CN116369794A

CN116369794A - Control method and device of floor washing machine, floor washing machine and readable storage medium

Info

Publication number: CN116369794A
Application number: CN202310490924.3A
Authority: CN
Inventors: 陈安涛; 毛先海; 陈剑波; 黄振国
Original assignee: Shenzhen 3irobotix Co Ltd
Current assignee: Shenzhen 3irobotix Co Ltd
Priority date: 2023-04-28
Filing date: 2023-04-28
Publication date: 2023-07-04

Abstract

The application discloses a control method and device of a floor washing machine, the floor washing machine and a readable storage medium, and belongs to the field of floor washing machines. The control method of the floor washing machine comprises the following steps: acquiring working parameters of the floor washer under the condition that the MCU power-on state of the floor washer is primary power-on or the starting state of the floor washer is primary starting after leaving a base station; after the running time from the starting time to the current time of the rolling brush exceeds the third time, determining that the duration that the working parameter is not smaller than the fourth electric threshold reaches a sixth time threshold, and controlling the water outlet device to continuously supply water to the rolling brush for the fourth time with a seventh water amount. The control method of the floor washing machine can realize the optimal balance between the temperature rise of the motor and the residual water stain on the ground.

Description

Control method and device of floor washing machine, floor washing machine and readable storage medium

Technical Field

The application belongs to the field of floor washers, and particularly relates to a control method and device of a floor washer, the floor washer and a readable storage medium.

Background

The floor washing machine is widely used in daily life. In the related art, the rolling brush current is reduced by mainly adopting a mode of improving the water yield of the rolling brush so as to reduce the temperature rise of the motor. However, the water consumption of the method is large, so that the residual water stains on the ground are more, the use experience of users is affected, and the water resource waste is caused.

Disclosure of Invention

The present application aims to solve at least one of the technical problems existing in the prior art. Therefore, the application provides a control method and device of a floor washing machine, the floor washing machine and a readable storage medium, and the optimal balance between the temperature rise of a motor and residual water stains on the ground can be realized.

In a first aspect, the present application provides a control method of a floor scrubber, the floor scrubber including a rolling brush and a water outlet device, the water outlet device being connected to the rolling brush, the method comprising:

acquiring working parameters of the floor washer under the condition that the MCU power-on state of the floor washer is primary power-on or the starting state of the floor washer is primary starting after leaving a base station;

after the running time from the starting time to the current time of the rolling brush exceeds the third time, determining that the duration that the working parameter is not smaller than the fourth electric threshold reaches a sixth time threshold, and controlling the water outlet device to continuously supply water to the rolling brush for the fourth time with a seventh water amount.

According to the control method of the floor washing machine, the quantitative water supplementing stage is arranged to properly improve the water supplementing amount under the condition of higher temperature rising rate of the motor so as to reduce the temperature rising rate, so that the balance between the temperature rising of the floor washing machine and residual water stains on the ground can be maintained better.

According to one embodiment of the present application, after obtaining the working parameters of the floor scrubber, in the case that the MCU power-on state of the floor scrubber is first power-on or the start-up state of the floor scrubber is first start-up after leaving the base station, the method further includes:

and after the running time from the starting time to the current time of the rolling brush exceeds the third time, determining that the duration time that the working parameter is not smaller than the fourth electrical threshold value does not reach the sixth time threshold value, and controlling the water yield of the water outlet device based on the running time.

According to an embodiment of the present application, the controlling the water output of the water output device based on the operation duration includes:

controlling the floor washing machine to enter a second stage under the condition that the running time length does not reach a first time threshold value, wherein in the second stage, the water outlet device continuously supplements water to the rolling brush with target water quantity, and the target water quantity is smaller than the seventh water quantity; the first time threshold is greater than the third time period;

and under the condition that the running time length reaches the first time threshold value, controlling the floor washing machine to enter a third stage, wherein in the third stage, the water outlet device intermittently supplies water to the rolling brush with a third water quantity, and the third water quantity is larger than the target water quantity.

According to one embodiment of the present application, further comprising:

controlling the floor scrubber to enter a first stage under the condition that the MCU power-on state of the floor scrubber is primary power-on or the starting state of the floor scrubber is primary starting after leaving a base station, and continuously supplying water to the rolling brush by the water outlet device in the first stage by using a first water amount; the first amount of water is greater than the seventh amount of water.

