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 rolling brush assembly, a first rolling brush support, a second rolling brush support, a base assembly, a first elastic structure, a second elastic structure, a pressing plate and a pressing plate motor, and the rolling brush assembly is movably connected with the base assembly through the first rolling brush support and the second rolling brush support; the first end of the first elastic structure and the first end of the second elastic structure are fixed to the first end face of the first rolling brush support and the first end face of the second rolling brush support respectively, and the second end of the first elastic structure and the second end of the second elastic structure are fixed to the pressing plate. The pressing plate motor is used for pressing the pressing plate downwards to transmit pressure to the first rolling brush support and the second rolling brush support through the first elastic structure and the second elastic structure so as to increase the friction force between the rolling brush assembly and the ground, and the friction force is higher than a friction force threshold value. According to the scheme, the problem that friction force between a rolling brush and the ground is reduced due to abrasion of bristles of the rolling brush of an existing scrubber is 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, a floor scrubber system, and a computer-readable storage medium. Background Art

[0002] Currently, floor scrubbers on the market generally have a roller brush fixed to the base, with the front roller brush and rear casters in contact with the ground. When working, the roller brush rotates to wipe the floor, removes stains, and drives the floor scrubber forward. The friction between the roller brush and the ground directly affects the stain removal effect and traction.

[0003] The friction force is determined by the pressure of the roller brush on the ground and the friction coefficient between the brush and the ground. The pressure of the roller brush of the industrial floor scrubber is fixed and cannot be adjusted. It is determined by the weight of the whole machine and the center of gravity layout. After the floor scrubber is used for a period of time, the bristles are worn, the friction coefficient against the ground decreases, the friction between the roller brush and the ground decreases, the ability to remove stains becomes worse, and stubborn stains are difficult to clean. At the same time, the traction will also decrease or disappear. Therefore, it is very necessary to solve the problem of reduced contact friction between the roller brush and the ground. Summary of the invention

[0004] The main purpose of the present application is to provide a floor scrubber, a control method for the floor scrubber, a floor scrubber system and a computer-readable storage medium, so as to at least solve the problem in the prior art that the friction between the roller brush and the ground is reduced due to the wear of the roller brush bristles.

[0005] In order to achieve the above-mentioned objectives, according to one aspect of the present application, a floor scrubber is provided, including: a roller brush assembly, a first roller brush bracket, a second roller brush bracket, a base assembly, a first elastic structure, a second elastic structure, a pressure plate and a pressure plate motor, the first roller brush bracket and the second roller brush bracket being placed on opposite sides of the roller brush assembly, wherein the roller brush assembly is movably connected to the base assembly through the first roller brush bracket and the second roller brush bracket, the first end of the first elastic structure is fixed to the first end face of the first roller brush bracket, the first end of the second elastic structure is fixed to the first end face of the second roller brush bracket, the second end of the first elastic structure and the second end of the second elastic structure are respectively fixed to the pressure plate, and the first end face is the end face away from the ground; the pressure plate motor is used to press the pressure plate downward to transmit pressure to the first roller brush bracket and the second roller brush bracket through the first elastic structure and the second elastic structure to increase the friction between the roller brush assembly and the ground, and the friction is higher than the friction threshold.

[0006] Optionally, the floor scrubber also includes a third elastic structure and a fourth elastic structure, the first end of the third elastic structure is fixed to the second end face of the first roller brush bracket, the first end of the fourth elastic structure is fixed to the second end face of the second roller brush bracket, the second end of the third elastic structure and the second end of the fourth elastic structure are respectively fixed to the base assembly, and the second end face is the end face close to the ground.

[0007] Optionally, the pressure plate motor includes a gear and a rack, and the rotation of the gear drives the rack to move toward the ground to press the pressure plate downward; the floor scrubber also includes a hub motor, and the hub motor is installed in the casters of the floor scrubber.

[0008] Optionally, the floor scrubber further comprises an electric telescopic rod and a floor scrubber body, wherein a first end of the electric telescopic rod is connected to the floor scrubber body, and a second end of the electric telescopic rod is connected to the base assembly.

[0009] Optionally, the floor scrubber further comprises a user interface for manually adjusting the ground pressure level of the roller brush assembly.

[0010] According to another aspect of the present application, a control method for a floor scrubber is provided, comprising: determining whether there is a need to increase the friction between a roller brush assembly and the ground; when it is necessary to increase the friction between the roller brush assembly and the ground, at least controlling the pressure plate motor to start working, pressing the pressure plate downward to transmit pressure to the first roller brush bracket and the second roller brush bracket through the first elastic structure and the second elastic structure to increase the friction between the roller brush assembly and the ground, and the friction is higher than the friction threshold.

[0011] Optionally, determining whether there is a need to increase the friction between the roller brush assembly and the ground includes: obtaining the degree of dirtiness of the ground; determining whether the degree of dirtiness of the ground is greater than a dirtiness threshold; and determining that there is a need to increase the friction between the roller brush assembly and the ground when the degree of dirtiness of the ground is greater than the dirtiness threshold.

[0012] Optionally, the floor scrubber further includes a hub motor installed in the casters of the floor scrubber. Determining whether there is a need to increase the friction between the roller brush assembly and the ground includes: judging whether the number of reciprocating motions of the hub motor exceeds a preset number within a preset time; and determining that there is a need to increase the friction between the roller brush assembly and the ground when the number of reciprocating motions of the hub motor exceeds a preset number.

