, and processes and analyzes it to determine the type of dirt on the ground. According to the dirt type obtained by the analysis, the control device adjusts the preload force of the roller brush 11 on the ground through the preload force adjustment device 13. For stains with strong adhesion, the control device will increase the preload force of the roller brush 11 to enhance the cleaning effect. After adjusting the preload force of the roller brush 11, the cleaning machine will continue to perform the cleaning task. Through the rotation of the roller brush 11 and the adjustment of the preload force, effective cleaning of different types of stains is achieved, the cleaning efficiency and effect are improved, and the user experience is enhanced.

[0073] Furthermore, the roller brush 11 and the roller brush motor 12 are both mounted on a tractor housing 14 provided on the cleaning machine, and the two roller brush motors 12 are respectively mounted on opposite sides of the tractor housing 14. The tractor housing 14 is provided with a mounting cavity 141 with an opening at the lower end, and the roller brush 11 is rotatably arranged horizontally in the mounting cavity 141, and the rotating shafts at both ends of the roller brush 11 pass through the tractor housing 14 and are respectively connected to the two roller brush motors 12;

[0074] The preload force adjustment device 13 includes two telescopic members 131 respectively installed on opposite sides of the outer side of the tractor housing 14, the telescopic ends of the telescopic members 131 are vertically downward and can perform lifting and lowering movements in the vertical direction, the two telescopic members 131 are respectively opposite to the two roller brush motors 12 up and down, a plurality of preload springs 132 in a compressed state are arranged between the telescopic members 131 and the roller brush motors 12 up and down, the preload springs 132 are vertically arranged between the telescopic ends of the telescopic members 131 and the roller brush motors 12, when the telescopic ends of the telescopic members 131 move downward, the preload springs 132 are compressed, and the preload force of the roller brush 11 on the ground increases; when the telescopic ends of the telescopic members 131 move upward, the preload springs 132 are elongated, and the preload force of the roller brush 11 on the ground decreases.

[0075] Optionally, the telescopic member 131 can be a cylinder, a hydraulic cylinder or an electric push rod, etc. The telescopic member 131 changes the compression degree of the preload spring 132 through vertical lifting and lowering movements, thereby adjusting the preload force of the roller brush 11. The preload spring 132 provides a variable elastic support between the telescopic member 131 and the roller brush motor 12, so that the roller brush 11 can adjust its pressure on the ground according to different ground conditions. It is understandable that when the cleaning machine does not start working, the telescopic member 131 is generally in the initial position, that is, the state of the telescopic end being retracted. At this time, the preload spring 132 remains in a compressed state, providing a certain preload force to the ground for the roller brush 11. When the cleaning machine starts working, the recognition device will recognize the dirt type and material of the ground and control the lifting and lowering movement of the telescopic member 131 according to the recognition result to adjust the compression degree of the preload spring 132. If the ground is heavily dirty or requires a greater cleaning force, the control device will instruct the telescopic member 131 to move downward, compress the preload spring 132, thereby increasing the preload force of the roller brush 11 on the ground. If the ground is relatively smooth or the dirt is light, the control device will instruct the telescopic member 131 to move upward, reduce the compression of the preload spring 132, thereby reducing the preload force of the roller brush 11 on the ground, and avoid unnecessary damage to the ground. Through the combination of the telescopic member 131 and the preload spring 132, the precise adjustment of the preload force of the roller brush 11 is achieved, and the appropriate cleaning force can be provided according to different grounds and dirt types.

[0076] Furthermore, the tractor housing 14 is provided with vertical slots 142 along the vertical direction of the rotating shafts at both ends of the roller brush 11. The rotating shafts at both ends of the roller brush 11 can be rotatably passed through the vertical slots 142 to be connected to the roller brush motor 12, and the roller brush 11 and the roller brush motor 12 can slide synchronously along the vertical direction in the vertical slots 142. When the roller brush 11 slides to the highest point of the vertical slots 142, the lowest point of the roller brush 11 is lower than the lowest point of the tractor housing 14. It should be explained that, since the preload spring 132 is in a compressed state at any time, the roller brush 11 is generally at the lowest point of the vertical slots 142.

