Steering device, scrubber and steering control method

Abstract

The invention discloses a steering device, a scrubber and a steering control method. The steering device comprises a sensing assembly, a driving assembly, an execution assembly and a control assembly. The sensing assembly is connected with the control assembly, the driving assembly is connected with the control assembly, and the execution assembly is in transmission connection with the driving assembly. The control assembly can receive signals transmitted by the sensing assembly and control the driving assembly to drive the execution assembly to act. According to the steering device, the sensing assembly can detect an operation signal of a user and transmit a detected steering intention signal to the control assembly, the control assembly processes the signal and then sends a control instruction to the driving assembly, the driving assembly is started and transmits power to the execution assembly, and the execution assembly achieves steering under the action of the power. According to the technical scheme, a user only needs to conduct simple operation, the scrubber can achieve steering according to the operation, the requirement of the user for flexible control over the scrubber is met, and the technical problems that when an existing scrubber is manually controlled, the steering requirement of the user is difficult to recognize, and steering assistance cannot be provided are solved.

Description

Technical Field

[0001] This invention relates to the field of floor scrubbing machine technology, and in particular to a steering device, a floor scrubbing machine, and a steering control method. Background Technology

[0002] Currently, floor scrubbers often employ a dual-hub motor drive structure, using differential speed control to achieve steering. In remote control mode, this structure allows steering via button-controlled differential speed adjustment between the two wheels. However, in manual operation scenarios, the lack of a mechanism to recognize the user's steering intentions prevents the application of steering assistance based on the user's handle movements. Users must directly adjust direction by physically turning the handle, resulting in poor operational convenience. This is especially true in scenarios requiring frequent direction adjustments, significantly increasing the difficulty of operation and failing to meet users' needs for flexible control of the floor scrubber. Summary of the Invention

[0003] The embodiments of the present invention provide a steering device, a floor scrubber, and a steering control method, which solves the technical problems of existing floor scrubbers being unable to identify user steering needs and provide steering assistance when manually operated.

[0004] To address the aforementioned problems, according to one aspect of this application, an embodiment of the present invention provides a steering device, including a sensing component, a driving component, an actuating component, and a control component; the sensing component is connected to the control component, the driving component is connected to the control component, and the actuating component is drively connected to the driving component; the control component is capable of receiving signals transmitted by the sensing component and controlling the driving component to drive the actuating component to operate.

[0005] In some embodiments, the sensing component includes a gyroscope and a mounting handle, the gyroscope being fixed to the mounting handle and signal-connected to the control component.

[0006] In some embodiments, the drive assembly includes a gear motor and a motor mounting portion, the gear motor being fixed to the motor mounting portion and signal-connected to the control assembly, and the output shaft of the gear motor being drive-connected to the actuation assembly.

[0007] In some embodiments, the actuation component includes an eccentric gear, a guide rod, a steering linkage, a steering arm, and a steering wheel; the eccentric gear meshes with the output end of the drive component, one end of the guide rod engages with the eccentric gear, and the other end is connected to the steering linkage; both ends of the steering linkage are connected to the steering arm, and the end of the steering arm away from the steering linkage is connected to the steering wheel.

[0008] In some embodiments, the steering linkage has a mating hole, and the end of the guide rod away from the eccentric gear passes through the mating hole.

[0009] In some embodiments, the eccentric gear has an eccentric distance D, and the steering arm has a swing distance D1. Adjusting the eccentric distance D can control the swing distance D1, thereby controlling the rotation limit angle of the steering wheel.

[0010] In some embodiments, the steering arm is provided with a cantilever pivot, which is used to connect to an external fixed structure so that the steering arm can rotate around the cantilever pivot.

[0011] In some embodiments, the control component includes an angle detection unit, which includes a Hall sensor and a magnet. The Hall sensor is mounted on a fixed structure, and the magnet is mounted on the steering arm. The Hall sensor is used to detect changes in the magnetic field of the magnet as the steering arm moves.

[0012] In some embodiments, the control component has a preset steering angle threshold. When the handle tilt angle detected by the gyroscope exceeds the steering angle threshold, the control component sends a drive signal to the drive component.

[0013] According to another aspect of this application, an embodiment of the present invention provides a floor scrubber, the floor scrubber including the above-described steering device, and further including a floor brush assembly and a handle assembly; the motor mounting part of the steering device is connected to the floor brush assembly, and the handle of the steering device is fixedly connected to the handle assembly.

[0014] According to another aspect of this application, embodiments of the present invention provide a steering control method applied to the aforementioned steering device, the method comprising the following steps: S1: The user operation signal is detected by the sensing component, a steering intention signal is generated and transmitted to the control component; S2: The control component receives the steering intention signal and generates a drive control signal based on the steering intention signal; S3: The control component sends the drive control signal to the drive component, and the drive component drives the execution component to perform the action to achieve steering assistance.

[0015] In some embodiments, in step S1, the sensing component detects the tilt angle of the handle using a gyroscope, and if the tilt angle exceeds a steering angle threshold, generates the steering intention signal.

[0016] In some embodiments, the steering control method further includes: S4: The actual operating state of the execution component is detected by the angle detection unit, an angle feedback signal is generated and transmitted to the control component; the control component adjusts the drive control signal according to the angle feedback signal to achieve closed-loop control.

[0017] In some embodiments, in step S4, the Hall sensor of the angle detection unit determines the moving distance of the steering arm by detecting the change in the magnetic field of the magnet. The magnet moves synchronously with the steering arm as it rotates around the arm pivot axis. The Hall sensor generates the angle feedback signal based on the change in magnetic field strength.

[0018] Compared with the prior art, the steering device of the present invention has at least the following beneficial effects: The steering device provided by the present invention includes a sensing component, a driving component, an actuation component, and a control component; the sensing component is connected to the control component, the driving component is connected to the control component, and the actuation component is drivenly connected to the driving component; the control component is capable of receiving signals transmitted by the sensing component and controlling the driving component to drive the actuation component to move.