[0013] Optionally, the floor scrubber further comprises an electric telescopic rod and a floor scrubber body assembly, a first end of the electric telescopic rod being connected to the floor scrubber body assembly, and a second end of the electric telescopic rod being connected to the base assembly, wherein, when it is necessary to increase the friction between the roller brush assembly and the ground, at least the pressure plate motor is controlled to start working, and the pressure plate is pressed downward to transmit pressure to the first roller brush bracket and the second roller brush bracket through the first elastic structure and the second elastic structure to increase the friction between the roller brush assembly and the ground, including: when it is necessary to increase the friction between the roller brush assembly and the ground, the pressure plate motor is controlled to start working to move the pressure plate downward, and at the same time, an inclination angle between the floor scrubber body assembly and the ground is obtained; according to the inclination angle, the electric telescopic rod is controlled to extend and press down the base assembly to increase the friction between the roller brush assembly and the ground.

[0014] 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 pressure plate motor and a hub motor of the floor scrubber, for executing any one of the floor scrubber control methods described above.

[0015] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the control methods for a floor scrubber.

[0016] Applying the technical solution of the present application, the floor scrubber of the present application includes a roller brush assembly, a first roller brush bracket, a second roller brush bracket, a base assembly, a first elastic structure, a second elastic structure, a pressure plate and a pressure plate motor, wherein the first roller brush bracket and the second roller brush bracket are placed on opposite sides of the roller brush assembly, wherein the roller brush assembly is movably connected to the base assembly through the first roller brush bracket and the second roller brush bracket, the first end of the first elastic structure is fixed on the first end face of the first roller brush bracket, the first end of the second elastic structure is fixed on the first end face of the second roller brush bracket, the second end of the first elastic structure and the second end of the second elastic structure are respectively fixed on the pressure plate, and the first end face is the end face away from the ground; the pressure plate motor is used to press the pressure plate downward to transmit the pressure to the first roller brush bracket and the second roller brush bracket through the first elastic structure and the second elastic structure to increase the friction between the roller brush assembly and the ground, and the friction is higher than the friction threshold. This solution solves the problem of the reduction of friction between the roller brush and the ground in the floor scrubber in the prior art due to the wear of the roller brush bristles. 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 schematic diagram of the side structure of a floor scrubber provided in an embodiment of the present application is shown;

[0019] Figure 2 A cross-sectional schematic diagram of a roller brush assembly of a floor scrubber provided according to an embodiment of the present application is shown;

[0020] Figure 3 A schematic front view of a floor scrubber provided according to an embodiment of the present application is shown;

[0021] Figure 4 A schematic diagram of a floor scrubber provided in accordance with an embodiment of the present application is shown;

[0022] Figure 5 A schematic flow chart of a control method for a floor scrubber provided according to an embodiment of the present application is shown;

[0023] Figure 6 A control logic schematic diagram of a specific floor scrubber provided according to an embodiment of the present application is shown;

[0024] Figure 7 A schematic diagram of the overall layout of a floor scrubber provided according to an embodiment of the present application is shown.

[0025] The above drawings include the following reference numerals:

[0026] 10. Roller brush assembly; 110. Roller brush motor; 111. Bristles; 11. First roller brush bracket; 12. Second roller brush bracket; 13. Base assembly; 14. First elastic structure; 15. Second elastic structure; 16. Press plate; 17. Press plate motor; 18. Third elastic structure; 19. Fourth elastic structure; 20. Gear; 21. Rack; 22. Hub motor; 23. Caster; 24. Base control panel; 25. Sewage tank; 26. Body assembly; 27. Body controller board; 28. Handle assembly. DETAILED DESCRIPTION

[0027] 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.

[0028] 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.

[0029] 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.

[0030] As introduced in the background technology, in the prior art, a floor scrubber generally has a roller brush fixed to a base, with the front roller brush and rear casters in contact with the ground. The roller brush rotates to scrub the floor during operation. After the floor scrubber has been used for a period of time, the bristles wear and the friction coefficient with the ground becomes smaller. In order to solve the problem in the prior art that the friction between the roller brush and the ground decreases due to the wear of the roller brush bristles, the embodiments of the present application provide a floor scrubber, a control method for a floor scrubber, a floor scrubber system and a computer-readable storage medium.

[0031] The above-mentioned floor scrubber includes: a roller brush assembly, a first roller brush bracket, a second roller brush bracket, a base assembly, a first elastic structure, a second elastic structure, a pressure plate and a pressure plate motor, the first roller brush bracket and the second roller brush bracket are placed on opposite sides of the above-mentioned roller brush assembly, wherein the roller brush assembly is movably connected to the above-mentioned base assembly through the first roller brush bracket and the second roller brush bracket, the first end of the above-mentioned first elastic structure is fixed on the first end face of the above-mentioned first roller brush bracket, the first end of the above-mentioned second elastic structure is fixed on the first end face of the above-mentioned second roller brush bracket, the second end of the above-mentioned first elastic structure and the second end of the above-mentioned second elastic structure are respectively fixed on the above-mentioned pressure plate, and the above-mentioned first end face is an end face away from the ground; the above-mentioned pressure plate motor is used to press the above-mentioned pressure plate downward to transmit pressure to the above-mentioned first roller brush bracket and the above-mentioned second roller brush bracket through the above-mentioned first elastic structure and the above-mentioned second elastic structure to increase the friction between the above-mentioned roller brush assembly and the ground, and the above-mentioned friction is higher than the friction threshold.

