A five-in-one motor controller suitable for the scrubber industry

Abstract

The application provides a five-in-one motor controller suitable for the scrubber industry, and relates to the technical field of controllers, and comprises a controller shell body, a main control circuit board is fixedly arranged in the controller shell body, a plurality of MCU core control units, a five-in-one motor driving unit, a power management unit, an Internet of Things communication unit, a signal acquisition unit and a functional safety protection unit are integrated on the main control circuit board; through integrated design, the driving control of walking, brush disc, water suction fan and two groups of push rod motors is integrated in a single device, the traditional decentralized multi-controller scheme is replaced, the internal circuit layout and installation process of the scrubber are greatly simplified, the circuit interference and the probability of poor contact fault are reduced, and the internal installation space of the equipment is significantly saved.

Description

Technical Field

[0001] This invention relates to the field of controller technology, and in particular to a five-in-one motor controller suitable for the floor scrubber industry. Background Technology

[0002] Floor scrubbers, as cleaning equipment, are widely used in large venues such as shopping malls, factories, hospitals, and train stations. Their operation relies on the coordinated work of multiple motors, including the drive motor, brush motor, water suction fan motor, and push rod motor. Currently, each motor in existing floor scrubbers is typically controlled by an independent controller. These multiple controllers are installed separately inside the scrubber, which not only occupies a lot of installation space but also increases the complexity of wiring connections, making it prone to problems such as poor wiring contact and signal interference, thus affecting the normal operation of the floor scrubber.

[0003] Most existing controllers lack IoT communication capabilities, making it impossible to remotely monitor floor scrubber operating data, report faults, and configure parameters. This hinders intelligent equipment management. Distributed controllers also suffer from poor compatibility, with motor controllers from different manufacturers and of different specifications being difficult to use interchangeably, increasing equipment maintenance and replacement costs. Furthermore, existing controllers have inadequate safety protection mechanisms and lack redundant protection designs. In the event of overload, short circuit, or overheating faults, they cannot trigger protection actions in a timely manner, which can easily damage the motor and controller itself, and even lead to safety accidents. Summary of the Invention

[0004] In view of the above-mentioned shortcomings of the prior art, the present invention provides a five-in-one motor controller suitable for the floor scrubber industry.

[0005] This invention provides a five-in-one motor controller suitable for the floor scrubber industry, specifically comprising: a controller housing, inside which a main control circuit board is fixedly installed. The main control circuit board integrates a multi-MCU core control unit, a five-in-one motor drive unit, a power management unit, an IoT communication unit, a signal acquisition unit, and a functional safety protection unit. The multi-MCU core control unit is bidirectionally electrically connected to the five-in-one motor drive unit, the power management unit, the IoT communication unit, the signal acquisition unit, and the functional safety protection unit. A power terminal protective cover is provided on the top of the controller housing, and a power wiring terminal group is provided below the power terminal protective cover. The power wiring terminal group is electrically connected to the five-in-one motor drive unit and the power management unit. The five-in-one motor drive unit includes five independent motor drive channels: a walking motor drive channel, a brush motor drive channel, a water suction fan motor drive channel, a first push rod motor drive channel, and a second push rod motor drive channel. The control terminals of all five motor drive channels are connected to the multi-MCU core control unit, and the power output terminals are all electrically connected to the power wiring terminal group.

[0006] Optionally, the multi-MCU core control unit adopts a three-MCU redundancy architecture, including a main control MCU, a functional safety MCU, and a drive coprocessing MCU. The main control MCU is used to execute the overall operation logic control of the floor scrubber, human-machine interaction signal processing, IoT communication data transmission and reception, and overall machine operating condition data management. The functional safety MCU operates independently of the main control MCU and is used to execute overall machine safety status monitoring, fault redundancy verification, safety protection logic execution, and emergency shutdown control, meeting the functional safety level requirements of IEC61508 standard SIL2 and above. The drive coprocessing MCU is used to execute vector control of five sets of motor drive channels, speed closed-loop adjustment, real-time acquisition of drive status, and drive-level fault protection.