[0019] In this invention, the sensing component can detect the user's operation signals, which is equivalent to providing a mechanism for the steering device to recognize the user's steering intention. This solves the problem of "lack of a mechanism for recognizing user steering intentions" in the prior art. When the user operates manually, there is no need to worry that their steering intention will not be perceived by the floor scrubber. Then, the sensing component transmits the detected steering intention signal to the control component. After processing the signal, the control component sends a control command to the drive component. The drive component starts and transmits power to the execution component. The execution component achieves steering under the action of power. In this process, the power provided by the drive component is converted into steering assistance by the execution component. The user no longer needs to directly adjust the direction through physical force, which solves the problems of "inability to provide steering assistance and poor operation convenience". More importantly, the entire steering process is completed by the collaboration of four components. The user only needs to perform simple operations, and the floor scrubber can achieve steering according to the operation, which greatly reduces the difficulty of operation and meets the user's need for flexible operation of the floor scrubber, thereby comprehensively solving the technical problems described in the prior art.

[0020] The floor scrubber provided by this invention is designed based on the above-mentioned steering device. Its beneficial effects are the same as those of the steering device, and will not be repeated here.

[0021] The steering control method provided by this invention is designed based on the above-mentioned steering device, and its beneficial effects are the same as those of the steering device, which will not be repeated here.

[0022] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0024] Figure 1 A system block diagram of a steering device provided in an embodiment of the present invention; Figure 2 An exploded view of a steering device provided in an embodiment of the present invention; Figure 3 An exploded view of a steering device and a floor brush lower housing provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of an eccentric gear in a steering device provided by an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a steering device with a steering cantilever and a steering wheel, provided in an embodiment of the present invention. Figure 6 A top view of a steering device in a steering state provided in an embodiment of the present invention; Figure 7 A top view of a steering device in a non-steering state provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of a floor scrubber provided in an embodiment of the present invention; Figure 9 for Figure 8 A magnified view of a section at point A in the middle; Figure 10 A flowchart of a steering control method provided in an embodiment of the present invention; Figure label explanation: 1. Steering mechanism; 11. Sensing component; 12. Drive component; 13. Actuation component; 14. Control component; 111. Gyroscope; 112. Mounting handle; 131. Guide rod; 132. Eccentric gear; 133. Steering linkage; 134. Steering arm; 135. Steering wheel; 141. Angle detection unit; 1331. Mating hole; 1411. Hall sensor; 1412. Magnet; 2. Floor brush assembly; 21. Upper floor brush shell; 22. Lower floor brush shell; 3. Handle assembly. Detailed Implementation

[0025] To further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the specific embodiments, structures, features, and effects according to the present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments. In the following description, different "an embodiment" or "an embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0026] In the description of this invention, it should be clearly stated that the terms "first," "second," etc., in the specification, claims, and accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence; the terms "vertical," "lateral," "longitudinal," "front," "rear," "left," "right," "up," "down," "horizontal," etc., indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, and are merely for the convenience of describing this invention, and do not mean that the device or element referred to must have a specific orientation or position, and therefore should not be construed as a limitation of this invention.

[0027] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0028] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0029] Example 1 This embodiment provides a steering device, such as Figures 1-7 As shown, it includes a sensing component 11, a driving component 12, an execution component 13, and a control component 14; the sensing component 11 is connected to the control component 14, the driving component 12 is connected to the control component 14, and the execution component 13 is drivenly connected to the driving component 12; the control component 14 can receive signals transmitted by the sensing component 11 and control the driving component 12 to drive the execution component 13 to operate.

[0030] The sensing component 11 and the control component 14 are connected by a signal connection, as are the drive component 12 and the control component 14. The execution component 13 and the drive component 12 are connected by a transmission connection. This connection method ensures the stability of signal and power transmission. More specifically, the function of the sensing component 11 is to detect user operation signals, such as the user's operation on the floor scrubber when they want to turn, and convert these operations into transmittable signals. The function of the control component 14 is to receive the signals transmitted from the sensing component 11, process the signals, generate corresponding control commands, and then send the commands to the drive component 12. The function of the drive component 12 is to receive the control commands from the control component 14, generate power after starting, and transmit the power to the execution component 13 through the transmission structure. Furthermore, the function of the execution component 13 is to perform corresponding actions under the power transmitted from the drive component 12, thereby realizing the turning of the floor scrubber and providing turning support for the user.

[0031] When a user manually controls the floor scrubber and needs to turn, the sensing component 11 first detects the user's operation signal, such as the user adjusting the operation of the floor scrubber's control parts. The sensing component 11 converts this operation signal into a corresponding turning intention signal and then transmits the signal to the control component 14. After receiving the turning intention signal from the sensing component 11, the control component 14 judges and processes the signal to determine the user's required turning direction and approximate turning range. Then, based on the processing result, it generates a corresponding drive control command and sends the command to the drive component 12. After receiving the drive control command from the control component 14, the drive component 12 immediately starts and generates corresponding power. Since the execution component 13 and the drive component 12 are connected by a transmission, the drive component 12 transmits the generated power to the execution component 13 through a transmission structure. After receiving the power from the drive component 12, the execution component 13 makes a corresponding turning action according to the direction and magnitude of the power, driving the floor scrubber's turning parts to turn. Throughout the process, the four components cooperate in sequence, from detecting the user's intention to finally realizing the turning, forming a complete workflow to ensure that the user can smoothly complete the turning operation when manually controlling the floor scrubber.

