CN119679326B - Floor scrubbers, floor scrubber control methods and floor scrubber systems - Google Patents
Floor scrubbers, floor scrubber control methods and floor scrubber systemsInfo
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- CN119679326B CN119679326B CN202411883795.5A CN202411883795A CN119679326B CN 119679326 B CN119679326 B CN 119679326B CN 202411883795 A CN202411883795 A CN 202411883795A CN 119679326 B CN119679326 B CN 119679326B
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Abstract
The application provides a floor washing machine, a control method of the floor washing machine and a floor washing machine system. The floor washing machine comprises a rolling brush assembly, a first rolling brush support, a second rolling brush support, a base assembly, a first elastic structure, a second elastic structure, a pressing plate and a pressing plate motor, wherein the rolling brush assembly is movably connected with the base assembly through the first rolling brush support and the second rolling brush support, the first end of the first elastic structure and the first end of the second elastic structure are respectively fixed on the first end face of the first rolling brush support and the first end face of the second rolling brush support, the second end of the first elastic structure and the second end of the second elastic structure are respectively fixed on the pressing plate, the pressing plate motor is used for pressing the pressing plate downwards to transmit pressure to the first rolling brush support and the second rolling brush support through the first elastic structure and the second elastic structure so as to increase friction force between the rolling brush assembly and the ground, and the friction force is Yu Maca force threshold. The ground washing machine solves the problem that the friction force between the rolling brush and the ground is reduced due to the abrasion of the brush hair of the rolling brush.
Description
Technical Field
The application relates to the technical field of floor washing machine control, in particular to a floor washing machine, a control method of the floor washing machine, a floor washing machine system and a computer readable storage medium.
Background
The floor washing machine on the market at present is generally characterized in that a rolling brush is fixed on a base, the rolling brush at the front end and a rear trundle are in contact with the ground, the rolling brush rotates to wipe the ground during working, remove stains and drive the floor washing machine to move forwards, and the friction force between the rolling brush and the ground directly influences the stain wiping effect and traction force.
The friction force is determined by the ground pressure of the rolling brush and the friction coefficient between the brush hair and the ground, the ground pressure of the rolling brush of the industrial floor washer is fixed and not adjustable, the brush hair is worn after the floor washer is used for a period of time, the friction coefficient between the rolling brush and the ground is reduced, the removal capacity of stains is reduced, stubborn stains are difficult to clean, and meanwhile, the traction force is reduced or vanished. Therefore, it is necessary to solve the problem that the contact friction force between the rolling brush and the ground becomes small.
Disclosure of Invention
The application aims to provide a floor washing machine, a control method of the floor washing machine, a floor washing machine system and a computer readable storage medium, so as to at least solve the problem that the friction force between a rolling brush and the ground is reduced due to the abrasion of the brush hair of the rolling brush in the prior art.
In order to achieve the aim, according to one aspect of the application, a floor scrubber is provided, which comprises a rolling brush assembly, a first rolling brush support, a second rolling brush support, a base assembly, a first elastic structure, a second elastic structure, a pressing plate and a pressing plate motor, wherein the first rolling brush support and the second rolling brush support are arranged on two opposite sides of the rolling brush assembly, the rolling brush assembly is movably connected with the base assembly through the first rolling brush support and the second rolling brush support, a first end of the first elastic structure is fixed on a first end face of the first rolling brush support, a first end of the second elastic structure is fixed on a first end face of the second rolling brush support, a second end of the first elastic structure and a second end of the second elastic structure are respectively fixed on the pressing plate, the first end face is an end face far away from the ground, and the pressing plate motor is used for pressing the pressing plate downwards so as to transmit pressure to the first rolling brush support and the second rolling brush support through the first elastic structure and the second elastic structure to the first rolling brush support, the first end of the rolling brush assembly is high in friction force with the rolling brush assembly and the rolling brush assembly is increased by a threshold value of friction force of Yu Maca.
Optionally, the floor washing machine further includes a third elastic structure and a fourth elastic structure, a first end of the third elastic structure is fixed on a second end face of the first rolling brush support, a first end of the fourth elastic structure is fixed on a second end face of the second rolling brush support, a second end of the third elastic structure and a second end of the fourth elastic structure are respectively fixed on the base assembly, and the second end face is an end face close to the ground.
Optionally, the press plate motor comprises a gear and a rack, the gear rotates to drive the rack to move towards the ground so as to press the press plate downwards, and the floor washing machine further comprises a hub motor which is arranged in a trundle of the floor washing machine.
Optionally, the floor washing machine further comprises an electric telescopic rod and a floor washing machine body, wherein a first end of the electric telescopic rod is connected with the floor washing machine body, and a second end of the electric telescopic rod is connected with the base assembly.
Optionally, the floor scrubber further comprises a user interface for manually adjusting the level of the floor pressure of the roller brush assembly.
According to another aspect of the application, a control method of the floor scrubber is provided, which comprises the steps of determining whether the friction force between a rolling brush assembly and the floor is required to be increased, controlling at least a pressing plate motor to start working under the condition that the friction force between the rolling brush assembly and the floor is required to be increased, pressing the pressing plate downwards to transmit pressure to a first rolling brush support and a second rolling brush support through a first elastic structure and a second elastic structure so as to increase the friction force between the rolling brush assembly and the floor, and enabling the friction force to be higher than a Yu Maca force threshold.