[0077] In this embodiment, the vertical chute 142 provides a sliding path for the rotating shafts at both ends of the roller brush 11, so that the roller brush 11 can be adjusted in the vertical direction while maintaining rotation, and the preload spring 132 ensures that the roller brush 11 maintains a certain pressure on the ground at any time, and can maintain a stable cleaning effect even when sliding to different heights. Specifically, when the cleaning machine has not started working or is in a stationary state, the roller brush 11 is usually located at the lowest point of the vertical chute 142, and the preload spring 132 remains in a compressed state to provide the roller brush 11 with a stable preload force on the ground. When the cleaning machine encounters an uneven ground or the height of the area to be cleaned changes, the roller brush 11 and the roller brush motor 12 slide synchronously in the vertical chute 142 to adapt to the changes in the ground. No matter where the roller brush 11 slides to in the vertical chute 142, the preload spring 132 remains in a compressed state, ensuring that the roller brush 11 always applies a certain pressure to the ground, thereby maintaining a cleaning effect. When the roller brush 11 slides to the highest point of the vertical slide groove 142, the lowest point of the roller brush 11 is still lower than the lowest point of the tractor housing 14, which means that the roller brush 11 can still contact the ground and clean it, ensuring that the cleaning machine can still maintain an effective cleaning function even under extreme conditions of height adjustment.

[0078] Furthermore, in order to improve the stability and accuracy of the roller brush motor 12 and the telescopic member 131 in the vertical direction, the present embodiment introduces a combination of the first guide slider 121 and the first guide groove 143, and the second guide slider 1331 and the second guide groove 144 to ensure that the roller brush motor 12 and the telescopic member 131 can move smoothly and accurately when adjusting the height, while reducing unnecessary shaking and friction, thereby improving the reliability and durability of the entire cleaning machine system. Specifically, the roller brush motor 12 in this embodiment is provided with a first guide slider 121 on the side facing the tractor housing 14, and the tractor housing 14 is provided with a first guide slot 143 in the vertical direction on the side facing the roller brush motor 12, and the first guide slider 121 is slidably installed in the first guide slot 143; the telescopic end of the telescopic member 131 is connected with a pressing block 133, and the preload spring 132 is connected between the pressing block 133 and the roller brush motor 12, and the pressing block 133 is provided with a second guide slider 1331 on the side facing the tractor housing 14, and the tractor housing 14 is provided with a second guide slot 144 in the vertical direction on the side facing the pressing block 133, and the second guide slider 1331 is slidably installed in the second guide slot 144. The cooperation of the first guide slider 121, the second guide slider 1331 with the first guide slot 143, and the second guide slot 144 reduces the shaking and deviation of the roller brush motor 12 and the telescopic member 131 during the movement, and improves the stability of the entire system.

[0079] For further information, see Figure 6 and Figure 7The pressing block 133 includes an upper pressing block 1332 and a lower pressing block 1333. The lower pressing block 1333 is provided with a plurality of through holes extending from top to bottom. The through holes correspond to the preload spring 132 one by one. A threaded member 1334 is screwed in the through hole. The upper end of the preload spring 132 extends into the through hole and is connected to the threaded member 1334. A cross screw groove or a straight screw groove is provided on one side of the threaded member 1334 near the upper side opening of the through hole. The upper side of the upper pressing block 1332 is fixed to the telescopic end of the telescopic member 131, and the lower side of the upper pressing block 1332 is detachably fixed to the lower A plurality of first blind holes are opened upward on the upper side of the pressure block 1333 and the lower side of the upper pressure block 1332, and the first blind holes correspond one-to-one to the through holes. The first blind holes are used to accommodate the threaded parts 1334 protruding from the upper side openings of the through holes. The roller brush motor 12 includes an outer shell and a motor body built into the outer shell, and the power output end of the motor body is transmission-connected to the rotating shaft of the roller brush 11. A plurality of second blind holes are opened downward on the upper side of the outer shell, and the second blind holes correspond one-to-one to the pre-tightening springs 132. The lower ends of the pre-tightening springs 132 extend into the second blind holes and are connected to the bottoms of the second blind holes.