[0032] Specifically, Figure 1 is a schematic diagram of the side structure of a floor scrubber according to an embodiment of the present application, such as Figure 1 As shown, the roller brush assembly 10 is the core component of the floor scrubber, which is responsible for directly contacting the ground and removing stains through rotation. Figure 2 As shown, the roller brush assembly is driven by a roller brush motor 110 and has bristles 111 or similar cleaning structures. Figure 1The second roller brush bracket 12 is shown in the figure. The first roller brush bracket and the second roller brush bracket are respectively located on opposite sides of the roller brush assembly, used to support the roller brush assembly, and through a movable connection, it can move up and down relative to the base assembly. This design allows the roller brush assembly to adjust the contact pressure with the ground when different ground conditions or cleaning needs. The base assembly is the bottom platform of the floor scrubber, which supports the entire machine and the structure for interacting with the roller brush assembly. In the embodiment of the present application, the base assembly and the roller brush assembly 10 are movably connected through the first roller brush bracket and the second roller brush bracket 12, so that the roller brush assembly 10 can change the pressure on the ground in response to the control signal. The first elastic structure and the second elastic structure 15 are respectively connected between the first end surface (i.e., the side away from the ground) of the first roller brush bracket and the second roller brush bracket and the pressure plate 16. The function of the elastic structure is to smoothly transfer the pressure generated by the pressure plate motor to the roller brush bracket, while allowing the roller brush bracket to have a certain floating space. The pressure plate 16 is located above the roller brush assembly 10, and its up and down movement is controlled by the pressure plate motor 17. When the pressure plate motor is working, it pushes the pressure plate to move downward, and the pressure plate then applies additional pressure to the first roller brush bracket and the second roller brush bracket through the first elastic structure and the second elastic structure, thereby increasing the pressure of the roller brush assembly on the ground. This design can respond to the condition of ground stains. When stubborn stains are detected, the controller will send a signal to start the pressure plate motor to increase the friction between the roller brush and the ground to ensure the cleaning effect. The friction threshold is a preset pressure value. When the friction between the roller brush assembly and the ground is lower than this threshold, the cleaning effect of the floor scrubber will be considered unsatisfactory. In an embodiment of the present application, through the control of the pressure plate motor, the friction between the roller brush assembly and the ground can be adjusted to a level higher than this threshold, ensuring that the floor scrubber can effectively clean regardless of the ground condition.

[0033] By increasing the control of the pressure plate motor and using an elastic structure, the floor scrubber can intelligently adjust the pressure of the roller brush assembly on the ground, thereby ensuring that sufficient friction is provided in a variety of cleaning environments, improving cleaning efficiency, especially the ability to handle stubborn stains.

[0034] In one embodiment of the present application, the above-mentioned floor scrubber also includes a third elastic structure and a fourth elastic structure, the first end of the above-mentioned third elastic structure is fixed on the second end face of the above-mentioned first roller brush bracket, the first end of the above-mentioned fourth elastic structure is fixed on the second end face of the above-mentioned second roller brush bracket, the second end of the above-mentioned third elastic structure and the second end of the above-mentioned fourth elastic structure are respectively fixed on the above-mentioned base assembly, and the above-mentioned second end face is the end face close to the ground.

[0035] Specifically, the above-mentioned floor scrubber further includes a third elastic structure and a fourth elastic structure, such as Figure 1 As shown, a fourth elastic structure 19 is shown, Figure 3The schematic diagram of the front view structure of the floor scrubber according to the embodiment of the present application is shown as follows: Figure 3 As shown, the third elastic structure 18 and the fourth elastic structure 19, two elastic structures (such as springs), work together with the first elastic structure and the second elastic structure to form a more comprehensive pressure regulation system. They are respectively fixed on the other side of the first roller brush bracket and the second roller brush bracket, that is, the second end face, and this end face is close to the ground. The first end of the third elastic structure is fixed to the second end face of the first roller brush bracket, and the first end of the fourth elastic structure is fixed to the second end face of the second roller brush bracket, which means that there is also elastic support on the side where the roller brush assembly contacts the ground, and the second ends of these elastic structures are respectively fixed to the base assembly of the floor scrubber, ensuring that the pressure changes of the roller brush assembly in any direction can be supported and adjusted.

[0036] The purpose of introducing the third and fourth elastic structures is to ensure that the roller brush assembly can have proper elastic support and pressure adjustment in all directions, especially in the area where the roller brush assembly contacts the ground. When the pressure plate motor pushes the pressure plate downward, the first and second elastic structures will compress and transfer the pressure to the roller brush assembly; while the third and fourth elastic structures ensure that the roller brush assembly can maintain proper contact with the ground even when the ground is uneven or there are obstacles, avoiding damage or poor cleaning effect caused by excessive pressure.