[0032] In this embodiment, the sensing component 11 can detect the user's operation signal, which is equivalent to providing a mechanism for the steering device to recognize the user's steering intention. This solves the problem of "lack of a mechanism for recognizing the user's steering intention" in the background art. When the user operates manually, there is no need to worry that their steering intention cannot be perceived by the floor scrubber. Then, the sensing component 11 transmits the detected steering intention signal to the control component 14. After processing the signal, the control component 14 sends a control command to the drive component 12. The drive component 12 starts and transmits power to the execution component 13. The execution component 13 achieves steering under the action of power. In this process, the power provided by the drive component 12 is converted into steering assistance by the execution component 13. The user no longer needs to directly adjust the direction through physical force, which solves the problem of "inability to provide steering assistance and poor operation convenience". More importantly, the entire steering process is completed by the collaboration of four components. The user only needs to perform simple operations, and the floor scrubber can achieve steering according to the operation, which greatly reduces the difficulty of operation and meets the user's need for flexible operation of the floor scrubber, thereby comprehensively solving the technical problems described in the background art.

[0033] In a specific embodiment, such as Figure 8 As shown, the sensing component 11 includes a gyroscope 111 and a mounting handle 112. The gyroscope 111 is fixed to the mounting handle 112 and is signal-connected to the control component 14.

[0034] The mounting handle 112 in the sensing component 11 is a component specifically designed to support and fix the gyroscope 111. Its placement is tailored to the user's operating habits when manually controlling the floor scrubber, typically within an area where the user can naturally grip and adjust the angle. This allows the user to easily transmit steering intentions by tilting the mounting handle 112 when they want to adjust the direction of the floor scrubber. The gyroscope 111 is stably mounted on the mounting handle 112. This fixation not only prevents the gyroscope 111 from becoming loose or shifting during user operation but also allows the gyroscope 111 to more directly follow the movement of the mounting handle 112. More specifically, when the user tilts the mounting handle 112 to the left or right, the gyroscope 111 can accurately and in real time capture the tilt angle and direction of the mounting handle 112 without causing detection deviation due to relative movement between the two. Furthermore, the gyroscope 111 maintains a signal connection with the control component 14. This connection allows the gyroscope 111 to quickly convert the tilt information captured by the mounting handle 112 into a transmittable signal and send it to the control component 14 in a timely manner, ensuring that there is no significant delay in information transmission or signal interruption.

[0035] In this embodiment, the user's steering intention during manual operation can be accurately identified, eliminating the need to directly rotate the handle using physical force to adjust the direction, thus reducing the user's effort. Secondly, the information captured by the gyroscope 111 can be promptly transmitted to the control component 14, allowing the control component 14 to quickly respond to the user's intentions, preventing the user from waiting too long after operation and improving the smoothness of operation. At the same time, the mounting handle 112 is a component that the user frequently touches when operating the floor scrubber. Fixing the gyroscope 111 to it eliminates the need for additional operating components, preventing inconvenience to the user's normal grip and operation. This ensures both functionality and ease of operation, providing a better user experience when manually steering the floor scrubber.

[0036] In a specific embodiment, the drive component 12 includes a gear motor and a motor mounting part. The gear motor is fixed on the motor mounting part and is signal-connected to the control component 14. The output shaft of the gear motor is drive-connected to the execution component 13.

[0037] The motor mounting section is mainly used to support and fix the gear motor. Its position is close to the mounting area of ​​the actuator 13. This positioning allows for a more direct connection between the gear motor and the actuator 13, avoiding power transmission difficulties caused by excessive distance between them. The gear motor is securely fixed to the motor mounting section. This fixation prevents the gear motor from loosening or shifting due to vibration during operation, ensuring the stability of the motor during operation and preventing the continuity of power output from being affected by motor shaking. More specifically, the gear motor maintains a signal connection with the control component 14. This connection allows the drive control commands issued by the control component 14 to be transmitted to the gear motor quickly and accurately, without command delay or loss. The gear motor can adjust its working state in a timely manner according to the received commands, such as starting rotation, stopping rotation, or changing the direction and speed of rotation, fully cooperating with the control component 14's control requirements for steering actions. Furthermore, the output shaft of the gear motor is connected to the actuator 13 via a transmission connection. This connection method can completely transmit the power generated by the gear motor during operation to the actuator 13, reducing power loss during transmission and allowing the actuator 13 to smoothly complete steering-related actions under sufficient power.

[0038] In this embodiment, the stable fixation of the gear motor by the motor mounting part lays the foundation for the reliable operation of the entire drive assembly 12, avoiding interruption or deviation of steering action due to motor loosening; secondly, the signal connection between the gear motor and the control assembly 14 ensures that the motor action can accurately follow the user's steering intention, and there will be no situation where the motor action does not match the user's needs; finally, the transmission connection between the output shaft and the execution assembly 13 effectively converts the motor power into the steering power of the execution assembly 13, so that the user no longer needs to manually adjust the direction of the floor scrubber with physical force, greatly reducing the difficulty of operation.

[0039] In a specific embodiment, such as Figure 2 and Figure 3 As shown, the actuation component 13 includes an eccentric gear 132, a guide rod 131, a steering linkage 133, a steering cantilever 134, and a steering wheel 135; the eccentric gear 132 meshes with the output end of the drive component 12, one end of the guide rod 131 engages with the eccentric gear 132, and the other end is connected to the steering linkage 133; both ends of the steering linkage 133 are connected to the steering cantilever 134, and the end of the steering cantilever 134 away from the steering linkage 133 is connected to the steering wheel 135.