[0080] In this embodiment, in order to prevent the preload spring 132 from weakening its elasticity due to long-term use, thereby affecting the accuracy of the preload force, the user can adjust the position of the threaded member 1334 in the through hole, thereby changing the compression degree of any one or more preload springs 132, and thereby adjusting the preload force of the roller brush 11 on the ground. It is understandable that since the preload spring 132 is always in a compressed state, when the user adjusts the threaded member 1334 to move it downward in the through hole, the preload spring 132 is pushed to be further compressed, the elastic force of the preload spring 132 increases, and the preload force of the roller brush 11 on the ground also increases; when the user adjusts the threaded member 1334 to move it upward in the through hole, the preload spring 132 is pulled to be further released, the elastic force of the preload spring 132 decreases, and the preload force of the roller brush 11 on the ground also decreases.

[0081] Optionally, in order to monitor the stress of the preload spring 132 between the roller brush motor 12 and the pressure block 133 in real time, ensure that each spring is evenly stressed, and avoid problems such as imbalance or increased wear of the roller brush 11 caused by uneven stress, the present embodiment is provided with a second pressure sensor at the bottom of the second blind hole, and a micro single chip microcomputer is also provided in the outer shell of the roller brush motor 12. An LED light is provided on the outer side of the outer shell of the roller brush motor 12. The micro single chip microcomputer is electrically connected to the second pressure sensors and LED lights in all the second blind holes. When the micro single chip microcomputer detects that the difference between the pressure data of any two second pressure sensors is greater than a preset pressure difference value, the LED light is controlled to light up. Preferably, the preset pressure difference value is 2N. It can be understood that the second pressure sensor is used to monitor the pressure of the preload spring 132 on the outer shell of the roller brush motor 12 in real time, convert the pressure signal into an electrical signal output, and the micro single-chip computer receives these electrical signals and processes and analyzes them. When it is detected that the difference between the pressure data of any two second pressure sensors is greater than the preset pressure difference, the single-chip computer controls the LED light to light up and send out a warning signal, prompting the user to check and adjust the threaded part 1334 to make the preload force of multiple preload springs 132 on the roller brush motor 12 more uniform.

[0082] For further information, see Figures 1 to 5 as well as Figure 8 , Fig. 9 , Fig.10 The cleaning machine also includes a scraper bar 15 for scraping liquid and dirt off the roller brush 11, and the length direction of the scraper bar 15 is parallel to the axial direction of the roller brush 11; wherein, the cleaning machine also includes a scraper travel device 16, and the scraper travel device 16 is used to drive the roller brush 11 to approach or move away from the scraper bar 15. A pressure sensor is provided at the lowest end of the vertical slide groove 142. The scraper travel device 16 and the pressure sensor are electrically connected to the control device, and the control device is used to receive and analyze the pressure information of the pressure sensor, and control the scraper travel device 16 to drive the roller brush 11 to approach or move away from the scraper bar 15 according to the pressure information. Among them, the pressure sensor is used to detect the pressure of the roller brush 11 toward the ground. It can be understood that the mass of the roller brush 11 and the pressure of the preload spring 132 are known. The mass of the dirt attached to the roller brush 11 can be obtained by combining the pressure data detected by the pressure sensor. If the mass of the dirt attached to the roller brush 11 is greater, the roller brush 11 is controlled to be close to the scraper bar 15 to promote the scraping of the dirt on the roller brush 11. If the dirt attached to the roller brush 11 is less, the roller brush 11 is controlled to be slightly away from the scraper bar 15 to reduce the damage of the bristles of the roller brush 11 by the scraper bar 15. It should be explained that the main structure of the existing cleaning machine includes three parts: the body 2, the handle 3 and the tractor 1. The roller brush 11 rotating at a high speed on the tractor 1 is usually used to absorb the dirt on the ground. In this embodiment, the scraper bar 15 matched with the roller brush 11 can scrape the dirt and sewage on the roller brush 11 and suck them into the sewage tank, thereby realizing the cleaning process.

