Scrubber, control method of scrubber and scrubber system

Abstract

The invention provides a scrubber, a control method of the scrubber and a scrubber system. The scrubber comprises a first scraping strip, a second scraping strip, a pushing mechanism and a telescopic motor, the first end of a telescopic shaft of the telescopic motor is fixedly connected with the second scraping strip, the second end of the telescopic shaft makes contact with the first end of the pushing mechanism, the second end of the pushing mechanism is connected with the first scraping strip, and when the scrubber is in an advancing state, the first scraping strip is driven by the telescopic shaft. The first end of the telescopic shaft extends to drive the second scraping strip to descend to the cleaning surface, meanwhile, the second end of the telescopic shaft is shortened to enable the first scraping strip to be away from the cleaning surface, and under the condition that the scrubber is in a retreating state, the second end of the telescopic shaft extends to drive the first scraping strip to descend to the cleaning surface, and meanwhile, the first end of the telescopic shaft is shortened to enable the second scraping strip to be away from the cleaning surface. According to the scheme, the problems that in the front-back push-pull process of an existing scrubber, due to the fact that the front scraping strip and the rear scraping strip lack linkage control, water stain residues and secondary pollution are prone to being generated, and the cleaning effect is affected are solved.

Description

Technical Field

[0001] The present application relates to the technical field of floor scrubber control, and in particular to a floor scrubber, a floor scrubber control method, and a floor scrubber system. Background Art

[0002] In actual use, when users push and pull the floor scrubber, a large amount of water stains are easily generated due to the reciprocating motion, which affects the cleaning effect and user experience. The floor scrubbers currently on the market are equipped with front lifting scrapers and rear scrapers to remove water stains on the ground. However, there is a lack of an effective linkage mechanism between the two scrapers. When the floor scrubber is pulled back, the front scraper and the rear fixed scraper are in contact with the cleaning surface at the same time. The rear scraper is a fixed assembly and cannot be raised in time when pulled back. The front and rear scrapers are in contact with the ground at the same time and cannot work together under different working conditions, which easily causes dirt accumulation or secondary pollution, and the cleaning effect is not ideal. Summary of the invention

[0003] The main purpose of the present application is to provide a floor scrubber, a control method for the floor scrubber and a floor scrubber system, so as to at least solve the problem in the prior art that, during the forward and backward pushing and pulling process of the floor scrubber, water stains and secondary pollution are easily generated due to the lack of linkage control of the front and rear double scraper bars, thus affecting the cleaning effect.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a floor scrubber is provided, comprising: a first scraper bar, a second scraper bar, a pushing mechanism and a telescopic motor, wherein the first end of the telescopic shaft of the telescopic motor is fixedly connected to the second scraper bar, the second end of the telescopic shaft contacts the first end of the pushing mechanism, the second end of the pushing mechanism is connected to the first scraper bar, and when the floor scrubber is in a forward state, the first end of the telescopic shaft extends to drive the second scraper bar to descend to a cleaning surface, and at the same time, the second end of the telescopic shaft shortens so that the first scraper bar is away from the cleaning surface, and when the floor scrubber is in a backward state, the second end of the telescopic shaft extends to drive the first scraper bar to descend to the cleaning surface, and at the same time, the first end of the telescopic shaft shortens so that the second scraper bar is away from the cleaning surface.

[0005] Optionally, the pushing mechanism includes a return spring and a push rod, the second end of the telescopic shaft contacts the first end of the push rod, the second end of the push rod is connected to the first scraper strip, the first end of the return spring is fixedly connected to the second end of the push rod, and the second end of the return spring is fixed to the box of the floor scrubber.

[0006] Optionally, the floor scrubber further includes a first guide groove installed along a first direction and a second guide groove installed along a second direction, wherein the first guide groove is used to limit the push rod to restrict the push rod from moving up and down, and the second guide groove is used to limit the first scraper bar to restrict the first scraper bar from moving left and right, and the first direction is perpendicular to the second direction.

[0007] Optionally, the floor scrubber further comprises an elastic member, a first end of the elastic member is fixed to a housing of the floor scrubber, and a second end of the elastic member is in sealing contact with the second scraper strip.

[0008] Optionally, the floor scrubber further includes a hub motor, and the hub motor is used to drive the floor scrubber forward or backward.

[0009] Optionally, the floor scrubber further comprises: a dirt sensor, which is installed on a housing of the floor scrubber and is used to detect dirt on the ground when the floor scrubber moves backward.

[0010] According to another aspect of the present application, a control method for any one of the floor scrubbers is provided, comprising: determining whether the floor scrubber is in a forward state or a backward state; when the floor scrubber is in the forward state, controlling the second end of the telescopic shaft of the telescopic motor to shorten so that the first scraper bar remains in a lifted state, and controlling the first end of the telescopic shaft to extend so that the second scraper bar is pressed down to contact with a cleaning surface; when the floor scrubber is in the backward state, controlling the second end of the telescopic shaft to extend so that the first scraper bar is pressed down to contact with a cleaning surface, and controlling the first end of the telescopic shaft to shorten so that the second scraper bar leaves the cleaning surface.

[0011] Optionally, the floor scrubber further includes a hub motor, and the hub motor is used to drive the floor scrubber forward or backward, wherein determining whether the floor scrubber is in the forward state or the backward state includes: obtaining a real-time current feedback signal of the hub motor; and determining whether the floor scrubber is in the forward state or the backward state according to the real-time current feedback signal.

[0012] Optionally, determining whether the floor scrubber is in the forward state or the reverse state according to the real-time current feedback signal includes: when the real-time current feedback signal is greater than a current determination threshold, determining that the floor scrubber is in the reverse state; when the real-time current feedback signal is less than or equal to the current determination threshold, determining that the floor scrubber is in the forward state, wherein the current determination threshold is an average of a minimum value of a first current range and a maximum value of a second current range, wherein the first current range is the current range when the floor scrubber is in the forward state, and the second current range is the current range when the floor scrubber is in the reverse state.

