Floor washing machine, control method of floor washing machine, and floor washing machine system

Abstract

This application provides a floor scrubber, a control method for the floor scrubber, and a floor scrubber system. The floor scrubber includes a first squeegee, a second squeegee, a pushing mechanism, and a telescopic motor. The first end of the telescopic shaft of the telescopic motor is fixedly connected to the second squeegee, and 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 squeegee. When the floor scrubber is in the forward position, the first end of the telescopic shaft extends, driving the second squeegee down to the cleaning surface, while the second end of the telescopic shaft shortens, causing the first squeegee to move away from the cleaning surface. When the floor scrubber is in the reverse position, the second end of the telescopic shaft extends, driving the first squeegee down to the cleaning surface, while the first end of the telescopic shaft shortens, causing the second squeegee to move away from the cleaning surface. This solution solves the problem in existing floor scrubbers where the lack of coordinated control between the front and rear squeegees during the forward and backward pushing and pulling process easily leads to water stains and secondary pollution, affecting the cleaning effect.

Description

Technical Field

[0001] This application relates to the field of floor scrubber control technology, and more specifically, to a floor scrubber, a floor scrubber control method, and a floor scrubber system. Background Technology

[0002] In actual use, when users push and pull the floor scrubber, the reciprocating motion easily generates a lot of water stains, affecting the cleaning effect and user experience. Currently, floor scrubbers on the market are equipped with a front-mounted lifting squeegee and a rear-mounted squeegee to remove water stains from the floor. However, these two types of squeegees lack an effective linkage mechanism. When pulling the scrubber backward, because the front squeegee and the rear fixed squeegee are in contact with the cleaning surface simultaneously, and the rear squeegee is fixed and cannot rise in time when pulling backward, the front and rear squeegees are in contact with the ground at the same time. This prevents them from working in tandem in different working states, easily causing dirt accumulation or secondary pollution, resulting in unsatisfactory cleaning results. Summary of the Invention

[0003] The main objective of this 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 water stains and secondary pollution are easily generated and the cleaning effect is affected by the lack of linkage control between the front and rear double scrapers during the front and rear pushing and pulling process of the floor scrubber.

[0004] To achieve the above objectives, according to one aspect of this application, a floor scrubber is provided, comprising: a first squeegee, a second squeegee, a pushing mechanism, and a telescopic motor, wherein a first end of the telescopic shaft of the telescopic motor is fixedly connected to the second squeegee, 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 squeegee. When the floor scrubber is in a forward position, the first end of the telescopic shaft extends to drive the second squeegee down to the cleaning surface, while the second end of the telescopic shaft shortens to move the first squeegee away from the cleaning surface. When the floor scrubber is in a reverse position, the second end of the telescopic shaft extends to drive the first squeegee down to the cleaning surface, while the first end of the telescopic shaft shortens to move the second squeegee 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, 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.

[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 and restrict the push rod from moving up and down, and the second guide groove is used to limit the first scraper and restrict the first scraper from moving left and right, and the first direction and the second direction are perpendicular.

[0007] Optionally, the floor scrubber further includes an elastic element, the first end of which is fixed to the housing of the floor scrubber, and the second end of which is in sealing contact with the second scraper.

[0008] Optionally, the floor scrubber also includes a hub motor for driving the floor scrubber forward or backward.

[0009] Optionally, the floor scrubber further includes a dirt sensor, installed on the housing of the floor scrubber, for detecting dirt on the floor as the floor scrubber moves backward.

[0010] According to another aspect of this application, a control method for any of the above-described floor scrubbers is provided, comprising: determining whether the floor scrubber is in a forward or reverse 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 squeegee remains in a raised state, while controlling the first end of the telescopic shaft to extend so that the second squeegee is pressed down to contact the cleaning surface; when the floor scrubber is in the reverse state, controlling the second end of the telescopic shaft to extend so that the first squeegee is pressed down to contact the cleaning surface, while controlling the first end of the telescopic shaft to shorten so that the second squeegee leaves the cleaning surface.

[0011] Optionally, the floor scrubber further includes a hub motor for driving the floor scrubber forward or backward. Determining whether the floor scrubber is in a forward or backward state includes: acquiring a real-time current feedback signal from the hub motor; and determining whether the floor scrubber is in the forward or backward state based on the real-time current feedback signal.

