Scrubber control method

Abstract

The invention relates to the field of scrubbers, in particular to a scrubber control method, and aims to solve the problem that an existing scrubber is inflexible in left-right steering. In order to achieve the purpose, the scrubber comprises a supporting part, a handheld part, an angle sensor, a cleaning base, a steering mechanism and a control part; one of the supporting part and the handheld part is provided with a rotating hole, the other one of the supporting part and the handheld part is rotatably arranged in the rotating hole, the angle sensor main body is connected with one of the supporting part and the handheld part, and a rotating iron core of the angle sensor is connected with the other one of the supporting part and the handheld part. The angle sensor is arranged to be capable of detecting the rotating angle between the supporting part and the handheld part; the control part is connected with the angle sensor and the steering mechanism at the same time. The control method comprises the steps that a rotation angle signal sent by the angle sensor is obtained; and based on the rotation angle signal, a steering mechanism is controlled to start operation so that the cleaning base can steer. And the problem of inflexible left-right steering of the scrubber is avoided.

Description

Technical Field

[0001] The present invention relates to the field of floor scrubbers, and in particular provides a floor scrubber control method. Background Art

[0002] A floor scrubber is a cleaning machine designed to clean hard surfaces while simultaneously sucking up wastewater and removing it from the site. A floor scrubber primarily uses a roller brush to remove particles from the floor, dissolving them in water and sucking them into a wastewater tank. The greater the friction of the roller brush on the floor, the better the cleaning effect. While this pursuit of effective cleaning was accompanied by several user pain points, the user felt a sense of strain when holding the scrubber while turning, moving forward, and backward, making it difficult to use.

[0003] In order to solve the problem of difficulty in use, common floor scrubbers currently use forward and reverse power-assisted solutions. However, the floor scrubbers are laborious to turn. At the same time, when users hold the device to control the direction, there is a problem of inflexible left and right steering, and greater force and arm twisting angle are required to turn the cleaning body into place.

[0004] Accordingly, this field requires a new technical solution to solve the above problems. Summary of the Invention

[0005] The present invention aims to solve the above technical problems and solve the problem that the existing floor scrubbers are not flexible in turning left and right and need to apply a large force and twist the arm angle to turn the cleaning body into place.

[0006] The present invention provides a method for controlling a floor scrubber, wherein the floor scrubber includes a support portion, a handheld portion, an angle sensor, a cleaning base, a steering mechanism, and a control portion;

[0007] One of the support portion and the handheld portion is provided with a rotation hole, and the other is rotatably disposed in the rotation hole. The angle sensor body is connected to one of the support portion and the handheld portion, and the rotating iron core of the angle sensor is connected to the other of the support portion and the handheld portion. The angle sensor is configured to detect the rotation angle between the support portion and the handheld portion. The control portion is connected to both the angle sensor and the steering mechanism. The control method includes:

[0008] Acquiring a rotation angle signal sent by the angle sensor;

[0009] Based on the rotation angle signal, the steering mechanism is controlled to start operating so as to cause the cleaning base to turn.

[0010] In the case of adopting the above technical solution, relative rotation can occur between the handheld part and the support part, and the angle sensor can detect the rotation angle between the support part and the handheld part. When it is necessary to turn the cleaning base of the floor washer, rotate the handheld part, and the angle sensor detects the rotation angle between the support part and the handheld part. Obtain the rotation angle signal sent by the angle sensor, and control the steering mechanism to start based on the rotation angle signal, so that the cleaning base can adjust the traveling direction under the action of the steering mechanism. This avoids the problem that the floor washer is not flexible in turning left and right, and a large force needs to be applied and the arm needs to be twisted at a large angle to turn the cleaning base in place.

[0011] In the specific implementation of the above floor washer control method, the step of "controlling the steering mechanism to start and operate based on the rotation angle signal" further includes:

[0012] Based on the rotation angle signal, determine the steering angle of the cleaning base;

[0013] Based on the steering angle, control the steering mechanism to start and operate.

[0014] In the case of adopting the above technical solution, determine the steering angle of the cleaning base through the rotation angle signal, control the steering mechanism to start and operate, and drive the cleaning base to turn through the steering mechanism.

[0015] In the specific implementation of the above floor washer control method, the step of "controlling the steering mechanism to start and operate based on the steering angle" further includes:

[0016] When the steering angle is greater than 0 degree and less than the first steering angle, control the steering mechanism to start at the first operating speed;

[0017] When the steering angle is greater than or equal to the first steering angle, control the steering mechanism to start at the second operating speed;

[0018] Wherein the second operating speed is greater than the first operating speed.

[0019] In the case of adopting the above technical solution, when the steering angle is small, the operating speed of the steering mechanism is slow, and when the steering angle is large, the operating speed of the steering mechanism is fast. The steering speed of the cleaning base changes with the rotation angle between the support part and the handheld part, making it easier to control the steering speed when turning the cleaning base.