Optionally, determining whether there is a need to increase friction of the roller brush assembly with the ground includes obtaining a ground level of soil, determining whether the ground level of soil is greater than a soil level threshold, and determining that there is a need to increase friction of the roller brush assembly with the ground if the ground level of soil is greater than the soil level threshold.
Optionally, the floor washing machine further comprises a hub motor, wherein the hub motor is arranged in a trundle of the floor washing machine, and the method for determining whether the friction force between the rolling brush assembly and the ground is required or not comprises the steps of judging whether the reciprocating frequency of the hub motor exceeds the preset frequency in preset time, and determining that the friction force between the rolling brush assembly and the ground is required or not under the condition that the reciprocating frequency of the hub motor exceeds the preset frequency.
Optionally, the floor washing machine further comprises an electric telescopic rod and a floor washing machine body assembly, wherein a first end of the electric telescopic rod is connected with the floor washing machine body assembly, a second end of the electric telescopic rod is connected with the base assembly, at least a pressing plate motor is controlled to start working to press down the pressing plate to transmit pressure to the first rolling brush support and the second rolling brush support through a first elastic structure and a second elastic structure so as to increase friction force between the rolling brush assembly and the ground, and the floor washing machine comprises the step of controlling the pressing plate motor to start working to press down the pressing plate and simultaneously obtaining an inclination angle between the floor washing machine body assembly and the ground under the condition that friction force between the rolling brush assembly and the ground is required to be increased, and the step of controlling the electric telescopic rod to stretch down the base assembly according to the inclination angle so as to increase friction force between the rolling brush assembly and the ground.
According to still another aspect of the application, a floor scrubber system is provided, comprising any one of the floor scrubbers, and a controller in communication with a platen motor and a hub motor of the floor scrubber for executing any one of the control methods of the floor scrubber.
According to still another aspect of the present application, there is provided a computer readable storage medium including a stored program, wherein the program, when executed, controls a device in which the computer readable storage medium is located to perform any one of the control methods of the floor washing machine.
By applying the technical scheme, the floor washing machine comprises a rolling brush assembly, a first rolling brush support, a second rolling brush support, a base assembly, a first elastic structure, a second elastic structure, a pressing plate and a pressing plate motor, wherein the first rolling brush support and the second rolling brush support are arranged on two opposite sides of the rolling brush assembly, the rolling brush assembly is movably connected with the base assembly through the first rolling brush support and the second rolling brush support, the first end of the first elastic structure is fixed on the first end face of the first rolling brush support, the first end of the second elastic structure is fixed on the first end face of the second rolling brush support, the second end of the first elastic structure and the second end of the second elastic structure are respectively fixed on the pressing plate, the first end face is an end face far away from the ground, and the pressing plate motor is used for pressing the pressing plate downwards to transmit pressure to the first rolling brush support and the second rolling brush support through the first elastic structure and the second rolling brush support so as to increase friction force between the rolling brush assembly and the ground, and the friction force is high at Yu Maca threshold. The ground washer solves the problem that friction force between the rolling brush and the ground is reduced due to abrasion of bristles of the rolling brush in the prior art.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 shows a schematic side view of a floor scrubber according to an embodiment of the present application;
FIG. 2 illustrates a schematic cross-sectional view of a roller brush assembly of a floor scrubber according to an embodiment of the present application;
FIG. 3 shows a schematic block diagram of a front view of a floor scrubber provided in accordance with an embodiment of the present application;
FIG. 4 shows a schematic top view of a floor scrubber according to an embodiment of the present application;
fig. 5 shows a schematic flow chart of a control method of a floor scrubber according to an embodiment of the present application;
FIG. 6 illustrates a control logic diagram of a particular floor scrubber provided in accordance with an embodiment of the present application;
fig. 7 shows an overall layout of a floor scrubber according to an embodiment of the present application.
Wherein the above figures include the following reference numerals:
10. A roller brush assembly; 110, a rolling brush motor, 111, bristles, 11, a first rolling brush bracket, 12, a second rolling brush bracket, 13, a base component, 14, a first elastic structure, 15, a second elastic structure, 16, a pressing plate, 17, a pressing plate motor, 18, a third elastic structure, 19, a fourth elastic structure, 20, gears, 21, racks, 22, a hub motor, 23, casters, 24, a base control board, 25, a sewage tank, 26, a body component, 27, a body controller board, 28 and a handle component.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the application herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As described in the background art, in the prior art, the floor washer is generally characterized in that the rolling brush is fixed on the base, the rolling brush at the front end and the rear trundle are in contact with the ground, the rolling brush rotates to wipe the ground when in operation, after the floor washer is used for a period of time, the brush hair is worn, the friction coefficient against the ground is reduced, and the problem that the friction force between the rolling brush and the ground is reduced due to the wear of the brush hair of the rolling brush in the floor washer in the prior art is solved.
The floor scrubber comprises a rolling brush assembly, a first rolling brush support, a second rolling brush support, a base assembly, a first elastic structure, a second elastic structure, a pressing plate and a pressing plate motor, wherein the first rolling brush support and the second rolling brush support are arranged on two opposite sides of the rolling brush assembly, the rolling brush assembly is movably connected with the base assembly through the first rolling brush support and the second rolling brush support, a first end of the first elastic structure is fixed on a first end face of the first rolling brush support, a first end of the second elastic structure is fixed on a first end face of the second rolling brush support, a second end of the first elastic structure and a second end of the second elastic structure are respectively fixed on the pressing plate, the first end face is an end face far away from the ground, and the pressing plate motor is used for pressing the pressing plate downwards to transmit pressure to the first rolling brush support and the second rolling brush support through the first elastic structure and the second elastic structure so as to increase friction force between the first rolling brush support and the second rolling brush support and the rolling brush assembly and the ground to a high friction threshold value Yu Maca.