[0037] In one embodiment of the present application, the pressure plate motor includes a gear and a rack, and the rotation of the gear drives the rack to move toward the ground to press the pressure plate downward; the floor scrubber also includes a hub motor, and the hub motor is installed in the casters of the floor scrubber.

[0038] Specifically, Figure 3 The schematic diagram of the front view structure of the floor scrubber according to the embodiment of the present application is shown as follows: Figure 3 As shown, the pressure plate motor 17 contains two key transmission components, a gear 20 and a rack 21. When the pressure plate motor 17 receives a start signal, the gear 20 inside the motor starts to rotate. Since the gear 20 is meshed with the rack 21, the rotational motion of the gear 20 will be converted into the linear motion of the rack 21. The rack 21 is designed to move toward the ground. As the rack 21 moves toward the ground, it pushes the pressure plate 16 to move downward. This transmission design of the gear 20 and the rack 21 can control the descending distance of the pressure plate very accurately, thereby achieving fine adjustment of the pressure of the roller brush assembly. When the pressure plate 16 moves downward, it will transmit the pressure to the first roller brush bracket 11 and the second roller brush bracket 12 through the first elastic structure 14 and the second elastic structure 15 to increase the contact pressure between the roller brush assembly and the ground, thereby increasing the friction and enhancing the cleaning effect.

[0039] The hub motor is the core of the floor scrubber's mobility and is installed inside the casters. Figure 1 As shown, the above-mentioned floor scrubber also includes casters 23. The hub motor is directly installed in the caster, which reduces the complex transmission chain and structure between the traditional motor and the wheel, making the mobile system of the floor scrubber more compact and reducing the failure rate. Figure 4 As shown, each caster 23 is equipped with a hub motor 22. The design of the hub motor allows the motor power to act directly on the wheel, reducing the energy loss in the transmission process and improving the mobility and power performance of the floor scrubber. The signal of the hub motor 22 can be received and processed in real time by the base control board 24, which means that the floor scrubber can immediately adjust the ground pressure of the roller brush assembly 10 according to the ground cleaning status (such as encountering stubborn stains), and the pressure plate motor 17 is started to control the pressure plate 16 to press down to increase the friction between the roller brush assembly 10 and the ground, so as to achieve smarter and more efficient cleaning.

[0040] The integrated design of the gear rack transmission mechanism and the hub motor not only improves the cleaning efficiency of the floor scrubber, but also significantly optimizes its operational flexibility, compactness and power performance. Through the control system, the floor scrubber can automatically or manually adjust the pressure of the roller brush assembly according to real-time cleaning needs, ensuring that even stubborn stains can be effectively removed while ensuring smooth movement and control of the machine.

[0041] In one embodiment of the present application, the above-mentioned floor scrubber further includes an electric telescopic rod and a floor scrubber body, the first end of the above-mentioned electric telescopic rod is connected to the above-mentioned floor scrubber body, and the second end of the above-mentioned electric telescopic rod is connected to the above-mentioned base assembly.

[0042] Specifically, the electric telescopic rod is a mechanical component that can be electrically extended or shortened, usually driven by a motor, and the dynamic change of length is achieved through an internal thread or other transmission mechanism. In the floor scrubber of the present application, the electric telescopic rod is used as a pressure regulating device, one end (first end) of the electric telescopic rod is fixedly connected to the floor scrubber body, and the other end (second end) is connected to the base assembly. This design forms an adjustable mechanical connection between the body and the base, and can dynamically adjust the pressure of the roller brush assembly on the ground according to the cleaning requirements. The floor scrubber body is the main interface for user operation and the upper structure of the entire machine. By being connected to the first end of the electric telescopic rod, the body becomes a key point for controlling the roller brush pressure. When the user selects different cleaning modes or ground pressure levels through the control panel or handle on the body, the electric telescopic rod will extend or shorten according to the user's instructions, thereby changing the ground pressure of the roller brush assembly to adapt to different cleaning requirements. In the embodiment of the present application, a motor is provided on the electric telescopic rod, and the output shaft at the front end of the motor is provided with a thread, which is connected to the internal thread of the telescopic rod. The telescopic rod is extended or shortened through the thread to achieve different length adjustments. The length of the telescopic rod can be controlled by the user through the function button on the handle, that is, the length of the telescopic tube is divided into multiple gears, which are determined by the user, and this function is realized through the control panel.

[0043] In one embodiment of the present application, the above-mentioned floor scrubber further includes a user interface for manually adjusting the ground pressure level of the above-mentioned roller brush assembly.

[0044] Specifically, the user interface is the interaction point between the floor scrubber and the operator, and usually includes a display screen, buttons, knobs or a touch screen, etc., which are used to receive user instructions and display the machine status. In this embodiment, the user interface has the function of manually adjusting the ground pressure level of the roller brush assembly. Through the user interface, the operator can manually select the pressure level of the roller brush assembly in contact with the ground, which is crucial for coping with different cleaning needs. For example, when cleaning a smoother or more fragile floor, a lower ground pressure may be required to avoid damage; when cleaning stubborn stains such as oil stains and glue stains, a higher ground pressure is required to enhance the cleaning effect.