[0040] The position of the eccentric gear 132 corresponds to the output end of the drive component 12. The two mesh with each other to directly receive the power transmitted from the drive component 12. One end of the guide rod 131 is tightly engaged with the eccentric gear 132 to ensure that the eccentric gear 132 can drive the guide rod 131 to move synchronously when it rotates. The other end of the guide rod 131 is connected to the steering linkage 133, so that the movement of the guide rod 131 can be smoothly transmitted to the steering linkage 133. The steering linkage 133 is located in the middle area of ​​the entire actuator 13. Its two ends are connected to the two steering arms 134 respectively to ensure that the power can be evenly transmitted to the two steering arms 134. One end of the steering arm 134 is connected to the steering linkage 133, and the other end is fixed to the steering wheel 135. The steering wheel 135 is located at the bottom of the floor scrubber and is in contact with the ground. It is the terminal component for achieving steering. More specifically, the eccentric gear 132 receives the power output from the drive assembly 12 and converts it into rotational motion, providing initial power for the operation of the entire actuator 13. The guide rod 131 converts the rotational motion of the eccentric gear 132 into linear motion, thereby driving the steering linkage 133 to move. The steering linkage 133 transmits the power of the guide rod 131 and simultaneously drives the steering cantilever arms 134 at both ends to move synchronously, ensuring that the steering of the steering wheels 135 on both sides is consistent. The steering cantilever arm 134 converts the linear motion of the steering linkage 133 into its own rotational motion, thereby driving the steering wheel 135 to rotate. The steering wheel 135 directly contacts the ground and changes its orientation under the drive of the steering cantilever arm 134, ultimately realizing the steering of the floor scrubber.

[0041] When the drive assembly 12 drives the eccentric gear 132 to rotate, the guide rod 131 that cooperates with the eccentric gear 132 will move left and right as the eccentric gear 132 rotates. More specifically, the movement of the guide rod 131 will directly pull or push the steering linkage 133 connected to it, causing the steering linkage 133 to translate along its own length. When the steering linkage 133 translates, it will drive the steering cantilever 134 connected at both ends to rotate around its own fixed point as the axis. Furthermore, when the steering cantilever 134 rotates, it will drive the steering wheel 135 fixed to it to rotate synchronously, thereby changing the orientation of the steering wheel 135 and realizing the steering of the floor scrubber. In this embodiment, the power of the drive component 12 is converted into the steering action of the steering wheel 135 through the orderly transmission of various components. When manually operating the machine, the user does not need to directly turn the steering wheel 135 with force. Instead, the user can obtain steering assistance by transmitting the steering intention through the sensing component 11 and with the help of these components. This greatly reduces the amount of force required during operation and makes steering operation easier and smoother. At the same time, the tight connection and coordinated cooperation between various components can ensure the accuracy of steering action and avoid steering deviation. This meets the user's need to flexibly operate the floor scrubber in different scenarios and completely changes the situation where the traditional floor scrubber needs to rely on physical force for manual steering.

[0042] In a specific embodiment, such as Figure 2 As shown, the steering linkage 133 has a mating hole 1331, and the end of the guide rod 131 away from the eccentric gear 132 passes through the mating hole 1331.

[0043] The mating hole 1331 on the steering link 133 is specifically designed for precise engagement with the guide rod 131. Its diameter is matched to the diameter of the end of the guide rod 131 furthest from the eccentric gear 132, preventing the guide rod 131 from wobbling within the hole due to excessive size, and ensuring its smooth movement without being too small. Furthermore, the mating hole 1331 is located in the middle of the steering link 133, allowing for a more even distribution of force from the guide rod 131 to the steering link 133, preventing uneven force distribution that could lead to tilting or damage. More specifically, after the end of the guide rod 131 furthest from the eccentric gear 132 passes through the mating hole 1331, a stable linkage is formed. The left-right movement of the guide rod 131 driven by the eccentric gear 132 is directly transmitted to the steering link 133 through the mating hole 1331, preventing any disconnection or misalignment in power transmission. Furthermore, this through-fitting method eliminates the need for additional connecting components, simplifying the connection structure and reducing assembly errors, resulting in a tighter fit between the guide rod 131 and the steering linkage 133. In this embodiment, the movement of the guide rod 131 can be completely and accurately transmitted to the steering linkage 133, ensuring that the steering linkage 133 can promptly follow the guide rod 131 in translational movement. This, in turn, drives the steering arm 134 and the steering wheel 135 to accurately complete the steering action, avoiding steering jerking, delay, or deviation due to improper fit between the two. This provides users with a smoother steering experience when manually controlling the vehicle, while also improving the stability and reliability of the entire actuator 13.

[0044] In a specific embodiment, such as Figure 4 and Figure 5 As shown, the eccentric gear 132 has an eccentric distance D, and the steering arm 134 has a swing distance D1. Adjusting the eccentric distance D can control the swing distance D1, thereby controlling the rotatable limit angle of the steering wheel 135.

[0045] The eccentricity distance D of the eccentric gear 132 is a key dimension of its structure. It refers to the distance between the rotation center of the eccentric gear 132 and the point of action of the guide rod 131 on the gear. This distance is not fixed and can be adjusted during the design phase according to actual needs. The swing distance D1 of the steering arm 134 refers to the maximum stroke that the free end of the steering arm 134 can swing when it rotates around its fixed point. There is a direct correlation between these two distances. More specifically, when the eccentric gear 132 rotates, the magnitude of its eccentricity distance D directly determines the maximum left and right movement of the guide rod 131. The movement of the guide rod 131 is then transmitted to the steering arm 134 through the steering linkage 133, thus affecting the swing distance D1 of the steering arm 134. That is, the larger the eccentricity distance D, the longer the distance that the guide rod 131 drives the steering linkage 133 to move, and the larger the swing distance D1 of the steering arm 134. Conversely, the smaller the eccentricity distance D, the smaller the swing distance D1 of the steering arm 134. Furthermore, the swing distance D1 of the steering cantilever 134 directly determines the maximum angle that the steering wheel 135 can rotate. Once D1 is determined, the steering wheel 135 will not rotate beyond this range, thus forming the rotation limit angle of the steering wheel 135. This limit angle can be indirectly controlled by adjusting the eccentric distance D of the eccentric gear 132. This design allows the steering angle of the floor scrubber to be flexibly adapted to different usage scenarios. For example, in a small space with dense furniture, a smaller rotation angle of the steering wheel 135 is needed for fine adjustment, so the eccentric distance D can be reduced. In open areas such as living rooms, a larger steering angle is needed to improve cleaning efficiency, so the eccentric distance D can be increased. No modifications to other structures of the entire steering device are required, making it highly adaptable. At the same time, the clearly defined rotation limit angle prevents the steering wheel 135 from colliding or wearing with other components due to excessive rotation, effectively protecting the various parts of the steering device and extending its service life. Moreover, users can clearly feel the steering boundary during operation, preventing loss of steering control and making manual operation more stable and precise, further reducing the difficulty of operation and improving the user experience.

