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

Abstract

The application provides a floor cleaning machine, a control method of the floor cleaning machine and a floor cleaning machine system. The floor cleaning machine comprises a roller brush assembly, a first roller brush support, a second roller brush support, a base assembly, a first elastic structure, a second elastic structure, a pressing plate and a pressing plate motor. The roller brush assembly is movably connected with the base assembly through the first roller brush support and the second roller brush support. The first end of the first elastic structure and the first end of the second elastic structure are fixed on the first end face of the first roller brush support and the first end face of the second roller brush support respectively. The second end of the first elastic structure and the second end of the second elastic structure are fixed on the pressing plate respectively. The pressing plate motor is used for pressing the pressing plate downward to transmit the pressure to the first roller brush support and the second roller brush support through the first and second elastic structures to increase the friction force between the roller brush assembly and the ground, and the friction force is higher than a friction force threshold. The scheme solves the problem that the friction force between the roller brush and the ground decreases due to the wear of the roller brush bristles in the existing floor cleaning machine.

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, a floor scrubber system, and a computer-readable storage medium. Background Technology

[0002] Most floor scrubbers on the market 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 scrub the floor, remove stains, and drive the floor scrubber forward. The friction between the roller brush and the ground directly affects the stain removal effect and traction.

[0003] Friction is determined by the pressure of the roller brush against the ground and the coefficient of friction between the brush bristles and the ground. In the industry, the pressure of the roller brush on the ground in floor scrubbers is fixed and cannot be adjusted; it is determined by the overall weight and center of gravity of the machine. After a period of use, the brush bristles wear down, the coefficient of friction decreases, and the friction between the roller brush and the ground decreases. This reduces the ability to remove stains, making it difficult to clean stubborn stains. At the same time, the traction force also decreases or disappears. Therefore, solving the problem of reduced contact friction between the roller brush and the ground is essential. Summary of the Invention

[0004] The main objective of this application is to provide a floor scrubber, a control method for the floor scrubber, a floor scrubber system, and a computer-readable storage medium to at least solve the problem in the prior art of floor scrubbers where the friction between the roller brush and the ground decreases due to wear of the roller brush bristles.

[0005] To achieve the above objectives, according to one aspect of this application, a floor scrubbing machine is provided, comprising: 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 positioned on opposite sides of the roller brush assembly, wherein the roller brush assembly is movably connected to the base assembly via the first roller brush bracket and the second roller brush bracket. A first end of the first elastic structure is fixed to a first end face of the first roller brush bracket, and a first end of the second elastic structure is fixed to a first end face of the second roller brush bracket. The second ends of the first elastic structure and the second elastic structure are respectively fixed to the pressure plate, and the first end face is an 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 a friction threshold.

[0006] Optionally, the floor scrubber further 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, and the first end of the fourth elastic structure is fixed to the second end face of the second roller brush bracket. The second ends of the third elastic structure and 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, the gear rotating to drive the rack to move toward the ground to press the pressure plate downward; the floor scrubber also includes a hub motor, the hub motor being installed in the casters of the floor scrubber.

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

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

[0010] According to another aspect of this application, a control method for a floor scrubber is provided, comprising: determining whether there is a need to increase the friction between the roller brush assembly and the ground; if 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, wherein the friction is higher than a 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 if the degree of dirtiness of the ground is greater than the dirtiness threshold, determining that there is a need to increase the friction between the roller brush assembly and the ground.

[0012] Optionally, the floor scrubber also includes a hub motor, which is 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: determining whether the number of reciprocating movements of the hub motor exceeds a preset number within a preset time; and if the number of reciprocating movements of the hub motor exceeds the preset number, determining that there is a need to increase the friction between the roller brush assembly and the ground.

[0013] Optionally, the floor scrubber further includes an electric telescopic rod and a floor scrubber body assembly. 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. When it is necessary to increase the friction between the roller brush assembly and the floor, at least the pressure plate motor is activated to press the pressure plate downwards. This pressure is transmitted to the first and second roller brush supports via a first and a second elastic structure to increase the friction between the roller brush assembly and the floor. This includes: when it is necessary to increase the friction between the roller brush assembly and the floor, simultaneously activating the pressure plate motor to press the pressure plate downwards while obtaining the tilt angle between the floor scrubber body assembly and the floor; and controlling the electric telescopic rod to extend and press down on the base assembly based on the tilt angle to increase the friction between the roller brush assembly and the floor.