Specifically, fig. 1 is a schematic side structural view of a floor scrubber according to an embodiment of the present application, and as shown in fig. 1, a rolling brush assembly 10 is a core component of the floor scrubber, responsible for directly contacting the floor, and wiping stains by a rotational motion. A schematic cross-sectional view of a roller brush assembly is shown in fig. 2, the roller brush assembly being driven by a roller brush motor 110 having bristles 111 or similar cleaning structure. In fig. 1, a second rolling brush support 12 is shown, and the first rolling brush support and the second rolling brush support are respectively located at two opposite sides of the rolling brush assembly, and are used for supporting the rolling brush assembly and enabling the rolling brush assembly to move up and down relative to the base assembly through movable connection. This design allows the roller brush assembly to adjust the contact pressure with the floor surface for different floor conditions or cleaning needs. The base assembly is the bottom platform of the floor scrubber that supports the entire machine, as well as structure for interacting with the roller brush assembly. In the embodiment of the application, the base assembly is movably connected with the rolling brush assembly 10 through the first rolling brush bracket and the second rolling brush bracket 12, so that the rolling brush assembly 10 can respond to the control signal to change the pressure on the ground. The first elastic structure and the second elastic structure 15 are respectively connected between the first end surfaces (i.e. the surfaces far away from the ground) of the first rolling brush support and the second rolling brush support and the pressing plate 16, and the elastic structure is used for smoothly transmitting the pressure generated by the pressing plate motor to the rolling brush support and allowing the rolling brush support to have a certain floating space. A platen 16 is positioned above the roller brush assembly 10 and is controlled to move up and down by a platen motor 17. When the pressing plate motor works, the pressing plate is pushed to move downwards, and the pressing plate applies additional pressure to the first rolling brush support and the second rolling brush support through the first elastic structure and the second elastic structure, so that the pressure of the rolling brush assembly on the ground is increased. This design can respond ground spot situation, when detecting stubborn spot, and the controller can send the signal and start the clamp plate motor to increase the frictional force of round brush and ground, ensure clean effect. The friction threshold is a predetermined pressure value below which the cleaning effect of the floor scrubber may be considered undesirable. In the embodiment of the application, the friction force between the rolling brush assembly and the ground can be regulated to be higher than the threshold value by controlling the pressing plate motor, so that the floor washing machine can be effectively cleaned regardless of the ground condition.
Through the control of increasing clamp plate motor and the use of elastic construction for the scrubber can intelligently adjust the pressure of round brush subassembly to ground, thereby ensure to provide sufficient frictional force under various clean environment, promote clean efficiency, especially to the throughput of stubborn spot.
In an embodiment of the application, the floor washing machine further includes a third elastic structure and a fourth elastic structure, a first end of the third elastic structure is fixed on the second end surface of the first rolling brush support, a first end of the fourth elastic structure is fixed on the second end surface of the second rolling brush support, a second end of the third elastic structure and a second end of the fourth elastic structure are respectively fixed on the base assembly, and the second end surface is an end surface close to the ground.
Specifically, the floor washing machine further includes a third elastic structure and a fourth elastic structure, as shown in fig. 1, which shows a fourth elastic structure 19, and fig. 3 shows a schematic front view of the floor washing machine according to an embodiment of the present application, as shown in fig. 3, where two elastic structures (such as springs) of the third elastic structure 18 and the fourth elastic structure 19 cooperate with the first elastic structure and the second elastic structure to form a more comprehensive pressure adjustment system. They are fixed to the other side, i.e. the second end face, of the first and second roll brush holders, respectively, which end face is close to the ground. The first end of the third elastic structure is fixed on the second end face of the first rolling brush support, the first end of the fourth elastic structure is fixed on the second end face of the second rolling brush support, which means that the rolling brush assembly is elastically supported on the side contacted with the ground, and the second ends of the elastic structures are respectively fixed on the base assembly of the floor washing machine, so that the pressure change of the rolling brush assembly in any direction can be supported and regulated.
The purpose of the third and fourth resilient structures is to ensure that the roller brush assembly is properly resiliently supported and pressure-regulated in all directions, particularly in the area where the roller brush assembly is in contact with the ground. The first and second elastic structures compress when the platen motor pushes the platen downward, transmitting pressure to the roller brush assembly, and the third and fourth elastic structures ensure that the roller brush assembly maintains proper contact with the floor even in the case of uneven or obstructed floor, avoiding damage caused by excessive pressure or poor cleaning effect.
In one embodiment of the application, the pressing plate motor comprises a gear and a rack, the gear rotates to drive the rack to move towards the ground so as to press the pressing plate downwards, and the floor washing machine further comprises a hub motor which is arranged in a trundle of the floor washing machine.