[0046] In a specific embodiment, such as Figure 3 As shown, the steering arm 134 is provided with a cantilever shaft, which is used to connect with an external fixed structure so that the steering arm 134 can rotate around the cantilever shaft.

[0047] When the steering arm 134 receives power from the steering linkage 133, the arm pivot becomes a fixed fulcrum, allowing the steering arm 134 to rotate only around this fulcrum without lateral deviation or swaying. This method of limiting the motion trajectory makes the movement of the steering arm 134 more controllable. The connection between the arm pivot and the external fixed structure ensures the stability of the steering arm 134 during rotation without excessively restricting its rotational flexibility, allowing the steering arm 134 to smoothly adjust the rotation amplitude according to the power.

[0048] In this embodiment, when the steering arm 134 drives the steering wheel 135 to rotate, it always moves around a fixed trajectory, without any steering deviation or jamming. This ensures that the steering wheel 135 can accurately respond to steering intentions, making the steering action when manually controlled by the user smoother and more precise. At the same time, it avoids friction or collision between the steering arm 134 and other components due to the uncertain movement trajectory, reducing wear on parts and extending the service life of the steering device. Moreover, the stable rotation mode also makes the steering assist effect more balanced, allowing the user to feel continuous and smooth assistance during operation, further reducing the difficulty of operation and improving the comfort of use.

[0049] In a specific embodiment, such as Figure 7 As shown, the control component 14 includes an angle detection unit 141, which includes a Hall sensor 1411 and a magnet 1412. The Hall sensor 1411 is mounted on a fixed structure, and the magnet 1412 is mounted on the steering arm 134. The Hall sensor 1411 is used to detect the change in the magnetic field of the magnet 1412 as the steering arm 134 moves.

[0050] The angle detection unit 141 is a component specifically designed to capture the actual movements of the actuator 13. The Hall sensor 1411 and magnet 1412 are core components that work together. The Hall sensor 1411 is securely mounted on a fixed structure that does not move with steering movements, ensuring it remains in a stable detection position and preventing movement from affecting the detection results. The magnet 1412 is firmly fixed to the steering arm 134, precisely within the effective detection range of the Hall sensor 1411. The installation positions of the two are precisely matched, ensuring they are neither too far apart to fail to detect magnetic field changes nor too close to interfere with the normal movement of the steering arm 134. More specifically, when the steering arm 134 rotates around its pivot axis under the influence of the steering linkage 133, the magnet 1412 fixed thereon moves along with it. This changes the relative position between the magnet 1412 and the stationary Hall sensor 1411, directly causing a corresponding change in the magnetic field around the Hall sensor 1411. Furthermore, the core function of the Hall sensor 1411 is to sense this magnetic field change in real time, convert the invisible position change into a transmittable signal, and provide a basis for judgment for the control component 14.

[0051] In this embodiment, the control component 14 no longer relies solely on the steering intention signal of the sensing component 11, but can also obtain the actual movement of the steering arm 134 through the angle detection unit 141, clearly knowing how much the steering wheel 135 has turned and whether it has turned to the correct position, thus avoiding oversteering or understeering, making the steering action more precise, and allowing the user to feel that the steering of the floor scrubber is both smooth and controllable when manually operating it.

[0052] In a specific embodiment, the control component 14 is preset with a steering angle threshold. When the tilt angle of the mounting handle 112 detected by the gyroscope 111 exceeds the steering angle threshold, the control component 14 sends a drive signal to the drive component 12.

[0053] The preset steering angle threshold within the control component 14 is a value determined in advance based on actual usage scenarios. Its setting fully considers the natural state of the user when holding the mounting handle 112 normally, as well as the magnitude of the tilting motion the user would make when actually wanting to turn. More specifically, the gyroscope 111 is always in real-time operation, continuously capturing changes in the tilt of the mounting handle 112. Whether it's a slight wobbling when the user moves the floor scrubber while holding the handle, or a significant tilt when actively adjusting the direction, it will promptly transmit the detected angle signal to the control component 14. Furthermore, the control component 14 automatically compares the actual tilt angle transmitted from the gyroscope 111 with the internally preset steering angle threshold. Only when the actual tilt angle exceeds this threshold will the control component 14 determine that the user has a clear steering need, and then send a drive signal to the drive component 12 to activate steering assistance; if it is only a slight tilt that does not reach the threshold, no steering action will be triggered. This embodiment effectively avoids accidental steering caused by slight hand tremors or accidental contact with the installation handle 112 during daily use, preventing the floor scrubber from suddenly deviating from the cleaning path and making the cleaning process smoother. At the same time, it also ensures that when the user really needs to turn, as long as they make a tilting operation that meets the threshold requirements, the steering assist will respond in time.

[0054] In addition, the steering system also features ground friction detection and adaptive adjustment of steering assist intensity. A pressure sensing module is installed on the steering wheel 135 of the actuator 13. This pressure sensing module is connected to the control component 14 and can detect the pressure change when the steering wheel 135 contacts the ground in real time, thereby indirectly determining the magnitude of ground friction. The control component 14 has a pre-stored table of steering assist intensity parameters corresponding to different friction ranges. When the pressure sensing module detects an increase in ground pressure, it transmits a pressure signal to the control component 14. The control component 14 determines the current ground friction range based on the pressure signal, then retrieves the corresponding steering assist intensity parameters, and increases the output power of the drive component 12 to improve the steering assist intensity, ensuring that the user can still easily complete steering operations in scenarios with high friction, such as carpets and rough surfaces. When the pressure sensing module detects a decrease in ground pressure, the control component 14 will correspondingly reduce the output power of the drive component 12 to avoid excessive steering assist that would make the steering too sensitive and difficult to control.