[0013] Optionally, the floor scrubber further includes a dirt sensor installed on the housing of the floor scrubber, for detecting dirt on the ground when the floor scrubber moves backward, wherein the method further includes: in the process of the floor scrubber moving backward, if the dirt sensor identifies dirt with a volume greater than a preset volume and / or a viscosity greater than a preset viscosity, controlling the first end of the telescopic shaft to continue to shorten by a preset amount.

[0014] Optionally, the pushing mechanism includes a return spring and a push rod, the second end of the telescopic shaft contacts the first end of the push rod, the second end of the push rod is connected to the first scraper strip, the first end of the return spring is fixedly connected to the second end of the push rod, and the second end of the return spring is fixed to the box of the floor scrubber, wherein the method also includes: when the floor scrubber moves forward again or stops using, the second end of the telescopic shaft retracts to a first preset position, the push rod is automatically reset by the return spring so that the first scraper strip is lifted away from the cleaning surface, and at the same time, the first end of the telescopic shaft extends to the second preset position so that the second scraper strip is pressed down to contact the cleaning surface.

[0015] According to another aspect of the present application, a floor scrubber system is provided, comprising: any one of the floor scrubbers described above; and a controller communicating with a hub motor and a dirt sensor of the floor scrubber, for executing any one of the floor scrubber control methods described above.

[0016] By applying the technical solution of the present application, the first end of the telescopic shaft of the telescopic motor is fixedly connected to the second scraper, the second end of the telescopic shaft is in contact with the first end of the pushing mechanism, the second end of the pushing mechanism is connected to the first scraper, and when the floor scrubber is in the forward state, the first end of the telescopic shaft extends to drive the second scraper to descend to the cleaning surface, and at the same time, the second end of the telescopic shaft shortens so that the first scraper is away from the cleaning surface; when the floor scrubber is in the backward state, the second end of the telescopic shaft extends to drive the first scraper to descend to the cleaning surface, and at the same time, the first end of the telescopic shaft shortens so that the second scraper is away from the cleaning surface, thereby solving the problem that in the process of pushing and pulling the front and rear double scrapers of the existing floor scrubber, water stains and secondary pollution are easily generated, thereby affecting the cleaning effect due to the lack of linkage control. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0018] Figure 1 A structural schematic diagram of a floor scrubber provided in an embodiment of the present application is shown;

[0019] Figure 2A schematic diagram of a driving mechanism of a floor scrubber provided according to an embodiment of the present application is shown;

[0020] Figure 3 An overall schematic diagram of a floor scrubber provided according to an embodiment of the present application is shown;

[0021] Figure 4 A schematic flow chart of a control method for a floor scrubber provided according to an embodiment of the present application is shown;

[0022] Figure 5 A schematic diagram of the state of a floor scrubber when pulling back and mopping the floor according to a control method of a floor scrubber provided by an embodiment of the present application is shown;

[0023] Figure 6 A schematic flow chart of a specific method for controlling a floor scrubber provided according to an embodiment of the present application is shown.

[0024] The above drawings include the following reference numerals:

[0025] 11. First scraper strip; 12. Second scraper strip; 13. Push mechanism; 14. Telescopic motor; 15. Return spring; 16. Push rod; 17. First guide groove; 18. Second guide groove; 19. Elastic member; 20. Box; 21. Hub motor. DETAILED DESCRIPTION

[0026] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0027] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] As introduced in the background technology, the floor scrubber in the prior art lacks an effective linkage mechanism between the front lifting scraper bar and the rear scraper bar. When the floor scrubber is pulled back, since the front scraper and the rear fixed scraper bar contact the cleaning surface at the same time, the rear scraper bar is a fixed assembly. When the floor scrubber is pulled back, the rear scraper bar cannot be raised in time, and the front and rear scraper bar contact the ground at the same time. They cannot work together in different working states, which easily causes dirt accumulation or secondary pollution, and the cleaning effect is not ideal. In order to solve the problem in the prior art that the front and rear double scrapers lack linkage control during the forward and backward pushing and pulling process of the floor scrubber, water stains and secondary pollution are easily generated, thereby affecting the cleaning effect, the embodiments of the present application provide a floor scrubber, a control method for a floor scrubber, and a floor scrubber system.

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0031] Figure 1 Schematic diagram of the structure of a floor scrubber according to an embodiment of the present application. Figure 1 As shown, the floor scrubber includes: a first scraper bar 11, a second scraper bar 12, a pushing mechanism 13 and a telescopic motor 14, wherein the first end of the telescopic shaft of the telescopic motor is fixedly connected to the second scraper bar, the second end of the telescopic shaft contacts the first end of the pushing mechanism, the second end of the pushing mechanism is connected to the first scraper bar, and when the floor scrubber is in a forward state, the first end of the telescopic shaft extends to drive the second scraper bar to descend to the cleaning surface, and at the same time, the second end of the telescopic shaft shortens so that the first scraper bar is away from the cleaning surface, and when the floor scrubber is in a backward state, the second end of the telescopic shaft extends to drive the first scraper bar to descend to the cleaning surface, and at the same time, the first end of the telescopic shaft shortens so that the second scraper bar is away from the cleaning surface.

