Scrubber and steering control assembly and control method thereof

Abstract

The invention provides a scrubber and a steering control assembly and method thereof, and the steering control assembly of the scrubber comprises a handle, a pressure sensor and a control module; the handle is used for being movably arranged on a machine body of the scrubber so as to trigger the pressure sensor through movement. And the control module is used for controlling the operation of a steering motor on the machine body according to a signal of the pressure sensor so as to control the steering of the scrubber. According to the invention, the pressure sensor is adopted to replace a gyroscope in the prior art to monitor the steering intention of a user, and the control module controls the operation of the steering motor on the machine body according to the signal of the pressure sensor so as to control the steering of the scrubber, so that the steering control types of the existing scrubber are enriched; and more choices can be provided for the user.

Description

Technical Field

[0001] This invention belongs to the field of floor scrubbing machine technology, specifically relating to a floor scrubbing machine, its steering control components, and control method. Background Technology

[0002] Floor scrubbers are devices that clean floors. Most existing floor scrubbers have a steering motor, which controls the scrubber's direction by rotating forward or backward. Currently, most floor scrubbers use a gyroscope to monitor the user's steering intentions. The gyroscope sends the detected data to the control module, which then controls the steering motor to achieve steering control. However, this method of using a gyroscope to monitor user steering intentions is relatively limited and doesn't offer users more options. Therefore, this problem needs to be addressed. Summary of the Invention

[0003] Therefore, the present invention provides a floor scrubber, its steering control component, and control method. The main technical problem to be solved is: how to enrich the steering control types of existing floor scrubbers and provide users with more choices.

[0004] To address the aforementioned problems, the present invention provides a steering control assembly for a floor scrubber, comprising a handle, a pressure sensor, and a control module; wherein the handle is movably mounted on the body of the floor scrubber to trigger the pressure sensor by movement; the control module controls the operation of a steering motor on the body based on the signal from the pressure sensor, thereby controlling the steering of the floor scrubber.

[0005] In some implementations, the control module is used to control the rotation angle of the steering motor based on the pressure detected by the pressure sensor, thereby controlling the steering angle of the floor scrubber.

[0006] In some embodiments, the pressure sensor includes a first pressure sensor and a second pressure sensor; the handle triggers the first pressure sensor and the second pressure sensor respectively by moving to different positions; wherein, the control module is used to control the operation of the steering motor according to the signal of the first pressure sensor to control the floor scrubber to turn to one side; and the control module is also used to control the operation of the steering motor according to the signal of the second pressure sensor to control the floor scrubber to turn to the other side.

[0007] In some embodiments, when the control module controls the rotation angle of the steering motor based on the pressure detected by the pressure sensor to control the steering angle of the floor scrubber, the control module controls the rotation angle of the steering motor based on the pressure detected by the first pressure sensor to control the steering angle of the floor scrubber to one side; and the control module controls the rotation angle of the steering motor based on the pressure detected by the second pressure sensor to control the steering angle of the floor scrubber to the other side.

[0008] In some embodiments, the handle is used to move relative to the body of the floor scrubber by rotation.

[0009] In some embodiments, the steering control assembly of the floor scrubber further includes an angle feedback sensor for detecting the rotation angle of the steering motor; the control module is used to adjust the rotation angle of the steering motor based on the data detected by the angle feedback sensor.

[0010] The present invention also provides a floor scrubber that includes the steering control component described in any one of the above-described methods.

[0011] In some embodiments, the floor scrubber has a body control lever, and the handle is movably mounted on the body control lever to be connected to the body via the body control lever.

[0012] In some embodiments, when the pressure sensor includes a first pressure sensor and a second pressure sensor, and the handle is used to trigger the first pressure sensor and the second pressure sensor respectively by moving to different positions, Define one of the handle and the control stick as a first component and the other as a second component; wherein, the first component has a sleeve portion, and the first component is movably fitted onto the second component through the sleeve portion. The side wall of the sleeve portion is provided with a through hole, and the through hole has a first side wall and a second side wall opposite to each other in the direction of movement of the handle. A first pressure sensor is disposed on the first side wall, and a second pressure sensor is disposed on the second side wall. The second component is provided with a protrusion that inserts into the through hole, and the protrusion is located between the first pressure sensor and the second pressure sensor; wherein, the handle moves to one side to cause the protrusion to abut against the first pressure sensor to trigger the first pressure sensor; and the handle also moves to the other side to cause the protrusion to abut against the second pressure sensor to trigger the second pressure sensor.

[0013] In some embodiments, the floor scrubber is provided with a steering bracket on its body, and a steering wheel is provided on the steering bracket; wherein, the steering motor is used to drive the steering bracket to rotate during operation, so that the steering bracket drives the steering wheel to turn, thereby controlling the steering of the floor scrubber.

[0014] In some embodiments, the output shaft of the steering motor is fixedly connected to the steering bracket.

[0015] In some embodiments, the present invention also provides a control method for the floor scrubber described in any of the above embodiments. When the pressure sensor includes a first pressure sensor and a second pressure sensor, and the handle triggers the first pressure sensor and the second pressure sensor respectively by moving to different positions, the control method includes: controlling the rotation angle of the steering motor according to the pressure detected by the first pressure sensor to control the steering angle of the floor scrubber to one side; and controlling the rotation angle of the steering motor according to the pressure detected by the second pressure sensor to control the steering angle of the floor scrubber to the other side.