[0055] The working process of the steering device provided in Example 1 is as follows: When a user manually controls the floor scrubber and needs to turn, they first grasp the mounting handle 112 and tilt it in the desired direction. The gyroscope 111 fixed on the mounting handle 112 will detect this tilting action in real time, capture the tilt angle and direction of the mounting handle 112 and convert it into a signal to be transmitted to the control component 14. The control component 14 will immediately compare the received actual tilt angle with the internally preset turning angle threshold. When the detected tilt angle exceeds the threshold, the control component 14 determines that the user has a clear turning requirement and then sends a drive signal to the gear motor of the drive component 12. The gear motor is securely fixed by the motor mounting part to ensure stable start-up after receiving the signal. Its output shaft meshes with the eccentric gear 132 of the actuator 13. After starting, it will drive the eccentric gear 132 to rotate. When the eccentric gear 132 rotates, it will drive the guide rod 131 that it is engaged with to move in the left and right directions due to its own eccentric distance D. The end of the guide rod 131 away from the eccentric gear 132 passes through the mating hole 1331 of the steering link 133. This tight fit allows the movement of the guide rod 131 to be directly transmitted to the steering link 133, driving the steering link 133 to make translational movement. The two ends of the steering linkage 133 are connected to the steering arm 134 respectively. When it moves, it will pull the steering arms 134 on both sides to rotate synchronously around the arm shaft. The swing distance D1 of the steering arm 134 changes with the eccentric distance D of the eccentric gear 132, thereby controlling the rotation limit angle of the steering wheel 135. Finally, the steering arm 134 drives the steering wheel 135 fixed with it to change its orientation, thereby realizing the steering of the floor scrubber. During this process, the angle detection unit 141 included in the control component 14 always works synchronously. The Hall sensor 1411 installed on the fixed structure will detect in real time the change of magnetic field generated by the magnet 1412 installed on the steering arm 134 as the steering arm 134 moves. It will convert the actual rotation of the steering arm 134 into a signal and feed it back to the control component 14. The control component 14 will confirm whether the steering action meets the user's needs based on this feedback signal, ensuring that the steering wheel 135 rotates accurately and there will be no oversteering or understeering. Throughout the entire process, each component performs its own function and works closely together to form a complete closed loop from recognizing the user's intention to finally realizing the steering, so that the user can obtain smooth and accurate steering assistance without applying additional physical force.

[0056] Example 2 This embodiment provides a floor scrubbing machine, such as Figure 8 and Figure 9 As shown, the floor scrubber includes the steering device 1 described in Embodiment 1, and also includes a floor brush assembly 2 and a handle assembly 3; the motor mounting part of the steering device is connected to the floor brush assembly 2, and the mounting handle 112 of the steering device is fixedly connected to the handle assembly 3.

[0057] This embodiment of the floor scrubber integrates a steering device 1, a floor brush assembly 2, and a handle assembly 3 to construct a complete control and cleaning system with coordinated functions. The steering device 1, as the core structure for steering assistance, has its motor mounting section securely connected to the floor brush assembly 2. This connection method firmly fixes the drive assembly 12 to the critical load-bearing position of the floor scrubber, preventing the drive assembly 12 from shaking during movement or operation, and allowing the power output of the drive assembly 12 to be directly transmitted to the execution assembly 13. More specifically, the floor brush assembly 2 is the core component of the floor scrubber that contacts the ground to complete cleaning. Connecting the drive assembly 12 of the steering device 1 to it allows the steering action and cleaning action to be linked, preventing mutual interference. Furthermore, the mounting handle 112 of the steering device 1 is fixedly connected to the handle assembly 3. The handle assembly 3 is the component that the user must hold when manually operating the floor scrubber. This fixed connection allows the mounting handle 112 to naturally integrate into the original operating structure of the floor scrubber, allowing the user to directly operate the mounting handle 112 while holding the handle assembly 3.

[0058] The floor scrubber provided in this embodiment successfully integrates the steering assist function with its own cleaning and control structure. When using the floor scrubber for cleaning, users can easily control the movement of the floor scrubber through the handle assembly 3, and obtain steering assistance by adjusting the mounting handle 112. There is no need to laboriously turn the floor brush or handle to adjust the direction, which greatly reduces the difficulty of manual operation. Especially in cleaning scenarios with dense furniture and frequent turning, the flexibility of the floor scrubber is significantly improved. At the same time, the stable component connection makes the floor scrubber more stable when working. The cleaning effect or steering accuracy will not be affected by the loosening of the steering device 1. This allows users to efficiently complete the floor cleaning process and enjoy a labor-saving and smooth operating experience, completely solving the problem of inconvenient manual steering of traditional floor scrubbers.

[0059] The floor brush assembly 2 includes an upper floor brush shell 21 and a lower floor brush shell 22. The lower floor brush shell 22 is fixedly connected to the motor mounting part and the cantilever shaft, respectively. The upper floor brush shell 21 covers the lower floor brush shell 22.

[0060] The floor brush lower shell 22 of the floor brush assembly 2 is the core load-bearing component of the floor brush structure. It has sufficient structural strength to adapt to the installation requirements of the steering device 1. It forms a stable fixed connection with the motor mounting part and the cantilever shaft of the steering device 1. This connection method can firmly lock the drive component 12 carried by the motor mounting part, and prevent the drive component 12 from shifting due to vibration or movement during floor cleaning. At the same time, it provides reliable fixed support for the cantilever shaft, ensuring that the steering cantilever 134 always moves around a stable fulcrum when rotating.