[0032] Specifically, the floor scrubber is equipped with two scraping bars, namely the first scraping bar and the second scraping bar, which are respectively located at the front and rear of the floor scrubber. The first scraping bar is the front scraping bar of the floor scrubber, and the second scraping bar is the rear scraping bar of the floor scrubber. The scraping bars are used to remove residual moisture and stains on the ground during mopping. The pushing mechanism is a component that connects the telescopic motor and the first scraping bar, and is responsible for transmitting the movement of the telescopic motor to the first scraping bar, so that the first scraping bar can rise or fall according to the movement state of the floor scrubber. The telescopic motor is a key power component that controls the lifting and lowering of the front and rear scraping bars. It has two telescopic shaft ends, one end is fixedly connected to the second scraping bar, and the other end is in contact with the pushing mechanism. The telescopic motor can adjust the length of its telescopic shaft according to the working state of the floor scrubber (forward or backward), thereby controlling the lifting and lowering of the first scraping bar and the second scraping bar. In the embodiment of the present application, the telescopic shaft of the telescopic motor can have a telescopic range of 0mm to 22mm. When the floor scrubber moves forward, the telescopic amount of the upper end of the telescopic shaft is 0mm, and the telescopic amount of the lower end is 7mm, resulting in the front scraper being in an initial state of not touching the ground and the rear scraper touching the ground. When the floor scrubber moves backward, the upper end of the telescopic shaft is extended by 20m to ensure that the front scraper is grounded, and the lower end needs to be shortened by 5mm to ensure that the rear scraper is off the ground. The telescopic motor has a certain degree of flexibility in design, and its installation position is not strictly limited to a certain place, and can be adjusted according to the overall layout and design requirements of the floor scrubber.

[0033] When the floor scrubber moves forward, the first end of the telescopic shaft of the telescopic motor extends, pressing the second scraper bar (rear scraper bar) to the ground to remove water stains and stains in front. At the same time, the second end of the telescopic shaft shortens, causing the pushing mechanism to push the first scraper bar (front scraper bar) up to separate it from the ground, thereby avoiding the scraper bar flanging or secondary contamination that may be caused by the first scraper bar contacting the ground during the forward process; when the floor scrubber moves backward, the second end of the telescopic shaft of the telescopic motor extends, pushing the pushing mechanism to lower the first scraper bar (front scraper bar) to the ground for effective cleaning. At the same time, the first end of the telescopic shaft shortens, lifting the second scraper bar (rear scraper bar) from the ground to prevent it from causing secondary contamination of the ground or damage to the scraper bar when retreating. This design utilizes the bidirectional movement capability of the telescopic motor and, through the cooperation of the pushing mechanism, realizes the automatic lifting and lowering control of the first scraper bar and the second scraper bar, ensuring that when the floor scrubber moves forward or backward, the corresponding scraper bar can contact the ground for effective cleaning, while the other scraper bar is automatically lifted off the ground, avoiding additional problems during the cleaning process and improving the cleaning efficiency of the floor scrubber.

[0034] In one embodiment of the present application, the pushing mechanism includes a return spring and a push rod, the second end of the telescopic shaft contacts the first end of the push rod, the second end of the push rod is connected to the first scraper strip, the first end of the return spring is fixedly connected to the second end of the push rod, and the second end of the return spring is fixed to the housing of the floor scrubber.

[0035] Specifically, the schematic diagram of the driving mechanism of the floor scrubber is as follows: Figure 2 As shown, the pushing mechanism includes a return spring 15 and a push rod 16. The pushing mechanism is an important component for realizing the intelligent lifting of the scraper bar in the floor scrubber. Its design ensures that when the movement direction of the floor scrubber changes, the front and rear scraper bars can automatically adjust the contact state with the ground. The pushing mechanism is a mechanical transmission component connecting the telescopic motor 14 and the first scraper bar 11, and is responsible for transmitting the linear motion of the telescopic motor 14 to the first scraper bar 11 to realize the lifting and lowering of the scraper bar.

[0036] The telescopic shaft of the telescopic motor has two end points, of which the second end is in direct contact with the first end of the push rod, which means that the telescopic action of the telescopic motor will directly affect the position of the push rod. When the telescopic shaft is extended, the push rod is pushed, and when it is shortened, the pressure on the push rod is reduced. The second end of the push rod is connected to the first scraper. This connection method enables the movement of the push rod to directly drive the lifting and lowering of the first scraper. When the telescopic shaft is extended, the push rod is pushed, thereby pressing the first scraper to the ground. When the telescopic shaft is shortened, the force exerted on the push rod is reduced, and the first scraper is lifted accordingly. In the embodiment of the present application, the upper end of the telescopic shaft is equipped with an abutment surface corresponding to the push rod for realizing mechanical interaction. The abutment surface can be a rectangular slope surface with an angle of 120°. The contact method is direct surface contact with another slope surface at the upper end of the telescopic shaft, but the angle, shape, and contact method are not unique.

[0037] The first end of the return spring is fixed to the second end of the push rod, and the second end is fixed to the housing of the floor scrubber. The return spring is designed to ensure that the push mechanism can automatically return to the initial position when the floor scrubber stops moving or changes its direction of movement. For example, when the floor scrubber switches from the forward state to the backward state, the second end of the telescopic shaft extends and pushes the push rod. At this time, the return spring is stretched. When the floor scrubber moves forward again, the second end of the telescopic shaft shortens, and the elastic force of the return spring resets the push rod and the first scraper bar to the initial state, that is, the first scraper bar is lifted again. The addition of the return spring ensures that the scraper bar can be raised and lowered smoothly and reliably, and can maintain a good cleaning effect even when the direction of movement changes frequently.

[0038] In a specific embodiment, Figure 1 As shown, the floor scrubber further includes a first guide groove 17 installed along a first direction and a second guide groove 18 installed along a second direction, wherein the first guide groove is used to limit the push rod to restrict the push rod from moving up and down, and the second guide groove is used to limit the first scraper bar to restrict the first scraper bar from moving left and right, and the first direction is perpendicular to the second direction.