[0007] Optionally, the rated output power of the walking motor drive channel is 1.5kW-3kW, adapted to a 24V / 48V DC walking motor, and used to drive the walking actuator of the floor scrubber; the rated output power of the brush disc motor drive channel is 0.8kW-2kW, adapted to a 24V / 48V DC brush disc motor, and used to drive the brush disc rotation actuator of the floor scrubber; the rated output power of the water suction fan motor drive channel 1203 is 0.5kW-1.5kW, adapted to a 24V / 48V DC fan motor, and used to drive the wastewater recovery and water suction actuator of the floor scrubber; the rated output current of the first push rod motor drive channel and the second push rod motor drive channel is not less than 20A, and are used to drive the lifting push rod of the squeegee and the opening and closing push rod of the water tank of the floor scrubber, respectively.

[0008] Optionally, the input terminal of the power management unit is adapted to the universal 24V / 48V DC battery power supply of the floor scrubber via a power terminal block, with an input voltage range covering 18V-60V. The power management unit has built-in power input protection circuit, overvoltage protection circuit, undervoltage protection circuit, overcurrent protection circuit and EMC filtering circuit, and is also equipped with a redundant backup power interface for safe shutdown data storage and fault reporting when the controller loses power.

[0009] Optionally, a running status indicator light is provided on the front of the main body of the controller housing. The running status indicator light is electrically connected to the multi-MCU core control unit and is used to display the running, standby and fault status of the controller.

[0010] Optionally, the side of the controller housing is provided with an encoder signal connector, a main control signal connector, a functional safety signal connector, and an IoT communication expansion connector. All of these connectors are electrically connected to the signal acquisition unit and the multi-MCU core control unit. The encoder signal connector is used to receive the speed encoder signals of the floor scrubber's walking motor and brush motor. The main control signal connector is used to receive the control command signals of the floor scrubber's operating handle and human-machine interface device. The functional safety signal connector is used to receive the safety circuit signals of the floor scrubber's emergency stop button and safety limit switch. The IoT communication expansion connector is used to connect an external extended communication module and an external antenna.

[0011] Optionally, the IoT communication unit integrates a cellular communication module, a WiFi Bluetooth communication module, and a LoRa communication module. The IoT communication unit is directly connected to the main control MCU of the multi-MCU core control unit via a high-speed bus and has a built-in unified standardized communication protocol stack for remote uploading of floor scrubber operating data, real-time reporting of fault information, remote parameter configuration, and OTA firmware upgrades.

[0012] Optionally, the functional safety protection unit is bidirectionally electrically connected to the functional safety MCU. The functional safety protection unit has built-in dual independent emergency stop signal input circuits, short circuit protection circuits, stall protection circuits, overheat protection circuits, leakage protection circuits, and redundant safety shutdown circuits. The functional safety MCU monitors the overall machine operation status in real time. When a safety fault is detected, it independently triggers the graded protection mechanism and safety shutdown action, which is not affected by the main control MCU operation status.

[0013] Optionally, the controller housing body has a housing mounting ear on its side, and the housing mounting ear has a mounting through hole for fixing the controller on the body of the floor scrubber; the controller housing body adopts an IP67 waterproof and dustproof sealing structure, and the power wiring terminal group and all connectors adopt a waterproof and sealed design.

[0014] Optionally, the power terminal block includes seven independent terminals, namely, a negative power input terminal, an A-phase output terminal of the walking motor, a B-phase output terminal of the walking motor, a brush motor drive output terminal, a water suction fan motor drive output terminal, a push rod motor drive output terminal, and a positive power input terminal. The corresponding markings printed on the terminal surface are B-, A, B, W, V, U, and B+.

[0015] The beneficial effects are as follows: By integrating the drive control of the walking, brush, water suction fan and two sets of push rod motors, as well as power management, signal acquisition, IoT communication and functional safety protection functions into a single device, the integrated design replaces the traditional distributed multi-controller solution. This greatly simplifies the wiring layout and installation process inside the floor scrubber, reduces the probability of wiring interference and poor contact failures, and significantly saves internal installation space.

[0016] It adopts a three-MCU redundancy architecture with independent functional safety MCUs and multi-level safety protection circuits, meeting the safety level of IEC61508SIL2 and above. It can realize independent monitoring and graded protection of faults such as overload, short circuit, overheating, and leakage. Even if the main control unit is abnormal, it can still trigger a safe shutdown, which greatly improves the reliability of controller operation and the safety of equipment use.