[0045] The ground pressure level may include multiple preset levels, each level corresponding to a different roller brush assembly pressure. In an embodiment of the present application, there may be multiple different ground pressure levels, each level may correspond to a different extension length of the telescopic rod. For example, for each additional level, the telescopic rod extends by 1 mm until the maximum extension is 5 mm. This ensures that the roller brush assembly can adapt to changing cleaning needs under different conditions. When the user chooses to increase the ground pressure level through the user interface, this instruction will be received by the base control panel. The control panel will start the motor of the electric telescopic rod according to the user's choice, so that it extends to the length corresponding to the selected level. After the electric telescopic rod is extended, the additional pressure will be transmitted to the roller brush assembly through the base assembly, thereby increasing the contact pressure between the roller brush and the ground and improving the cleaning effect.

[0046] In this embodiment, a control method for a floor scrubber is provided, which is operated by a controller in the floor scrubber. Figure 5 FIG. 1 is a flow chart of a control method for a floor scrubber according to an embodiment of the present application. Figure 5 As shown, the method comprises the following steps:

[0047] Step S501, determining whether there is a need to increase the friction between the roller brush assembly and the ground;

[0048] Specifically, determining whether there is a need to increase the friction between the roller brush assembly and the ground is a key step in the intelligent control and efficient cleaning of the floor scrubber. This need is determined based on the real-time status of the floor scrubber during the cleaning process and the ground conditions. Its purpose is to ensure that the roller brush assembly can automatically adjust its contact pressure with the ground according to the actual cleaning needs, so as to achieve the best cleaning effect.

[0049] The floor scrubber can analyze the cleaning condition of the floor through integrated sensors or ground detection technology. For example, whether the floor contains stubborn stains, the hardness of the floor material, the roughness of the floor, etc. are all important factors in determining whether the friction needs to be increased. Stubborn stains often require greater friction to be effectively removed, and floors of different materials will also affect the cleaning efficiency of the roller brush assembly. During the cleaning process, the floor scrubber will monitor the cleaning effect in real time. If the cleaning effect is found to be poor, for example, the roller brush assembly repeatedly moves back and forth several times when cleaning the same area and still fails to remove the stains, this may mean that the friction between the roller brush and the floor is insufficient.

[0050] Step S502, when it is necessary to increase the friction between the roller brush assembly and the ground, at least control the pressure plate motor to start working, press the pressure plate downward to transmit pressure to the first roller brush bracket and the second roller brush bracket through the first elastic structure and the second elastic structure to increase the friction between the roller brush assembly and the ground, and the friction is higher than the friction threshold.

[0051] Specifically, the control system of the floor scrubber continuously monitors various states during the cleaning process, including the contact between the roller brush assembly and the ground, the cleaning efficiency, and the identification of the ground type. When the system recognizes that stubborn stains are encountered during the cleaning process, or the friction between the roller brush assembly and the ground drops to a certain level and is insufficient for effective cleaning, it will determine that the friction between the roller brush assembly and the ground needs to be increased to improve the cleaning effect. Once the need to increase the friction is confirmed, the control system will send a start signal to the pressure plate motor. The pressure plate motor has a gear and rack transmission structure inside. When the motor starts, the gear starts to rotate, driving the rack to move downward. The downward pressure of the rack directly acts on the pressure plate, causing the pressure plate to move downward. When the pressure plate is pushed downward, the pressure is transmitted to the first roller brush bracket and the second roller brush bracket through the first elastic structure and the second elastic structure connected thereto. The design of these elastic structures allows the pressure to be transmitted in a controllable manner, avoiding excessive impact on the roller brush assembly, while also ensuring that the roller brush assembly can flexibly adjust the contact pressure with the ground according to the ground conditions. The roller brush assembly is supported by the first roller brush bracket and the second roller brush bracket, and is subjected to additional downward pressure, which will make the roller brush assembly contact the ground more closely and increase the friction between the bristles and the ground. When the roller brush assembly's pressing force on the ground increases, its friction with the ground will also increase accordingly, until it reaches or exceeds the pre-set friction threshold, to ensure that the floor scrubber can effectively clean even stubborn stains. The setting of the friction threshold is based on the analysis of different ground types and cleaning requirements, ensuring the highest cleaning efficiency without damaging the ground.

[0052] In one embodiment of the present application, determining whether there is a need to increase the friction between the roller brush assembly and the ground includes: obtaining the dirtiness of the ground; determining whether the dirtiness of the ground is greater than a dirtiness threshold; and determining that there is a need to increase the friction between the roller brush assembly and the ground when the dirtiness of the ground is greater than the dirtiness threshold.

[0053] Specifically, to obtain the degree of dirtiness of the floor, the floor scrubber can be equipped with a floor dirtiness monitoring module, which can be an optical sensor, a capacitive sensor, a pressure sensor or a camera, etc. These sensors can detect the dirtiness of the floor in real time, such as the type of stains (liquid, solid), the distribution of stains (dispersed, dense), the adhesion of stains (easy to clean, stubborn), and the material of the floor (ceramic tile, wooden floor, carpet), etc. By analyzing these data, the control system can obtain the current degree of dirtiness of the floor.

[0054] The control system of the floor scrubber has preset dirtiness thresholds based on the analysis of different cleaning tasks and floor types. When the floor dirtiness data detected by the sensor is input into the control system, the system compares it with the preset dirtiness threshold. If the actual dirtiness detected is higher than the threshold, it indicates that there are stubborn stains or heavily soiled areas on the floor that are difficult to clean, and the cleaning intensity needs to be increased.