Specifically, fig. 3 shows a schematic front view of the floor washing machine according to the embodiment of the present application, as shown in fig. 3, the platen motor 17 includes two key transmission components, namely a gear 20 and a rack 21, and when the platen motor 17 receives a start signal, the gear 20 in the motor starts to rotate, and since the gear 20 is meshed with the rack 21, the rotational motion of the gear 20 is converted into a linear motion of the rack 21, and the rack 21 is designed to be movable in the ground direction. As the rack 21 moves in the ground direction, it pushes the platen 16 downward. This drive design of the gear 20 and the rack 21 enables very precise control of the lowering distance of the pressure plate, thus enabling fine adjustment of the pressure of the roller brush assembly. When the pressing plate 16 moves downwards, the pressure is transmitted to the first rolling brush support 11 and the second rolling brush support 12 through the first elastic structure 14 and the second elastic structure 15, so that the contact pressure between the rolling brush assembly and the ground is increased, the friction force is further improved, and the cleaning effect is enhanced.
The in-wheel motor is the core of the floor washing machine mobility, and is installed inside the castor. As shown in fig. 1, the floor scrubber further comprises casters 23. The hub motor is directly arranged in the trundle, so that the complex transmission chain and structure between the traditional motor and the wheel are reduced, the moving system of the floor washing machine is more compact, and the failure rate is reduced. As shown in FIG. 4, the schematic top view structure of the floor washing machine in the embodiment of the application is that each caster wheel 23 is internally provided with a hub motor 22, and the design of the hub motors enables motor power to directly act on the wheels, thereby reducing the loss of energy in the transmission process and improving the moving efficiency and the power performance of the floor washing machine. The signals of the hub motor 22 can be received and processed by the base control board 24 in real time, which means that the floor cleaning machine can immediately adjust the pressing force of the rolling brush assembly 10 according to the cleaning state of the floor (such as when a stubborn stain is encountered), the pressing plate motor 17 is started, and the pressing plate 16 is controlled to press downwards so as to increase the friction force between the rolling brush assembly 10 and the floor, thereby realizing more intelligent and efficient cleaning.
The integrated design of the gear-rack transmission mechanism and the hub motor not only improves the cleaning efficiency of the floor washing machine, but also ensures that the floor washing machine is remarkably optimized in the aspects of operation flexibility, structural compactness and power performance. Through control system, the floor washing machine can be according to real-time cleaning demand, automatic or manual adjustment round brush assembly's pressure, ensures that stubborn spot also can be effectively cleared away, has guaranteed the steady removal and the control of machine simultaneously.
In one embodiment of the present application, the floor scrubber further includes an electric telescopic rod and a floor scrubber body, wherein a first end of the electric telescopic rod is connected to the floor scrubber body, and a second end of the electric telescopic rod is connected to the base assembly.
In particular, an electrically-controlled telescopic rod is a mechanical component that can be extended or shortened electrically, usually driven by an electric motor, with dynamic changes in length being achieved by internal threads or other transmission mechanisms. In the floor washing machine of the application, the electric telescopic rod is used as a pressure regulating device, one end (first end) of the electric telescopic rod is fixedly connected with the floor washing machine body, the other end (second end) of the electric telescopic rod is connected with the base assembly, and the design ensures that an adjustable mechanical connection is formed between the machine body and the base, so that the pressure of the rolling brush assembly to the ground can be dynamically regulated according to the cleaning requirement. The body of the floor washing machine is a main interface for user operation and is also a superstructure of the whole machine. By being connected to the first end of the electric telescopic rod, the machine body becomes a key point for controlling the pressure of the rolling brush. When a user selects different cleaning modes or ground pressing force levels through a control panel or a handle on the machine body, the electric telescopic rod can be lengthened or shortened according to the instruction of the user, so that the ground pressing force of the rolling brush assembly is changed, and different cleaning requirements are met. In the embodiment of the application, the motor is arranged on the electric telescopic rod, the output shaft at the front end of the motor is provided with the screw thread, the screw thread is connected with the internal screw thread of the telescopic rod, and the telescopic rod performs extension or shortening movement through the screw thread, so that the adjustment of different lengths is realized. The length of the telescopic rod can be controlled by a user through a functional key at the handle, namely, the length of the telescopic rod is divided into a plurality of gears, the gears are determined by the selection of the user, and the function is realized through the control panel.
In one embodiment of the present application, the floor scrubber further includes a user interface for manually adjusting the level of the floor pressure of the roller brush assembly.
Specifically, the user interface is an interaction point between the floor scrubber and the operator, and typically includes a display screen, buttons, knobs, or touch screens, etc., for receiving user instructions and displaying machine status. In this embodiment, the user interface has the function of manually adjusting the level of the ground pressure of the roller brush assembly. Through the user interface, the operator can manually select the pressure level at which the roller brush assembly is in contact with the floor, which is critical to address different cleaning needs. For example, a lower pressure may be required to avoid injury when cleaning smoother or vulnerable floors, while a higher pressure may be required to enhance cleaning when cleaning hard stains such as oil stains, gum stains, etc.
The pressure level may include a plurality of preset levels, each corresponding to a different roller brush assembly pressure. In the embodiment of the application, a plurality of different ground pressing force grades can be provided, each grade can be correspondingly extended by different lengths, for example, each grade is increased, the telescopic rod is extended by 1mm until the maximum extension is 5mm, and thus the rolling brush assembly can be ensured to adapt to the changing cleaning requirements under different conditions. When the user selects to increase the level of the earth pressure via the user interface, this command is received by the base control board. The control board starts the motor of the electric telescopic rod according to the selection of the user, so that the motor is extended to the length corresponding to the selected grade. After the electric telescopic rod is extended, additional pressure can be transmitted to the rolling brush assembly through the base assembly, so that the contact pressure between the rolling brush and the ground is increased, and the cleaning effect is improved.