[0083] In this embodiment, the pressure of the roller brush 11 toward the ground is monitored in real time based on the pressure sensor, and the control device calculates the mass of dirt attached to the roller brush 11 and controls the scraping amount travel device 16 to drive the roller brush 11 close to or away from the scraping bar 15 according to the mass of the dirt, so as to achieve the best cleaning effect and protection of the roller brush 11. It should be noted that in order to avoid interference from external forces, when the control device is used to obtain pressure sensor data to intelligently control the scraping amount travel device 16, the cleaning machine needs to be placed on the base 4, that is, the roller brush 11 is suspended. Specifically, the control device receives data from the pressure sensor, and combines the mass of the roller brush 11 and the pressure of the preload spring 132 to calculate the mass of dirt attached to the roller brush 11 through an intelligent control algorithm. According to the mass of the dirt, the control device sends an instruction to the scraping device 16 to drive the roller brush 11 to approach or move away from the scraper bar 15. If the mass of the dirt is large, the roller brush 11 is controlled to approach the scraper bar 15 to promote the scraping of dirt on the roller brush 11; if the mass of the dirt is small, the roller brush 11 is controlled to move slightly away from the scraper bar 15 to reduce the damage of the bristles of the roller brush 11 by the scraper bar 15. In the process of using the control device to obtain pressure sensor data to intelligently control the working of the scraping device 16, the pressure sensor continuously monitors the pressure of the roller brush 11, and the control device continuously adjusts the distance between the roller brush 11 and the scraper bar 15 according to the real-time monitored data to maintain the best cleaning effect and protection of the roller brush 11.

[0084] Furthermore, the scraper bar 15 is installed on the body 2 of the cleaning machine, and the scraper travel device 16 includes a travel motor 161, a transmission shaft 162, a transmission gear 163, and a transmission rack 164. The travel motor 161 is fixed on the body 2, and the transmission rack 164 is fixed on the drag head shell 14. The transmission shaft 162 is connected to the travel motor 161 and is fixed in a relative position to the travel motor 161. The transmission gear 163 is installed at both ends of the transmission shaft 162 and meshes with the transmission rack 164. When the travel motor 161 drives the transmission shaft 162 to rotate, the transmission shaft 162 drives the transmission gear 163 to rotate, and the transmission gear 163 drives the transmission rack 164 to make a linear motion in the horizontal direction, so that the drag head shell 14 is close to or away from the body 2, thereby driving the roller brush 11 to approach or move away from the scraper bar 15. It can be understood that in this embodiment, the travel motor 161 is used as a power source, and the power is transmitted to the transmission gear 163 through the transmission shaft 162. The transmission gear 163 is then meshed with the transmission rack 164 fixed on the tractor housing 14, so as to realize the linear motion of the transmission rack 164 in the horizontal direction. When the transmission rack 164 moves, it will drive the tractor housing 14 (and the roller brush 11 installed thereon) to approach or move away from the fuselage 2 (and the scraper bar 15 installed thereon), so as to realize the precise control of the distance between the roller brush 11 and the scraper bar 15. Specifically, travel grooves are opened in the horizontal direction on the two opposite cavity walls inside the installation cavity 141, and the two transmission racks 164 are fixedly installed in the two travel grooves respectively, and the transmission gear 163 penetrates into the travel groove and meshes with the transmission rack 164. In an actual operation process, when the control device issues an instruction, the travel motor 161 starts and rotates, and the transmission shaft 162 rotates with the rotation of the motor, thereby driving the transmission gear 163 installed at both ends thereof to rotate, and the transmission gear 163 is engaged with the transmission rack 164 fixed on the tractor housing 14. When the transmission gear 163 rotates, it will drive the transmission rack 164 to make a linear motion in the horizontal direction. Through the forward and reverse rotation of the travel motor 161, the movement of the transmission rack 164 will drive the tractor housing 14 and the roller brush 11 installed thereon to approach or move away from the fuselage 2 and the scraper bar 15 installed thereon.