[0055] When the control system determines that the dirtiness of the ground has indeed exceeded the preset threshold, it will judge that the current cleaning mode (such as normal cleaning, strong cleaning) may not be sufficient to meet the current cleaning needs, so it is necessary to increase the friction between the roller brush assembly and the ground. This step may also involve analyzing the current cleaning performance of the roller brush assembly, such as the degree of wear of the roller brush, cleaning efficiency, etc., to ensure that the decision to increase friction is reasonable and necessary. Subsequently, the control system will activate relevant mechanisms (such as the pressure plate motor, electric telescopic rod) to increase the pressure of the roller brush assembly, thereby increasing its friction with the ground.

[0056] This intelligent control logic based on the degree of dirt on the ground enables the scrubber to automatically adjust the cleaning parameters of the roller brush assembly, including the contact pressure with the ground, when facing different cleaning challenges, thereby ensuring that both light and stubborn stains can be effectively cleaned, while also avoiding unnecessary damage to the ground and improving the efficiency and quality of cleaning operations. Through this refined control, the scrubber can better adapt to various cleaning environments and meet the cleaning needs of users in different scenarios.

[0057] In one embodiment of the present application, the above-mentioned floor scrubber also includes a hub motor, which is installed in the casters of the above-mentioned floor scrubber. Determining whether there is a need to increase the friction between the roller brush assembly and the ground includes: judging whether the number of reciprocating motions of the above-mentioned hub motor exceeds a preset number within a preset time; when the number of reciprocating motions of the above-mentioned hub motor exceeds the preset number, determining that there is a need to increase the friction between the above-mentioned roller brush assembly and the above-mentioned ground.

[0058] Specifically, the hub motor is directly installed inside the caster of the floor scrubber. This design enables the hub motor to directly drive the movement of the caster, thereby controlling the forward, backward or steering movement of the floor scrubber. The movement characteristics of the hub motor are closely related to the cleaning performance of the floor scrubber. For example, when encountering stubborn stains during the cleaning process, the hub motor may need to reciprocate frequently to overcome the resistance of the ground and push the floor scrubber forward or backward.

[0059] In order to intelligently determine whether the friction between the roller brush assembly and the ground needs to be increased, the control system of the floor scrubber monitors the number of reciprocating movements of the wheel hub motor within a preset time. The preset time is usually a short time window, such as 5 seconds, and the preset number is a threshold set based on machine learning or empirical data, which is used to determine whether there are stubborn stains on the ground. In the embodiment of the present application, it can be set to determine that there are stubborn stains on the ground if the floor scrubber moves back and forth 3 times repeatedly within 5 seconds. For example, within 5 seconds, if the wheel hub motor drives the floor scrubber to move back and forth more than 3 times, this indicates that the floor scrubber encountered greater resistance during the cleaning process, which may be due to the presence of stubborn stains on the ground that are difficult to remove or the lack of friction between the roller brush assembly and the ground. Subsequently, the control system will activate the corresponding mechanism, such as the pressure plate motor, the electric telescopic rod, etc., to increase the pressure of the roller brush assembly on the ground, thereby increasing the friction and achieving a better cleaning effect.

[0060] In one embodiment of the present application, the above-mentioned floor scrubber also includes an electric telescopic rod and a floor scrubber body assembly, the first end of the above-mentioned electric telescopic rod is connected to the above-mentioned floor scrubber body assembly, and the second end of the above-mentioned electric telescopic rod is connected to the above-mentioned base assembly, wherein, when it is necessary to increase the friction between the above-mentioned roller brush assembly and the above-mentioned ground, at least the pressure plate motor is controlled to start working, and the pressure plate is pressed downward to transmit pressure to the first roller brush bracket and the second roller brush bracket through the first elastic structure and the second elastic structure to increase the friction between the above-mentioned roller brush assembly and the ground, including: when it is necessary to increase the friction between the above-mentioned roller brush assembly and the above-mentioned ground, the above-mentioned pressure plate motor is controlled to start working to move the above-mentioned pressure plate downward, and at the same time, obtain the inclination angle of the floor scrubber body assembly and the above-mentioned ground; according to the above-mentioned inclination angle, the electric telescopic rod is controlled to extend to press down the base assembly to increase the friction between the above-mentioned roller brush assembly and the above-mentioned ground.

[0061] Specifically, the first end of the electric telescopic rod is connected to the body assembly of the floor scrubber, and the second end is connected to the base assembly, forming a mechanism that can dynamically adjust the contact pressure between the roller brush assembly and the ground. This design enables the electric telescopic rod to extend and retract between the body and the base, thereby changing the pressure of the roller brush assembly relative to the ground. When a situation is detected where the friction between the roller brush assembly and the ground needs to be increased, such as when the degree of dirt on the ground exceeds a preset threshold or the number of reciprocating motions of the hub motor exceeds a preset number of times within a preset time, the pressure plate motor will be started. The start of the pressure plate motor will drive the pressure plate to move downward, and the pressure will be transmitted to the first roller brush bracket and the second roller brush bracket through the first elastic structure and the second elastic structure connected to the pressure plate, thereby increasing the contact pressure between the roller brush assembly and the ground and improving the friction.