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

[0013] Optionally, the floor scrubber also includes a dirt sensor installed on the casing of the floor scrubber for detecting dirt on the floor when the floor scrubber moves backward. The method further includes: if the dirt sensor detects dirt with a volume greater than a preset volume and / or a viscosity greater than a preset viscosity during the backward movement of the floor scrubber, 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, 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. The method further includes: when the floor scrubber moves forward again or stops, the second end of the telescopic shaft retracts to a first preset position, the push rod automatically resets via the return spring to raise the first scraper away from the cleaning surface, and simultaneously the first end of the telescopic shaft extends to a second preset position to press the second scraper down to contact the cleaning surface.

[0015] According to another aspect of this application, a floor scrubbing machine system is provided, comprising: any of the floor scrubbing machines described above; and a controller, communicating with the hub motor and dirt sensor of the floor scrubbing machine, for executing the control method of any of the floor scrubbing machines described above.

[0016] By applying the technical solution of this 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, and the second end of the pushing mechanism is connected to the first scraper. When the floor scrubber is in the forward state, the first end of the telescopic shaft extends to drive the second scraper down to the cleaning surface, while the second end of the telescopic shaft shortens to move the first scraper away from the cleaning surface. When the floor scrubber is in the reverse state, the second end of the telescopic shaft extends to drive the first scraper down to the cleaning surface, while the first end of the telescopic shaft shortens to move the second scraper away from the cleaning surface. This solves the problem that existing floor scrubbers, due to the lack of linkage control between the front and rear scrapers during the forward and backward pushing and pulling process, are prone to water stains and secondary pollution, which affects the cleaning effect. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

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

[0019] Figure 2A schematic diagram of a drive mechanism for a floor scrubber according to an embodiment of this application is shown;

[0020] Figure 3 A general schematic diagram of a floor scrubbing machine provided according to an embodiment of this application is shown;

[0021] Figure 4 A schematic flowchart of a control method for a floor scrubber according to an embodiment of this application is shown;

[0022] Figure 5 A schematic diagram of the state of a floor scrubber when it is pulled back to mop, according to an embodiment of the present application, is shown.

[0023] Figure 6 A schematic flowchart of a specific floor scrubber control method according to an embodiment of this application is shown.

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

[0025] 11. First scraper; 12. Second scraper; 13. Pushing mechanism; 14. Telescopic motor; 15. Return spring; 16. Push rod; 17. First guide groove; 18. Second guide groove; 19. Elastic element; 20. Housing; 21. Hub motor. Detailed Implementation

[0026] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0027] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort 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, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] As described in the background section, existing floor scrubbers lack an effective linkage mechanism between the front lifting squeegee and the rear squeegee. When the scrubber is pulled back, the front squeegee and the rear fixed squeegee simultaneously contact the cleaning surface. Since the rear squeegee is fixedly assembled, it cannot rise in time when pulled back. The front and rear squeegees contact the ground simultaneously and cannot work in coordination under different working conditions, which easily leads to dirt accumulation or secondary pollution and unsatisfactory cleaning effect. To solve the problem that existing floor scrubbers are prone to water stains and secondary pollution due to the lack of linkage control between the front and rear squeegees during the push-pull process, thus affecting the cleaning effect, the embodiments of this application provide a floor scrubber, a control method for the floor scrubber, and a floor scrubber system.

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

[0031] Figure 1 This is a structural schematic diagram of a floor scrubber according to an embodiment of this application. Figure 1 As shown, the floor scrubber includes: a first squeegee 11, a second squeegee 12, a pushing mechanism 13, and a telescopic motor 14. The first end of the telescopic shaft of the telescopic motor is fixedly connected to the second squeegee, and 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 squeegee. When the floor scrubber is in the forward state, the first end of the telescopic shaft extends to drive the second squeegee down to the cleaning surface, while the second end of the telescopic shaft shortens to move the first squeegee away from the cleaning surface. When the floor scrubber is in the reverse state, the second end of the telescopic shaft extends to drive the first squeegee down to the cleaning surface, while the first end of the telescopic shaft shortens to move the second squeegee away from the cleaning surface.

