CN117378965A - Floor washing machine, control method thereof and computer readable storage medium - Google Patents

Abstract

The invention relates to the technical field of cleaning devices, and discloses a floor cleaning machine, a control method thereof and a computer readable storage medium, wherein the control method comprises the following steps: in the working process of the floor washing machine, if the frequency of the back and forth movement of the floor washing machine at the same cleaning position is judged to be larger than a set frequency threshold value, the cleaning force of the floor washing machine is controlled to be increased to a preset cleaning force, and the cleaning position is cleaned by the preset cleaning force. In the working process of the floor washer, if the floor washer is judged to move back and forth at the same cleaning position, the floor washer is controlled to increase the cleaning force on the cleaning position, so that the stubborn dirt can be effectively removed, the cleaning effect of the floor washer and the use experience of a user are improved, and the problems that the floor washer misjudges that the floor is not dirty, the floor is not cleaned and the cleaning effect of the floor washer is poor due to the fact that the stubborn dirt is not sucked up by the floor washer for the first time are avoided.

Description

Floor washing machine, control method thereof and computer readable storage medium

Technical Field

The invention relates to the technical field of cleaning devices, in particular to a floor washing machine, a control method thereof and a computer readable storage medium.

Background

With the continuous improvement of the living standard of people, the floor washing machine for indoor floor cleaning gradually enters the life of people, most of floor washing machine products on the market at present have a dirt detection function, and general dirt detection mechanisms are arranged in dirt suction channels and used for judging whether the floor is cleaned by detecting the dirt degree of sucked sewage.

However, during the process of cleaning the floor, some stubborn stains often adhere to the floor and are difficult to suck. Because dirt is not absorbed, the water absorbed in the dirt channel is clear, so that the dirt detection mechanism can detect that the dirt degree in the dirt absorbing channel is not high, erroneous judgment is caused, and the cleaning effect is seriously affected.

Disclosure of Invention

In view of the above, the present invention provides a floor cleaning machine, a control method thereof, and a computer readable storage medium, so as to solve the problems in the prior art that during a floor cleaning process, some stubborn stains often adhere to the floor and are difficult to be sucked, and because dirt is not sucked, water sucked in a dirt channel is relatively clear, so that a dirt detection mechanism detects that the dirt degree in the dirt suction channel is not high, causing erroneous judgment, and seriously affecting the cleaning effect.

In a first aspect, the present invention provides a control method of a floor scrubber, including:

in the working process of the floor washing machine, if the frequency of the back and forth movement of the floor washing machine at the same cleaning position is judged to be larger than a set frequency threshold value, the cleaning force of the floor washing machine is controlled to be increased to a preset cleaning force, and the cleaning position is cleaned by the preset cleaning force.

The beneficial effects are that: when a certain cleaning position on the ground is provided with stubborn stains, a user can move the floor cleaning machine back and forth at the position and repeatedly clean the stains, so in the embodiment, in the working process of the floor cleaning machine, if the floor cleaning machine is judged to move back and forth at the same cleaning position, the situation that the stubborn stains are arranged at the cleaning position is indicated, the floor cleaning machine is correspondingly controlled to enlarge the cleaning force for the cleaning position, the stubborn stains can be effectively removed, the cleaning effect of the floor cleaning machine and the use experience of the user are improved, the problems that the floor cleaning machine is not misjudged to be dirty because the floor cleaning machine is not used for sucking the stubborn stains for the first time, the cleaning force is not timely increased, the cleaning effect of the floor cleaning machine is poor because the floor cleaning machine is not used for sucking the dirty, the dirty degree in the dirt suction channel is not high, the misjudgment of the floor is not dirty because the dirty degree in the dirt suction channel is not detected, and the cleaning effect is not seriously influenced are avoided because the judgment result is opposite to the actual situation, and the floor cleaning effect is seriously influenced.

In addition, in this embodiment, whether the ground has stubborn stains is judged through the mode of detecting the back and forth movement of the floor washing machine in same cleaning position, compare in the dirty condition of detecting ground through visual sensor or laser sensor that increases on the floor washing machine now, judge that the mode is simpler high-efficient, and the cost is about greatly reduced, the cost of a floor washing machine is few then reduces hundreds of yuan more thousand yuan, more satisfy the user demand of high price/performance ratio, do benefit to popularization and use, in addition, whether the ground has stubborn stains through the mode of detecting the back and forth movement of floor washing machine in same cleaning position, judge that the result can not receive the interference of external environmental factor, do not exist and shelter from the thing, or the influence of dead angle position, lead to the problem of detection precision low and inaccurate detection.

In an alternative embodiment, the floor scrubber includes a roller brush for cleaning the floor and a soil pick-up mechanism for adsorbing soil from the floor;

the cleaning force of the floor washing machine is controlled to be increased to a preset cleaning force, and the floor washing machine specifically comprises the following components: the rotational speed of the rolling brush is controlled to be increased, and/or the suction force of the dirt sucking mechanism is controlled to be increased.