[0017] It is compatible with 24V / 48V batteries and various motor specifications, making it more adaptable. It also integrates multiple communication methods such as cellular, WiFi, Bluetooth and LoRa, which can realize remote uploading of working data, real-time fault reporting, remote parameter configuration and OTA upgrade, realizing intelligent operation and maintenance management of floor scrubbers and reducing equipment maintenance and replacement costs. Attached Figure Description

[0018] Figure 1 A schematic diagram of the overall circuit module connection in an embodiment of the present invention is shown; Figure 2 A schematic diagram of the main control circuit board unit layout in an embodiment of the present invention is shown; Figure 3 A schematic diagram of the multi-MCU core control unit architecture of an embodiment of the present invention is shown; Figure 4 A schematic diagram of the channel structure of the five-in-one motor drive unit in an embodiment of the present invention is shown; Figure 5 A schematic diagram of the power management unit circuit structure according to an embodiment of the present invention is shown; Figure 6 A schematic diagram of the external connector and terminal layout of an embodiment of the present invention is shown; Figure 7 A schematic diagram of the functional safety protection unit architecture of an embodiment of the present invention is shown; Figure 8 A schematic diagram of the overall three-dimensional structure of an embodiment of the present invention is shown.

[0019] List of reference numerals in the attached diagram: 1. Controller housing; 101. Power terminal protective cover; 102. Housing mounting ears; 3. Power terminal block; 301. Power negative input terminal; 302. Power positive input terminal; 303. Travel motor A-phase output terminal; 304. Travel motor B-phase output terminal; 305. Brush motor drive output terminal; 306. Water suction fan motor drive output terminal; 307. Push rod motor drive output terminal; 4. Running status indicator light; 5. Encoder signal connector; 6. Main control signal connector; 7. Functional safety signal connector; 8. IoT communication expansion connector; 10. Main control circuit board; 11. Multi-MCU core control unit; 1101. Main control MCU; 1102. Functional safety MCU; 1103. Drive coprocessor MCU U; 12. Five-in-one motor drive unit; 1201. Walking motor drive channel; 1202. Brush disc motor drive channel; 1203. Water suction fan motor drive channel; 1204. First push rod motor drive channel; 1205. Second push rod motor drive channel; 13. Power management unit; 1301. Power input protection circuit; 1302. EMC filter circuit; 1303. Redundant backup power interface; 14. Internet of Things communication unit; 1401. Cellular communication module; 1402. WiFi Bluetooth communication module; 1403. LoRa communication module; 1404. Unified standardized communication protocol stack; 15. Signal acquisition unit; 16. Functional safety protection unit; 1601. Dual independent emergency stop signal input circuit; 1602. Redundant safety stop circuit. Detailed Implementation

[0020] To make the objectives, solutions, and advantages of the technical solutions of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of specific embodiments of the present invention.

[0021] Example 1: Please refer to the accompanying drawings in the instruction manual, such as... Figures 1 to 8 As shown: This invention proposes a five-in-one motor controller suitable for the floor scrubber industry, comprising: a controller housing body 1, with a main control circuit board 10 fixedly disposed inside the controller housing body 1. The main control circuit board 10 integrates a multi-MCU core control unit 11, a five-in-one motor drive unit 12, a power management unit 13, an IoT communication unit 14, a signal acquisition unit 15, and a functional safety protection unit 16; the multi-MCU core control unit 11 is bidirectionally electrically connected to the five-in-one motor drive unit 12, the power management unit 13, the IoT communication unit 14, the signal acquisition unit 15, and the functional safety protection unit 16; the top of the controller housing body 1 is provided with... A power terminal protective cover 101 is provided, and a power terminal block 3 is provided below the power terminal protective cover 101. The power terminal block 3 is electrically connected to the five-in-one motor drive unit 12 and the power management unit 13. The five-in-one motor drive unit 12 includes five independent motor drive channels, namely a walking motor drive channel 1201, a brush motor drive channel 1202, a water suction fan motor drive channel 1203, a first push rod motor drive channel 1204, and a second push rod motor drive channel 1205. The control terminals of the five motor drive channels are all connected to the multi-MCU core control unit 11, and the power output terminals are all electrically connected to the power terminal block 3.