[0014] 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 pressure plate motor and hub motor of the floor scrubbing machine, for executing the control method of any of the floor scrubbing machines described above.

[0015] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform any of the control methods of the floor scrubber described above.

[0016] Applying the technical solution of this application, the floor scrubber of this 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. The first and second roller brush brackets are positioned on opposite sides of the roller brush assembly, wherein the roller brush assembly and the base assembly are movably connected through the first and second roller brush brackets. The first end of the first elastic structure is fixed to the first end face of the first roller brush bracket, and the first end of the second elastic structure is fixed to the first end face of the second roller brush bracket. The second ends of the first and second elastic structures 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 and second roller brush brackets through the first and second elastic structures 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 decreased friction between the roller brush and the ground due to wear of the roller brush bristles in existing floor scrubbers. 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 side view of a floor scrubber provided in an embodiment of this application is shown;

[0019] Figure 2 A schematic cross-sectional view of a roller brush assembly of a floor scrubber according to an embodiment of this application is shown.

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

[0021] Figure 4 A top view schematic diagram of a floor scrubber provided according to an embodiment of this application is shown;

[0022] Figure 5 A schematic flowchart of a control method for a floor scrubber according to an embodiment of this application is shown;

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

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

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

[0026] 10. Roller brush assembly; 110. Roller brush motor; 111. Brush bristles; 11. First roller brush bracket; 12. Second roller brush bracket; 13. Base assembly; 14. First elastic structure; 15. Second elastic structure; 16. Pressure plate; 17. Pressure plate motor; 18. Third elastic structure; 19. Fourth elastic structure; 20. Gear; 21. Rack; 22. Hub motor; 23. Casters; 24. Base control board; 25. Wastewater tank; 26. Body assembly; 27. Body controller board; 28. Handle assembly. Detailed Implementation

[0027] 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.

[0028] 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.

[0029] 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.

[0030] As described in the background section, in the prior art, floor scrubbers generally have a roller brush fixed to the base, with the front roller brush and rear casters in contact with the ground. During operation, the roller brush rotates to scrub the floor. After a period of use, the brush bristles wear down, and the coefficient of friction with the ground decreases. To solve the problem of reduced friction between the roller brush and the ground caused by the wear of the roller brush bristles in the prior art, the embodiments of this application provide a floor scrubber, a control method for the floor scrubber, a floor scrubber system, and a computer-readable storage medium.

[0031] The aforementioned 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 positioned on opposite sides of the roller brush assembly, wherein the roller brush assembly is movably connected to the base assembly via 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, and the first end of the second elastic structure is fixed to the first end face of the second roller brush bracket. The second ends of the first elastic structure and 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 a friction threshold.

[0032] Specifically, Figure 1 This is a side view of the floor scrubber according to an embodiment of this application, as shown in the diagram. Figure 1 As shown, the roller brush assembly 10 is the core component of the floor scrubber, responsible for direct contact with the floor and removing stains through rotational motion. A cross-sectional schematic diagram of the roller brush assembly is shown below. Figure 2 As shown, the roller brush assembly is driven by a roller brush motor 110 and has bristles 111 or a similar cleaning structure. Figure 1The image shows a second roller brush bracket 12. The first and second roller brush brackets are located on opposite sides of the roller brush assembly, supporting the roller brush assembly and allowing it to move up and down relative to the base assembly via a movable connection. This design allows the roller brush assembly to adjust its contact pressure with the ground for different floor conditions or cleaning needs. The base assembly is the bottom platform of the floor scrubber, supporting the entire machine and providing structures for interaction with the roller brush assembly. In this embodiment, the base assembly and the roller brush assembly 10 are movably connected via the first and second roller brush brackets 12, allowing the roller brush assembly 10 to change its pressure on the ground in response to control signals. A first elastic structure and a second elastic structure 15 are respectively connected between the first end face (i.e., the side away from the ground) of the first and second roller brush brackets and the pressure plate 16. The elastic structure smoothly transmits the pressure generated by the pressure plate motor to the roller brush brackets while allowing the roller brush brackets some 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 operates, it pushes the pressure plate downwards. The pressure plate then applies additional pressure to the first and second roller brush supports through the first and second elastic structures, thereby increasing the pressure of the roller brush assembly on the ground. This design responds to the condition of the floor stains. When stubborn stains are detected, the controller signals to activate the pressure plate motor to increase the friction between the roller brush and the ground, ensuring effective cleaning. 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 is considered unsatisfactory. In this embodiment, 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 effective cleaning regardless of the floor condition.