The beneficial effects are that: when judging that the floor washing machine moves back and forth at the same cleaning position, the rotating speed of the rolling brush is controlled to be increased, stubborn stains attached to the ground can be removed quickly and efficiently, the dirt removing effect is good, the speed is high, the cleaning efficiency of the floor washing machine is improved, and the use experience of a user is improved. When the floor washing machine is judged to move back and forth at the same cleaning position, the suction force of the dirt suction mechanism is controlled to be increased, the adsorption effect on stubborn dirt on the ground is improved, and the dirt removal is facilitated.

In an alternative embodiment, during the working process of the floor washing machine, if it is determined that the frequency of the back and forth movement of the floor washing machine at the same cleaning position is greater than a set frequency threshold, controlling the cleaning force of the floor washing machine to be increased to a preset cleaning force specifically includes:

in the working process of the floor washing machine, acquiring the rotation direction of the casters of the floor washing machine in real time;

judging whether the number of times of switching the rotation direction of the casters of the floor washing machine at the same cleaning position within a set time is larger than the set number of times or not;

when the switching times of the rotation directions of the casters are judged to be larger than the set times, the situation that stubborn stains which are difficult to clean are arranged at the cleaning position can be deduced, and the floor cleaning machine is controlled to increase the cleaning force of the cleaning position.

The beneficial effects are that: in the working process of the floor washing machine, whether the floor washing machine moves back and forth at the same cleaning position is judged by detecting the rotation direction of the trundles, when the fact that the rotation direction of the trundles of the floor washing machine at the same cleaning position is switched for more than the set times in the set time is judged, the fact that a user pushes the floor washing machine to rotate back and forth frequently at the cleaning position can be inferred, and intractable stains which are difficult to clean are arranged at the place, so that the floor washing machine is controlled to increase the cleaning force of the cleaning position, increase the suction force and increase the rotating speed of the rolling brush, the rolling brush is enabled to scrape and rapidly peel the intractable stains on the ground, the cleaning effect is improved, and the user experience is assisted. Whether the floor washing machine moves back and forth at the same position is judged by judging whether the truckles frequently rotate back and forth, the dirt detection mechanism can be assisted to judge whether the preset cleaning position has stubborn dirt, and the problem that the floor washing machine misjudges that the floor is not dirty, suction force and rolling brush rotating speed are not increased in time and the cleaning effect of the floor washing machine is poor due to the fact that the stubborn dirt is not sucked up by the floor washing machine for the first time is avoided.

In an alternative embodiment, when it is determined that the number of times of switching the turning direction of the caster is greater than the set number of times, the following steps are further performed:

and determining the cleaning force of the floor washing machine according to the switching frequency of the rotating direction of the casters, wherein the cleaning force is positively correlated with the switching frequency of the rotating direction of the casters.

The beneficial effects are that: when judging that the switching frequency of the truckle rotation direction is higher, the frequency that the user is pushing the floor cleaning machine to move back and forth at the cleaning position is higher, the intractable degree of the stains attached to the side surface can be reflected to be higher or the user wants to quickly take the stains, at the moment, the floor cleaning machine can adaptively adjust the cleaning force of the floor cleaning machine according to the switching frequency of the truckle rotation direction, the higher the switching frequency is, the higher the corresponding cleaning force of the floor cleaning machine is, so that the removal effect of the high intractable stains can be realized, the user experience is improved, and the lower the switching frequency is, the lower the corresponding cleaning force of the floor cleaning machine is, and the purpose of saving energy consumption is realized while the stain removal effect is ensured.

In an alternative embodiment, a dirt detection mechanism is arranged in a dirt suction channel of the floor washing machine, and the floor washing machine comprises a rolling brush rotatably arranged at the bottom of the machine body;

the control method further comprises the following steps:

when the dirt detection mechanism detects that the dirt degree in the dirt suction channel is greater than or equal to a set dirt threshold value, further judging whether the frequency of the back and forth movement of the floor washing machine at the preset cleaning position is greater than the set frequency threshold value;

if yes, controlling to increase the rotating speed of the rolling brush, and simultaneously controlling to increase the suction force of the floor scrubber; if not, controlling to increase the suction force of the floor washing machine.

The beneficial effects are that: when the dirt detection mechanism detects that the dirt degree of the dirt in the dirt suction channel is greater than or equal to a set dirt threshold, namely, the dirt in the dirt suction channel is detected, whether the frequency of the back and forth movement of the floor cleaning machine at the preset cleaning position is greater than the set frequency threshold is further judged, if the back and forth movement of the floor cleaning machine at the same cleaning position is judged, the fact that a user encounters stubborn dirt which is not easy to clean is indicated, the rotating speed of the rolling brush is increased besides the suction force, the rolling brush is enabled to rapidly strip stubborn dirt on the floor, the effect of removing the stubborn dirt is improved, and when the fact that the floor cleaning machine does not move back and forth at the preset cleaning position is judged, the fact that dirt is easy to be sucked up although the floor cleaning machine is indicated, therefore, the suction force is only increased, and the energy consumption is saved.