[0039] Specifically, the first guide groove is a groove-shaped structure installed along the first direction (horizontal direction, i.e., the front and back operating direction). Its purpose is to limit the push rod and ensure that the push rod can slide forward or backward along a specific path without deviating in the up and down (vertical) direction or lateral direction. This limit is crucial for the push mechanism because it ensures that the movement of the push rod can be accurately converted into pressure or release on the first scraper, thereby realizing the lifting and lowering of the first scraper. One end of the push rod is designed to slide into the first guide groove. The sliding of the push rod in the first guide groove is limited by the side wall of the guide groove, ensuring that it can only perform linear motion forward and backward along the predetermined path of the first guide groove. This connection method enables the push rod to slide forward or backward smoothly, thereby controlling the lifting and lowering of the first scraper. Although the first guide groove is not directly connected to the telescopic motor, its movement is indirectly driven by the action of the second end of the telescopic shaft of the telescopic motor. When the telescopic shaft is extended, it pushes the push rod to slide forward along the first guide groove. When the telescopic shaft is shortened, the push rod slides backward along the first guide groove through the action of the reset spring, returns to the initial position or pushes the lifting and lowering of the first scraper.

[0040] The second guide groove is vertical, that is, it extends along the up and down direction of the floor scrubber, matching the lifting path of the first scraper bar to provide a lifting trajectory for the first scraper bar. The first scraper bar is designed with components that match the second guide groove, such as sliders or pins, which can be embedded in the second guide groove to ensure that the first scraper bar can only move up and down along the path of the second guide groove. When the push rod pushes or pulls the first scraper bar, the second guide groove provides a limit for the up and down movement of the scraper bar to prevent it from lateral deviation or swinging during the lifting process. The second guide groove is not directly connected to the push rod, but the movement of the push rod indirectly affects the lifting of the scraper bar through the interaction between the first scraper bar and the second guide groove. The telescopic shaft action of the telescopic motor transmits force to the push rod, and the push rod slides along the first guide groove, thereby pushing or pulling the first scraper bar to move up and down in the second guide groove. The limiting effect of the second guide groove on the first scraper bar ensures that the scraper bar is lifted and lowered in a controlled state. When the floor scrubber moves forward or backward, the first scraper bar can accurately contact or leave the cleaning surface, avoiding the problem of scraper bar flanging or secondary contamination, and improving the cleaning effect of the floor scrubber and the user experience. The second guide groove works in conjunction with the first guide groove, telescopic motor, push rod and other components in the linkage control structure. Since the first direction and the second direction are perpendicular, the first guide groove and the second guide groove are also perpendicular to each other. They together constitute a three-dimensional limiting system, so that the push rod can move freely in the horizontal direction, while the first scraper bar can be stably lifted and lowered in the vertical direction. This design ensures that the lifting and lowering of the scraper bar is completely controlled by the pushing mechanism without being disturbed by forces in other directions, thereby improving the stability and efficiency of the entire linkage control structure. In the specific implementation process, the limiting method of the push rod is not limited to the first guide groove, and other structures that limit the up and down movement of the push rod can replace the first guide groove. The limiting method of the first scraper bar is not limited to the second guide groove, and other structures that limit the left and right movement of the first scraper bar can replace the second guide groove. In this embodiment, the width of the first guide groove is 2.5 mm and the length is 3 cm, the width of the second guide groove is 1 mm and the length is 3 mm, the single-side gap is 0.2 mm, and the matching accuracy is ±0.1 mm.

[0041] In one embodiment of the present application, Figure 1 As shown, the floor scrubber further comprises an elastic member 19 , a first end of the elastic member 19 is fixed on a housing 20 of the floor scrubber, and a second end of the elastic member 19 is in sealing contact with the second scraper strip 12 .

[0042] Specifically, the design and application of the elastic member in the above-mentioned floor scrubber is to ensure the stability and sealing of the second scraper bar when it contacts the cleaning surface, and to provide support and reset functions during the lifting and lowering of the second scraper bar. The elastic member is usually a spring, an elastic gasket or a similar member with elastic recovery ability. The two ends of the elastic member are respectively fixed and contact different parts to provide elastic support when the second scraper bar is lifted and lowered, ensuring that even under the pressure change of the second scraper bar in contact with the cleaning surface, a good sealing and cleaning effect can be maintained.

[0043] The first end of the elastic member is fixed on the housing of the floor scrubber. This fixing point is usually on a structural member or bracket inside the housing, ensuring that the elastic member has a fixed base when working and will not shift in position with the movement of the second scraper bar. The second end of the elastic member forms a sealed contact with the second scraper bar. The so-called "sealed contact" here means that there is a certain pressure contact between the free end of the elastic member and the second scraper bar, ensuring that when the second scraper bar descends and contacts the cleaning surface, the elastic member can provide sufficient force to press the second scraper bar against the cleaning surface to form a good seal, prevent sewage and air leakage, and ensure the cleaning effect of the sewage suction port. At the same time, when the second scraper bar is lifted off the cleaning surface, the elastic restoring force of the elastic member helps the second scraper bar return to its initial position, that is, separate from the cleaning surface.

[0044] When the floor scrubber is working, when the telescopic shaft of the telescopic motor extends and pushes the second scraper bar down to contact the cleaning surface, the elastic member is compressed; when the telescopic shaft of the telescopic motor shortens and the second scraper bar should rise, the restoring force of the elastic member helps the second scraper bar to smoothly leave the cleaning surface while maintaining its sealing state with the box. This design not only improves the cleaning efficiency of the floor scrubber and reduces the possibility of secondary pollution, but also ensures that the second scraper bar can accurately adjust its contact state with the cleaning surface under different operating conditions.