[0016] In some embodiments, controlling the rotation angle of the steering motor based on the pressure detected by the first pressure sensor to control the steering angle of the floor scrubber to one side specifically includes: setting two or more non-overlapping preset pressure ranges A corresponding to the first pressure sensor, where different preset pressure ranges A correspond to different preset angles A, and the preset angles corresponding to larger pressure ranges A are also larger; defining each position where the floor scrubber turns to one side relative to its initial no-steering position as a left-turning position; wherein, When the floor scrubber is in the initial no-steering position, and the first pressure sensor is triggered, and the pressure detected by the first pressure sensor is within a certain A preset pressure range, then the steering motor is controlled to rotate forward at the A preset angle corresponding to the target A preset pressure range; And / or, when the floor scrubber is in the left turn position, and the first pressure sensor is triggered, and the pressure detected by the first pressure sensor increases to a greater pressure within a preset pressure range A, then the steering motor is controlled to rotate forward by a first angle A, where the first angle A = the preset angle A corresponding to the target preset pressure range A - the preset angle A corresponding to the current preset pressure range A. And / or, when the floor scrubber is in the left turn position, and the first pressure sensor is triggered, and the pressure detected by the first pressure sensor decreases to a smaller pressure within a preset pressure range A, then the steering motor is controlled to reverse by a second A angle, where the second A angle = the preset angle corresponding to the current preset pressure range A - the preset angle corresponding to the target preset pressure range A; And / or, when the floor scrubber is in the left turn position and the first pressure sensor switches from a triggered state to an untriggered state, the steering motor is controlled to reverse the current preset pressure range corresponding to preset angle A.

[0017] In some embodiments, controlling the rotation angle of the steering motor based on the pressure detected by the second pressure sensor to control the steering angle of the floor scrubber to the other side specifically includes: setting two or more sets of non-overlapping preset pressure ranges (B preset pressure ranges) corresponding to the second pressure sensor; different preset pressure ranges (B preset pressure ranges) correspond to different preset angles (B preset pressure ranges), and the preset angles (B preset pressure ranges) with larger pressures are also larger; defining each position of the floor scrubber relative to the initial no-steering position to the other side as a right-turning position; wherein, When the floor scrubber is in the initial no-steering position, and the second pressure sensor is triggered, and the pressure detected by the second pressure sensor is within a certain preset pressure range B, the steering motor is controlled to reverse the target preset pressure range B by a preset angle B. And / or, when the floor scrubber is in the right turn position, and the second pressure sensor is triggered, and the pressure detected by the second pressure sensor increases to a greater pressure range B preset pressure range, then the steering motor is controlled to reverse by a first B angle, where the first B angle = the B preset angle corresponding to the target B preset pressure range - the B preset angle corresponding to the current B preset pressure range; And / or, when the floor scrubber is in the right turn position, and the second pressure sensor is triggered, and the pressure detected by the second pressure sensor decreases to a smaller pressure within the B preset pressure range, the steering motor is controlled to rotate forward by a second B angle, where the second B angle = the B preset angle corresponding to the current B preset pressure range - the B preset angle corresponding to the target B preset pressure range; And / or, when the floor scrubber is in the right turn position and the second pressure sensor switches from the triggered state to the untriggered state, the steering motor is controlled to rotate forward by the preset angle corresponding to the current preset pressure range B.

[0018] The floor scrubber, its steering control component, and control method provided by this invention have the following beneficial effects: 1. This invention uses a pressure sensor instead of the gyroscope in the prior art to monitor the user's steering intention, and controls the operation of the steering motor on the machine body through the control module according to the signal of the pressure sensor, so as to control the steering of the floor scrubber. This enriches the steering control types of existing floor scrubbers and provides users with more choices.

[0019] 2. Users can apply different pressure levels to the first or second pressure sensor via the handle, thereby controlling the steering angle of the floor scrubber on different sides. This makes operation relatively convenient and allows users to easily control the steering of the floor scrubber to both sides. Attached Figure Description

[0020] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. The drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of a floor scrubber provided in one embodiment of the present invention; Figure 2 This is a schematic diagram illustrating the connection between the handle and the control lever of a floor scrubber according to an embodiment of the present invention; Figure 3 yes Figure 2 Schematic diagram of the cross section at point AA; Figure 4 This is an exploded view of a partial structure of a floor scrubber provided in an embodiment of the present invention; Figure 5 yes Figure 4 Assembly diagram of the middle structure; Figure 6 It is a schematic diagram reflecting the rotation angle range of the steering motor; Figure 7 This is the working logic control diagram of the floor scrubber of the present invention.