[0032] Specifically, the floor scrubber is equipped with two squeegees, namely the first squeegee and the second squeegee, located at the front and rear of the scrubber respectively. The first squeegee is the front squeegee, and the second squeegee is the rear squeegee. These squeegees are used to remove residual water and stains from the floor during mopping. The pushing mechanism connects the telescopic motor to the first squeegee, transmitting the motor's motion to it, allowing the first squeegee to rise or fall according to the scrubber's movement. The telescopic motor is the key power component controlling the raising and lowering of the front and rear squeegees. It has two telescopic shaft ends, one fixedly connected to the second squeegee and the other in contact with the pushing mechanism. The telescopic motor can adjust the length of its telescopic shaft according to the scrubber's working state (forward or backward), thereby controlling the raising and lowering of the first and second squeegees. In this embodiment, the telescopic shaft of the telescopic motor can extend from 0mm to 22mm. When the floor scrubber moves forward, the upper end of the telescopic shaft extends by 0mm, and the lower end extends by 7mm, resulting in the front squeegee not contacting the ground while the rear squeegee is in contact with the ground in its initial state. When the floor scrubber moves backward, the upper end of the telescopic shaft extends by 20mm to ensure the front squeegee is grounded, while the lower end shortens by 5mm to ensure the rear squeegee is off the ground. The telescopic motor has a certain degree of flexibility in design; its installation position is not strictly limited to a certain location 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 motor's telescopic shaft extends, pressing the second squeegee (rear squeegee) against the ground to remove water stains and dirt. At the same time, the second end of the telescopic shaft shortens, causing the pushing mechanism to push the first squeegee (front squeegee) upward, separating it from the ground and preventing the squeegee from flipping over or causing secondary contamination if it comes into contact with the ground during forward movement. When the floor scrubber moves backward, the second end of the telescopic motor's telescopic shaft extends, pushing the pushing mechanism to lower the first squeegee (front squeegee) to the ground for effective cleaning. At the same time, the first end of the telescopic shaft shortens, lifting the second squeegee (rear squeegee) off the ground to prevent secondary contamination or damage to the squeegee during backward movement. This design utilizes the bidirectional movement capability of the telescopic motor. Through the cooperation of the pushing mechanism, it realizes the automatic lifting control of the first and second squeegees, ensuring that when the floor scrubber moves forward or backward, the corresponding squeegee can contact the ground for effective cleaning, while the other squeegee is automatically lifted off the ground, avoiding additional problems in the cleaning process and improving the cleaning efficiency of the floor scrubber.

[0034] In one embodiment of this 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, 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 a crucial component in the floor scrubber for achieving intelligent squeegee lifting and lowering. Its design ensures that the front and rear squeegees automatically adjust their contact with the floor when the scrubber's direction of movement changes. The pushing mechanism is a mechanical transmission component connecting the telescopic motor 14 and the first squeegee 11, responsible for transmitting the linear motion of the telescopic motor 14 to the first squeegee 11, thus achieving the lifting and lowering of the squeegee.

[0036] The telescopic motor's telescopic shaft has two ends, with the second end directly contacting the first end of the push rod. This means that the telescopic motor's telescopic movement directly affects the position of the push rod; when the telescopic shaft extends, it pushes the push rod, and when it shortens, it reduces the pressure on the push rod. The second end of the push rod is connected to the first scraper strip. This connection allows the push rod's movement to directly drive the raising and lowering of the first scraper strip. When the telescopic shaft extends, the push rod is pushed, pressing the first scraper strip against the ground; when the telescopic shaft shortens, the force on the push rod decreases, and the first scraper strip rises accordingly. In this embodiment, the upper end of the telescopic shaft is equipped with a contact surface corresponding to the push rod for mechanical interaction. The contact surface can be a rectangular ramp with a 120° angle, and the contact method is direct contact with another ramp 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, which in turn is fixed to the casing of the floor scrubber. The return spring is designed to ensure that the push mechanism automatically returns to its initial position when the floor scrubber stops moving or changes direction. For example, when the floor scrubber transitions from forward to reverse, the second end of the telescopic shaft extends, pushing 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 spring force causes the push rod and the first squeegee to return to their initial state, meaning the first squeegee is lifted again. The addition of the return spring ensures smooth and reliable squeegee lifting and lowering, maintaining good cleaning performance even when frequently changing direction.

[0038] In specific embodiments, such as Figure 1 As shown, the floor scrubber also includes a first guide groove 17 installed along a first direction and a second guide groove 18 installed along a second direction. The first guide groove is used to limit the push rod and restrict its up-and-down movement, while the second guide groove is used to limit the first scraper and restrict its left-and-right movement. The first direction and the second direction are perpendicular.

[0039] Specifically, the first guide groove is a groove-shaped structure installed along a first direction (horizontal direction, i.e., the forward and backward operating direction). Its purpose is to limit the push rod, ensuring that the push rod can slide forward or backward along a specific path, and cannot deviate in the vertical or lateral direction. This limitation is crucial for the pushing mechanism because it ensures that the movement of the push rod can be precisely converted into pressure or release on the first scraper, thereby realizing the raising 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 move linearly forward and backward along the predetermined path of the first guide groove. This connection method allows the push rod to slide smoothly forward or backward, thereby controlling the raising 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 extends, it pushes the push rod to slide forward along the first guide groove. When the telescopic shaft retracts, the push rod slides backward along the first guide groove through the action of the return spring, returning to the initial position or pushing the raising and lowering of the first scraper.