In this embodiment, a control method of a floor scrubber of a controller operating in the floor scrubber is provided, and fig. 5 is a schematic flow chart of the control method of the floor scrubber according to an embodiment of the present application. As shown in fig. 5, the method comprises the steps of:
Step S501, determining whether there is a need to increase friction between the rolling brush assembly and the ground;
in particular, determining whether there is a need to increase the friction of the roller brush assembly with the ground is a critical step in the intelligent control and efficient cleaning of the floor scrubber. The judgment of the requirement is based on the real-time state and the ground condition of the floor washing machine in the cleaning process, and the aim is to ensure that the contact pressure of the rolling brush assembly with the ground can be automatically adjusted according to the actual cleaning requirement, so that the optimal cleaning effect is achieved.
The floor scrubber may analyze the cleaning condition of the floor by means of integrated sensors or floor detection techniques. For example, whether or not the floor contains stubborn stains, the degree of hardness of the floor material, the roughness of the floor, and the like are important factors for determining whether or not the friction force needs to be increased. More friction is often required to effectively remove stubborn stains, and the cleaning efficiency of the rolling brush assembly can be affected by the ground with different materials. The cleaning effect of the floor washing machine can be monitored in real time in the cleaning process. If the cleaning is found to be poor, for example, the roller brush assembly is repeatedly moved back and forth several times while cleaning the same area, the dirt is not removed, which may mean that the friction of the roller brush with the floor is insufficient.
Step S502, under the condition that the friction force between the rolling brush assembly and the ground needs to be increased, at least controlling the platen motor to start working, pressing the platen downwards to transmit pressure to the first rolling brush support and the second rolling brush support through the first elastic structure and the second elastic structure so as to increase the friction force between the rolling brush assembly and the ground, wherein the friction force is higher than Yu Maca force threshold.
Specifically, the control system of the floor scrubber will continuously monitor various conditions during the cleaning process, including contact of the roller brush assembly with the floor, cleaning efficiency, identification of the floor type, etc. When the system recognizes that stubborn stains are encountered in the cleaning process or the friction force between the rolling brush assembly and the ground is reduced to a certain degree, and the system can judge that the friction force between the rolling brush assembly and the ground needs to be increased to improve the cleaning effect. Once the need for increased friction is identified, the control system sends a start signal to the platen motor. The inside of the pressing plate motor is provided with a gear and rack transmission structure, and when the motor is started, the gear starts to rotate to drive the rack to move downwards. The downward pressure of the rack directly acts on the pressing plate to enable the pressing plate to move downwards. When the pressing plate is pushed downwards, the pressure is transmitted to the first rolling brush support and the second rolling brush support through the first elastic structure and the second elastic structure which are connected with the pressing plate. The design of these elastic structures allows pressure to be transmitted in a controlled manner, avoiding excessive impact on the roller brush assembly, while also ensuring that the roller brush assembly is able to flexibly adjust the contact pressure with the ground according to the ground conditions. The rolling brush assembly is supported by the first rolling brush support and the second rolling brush support and is subjected to additional pressure downwards, so that the rolling brush assembly can be in closer contact with the ground, and the friction force between the brush hair and the ground is increased. As the pressure of the roller brush assembly increases, its friction with the floor increases accordingly until a predetermined friction threshold is reached or exceeded to ensure that the floor scrubber is able to clean effectively even in the face of stubborn dirt. The setting of the friction threshold is based on analysis of different floor types and cleaning requirements, ensuring that the highest cleaning efficiency is achieved without damaging the floor.
In one embodiment of the application, determining whether there is a need to increase the friction of the roller brush assembly with the ground includes obtaining a ground level of soil, determining whether the ground level of soil is greater than a soil level threshold, and determining that there is a need to increase the friction of the roller brush assembly with the ground if the ground level of soil is greater than the soil level threshold.
Specifically, for obtaining the soil level of the ground, the ground washing machine may be equipped with a ground soil level monitoring module, which may be an optical sensor, a capacitive sensor, a pressure sensor, a camera, or the like. These sensors are capable of detecting in real time the soil conditions of the ground, such as the type of soil (liquid, solid), the distribution of the soil (dispersed, dense), the adhesion of the soil (easy to clean, tough), the material of the ground (tile, wooden floor, carpet), etc. By analyzing these data, the control system can obtain the current soil level on the ground.
The soil level threshold is preset in the control system of the floor scrubber, which is based on an analysis of different cleaning tasks and floor types. When the ground soil level data detected by the sensor is input into the control system, the system compares the ground soil level data with a preset soil level threshold value. If the level of soil actually detected is above a threshold, this indicates that there are hard to clean areas of tough soil or heavy soil on the floor, and enhanced cleaning is required.
When the control system determines that the level of floor soiling does exceed a preset threshold, it determines that the current cleaning mode (e.g., normal cleaning, hard cleaning) may be insufficient to address the current cleaning needs, thus requiring increased friction between the roller brush assembly and the floor. This step may also involve analysing the current cleaning performance of the roller brush assembly, such as the degree of wear of the roller brush, the cleaning efficiency etc., to ensure that a decision to increase the friction is reasonable and necessary. The control system then activates the associated mechanism (e.g., platen motor, electric telescoping rod) to increase the pressure of the roller brush assembly and thereby increase its friction with the ground.