[0022] The attached figures are labeled as follows: 1. Handle; 2. Body control lever; 3. Body; 4. Steering bracket; 5. Upper shell of floor brush; 6. Lower shell of floor brush; 7. First pressure sensor; 8. Second pressure sensor; 9. Steering motor; 7a. Pressure sensor; 10. Steering wheel; 10a. First side wall; 10b. Second side wall; 11. Sleeve part; 12. Nut; 21. Protrusion; 101. Through hole. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0025] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0026] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0027] See also Figure 1-3 As shown, according to an embodiment of the present invention, a steering control assembly for a floor scrubber is provided, comprising a handle 1, a pressure sensor 7a, and a control module. The handle 1 is movably mounted on the body 3 of the floor scrubber, and the handle 1 is used to trigger the pressure sensor 7a by movement. The control module is used to control the operation of a steering motor 9 on the body 3 according to the signal from the pressure sensor 7a, thereby controlling the steering of the floor scrubber.

[0028] In the above example, the present invention uses a pressure sensor 7a instead of the gyroscope in the prior art to monitor the user's steering intention, and controls the operation of the steering motor 9 on the body 3 by the control module according to the signal of the pressure sensor 7a, so as to control the steering of the floor scrubber. This enriches the steering control types of existing floor scrubbers and provides users with more choices.

[0029] In some implementations, the aforementioned control module is used to control the rotation angle of the steering motor 9 based on the pressure detected by the pressure sensor 7a, so as to control the steering angle of the floor scrubber.

[0030] In the example above, the pressure sensor 7a, in conjunction with the control module, not only controls the direction of the floor scrubber's turn, but also controls the angle of its turn. For example, it can control the floor scrubber to turn at a large angle or a small angle to one side, thus improving the practicality of the floor scrubber and enriching its application scenarios.

[0031] In some implementations, such as Figure 2-3 As shown, the aforementioned pressure sensor 7a may include a first pressure sensor 7 and a second pressure sensor 8. The handle 1 is used to trigger the first pressure sensor 7 and the second pressure sensor 8 respectively by moving to different positions. The control module is used to control the operation of the steering motor 9 according to the signal of the first pressure sensor 7 to control the floor scrubber to turn to one side; and the control module is also used to control the operation of the steering motor 9 according to the signal of the second pressure sensor 8 to control the floor scrubber to turn to the other side.

[0032] In the example above, the first pressure sensor 7 and the second pressure sensor 8 work together to control the floor scrubber to turn to one side and to the other side, respectively, so as to adapt to the application scenario where the floor scrubber needs to turn left and right at the same time.

[0033] When pressure sensor 7a includes a first pressure sensor 7 and a second pressure sensor 8, in order to realize the aforementioned function of the control module controlling the rotation angle of the steering motor 9 based on the pressure detected by pressure sensor 7a, thereby controlling the steering angle of the floor scrubber, in some embodiments, the control module is used to control the rotation angle of the steering motor 9 based on the pressure detected by the first pressure sensor 7, thereby controlling the steering angle of the floor scrubber to one side. Furthermore, the control module is used to control the rotation angle of the steering motor 9 based on the pressure detected by the second pressure sensor 8, thereby controlling the steering angle of the floor scrubber to the other side.

[0034] In the example above, the first pressure sensor 7 and the second pressure sensor 8 respectively control the turning angle of the floor scrubber to one side and the turning angle to the other side. In this way, the first pressure sensor 7 and the second pressure sensor 8 can work together to control the turning angle of the floor scrubber to both sides, thus adapting to application scenarios where the floor scrubber needs to turn left and right at the same time, and where the turning angle of the left and right turns needs to be controlled.

[0035] It should be noted that the floor scrubber described above can turn left to one side and right to the other. Alternatively, it can turn right to one side and left to the other. The specific design can be tailored to the actual situation.

[0036] In some embodiments, the aforementioned pressure sensor 7a may be mounted on the handle 1 or on the body 3, thereby providing stable support for the pressure sensor 7a.

[0037] In some embodiments, the aforementioned handle 1 is used to move relative to the body 3 of the floor scrubber by rotation. Among these methods, moving the handle 1 relative to the body 3 by rotation is more suitable for user habits and improves the user experience compared to other methods of movement.

[0038] In some implementations, the aforementioned control module may be a processor or a PLC controller, etc.

[0039] In some embodiments, the present invention also provides a floor scrubber that may include the steering control components of any of the above.

[0040] In some implementations, such as Figure 1-2 As shown, the aforementioned floor scrubber body 3 has a body control lever 2, and the handle 1 is movably mounted on the body control lever 2 to connect with the body 3 via the body control lever 2.

[0041] In the example above, by placing the handle 1 on the control stick 2 on the body, it is convenient for the user to control the handle 1.

[0042] In some implementations, such as Figure 2-3 As shown, when pressure sensor 7a includes a first pressure sensor 7 and a second pressure sensor 8, and handle 1 is used to trigger the first pressure sensor 7 and the second pressure sensor 8 respectively by moving to different positions, one of handle 1 and the control stick 2 is defined as the first component, and the other as the second component. The first component has a sleeve portion 11, which is movably fitted onto the second component. A through hole 101 is provided on the side wall of the sleeve portion 11. The through hole 101 has opposing first side walls 10a and second side walls 10b in the direction of movement of handle 1. The first pressure sensor 7 is disposed on the first side wall 10a, and the second pressure sensor 8 is disposed on the second side wall 10b. The second component has a protrusion 21 inserted into the through hole 101, and the protrusion 21 is located between the first pressure sensor 7 and the second pressure sensor 8. The handle 1 triggers the first pressure sensor 7 by moving to one side so that the protrusion 21 abuts against the first pressure sensor 7; and the handle 1 also triggers the second pressure sensor 8 by moving to the other side so that the protrusion 21 abuts against the second pressure sensor 8.