[0033] By adding control to the pressure plate motor and using a flexible structure, the floor scrubber can intelligently adjust the pressure of the roller brush assembly on the ground, thereby ensuring sufficient friction in various cleaning environments, improving cleaning efficiency, especially in the treatment of stubborn stains.

[0034] In one embodiment of this application, the floor scrubber further 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, and the first end of the fourth elastic structure is fixed to the second end face of the second roller brush bracket. The second ends of the third elastic structure and the second ends of the fourth elastic structure are respectively fixed to the base assembly. The second end face is the end face close to the ground.

[0035] Specifically, the aforementioned floor scrubbing machine also includes a third elastic structure and a fourth elastic structure, such as... Figure 1 As shown, the fourth elastic structure 19 is illustrated. Figure 3A front view structural schematic diagram of a floor scrubber according to an embodiment of this application is shown, as follows: Figure 3 As shown, the third elastic structure 18 and the fourth elastic structure 19, these two elastic structures (such as springs), work together with the first and second elastic structures to form a more comprehensive pressure regulation system. They are respectively fixed to the other side of the first and second roller brush supports, namely the second end face, which 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 support, and the first end of the fourth elastic structure is fixed to the second end face of the second roller brush support. This means that there is also elastic support on the side of the roller brush assembly that contacts the ground. 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 has appropriate 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 compress, transmitting pressure to the roller brush assembly; while the third and fourth elastic structures ensure that the roller brush assembly maintains proper contact with the ground even on uneven surfaces or with obstacles, avoiding damage or poor cleaning performance caused by excessive pressure.

[0037] In one embodiment of this application, the pressure plate motor includes a gear and a rack. The gear rotates to drive the rack to move toward the ground to press the pressure plate downward. The floor scrubber also includes a hub motor, which is installed in the casters of the floor scrubber.

[0038] Specifically, Figure 3 A front view structural schematic diagram of a floor scrubber according to an embodiment of this 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 begins to rotate. Since the gear 20 meshes with the rack 21, the rotational motion of the gear 20 is converted into the linear motion of the rack 21, which is designed to move towards the ground. As the rack 21 moves towards the ground, it pushes the pressure plate 16, causing it to move downwards. This transmission design of the gear 20 and rack 21 allows for very precise control of the downward distance of the pressure plate, thereby achieving fine adjustment of the pressure of the roller brush assembly. When the pressure plate 16 moves downwards, it transmits 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, increasing the contact pressure between the roller brush assembly and the ground, thereby increasing friction and enhancing the cleaning effect.

[0039] The hub motor is the core of the floor scrubber's mobility; it is installed inside the casters. For example... Figure 1 As shown, the aforementioned floor scrubber also includes casters 23. By directly mounting the hub motor within the casters, the complex transmission chain and structure between the traditional motor and wheels are reduced, making the floor scrubber's movement system more compact and lowering the failure rate. A top view of the floor scrubber according to an embodiment of this application is shown below. Figure 4 As shown, each caster 23 is equipped with a hub motor 22. The hub motor design allows the motor power to be directly applied to the wheel, reducing energy loss during transmission and improving the mobility and power performance of the floor scrubber. The signals from the hub motors 22 can be received and processed in real time by the base control board 24. This means that the floor scrubber can immediately adjust the pressure of the roller brush assembly 10 according to the floor cleaning status (such as encountering stubborn stains). The pressure plate motor 17 is activated, controlling the pressure plate 16 to press down, thereby increasing the friction between the roller brush assembly 10 and the floor, achieving a more intelligent and efficient cleaning.