In an alternative embodiment, the control method further comprises the steps of:

when the dirt detection mechanism detects that the dirt degree in the dirt suction channel is smaller than a set dirt threshold value, further judging whether the frequency of the back and forth movement of the floor washing machine at the preset cleaning position is larger than the set frequency threshold value or not;

if yes, controlling to increase the rotating speed of the rolling brush, and simultaneously controlling to increase the suction force of the floor scrubber; if not, the floor washing machine is controlled to normally operate at the current suction and the rotating speed of the rolling brush.

The beneficial effects are that: when the dirt detection mechanism detects that the dirt degree of the dirt suction channel is smaller than a set dirt threshold, namely that no dirt is detected in the dirt channel, further judging whether the frequency of the back and forth movement of the floor scrubber at a preset cleaning position is larger than the set frequency threshold, if so, indicating that the user encounters stubborn dirt which is not easy to clean but is not sucked all the time, increasing the suction force, increasing the rotating speed of the rolling brush, enabling the rolling brush to quickly and effectively strip the stubborn dirt on the ground, improving the removal effect of the stubborn dirt, increasing the suction force, and sucking the scraped stubborn dirt; when the floor washing machine is judged not to move back and forth at the preset cleaning position, the floor washing machine is clean, suction force and rotating speed of the rolling brush are not required to be increased, the floor washing machine is normally operated, and energy consumption is saved.

In a second aspect, the present invention further provides a floor scrubber, including a memory and a processor, where the memory stores a computer program, and the processor implements the control method of the floor scrubber according to any of the foregoing embodiments when executing the computer program.

In an alternative embodiment, the floor scrubber further comprises:

a floor scrubber body;

the castor is rotatably arranged at the bottom of the floor washing machine main body;

the direction detection mechanism is arranged at the caster and used for detecting the rotation direction of the caster.

In an alternative embodiment, the direction detection mechanism includes any one of a mechanical switch, a photoelectric sensor, and a magnetic induction sensor.

In an alternative embodiment, the floor scrubber further comprises:

the cleaning mechanism comprises a rolling brush arranged at the bottom of the floor washing machine body and a power piece which is suitable for driving the rolling brush to rotate or reciprocate;

the dirt sucking mechanism comprises a dirt collecting cavity, a suction piece and a dirt sucking channel communicated between the dirt collecting cavity and a dirt sucking port at the bottom of the floor scrubber, and dirt at a position to be cleaned is suitable for being sucked into the dirt collecting cavity through the dirt sucking channel under the suction action of the suction piece;

the dirt detection mechanism is arranged in the dirt suction channel and is used for detecting the dirt degree in the dirt suction channel.

In a third aspect, the present invention also provides a computer readable storage medium having stored thereon computer instructions for causing a computer to execute the control method of the floor scrubber of any of the above embodiments.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow chart of a first embodiment of a control method of a floor scrubber according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart of a second implementation of a control method of a floor scrubber according to an embodiment of the present invention;

FIG. 3 is a schematic flow chart of a third embodiment of a control method of a floor scrubber according to an embodiment of the present invention;

FIG. 4 is a schematic flow chart of a fourth embodiment of a control method of a floor scrubber according to an embodiment of the present invention;

FIG. 5 is a schematic flow chart of a fifth embodiment of a control method of a floor scrubber according to an embodiment of the present invention;

FIG. 6 is a schematic flow chart of a sixth implementation of a floor scrubber control method according to an embodiment of the present invention;

FIG. 7 is a schematic flow chart of a seventh implementation of a floor scrubber control method according to an embodiment of the present invention;

FIG. 8 is a schematic flow chart of an eighth implementation of a floor scrubber control method according to an embodiment of the present invention;

fig. 9 is a schematic flow chart of a ninth implementation of a control method of a scrubber according to an embodiment of the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.

Along with the continuous improvement of people's living standard, be used for indoor clear floor scrubber to get into people's life gradually, the floor scrubber product on the market at present mostly all possesses dirty detection function, and some higher-end models detect the dirty cleaning condition on ground through setting up visual sensor or laser sensor on the floor scrubber, and not only the cost is high, receives external environment easily to disturb moreover, shelter from like shelter from the thing, or dead angle position also hardly detects, leads to detection precision not high, judges inaccurately.

Therefore, most floor washers have a dirt detecting mechanism provided in the dirt suction passage, and determine whether the floor is clean by detecting the dirt degree of the sucked sewage. Through setting up dirty detection mechanism in the dirt-absorbing channel, its testing result is difficult for receiving the shelter from environmental factor such as thing and shelters from and interfere, and detection accuracy is higher, and it is more accurate to judge to dirty detection mechanism can adopt the lower sensor of price such as turbidity sensor to detect, practices thrift the cost.