[0045] In one embodiment of the present application, the above-mentioned floor scrubber further includes a hub motor, and the above-mentioned hub motor is used to drive the above-mentioned floor scrubber forward or backward.

[0046] Specifically, the overall schematic diagram of the floor scrubber is as follows: Figure 3As shown, the floor scrubber also includes a hub motor 21, which is usually installed inside the drive wheel of the floor scrubber or directly connected to the drive wheel axle. This design integrates the motor directly inside the wheel hub (i.e., the wheel axle), reduces the complexity of the transmission chain, and improves the driving efficiency. The rotor or stator of the motor is tightly combined with the wheel hub to form a compact power unit. The main function of the hub motor is to drive the floor scrubber forward or backward. When the motor is powered on, it generates a rotational force, which is converted into forward or backward movement of the floor scrubber through direct connection with the drive wheel. The direction of rotation of the motor determines the direction of travel of the floor scrubber. Usually, counterclockwise rotation makes the floor scrubber move forward, and clockwise rotation makes it move backward, depending on the installation method and design of the motor and the wheel.

[0047] The wheel hub motor not only provides power, but also helps determine the working status of the floor scrubber through its current feedback signal. In a floor scrubber, the current of the wheel hub motor is directly related to the load of the motor. When the floor scrubber is pushed forward, the motor load may be small and the current feedback is relatively low; when the floor scrubber is pulled backward, the motor may need to provide greater force to overcome resistance, and the current feedback will increase accordingly. This current feedback information can be captured by the control system of the floor scrubber and used to adjust the action of the telescopic motor in real time, thereby controlling the lifting and lowering of the scraper bar to ensure that the floor can be effectively cleaned both when moving forward and backward to avoid secondary pollution. Specifically, if Figure 3 As shown, when it is detected that the scrubber is in the forward state, the second scraper bar 12 is pressed down to contact the cleaning surface, and the first scraper bar 11 is lifted up and separated from the cleaning surface; on the contrary, when it is detected that the scrubber is in the backward state, the first scraper bar 11 is pressed down to contact the cleaning surface, and the second scraper bar 12 is lifted up to prevent it from contacting the cleaning surface.

[0048] In one embodiment of the present application, the above-mentioned floor scrubber further includes: a dirt sensor, which is installed on the box of the above-mentioned floor scrubber and is used to detect dirt on the ground when the above-mentioned floor scrubber moves backward.

[0049] Specifically, the dirt sensor is usually installed on the box of the floor scrubber. The specific location should be selected in an area that can effectively monitor the dirt on the ground. It is often located at the bottom of the floor scrubber or near the cleaning surface so that the dirt level of the ground can be directly detected when the equipment is retreating. The working principle of the dirt sensor can be based on a variety of technologies, including but not limited to optical detection, capacitive detection or pressure change detection. For example, optical detection determines the cleanliness of the ground by emitting light and detecting the amount of reflected or absorbed light; capacitive detection identifies dirt based on the change in capacitance between the stain and the cleaning surface; and pressure change detection determines whether there is difficult-to-remove dirt by monitoring the pressure change under the scraper.

[0050] In this embodiment, a control method for a floor scrubber running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0051] Figure 4 FIG. 1 is a flow chart of a control method for a floor scrubber according to an embodiment of the present application. Figure 4 As shown, the method comprises the following steps:

[0052] Step S401, determining whether the floor scrubber is in a forward state or a backward state;

[0053] Specifically, the control system of the floor scrubber first needs to determine the current moving state of the device, that is, whether it is in the forward state or the backward state. This judgment is usually made based on the current feedback information of the wheel hub motor. In the forward state, the current of the wheel hub motor is usually reflected as a small value, because when the floor scrubber moves forward under the push of the user, the load on the motor is small; while in the backward state, the current feedback value of the wheel hub motor is relatively large, because when moving backward, the motor needs to overcome the ground friction and the weight of the device to generate greater driving force.

[0054] Step S402, when the scrubber is in the forward state, controlling the second end of the telescopic shaft of the telescopic motor to shorten so that the first scraper bar remains in the raised state, and controlling the first end of the telescopic shaft to extend so that the second scraper bar is pressed down to contact the cleaning surface;

[0055] Specifically, Figure 1 As shown, in the forward state, the second end (upper end) of the telescopic shaft of the telescopic motor 14 contacts the first end of the push rod 16, and the second end (upper end) of the telescopic shaft will be shortened to reduce the pressure on the push rod. Through the action of the reset spring 15, the push rod 16 slides backward along the first guide groove 17, so that the first scraper bar (front scraper bar) remains in an upwardly lifted state along the second guide groove 18 and does not contact the cleaning surface, thereby avoiding the first scraper bar 11 from generating additional water marks or scratches when cleaning forward. At the same time, the first end (lower end) of the telescopic shaft will be extended to apply pressure to the elastic member 19. Since the first end of the elastic member is fixed on the box 20 of the scrubber, the second end is in sealing contact with the second scraper bar, thereby pressing the second scraper bar 12 down to be in close contact with the cleaning surface, ensuring that the residual moisture and stains on the ground can be effectively scraped off when mopping forward, thereby improving the cleaning effect.

[0056] Step S403, when the floor scrubber is in the backward state, the second end of the telescopic shaft is controlled to extend so that the first scraper is pressed down to contact the cleaning surface, and the first end of the telescopic shaft is controlled to shorten so that the second scraper leaves the cleaning surface.