[0040] This integrated design of gear and rack transmission mechanism and hub motor not only improves the cleaning efficiency of the floor scrubber but also significantly optimizes its operational flexibility, structural 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 are effectively removed while maintaining smooth machine movement and control.

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

[0042] Specifically, an electric telescopic rod is a mechanical component that can be electrically extended or shortened, typically driven by a motor, and its length dynamically changes through internal threads or other transmission mechanisms. In the floor scrubber of this 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, while the other end (second end) is connected to the base assembly. This design creates an adjustable mechanical connection between the body and the base, allowing for dynamic adjustment of the pressure of the roller brush assembly on the floor according to cleaning needs. The floor scrubber body is the main user interface and the upper structure of the entire machine. By connecting 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 pressure levels via the control panel or handle on the body, the electric telescopic rod extends or shortens according to the user's instructions, thereby changing the pressure of the roller brush assembly to adapt to different cleaning needs. In the embodiment of this application, a motor is installed on the electric telescopic rod, and the output shaft at the front end of the motor is threaded. The thread connects to the internal thread of the telescopic rod, allowing the telescopic rod to extend or shorten through the thread, achieving adjustment of different lengths. The length of the telescopic pole can be controlled by the user via the function buttons on the handle. The telescopic pole has multiple length settings that the user can select and confirm. This function is achieved through the control panel.

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

[0044] Specifically, the user interface is the interaction point between the floor scrubber and the operator, typically including a display screen, buttons, knobs, or touchscreen, used to receive user commands and display machine status. In this embodiment, the user interface has the function of manually adjusting the 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 handling different cleaning needs. For example, when cleaning smooth or fragile floors, a lower pressure may be needed to avoid damage; while when cleaning stubborn stains such as oil or glue, a higher pressure is needed to enhance the cleaning effect.

[0045] The pressure levels may include multiple preset levels, each corresponding to a different pressure on the roller brush assembly. In this embodiment, there can be multiple different pressure levels, each potentially corresponding to a different extension length of the telescopic rod. For example, each increase in pressure level extends the telescopic rod by 1mm, up to a maximum extension of 5mm. This ensures the roller brush assembly can adapt to changing cleaning needs under different conditions. When a user selects to increase the pressure level via the user interface, this command is received by the base control board. The control board then activates the motor of the electric telescopic rod, extending it to the length corresponding to the selected level. After the electric telescopic rod extends, it transmits additional pressure 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] This embodiment provides a control method for a floor scrubber with a controller running in the scrubber. Figure 5 This is a flowchart illustrating the control method of a floor scrubber according to an embodiment of this application. Figure 5 As shown, the method includes the following steps:

[0047] Step S501: Determine if 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 floor is a key step in the intelligent control and efficient cleaning of floor scrubbers. This determination is based on the real-time status of the floor scrubber during the cleaning process and the floor conditions. The goal is to ensure that the roller brush assembly can automatically adjust its contact pressure with the floor according to actual cleaning needs, thereby achieving the best cleaning results.

[0049] Floor scrubbers use integrated sensors or floor detection technology to analyze the cleanliness of a floor. For example, the presence of stubborn stains, the hardness of the floor material, and the roughness of the surface are all important factors in determining whether increased friction is needed. Stubborn stains often require greater friction to be effectively removed, and different floor materials also affect the cleaning efficiency of the roller brush assembly. During the cleaning process, the floor scrubber monitors the cleaning effect in real time. If poor cleaning results are detected, for example, if the roller brush assembly repeatedly moves back and forth in the same area without removing stains, it may indicate insufficient friction between the roller brush and the floor.

[0050] In step S502, when it is necessary to increase the friction between the roller brush assembly and the ground, at least the pressure plate motor is started to press the pressure plate down so that 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 to increase the friction between the roller brush assembly and the ground, and the friction is higher than the friction threshold.