[0040] The second guide groove is vertical, extending along the up-down direction of the floor scrubber, and matches the lifting path of the first squeegee to provide its trajectory. The first squeegee is designed with components, such as sliders or pins, that fit into the second guide groove, ensuring that the first squeegee can only move up and down along its path. When the push rod pushes or pulls the first squeegee, the second guide groove limits its up-and-down movement, preventing lateral deviation or swaying during lifting. The second guide groove is not directly connected to the push rod, but the push rod's movement indirectly affects the squeegee's lifting and lowering through the interaction between the first squeegee and the second guide groove. The telescopic motor's telescopic shaft transmits force to the push rod, which then slides along the first guide groove, thereby pushing or pulling the first squeegee up and down within the second guide groove. The second guide groove limits the movement of the first squeegee, ensuring controlled lifting and lowering. When the floor scrubber moves forward or backward, the first squeegee accurately contacts or leaves the cleaning surface, preventing squeegee flipping or secondary contamination, thus improving cleaning efficiency and user experience. The second guide groove works in conjunction with the first guide groove, telescopic motor, and push rod in the linkage control structure. Since the first and second directions are perpendicular, and the first and second guide grooves are also perpendicular to each other, they together form a three-dimensional limiting system. This allows the push rod to move freely horizontally, while the first squeegee can rise and fall stably vertically. This design ensures that the squeegee's lifting and lowering is entirely controlled by the push mechanism, without interference from forces in other directions, improving the stability and efficiency of the entire linkage control structure. In practice, the push rod can be limited to the first guide groove for vertical movement; other structures limiting its vertical movement can replace the first guide groove. Similarly, the first squeegee can be limited to the second guide groove for horizontal movement; other structures limiting its horizontal movement 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-sided gap is 0.2 mm, and the fitting accuracy is ±0.1 mm.

[0041] In one embodiment of this application, such as Figure 1 As shown, the floor scrubber also includes an elastic element 19. The first end of the elastic element 19 is fixed to the housing 20 of the floor scrubber, and the second end of the elastic element 19 is in sealed contact with the second scraper 12.

[0042] Specifically, the design and application of the elastic element in the aforementioned floor scrubber is to ensure the stability and sealing of the second squeegee when it contacts the cleaning surface, while also providing support and reset functions during the lifting and lowering of the second squeegee. The elastic element typically employs a spring, elastic washer, or similar component with elastic recovery capability. The two ends of the elastic element are fixed to and contact different components respectively, providing elastic support during the lifting and lowering of the second squeegee, ensuring good sealing and cleaning performance even under pressure changes during contact with the cleaning surface.

[0043] The first end of the elastic element is fixed to the casing of the floor scrubber. This fixing point is usually on a structural component or bracket inside the casing, ensuring that the elastic element has a fixed foundation during operation and will not shift its position with the movement of the second squeegee. The second end of the elastic element forms a sealed contact with the second squeegee. The so-called "sealed contact" means that there is a certain pressure contact between the free end of the elastic element and the second squeegee. This ensures that when the second squeegee descends and contacts the cleaning surface, the elastic element can provide sufficient force to press the second squeegee firmly against the cleaning surface, forming a good seal to prevent sewage and air leakage and ensure the cleaning effect of the suction port. At the same time, when the second squeegee is lifted away from the cleaning surface, the elastic restoring force of the elastic element helps the second squeegee return to its initial position, that is, separate from the cleaning surface.

[0044] When the floor scrubber is working, as the telescopic motor's extension shaft extends, pushing the second squeegee downwards to contact the cleaning surface, the elastic element is compressed. When the telescopic motor's extension shaft retracts and the second squeegee should rise, the restoring force of the elastic element helps the second squeegee smoothly leave the cleaning surface while maintaining its seal with the casing. This design not only improves the floor scrubber's cleaning efficiency and reduces the possibility of secondary contamination, but also ensures that the second squeegee can accurately adjust its contact state with the cleaning surface under different operating conditions.