[0020] In the specific implementation of the above floor washer control method, the step of "controlling the steering mechanism to start and operate based on the steering angle" further includes:

[0021] Based on the steering angle, control the rotation angle of the steering mechanism.

[0022] In the case of adopting the above technical solution, when the steering angle is small, the steering mechanism rotates by a small angle, and when the steering angle is large, the steering mechanism rotates by a large angle. A corresponding relationship is set between the steering angle and the rotation angle of the steering mechanism, so that when controlling the turning of the cleaning base, the control of the steering angle is more accurate.

[0023] In the specific implementation of the above floor washer control method, after the step of "controlling the steering mechanism to start running", the control method further includes:

[0024] If a return angle signal sent by the angle sensor is obtained, then control the steering mechanism to stop running or run in reverse so that the cleaning base returns to the upright position.

[0025] In the specific implementation of the above floor washer control method, the control method further includes:

[0026] When the rotation angle signal is obtained, control the steering mechanism to run at a first acceleration;

[0027] When the return angle signal is obtained, control the steering mechanism to run at a second acceleration;

[0028] Wherein, the first acceleration is greater than the second acceleration.

[0029] In the case of adopting the above technical solution, when controlling the turning of the cleaning base, the steering mechanism runs at a faster first acceleration to achieve a faster turning of the cleaning base. When controlling the cleaning base to return to the upright position, the steering mechanism runs at a slower second acceleration to achieve a slow return of the cleaning base to the upright position.

[0030] In the specific implementation of the above floor washer control method, the step of "if a return angle signal sent by the angle sensor is obtained, then control the steering mechanism to stop running or run in reverse" further includes:

[0031] If the return angle signal is obtained and no rotation angle signal is received within a first preset time period, then control the steering mechanism to stop running or run in reverse after the first preset time period; and / or

[0032] The step of "controlling the steering mechanism to start running based on the rotation angle signal" further includes:

[0033] If the rotation angle signal is obtained and no return angle signal is received within a second preset time period, then control the steering mechanism to start running after the second preset time period.

[0034] In the case of adopting the above technical solution, the first preset duration can avoid accidental straightening caused by operation errors. The second preset duration can avoid accidental steering caused by operation errors.

[0035] In a specific embodiment of the above floor washing machine control method, the floor washing machine further includes a position detection mechanism, and the position detection mechanism is configured to emit a position signal when the cleaning base is located at least one of a straightening position, a forward rotation limit position, and a reverse rotation limit position.

[0036] In a specific embodiment of the above floor washing machine control method, after the step of "controlling the steering mechanism to start running", the control method further includes:

[0037] If a position signal sent by the position detection mechanism is obtained, then control the steering mechanism to stop running.

[0038] In the case of adopting the above technical solution, when reaching the straightening position, the forward rotation limit position, and the reverse rotation limit position, the steering mechanism can be controlled to close, so that the cleaning main body can be in this angle for a long time, avoiding overload damage of the steering mechanism.

[0039] In a specific embodiment of the above floor washing machine control method, an installation groove is provided in the handheld part, the angle sensor main body is located in the installation groove, a connecting rod is provided on the rotating iron core of the angle sensor, and a clamping groove is provided in the supporting part, and one end of the connecting rod is arranged in the clamping groove.

[0040] In the case of adopting the above technical solution, when rotation occurs between the handheld part and the supporting part, the angle sensor main body is fixed relative to the handheld part, and the rotating iron core rotates under the action of the connecting rod, so that the angle sensor can detect the rotation angle between the handheld part and the supporting part. Description of the Drawings

[0041] The following describes the preferred embodiments of the present invention in conjunction with the drawings, in which:

[0042] Figure 1 is a schematic diagram of the overall structure of the floor washing machine;

[0043] Figure 2 is a schematic diagram of the structure on the lower side of the handheld part of the floor washing machine;

[0044] Figure 3 is a schematic diagram of the structure on the upper side of the supporting part of the floor washing machine;

[0045] Figure 4 is a cross-sectional view of the handheld part and the supporting part of the floor washing machine;

[0046] Figure 5It is an enlarged cross-sectional view of the connection part between the handheld part and the support part of the floor washer;

[0047] Figure 6 It is a structural diagram of the return-to-normal component in the floor washer;

[0048] Figure 7 It is a structural diagram of the cleaning base in the floor washer;

[0049] Figure 8 It is a structural diagram of the steering component in the floor washer

[0050] Figure 9 It is a flowchart of the control method of the floor washer;

[0051] Figure 10 It is a logic diagram of a possible implementation manner of the control method of the floor washer.