[0043] In the above example, by designing the positions of the first pressure sensor 7 and the second pressure sensor 8, and in conjunction with the structural design of the protrusion 21, when the user needs to control the direction of the floor scrubber, he only needs to push the handle 1 in the corresponding direction so that the protrusion 21 abuts against the first pressure sensor 7 or the second pressure sensor 8, thereby triggering the first pressure sensor 7 or the second pressure sensor 8 and realizing the direction control of the floor scrubber.

[0044] In a specific application example, such as Figure 2-3 As shown, the first component is the handle 1, and the second component is the machine control lever 2. The handle 1 has a sleeve portion 11, which is movably fitted onto the machine control lever 2. For example, the sleeve portion 11 can rotate relative to the machine control lever 2. A through hole 101 is provided on the side wall of the sleeve portion 11. The through hole 101 has a first side wall 10a and a second side wall 10b opposite to the direction of movement of the handle 1, such as the rotation direction. A first pressure sensor 7 is disposed on the first side wall 10a, and a second pressure sensor 8 is disposed on the second side wall 10b. The machine control lever 2 has a protrusion 21 inserted into the through hole 101, and the protrusion 21 is located between the first pressure sensor 7 and the second pressure sensor 8. When the handle 1 is rotated to one side, it causes the first pressure sensor 7 to abut against the protrusion 21, thereby triggering the first pressure sensor 7 and controlling the turning of the floor scrubber to one side, such as to the left. Furthermore, the handle 1 can also rotate to the other side to cause the second pressure sensor 8 to abut against the protrusion 21, thereby triggering the second pressure sensor 8 and controlling the floor scrubber to turn to one side, such as to the right.

[0045] To achieve the function of the aforementioned steering motor 9 controlling the steering of the floor scrubber through operation, in some embodiments, such as... Figure 3-4 As shown, the aforementioned floor scrubber body 3 is also equipped with a steering bracket 4, and a steering wheel 10 is provided on the steering bracket 4. The steering motor 9 is used to drive the steering bracket 4 to rotate during operation, so that the steering bracket 4 drives the steering wheel 10 to turn, thereby controlling the steering of the floor scrubber. In this way, the steering motor 9 controls the steering of the floor scrubber through operation.

[0046] In some implementations, such as Figure 3-4 As shown, the number of the aforementioned steering wheels 10 can be two, and they are located at both ends of the steering bracket 4.

[0047] In some embodiments, the rotation direction of the aforementioned steering bracket 4 can be consistent with the rotation direction of the output shaft of the steering motor 9, that is, when the steering motor 9 rotates forward, the steering bracket 4 also rotates forward; when the steering motor 9 rotates in reverse, the steering bracket 4 also rotates in reverse.

[0048] To achieve the function of the aforementioned steering motor 9 driving the steering bracket 4 to rotate forward or backward, in some embodiments, such as... Figure 5 As shown, the output shaft of the aforementioned steering motor 9 is fixedly connected to the steering bracket 4 to drive the steering bracket 4 to rotate forward or backward when rotating in the forward or reverse direction.

[0049] In the above example, since the output shaft of the steering motor 9 is fixedly connected to the steering bracket 4, the output shaft of the steering motor 9 can drive the steering bracket 4 to rotate synchronously, thereby enabling the steering motor 9 to drive the steering bracket 4 to rotate synchronously in the forward or reverse direction.

[0050] In a specific application example, such as Figure 4 As shown, the output shaft of the aforementioned steering motor 9 and the steering bracket 4 can be fixed by fasteners such as nuts 12.

[0051] In some embodiments, the aforementioned floor scrubber body 3 has an upper brush housing 5 and a lower brush housing 6, and the aforementioned steering motor 9 can be fixed to the lower brush housing 6. A steering bracket 4 is fixed to the output shaft of the steering motor 9 by a nut 12, and two auxiliary wheels are connected to both ends of the steering bracket 4. The steering motor 9 drives the steering bracket 4 to rotate as a whole, thereby achieving steering of the auxiliary wheels. Figure 5 The image shows the effect after rotation.

[0052] Conventional controllers cannot directly control the rotation angle of a motor. Instead, they indirectly control the motor's rotation angle by controlling the energizing time. For example, if a motor rotates 360° per second, and a 60° rotation is required, it needs to be energized for 0.167 seconds. Based on this principle, the accuracy of the motor's rotation angle is often subject to significant error. In this invention, the aforementioned floor scrubber may also include an angle feedback sensor to detect the rotation angle of the steering motor 9. The control module adjusts the rotation angle of the steering motor 9 based on the data detected by the angle feedback sensor, thereby improving the accuracy of the target rotation angle.

[0053] It should be noted that the method by which the aforementioned control module adjusts the rotation angle of the steering motor based on the data detected by the angle feedback sensor is existing technology, and will not be elaborated here.