[0045] In one embodiment of this application, the floor scrubber further includes a hub motor, which is used to drive the 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 typically installed inside the drive wheel or directly connected to the drive wheel axle. This design integrates the motor directly into the hub (i.e., the axle), reducing the complexity of the transmission chain and improving drive efficiency. The motor's rotor or stator is tightly integrated with the hub, forming a compact power unit. The main function of the hub motor is to drive the floor scrubber forward or backward. When the motor is energized, it generates rotational force, which is converted into forward or backward motion of the floor scrubber through direct connection with the drive wheel. The direction of motor rotation determines the direction of the floor scrubber's movement; typically, counter-clockwise rotation propels the scrubber forward, and clockwise rotation propels it backward, depending on the installation method and design of the motor and wheels.

[0047] The 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 hub motor is directly related to the motor's load. When the scrubber is pushed forward, the motor load may be small, and the current feedback is relatively low; while when the 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 floor scrubber's control system to adjust the telescopic motor's movement in real time, thereby controlling the raising and lowering of the squeegee and ensuring effective cleaning of the floor during both forward and backward movements, avoiding secondary pollution. Specifically, such as... Figure 3 As shown, when the floor scrubber is detected to be in the forward state, the second squeegee 12 is pressed down to contact the cleaning surface, while the first squeegee 11 is lifted and separated from the cleaning surface; conversely, when the floor scrubber is detected to be in the reverse state, the first squeegee 11 is pressed down to contact the cleaning surface, while the second squeegee 12 is lifted to avoid contact with the cleaning surface.

[0048] In one embodiment of this application, the floor scrubber further includes a dirt sensor, installed on the housing of the floor scrubber, for detecting dirt on the floor when the floor scrubber moves backward.

[0049] Specifically, dirt sensors are typically installed on the casing of a floor scrubber. The location should be chosen to effectively monitor dirt on the floor, often at the bottom of the scrubber or close to the surface being cleaned, so that the degree of dirt can be detected directly as the machine moves backward. The working principle of dirt sensors can be based on various technologies, including but not limited to optical detection, capacitive detection, or pressure change detection. For example, optical detection determines the cleanliness of the floor by emitting light and detecting the amount of reflected or absorbed light; capacitive detection identifies dirt based on the capacitance change between the dirt and the clean surface; and pressure change detection determines the presence of stubborn dirt by monitoring pressure changes under the squeegee.

[0050] This embodiment provides a control method for a floor scrubber that runs on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0051] Figure 4 This is a flowchart illustrating the control method of a floor scrubber according to an embodiment of this application. Figure 4 As shown, the method includes the following steps:

[0052] Step S401: Determine whether the floor scrubber is in forward or backward mode;

[0053] Specifically, the control system of a floor scrubber first needs to determine the current movement state of the equipment, i.e., whether it is moving forward or backward. This determination is usually based on the current feedback information of the hub motor. When moving forward, the current of the hub motor is usually reflected as a smaller value because the motor load is small when the floor scrubber is pushed forward by the user; while when moving backward, the current feedback value of the hub motor is relatively large because the motor needs to overcome the friction of the ground and the weight of the equipment, generating a greater driving force.

[0054] Step S402: When the floor scrubber is in the forward state, the second end of the telescopic shaft of the telescopic motor is shortened so that the first scraper remains in the raised state, while the first end of the telescopic shaft is extended so that the second scraper is pressed down to contact the cleaning surface.

[0055] Specifically, such as 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. The second end (upper end) of the telescopic shaft will shorten, reducing the pressure on the push rod. Through the action of the return spring 15, the push rod 16 slides backward along the first guide groove 17, so that the first scraper (front scraper) is kept in an upward-raised state along the second guide groove 18, and does not contact the cleaning surface, avoiding the first scraper 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 extend, applying pressure to the elastic element 19. Since the first end of the elastic element is fixed on the housing 20 of the floor scrubber, and the second end is in sealed contact with the second scraper, the second scraper 12 is pressed down to make close contact with the cleaning surface, ensuring that the residual water and stains on the ground can be effectively scraped off when mopping forward, improving the cleaning effect.

[0056] Step S403: When the floor scrubber is in the retracted state, the second end of the telescopic shaft is extended to press the first scraper down to contact the cleaning surface, while the first end of the telescopic shaft is shortened to remove the second scraper from the cleaning surface.

[0057] Specifically, Figure 5 The above diagram illustrates the state of the floor scrubber when it is pulling back to mop, as shown. Figure 5 As shown, in the reverse 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 extends, increasing 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, causing the first scraper 11 to move downward along the second guide groove 18, causing the first scraper 11 to fall down and contact the cleaning surface for reverse cleaning. At the same time, the first end (lower end) of the telescopic shaft shortens, and the force on the elastic element 19 decreases. Since the first end of the elastic element is fixed on the housing 20 of the floor scrubber, and the second end is in sealed contact with the second scraper, the second scraper 12 is lifted from the contact state with the cleaning surface, preventing the rear scraper from contacting sticky stains or large particles of dirt on the ground when reversing, preventing the scraper from flipping or secondary contamination, and ensuring cleaning quality and the service life of the scraper.