[0062] In addition, the control system will also obtain the inclination angle between the scrubber body assembly and the ground. This angle can be obtained through the built-in inclination sensor, which can monitor the posture changes of the body relative to the ground in real time. Monitoring the inclination angle of the body helps to more accurately control the pressure of the roller brush assembly on the ground. According to the detected inclination angle of the body, the control system will further adjust the extension of the electric telescopic rod. When the roller brush assembly needs to increase the friction with the ground, the electric telescopic rod will be controlled to extend to press down the base assembly. The amount of extension will be adjusted according to the actual inclination angle of the body to ensure that the roller brush assembly can maintain the optimal contact pressure with the ground at different inclination angles, avoiding uneven pressure distribution of the roller brush assembly due to the inclination of the body.

[0063] A specific implementation of this embodiment is as follows:

[0064] The scrubber is equipped with a tilt angle sensor, such as an accelerometer or gyroscope, which is used to monitor the tilt angle of the machine body relative to the ground in real time. The main controller of the scrubber receives the signal from the tilt angle sensor and processes and analyzes it. The controller has a built-in intelligent algorithm that can determine whether it is necessary to increase the friction between the roller brush assembly and the ground based on the current cleaning mode and ground type, as well as the change in tilt angle. This judgment process includes comparing the current tilt angle with the preset threshold or ideal cleaning angle, and analyzing the real-time feedback data of cleaning efficiency.

[0065] When the controller determines that the friction needs to be increased, it calculates a target extension amount based on the current tilt angle and the preset cleaning requirements. The controller sends a control signal to the electric telescopic rod, instructing it to extend to a specific length. The drive mechanism inside the electric telescopic rod receives the signal and starts working to achieve precise extension control. The extension of the electric telescopic rod increases the vertical distance between the base assembly and the ground, thereby increasing the pressure of the roller brush assembly on the ground. This increase in pressure directly leads to an increase in the friction between the roller brush and the ground.

[0066] While the electric telescopic rod is extending, the pressure plate motor may also be activated to further adjust the pressure distribution of the roller brush assembly. The pressure plate motor pushes the pressure plate downward through a mechanism such as a gear, rack or connecting rod, and the pressure plate transmits additional pressure to the roller brush assembly through an elastic structure to ensure that the roller brush head maintains close contact with the ground.

[0067] Through the above implementation, the floor scrubber can automatically adjust the pressure of the roller brush assembly on the ground according to the inclination angle of the machine body, thereby ensuring that the friction between the roller brush and the ground can reach the optimal state under various cleaning conditions.

[0068] The pressure plate motor and the electric telescopic rod can work separately or simultaneously. This control strategy realizes precise control of the friction between the roller brush assembly and the ground. The activation of the pressure plate motor is used to immediately increase the vertical pressure of the roller brush assembly, while the extension of the electric telescopic rod is dynamically adjusted according to the tilt angle of the machine body to ensure that the roller brush assembly can maintain consistent cleaning performance under various cleaning conditions. Through this design, the floor scrubber can automatically and accurately adjust the pressure of the roller brush assembly on the ground when facing complex cleaning needs, so as to more effectively remove stains, while maintaining the stability of the machine, avoiding damage to the ground, and improving user experience and cleaning efficiency.

[0069] A specific control logic diagram of a floor scrubber according to an embodiment of the present application is as follows: Figure 6 As shown, the wheel hub motor of the floor scrubber receives forward and backward movement signals. If the wheel hub motor frequently moves forward and backward no more than 3 times within 5 seconds, it is determined to be operating normally. If the wheel hub motor frequently moves forward and backward more than 3 times within 5 seconds, it is determined that there are stubborn stains on the ground, the pressure plate motor starts working, and the height of the roller brush assembly decreases. Next, if the wheel hub motor frequently moves forward and backward no more than 3 times within 5 seconds, it is determined to be operating normally, the pressure plate motor starts working, the pressure plate rises, and the height of the roller brush assembly rises.

[0070] The present application also provides a floor scrubber system, comprising: any one of the above-mentioned floor scrubbers; and a controller, communicating with a pressure plate motor and a hub motor of the above-mentioned floor scrubber, for executing any one of the above-mentioned control methods for the floor scrubber.

[0071] Specifically, the floor scrubber is the basic part of the system, and it includes all necessary mechanical structures and cleaning components, such as a roller brush assembly, a pressure plate, casters, a hub motor, a pressure plate motor, and an electric telescopic rod. These components work together to complete the floor cleaning task. Figure 7 As shown, it includes a roller brush assembly 10, a base assembly 13, casters 23, a sewage tank 25, a body assembly 26, a body controller board 27 and a handle assembly 28.

[0072] The controller is the intelligent core of the floor scrubber system. It communicates with multiple key components of the floor scrubber (platen motor, wheel hub motor, etc.) to collect real-time cleaning data and operating status, and adjust the cleaning strategy based on this information. The controller not only communicates with the sensors and drive motors in the floor scrubber, but may also have a user interface that allows the user to input parameters such as cleaning mode and dirt level threshold.

[0073] The present application also provides a computer-readable storage medium, which includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the above-mentioned control methods for the floor scrubber.