[0054] In some implementations, the aforementioned angle feedback sensor may be mounted on the steering bracket 4.

[0055] In some embodiments, the present invention also provides a control method for any of the above-mentioned floor scrubbers. When the pressure sensor 7a includes a first pressure sensor 7 and a second pressure sensor 8, and the handle 1 is used to trigger the first pressure sensor 7 and the second pressure sensor 8 respectively by moving to different positions, the control method includes: controlling the rotation angle of the steering motor 9 according to the pressure detected by the first pressure sensor 7 to control the steering angle of the floor scrubber to one side; and controlling the rotation angle of the steering motor 9 according to the pressure detected by the second pressure sensor 8 to control the steering angle of the floor scrubber to the other side.

[0056] In the example above, the pressure magnitude of the first pressure sensor 7 and the pressure magnitude of the second pressure sensor 8 correspond to controlling the turning angle of the floor scrubber to one side and the turning angle to the other side, respectively. In this way, the first pressure sensor 7 and the second pressure sensor 8 work together to control the turning angle of the floor scrubber to both sides, thus adapting to application scenarios where the floor scrubber needs to turn left and right at the same time, and where the turning angle of the left and right turns needs to be controlled.

[0057] In some embodiments, controlling the rotation angle of the steering motor 9 based on the pressure detected by the first pressure sensor 7 to control the steering angle of the floor scrubber to one side specifically includes: setting two or more non-overlapping preset pressure ranges A corresponding to the first pressure sensor 7, where different preset pressure ranges A correspond to different preset angles A, and the preset angle corresponding to a larger preset pressure range A is also larger. Each position where the floor scrubber turns to one side relative to its initial no-steering position is defined as a left-turning position. Specifically, when the floor scrubber is in the initial no-steering position, and the first pressure sensor 7 is triggered, and the pressure detected by the first pressure sensor 7 is within a certain preset pressure range A, the control module controls the steering motor 9 to rotate forward by the preset angle A corresponding to the target preset pressure range A. And / or when the floor scrubber is in the left-turning position, and the first pressure sensor 7 is triggered, and the pressure detected by the first pressure sensor 7 increases to a larger preset pressure range A, the control module controls the steering motor 9 to rotate forward by a first A angle, where the first A angle = the preset angle A corresponding to the target preset pressure range A - the preset angle A corresponding to the current preset pressure range A. And / or when the floor scrubber is in the left-turn position, and the first pressure sensor 7 is triggered, and the pressure detected by the first pressure sensor 7 decreases to a lower preset pressure range A, then the control module controls the steering motor 9 to reverse by a second A angle, where the second A angle = the preset A angle corresponding to the current preset A pressure range - the preset A angle corresponding to the target preset A pressure range. And / or when the floor scrubber is in the left-turn position, and the first pressure sensor 7 switches from a triggered state to an untriggered state, then the control module controls the steering motor 9 to reverse by the preset A angle corresponding to the current preset A pressure range to return to the initial no-turn position.

[0058] In a specific application example, three sets of non-overlapping preset pressure ranges corresponding to the first pressure sensor 7 can be set, namely the first preset pressure range, the second preset pressure range, and the third preset pressure range. The first preset pressure range is (0~7N), the second preset pressure range is (7N~12N), and the third preset pressure range is 12N and above. The preset angle corresponding to the first preset pressure range is 30°, the second preset pressure range is 45°, and the third preset pressure range is 60°. When the floor scrubber is in its initial no-turn position, and the first pressure sensor 7 is triggered, and the pressure detected by the first pressure sensor 7 is within a certain preset pressure range (e.g., the first preset pressure range), the control module controls the steering motor 9 to rotate forward at the preset angle corresponding to the first preset pressure range (30°). And / or when the floor scrubber is in its left-turn position, and the first pressure sensor 7 is triggered, and the pressure detected by the first pressure sensor 7 increases to a higher preset pressure range (e.g., from the first preset pressure range), the control module controls the steering motor 9 to rotate forward at the preset angle corresponding to the first preset pressure range (30°). When the preset pressure range A increases to the second preset pressure range A, the control module controls the steering motor 9 to rotate forward by the first A angle, where the first A angle = the preset A angle corresponding to the target second preset pressure range (45°) - the preset A angle corresponding to the current first preset pressure range (30°) = 15°. And / or when the floor scrubber is in the left-turning position, and the first pressure sensor 7 is triggered, and the pressure detected by the first pressure sensor 7 decreases to a smaller preset pressure range A (e.g., from the second preset pressure range to the first preset pressure range A), the control module controls the steering motor 9 to reverse by the second A angle, where the second A angle = the preset A angle corresponding to the current second preset pressure range (45°) - the preset A angle corresponding to the target first preset pressure range (30°) = 15°. And / or when the floor scrubber is in the left-turning position, and the first pressure sensor 7 switches from a triggered state to an untriggered state, the control module controls the steering motor 9 to reverse the current preset pressure range A (e.g., the preset A angle corresponding to the first preset pressure range A (30°) A) to return to the initial no-turning position.