However, during the process of cleaning the floor, some stubborn stains often adhere to the floor, such as rice grains, chewing gum, color gum or oil stains with high viscosity, and the like, and are difficult to suck. The floor scrubber is used for cleaning the stubborn dirt, and the dirt is relatively stubborn and not sucked, so that the sucked water in the dirt channel is relatively clear, the dirt detection mechanism can detect the dirt in the dirt suction channel to be low in degree, the floor scrubber misjudges that the floor is not dirty, the judgment result is opposite to the actual situation, the cleaning force can be correspondingly reduced, and the cleaning effect is seriously influenced if the suction force, the rotating speed of a rolling brush and the like of the floor scrubber are reduced, so that the floor is not cleaned.

An embodiment of the present invention is described below with reference to fig. 1 to 9.

According to an embodiment of the present invention, in one aspect, the present invention provides a control method of a floor scrubber, the control method including the steps of:

in the working process of the floor washing machine, if the frequency of the back and forth movement of the floor washing machine at the same cleaning position is judged to be larger than a set frequency threshold value, the cleaning force of the floor washing machine is controlled to be increased to a preset cleaning force, and the cleaning position is cleaned by the preset cleaning force.

When a certain cleaning position on the ground is provided with stubborn stains, a user can move the floor cleaning machine back and forth at the position and repeatedly clean the stains, so in the embodiment, in the working process of the floor cleaning machine, if the floor cleaning machine is judged to move back and forth at the same cleaning position, the situation that the stubborn stains are arranged at the cleaning position is indicated, the floor cleaning machine is correspondingly controlled to enlarge the cleaning force for the cleaning position, the stubborn stains can be effectively removed, the cleaning effect of the floor cleaning machine and the use experience of the user are improved, the problems that the floor cleaning machine is not misjudged to be dirty because the floor cleaning machine is not used for sucking the stubborn stains for the first time, the cleaning force is not timely increased, the cleaning effect of the floor cleaning machine is poor because the floor cleaning machine is not used for sucking the dirty, the dirty degree in the dirt suction channel is not high, the misjudgment of the floor is not dirty because the dirty degree in the dirt suction channel is not detected, and the cleaning effect is not seriously influenced are avoided because the judgment result is opposite to the actual situation, and the floor cleaning effect is seriously influenced.

In addition, in this embodiment, whether the ground has stubborn stains is judged through the mode of detecting the back and forth movement of the floor washing machine in same cleaning position, compare in the dirty condition of detecting ground through visual sensor or laser sensor that increases on the floor washing machine now, judge that the mode is simpler high-efficient, and the cost is about greatly reduced, the cost of a floor washing machine is few then reduces hundreds of yuan more thousand yuan, more satisfy the user demand of high price/performance ratio, do benefit to popularization and use, in addition, whether the ground has stubborn stains through the mode of detecting the back and forth movement of floor washing machine in same cleaning position, judge that the result can not receive the interference of external environmental factor, do not exist and shelter from the thing, or the influence of dead angle position, lead to the problem of detection precision low and inaccurate detection.

Further, as shown in fig. 1, in one implementation of the above embodiment, the control method of the floor scrubber specifically includes the following steps:

step S101: starting the floor washing machine;

step S102: judging whether the frequency of the back and forth movement of the floor washing machine at the same cleaning position is greater than a set frequency threshold value or not in the working process of the floor washing machine;

if yes, go to step S103; if not, executing step S104;

step S103: controlling the cleaning force of the floor cleaning machine to be increased to a preset cleaning force, and cleaning the cleaning position with the preset cleaning force;

step S104: and controlling the normal operation of the floor washing machine.

In some embodiments, the floor scrubber includes a roller brush for cleaning the floor and a soil pick-up mechanism for adsorbing soil from the floor.

Further, in this embodiment, the rolling brush may be a lint rolling brush, which has good water absorption and oil absorption, and is suitable for tile, carpet, wooden floor, etc., and the garbage with large size particles or dry and wet garbage can be used.

Or in other embodiments, the rolling brush is a plastic rolling brush, so that the rolling brush has no trouble of rolling cloth, is not easy to wind hair, and is suitable for wooden floors and the like.

In some embodiments, the dirt suction mechanism comprises a dirt collection chamber, a suction piece and a dirt suction channel communicated between the dirt collection chamber and a dirt suction port at the bottom of the floor scrubber, and dirt at the position to be cleaned is suitable for being sucked into the dirt collection chamber through the dirt suction channel under the suction force of the suction piece.

In some embodiments, the floor scrubber is controlled to increase the cleaning force to the cleaning position, and the method specifically comprises the following steps:

and controlling to increase the rotating speed of the rolling brush and/or controlling to increase the suction force of the dirt sucking mechanism.

In the above embodiment, when the floor washing machine is judged to move back and forth at the same cleaning position, the rotating speed of the rolling brush is controlled to be increased, stubborn stains attached to the ground can be removed quickly and efficiently, the dirt removing effect is good, the speed is high, the cleaning efficiency of the floor washing machine is improved, and the use experience of a user is improved.