[0061] The upper cover 21 of the floor brush covers the lower cover 22 of the floor brush, forming a complete enclosed structure of the floor brush. This structure can enclose key structures such as the connection between the motor mounting part and the lower cover 22 of the floor brush, and the mounting area of ​​the cantilever shaft, preventing sewage, dust or debris generated during cleaning from entering these areas and causing wear, corrosion or loosening of parts. It also makes the overall structure of the floor brush assembly 2 more regular and more compatible with the body of the floor scrubber.

[0062] Example 3 This embodiment provides a steering control method, applied to the steering device described in Embodiment 1, such as... Figure 10 As shown, the method includes the following steps: S1: The user operation signal is detected by the sensing component 11, a steering intention signal is generated and transmitted to the control component 14; S2: The control component 14 receives the steering intention signal and generates a drive control signal based on the steering intention signal; S3: The control component 14 sends the drive control signal to the drive component 12, and the drive component 12 drives the execution component 13 to perform the steering assist.

[0063] In step S1, the sensing component 11 remains in standby mode, capturing user actions in real time. When the user needs to turn, the tilting action applied to the mounting handle 112 is accurately detected by the sensing component 11. The sensing component 11 converts this physical operation into a steering intention signal that the control component 14 can recognize, and transmits it quickly and without delay to the control component 14, ensuring that the user's steering needs are perceived immediately. In step S2, after receiving the steering intention signal, the control component 14 quickly analyzes the signal to determine the user's steering direction and general needs. Then, it generates a corresponding drive control signal according to the preset control logic. This signal accurately matches the working requirements of the drive component 12, preventing signal errors or mismatches. In step S3, the control component 14 promptly sends the generated drive control signal to the drive component 12. Upon receiving the signal, the drive component 12 immediately starts, using its own power output to drive the execution component 13 to perform the corresponding steering action. The entire process is interconnected, with a short response time from user operation to the action of the execution component 13, preventing the user from experiencing any waiting.

[0064] This embodiment enables the various components of the steering device to form an orderly collaborative process. Users can trigger steering assistance simply by tilting the device without applying additional physical force to turn the steering wheel 135, which greatly reduces the difficulty of manual operation. Especially in cleaning scenarios with frequent turning, users will not feel any effort. At the same time, the entire steering process is responsive and smooth, making the steering of the floor scrubber more flexible and easier to control. This completely solves the problem of poor ease of operation when manually steering traditional floor scrubbers, and significantly improves the user experience.

[0065] In a specific embodiment, in step S1, the sensing component 11 detects the tilt angle of the mounting handle 112 through the gyroscope 111. If the tilt angle exceeds the steering angle threshold, the steering intention signal is generated.

[0066] The core operation of the sensing component 11 relies on the cooperation of the gyroscope 111 and the mounting handle 112. The gyroscope 111 is securely mounted on the mounting handle 112 and can follow the movement of the handle 112 in real time, continuously capturing the tilt angle of the handle 112 in different directions. Whether it's a significant tilt when the user intentionally turns or a slight, unintentional wobbling while holding the handle, the gyroscope 111 can accurately detect and record it. More specifically, the control component 14 has a preset, clear turning angle threshold. This threshold is set according to the user's daily operating habits and can distinguish between "intentional turning" and "unintentional wobbling." After the gyroscope 111 detects the tilt angle of the mounting handle 112, it synchronously transmits this angle information to the control component 14. The control component 14 automatically compares the actual detected tilt angle with the preset turning angle threshold. Furthermore, only when the detected tilt angle exceeds this preset threshold will the control component 14 determine that the user has a clear turning need, thereby triggering the sensing component 11 to generate a corresponding turning intention signal. If the tilt angle does not reach the threshold, no turning intention signal will be generated to avoid false triggering. This setting effectively filters out invalid signals caused by hand tremors or slight touches during user operation, preventing unnecessary steering actions caused by accidental triggering of the steering device. This makes the floor scrubber's travel path more stable, while ensuring that when the user really needs to turn, as long as the angle of the tilted handle 112 reaches the threshold, the steering intention signal can be generated in time, and the steering assist responds quickly, which not only ensures the accuracy of steering, but also avoids operational interference.

[0067] The steering angle threshold is 0°-10°.

[0068] In a specific embodiment, the steering control method further includes: S4: The angle detection unit 141 detects the actual operating state of the execution component 13, generates an angle feedback signal, and transmits it to the control component 14; the control component 14 adjusts the drive control signal according to the angle feedback signal to achieve closed-loop control.

[0069] As part of the control component 14, the angle detection unit 141 starts working simultaneously with the action of the execution component 13, continuously monitoring the actual steering status of the execution component 13. The angle detection unit 141 can accurately capture the actual action status of the steering arm 134, such as the rotation amplitude and speed, convert these real-time states into clear angle feedback signals, and quickly transmit them to the control component 14, ensuring that the control component 14 can grasp the actual progress of the steering action in a timely manner. After receiving the angle feedback signal, the control component 14 compares it with the steering intention signal on which the drive control signal was previously generated, and determines whether the actual action of the execution component 13 fully meets the user's steering requirements. If deviations are found, such as the actual steering amplitude being too large or too small, or the steering speed being too fast or too slow, the control component 14 will immediately adjust the subsequent drive control signal, correcting the power output of the drive component 12 by changing the signal strength or duration, thereby allowing the action of the execution component 13 to correct itself in a timely manner, forming a complete closed-loop control.

[0070] This embodiment avoids the problem of "unable to control the actual action after the command is issued" that occurs when steering control relies solely on the initial steering intention signal. It significantly improves the accuracy of steering actions, preventing users from turning too much when they want to turn a small angle or not enough when they want to turn a large angle. At the same time, closed-loop control makes the steering process smoother. Even in scenarios with different ground friction and different steering force requirements, it can maintain the smoothness of steering through real-time adjustments, further reducing the difficulty of operation for users. It makes the steering experience when manually operating the floor scrubber more stable and controllable, and completely solves the motion deviation problem that may occur in traditional steering control.