[0022] The multi-MCU core control unit 11 adopts a three-MCU redundancy architecture, including a main control MCU 1101, a functional safety MCU 1102, and a drive coprocessor MCU 1103. The main control MCU 1101 is used to execute the overall operation logic control of the floor scrubber, human-machine interaction signal processing, IoT communication data transmission and reception, and overall machine operating condition data management. The functional safety MCU 1102 operates independently of the main control MCU 1101 and is used to execute overall machine safety status monitoring, fault redundancy verification, safety protection logic execution, and emergency stop control, meeting the functional safety level requirements of SIL2 or above of the IEC61508 standard. The drive coprocessor MCU 1103 is used to execute vector control of five sets of motor drive channels, speed closed-loop regulation, real-time acquisition of drive status, and drive-level fault protection.

[0023] The walking motor drive channel 1201 has a rated output power of 1.5kW-3kW, is compatible with a 24V / 48V DC walking motor, and is used to drive the walking actuator of the floor scrubber; the brush disc motor drive channel 1202 has a rated output power of 0.8kW-2kW, is compatible with a 24V / 48V DC brush disc motor, and is used to drive the brush disc rotation actuator of the floor scrubber; the water suction fan motor drive channel 1203 has a rated output power of 0.5kW-1.5kW, is compatible with a 24V / 48V DC fan motor, and is used to drive the wastewater recovery and water suction actuator of the floor scrubber; the first push rod motor drive channel 1204 and the second push rod motor drive channel 1205 both have a rated output current of not less than 20A, and are used to drive the squeegee lifting push rod and the water tank opening and closing push rod actuator of the floor scrubber, respectively.

[0024] The power management unit 13 has an input terminal that is compatible with a 24V / 48V DC battery power supply for floor scrubbers via a power terminal block 3, with an input voltage range of 18V-60V. The power management unit 13 has a built-in power input protection circuit 1301, an overvoltage protection circuit, an undervoltage protection circuit, an overcurrent protection circuit, and an EMC filter circuit 1302. It also has a redundant backup power interface 1303 for storing data and reporting faults when the controller loses power.

[0025] The controller housing 1 has a running status indicator 4 on its front side. The running status indicator 4 is electrically connected to the multi-MCU core control unit 11 and is used to display the controller's running, standby and fault status.

[0026] The controller housing 1 has an encoder signal connector 5, a main control signal connector 6, a functional safety signal connector 7, and an IoT communication expansion connector 8 on its side. All of these connectors are electrically connected to the signal acquisition unit 15 and the multi-MCU core control unit 11. The encoder signal connector 5 is used to receive the speed encoder signals of the floor scrubber's walking motor and brush motor. The main control signal connector 6 is used to receive the control command signals of the floor scrubber's operating handle and human-machine interface device. The functional safety signal connector 7 is used to receive the safety circuit signals of the floor scrubber's emergency stop button and safety limit switch. The IoT communication expansion connector 8 is used to connect an external expansion communication module and an external antenna.

[0027] The IoT communication unit 14 integrates a cellular communication module 1401, a WiFi Bluetooth communication module 1402, and a LoRa communication module 1403. The IoT communication unit 14 is directly connected to the main control MCU 1101 of the multi-MCU core control unit 11 via a high-speed bus. It has a built-in unified standardized communication protocol stack 1404 for remote uploading of floor scrubber operating data, real-time reporting of fault information, remote parameter configuration, and OTA firmware upgrade.

[0028] The functional safety protection unit 16 is bidirectionally electrically connected to the functional safety MCU 1102. The functional safety protection unit 16 has built-in dual independent emergency stop signal input circuit 1601, short circuit protection circuit, stall protection circuit, overheat protection circuit, leakage protection circuit and redundant safety shutdown circuit 1602. The functional safety MCU 1102 monitors the overall machine operation status in real time. When a safety fault is detected, it independently triggers the hierarchical protection mechanism and safety shutdown action, which is not affected by the operation status of the main control MCU 1101.

[0029] The controller housing body 1 has a housing mounting ear 102 on its side, and the housing mounting ear 102 has a mounting through hole for fixing the controller on the body of the floor scrubber. The controller housing body 1 adopts an IP67 waterproof and dustproof sealing structure, and the power wiring terminal group 3 and all connectors adopt a waterproof and sealed design.

[0030] Among them, the power terminal block 3 includes seven independent terminals, namely the negative power input terminal 301, the A-phase output terminal of the walking motor 303, the B-phase output terminal of the walking motor 304, the brush motor drive output terminal 305, the water suction fan motor drive output terminal 306, the push rod motor drive output terminal 307, and the positive power input terminal 302. The corresponding markings on the surface of the terminals are B-, A, B, W, V, U, and B+.