The intelligent control logic based on the ground dirt degree ensures that the ground washing machine can automatically adjust the cleaning parameters of the rolling brush assembly, including the contact pressure with the ground when facing different cleaning challenges, so that the ground washing machine can effectively clean light stains or stubborn stains, meanwhile, unnecessary damage to the ground is avoided, and the efficiency and quality of cleaning operation are improved. Through the fine control, the floor washing machine can be better suitable for various cleaning environments, and the cleaning requirements of users in different scenes are met.
In one embodiment of the application, the floor washing machine further comprises a hub motor, wherein the hub motor is arranged in a trundle of the floor washing machine, and the determination of whether the need for increasing the friction force between the rolling brush assembly and the floor exists or not comprises the steps of judging whether the reciprocating frequency of the hub motor exceeds the preset frequency in preset time, and determining the need for increasing the friction force between the rolling brush assembly and the floor when the reciprocating frequency of the hub motor exceeds the preset frequency.
Specifically, the hub motor is directly installed inside the casters of the floor washing machine, and this design enables the hub motor to directly drive the movement of the casters, thereby controlling the forward, backward or steering of the floor washing machine. The motion characteristics of the in-wheel motor are closely related to the cleaning performance of the floor washer, for example, when the in-wheel motor encounters stubborn stains in the cleaning process, the in-wheel motor may need to frequently reciprocate to overcome the resistance of the floor and push the floor washer to advance or retreat.
In order to intelligently judge whether the friction force between the rolling brush assembly and the ground is required to be increased, a control system of the ground washing machine can monitor the reciprocating frequency of the hub motor in preset time. The preset time is typically a short time window, such as 5 seconds, and the preset number of times is a threshold set based on machine learning or empirical data for determining whether there is stubborn soil on the floor. In the embodiment of the application, the floor washing machine can be repeatedly moved back and forth for 3 times within 5 seconds to judge that stubborn stains exist on the floor. For example, if the in-wheel motor drives the floor scrubber to move back and forth more than 3 times in 5 seconds, this indicates that the floor scrubber encounters a large resistance during cleaning, possibly due to the presence of hard-to-clean stubborn stains on the floor or insufficient friction of the roller brush assembly with the floor. Then, the control system can start corresponding mechanisms, such as a pressing plate motor, an electric telescopic rod and the like, and increase the pressure of the rolling brush assembly on the ground, so that the friction force is improved, and a better cleaning effect is achieved.
In one embodiment of the application, the floor scrubber further comprises an electric telescopic rod and a floor scrubber body assembly, wherein the first end of the electric telescopic rod is connected with the floor scrubber body assembly, the second end of the electric telescopic rod is connected with the base assembly, at least the pressing plate motor is controlled to start working, the pressing plate is pressed downwards to transmit pressure to the first rolling brush support and the second rolling brush support through the first elastic structure and the second elastic structure to increase the friction force between the rolling brush assembly and the floor, and the floor scrubber further comprises the step of controlling the pressing plate motor to start working to downwards and obtain the inclination angle between the floor scrubber body assembly and the floor when the friction force between the rolling brush assembly and the floor is required to be increased, and the step of controlling the electric telescopic rod to stretch downwards to press the base assembly according to the inclination angle to increase the friction force between the rolling brush assembly and the floor.
Specifically, the first end of the electric telescopic rod is connected with the floor-washing machine body component, and the second end of the electric telescopic rod is connected with the base component, so that a mechanism capable of dynamically adjusting the contact pressure between the rolling brush component and the ground is formed. This design allows the motorized telescopic rod to telescope between the body and the base, thereby changing the pressure of the roller brush assembly relative to the ground. When the situation that the friction force between the rolling brush assembly and the ground needs to be increased is detected, if the ground dirt degree exceeds a preset threshold value or the reciprocating frequency of the hub motor exceeds a preset frequency in preset time, the pressing plate motor is started. The start of clamp plate motor can drive the clamp plate downward movement, through first elastic construction and the second elastic construction that links to each other with the clamp plate, gives first round brush support and second round brush support with pressure transmission, and then increases the contact pressure of round brush subassembly and ground, promotes frictional force.
In addition, the control system can acquire the inclination angle of the floor washing machine body component and the ground. The acquisition of the angle can be completed through a built-in inclination sensor, and the sensor can monitor the posture change of the airframe relative to the ground in real time. The monitoring of the inclination angle of the machine body helps to control the pressure of the rolling brush assembly on the ground more accurately. The control system may further adjust the extension of the electric telescopic rod according to the detected inclination angle of the body. In the event that the roller brush assembly requires increased friction with the ground, the motorized telescoping rod is controlled to extend to press the base assembly downward. The extension quantity can be adjusted according to the actual inclination angle of the machine body, so that the rolling brush assembly can keep optimal contact pressure with the ground under different inclination angles, and the condition that the rolling brush assembly is uneven in pressure distribution caused by the inclination of the machine body is avoided.
One specific implementation manner of this embodiment is as follows:
The floor scrubber is equipped with an inclination angle sensor, such as an accelerometer or gyroscope, for monitoring the inclination angle of the airframe with respect to the ground in real time. The main controller of the floor washing machine receives the signals of the inclination angle sensor, and processes and analyzes the signals. The controller is internally provided with an intelligent algorithm, and can judge whether the friction force between the rolling brush assembly and the ground is required to be increased or not according to the current cleaning mode, the ground type and the change of the inclination angle. This determination includes comparing the current tilt angle to a preset threshold or ideal cleaning angle, and analyzing real-time feedback data of cleaning efficiency.