[0051] Specifically, the floor scrubber's control system continuously monitors various states during the cleaning process, including the contact between the roller brush assembly and the floor, cleaning efficiency, and floor type identification. When the system detects stubborn stains or a decrease in friction between the roller brush assembly and the floor to an insufficient level for effective cleaning, it determines that the friction needs to be increased to improve cleaning performance. Once the need to increase friction is confirmed, the control system sends a start signal to the pressure plate motor. The pressure plate motor has a gear and rack transmission structure. When the motor starts, the gears begin to rotate, driving the rack downwards. The downward pressure of the rack directly acts on the pressure plate, causing it to move downwards. As the pressure plate is pushed downwards, it transmits pressure to the first and second roller brush supports through the connected first and second elastic structures. The design of these elastic structures allows pressure to be transmitted in a controllable manner, avoiding excessive impact on the roller brush assembly and ensuring that the roller brush assembly can flexibly adjust its contact pressure with the floor according to the floor conditions. Supported by the first and second roller brush supports, the roller brush assembly experiences additional downward pressure, causing it to make closer contact with the ground and increasing the friction between the bristles and the surface. As the pressure of the roller brush assembly increases, the friction with the ground also increases accordingly, until a preset friction threshold is reached or exceeded. This ensures that the floor scrubber can effectively clean even stubborn stains. The friction threshold is set based on an analysis of different floor types and cleaning needs, ensuring maximum cleaning efficiency without damaging the floor.

[0052] In one embodiment of this application, 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 if the degree of dirtiness of the ground is greater than the dirtiness threshold, determining that there is a need to increase the friction between the roller brush assembly and the ground.

[0053] Specifically, to determine the degree of dirt on the floor, floor scrubbers can be equipped with a dirt monitoring module, which can be an optical sensor, capacitive sensor, pressure sensor, or camera. These sensors can detect the dirt condition of the floor in real time, such as the type of stain (liquid, solid), the distribution of stains (scattered, dense), the adhesion of stains (easy to clean, stubborn), and the material of the floor (tile, wood floor, carpet). By analyzing this data, the control system can determine the current degree of dirt on the floor.

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

[0055] When the control system determines that the level of dirt on the floor exceeds a preset threshold, it judges that the current cleaning mode (such as normal cleaning or heavy-duty cleaning) may not be sufficient to meet the current cleaning needs, and therefore requires increasing the friction between the roller brush assembly and the floor. This step may also involve analyzing the current cleaning performance of the roller brush assembly, such as the wear and tear of the brush and its cleaning efficiency, to ensure that the decision to increase friction is reasonable and necessary. Subsequently, the control system will activate relevant mechanisms (such as a pressure plate motor or an electric telescopic rod) to increase the pressure of the roller brush assembly, thereby increasing its friction with the floor.

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

[0057] In one embodiment of this application, the floor scrubber further includes a hub motor, which is 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: determining whether the number of reciprocating movements 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 if the number of reciprocating movements of the hub motor exceeds the preset number.

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

[0059] To intelligently determine whether the friction between the roller brush assembly and the floor needs to be increased, the floor scrubber's control system monitors the number of reciprocating movements of the hub motor within a preset time period. The preset time is typically a short window, such as 5 seconds, while the preset number of reciprocating movements is a threshold set based on machine learning or empirical data to determine if there are stubborn stains on the floor. In this embodiment, the system can be configured to determine if there are stubborn stains on the floor if the floor scrubber moves back and forth three times within 5 seconds. For example, if the hub motor drives the floor scrubber to move back and forth more than three times within 5 seconds, this indicates that the floor scrubber has encountered significant resistance during cleaning, possibly due to stubborn stains that are difficult to remove or insufficient friction between the roller brush assembly and the floor. Subsequently, the control system will activate corresponding mechanisms, such as a pressure plate motor or an electric telescopic rod, to increase the pressure of the roller brush assembly on the floor, thereby increasing friction and achieving a better cleaning effect.