[0052] List of reference numerals: 1 - handheld part; 12 - return-to-normal hole; 121 - clamping groove; 13 - arc-shaped hole; 2 - support part; 21 - rotating hole; 22 - inserted rib; 3 - return-to-normal component; 31 - baffle; 32 - rotating cylinder; 321 - pressing block; 322 - notch; 33 - spring; 4 - connecting part; 41 - first sleeve; 42 - second sleeve; 5 - cleaning base; 51 - cleaning upper shell; 6 - support frame; 7 - driving motor; 71 - driving connection seat; 8 - driven gear ring; 9 - identification block. Detailed implementation manners

[0053] The following describes the preferred implementation manners of the present application with reference to the accompanying drawings. Those skilled in the art should understand that these implementation manners are only used to explain the technical principle of the present application and are not used to limit the protection scope of the present application. Those skilled in the art can adjust it as needed to adapt to specific application scenarios. For example, although the position sensor in the specification is described in combination with an infrared distance sensor, obviously, the present application can adopt other position sensors, such as an optical distance sensor, an ultrasonic distance sensor or a microswitch, etc.

[0054] It should be noted that in the description of this application, unless otherwise clearly specified and limited, terms such as "arrangement" and "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection or an integral connection; it can be a mechanical connection or other connections; it can be directly connected or indirectly connected through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. It should be understood that the orientation or positional relationship indicated by terms such as "upper", "lower", "inner" etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. Additionally, "a plurality of" in this application means at least two.

[0055] As Figure 1-8 shown, to solve the problem that the existing floor washer is laborious to turn, the present invention provides a floor washer, which includes a support part 2, a hand-held part 1, an angle sensor, a cleaning base 5, a steering mechanism and a control part; a rotation hole 21 is provided on one of the support part 2 and the hand-held part 1, and the other is rotatably arranged in the rotation hole 21. The angle sensor body is connected to one of the support part 2 and the hand-held part 1, and the rotating iron core of the angle sensor is connected to the other of the support part 2 and the hand-held part 1. The angle sensor is arranged to be able to detect the rotation angle between the support part 2 and the hand-held part 1; the control part is simultaneously connected to the angle sensor and the steering mechanism.

[0056] In this way, relative rotation can occur between the hand-held part 1 and the support part 2, and the angle sensor can detect the rotation angle between the support part 2 and the hand-held part 1. When it is necessary to turn the cleaning base 5 of the floor washer, rotate the hand-held part 1, and the angle sensor detects the rotation angle between the support part 2 and the hand-held part 1. Obtain the rotation angle signal sent by the angle sensor, and control the steering mechanism to start according to the rotation angle signal, so that the cleaning base 5 can adjust the traveling direction under the action of the steering mechanism. It avoids the problem that the floor washer is not flexible in turning left and right, and a relatively large force and a large angle of arm torsion are required to turn the cleaning base 5 in place.

[0057] See the attached Figure 1-8 figures. In a preferred embodiment, the floor washer includes a support part 2, a hand-held part 1, a cleaning base 5, a cleaning upper shell 51, a steering assembly, a position detection mechanism, an angle sensor, a control part and a return-to-position assembly 3, and the return-to-position assembly 3 includes a baffle 31, an elastic member and a rotating member.

[0058] See the attached Figure 3 and 5, a rotation hole 21 is provided on the upper side of the support part 2, the hand-held part 1 is rotatably arranged in the rotation hole 21, and six reinforcing bars 22 parallel to the length direction of the rotation hole 21 are arranged at the bottom of the rotation hole 21. Of course, a rotation hole can also be opened on the lower side of the hand-held part 1, and the upper side of the support part 2 can be inserted into the rotation hole to realize the rotation between the hand-held part 1 and the support part 2.

[0059] See the appendix Figure 2 , the hand-held part 1 and the support part 2 are concentrically arranged, and one end of the hand-held part 1 is rotatably arranged in the rotation hole 21. A return hole 12 is arranged at the central position of the end of the hand-held part 1 located in the rotation hole 21, the return component 3 is arranged in the return hole 12, six arc-shaped holes 13 are arranged outside the return hole 12, the arc-shaped holes 13 and the reinforcing bars 22 are arranged correspondingly, the reinforcing bars 22 are inserted into the arc-shaped holes 13, and the reinforcing bars 22 can reciprocate around the arc center of the arc-shaped holes 13 in the arc-shaped holes 13. In this way, the reinforcing bars 22 can reciprocate in the arc-shaped holes 13, facilitating the mutual rotation between the hand-held part 1 and the support part 2.

[0060] It should be noted that the above setting method is not the only one, and those skilled in the art can select specific setting methods according to specific application scenarios. For example, the positions of the reinforcing bars 22 and the arc-shaped holes 13 are interchanged. For another example, the return hole 12 is not provided on the hand-held part 1, but is provided on the lower side of the rotation hole 21. For another example, the number of the reinforcing bars 22 and the arc-shaped holes 13 can be 1, 2, 3, 4, 5 or more. For another example, the number of the reinforcing bars 22 and the arc-shaped holes 13 can be different, and the number of the arc-shaped holes 13 can be greater than the number of the reinforcing bars 22.