[0059] In the example above, the user can apply different pressure levels to the first pressure sensor 7 via the handle 1, thereby controlling the turning angle of the floor scrubber to one side. This operation is relatively convenient and allows the user to easily control the turning of the floor scrubber to one side.

[0060] In some embodiments, controlling the rotation angle of the steering motor 9 based on the pressure detected by the second pressure sensor 8 to control the steering angle of the floor scrubber to the other side specifically includes: setting two or more sets of non-overlapping preset pressure ranges (B preset pressure ranges) corresponding to the second pressure sensor 8. Different preset pressure ranges (B preset pressure ranges) correspond to different preset angles (B preset angles), and the preset angles (B preset angles) corresponding to larger pressure ranges (B preset pressure ranges) are also larger. Each position where the floor scrubber turns from its initial no-steering position to the other side is defined as a right-turning position. Specifically, when the floor scrubber is in the initial no-steering position, and the second pressure sensor 8 is triggered, and the pressure detected by the second pressure sensor 8 is within a certain preset pressure range (B preset pressure range), the control module controls the steering motor 9 to reverse the direction by the preset angle (B preset angle) corresponding to the target preset pressure range (B preset pressure range). And / or when the floor scrubber is in the right-turning position, and the second pressure sensor 8 is triggered, and the pressure detected by the second pressure sensor 8 increases to a larger preset pressure range (B preset pressure range), the control module controls the steering motor 9 to reverse the direction by a first angle (B preset angle), where the first angle (B preset angle) = the preset angle (B preset angle) corresponding to the target preset pressure range (B preset pressure range) - the preset angle (B preset angle) corresponding to the current preset pressure range (B preset pressure range). And / or when the floor scrubber is in the right-turn position, and the second pressure sensor 8 is triggered, and the pressure detected by the second pressure sensor 8 decreases to a lower preset pressure range (B preset pressure range), the control module controls the steering motor 9 to rotate forward by a second B angle, where the second B angle = the B preset angle corresponding to the current B preset pressure range - the B preset angle corresponding to the target B preset pressure range. And / or when the floor scrubber is in the right-turn position, and the second pressure sensor 8 switches from the triggered state to the untriggered state, the control module controls the steering motor 9 to rotate forward by the B preset angle corresponding to the current B preset pressure range.

[0061] In a specific application example, three sets of non-overlapping preset pressure ranges corresponding to the second pressure sensor 8 can be set, namely the first preset pressure range, the second preset pressure range, and the third preset pressure range. The first preset pressure range is (0~7N), the second preset pressure range is (7N~12N), and the third preset pressure range is 12N and above. The preset angle corresponding to the first preset pressure range is 30°, the second preset pressure range is 45°, and the third preset pressure range is 60°. When the floor scrubber is in its initial no-turn position, and the second pressure sensor 8 is triggered, and the pressure detected by the second pressure sensor 8 is within a certain preset pressure range (e.g., the first preset pressure range), the control module controls the steering motor 9 to reverse the pressure by the preset angle corresponding to the first preset pressure range (30°). And / or when the floor scrubber is in its right-turn position, and the second pressure sensor 8 is triggered, and the pressure detected by the second pressure sensor 8 increases to a higher preset pressure range (e.g., from the first preset pressure range), the control module controls the steering motor 9 to reverse the pressure by the preset angle corresponding to the first preset pressure range (30°). When the preset pressure range B increases to the second preset pressure range B, the control module controls the steering motor 9 to reverse the first B angle. The first B angle = the preset B angle corresponding to the target second preset pressure range (45°) - the preset B angle corresponding to the current first preset pressure range (30°) = 15°. And / or when the floor scrubber is in the right-turn position, and the second pressure sensor 8 is triggered, and the pressure detected by the second pressure sensor 8 decreases to a smaller preset pressure range B, for example, from the second preset pressure range to the first preset pressure range B, the control module controls the steering motor 9 to rotate forward by the second B angle. The second B angle = the preset B angle corresponding to the current second preset pressure range B (45°) - the preset B angle corresponding to the target first preset pressure range B (30°) = 15°. And / or when the floor scrubber is in the right-turn position, and the second pressure sensor 8 switches from the triggered state to the untriggered state, the control module controls the steering motor 9 to rotate forward by the current preset pressure range B (e.g., the preset B angle corresponding to the first preset pressure range B) by 30° to return to the initial no-turn position.

[0062] In the example above, the user can apply different pressure levels to the second pressure sensor 8 through the handle 1, thereby controlling the turning angle of the floor scrubber to the other side. This is relatively convenient to operate and allows the user to control the turning of the floor scrubber to one side.

[0063] It should be noted that the forward rotation of the aforementioned steering motor 9 can be clockwise, and the corresponding reverse rotation of the steering motor 9 can be counterclockwise. Alternatively, the forward rotation of the aforementioned steering motor 9 can be counterclockwise, and the corresponding reverse rotation of the steering motor 9 can be clockwise.

[0064] For ease of understanding, the overall structure of the present invention will be described below, and its working principle will be explained.