Further, as shown in fig. 2, in one implementation of the above embodiment, the control method of the floor scrubber specifically includes the following steps:

step S201: starting the floor washing machine;

step S202: judging whether the frequency of the back and forth movement of the floor washing machine at the same cleaning position is greater than a set frequency threshold value or not in the working process of the floor washing machine;

if yes, go to step S203; if not, executing step S204;

step S203: controlling and increasing the rotating speed of the rolling brush;

step S204: and controlling the normal operation of the floor washing machine.

Specifically, when judging that the floor washing machine moves back and forth at the same cleaning position, the corresponding control increases the rotating speed of the rolling brush, so that the rolling brush rotates rapidly, the scraping effect on stubborn stains is improved, the stains can fall off rapidly, and the stripping effect on stubborn stains is improved.

As shown in fig. 3, in the first implementation manner of the above embodiment, the control method of the floor scrubber specifically includes the following steps:

step S301: starting the floor washing machine;

step S302: judging whether the frequency of the back and forth movement of the floor washing machine at the same cleaning position is greater than a set frequency threshold value or not in the working process of the floor washing machine;

if yes, go to step S303; if not, executing step S304;

step S303: controlling and increasing the suction force of the dirt sucking mechanism;

step S304: and controlling the normal operation of the floor washing machine.

As shown in fig. 4, in the second implementation manner of the above embodiment, the control method of the floor scrubber specifically includes the following steps:

step S401: starting the floor washing machine;

step S402: judging whether the frequency of the back and forth movement of the floor washing machine at the same cleaning position is greater than a set frequency threshold value or not in the working process of the floor washing machine;

if yes, go to step S403; if not, executing step S3404;

step S403: controlling to increase the suction force of the dirt sucking mechanism and simultaneously controlling to increase the rotating speed of the rolling brush;

step S404: and controlling the normal operation of the floor washing machine.

In this embodiment, the suction force of the dirt sucking mechanism may be increased by increasing the power or the rotation speed of the suction piece, and the suction piece may be a power structure such as a water sucking pump or a water sucking motor, a fan, or the like, and specifically, the suction force of the floor scrubber may be increased by increasing the rotation speed of the water sucking pump or the water sucking motor or the rotation speed of the fan, or the like.

In some embodiments, as shown in fig. 5, in the working process of the floor washing machine, if it is determined that the floor washing machine moves back and forth at the same cleaning position, the floor washing machine is controlled to increase the cleaning force for the cleaning position, and specifically includes the following steps:

step S501: in the working process of the floor washing machine, acquiring the rotation direction of the casters of the floor washing machine in real time;

step S502: judging whether the number of times of switching the rotation direction of the casters of the floor washing machine at the same cleaning position within a set time is larger than the set number of times or not;

if yes, go to step S503; if not, executing step S504;

step S503: the cleaning position is deduced to have stubborn stains which are difficult to clean, and the floor cleaning machine is controlled to increase the cleaning force on the cleaning position;

step S504: and controlling the normal operation of the floor washing machine.

In the above embodiment, in the working process of the floor washing machine, whether the floor washing machine moves back and forth at the same cleaning position is judged by detecting the rotation direction of the truckles, when the rotation direction of the truckles of the floor washing machine at the same cleaning position is judged to be switched for more than the set times in the set time, the situation that a user pushes the floor washing machine to frequently rotate back and forth at the cleaning position can be deduced, and stubborn stains which are difficult to clean are present at the cleaning position is deduced, so that the floor washing machine is controlled to increase the cleaning force of the cleaning position, increase the suction force and increase the rotating speed of the rolling brush, the rolling brush is enabled to scrape and rapidly peel the stubborn stains on the ground, the cleaning is assisted by the user, and the cleaning effect and the user experience are improved.

According to the embodiment, whether the floor washing machine moves back and forth at the same position is judged by judging whether the casters frequently rotate back and forth, the dirt detection mechanism can be assisted to judge whether the preset cleaning position has stubborn dirt, and the problem that the floor washing machine misjudges that the floor is not dirty, suction force and rolling brush rotating speed are not increased in time and the cleaning effect of the floor washing machine is poor due to the fact that the stubborn dirt is not sucked up by the floor washing machine for the first time is avoided.

Specifically, in step S502, when it is determined that the number of times of switching the rotation direction of the caster wheel in the forward and reverse directions is greater than the set number of times, for example, if the number of times of switching the rotation direction of the caster wheel in the forward and reverse directions is greater than 3 times in 10 seconds, it can be inferred that the cleaning position where the floor scrubber is currently located has stubborn stains, and the user repeatedly cleans the same cleaning position, so as to increase the cleaning force to the cleaning position.

Optionally, in this embodiment, a direction detecting mechanism may be added to the caster wheel of the floor washing machine to detect the rotation direction of the caster wheel, so as to assist in dirt detection, when the direction detecting mechanism detects that the caster wheel rotates back and forth repeatedly, it is determined that there is a stubborn dirt on the ground, and when the user is cleaning the same position repeatedly, the program determines to increase the suction force and the rotation speed of the roller brush of the floor washing machine, so as to assist in cleaning the user.