[0071] In a specific embodiment, in step S4, the Hall sensor 1411 of the angle detection unit 141 determines the moving distance of the steering arm 134 by detecting the change in the magnetic field of the magnet 1412. The magnet 1412 moves synchronously with the steering arm 134 as it rotates around the arm pivot. The Hall sensor 1411 generates the angle feedback signal based on the change in magnetic field strength.

[0072] The Hall sensor 1411 is fixedly installed in a stable position, remaining stationary to ensure consistent detection reference. The magnet 1412 is firmly mounted on the steering arm 134, forming an inseparable linkage structure. When the steering arm 134 rotates around its axis under the drive of the drive assembly 12, the magnet 1412 moves synchronously with the rotation of the steering arm 134. The relative position between the two changes regularly with the rotation amplitude of the steering arm 134. The Hall sensor 1411 is highly sensitive to changes in the magnetic field, capturing in real time the changes in magnetic field strength generated during the movement of the magnet 1412. These changes in magnetic field strength have a direct correlation with the rotation angle and movement distance of the steering arm 134. Based on this correlation, the Hall sensor 1411 converts the changes in magnetic field strength into quantifiable signals, thereby accurately determining the actual movement distance and rotation state of the steering arm 134. The Hall sensor 1411 organizes the signal reflecting the actual state of the steering arm 134 into an angle feedback signal, which can clearly and accurately transmit the real-time action information of the steering arm 134.

[0073] The angle detection unit 141 provides more accurate and reliable detection of the actual action state of the execution component 13. It will not cause detection deviation due to mechanical wear or environmental interference. The control component 14 can clearly grasp the actual rotation of the steering arm 134 through the angle feedback signal, and then make precise adjustments to the drive control signal, making the correction of the closed-loop control more timely and effective. This ensures that the steering action of the steering wheel 135 fully meets the user's needs. At the same time, this detection method based on magnetic field changes has a fast response speed and can achieve real-time detection and real-time feedback, making the adjustment during the steering process smoother and without delay or stuttering.

[0074] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A steering device, characterized in that, The steering device includes a sensing component, a driving component, an actuation component, and a control component; the sensing component is connected to the control component, the driving component is connected to the control component, and the actuation component is drivenly connected to the driving component; the control component can receive signals transmitted by the sensing component and control the driving component to drive the actuation component to move.

2. The steering device according to claim 1, characterized in that, The sensing component includes a gyroscope and a mounting handle. The gyroscope is fixed to the mounting handle and is signal-connected to the control component.

3. The steering device according to claim 1, characterized in that, The drive assembly includes a gear motor and a motor mounting part. The gear motor is fixed on the motor mounting part and is signal-connected to the control assembly. The output shaft of the gear motor is drive-connected to the actuation assembly.

4. The steering device according to claim 1, characterized in that, The actuation component includes an eccentric gear, a guide rod, a steering linkage, a steering cantilever, and a steering wheel; the eccentric gear meshes with the output end of the drive component, one end of the guide rod engages with the eccentric gear, and the other end is connected to the steering linkage; both ends of the steering linkage are connected to the steering cantilever, and the end of the steering cantilever away from the steering linkage is connected to the steering wheel.

5. The steering device according to claim 4, characterized in that, The steering linkage has a mating hole, and the end of the guide rod away from the eccentric gear passes through the mating hole.

6. The steering device according to claim 4, characterized in that, The eccentric gear has an eccentric distance D, and the steering arm has a swing distance D1. Adjusting the eccentric distance D can control the swing distance D1, thereby controlling the rotation limit angle of the steering wheel.

7. The steering device according to claim 4, characterized in that, The steering arm is provided with a cantilever shaft, which is used to connect to an external fixed structure so that the steering arm can rotate around the cantilever shaft.

8. The steering device according to claim 4, characterized in that, The control component includes an angle detection unit, which includes a Hall sensor and a magnet. The Hall sensor is mounted on a fixed structure, and the magnet is mounted on the steering arm. The Hall sensor is used to detect changes in the magnetic field of the magnet as the steering arm moves.

9. The steering device according to claim 2, characterized in that, The control component has a preset steering angle threshold. When the tilt angle of the handle detected by the gyroscope exceeds the steering angle threshold, the control component sends a drive signal to the drive component.

10. A floor scrubbing machine, characterized in that, The floor scrubber includes a steering device as described in any one of claims 1-9, and further includes a floor brush assembly and a handle assembly; the motor mounting portion of the steering device is connected to the floor brush assembly, and the handle of the steering device is fixedly connected to the handle assembly.

11. A steering control method, applied to a steering device as described in any one of claims 1-9, characterized in that, The method includes the following steps: S1: The user operation signal is detected by the sensing component, a steering intention signal is generated and transmitted to the control component; S2: The control component receives the steering intention signal and generates a drive control signal based on the steering intention signal; S3: The control component sends the drive control signal to the drive component, and the drive component drives the execution component to perform the action to achieve steering assistance.

12. The steering control method according to claim 11, characterized in that, In step S1, the sensing component detects the tilt angle of the handle using a gyroscope. If the tilt angle exceeds the steering angle threshold, the steering intention signal is generated.

13. The steering control method according to claim 11, characterized in that, The steering control method further includes: S4: The actual operating state of the execution component is detected by the angle detection unit, an angle feedback signal is generated and transmitted to the control component; the control component adjusts the drive control signal according to the angle feedback signal to achieve closed-loop control.

14. The steering control method according to claim 13, characterized in that, In step S4, the Hall sensor of the angle detection unit determines the moving distance of the steering arm by detecting the change in the magnetic field of the magnet. The magnet moves synchronously with the steering arm as it rotates around the arm pivot. The Hall sensor generates the angle feedback signal based on the change in magnetic field strength.

Images