[0065] This invention, by installing a pressure sensor 7a at the handle 1, monitors the tilt direction and force applied by the user when operating the handle 1, enabling accurate determination of the user's steering intention. By installing a steering motor 9 and a steering bracket 4 on the lower shell 6 of the floor brush, and having the steering motor 9 drive the steering bracket 4 to rotate, thus turning the steering wheel 10 on the steering bracket 4, active steering control of the floor scrubber is achieved, providing steering assistance. Furthermore, by using the pressure sensor 7a located at the connection between the handle 1 and the body, the pressure applied by the user during steering is read to determine the desired steering angle, thereby allowing for more precise control of the rotation angle of the steering motor 9. Specifically, as... Figure 7 As shown, when the user rotates the handle 1 to the left or right, the handle 1 and the control stick 2 on the body rotate relative to each other. The protrusion 21 mounted on the control stick presses against the pressure sensor 7a on one side. The pressure sensor 7a identifies the user's steering intention and the pressure level, and transmits the signal to the control module. The control module receives signals from the first pressure sensor 7 and the second pressure sensor 8, and determines the direction of motor rotation based on the signal source. By reading the value of the pressure sensor 7a and the loaded correspondence, the control module controls the steering motor 9 to output the corresponding angle. The steering motor 9 drives the steering bracket 4 to rotate, causing the steering bracket 4 to drive the steering wheel 10 to turn, providing steering assistance. In a specific application example, such as... Figure 6 As shown, when the rotation range of the motor output shaft is 120°, it can cover most steering assist scenarios.

[0066] In this invention, the pressure sensor 7a transmits a steering signal, which is received by the steering motor 9. The steering motor 9 drives the steering bracket 4 to rotate, providing steering assistance. This ensures that when the user needs to turn the floor scrubber, the lower steering wheel 10 can rotate in coordination to provide steering assistance. Through the above technical solution, the floor scrubber can achieve flexible, intelligent, and efficient steering control in different usage scenarios, thereby improving operational convenience and cleaning efficiency.

[0067] It will be readily understood by those skilled in the art that, without conflict, the advantageous technical features of the above-mentioned methods can be freely combined and superimposed.

[0068] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention. The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the protection scope of the present invention.

Claims

1. A steering control component for a floor scrubber, characterized in that: Includes a handle (1), a pressure sensor (7a), and a control module; The handle (1) is movably mounted on the body (3) of the floor scrubber to trigger the pressure sensor (7a) by movement; the control module is used to control the operation of the steering motor (9) on the body (3) according to the signal of the pressure sensor (7a) to control the steering of the floor scrubber.

2. The steering control assembly of the floor scrubber according to claim 1, characterized in that: The control module is used to control the rotation angle of the steering motor (9) according to the pressure detected by the pressure sensor (7a), so as to control the steering angle of the floor scrubber.

3. The steering control assembly of the floor scrubber according to claim 1 or 2, characterized in that: The pressure sensor (7a) includes a first pressure sensor (7) and a second pressure sensor (8); the handle (1) triggers the first pressure sensor (7) and the second pressure sensor (8) respectively by moving to different positions; The control module is used to control the operation of the steering motor (9) according to the signal of the first pressure sensor (7) to control the floor scrubber to turn to one side; and the control module is also used to control the operation of the steering motor (9) according to the signal of the second pressure sensor (8) to control the floor scrubber to turn to the other side.

4. The steering control assembly of the floor scrubber according to claim 3, characterized in that: When the control module controls the rotation angle of the steering motor (9) based on the pressure detected by the pressure sensor (7a) to control the steering angle of the floor scrubber, The control module is used to control the rotation angle of the steering motor (9) according to the pressure detected by the first pressure sensor (7) so as to control the steering angle of the floor scrubber to one side; and the control module is used to control the rotation angle of the steering motor (9) according to the pressure detected by the second pressure sensor (8) so as to control the steering angle of the floor scrubber to the other side.

5. The steering control assembly of the floor scrubber according to any one of claims 1-2 and 4, characterized in that: The handle (1) is used to move by rotating relative to the body (3) of the floor scrubber.

6. The steering control assembly of the floor scrubber according to any one of claims 1-2 and 4, characterized in that: It also includes an angle feedback sensor, which is used to detect the rotation angle of the steering motor (9); the control module is used to adjust the rotation angle of the steering motor (9) according to the data detected by the angle feedback sensor.

7. A floor scrubbing machine, characterized in that: Includes the steering control component as described in any one of claims 1-6.

8. The floor scrubber according to claim 7, characterized in that: The body (3) of the floor scrubber has a body control lever (2), and the handle (1) is movably mounted on the body control lever (2) to be connected to the body (3) through the body control lever (2).

9. The floor scrubber according to claim 8, characterized in that: When the pressure sensor (7a) includes a first pressure sensor (7) and a second pressure sensor (8), and the handle (1) is used to trigger the first pressure sensor (7) and the second pressure sensor (8) respectively by moving to different positions, Define one of the handle (1) and the control stick (2) as a first component and the other as a second component; wherein, the first component has a sleeve portion (11), the first component is movably fitted onto the second component through the sleeve portion (11), the side wall of the sleeve portion (11) is provided with a through hole (101), the through hole (101) has a first side wall (10a) and a second side wall (10b) opposite to each other in the direction of movement of the handle (1), the first pressure sensor (7) is disposed on the first side wall (10a), and the second pressure sensor... The device (8) is disposed on the second sidewall (10b), and the second component is provided with a protrusion (21) for inserting into the through hole (101), and the protrusion (21) is located between the first pressure sensor (7) and the second pressure sensor (8); wherein, the handle (1) moves to one side to make the protrusion (21) abut against the first pressure sensor (7) to trigger the first pressure sensor (7); and the handle (1) also moves to the other side to make the protrusion (21) abut against the second pressure sensor (8) to trigger the second pressure sensor (8).