[0058] The state of the first and second squeegee blades is intelligently adjusted by the up-and-down movement of the telescopic motor's telescopic shaft. In different working states, the two blades respectively take on the roles of lifting and pressing down to adapt to the cleaning needs of the floor scrubber as it moves forward and backward, avoiding excessive wear on the blades and secondary contamination of the floor. Through this intelligent control method, the floor scrubber can achieve effective linkage between the front and rear squeegee blades when moving forward and backward.

[0059] In one embodiment of this application, the floor scrubber further includes a hub motor, which is used to drive the floor scrubber forward or backward. Determining whether the floor scrubber is in a forward or backward state includes: acquiring a real-time current feedback signal from the hub motor; and determining whether the floor scrubber is in the forward or backward state based on the real-time current feedback signal.

[0060] Specifically, the current of a hub motor varies depending on the motor load during operation. In a floor scrubber, this load variation is directly related to the machine's forward and backward movement. When the scrubber is pushed forward, the motor's current load is typically low due to less friction with the ground and the machine's weight. Conversely, when the scrubber is pulled backward, the motor needs to overcome greater friction and the machine's weight, leading to an increase in its current load. The hub motor integrates a current sensor that can monitor and report these current changes in real time. By continuously monitoring the hub motor's current feedback signal, the system analyzes and identifies whether the scrubber is currently moving forward or backward based on the motor's current characteristics under different operating conditions. For example, if the detected current feedback signal is low, the control system determines that the scrubber is currently moving forward; if the current feedback signal is high, the control system determines that the scrubber is moving backward.

[0061] In a specific embodiment, determining whether the floor scrubber is in the forward or backward state based on the real-time current feedback signal includes: determining the floor scrubber to be in the backward state when the real-time current feedback signal is greater than a current determination threshold; and determining the floor scrubber to be in the forward state when the real-time current feedback signal is less than or equal to the current determination threshold. The current determination threshold is the average of the minimum value of a first current range and the maximum value of a second current range. 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 generates a corresponding current based on the actual load during operation. This current is fed back to the floor scrubber's control system in real time via built-in sensors. The control system continuously monitors these current signals to analyze the scrubber's operating status. To distinguish between forward and backward movement, a current judgment threshold is preset. This threshold is calculated based on the current range of the scrubber in both forward and backward states. Specifically, the current judgment threshold is set as the average of the minimum value of a first current range (the current range when the scrubber is moving forward) and the maximum value of a second current range (the current range when the scrubber is moving backward). This setting aims to accurately determine the scrubber's movement status when there is a significant difference between the current load of the current range and the other state. In practical applications, the specific values ​​of the first and second current ranges need to be determined through experiments and data analysis to ensure that the current judgment threshold accurately reflects the scrubber's movement status.

[0063] When the real-time current feedback signal received by the control system is greater than the current judgment threshold, it means that the motor load is large, and the floor scrubber may be in a backward state that needs to overcome more resistance. Conversely, 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 determine that the floor scrubber is in a forward state, because the resistance experienced by the motor is relatively small when moving forward.

[0064] Once the control system determines the floor scrubber's movement state based on the current feedback signal, it adjusts the squeegee control strategy accordingly. In forward motion, the telescopic motor raises the front squeegee while lowering the rear squeegee; conversely, in reverse motion, the front squeegee lowers while the rear squeegee raises, adapting to cleaning needs in different directions, improving cleaning efficiency, and protecting the squeegees from wear. Through this threshold-based method using real-time current feedback signals, the floor scrubber achieves automated and intelligent squeegee control without manual adjustment by the user. This control mechanism not only improves cleaning efficiency and reduces secondary contamination of the floor but also extends the lifespan of the squeegee and the entire floor scrubber.

[0065] In one embodiment of this application, the floor scrubber further includes a dirt sensor installed on the housing of the floor scrubber for detecting dirt on the floor when the floor scrubber moves backward. The method further includes: if the dirt sensor detects dirt with a volume greater than a preset volume and / or a viscosity greater than a preset viscosity during the backward movement of the floor scrubber, controlling the first end of the telescopic shaft to continue to shorten by a preset amount.