When the controller determines that increased friction is desired, it calculates a target elongation, which is determined based on the current tilt angle and the preset cleaning requirements. The controller sends a control signal to the electric telescopic rod indicating that it is extended to a specific length. The driving mechanism inside the electric telescopic rod starts to work after receiving the signal so as to realize accurate extension control. The extension of the electric telescopic rod increases the vertical distance between the base assembly and the ground, so that the pressure of the rolling brush assembly on the ground is increased. This increase in pressure directly results in an increase in the friction of the roller brush with the ground.
The platen motor may also be activated while the motorized telescoping rod is extended to further adjust the pressure profile of the roller brush assembly. The pressing plate motor pushes the pressing plate downwards through a gear, a rack or a connecting rod and other mechanisms, and the pressing plate transmits additional pressure to the rolling brush assembly through an elastic structure, so that the rolling brush head is ensured to be in close contact with the ground.
Through the implementation mode, the floor washing machine can automatically adjust the pressure of the rolling brush assembly to the ground according to the inclination angle of the machine body, so that the friction force between the rolling brush and the ground can reach the optimal state under various cleaning conditions.
The pressing plate motor and the electric telescopic rod can work independently or simultaneously, and the control strategy realizes the accurate control of the friction force between the rolling brush assembly and the ground. The pressing plate motor is started to immediately increase the vertical pressure of the rolling brush assembly, and the extension of the electric telescopic rod is dynamically adjusted according to the inclination angle of the machine body, so that the rolling brush assembly can maintain consistent cleaning efficiency under various cleaning conditions. Through this kind of design, the washing machine can be when facing complicated clean demand, automatic and accurate adjustment round brush subassembly to the pressure on ground to clear away the spot more effectively, keep the stability of machine simultaneously, avoid causing the harm to ground, promoted user experience and clean efficiency.
A control logic schematic diagram of a concrete floor washer of the embodiment of the application is shown in fig. 6, a hub motor of the floor washer receives forward and backward movement signals, if the hub motor frequently moves forward and backward for no more than 3 times within 5 seconds, the normal operation is judged, if the hub motor frequently moves forward and backward for more than 3 times within 5 seconds, the ground is judged to have stubborn stains, a pressing plate motor starts to operate, a rolling brush assembly is lowered in height, and then, if the hub motor frequently moves forward and backward for no more than 3 times within 5 seconds, the normal operation is judged, the pressing plate motor starts to operate, the pressing plate rises, and the rolling brush assembly rises in height.
The application also provides a floor washing machine system which comprises any one of the floor washing machines and a controller, wherein the controller is communicated with a pressing plate motor and a hub motor of the floor washing machine and is used for executing any one of the control methods of the floor washing machines.
Specifically, the floor scrubber serves as a basic part of the system, and it contains all necessary mechanical structures and cleaning components, such as a roller brush assembly, a platen, casters, an in-wheel motor, a platen motor, and an electric telescopic rod, etc. These components cooperate to perform a floor cleaning task. An overall layout of a floor scrubber according to an embodiment of the present application is shown in fig. 7, and includes a rolling brush assembly 10, a base assembly 13, casters 23, a sewage tank 25, a body assembly 26, a body controller board 27, and a handle assembly 28.
The controller is the intelligent core of the floor scrubber system, which communicates with the various critical components of the floor scrubber (platen motor, in-wheel motor, etc.) to collect real-time cleaning data and operating status, and adjust the cleaning strategy based on these information. The controller not only communicates with the sensors and drive motors within the floor scrubber, but may also have a user interface that allows a user to input parameters such as cleaning mode, soil level threshold, etc.
The application also provides a computer readable storage medium, which comprises a stored program, wherein the program is used for controlling equipment where the computer readable storage medium is located to execute any one of the control methods of the floor washing machine.
Specifically, the control method of the floor washing machine comprises the following steps:
Step S501, determining whether there is a need to increase friction between the rolling brush assembly and the ground;
Step S502, under the condition that the friction force between the rolling brush assembly and the ground needs to be increased, at least controlling the platen motor to start working, pressing the platen downwards to transmit pressure to the first rolling brush support and the second rolling brush support through the first elastic structure and the second elastic structure so as to increase the friction force between the rolling brush assembly and the ground, wherein the friction force is higher than Yu Maca force threshold.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program stored in the memory and capable of running on the processor, wherein the processor realizes the steps of at least the control method of the floor washing machine when executing the program.
The application also provides a computer program product adapted to perform a program initializing steps of at least the control method of a floor scrubber as described above when executed on a data processing device.