[0061] The angle sensor is preferably an optical encoder. An installation groove is arranged in the hand-held part 1, the angle sensor body is located in the installation groove, a connecting rod is arranged on the rotating iron core of the angle sensor, and a clamping groove 121 is arranged in the support part 2. One end of the connecting rod is arranged in the clamping groove 121. In this way, when the hand-held part 1 and the support part 2 rotate, the angle sensor body is fixed relative to the hand-held part 1, and the rotating iron core rotates under the action of the connecting rod, so that the angle sensor can detect the rotation angle between the hand-held part 1 and the support part 2.

[0062] It should be noted that the setting method of the angle sensor is not the only one, and those skilled in the art can select the specific structure of the angle sensor according to specific application scenarios. For example, the angle sensor can also be a rotary potentiometer, a Hall sensor, a resolver and a MEMS angle sensor. For another example, the angle sensor body can be arranged at any position in the hand-held part 1. For another example, the angle sensor body can be connected to the support part 2 through a connecting rod, and the rotating iron core of the angle sensor is connected to the hand-held part 1.

[0063] See the appendix Figure 3 ,5 and 6, the return-to-normal component 3 includes a baffle 31, a rotating cylinder 32, and a spring 33. One end of the rotating cylinder 32 ( Figure 6 the end close to the paper surface in the figure) is connected to the bottom surface of the rotating hole 21 ( Figure 3 the surface shown in the figure), and is rotatably inserted into the return-to-normal hole 12. Two clamping grooves 121 are provided on the return-to-normal hole 12, and both ends of the baffle 31 are respectively inserted into the clamping grooves 121. A notch 322 for the baffle 31 to rotate is provided on the rotating cylinder 32. The baffle 31 passes through the notch 322. Two pressing blocks 321 are arranged inside the rotating cylinder 32. The two pressing blocks 321 are arranged oppositely, and the angle between the pressing block 321 and the notch 322 is 90 degrees. The number of springs 33 is four. One end of each of the four springs 33 abuts against the baffle 31, and the other end abuts against the pressing block 321. And in the case of no external force participation, the lengths of the four springs 33 are the same, and the baffle 31 is located at the middle position of the notch 322. Thus, when the rotating cylinder 32 rotates, the spring 33 stores elastic potential energy, so that the rotating cylinder 32 can return to the position before rotation, thereby enabling the handheld part 1 to return to normal.

[0064] Wherein, the bottom surface of the rotating hole 21 is provided with a plug-in groove for connecting the rotating cylinder 32. One end of the rotating cylinder 32 is inserted into the plug-in groove and bonded, so as to realize the connection between one end of the rotating cylinder 32 and the bottom surface of the rotating hole 21. Of course, other connection methods can also be selected, as long as the fixed connection between the rotating cylinder 32 and the rotating hole 2 is realized. For example, connection ears are provided on the bottom surface of the rotating hole 21, connection holes are provided on the connection ears, connection blocks are provided on the outer side wall of the rotating cylinder 32, and the connection blocks are arranged in the connection holes.

[0065] It should be noted that the setting of the return-to-normal component 3 is not necessary. Those skilled in the art can choose whether to set the return-to-normal component 3 and the specific structure of the return-to-normal component 3 based on the specific application scenario. For example, the clamping grooves 121 can be not provided on the return-to-normal hole 12, and the baffle 31 can be directly fixed to the return-to-normal hole 12 with glue.

[0066] For another example, the rotating cylinder 32 can be not provided, but a rotating frame can be adopted. The rotating frame includes two pressing blocks 321. The two pressing blocks 321 are connected to the bottom surface of the rotating hole 21. One end of the spring 33 pulls the pressing block 321, and the other end pulls one end of the baffle 31. Thus, when the handheld part 1 rotates relative to the supporting part 2, the distance between the pressing block 321 and the baffle 31 changes, so that the elastic potential energy of the spring 33 changes. The elastic potential energy can enable the distance between the pressing block 321 and the baffle 31 to return to the initial distance, thereby enabling the handheld part 1 to return to normal.

[0067] For another example, the return-to-position assembly 3 can adopt a torsion spring. The torsion spring is sleeved on the handheld part 1. One end of the torsion spring is connected to the handheld part 1, and the other end of the torsion spring is connected to the support part 2. After the handheld part 1 rotates relative to the support part 2, the torsion spring stores elastic potential energy. The elastic potential energy stored in the torsion spring can make the handheld part 1 return to the original position. For another example, the return-to-position assembly 3 can be not provided. For another example, the number of the springs 33 can be a spring 33 with a fixed length, or two or three. For another example, the number of the pressing blocks 321 can also be one, and only two springs 33 are used to press against both sides of the pressing block 321.