[0085] Furthermore, the recognition device is a shooting camera, which is used to obtain real-time image information of dirt on the ground; or, the recognition device is an acoustic wave detector, which is used to transmit sound waves to the ground and receive reflected waves; or, the recognition device includes a shooting camera and an acoustic wave detector, the shooting camera is used to obtain real-time image information of dirt on the ground, and the acoustic wave detector is used to transmit sound waves to the ground and receive reflected sound waves.

[0086] Second, see Figures 11 to 15The embodiment of the present invention provides a cleaning machine control method, which is applied to the cleaning machine as described above, wherein the cleaning machine control method includes a ground cleaning method, and the ground cleaning method includes the following steps:

[0087] S100, obtaining identification information of the identification device and analyzing to obtain the type of dirt;

[0088] S200, matching a corresponding preset preload force according to the dirt type;

[0089] S300 , controlling the preload force adjusting device 13 to increase or decrease the preload force of the roller brush 11 on the ground according to the matched preset preload force.

[0090] In this embodiment, the identification device identifies the type of dirt on the ground and matches the corresponding preset preload force accordingly, so that targeted cleaning of different types of dirt can be achieved, and the cleaning efficiency and effect can be improved. At the same time, the automatic adjustment of the preload force of the roller brush 11 on the ground can also reduce the wear of the roller brush 11, extend the service life, and improve the user experience. Among them, the preset preload force is a preload force value of the roller brush 11 on the ground that is preset according to the cleaning force required for different types of dirt and the wear of the roller brush 11, and can be set by the user.

[0091] It should be explained that solid stains usually require a greater ground preload to ensure that the roller brush 11 can effectively contact and remove the stains. Therefore, when solid stains are identified, the preload adjustment device 13 is controlled to increase the ground preload of the roller brush 11 to a preset solid stain preload value. Oil stains are relatively viscous and require appropriate ground preload in conjunction with the use of cleaning fluid to effectively remove them. Therefore, when oil stains are identified, the preload adjustment device 13 is controlled to adjust the ground preload of the roller brush 11 to a preset oil stain preload value, which is between the preload of solid stains and non-oily liquid stains. Non-greasy liquid stains (such as water stains, beverage stains, etc.) are relatively thin, and excessive pre-tightening force on the ground may cause the stains to spread. Therefore, when non-greasy liquid stains are identified, the pre-tightening force adjustment device 13 is controlled to reduce the pre-tightening force of the roller brush 11 on the ground to the preset non-greasy liquid stain pre-tightening force value to ensure that the stains are effectively absorbed and not spread. Preferably, after the cleaning machine identifies the ground dirt through the identification device and matches the corresponding preset pre-tightening force, the ground dirt is scrubbed. If the ground dirt is not effectively removed after scrubbing, the pre-tightening force adjustment device 13 is controlled to increase the pre-tightening force of the roller brush 11 on the ground.

[0092] Furthermore, the step S100 includes the following steps:

[0093] S110, obtaining real-time image information of the shooting camera;

[0094] S111, matching the real-time image information of the shooting camera with the data in the dirt image database stored in the control device, and selecting the closest dirt type from the dirt image database.

[0095] Alternatively, the step S100 includes the following steps:

[0096] S120, performing signal processing and analysis on the reflected wave received by the acoustic wave detector to obtain acoustic wave characteristic parameters of the detected object;

[0097] S121, comparing the acoustic wave characteristic parameters of the detected object with the data stored in the acoustic wave characteristic database in the control device, and selecting the closest dirt type from the acoustic wave characteristic database.