10. The floor scrubber according to any one of claims 7-9, characterized in that: The floor scrubber has a steering bracket (4) on its body (3) and a steering wheel (10) on its steering bracket (4). The steering motor (9) is used to drive the steering bracket (4) to rotate during operation, so that the steering bracket (4) drives the steering wheel (10) to turn, thereby controlling the steering of the floor scrubber.

11. The floor scrubber according to claim 10, characterized in that: The output shaft of the steering motor (9) is fixedly connected to the steering bracket (4).

12. A control method for a floor scrubber according to any one of claims 7-11, wherein the pressure sensor (7a) comprises a first pressure sensor (7) and a second pressure sensor (8), and the handle (1) triggers the first pressure sensor (7) and the second pressure sensor (8) respectively by moving to different positions, characterized in that: The control method includes: controlling the rotation angle of the steering motor (9) according to the pressure detected by the first pressure sensor (7) to control the steering angle of the floor scrubber to one side; and controlling the rotation angle of the steering motor (9) according to the pressure detected by the second pressure sensor (8) to control the steering angle of the floor scrubber to the other side.

13. The control method for the floor scrubber according to claim 12, characterized in that: The step of controlling the rotation angle of the steering motor (9) based on the pressure detected by the first pressure sensor (7) to control the steering angle of the floor scrubber to one side specifically includes: setting two or more sets of non-overlapping preset pressure ranges A corresponding to the first pressure sensor (7), with different preset pressure ranges A corresponding to different preset angles, and the preset angles corresponding to larger pressure ranges A are also larger; defining each position of the floor scrubber from its initial no-steering position to one side as a left-steering position; wherein, When the floor scrubber is in the initial no-steering position, and the first pressure sensor (7) is triggered, and the pressure detected by the first pressure sensor (7) is within a certain A preset pressure range, then the steering motor (9) is controlled to rotate forward at the A preset angle corresponding to the target A preset pressure range; And / or, when the floor scrubber is in the left turn position, and the first pressure sensor (7) is triggered, and the pressure detected by the first pressure sensor (7) increases to a greater pressure within the A preset pressure range, then the steering motor (9) is controlled to rotate forward by a first A angle, where the first A angle = the A preset angle corresponding to the target A preset pressure range - the A preset angle corresponding to the current A preset pressure range; And / or, when the floor scrubber is in the left turn position and the first pressure sensor (7) is triggered, and the pressure detected by the first pressure sensor (7) decreases to a smaller pressure within the A preset pressure range, the steering motor (9) is controlled to reverse to the second A angle, the second A angle = the A preset angle corresponding to the current A preset pressure range - the A preset angle corresponding to the target A preset pressure range; And / or, when the floor scrubber is in the left turn position and the first pressure sensor (7) switches from the triggered state to the untriggered state, the steering motor (9) is controlled to reverse the current A preset pressure range corresponding to the A preset angle.

14. The control method for the floor scrubber according to claim 12 or 13, characterized in that: The step of controlling the rotation angle of the steering motor (9) based on the pressure detected by the second pressure sensor (8) to control the steering angle of the floor scrubber to the other side specifically includes: setting two or more sets of non-overlapping preset pressure ranges B corresponding to the second pressure sensor (8), different preset pressure ranges B corresponding to different preset angles B, and the preset angle corresponding to a larger pressure range B is also larger; defining each position of the floor scrubber relative to the initial no-steering position to the other side as a right-turning position; wherein, When the floor scrubber is in the initial no-steering position, and the second pressure sensor (8) is triggered, and the pressure detected by the second pressure sensor (8) is within a certain B preset pressure range, then the steering motor (9) is controlled to reverse the target B preset pressure range by the B preset angle. And / or, when the floor scrubber is in the right turn position, and the second pressure sensor (8) is triggered, and the pressure detected by the second pressure sensor (8) increases to a greater pressure within the B preset pressure range, then the steering motor (9) is controlled to reverse the first B angle, the first B angle = the B preset angle corresponding to the target B preset pressure range - the B preset angle corresponding to the current B preset pressure range; And / or, when the floor scrubber is in the right turn position, and the second pressure sensor (8) is triggered, and the pressure detected by the second pressure sensor (8) decreases to a smaller pressure within the B preset pressure range, the steering motor (9) is controlled to rotate forward by a second B angle, where the second B angle = the B preset angle corresponding to the current B preset pressure range - the B preset angle corresponding to the target B preset pressure range; And / or, when the floor scrubber is in the right turn position and the second pressure sensor (8) switches from the triggered state to the untriggered state, the steering motor (9) is controlled to rotate forward by the B preset angle corresponding to the current B preset pressure range.

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