[0068] See the appendix Figure 7-8 , in a preferred embodiment, the steering assembly includes a connecting part 4, a driving motor 7, and a gear set. A support frame 6 is provided on the cleaning base 5, and a circular cavity is formed inside the support frame 6. The connecting part 4 includes a first sleeve 41 and a second sleeve 42. A driven gear ring 8 is integrally provided at the lower end of the first sleeve 41, and the first sleeve 41 passes through the circular cavity; the upper end of the second sleeve 42 is connected to the lower side of the support part 2, and threads are provided on the inner side of the lower end of the second sleeve 42 and are threadedly connected to the upper end of the first sleeve 41. The upper end of the second sleeve 42 is connected to the lower end of the support part 2. A driving wheel in the gear set is provided at the driving end of the driving motor 7, and the driving wheel meshes with the driven gear ring 8 in the gear set. The driving motor 7 is connected to the cleaning base 5 through a driving connection seat 71. The driven gear ring 8 in the gear set is integrally formed with the connecting part 4. After the driving motor 7 is started, it drives the driving wheel to rotate and drives the connecting part 4 to rotate, so that the floor washer can be steered.

[0069] It should be noted that the setting method of the steering assembly is not unique. Those skilled in the art can select the specific structure of the steering assembly according to the specific application scenario, as long as the steering of the cleaning base 5 can be realized. For example, the driving motor 7 is vertically arranged, a sprocket is provided at the driving end of the driving motor 7, and a sprocket is also provided on the outer side of the lower end of the connecting part 4. The two sprockets are connected by a chain drive. For another example, the driving motor 7 is vertically arranged, a pulley is provided at the driving end of the driving motor 7, and a pulley is also provided on the outer side of the lower end of the connecting part 4. The two pulleys are connected by a belt drive.

[0070] See the appendix Figure 1 、 78, and a preferred embodiment, the cleaning upper shell 51 is buckled on the upper side of the cleaning base 5. The position detection mechanism includes a position sensor and an identification block 9. The position sensor is installed in the cavity of the cleaning upper shell 51, and the position sensor can send a position signal to the control unit. Three identification blocks 9 are arranged on the outer side of the second sleeve 42, and the three identification blocks 9 are arranged at intervals along the circumferential direction of the connecting portion 4. The middle identification block 9 is arranged to face the position sensor when the cleaning base 5 is in the return position. The two side identification blocks 9 are arranged at 180 degrees, and the two side identification blocks 9 are arranged to face the position sensor when the cleaning base 5 is in the forward rotation limit position and the reverse rotation limit position.

[0071] In this way, by using three identification blocks 9 and one position sensor, the position sensor can send position signals when the cleaning base 5 is in the return position, the forward rotation limit position, and the reverse rotation limit position. For example, when the cleaning base 5 is in the forward rotation limit position, the position sensor detects the identification block 9 and sends a position signal, so that the drive motor 7 stops driving the cleaning base 5 to rotate, avoiding damage to the drive motor 7 caused by long-term overload.

[0072] Preferably, the position sensor is an infrared distance sensor, and the identification block 9 is formed by the outward extension of the second sleeve 42. When the identification block 9 is located at the detection end of the infrared distance sensor, the detected distance of the infrared distance sensor becomes shorter, and it is determined that the cleaning base 5 has reached the steering limit position or the return position.

[0073] It should be noted that the setting method of the position detection mechanism is not fixed, and those skilled in the art can select the specific structure of the position detection mechanism based on the specific application scenario. For example, the position sensor can also be an optical distance sensor, an ultrasonic distance sensor or a microswitch. The principles of the optical distance sensor and the ultrasonic distance sensor are similar to those of the infrared distance sensor, and will not be elaborated in this application. A microswitch is a switch that uses very little force. It is an external mechanical force that acts on the action reed through a transmission element, causing the fixed contact at the end to quickly connect or disconnect from the moving contact. The identification block 9 can trigger the microswitch. Another example is that the position sensor and the identification block 9 can be connected in an interchangeable position. Another example is that the two side identification blocks 9 can be at any angle such as 100 degrees, 120 degrees, 160 degrees, 162 degrees, etc.; at the same time, the middle identification block 9 can face the position sensor when the cleaning base 52 is not in the return position. Another example is that the number of identification blocks 9 can be 1, 2, 3, 4, 5 or 6, etc. Another example is that the identification block 9 can be not set, and a concave structure is set on the connecting portion 4. The position sensor is an infrared distance sensor and faces the connecting portion 4. When the infrared distance sensor is directly opposite the concave structure, the detected distance of the infrared distance sensor becomes longer, and it is determined that the cleaning base 5 has reached the steering limit position or the return position.