[0098] Alternatively, the step S100 includes the following steps:

[0099] S130, acquiring real-time image information of the shooting camera, analyzing and comparing the image information to obtain a first dirt type;

[0100] S131, performing signal processing, analysis, and comparison on the reflected waves received by the acoustic wave detector to obtain a second dirt type;

[0101] S132, comparing whether the first dirt type is the same as the second dirt type;

[0102] S133, if they are the same, outputting the dirt type as the final judgment result;

[0103] S134. If they are not the same, re-survey or skip the dirty area.

[0104] In this embodiment, the above steps S110-S111 can be defined as an image recognition path, steps S120-121 can be defined as an acoustic wave detection path, and steps S130-S134 can be defined as a multiple verification path. The image recognition path matches the real-time image information of the camera with the dirt image database to identify the dirt type. The acoustic wave detection path analyzes the reflected wave characteristic parameters received by the acoustic wave detector and compares them with the acoustic wave characteristic database, which is also used to identify the dirt type. The multiple verification strategy is to use both image recognition and acoustic wave detection at the same time, and compare the recognition results of the two to improve the accuracy and reliability of recognition.

[0105] Furthermore, the cleaning machine control method includes a self-cleaning method for the roller brush 11, and the self-cleaning method for the roller brush 11 includes the following steps:

[0106] S400, controlling the telescopic end of the telescopic member 131 to retract to an extreme position, and obtaining a pressure value of the pressure sensor;

[0107] S500, comparing the pressure value of the pressure sensor with a preset pressure standard value;

[0108] S600, if the pressure value of the pressure sensor is greater than the preset pressure standard value, the scraping amount advancing device 16 controls the roller brush 11 to approach the scraping strip 15;

[0109] S700: If the pressure value of the pressure sensor is less than or equal to the preset pressure standard value, the scraping amount advancing device 16 controls the roller brush 11 to move away from the scraping strip 15 to an initial position.

[0110] In this embodiment, the telescopic member 131 is used to adjust the pressure of the preload force adjustment device 13 on the roller brush 11 so that the pressure on the roller brush 11 reaches a minimum value, which is a known value detected in advance. The pressure sensor is used to monitor the pressure value of the roller brush 11 toward the ground in real time. When the pressure value exceeds the preset pressure standard value, it indicates that there is a lot of dirt on the roller brush 11, and it is necessary to increase the contact pressure with the scraper 15 for more effective cleaning; and when the pressure value is less than or equal to the preset pressure standard value, it indicates that the roller brush 11 is relatively clean and can be kept away from the scraper 15 to avoid unnecessary wear. Among them, the preset pressure standard value should be the pressure sensor detection value when the preload force adjustment device 13 exerts the minimum pressure on the roller brush 11 when the roller brush 11 is clean.

[0111] The cleaning machine of this embodiment can automatically identify the type of dirt on the ground through the cooperation of the identification device and the control device, and adjust the pre-tightening force of the roller brush on the ground through the pre-tightening force adjustment device, so as to achieve targeted cleaning of different types of stains. For stains with strong adhesion, the control device will increase the pre-tightening force of the roller brush to enhance the cleaning effect, thereby achieving effective cleaning of different types of stains and improving cleaning efficiency and effects.

[0112] The above examples are only used to further illustrate the technical content of the present invention, so that readers can understand it more easily, but they do not mean that the implementation of the present invention is limited to this. Any technical extension or re-creation made according to the present invention is protected by the present invention. The protection scope of the present invention shall be subject to the claims.