[0060] In one embodiment of this application, the floor scrubber further includes an electric telescopic rod and a floor scrubber body assembly. 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. When it is necessary to increase the friction between the roller brush assembly and the ground, at least the pressure plate motor is activated to press the pressure plate downwards, transmitting pressure to the first and second roller brush supports through a first and a second elastic structure to increase the friction between the roller brush assembly and the ground. This includes: when it is necessary to increase the friction between the roller brush assembly and the ground, activating the pressure plate motor to press the pressure plate downwards while simultaneously obtaining the tilt angle between the floor scrubber body assembly and the ground; and controlling the electric telescopic rod to extend downwards to press the base assembly based on the tilt angle to increase the friction between the roller brush assembly and the 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 allows 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 that requires increased friction between the roller brush assembly and the ground, such as when the degree of dirt on the ground exceeds a preset threshold or the hub motor reciprocates more than a preset number of times within a preset time, the pressure plate motor will be activated. The activation of the pressure plate motor will drive the pressure plate downward, and through the first and second elastic structures connected to the pressure plate, the pressure will be transmitted to the first and second roller brush supports, thereby increasing the contact pressure between the roller brush assembly and the ground and improving friction.

[0062] In addition, the control system also acquires the tilt angle between the floor scrubber's body assembly and the ground. This angle is acquired through a built-in tilt sensor, which monitors the machine's posture relative to the ground in real time. Monitoring the body tilt angle helps to more accurately control the pressure of the brush assembly on the ground. Based on the detected body tilt angle, the control system further adjusts the extension of the motorized telescopic rod. When the brush assembly needs to increase friction with the ground, the motorized telescopic rod is extended to press down on the base assembly. The amount of extension is adjusted according to the actual tilt angle of the machine to ensure that the brush assembly maintains optimal contact pressure with the ground at different tilt angles, avoiding uneven pressure distribution caused by machine tilt.

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

[0064] Floor scrubbers are equipped with tilt angle sensors, such as accelerometers or gyroscopes, to monitor the machine's tilt angle relative to the ground in real time. The main controller of the floor scrubber receives the signals from the tilt angle sensors and processes and analyzes them. The controller has a built-in intelligent algorithm that can determine whether to increase the friction between the roller brush assembly and the ground based on the current cleaning mode, floor type, and changes in tilt angle. This determination process includes comparing the current tilt angle with a preset threshold or ideal cleaning angle, and analyzing real-time feedback data on cleaning efficiency.

[0065] When the controller determines that increased friction is needed, it calculates a target extension based on the current tilt angle and preset cleaning requirements. The controller sends a control signal to the motorized telescopic pole, instructing it to extend to the specified length. Upon receiving the signal, the drive mechanism inside the telescopic pole activates to achieve precise extension control. The extension of the telescopic pole increases the vertical distance between the base assembly and the ground, thereby increasing the pressure of the roller brush assembly on the ground. This increased pressure directly leads to increased friction between the roller brush and the ground.

[0066] As the electric telescopic rod extends, 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 downwards via mechanisms such as gears, racks, or linkages. The pressure plate, through its elastic structure, transmits additional pressure to the roller brush assembly, ensuring that the rolling brush head maintains close contact with the ground.

[0067] Through the above methods, the floor scrubber can automatically adjust the pressure of the roller brush assembly on the ground according to the tilt 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 operate independently or simultaneously, a control strategy that enables precise control of the friction between the roller brush assembly and the floor. Activating the pressure plate motor immediately increases the vertical pressure of the roller brush assembly, while the extension of the electric telescopic rod dynamically adjusts according to the machine's tilt angle, ensuring consistent cleaning performance of the roller brush assembly under various cleaning conditions. This design allows the floor scrubber to automatically and precisely adjust the pressure of the roller brush assembly on the floor when faced with complex cleaning needs, thereby more effectively removing stains while maintaining machine stability, preventing damage to the floor, and improving user experience and cleaning efficiency.

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

[0070] 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 pressure plate motor and hub motor of the floor scrubbing machine, for executing the control method of any of the above-described floor scrubbing machines.