In some embodiments, as shown in fig. 6, when it is determined that the number of times of switching the turning direction of the caster is greater than the set number of times, the following steps are further performed:

step S503a: and determining the cleaning force of the floor washing machine according to the switching frequency of the rotating direction of the casters, wherein the cleaning force is positively correlated with the switching frequency of the rotating direction of the casters.

Optionally, the cleaning force of the floor scrubber is divided into at least two levels: high power gear and low power gear. Preferably, the level of cleaning effort further comprises a medium power gear between the high power gear and the low power gear. The cleaning force is sequentially high-strength gear, medium-strength gear and low-strength gear from high to low. The suction force and the rolling brush rotating speed of the floor washing machine corresponding to different cleaning force grades are different, and the larger the cleaning force is, the larger the corresponding suction force and rolling brush rotating speed are.

In the above embodiment, when the switching frequency of the caster wheel rotating direction is determined to be higher, it is stated that the frequency of the user pushing the floor cleaning machine to move back and forth at the cleaning position is higher, so that the stubborn degree of the attached dirt can be reflected laterally or the user wants to remove the dirt quickly, at this time, the floor cleaning machine can adaptively adjust the cleaning force of the floor cleaning machine according to the switching frequency of the caster wheel rotating direction, the cleaning force of the floor cleaning machine is higher when the switching frequency is higher, so that the removal effect of the high stubborn dirt can be realized, the user experience is improved, and otherwise, the cleaning force of the floor cleaning machine is smaller when the switching frequency is lower, so that the purpose of saving energy consumption is realized while the removal effect of the dirt is ensured.

Illustratively, the scrubber is controlled to a high power gear, such as when the switching frequency of the casters is determined to be greater than or equal to a first switching frequency threshold. When judging that the switching frequency of the trundles is smaller than the first switching frequency threshold value and larger than or equal to the second switching frequency threshold value, controlling the cleaning force of the floor washing machine to be a middle strong gear; wherein the second switching frequency threshold is < the first switching frequency threshold. When judging that the switching frequency of the trundles is smaller than the second switching frequency threshold value and larger than or equal to the third switching frequency threshold value, controlling the cleaning force of the floor washing machine to be a low-strength gear; wherein the third switching frequency threshold is < the second switching frequency threshold. When judging that the switching frequency of the trundles is smaller than the third switching frequency threshold value, controlling the floor washing machine to work according to the normal cleaning force

In some embodiments, a dirt detecting mechanism is arranged in a dirt sucking channel of the floor washing machine, and the rolling brush is rotatably arranged at the bottom of the machine body.

In some embodiments, as shown in fig. 7, the control method further includes the steps of:

step S601: the dirt detection mechanism detects that the dirt degree in the dirt suction channel is larger than or equal to a set dirt threshold value;

step S602: judging whether the frequency of the back and forth movement of the floor washing machine at a preset cleaning position is larger than a set frequency threshold value or not;

if yes, go to step S603; if not, executing step S604;

step S603: controlling to increase the rotating speed of the rolling brush and simultaneously controlling to increase the suction force of the floor scrubber;

step S604: the suction force of the floor washing machine is controlled to be increased.

In the above embodiment, when the dirt detection mechanism detects that the dirt degree of the dirt in the dirt sucking channel is greater than or equal to the set dirt threshold, that is, when the dirt in the dirt sucking channel is detected, whether the frequency of the back and forth movement of the floor cleaning machine at the preset cleaning position is greater than the set frequency threshold is further judged, if the back and forth movement of the floor cleaning machine at the same cleaning position is judged, the user encounters the stubborn dirt which is not easy to clean, the rotating speed of the rolling brush is increased besides increasing the suction force, the rolling brush is enabled to quickly peel the stubborn dirt on the ground, the removal effect of the stubborn dirt is improved, and when the back and forth movement of the floor cleaning machine at the preset cleaning position is judged, the fact that the dirt is easy to suck although the dirt is not found is indicated, therefore, only the suction force is increased, and the energy consumption is saved.

In some embodiments, as shown in fig. 8, the control method further includes the steps of:

step S701: the dirt detection mechanism detects that the dirt degree in the dirt suction channel is smaller than a set dirt threshold value;

step S702: judging whether the frequency of the back and forth movement of the floor washing machine at the preset cleaning position is larger than a set frequency threshold value or not;

if yes, go to step S703; if not, executing step S704;

step S703: controlling to increase the rotating speed of the rolling brush and simultaneously controlling to increase the suction force of the floor scrubber;

step S704: the floor scrubber is controlled to normally operate at the current suction and the rotating speed of the rolling brush.