Claims

1. A cleaning machine, characterized in that: include: A roller brush and a roller brush motor for driving the roller brush to rotate; A preload force adjusting device for changing the preload force of the roller brush on the ground; An identification device for identifying the type of dirt on the ground; Wherein, the roller brush motor, the preload force adjustment device and the identification device are all electrically connected to a control device provided on the cleaning machine, and the control device is used to receive and analyze the identification information of the identification device, and control the preload force adjustment device to change the preload force of the roller brush on the ground according to the identification information; The roller brush and the roller brush motor are both installed on the tractor housing provided by the cleaning machine, and the two roller brush motors are respectively installed on opposite sides of the tractor housing. The tractor housing is provided with a mounting cavity with an opening at the lower end, and the roller brush is rotatably arranged horizontally in the mounting cavity, and the rotating shafts at both ends of the roller brush pass through the tractor housing and are respectively connected to the two roller brush motors; The preload force adjustment device comprises two telescopic members respectively installed on opposite sides of the outer shell of the tractor head, the telescopic ends of the telescopic members face vertically downward and can make lifting and lowering movements in the vertical direction, the two telescopic members are respectively opposite to the two roller brush motors up and down, a plurality of preload springs in a compressed state are arranged between the telescopic members and the roller brush motors up and down, the preload springs are vertically arranged between the telescopic ends of the telescopic members and the roller brush motors, when the telescopic ends of the telescopic members move downward, the preload springs are compressed, and the preload force of the roller brush on the ground increases; when the telescopic ends of the telescopic members move upward, the preload springs are stretched, and the preload force of the roller brush on the ground decreases; The tractor housing is provided with vertical slide grooves along the vertical direction of the rotating shafts at both ends of the roller brush, and the rotating shafts at both ends of the roller brush can rotatably pass through the vertical slide grooves to be connected to the roller brush motor, and the roller brush and the roller brush motor can synchronously slide in the vertical direction in the vertical slide grooves, and when the roller brush slides to the highest point of the vertical slide groove, the lowest point of the roller brush is lower than the lowest point of the tractor housing; A first guide slider is provided on one side of the roller brush motor facing the tractor housing, a first guide slot is provided on one side of the tractor housing facing the roller brush motor in a vertical direction, and the first guide slider is slidably installed in the first guide slot; a pressure block is connected to the telescopic end of the telescopic member, the preload spring is connected between the pressure block and the roller brush motor, a second guide slider is provided on one side of the pressure block facing the tractor housing, a second guide slot is provided on one side of the tractor housing facing the pressure block in a vertical direction, and the second guide slider is slidably installed in the second guide slot; The pressing block comprises an upper pressing block and a lower pressing block, the lower pressing block is provided with a plurality of through holes extending upward and downward, the through holes correspond one to one with the preload springs, a threaded member is screwed in the through holes, the upper end of the preload spring extends into the through holes and is connected to the threaded member, a cross screw groove or a straight screw groove is provided on a side of the threaded member close to the upper opening of the through holes; the upper side of the upper pressing block is fixed to the telescopic end of the telescopic member, the lower side of the upper pressing block is detachably fixedly connected to the upper side of the lower pressing block, a plurality of first blind holes are opened upward on the lower side of the upper pressing block, the first blind holes correspond one to one with the through holes, and the first blind holes are used to accommodate the threaded member protruding out of the upper opening of the through holes; The roller brush motor comprises an outer shell and a motor body built in the outer shell, the power output end of the motor body is transmission-connected to the rotating shaft of the roller brush, a plurality of second blind holes are downwardly opened on the upper side of the outer shell, the second blind holes correspond to the preload springs one by one, the lower end of the preload spring extends into the second blind hole and is connected to the bottom of the second blind hole; A second pressure sensor is arranged at the bottom of the second blind hole, a micro single-chip computer is also arranged in the outer shell, an LED light is arranged on the outside of the outer shell, and the micro single-chip computer is electrically connected to the second pressure sensors and the LED lights in all the second blind holes. When the micro single-chip computer detects that the difference between the pressure data of any two of the second pressure sensors is greater than a preset pressure difference value, the LED light is controlled to light up.