[0074] It should be further noted that the position detection mechanism may further include three position sensors and an identification block 9. The three position sensors are arranged at intervals along the circumferential direction of the connecting portion 4. The position sensor located in the middle is arranged to face the identification block 9 when the cleaning base 5 is in the return position, and the position sensors located on both sides are arranged to face the identification block 9 when the cleaning base 5 is in the forward rotation limit position and the reverse rotation limit position. In this way, different position sensors correspond to different steering positions of the cleaning base 5, so that the steering direction of the cleaning base 5 can be accurately determined through the position sensors. Specifically, when the position sensor at the forward rotation limit position faces the identification block 9, the position sensor at the corresponding position is triggered, so as to determine that the cleaning base 5 is in the forward rotation limit position.

[0075] The control unit is installed on the cleaning base 5. The control unit is used to receive signals and control the actions of relevant components. For example, when the control unit receives the signals from the angle sensor and the position detection mechanism, the control unit controls the driving motor 7 to rotate, so that the cleaning base 5 changes its direction. The specific selection of the control unit is prior art and will not be elaborated here.

[0076] The following combines the attached Figure 9-10 figures to introduce the control method of the floor washer of the present application.

[0077] As Figure 9 shown, corresponding to the above floor washer, the control method of the floor washer of the present application includes:

[0078] S101, obtaining the rotation angle signal sent by the angle sensor. For example, relative rotation can occur between the handheld part and the support part. The main body of the angle sensor rotates with the handheld part, and the rotating iron core is connected to the support part through a connecting rod. When the handheld part rotates, the rotating iron core rotates relative to the main body of the angle sensor, and the angle sensor will send out a signal, so that the controller can obtain the rotation angle signal.

[0079] S103, based on the rotation angle signal, controlling the driving motor to start running so that the cleaning base steers. For example, analyzing different rotation angles of the rotation angle signal, according to different rotation angles of the rotation angle signal, controlling the steering angle of the cleaning base, and then controlling the driving motor to start, so that the cleaning base steers in different directions.

[0080] In this way, relative rotation can occur between the handheld part and the support part, and the angle sensor can detect the rotation angle between the support part and the handheld part. When it is necessary to turn the cleaning base of the floor washer, rotate the handheld part, and the angle sensor detects the rotation angle between the support part and the handheld part. The rotation angle signal sent by the angle sensor is obtained, and the driving motor is controlled to start according to the rotation angle signal, so that the cleaning base can adjust its traveling direction under the action of the driving motor. This avoids the problem that the floor washer is not flexible enough to turn left and right, and a large force and a large angle of arm torsion are required to turn the cleaning base in place.

[0081] The preferred embodiments of the present application will be introduced below.

[0082] First of all, it should be noted that both the rotation angle signal and the return angle signal are signals detected by the angle sensor. Specifically, when the handheld part rotates relative to the support part, if the angle sensor rotates away from its rotation zero point along the direction away from its rotation zero point, the angle sensor can send out a rotation angle signal, and the rotation angle signal includes the angle of rotation of the handheld part relative to the support part; when the angle sensor rotates from a position away from its rotation zero point along the direction close to its rotation zero point, the angle sensor sends out a return angle signal.

[0083] In a preferred embodiment, the step of "controlling the driving motor to start and run based on the rotation angle signal" further includes:

[0084] Based on the rotation angle signal, determine the steering angle of the cleaning base; for example, the rotation angle signal includes the number of times that the light source of the angle sensor passes through the grating and is received by the photosensitive device. After the rotation angle signal is obtained, the rotation angle of the handheld part relative to the support part can be determined through the number of times in the rotation angle signal, and then the steering angle of the cleaning base can be determined. Specifically, the relationship between the magnitude of the rotation angle signal and the steering angle of the cleaning base can be determined through a look-up table, or through a fitting formula or an empirical formula, etc. For example, the range of rotation of the handheld part relative to the support part is -9 degrees to 9 degrees, and the steering angle of the cleaning base is -90 degrees to 90 degrees. There is a proportional correspondence between the rotation angle of the handheld part relative to the support part and the steering angle of the cleaning base. When the handheld part rotates 3 degrees relative to the support part, the steering angle of the cleaning base is 30 degrees. When the handheld part rotates 9 degrees relative to the support part, the steering angle of the cleaning base is 90 degrees. Of course, the above range of angles can be adjusted according to specific needs, and the corresponding proportional relationship can also be adjusted according to the specific application scenario requirements.

[0085] Based on the steering angle, control the driving motor to start and run. For example, after the steering angle of the cleaning base is determined, control the driving motor to start to realize the steering of the cleaning base.

[0086] It should be noted that the above control method is not necessary, and those skilled in the art can select a specific control method based on the specific application scenario. For example, when the handheld part rotates 3 degrees relative to the support part, the steering angle of the cleaning base can be 40 degrees. Another example is that after determining the steering angle of the cleaning base, the drive motor is controlled to start running after a delay.