[0031] The specific usage and function of this embodiment: In this invention, the driving functions of the walking mechanism, brush plate, water suction fan, two sets of push rod motors, power management, IoT communication, and safety protection are integrated into one unit, simplifying the wiring connection and installation process of the floor scrubber and reducing the installation space occupation; the adoption of a three-MCU redundant architecture and a sound safety protection mechanism improves the reliability and safety of the controller; it has multiple IoT communication methods, realizing intelligent remote management of the equipment; it is compatible with various 24V / 48V motors, has strong compatibility, can be widely used in various types of floor scrubbers, and is highly practical.

[0032] Power supply: After the floor scrubber is started, the power management unit 13 is connected to the floor scrubber battery power supply. After filtering and voltage regulation, it provides a stable working power supply to each unit of the controller.

[0033] Command transmission: The operator sends control commands through the control handle. The main control signal connector 6 receives the control command signal and transmits it to the main control MCU1101. The main control MCU1101 sends control signals to the drive coprocessor MCU1103 according to the control command.

[0034] Motor drive: The drive coprocessor MCU1103 controls the motor drive channel corresponding to the five-in-one motor drive unit 12 to work according to the control signal, and drives each motor to work together to realize the functions of the floor scrubber walking, brush cleaning, and wastewater recycling.

[0035] Signal acquisition and adjustment: The signal acquisition unit 15 acquires the speed signal, voltage and current signal and safety circuit signal of each motor in real time, and transmits them to the multi-MCU core control unit 11, which drives the coprocessor MCU 1103 to realize closed-loop adjustment of the motor speed according to the speed signal.

[0036] Safety monitoring: The functional safety MCU1102 monitors the overall safety status of the machine in real time based on safety circuit signals and fault signals, and independently triggers protection actions when a fault occurs.

[0037] Remote Management: The IoT communication unit 14 remotely uploads the overall machine operating status data and fault information to the monitoring platform, and at the same time receives remote parameter configuration instructions and OTA upgrade instructions issued by the monitoring platform to realize remote management of the equipment.

Claims

1. A five-in-one motor controller suitable for the floor scrubber industry, characterized in that, include: The controller housing (1) has a main control circuit board (10) fixedly installed inside. The main control circuit board (10) integrates a multi-MCU core control unit (11), a five-in-one motor drive unit (12), a power management unit (13), an Internet of Things communication unit (14), a signal acquisition unit (15), and a functional safety protection unit (16). The multi-MCU core control unit (11) is bidirectionally electrically connected to the five-in-one motor drive unit (12), the power management unit (13), the Internet of Things communication unit (14), the signal acquisition unit (15), and the functional safety protection unit (16). The top of the controller housing (1) is provided with a power terminal protective cover. 101), a power terminal block group (3) is provided below the power terminal protective cover (101). The power terminal block group (3) is electrically connected to the five-in-one motor drive unit (12) and the power management unit (13). The five-in-one motor drive unit (12) includes five independent motor drive channels, namely the walking motor drive channel (1201), the brush motor drive channel (1202), the water suction fan motor drive channel (1203), the first push rod motor drive channel (1204), and the second push rod motor drive channel (1205). The control terminals of the five motor drive channels are all connected to the multi-MCU core control unit (11), and the power output terminals are all electrically connected to the power terminal block group (3).

2. The five-in-one motor controller for the floor scrubber industry as described in claim 1, characterized in that, The multi-MCU core control unit (11) adopts a three-MCU redundancy architecture, including a main control MCU (1101), a functional safety MCU (1102), and a drive coprocessing MCU (1103). The main control MCU (1101) is used to perform the overall operation logic control of the floor scrubber, human-machine interaction signal processing, IoT communication data transmission and reception, and overall machine operating condition data management. The functional safety MCU (1102) operates independently of the main control MCU (1101) and is used to perform overall machine safety status monitoring, fault redundancy verification, safety protection logic execution, and emergency shutdown control, meeting the functional safety level requirements of SIL2 or above of the IEC61508 standard. The drive coprocessing MCU (1103) is used to perform vector control of five sets of motor drive channels, speed closed-loop adjustment, real-time acquisition of drive status, and drive-level fault protection.