It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may be implemented in program code executable by computing devices, so that they may be stored in a storage device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, read only compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes or other magnetic storage devices, or any other non-transmission medium which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The above is only a preferred embodiment of the present application, and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (7)
1. A control method of a floor washing machine is characterized in that the floor washing machine comprises a rolling brush assembly, a first rolling brush support, a second rolling brush support, a base assembly, a first elastic structure, a second elastic structure, a pressing plate and a pressing plate motor, wherein the first rolling brush support and the second rolling brush support are arranged on two opposite sides of the rolling brush assembly,
The rolling brush assembly is movably connected with the base assembly through the first rolling brush support and the second rolling brush support, a first end of the first elastic structure is fixed on a first end face of the first rolling brush support, a first end of the second elastic structure is fixed on a first end face of the second rolling brush support, a second end of the first elastic structure and a second end of the second elastic structure are respectively fixed on the pressing plate, and the first end face is an end face far away from the ground;
The pressing plate motor is used for pressing the pressing plate downwards to transmit pressure to the first rolling brush support and the second rolling brush support through the first elastic structure and the second elastic structure so as to increase friction force between the rolling brush assembly and the ground, and the friction force is higher than a Yu Maca force threshold;
The floor washing machine further comprises a third elastic structure and a fourth elastic structure, wherein the first end of the third elastic structure is fixed on the second end face of the first rolling brush support, the first end of the fourth elastic structure is fixed on the second end face of the second rolling brush support, the second end of the third elastic structure and the second end of the fourth elastic structure are respectively fixed on the base assembly, and the second end face is an end face close to the ground;
The floor washing machine further comprises an electric telescopic rod and a floor washing machine body, wherein the first end of the electric telescopic rod is connected with the floor washing machine body, and the second end of the electric telescopic rod is connected with the base assembly;
the control method of the floor washing machine comprises the following steps:
determining whether there is a need to increase friction of the roller brush assembly with the ground;
Under the condition that the friction force between the rolling brush assembly and the ground is required to be increased, at least controlling a pressing plate motor to start to work, pressing the pressing plate downwards to transmit pressure to the first rolling brush support and the second rolling brush support through the first elastic structure and the second elastic structure so as to increase the friction force between the rolling brush assembly and the ground, wherein the friction force is higher than a Yu Maca force threshold;
The floor washing machine also comprises a hub motor, wherein the hub motor is arranged in a truckle of the floor washing machine to determine whether the friction force between the rolling brush assembly and the ground is increased or not, and the floor washing machine comprises:
Judging whether the reciprocating frequency of the hub motor exceeds the preset frequency within the preset time;
and under the condition that the reciprocating frequency of the hub motor exceeds the preset frequency, determining that the friction force between the rolling brush assembly and the ground is increased.
2. The method of claim 1, wherein the platen motor comprises a gear and a rack, the gear rotating to move the rack toward the ground to press the platen downward;
The floor washing machine further comprises a hub motor, and the hub motor is arranged in the truckle of the floor washing machine.
3. The method of claim 1, wherein the floor scrubber further comprises a user interface for manually adjusting the level of the floor pressure of the roller brush assembly.
4. The method of claim 1, wherein determining whether there is a need to increase friction of the roller brush assembly with the ground comprises:
Obtaining the soil degree of the ground;
Determining whether the ground soil level is greater than a soil level threshold;
in the event that the floor level of soil is greater than the soil level threshold, a need to increase friction of the roller brush assembly with the floor is determined.
5. The method of claim 1, wherein the floor washer further comprises a motorized telescoping rod and a floor washer body assembly, a first end of the motorized telescoping rod being coupled to the floor washer body assembly and a second end of the motorized telescoping rod being coupled to the base assembly, wherein at least the platen motor is controlled to operate to press the platen downwardly to transmit pressure to the first and second roller brush brackets through the first and second resilient structures to increase friction of the roller brush assembly with the floor in the event that increased friction of the roller brush assembly with the floor is desired, comprising:
under the condition that the friction force between the rolling brush assembly and the ground is required to be increased, controlling the press plate motor to start to work so as to enable the press plate to downwards, and simultaneously obtaining the inclination angle between the floor washing machine body assembly and the ground;
and controlling the electric telescopic rod to extend to press the base assembly downwards according to the inclination angle so as to increase the friction force between the rolling brush assembly and the ground.
6. A floor scrubber system, comprising:
a controller in communication with the platen motor, the in-wheel motor of the floor scrubber for executing the control method of the floor scrubber as set forth in any one of claims 1 to 5.
7. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program, when run, controls a device in which the computer-readable storage medium is located to execute the control method of the floor scrubber according to any one of claims 1 to 5.
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| CN108937751A (en) * | 2018-07-28 | 2018-12-07 | 安徽南博机器人有限公司 | A kind of adjustable floor-cleaning machine of round brush |
| CN109730588B (en) * | 2019-01-31 | 2024-04-09 | 深圳和而泰智能控制股份有限公司 | Floor wiping robot |
| CN110584547B (en) * | 2019-10-18 | 2021-11-02 | 尚科宁家(中国)科技有限公司 | Cleaning method and cleaning system of a cleaning robot |
| CN216876177U (en) * | 2021-12-10 | 2022-07-05 | 苏州雅途格电子有限公司 | Dust collector rolling brush with low use noise |
| CN115715652A (en) * | 2022-11-18 | 2023-02-28 | 珠海格力电器股份有限公司 | Floor washing machine control method and device, controller and floor washing machine |
| CN115919197B (en) * | 2022-11-28 | 2025-10-31 | 北京小米移动软件有限公司 | Rolling brush traction mechanism and cleaning equipment |
| CN115736742A (en) * | 2022-11-28 | 2023-03-07 | 珠海格力电器股份有限公司 | Scrubbing brush subassembly and cleaning device |
| CN118662040A (en) * | 2023-03-16 | 2024-09-20 | 北京小米移动软件有限公司 | Self-moving cleaning equipment and control method, device and storage medium thereof |
| CN116269057B (en) * | 2023-05-08 | 2023-08-08 | 科沃斯家用机器人有限公司 | Cleaning robot control method, device and readable storage medium |
| CN117547179A (en) * | 2023-12-26 | 2024-02-13 | 苏州市春菊电器有限公司 | Large rolling brush telescopic leather strip structure of dust collector |
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| CN114209251A (en) * | 2021-11-23 | 2022-03-22 | 深圳市智绘科技有限公司 | A lifting structure and washing robot |
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