[0066] Specifically, the dirt sensor is installed on the floor scrubber's casing. Its design purpose is to detect dirt on the floor, especially larger or stickier stains, as the scrubber moves backward to clean. These sensors are typically based on principles of optics, capacitance, pressure, or ultrasound, enabling real-time monitoring of the cleaning surface and timely identification of stubborn dirt. When the scrubber is reversing, the control system has already identified this state based on the current feedback signal from the hub motor. At this point, the dirt sensor begins to function, scanning and detecting the cleaning surface. Once it detects dirt larger than a preset volume or with a preset stickiness, the dirt sensor immediately sends a signal to the control system. Upon receiving the signal from the dirt sensor, the control system further adjusts the operating state of the telescopic motor. For example, the dirt sensor typically has a response time of ≤10ms after identifying the target content. Similarly, by outputting different current signals to the telescopic motor, the dirt sensor signal is only determined when the floor scrubber is pulled back. If dirt is detected when pulling back, the second squeegee (rear squeegee) is already raised by 5mm, and then raised by another 2mm to prevent dirt from sticking to the back of the squeegee and causing secondary pollution when it is pulled back.

[0067] Through the coordinated control of dirt sensors and the telescopic motor, the floor scrubber can intelligently adjust its cleaning strategy, especially when dealing with complex stains. This not only protects the squeegee and extends the equipment's lifespan but also improves cleaning efficiency, ensuring that no stubborn stains or further contamination are left behind when cleaning backwards. For users, this intelligent control mechanism reduces the need for manual intervention, making cleaning more efficient and safer, enhancing the user experience and the equipment's overall intelligence.

[0068] In one embodiment of this 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, 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. The method further includes: when the floor scrubber moves forward again or stops, the second end of the telescopic shaft retracts to a first preset position, the push rod automatically resets via the return spring to raise the first scraper away from the cleaning surface, and simultaneously the first end of the telescopic shaft extends to a second preset position to press the second scraper down to contact the cleaning surface.

[0069] Specifically, when the floor scrubber moves forward again or the user stops using it, the telescopic motor's telescopic shaft adjusts its extension / retraction state. Specifically, the second end of the telescopic shaft retracts to the first preset position. This action releases the pushing force on the push rod, causing the push rod and the front squeegee to automatically reset under the action of the return spring. The elastic restoring force of the return spring pulls the push rod back to its initial position, simultaneously lifting the front squeegee away from the cleaning surface, preparing it for the next cleaning cycle. At the same time, the first end of the telescopic shaft extends to the second preset position, pressing the rear squeegee down to contact the cleaning surface. Through this mechanism, regardless of whether the machine is moving forward or stopped, the rear squeegee maintains contact with the cleaning surface, ensuring effective removal of dirt and moisture from the floor during forward cleaning.

[0070] To enable those skilled in the art to better understand the technical solution of this application, the implementation process of the control method of the floor scrubber of this application will be described in detail below with reference to specific embodiments.

[0071] This embodiment relates to a specific control method for a floor scrubber, such as... Figure 6As shown, the process includes: When the floor scrubber moves forward, the second end of the telescopic shaft of the telescopic motor is in its initial state via current feedback from the hub motor, thus the first squeegee is in its initial state (i.e., the first squeegee is raised); simultaneously, the first end of the telescopic shaft of the telescopic motor is also in its initial state, thus the second squeegee is in its initial state (i.e., the second squeegee is pressed down), and the floor scrubber pushes forward to clean water stains. When the floor scrubber moves backward, the second end of the telescopic shaft of the telescopic motor extends via current feedback from the hub motor, thus the first squeegee is pressed down; simultaneously, the first end of the telescopic shaft of the telescopic motor shortens, thus the second squeegee is raised, and the floor scrubber pulls backward to clean water stains. Furthermore, when the floor scrubber moves backward, a dirt sensor uses current feedback to identify larger or stickier stains.

[0072] This application also provides a floor scrubbing machine system, including: any of the above-described floor scrubbing machines; and a controller that communicates with the hub motor and dirt sensor of the floor scrubbing machine to execute the control method of any of the above-described floor scrubbing machines.

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

[0074] The controller is the core intelligent component of the floor scrubber system, establishing a communication connection with the scrubber's hub motor and dirt sensor. This means that the controller can receive current feedback signals from the hub motor and detection signals from the dirt sensor in real time. Based on these signals, the controller can intelligently determine the scrubber's movement status (forward or backward) and the level of dirt on the surface to be cleaned.

[0075] The floor scrubbing machine system of this application achieves seamless connection with the physical structure and control mechanism of the equipment by integrating an intelligent controller. It can automatically adjust the working state of the squeegee according to the real-time movement status and dirt detection, thereby improving cleaning efficiency.