[0087] Specifically, the step of "controlling the drive motor to start running based on the rotation angle signal" further includes:

[0088] If a rotation angle signal is obtained and no return angle signal is received within the second preset duration, the drive motor is controlled to start running after the second preset duration. In this way, accidental steering of the cleaning base caused by operation errors can be avoided.

[0089] It should be noted that the above control method is only preferred, and those skilled in the art can adjust it. For example, the second preset duration can be 0 seconds, 0.5 seconds, 0.8 seconds, or 1 second, etc., and preferably 0.5 seconds.

[0090] In a preferred embodiment, if a return angle signal sent by the angle sensor is obtained, the drive motor is controlled to run in the reverse direction to make the cleaning base return to the original position. For example, at the moment when the handheld part and the support part return to the original position, a return angle signal can be obtained, and then the drive motor is controlled to start and run in the reverse direction to achieve the return of the cleaning base to the original position.

[0091] It should be noted that the above control method is not necessary, and those skilled in the art can select a specific control method based on the specific application scenario. For example, after the drive motor starts, if a return angle signal is obtained, the drive motor is controlled to stop running. At this time, the cleaning base stops rotating, and the user can manually return it to the original position. Or if there is a physical return structure such as a torsion spring, it can be automatically returned under the action of the elastic force. Another example is that if a position signal sent by the position detection mechanism is obtained, the drive motor is controlled to stop running.

[0092] Further, the step of "if a return angle signal is obtained, controlling the drive motor to stop running or run in the reverse direction" further includes:

[0093] If a return angle signal is obtained and no rotation angle signal is received within the first preset duration, the drive motor is controlled to stop running or run in the reverse direction after the first preset duration. In this way, accidental return to the original position caused by operation errors can be avoided.

[0094] It should be noted that the above control method is only preferred, and those skilled in the art can adjust it. For example, the first preset duration can be 0 seconds, 0.5 seconds, 0.8 seconds, or 1 second, etc., and preferably 0.5 seconds.

[0095] A preferred embodiment, the step of "controlling the driving motor to start and operate based on the steering angle" further includes:

[0096] When the steering angle is greater than 0 degrees and less than the first steering angle, the driving motor is controlled to start at the first operating speed;

[0097] When the steering angle is greater than or equal to the first steering angle, the driving motor is controlled to start at the second operating speed;

[0098] Wherein the second operating speed is greater than the first operating speed.

[0099] In this way, when the steering angle is small, the operating speed of the driving motor is slow, and when the steering angle is large, the operating speed of the driving motor is fast. The steering speed of the cleaning base changes with the rotation angle between the supporting part and the handheld part, making it easier to control the steering speed when steering the cleaning base.

[0100] It should be noted that the above control method is only preferred, and those skilled in the art can adjust it. For example, the first steering angle can be 20 degrees, 30 degrees, 40 degrees or 90 degrees, etc. Preferably, it is 40 degrees.

[0101] A preferred embodiment, the step of "controlling the driving motor to start and operate based on the steering angle" further includes: controlling the rotation angle of the driving motor based on the steering angle. In this way, when the steering angle is small, the number of rotation turns of the driving motor is small, and when the steering angle is large, the number of rotation turns of the driving motor is large. Specifically, the magnitude of the rotation angle and the number of rotation turns of the driving motor can be determined by a look-up table, or can be determined by a fitting formula or an empirical formula, etc. A corresponding relationship is set between the steering angle and the number of rotation turns of the driving motor, making the control of the steering angle more accurate when steering the cleaning base.

[0102] A preferred embodiment, the control method further includes: when obtaining the rotation angle signal, controlling the driving motor to operate at the first acceleration; when obtaining the straightening angle signal, controlling the driving motor to operate at the second acceleration; wherein, the first acceleration is greater than the second acceleration. In this way, when controlling the cleaning base to turn, the driving motor operates at the faster first acceleration to achieve a faster turn of the cleaning base. When controlling the cleaning base to return to the original position, the driving motor operates at the slower second acceleration to achieve a slow return of the cleaning base.

[0103] It should be noted that the above control method is only preferred, and those skilled in the art can adjust it. For example, the first acceleration can be equal to the second acceleration. Another example is that the first acceleration is less than the second acceleration.

[0104] A preferred embodiment is that after the step of "controlling the driving motor to start and run", the control method further includes: if a position signal sent by the position detection mechanism is obtained, then control the driving motor to stop running. Specifically, when the cleaning base is in the return position, when the cleaning base is in the forward rotation limit position, and when the cleaning base is in the reverse rotation limit position, the position sensor can emit a position signal. When a position signal is obtained, control the driving motor to stop running. For example, when the cleaning base is in the forward rotation limit position, the position sensor detects the identification block and emits a position signal, so that the driving motor stops driving the cleaning base to rotate, avoiding being in an overload state for a long time and causing damage to the driving motor.