3. The five-in-one motor controller for the floor scrubber industry as described in claim 1, characterized in that, The rated output power of the walking motor drive channel (1201) is 1.5kW-3kW, adapted to a 24V / 48V DC walking motor, and used to drive the walking actuator of the floor scrubber; the rated output power of the brush disc motor drive channel (1202) is 0.8kW-2kW, adapted to a 24V / 48V DC brush disc motor, and used to drive the brush disc rotation actuator of the floor scrubber; the rated output power of the water suction fan motor drive channel (1203) is 0.5kW-1.5kW, adapted to a 24V / 48V DC fan motor, and used to drive the wastewater recovery and water suction actuator of the floor scrubber; the rated output current of the first push rod motor drive channel (1204) and the second push rod motor drive channel (1205) is not less than 20A, and is used to drive the lifting push rod of the squeegee and the opening and closing push rod of the water tank of the floor scrubber, respectively.

4. The five-in-one motor controller for the floor scrubber industry as described in claim 1, characterized in that, The input terminal of the power management unit (13) is adapted to the general 24V / 48V DC battery power supply of the floor scrubber through the power terminal block (3), and the input voltage range covers 18V-60V. The power management unit (13) has a built-in power input protection circuit (1301), overvoltage protection circuit, undervoltage protection circuit, overcurrent protection circuit and EMC filter circuit (1302), and is also equipped with a redundant backup power interface (1303) for safe shutdown data storage and fault reporting when the controller loses power.

5. The five-in-one motor controller for the floor scrubber industry as described in claim 1, characterized in that, The front of the controller housing (1) is provided with a running status indicator (4), which is electrically connected to the multi-MCU core control unit (11) and is used to display the controller's running, standby and fault status.

6. The five-in-one motor controller for the floor scrubber industry as described in claim 1, characterized in that, The controller housing (1) has an encoder signal connector (5), a main control signal connector (6), a functional safety signal connector (7), and an IoT communication expansion connector (8) on its side. All of these connectors are electrically connected to the signal acquisition unit (15) and the multi-MCU core control unit (11). The encoder signal connector (5) is used to access the speed encoder signals of the floor scrubber's walking motor and brush motor. The main control signal connector (6) is used to access the control command signals of the floor scrubber's operating handle and human-machine interaction device. The functional safety signal connector (7) is used to access the safety circuit signals of the floor scrubber's emergency stop button and safety limit switch. The IoT communication expansion connector (8) is used to connect an external extended communication module and an external antenna.

7. A five-in-one motor controller for the floor scrubber industry as described in claim 2, characterized in that, The IoT communication unit (14) integrates a cellular communication module (1401), a WiFi Bluetooth communication module (1402), and a LoRa communication module (1403). The IoT communication unit (14) is directly connected to the main control MCU (1101) of the multi-MCU core control unit (11) via a high-speed bus. It has a built-in unified standardized communication protocol stack (1404) for remote uploading of floor scrubber operating data, real-time reporting of fault information, remote parameter configuration, and OTA firmware upgrade.

8. A five-in-one motor controller for the floor scrubber industry as described in claim 2, characterized in that, The functional safety protection unit (16) is bidirectionally electrically connected to the functional safety MCU (1102). The functional safety protection unit (16) has a built-in dual independent emergency stop signal input circuit (1601), short circuit protection circuit, stall protection circuit, overheat protection circuit, leakage protection circuit and redundant safety shutdown circuit (1602). The functional safety MCU (1102) monitors the overall machine operation status in real time. When a safety fault is detected, it independently triggers the graded protection mechanism and safety shutdown action, which is not affected by the operation status of the main control MCU (1101).

9. A five-in-one motor controller for the floor scrubber industry as described in claim 1, characterized in that, The controller housing body (1) is provided with a housing mounting ear (102) on its side. The housing mounting ear (102) is provided with a mounting through hole for the controller to be fixedly installed on the body of the floor scrubber. The controller housing body (1) adopts an IP67 waterproof and dustproof sealing structure. The power wiring terminal group (3) and all connectors adopt a waterproof and sealed design.

10. A five-in-one motor controller for the floor scrubber industry as described in claim 1, characterized in that, The power terminal block (3) includes seven independent terminals, namely the negative power input terminal (301), the A-phase output terminal of the walking motor (303), the B-phase output terminal of the walking motor (304), the brush motor drive output terminal (305), the water suction fan motor drive output terminal (306), the push rod motor drive output terminal (307), and the positive power input terminal (302). The corresponding markings on the surface of the terminals are B-, A, B, W, V, U, and B+.

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