[0076] This invention provides a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the control method for the floor scrubber.

[0077] Specifically, the control methods for floor scrubbers include:

[0078] Step S401: Determine whether the floor scrubber is in forward or backward mode;

[0079] Step S402: When the floor scrubber is in the forward state, the second end of the telescopic shaft of the telescopic motor is shortened so that the first scraper remains in the raised state, while the first end of the telescopic shaft is extended so that the second scraper is pressed down to contact the cleaning surface.

[0080] Step S403: When the floor scrubber is in the retracted state, the second end of the telescopic shaft is extended to press the first scraper down to contact the cleaning surface, while the first end of the telescopic shaft is shortened to remove the second scraper from the cleaning surface.

[0081] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements at least the steps of a control method for a floor scrubber.

[0082] This application also provides a computer program product that, when executed on a data processing device, is adapted to execute a program that initializes a control method step having at least a floor scrubber.

[0083] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0084] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0085] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0086] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0087] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function 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] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0090] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0091] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0092] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A floor scrubbing machine, characterized in that, include: The system comprises a first scraper, a second scraper, a pushing mechanism, and a telescopic motor, wherein a first end of the telescopic shaft of the telescopic motor is fixedly connected to the second scraper, 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. Furthermore, when the floor scrubber is in the forward position, the first end of the telescopic shaft extends to drive the second squeegee down to the cleaning surface, while the second end of the telescopic shaft shortens to move the first squeegee away from the cleaning surface. When the floor scrubber is in the reverse position, the second end of the telescopic shaft extends to drive the first squeegee down to the cleaning surface, while the first end of the telescopic shaft shortens to move the second squeegee 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. The first end of the return spring is fixedly connected to the second end of the push rod. The second end of the return spring is fixed to the housing of the floor scrubber.

3. The floor scrubbing machine 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. The first guide groove is used to limit the push rod and restrict its up-and-down movement, and the second guide groove is used to limit the first scraper and restrict its left-and-right movement. The first direction and the second direction are perpendicular.

4. The floor scrubber according to claim 1, characterized in that, The floor scrubber also includes an elastic element, the first end of which is fixed to the housing of the floor scrubber, and the second end of which is in sealing contact with the second scraper.

5. The floor scrubber according to claim 1, characterized in that, The floor scrubber also includes a hub motor, which is used to drive the floor scrubber forward or backward.

6. The floor scrubbing machine according to claim 1, characterized in that, The floor scrubber also includes: A dirt sensor, installed on the housing of the floor scrubber, is used to detect dirt on the floor as the floor scrubber moves backward.

7. A control method for 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 mode; When the floor scrubber is in the forward state, the second end of the telescopic shaft of the telescopic motor is shortened to keep the first scraper blade in the raised state, while the first end of the telescopic shaft is extended to press the second scraper blade down to contact the cleaning surface. When the floor scrubber is in the reverse state, the second end of the telescopic shaft is extended to press the first squeegee down to contact the cleaning surface, while the first end of the telescopic shaft is shortened to remove the second squeegee from the cleaning surface.

8. The method according to claim 7, characterized in that, The floor scrubber also includes a hub motor, which drives the floor scrubber to move forward or backward. Determining whether the floor scrubber is in a forward or backward state includes: Obtain the real-time current feedback signal of the hub motor; The floor scrubber is determined to be in either the forward or backward state based on 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 or backward state based on the real-time current feedback signal includes: If the real-time current feedback signal is greater than the current determination threshold, the floor scrubber is determined to be in the reverse state. If 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. The current determination threshold is the average of the minimum value of the first current range and the maximum value of the second current range. 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 also includes a dirt sensor installed on the scrubber's housing, used to detect dirt on the floor as the scrubber moves backward. The method further includes: During the backward movement of the floor scrubber, if the dirt sensor detects dirt with a volume larger than a preset volume and / or a viscosity greater than a preset viscosity, it controls the first end of the telescopic shaft 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. The first end of the return spring is fixedly connected to the second end of the push rod. The second end of the return spring is fixed to the housing of the floor scrubber. The method further includes: When the floor scrubber moves forward again or stops, the second end of the telescopic shaft retracts to the first preset position, and the push rod automatically resets via the reset spring, causing the first scraper to lift away from the cleaning surface. At the same time, the first end of the telescopic shaft extends to the second preset position, causing the second scraper to press down to contact the cleaning surface.

12. A floor scrubbing machine system, characterized in that, include: The floor scrubber according to any one of claims 1 to 6; The controller communicates with the hub motor and 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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