[0105] The following combines Figure 10 to introduce a possible implementation process of the present application.

[0106] As Figure 10 shown, in a possible operation process:

[0107] S201, obtain the rotation angle signal;

[0108] S202, based on the rotation angle signal, determine the steering angle of the cleaning base;

[0109] S203, determine whether 40 degrees > steering angle > 0 degrees? If yes, execute S204; otherwise, execute S205;

[0110] S204, control the driving motor to start at the first operating speed and execute S206;

[0111] S205, control the driving motor to start at the second operating speed;

[0112] S206, obtain the return angle signal;

[0113] S207, control the driving motor to start in the reverse direction;

[0114] S208, obtain the position signal of the cleaning base;

[0115] S209, control the driving motor to stop.

[0116] It should be noted that although the detailed steps of the method of the present application are described in detail above, however, without departing from the basic principle of the present application, those skilled in the art can combine, split and change the order of the above steps. The technical solution modified in this way does not change the basic concept of the present application, so it also falls within the protection scope of the present application.

[0117] Those skilled in the art will understand that although some of the embodiments described herein include certain features included in other embodiments rather than other features, the combination of features of different embodiments is meant to be within the scope of this application and forms different embodiments. For example, in the claims of this application, any one of the claimed embodiments can be used in any combination.

[0118] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A floor washing machine control method, characterized in that, The floor washer includes a support part, a handheld part, an angle sensor, a cleaning base, a steering mechanism and a control part; One of the support part and the handheld part is provided with a rotation hole, and the other is rotatably arranged in the rotation hole. The angle sensor body is connected to one of the support part and the handheld part, and the rotating iron core of the angle sensor is connected to the other of the support part and the handheld part. The angle sensor is configured to be able to detect the rotation angle between the support part and the handheld part; The control part is connected to the angle sensor and the steering mechanism at the same time. The control method includes: Obtain the rotation angle signal sent by the angle sensor; Based on the rotation angle signal, control the steering mechanism to start running so that the cleaning base turns.

2. The floor washing machine control method according to claim 1, wherein The step of "Based on the rotation angle signal, control the steering mechanism to start running" further includes: Based on the rotation angle signal, determine the steering angle of the cleaning base; Based on the steering angle, control the steering mechanism to start running.

3. The floor washer control method according to claim 2, characterized in that, The step of "Based on the steering angle, control the steering mechanism to start running" further includes: When the steering angle is greater than 0 degrees and less than the first steering angle, control the steering mechanism to start at the first running speed; When the steering angle is greater than or equal to the first steering angle, control the steering mechanism to start at the second running speed; Wherein the second running speed is greater than the first running speed.

4. The floor washer control method according to claim 2, wherein The step of "Based on the steering angle, control the steering mechanism to start running" further includes: Based on the steering angle, control the rotation angle of the steering mechanism.

5. The floor washer control method according to any one of claims 2-4, characterized in that, After the step of "control the steering mechanism to start running", the control method further includes: If the return angle signal sent by the angle sensor is obtained, control the steering mechanism to stop running or run in reverse so that the cleaning base returns to the correct position.

6. The floor washer control method according to claim 5, wherein, The control method further includes: When the rotation angle signal is obtained, control the steering mechanism to run at the first acceleration; When the return angle signal is obtained, control the steering mechanism to run at the second acceleration; Wherein, the first acceleration is greater than the second acceleration.

7. The floor washing machine control method according to claim 5, wherein The step of "If the return angle signal sent by the angle sensor is obtained, control the steering mechanism to stop running or run in reverse" further includes: If the return angle signal is obtained and no rotation angle signal is received within the first preset time period, control the steering mechanism to stop running or run in reverse after the first preset time period; and / or The step of "Based on the rotation angle signal, control the steering mechanism to start running" further includes: If the rotation angle signal is obtained and no return angle signal is received within the second preset time period, control the steering mechanism to start running after the second preset time period.

8. The floor washing machine control method according to any one of claims 2-4, characterized in that The floor washer further includes a position detection mechanism, and the position detection mechanism is configured to be able to emit a position signal when the cleaning base is at least one of a return position, a forward rotation limit position and a reverse rotation limit position.

9. The floor washing machine control method according to claim 8, wherein, After the step of "controlling the steering mechanism to start running", the control method further includes: If a position signal sent by the position detection mechanism is obtained, the steering mechanism is controlled to stop running.

10. The floor washer control method according to claim 1, characterized in that, An installation groove is provided in the handheld part, the angle sensor body is located in the installation groove, a connecting rod is arranged on the rotating iron core of the angle sensor, a clamping groove is arranged in the supporting part, and one end of the connecting rod is arranged in the clamping groove.

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