In the above embodiment, when the dirt detection mechanism detects that the dirt degree of the dirt suction channel is smaller than the set dirt threshold, that is, no dirt is detected in the dirt channel, whether the frequency of the back and forth movement of the floor scrubber at the preset cleaning position is larger than the set frequency threshold is further judged, if the back and forth movement of the floor scrubber at the same cleaning position is judged, it is indicated that the user encounters a stubborn dirt which is not easy to clean but is not sucked all the time, therefore, the suction force is increased, the rotating speed of the rolling brush is increased, the rolling brush is enabled to quickly and effectively strip the stubborn dirt on the floor, the removal effect of the stubborn dirt is improved, the suction force is increased, and the scraped dirt is sucked; when the floor washing machine is judged not to move back and forth at the preset cleaning position, the floor washing machine is clean, suction force and rotating speed of the rolling brush are not required to be increased, the floor washing machine is normally operated, and energy consumption is saved.

The following provides a judging procedure of an embodiment of the dirt encountered by the floor washing machine during operation, with reference to fig. 7 to 9.

The floor washing machine starts to work, and the dirt detection mechanism starts to detect the dirt degree in the dirt passage, and specifically comprises the following two situations.

In the first case, if the dirt detection mechanism detects that the dirt level is greater than or equal to the set dirt threshold, then judging whether the casters of the floor washing machine rotate forwards and backwards.

(1) If the caster wheel does not rotate back and forth frequently, the phenomenon that dirt is easily sucked up by the dirt sucking mechanism although the caster wheel is dirty is described, so that only suction force is increased;

(2) if the caster wheel also frequently rotates back and forth, the user encounters stubborn stains which are difficult to clean, the rotating speed of the rolling brush is increased besides increasing the suction force, and the rolling brush is enabled to sweep up stubborn stains on the ground.

And secondly, if the dirt detection mechanism detects that the dirt degree is smaller than the set dirt threshold value, judging whether the casters of the floor washing machine rotate forwards and backwards.

(1) If the caster wheel does not rotate back and forth frequently, the caster wheel is clean, the suction force and the rotating speed of the rolling brush are not required to be increased, and the caster wheel can normally run;

(2) if the caster wheel frequently rotates back and forth, the user is required to increase the suction and the rotating speed of the rolling brush to enable the rolling brush to rapidly rotate to scrape the stubborn stains on the glass floor when the user encounters stubborn stains which are difficult to clean.

According to the embodiment, whether the floor washing machine moves back and forth at the same position is judged by judging whether the casters frequently rotate back and forth, the dirt detection mechanism can be assisted to judge whether the preset cleaning position has stubborn dirt, and the problem that the floor washing machine misjudges that the floor is not dirty, suction force and rolling brush rotating speed are not increased in time and the cleaning effect of the floor washing machine is poor due to the fact that the stubborn dirt is not sucked up by the floor washing machine for the first time is avoided.

According to an embodiment of the present invention, in another aspect, there is provided a floor scrubber including a memory and a processor, the memory storing a computer program, the processor implementing the control method of the floor scrubber of any of the above embodiments when executing the computer program.

In some embodiments, the floor scrubber further comprises a floor scrubber body, casters rotatably mounted to the bottom of the floor scrubber body, a direction detection mechanism; the direction detection mechanism is arranged at the caster and is used for detecting the rotation direction of the caster.

Specifically, the front and rear of the rolling brush of the floor washing machine are generally provided with two groups of casters which play roles of supporting the host machine, keeping balance and the like, and the casters are not actively controlled by a motor or other electric control equipment and generally rotate forwards or backwards along with the forward pushing or backward pulling of the host machine by a user. According to the invention, the direction detection mechanism can be arranged on the truckle to detect the rotation direction of the truckle, and the main control board of the floor washing machine can receive the forward rotation or the backward rotation of the truckle in real time, so that whether the floor washing machine moves back and forth at the same position is judged, and whether the floor washing machine moves back and forth at the same position is used for assisting in judging whether stubborn stains exist on the ground.

According to the embodiment, the direction detection mechanism is added at the foot wheel of the floor washing machine to detect the rotation direction of the foot wheel and is used for assisting in dirt judgment, when the sensor detects that the foot wheel rotates back and forth repeatedly, a user with stubborn dirt on the ground is judged to be in the same position when the user is repeatedly cleaned, and then the program judges to increase the suction force and the rotating speed of the rolling brush to assist the user in cleaning. Compared with the direction detection mechanism which is provided with a visual sensor or a dirt sensor on the floor washing machine to detect dirt, the floor washing machine is lower in cost, stronger in anti-interference capability and easy to use and popularize.

In some embodiments, the direction detection mechanism includes any one of a mechanical switch, a photoelectric sensor, a magnetic induction sensor.

In some embodiments, the floor scrubber further comprises a cleaning mechanism, a soil pick-up mechanism, and a soil detection mechanism, the cleaning mechanism comprising a roller brush mounted to the bottom of the floor scrubber body, and a power member adapted to drive the roller brush to rotate.

Optionally, the power member further comprises a driving motor connected to the roller brush, adapted to control the rotational speed of the roller brush by controlling the rotational speed of the driving motor.