[0057] Specifically, Figure 5 The schematic diagram of the above-mentioned floor scrubber when pulling back to mop the floor is shown. Figure 5 As shown, in the backward state, the second end (upper end) of the telescopic shaft of the telescopic motor 14 contacts the first end of the push rod 16, and the second end (upper end) of the telescopic shaft is extended to increase the pressure on the push rod. At the same time, the return spring 15 is compressed, and the push rod 16 slides forward along the first guide groove 17, so that the first scraper 11 moves downward along the second guide groove 18, prompting the first scraper 11 to be lowered and contact the cleaning surface for backward cleaning. At the same time, the first end (lower end) of the telescopic shaft is shortened, and the force on the elastic member 19 is reduced. Since the first end of the elastic member is fixed on the box 20 of the scrubber, the second end is in sealing contact with the second scraper, thereby lifting the second scraper 12 from the contact state with the cleaning surface, avoiding the rear scraper from contacting the sticky stains or large particles of dirt on the ground when retreating, preventing the scraper from flanging or secondary pollution, and ensuring the cleaning quality and the service life of the scraper.

[0058] Through the up and down movement of the telescopic shaft of the telescopic motor, the states of the first scraper and the second scraper are intelligently adjusted. In different working states, the two scrapers respectively take on the roles of lifting and pressing down to meet the cleaning needs of the floor scrubber when moving forward and backward, avoiding excessive wear on the scraper and secondary pollution of the ground. Through this intelligent control method, the floor scrubber can achieve effective linkage between the front and rear scrapers when moving forward and backward.

[0059] In one embodiment of the present application, the above-mentioned floor scrubber further includes a hub motor, and the above-mentioned hub motor is used to drive the above-mentioned floor scrubber forward or backward, wherein determining whether the floor scrubber is in the forward state or the backward state includes: obtaining a real-time current feedback signal of the hub motor; and determining whether the above-mentioned floor scrubber is in the forward state or the backward state according to the above-mentioned real-time current feedback signal.

[0060] Specifically, when the wheel hub motor is working, its current size will change according to the change of the motor load. In a floor scrubber, this load change is directly related to the forward and backward state of the equipment. When the floor scrubber is pushed forward, the motor is less affected by ground friction and the weight of the equipment, and the current load is usually low. On the contrary, when the floor scrubber is pulled backward, the motor needs to overcome greater friction and the gravity of the equipment, causing its current load to increase. The wheel hub motor integrates a current sensor that can monitor and feedback this current change in real time. By continuously monitoring the current feedback signal of the wheel hub motor, based on the current characteristics of the motor under different working conditions, it is analyzed and identified whether the floor scrubber is currently moving forward or backward. For example, if the detected current feedback signal is low, the control system will determine that the floor scrubber is currently in a forward state; if the current feedback signal is high, the control system will determine that the floor scrubber is in a backward state.

[0061] In a specific embodiment, determining whether the floor scrubber is in the forward state or the backward state according to the real-time current feedback signal includes: when the real-time current feedback signal is greater than a current determination threshold, determining that the floor scrubber is in the backward state; when the real-time current feedback signal is less than or equal to the current determination threshold, determining that the floor scrubber is in the forward state, wherein the current determination threshold is an average value of a minimum value of a first current range and a maximum value of a second current range, wherein the first current range is the current range when the floor scrubber is in the forward state, and the second current range is the current range when the floor scrubber is in the backward state.

[0062] Specifically, the hub motor will generate corresponding current according to the actual load when working. This current is fed back to the control system of the floor scrubber in real time through the built-in sensor. The control system continuously monitors these current signals to analyze the working status of the floor scrubber. In order to distinguish between the forward state and the backward state, a current judgment threshold is set in advance. This threshold is calculated based on the current range of the floor scrubber in the forward and backward states. Specifically, the current judgment threshold is set to the average value of the minimum value of the first current range (the current range when the floor scrubber is forward) and the maximum value of the second current range (the current range when the floor scrubber is backward). The purpose of this setting is to accurately judge the moving state of the floor scrubber when there is a significant difference in the current load between the current state and another state. In practical applications, the specific values ​​of the first current range and the second current range need to be determined through experiments and data analysis to ensure that the setting of the current judgment threshold can accurately reflect the moving state of the floor scrubber.

[0063] When the real-time current feedback signal obtained by the control system is greater than the current judgment threshold, it means that the motor load is large and the scrubber may be in a backward state where it needs to overcome more resistance. On the contrary, if the real-time current feedback signal is less than or equal to the current judgment threshold, the motor load is small and the control system will judge that the scrubber is in a forward state because the resistance to the motor is relatively small when moving forward.

[0064] Once the control system determines the movement state of the floor scrubber based on the current feedback signal, it will adjust the control strategy of the scraper bar based on this information. In the forward state, the telescopic motor is controlled to lift the front scraper bar and press the rear scraper bar down; in the backward state, on the contrary, the front scraper bar is pressed down and the rear scraper bar is lifted to meet the cleaning needs in different directions, improve the cleaning effect, and protect the scraper bar from wear. Through this threshold judgment method based on real-time current feedback signals, the floor scrubber can realize automatic and intelligent scraper bar control without manual adjustment by the user. This control mechanism not only improves cleaning efficiency and reduces secondary pollution to the ground, but also extends the service life of the scraper bar and the entire floor scrubber.

[0065] In one embodiment of the present application, the above-mentioned floor scrubber also includes a dirt sensor installed on the box of the above-mentioned floor scrubber, and is used to detect dirt on the ground when the above-mentioned floor scrubber moves backward, wherein the above-mentioned method also includes: during the process of the above-mentioned floor scrubber moving backward, if the above-mentioned dirt sensor identifies dirt with a volume greater than a preset volume and / or a viscosity greater than a preset viscosity, controlling the first end of the above-mentioned telescopic shaft to continue to shorten by a preset amount.