2. A cleaning machine according to claim 1, characterized in that: The cleaning machine also includes a scraper bar for scraping liquid and dirt off the roller brush, and the length direction of the scraper bar is parallel to the axial direction of the roller brush; wherein the cleaning machine also includes a scraper travel device, and the scraper travel device is used to drive the roller brush to approach or move away from the scraper bar, and a pressure sensor is provided at the lowest end of the vertical slide groove, and the scraper travel device and the pressure sensor are electrically connected to the control device, and the control device is used to receive and analyze the pressure information of the pressure sensor, and control the scraper travel device to drive the roller brush to approach or move away from the scraper bar according to the pressure information.

3. A cleaning machine according to claim 2, characterized in that: The scraper bar is installed on the body of the cleaning machine, and the scraper travel device includes a travel motor, a transmission shaft, a transmission gear, and a transmission rack. The travel motor is fixed on the body, and the transmission rack is fixed on the drag head shell. The transmission shaft is connected to the travel motor and is fixed in a relative position to the travel motor. The transmission gear is installed at both ends of the transmission shaft and meshes with the transmission rack. When the travel motor drives the transmission shaft to rotate, the transmission shaft drives the transmission gear to rotate, and the transmission gear drives the transmission rack to move linearly in the horizontal direction, so that the drag head shell approaches or moves away from the body, thereby driving the roller brush to approach or move away from the scraper bar.

4. A cleaning machine according to claim 2, characterized in that: The recognition device is a camera, which is used to obtain real-time image information of dirt on the ground; Alternatively, the identification device is a sonic wave detector, which is used to transmit sonic waves to the ground and receive reflected waves; Alternatively, the identification device includes a shooting camera and an acoustic wave detector, wherein the shooting camera is used to obtain real-time image information of ground dirt, and the acoustic wave detector is used to emit acoustic waves to the ground and receive reflected acoustic waves.

5. A cleaning machine control method, characterized in that: Applied to the cleaning machine according to claim 4, wherein the cleaning machine control method includes a ground cleaning method, and the ground cleaning method includes the following steps: Acquire identification information of the identification device and analyze to obtain the type of dirt; Match the corresponding preset preload force according to the dirt type; The preload force adjusting device is controlled according to the matched preset preload force to increase or decrease the preload force of the roller brush on the ground.

6. A cleaning machine control method according to claim 5, characterized in that: The step of obtaining the identification information of the identification device and analyzing the dirt type comprises the following steps: Acquire real-time image information of the shooting camera; Matching the real-time image information of the camera with the data in the dirt image database stored in the control device, and selecting the closest dirt type from the dirt image database; or, Performing signal processing and analysis on the reflected waves received by the acoustic wave detector to obtain acoustic wave characteristic parameters of the detected object; Compare the acoustic wave characteristic parameters of the detected object with the data in the acoustic wave characteristic database stored in the control device, and select the most similar dirt type from the acoustic wave characteristic database; or, Acquire the real-time image information of the shooting camera and analyze and compare it to obtain a first dirt type; Performing signal processing, analysis, and comparison on the reflected waves received by the acoustic wave detector to obtain a second dirt type; Comparing whether the first dirt type is the same as the second dirt type; If they are the same, the dirt type is output as the final judgment result; If not, re-survey or skip the dirty area.

7. A cleaning machine control method according to claim 5, characterized in that: The cleaning machine control method includes a roller brush self-cleaning method, and the roller brush self-cleaning method includes the following steps: Controlling the telescopic end of the telescopic member to retract to an extreme position, and obtaining a pressure value of the pressure sensor provided at the lowest end of the vertical slide groove; Comparing the pressure value of the pressure sensor with a preset pressure standard value; If the pressure value of the pressure sensor is greater than the preset pressure standard value, the scraping amount advancing device controls the roller brush to approach the scraping strip; If the pressure value of the pressure sensor is less than or equal to the preset pressure standard value, the scraping amount advancing device controls the roller brush to move away from the scraping strip to an initial position.

Images