Further, the dirt sucking mechanism comprises a dirt collecting cavity, a suction piece and a dirt sucking channel communicated between the dirt collecting cavity and a dirt sucking port at the bottom of the floor washer, and dirt at a position to be cleaned is suitable for being sucked into the dirt collecting cavity through the dirt sucking channel under the suction action of the suction piece; the dirt detection mechanism is arranged in the dirt suction channel and is used for detecting the dirt degree in the dirt suction channel.

Optionally, the suction piece comprises a suction pump or a suction motor, a fan. The dirt detection mechanism can be an infrared sensor or a turbidity sensor and is arranged inside the dirt suction channel.

According to an embodiment of the present invention, in another aspect, there is provided a computer-readable storage medium having stored thereon computer instructions for causing a computer to execute the control method of the floor scrubber of any of the above embodiments.

Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the invention as defined by the appended claims.

Claims (11)

1. A control method of a floor scrubber, comprising:

in the working process of the floor washing machine, if the frequency of the back and forth movement of the floor washing machine at the same cleaning position is judged to be larger than a set frequency threshold value, the cleaning force of the floor washing machine is controlled to be increased to a preset cleaning force, and the cleaning position is cleaned by the preset cleaning force.

2. The control method of a floor scrubber according to claim 1, wherein the floor scrubber comprises a roller brush for cleaning a floor and a soil sucking mechanism for sucking soil on the floor;

the cleaning force of the control floor washing machine is increased to a preset cleaning force, and the control floor washing machine specifically comprises the following components:

and controlling to increase the rotating speed of the rolling brush and/or controlling to increase the suction force of the dirt sucking mechanism.

3. The control method of a floor washer according to claim 1 or 2, wherein, in the course of the floor washer working, if it is determined that the frequency of the back and forth movement of the floor washer at the same cleaning position is greater than a set frequency threshold, the cleaning force of the floor washer is controlled to be increased to a preset cleaning force, specifically comprising:

in the working process of the floor washing machine, acquiring the rotation direction of the casters of the floor washing machine in real time;

judging whether the number of times of switching the rotation direction of the casters of the floor washing machine at the same cleaning position within a set time is larger than the set number of times or not;

when the switching times of the rotating directions of the casters are judged to be larger than the set times, the situation that the cleaning positions are provided with stubborn stains which are difficult to clean can be deduced, and the floor washing machine is controlled to increase the cleaning force of the cleaning positions.

4. The control method of a floor washing machine according to claim 3, wherein when it is judged that the number of times of switching of the turning direction of the casters is greater than the set number of times, the steps of:

and determining the cleaning force of the floor washing machine according to the switching frequency of the rotating direction of the casters, wherein the cleaning force is positively correlated with the switching frequency of the rotating direction of the casters.

5. The control method of a floor scrubber according to claim 1 or 2, wherein a soil detection mechanism is provided in a soil suction passage of the floor scrubber;

the control method further comprises the following steps:

when the dirt detection mechanism detects that the dirt degree in the dirt suction channel is greater than or equal to a set dirt threshold value, further judging whether the frequency of the back and forth movement of the floor washing machine at the preset cleaning position is greater than the set frequency threshold value;

if yes, controlling to increase the rotating speed of the rolling brush, and simultaneously controlling to increase the suction force of the floor scrubber; if not, controlling to increase the suction force of the floor washing machine.

6. The control method of a floor scrubber according to claim 5, further comprising the steps of:

when the dirt detection mechanism detects that the dirt degree in the dirt suction channel is smaller than a set dirt threshold value, further judging whether the frequency of the back and forth movement of the floor washing machine at the preset cleaning position is larger than the set frequency threshold value or not;

if yes, controlling to increase the rotating speed of the rolling brush, and simultaneously controlling to increase the suction force of the floor scrubber; if not, the floor washing machine is controlled to normally operate at the current suction and the rotating speed of the rolling brush.

7. A floor scrubber comprising a memory and a processor, the memory storing a computer program, the processor implementing the control method of the floor scrubber according to any of claims 1 to 6 when executing the computer program.

8. The floor washer of claim 7, further comprising:

a floor scrubber body;

the caster wheel is rotatably arranged at the bottom of the floor washing machine main body;

the direction detection mechanism is arranged at the caster and used for detecting the rotation direction of the caster.

9. The floor scrubber of claim 8 wherein the direction detection mechanism comprises any one of a mechanical switch, a photoelectric sensor, a magnetic induction sensor.

10. The floor washer of claim 8, further comprising:

the cleaning mechanism comprises a rolling brush arranged at the bottom of the floor washing machine main body and a power piece which is suitable for driving the rolling brush to rotate or reciprocate;

the dirt sucking mechanism comprises a dirt collecting cavity, a suction piece and a dirt sucking channel communicated between the dirt collecting cavity and a dirt sucking port at the bottom of the floor scrubber, and dirt at a position to be cleaned is suitable for being sucked into the dirt collecting cavity through the dirt sucking channel under the suction action of the suction piece;

the dirt detection mechanism is arranged in the dirt suction channel and is used for detecting the dirt degree in the dirt suction channel.

11. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon computer instructions for causing a computer to execute the control method of the floor washing machine according to any one of claims 1 to 6.