[0066] Specifically, the dirt sensor is installed on the box of the floor scrubber. It is designed to detect dirt on the ground when the floor scrubber moves backward for cleaning, especially those stains with large volume or strong viscosity. Such sensors are usually based on optical, capacitive, pressure or ultrasonic principles, and can monitor the state of the cleaning surface in real time and identify difficult-to-remove dirt in a timely manner. When the floor scrubber is in the backward state, the control system has identified this state based on the current feedback signal of the hub motor. At this time, the dirt sensor begins to work and scans and detects the cleaning surface. Once it detects that there is dirt on the ground with a volume greater than the preset volume or a viscosity greater than the preset viscosity, the dirt sensor will immediately send a signal to the control system. After receiving the signal from the dirt sensor, the control system will further adjust the working state of the telescopic motor. For example, the dirt sensor usually has a response time of ≤10ms after identifying the target content. It also outputs different current signals to the telescopic motor and determines the dirt sensor signal only when the scrubber is pulled back. If dirt is identified when pulling back, the second scraper bar (rear scraper bar) is lifted 5mm and then lifted another 2mm to prevent dirt from sticking to the back of the scraper bar and causing secondary pollution when it is pulled back.

[0067] Through the linkage control of the dirt sensor and the telescopic motor, the floor scrubber can intelligently adjust its cleaning strategy, especially when dealing with complex stains. This not only protects the scraper bar and extends the service life of the equipment, but also improves cleaning efficiency, ensuring that no difficult-to-remove stains are left behind or further contamination is caused when cleaning backwards. For users, this intelligent control mechanism reduces the need for manual intervention, making cleaning work more efficient and safer, and improving the user experience and the intelligence level of the equipment.

[0068] In one embodiment of the present application, the pushing mechanism includes a return spring and a push rod, the second end of the telescopic shaft contacts the first end of the push rod, the second end of the push rod is connected to the first scraper strip, the first end of the return spring is fixedly connected to the second end of the push rod, and the second end of the return spring is fixed to the box of the floor scrubber, wherein the method also includes: when the floor scrubber moves forward again or stops using, the second end of the telescopic shaft retracts to a first preset position, the push rod is automatically reset by the return spring so that the first scraper strip is lifted away from the cleaning surface, and at the same time, the first end of the telescopic shaft extends to the second preset position so that the second scraper strip is pressed down to contact the cleaning surface.

[0069] Specifically, when the floor scrubber moves forward again or the user stops using it, the telescopic shaft of the telescopic motor will be controlled to adjust its telescopic state. Specifically, the second end of the telescopic shaft will retract to the first preset position. This action releases the thrust on the push rod, causing the push rod and the front scraper to automatically reset under the action of the reset spring. The elastic restoring force of the reset spring pulls the push rod back to its initial position, while driving the front scraper to lift up and away from the cleaning surface, ready for the next cleaning job. At the same time, the first end of the telescopic shaft extends to the second preset position, and this action presses the rear scraper down to contact the cleaning surface. Through this mechanism, the rear scraper can maintain contact with the cleaning surface regardless of whether the equipment is moving forward or stopped, ensuring that stains and moisture on the ground can be effectively scraped off when cleaning forward.

[0070] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the control method of the floor scrubber of the present application will be described in detail below in combination with specific embodiments.

[0071] This embodiment relates to a specific control method for a floor scrubber. Figure 6As shown, it includes: when the floor scrubber is mopping forward, through the current feedback of the wheel hub motor, the second end of the telescopic shaft of the telescopic motor is in the initial state, so that the first scraper is in the initial state, that is, the first scraper is lifted; at the same time, the first end of the telescopic shaft of the telescopic motor is also in the initial state, so that the second scraper is in the initial state, that is, the second scraper is pressed down, and the floor scrubber is pushed forward to clean the water stains. When the floor scrubber is mopping backward, through the current feedback of the wheel hub motor, the second end of the telescopic shaft of the telescopic motor is extended, so that the first scraper is pressed down; at the same time, the first end of the telescopic shaft of the telescopic motor is shortened, so that the second scraper is lifted, and the floor scrubber is pulled back to clean the water stains, and when the floor scrubber is mopping backward, the current feedback of the dirt sensor is used to identify large or sticky stains.

[0072] The present application also provides a floor scrubber system, comprising: any one of the above-mentioned floor scrubbers; and a controller, communicating with the hub motor and the dirt sensor of the above-mentioned floor scrubber, for executing any one of the above-mentioned floor scrubber control methods.

[0073] Specifically, the floor scrubber includes all the above-mentioned physical structures and control mechanisms, such as a telescopic motor, a return spring, a push rod, a first scraper bar and a second scraper bar, etc. These components work together to enable the floor scrubber to automatically adjust the scraper bar state when moving forward and backward to adapt to different cleaning needs.

[0074] The controller is the core intelligent component in the floor scrubber system. It establishes a communication connection with the wheel motor and dirt sensor of the floor scrubber. This means that the controller can receive the current feedback signal from the wheel motor and the detection signal from the dirt sensor in real time. Based on these signals, the controller can intelligently determine the movement status of the floor scrubber (forward or backward) and the dirtiness of the cleaning surface.

[0075] The floor scrubber system of the present application realizes seamless connection with the physical structure and control mechanism of the equipment by integrating an intelligent controller, and can automatically adjust the working state of the scraper according to the real-time movement state and dirt detection situation, thereby improving the cleaning efficiency.

[0076] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, a device where the computer-readable storage medium is located is controlled to execute the control method of the floor scrubber.