[0074] Specifically, the control method of the floor scrubber includes:

[0075] Step S501, determining whether there is a need to increase the friction between the roller brush assembly and the ground;

[0076] Step S502, when it is necessary to increase the friction between the roller brush assembly and the ground, at least control the pressure plate motor to start working, press the pressure plate downward to transmit pressure to the first roller brush bracket and the second roller brush bracket through the first elastic structure and the second elastic structure to increase the friction between the roller brush assembly and the ground, and the friction is higher than the friction threshold.

[0077] 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 the steps of the above-mentioned control method for a floor scrubber are implemented.

[0078] 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 the control method of the above-mentioned floor scrubber.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0084] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] The above are only preferred embodiments of the present application and are 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 roller brush assembly, a first roller brush bracket, a second roller brush bracket, a base assembly, a first elastic structure, a second elastic structure, a pressure plate and a pressure plate motor, wherein the first roller brush bracket and the second roller brush bracket are placed on opposite sides of the roller brush assembly, The roller brush assembly is movably connected to the base assembly through the first roller brush bracket and the second roller brush bracket, the first end of the first elastic structure is fixed to the first end surface of the first roller brush bracket, the first end of the second elastic structure is fixed to the first end surface of the second roller brush bracket, the second end of the first elastic structure and the second end of the second elastic structure are respectively fixed to the pressing plate, and the first end surface is the end surface away from the ground; The pressure plate motor is used to press the pressure plate downward to transmit pressure to the first roller brush bracket and the second roller brush bracket through the first elastic structure and the second elastic structure to increase the friction between the roller brush assembly and the ground, and the friction is higher than the friction threshold.

2. The floor scrubber according to claim 1, characterized in that: The floor scrubber also includes a third elastic structure and a fourth elastic structure, the first end of the third elastic structure is fixed to the second end face of the first roller brush bracket, the first end of the fourth elastic structure is fixed to the second end face of the second roller brush bracket, the second end of the third elastic structure and the second end of the fourth elastic structure are respectively fixed to the base assembly, and the second end face is the end face close to the ground.

3. The floor scrubber according to claim 1, characterized in that: The pressing plate motor comprises a gear and a rack, and the rotation of the gear drives the rack to move toward the ground to press the pressing plate downward; The floor scrubber further comprises a hub motor, and the hub motor is installed in the casters of the floor scrubber.

4. The floor scrubber according to claim 1, characterized in that: The floor scrubber further comprises an electric telescopic rod and a floor scrubber body, wherein a first end of the electric telescopic rod is connected to the floor scrubber body, and a second end of the electric telescopic rod is connected to the base assembly.

5. The floor scrubber according to claim 1, characterized in that: The floor scrubber also includes a user interface for manually adjusting the ground pressure level of the roller brush assembly.

6. A method for controlling a floor scrubber according to any one of claims 1 to 5, characterized in that: include: Determine whether there is a need to increase the friction between the roller brush assembly and the ground; When it is necessary to increase the friction between the roller brush assembly and the ground, at least the pressure plate motor is controlled to start working, pressing the pressure plate downward to transmit pressure to the first roller brush bracket and the second roller brush bracket through the first elastic structure and the second elastic structure to increase the friction between the roller brush assembly and the ground, and the friction is higher than the friction threshold.

7. The method according to claim 6, characterized in that Determine whether there is a need to increase the friction between the roller brush assembly and the ground, including: Get the dirtiness of the ground; Determining whether the dirtiness of the ground surface is greater than a dirtiness threshold; When the dirtiness of the ground surface is greater than the dirtiness threshold, it is determined that there is a need to increase the friction between the roller brush assembly and the ground surface.

8. The method according to claim 6, characterized in that The floor scrubber further includes a hub motor, which is installed in a caster of the floor scrubber. Determining whether there is a need to increase the friction between the roller brush assembly and the ground includes: Determine whether the number of reciprocating motions of the wheel hub motor exceeds a preset number within a preset time; When the number of reciprocating motions of the wheel hub motor exceeds a preset number, it is determined that there is a need to increase the friction between the roller brush assembly and the ground.

9. The method according to claim 6, characterized in that The floor scrubber further comprises an electric telescopic rod and a floor scrubber body assembly, wherein a first end of the electric telescopic rod is connected to the floor scrubber body assembly, and a second end of the electric telescopic rod is connected to the base assembly, wherein, when it is necessary to increase the friction between the roller brush assembly and the ground, at least the pressing plate motor is controlled to start working, and the pressing plate is pressed downward to transmit pressure to the first roller brush bracket and the second roller brush bracket through the first elastic structure and the second elastic structure to increase the friction between the roller brush assembly and the ground, including: When the friction between the roller brush assembly and the ground needs to be increased, the pressing plate motor is controlled to start working to move the pressing plate downward, and at the same time, an inclination angle between the floor scrubber body assembly and the ground is obtained; The electric telescopic rod is controlled to extend according to the tilt angle to press down the base assembly, so as to increase the friction between the roller brush assembly and the ground.

10. A floor scrubber system, characterized in that: include: The floor scrubber according to any one of claims 1 to 5; A controller communicates with the pressure plate motor and the hub motor of the floor scrubber and is used to execute the control method of the floor scrubber according to any one of claims 6 to 9.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the control method of the floor scrubber according to any one of claims 6 to 9.

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