[0071] Specifically, the floor scrubber, as the foundation of the system, includes all the necessary mechanical structures and cleaning components, such as the roller brush assembly, pressure plate, casters, hub motor, pressure plate motor, and electric telescopic rod. These components work together to complete the floor cleaning task. A schematic diagram of the overall layout of a floor scrubber provided in this application embodiment is shown below. Figure 7 As shown, it includes a roller brush assembly 10, a base assembly 13, casters 23, a wastewater 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 scrubber (plate motor, hub motor, etc.) to collect real-time cleaning data and operating status, and adjusts the cleaning strategy based on this information. The controller not only communicates with the sensors and drive motors inside the scrubber, but may also have a user interface that allows users to input parameters such as cleaning mode and dirt level threshold.

[0073] This application also provides a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform any of the above-described control methods for a floor scrubber.

[0074] Specifically, the control methods for floor scrubbers include:

[0075] Step S501: Determine if there is a need to increase the friction between the roller brush assembly and the ground;

[0076] In step S502, when it is necessary to increase the friction between the roller brush assembly and the ground, at least the pressure plate motor is started to press the pressure plate down so that 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 to increase the friction between the roller brush assembly and the ground, and the friction is higher than the friction threshold.

[0077] 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 the control method for the floor scrubber described above.

[0078] This application also provides a computer program product that, when executed on a data processing device, is adapted to perform the steps of initializing a control method for at least the above-described floor scrubber.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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.

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

[0085] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0086] 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.

[0087] 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.

[0088] The above are merely preferred embodiments of this application and are 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 control method for a floor scrubber, characterized in that, The 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 positioned on opposite sides of the roller brush assembly. The roller brush assembly is movably connected to the base assembly via 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, and the second ends of the first elastic structure and the second elastic structure are respectively fixed to the pressure plate. 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. 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, and the first end of the fourth elastic structure is fixed to the second end face of the second roller brush bracket. The second ends of the third elastic structure and the second ends of the fourth elastic structure are respectively fixed to the base assembly. The second end face is the end face close to the ground. The floor scrubber also includes an electric telescopic rod and a floor scrubber body, with a first end of the electric telescopic rod connected to the floor scrubber body and a second end of the electric telescopic rod connected to the base assembly; The control method for the floor scrubber includes: Determine if 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 started to press the pressure plate down so that 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 to increase the friction between the roller brush assembly and the ground, and the friction is higher than the friction threshold. The floor scrubber also includes a hub motor, which is installed inside the casters of the floor scrubber. The determination of whether there is a need to increase the friction between the roller brush assembly and the floor includes: Determine whether the number of reciprocating motions of the hub motor exceeds a preset number within a preset time period; If the number of reciprocating motions of the 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.

2. The method according to claim 1, characterized in that, The pressure plate motor includes a gear and a rack. The gear rotates to drive the rack to move toward the ground to press the pressure plate downward. The floor scrubber also includes a hub motor, which is installed in the casters of the floor scrubber.

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

4. The method according to claim 1, characterized in that, Determine if there is a need to increase the friction between the roller brush assembly and the ground, including: Assess the degree of dirtiness on the ground; Determine whether the degree of dirtiness of the ground exceeds a dirtiness threshold; If the degree of dirt on the ground exceeds the dirt level threshold, it is determined that there is a need to increase the friction between the roller brush assembly and the ground.

5. The method according to claim 1, characterized in that, The floor scrubber also includes an electric telescopic rod and a floor scrubber body assembly. 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. When it is necessary to increase the friction between the roller brush assembly and the floor, at least the pressure plate motor is activated to press the pressure plate downwards. This pressure is transmitted to the first and second roller brush supports through a first and a second elastic structure to increase the friction between the roller brush assembly and the floor. This includes: When it is necessary to increase the friction between the roller brush assembly and the ground, the pressure plate motor is started to move the pressure plate downward while the tilt angle between the floor scrubber body assembly and the ground is obtained. The electric telescopic rod is extended according to the tilt angle to press down the base assembly, thereby increasing the friction between the roller brush assembly and the ground.

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

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the control method of the floor scrubber according to any one of claims 1 to 5.

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