[0077] Specifically, the control method of the floor scrubber includes:

[0078] Step S401, determining whether the floor scrubber is in a forward state or a backward state;

[0079] Step S402, when the scrubber is in the forward state, controlling the second end of the telescopic shaft of the telescopic motor to shorten so that the first scraper bar remains in the raised state, and controlling the first end of the telescopic shaft to extend so that the second scraper bar is pressed down to contact the cleaning surface;

[0080] Step S403, when the floor scrubber is in the backward state, the second end of the telescopic shaft is controlled to extend so that the first scraper is pressed down to contact the cleaning surface, and the first end of the telescopic shaft is controlled to shorten so that the second scraper leaves the cleaning surface.

[0081] An embodiment of the present invention provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, at least steps of a method for controlling a floor scrubber are implemented.

[0082] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the steps of a control method for a floor scrubber.

[0083] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0084] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0085] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0086] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0087] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0088] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0089] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0090] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0091] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0092] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A floor scrubber, characterized in that: include: a first scraper strip, a second scraper strip, a pushing mechanism and a telescopic motor, wherein a first end of a telescopic shaft of the telescopic motor is fixedly connected to the second scraper strip, a second end of the telescopic shaft contacts a first end of the pushing mechanism, and a second end of the pushing mechanism is connected to the first scraper strip, When the floor scrubber is in the forward state, the first end of the telescopic shaft extends to drive the second scraper bar to descend to the cleaning surface, and at the same time, the second end of the telescopic shaft shortens so that the first scraper bar is away from the cleaning surface. When the floor scrubber is in the backward state, the second end of the telescopic shaft extends to drive the first scraper bar to descend to the cleaning surface, and at the same time, the first end of the telescopic shaft shortens so that the second scraper bar is away from the cleaning surface.

2. The floor scrubber according to claim 1, characterized in that: The pushing mechanism includes a return spring and a push rod, the second end of the telescopic shaft contacts the first end of the push rod, the second end of the push rod is connected to the first scraper strip, the first end of the return spring is fixedly connected to the second end of the push rod, and the second end of the return spring is fixed to the box of the floor scrubber.

3. The floor scrubber according to claim 2, characterized in that: The floor scrubber also includes a first guide groove installed along a first direction and a second guide groove installed along a second direction, wherein the first guide groove is used to limit the push rod to restrict the push rod from moving up and down, and the second guide groove is used to limit the first scraper bar to restrict the first scraper bar from moving left and right, and the first direction is perpendicular to the second direction.

4. The floor scrubber according to claim 1, characterized in that: The floor scrubber further comprises an elastic member, a first end of which is fixed to a box of the floor scrubber, and a second end of which is in sealing contact with the second scraper strip.

5. The floor scrubber according to claim 1, characterized in that: The floor scrubber further comprises a wheel hub motor, and the wheel hub motor is used to drive the floor scrubber forward or backward.

6. The floor scrubber according to claim 1, characterized in that: The floor scrubber also includes: The dirt sensor is installed on the box of the floor scrubber and is used to detect dirt on the ground when the floor scrubber moves backward.

7. A method for controlling a floor scrubber according to any one of claims 1 to 6, characterized in that: include: Determine whether the floor scrubber is in forward or reverse state; When the floor scrubber is in the forward state, the second end of the telescopic shaft of the telescopic motor is controlled to be shortened so that the first scraper bar remains in the raised state, and the first end of the telescopic shaft is controlled to be extended so that the second scraper bar is pressed down to contact the cleaning surface; When the floor scrubber is in the backward state, the second end of the telescopic shaft is controlled to extend so that the first scraper bar is pressed down to contact the cleaning surface, and the first end of the telescopic shaft is controlled to shorten so that the second scraper bar leaves the cleaning surface.

8. The method according to claim 7, characterized in that The floor scrubber further includes a hub motor, and the hub motor is used to drive the floor scrubber forward or backward, wherein determining whether the floor scrubber is in the forward state or the backward state includes: Obtain the real-time current feedback signal of the hub motor; The floor scrubber is determined to be in the forward state or the backward state according to the real-time current feedback signal.

9. The method according to claim 8, characterized in that Determining whether the floor scrubber is in the forward state or the backward state according to the real-time current feedback signal includes: When the real-time current feedback signal is greater than the current determination threshold, determining that the floor scrubber is in the backward state; When the real-time current feedback signal is less than or equal to the current determination threshold, the floor scrubber is determined to be in the forward state, wherein the current determination threshold is an average value of a minimum value of a first current range and a maximum value of a second current range, wherein the first current range is the current range when the floor scrubber is in the forward state, and the second current range is the current range when the floor scrubber is in the backward state.

10. The method according to claim 7, characterized in that The floor scrubber further includes a dirt sensor mounted on a housing of the floor scrubber for detecting dirt on the floor when the floor scrubber moves backward, wherein the method further includes: During the backward movement of the floor scrubber, if the dirt sensor identifies dirt with a volume greater than a preset volume and / or a viscosity greater than a preset viscosity, the first end of the telescopic shaft is controlled to continue to shorten by a preset amount.

11. The method according to claim 7, characterized in that The pushing mechanism includes a return spring and a push rod, the second end of the telescopic shaft contacts the first end of the push rod, the second end of the push rod is connected to the first scraper strip, the first end of the return spring is fixedly connected to the second end of the push rod, and the second end of the return spring is fixed to the box of the floor scrubber, wherein the method further includes: When the floor scrubber moves forward again or stops being used, the second end of the telescopic shaft retracts to the first preset position, and the push rod is automatically reset by the reset spring so that the first scraper bar is lifted to move away from the cleaning surface. At the same time, the first end of the telescopic shaft extends to the second preset position so that the second scraper bar is pressed down to contact the cleaning surface.

12. A floor scrubber system, characterized in that: include: The floor scrubber according to any one of claims 1 to 6; A controller communicates with the wheel hub motor and the dirt sensor of the floor scrubber, and is used to execute the control method of the floor scrubber according to any one of claims 7 to 11.

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