According to one embodiment of the application, after said controlling said floor scrubber into the first phase, the method further comprises:

controlling the floor scrubber to finish the first stage and enter a second stage when the first duration of the first stage reaches a fifth time threshold, wherein in the second stage, the water outlet device continuously supplements water to the rolling brush with a target water quantity, and the target water quantity is smaller than the seventh water quantity; the fifth time threshold is less than the third time period.

According to one embodiment of the present application, further comprising:

judging the magnitude relation between the working parameter and the fourth electrical threshold value every the third duration from the moment of starting the rolling brush;

and controlling the water outlet device to continuously supply water to the rolling brush for the fourth time period with a seventh water amount under the condition that the duration time of the working parameter which is not smaller than the fourth electric threshold reaches the sixth time threshold.

According to one embodiment of the present application, after the acquiring the operation parameters of the floor scrubber, the method further includes:

and under the condition that the duration time of the working parameter larger than the second electric threshold value reaches a third time threshold value, controlling the rolling brush to stop working, and outputting fault information.

acquiring a fourth duration time when the working parameter is greater than a fifth electrical threshold value in the third duration time under the condition that the duration time when the working parameter is greater than the second electrical threshold value does not reach a third time threshold value;

and controlling the working state of the rolling brush based on the fourth duration, wherein the fifth electric threshold is larger than the fourth electric threshold.

According to an embodiment of the present application, the controlling the working state of the rolling brush based on the fourth duration includes:

controlling the rolling brush to stop working and outputting fault information under the condition that the fourth duration reaches a seventh time threshold;

controlling the rolling brush to stop working and outputting the fault information when the fourth duration does not reach the seventh time threshold and the duration of the working parameter larger than the second electric threshold reaches the fourth time threshold;

And controlling the rolling brush to work normally under the condition that the fourth duration does not reach the seventh time threshold and the duration of the working parameter which is larger than the second electric threshold does not reach the fourth time threshold.

According to one embodiment of the present application, the roll brush includes a front roll brush and a rear roll brush, the controlling the water outlet means to continuously supply water to the roll brush for a fourth period of time with a seventh amount of water includes:

and controlling the water outlet device to continuously supply water to the front rolling brush and the rear rolling brush for the fourth time period respectively by a seventh water amount.

According to an embodiment of the present application, the operating parameter includes a rolling brush current, the determining that the duration of the operating parameter not less than a fourth electrical threshold reaches a sixth time threshold, and controlling the water outlet device to continuously supply water to the rolling brush for a fourth time period with a seventh water amount includes:

and determining that the duration that the rolling brush current is not smaller than the fourth electric threshold reaches the sixth time threshold, and controlling the water outlet device to continuously supply water to the rolling brush for the fourth time period by the seventh water amount.

According to an embodiment of the present application, the operating parameter includes a motor temperature, the determining that the duration of the operating parameter not less than a fourth electrical threshold reaches a sixth time threshold, and controlling the water outlet device to continuously supply water to the rolling brush for a fourth time period with a seventh water amount includes:

And determining that the duration time that the temperature of the motor is not less than the fourth electrical threshold reaches the sixth time threshold, and controlling the water outlet device to continuously supply water to the rolling brush for the fourth duration time with the seventh water quantity.

In a second aspect, the present application provides a control method apparatus of a floor scrubber, the floor scrubber including a rolling brush and a water outlet device, the water outlet device being connected with the rolling brush, the apparatus including:

the fourth processing module is used for acquiring working parameters of the floor washer when the MCU power-on state of the floor washer is the first power-on state or the starting state of the floor washer is the first starting state after the floor washer leaves the base station;

and the fifth processing module is used for determining that the duration of the working parameter which is not smaller than a fourth electric threshold reaches a sixth time threshold after the running duration from the starting moment to the current moment of the rolling brush exceeds a third duration, and controlling the water outlet device to continuously supply water to the rolling brush for a fourth duration with a seventh water amount.

According to the control method device of the floor washing machine, the quantitative water supplementing stage is arranged to properly improve the water supplementing amount under the condition that the temperature rising rate of the motor is high so as to reduce the temperature rising rate, so that the balance between the temperature rising of the floor washing machine and the residual water stain on the ground can be maintained better.

In a third aspect, the present application provides a floor scrubber comprising:

a front rolling brush and a rear rolling brush;

the water outlet device is respectively connected with the front rolling brush and the rear rolling brush and is used for supplying water to the front rolling brush and the rear rolling brush;

the control device of the floor scrubber according to the second aspect, wherein the control device of the floor scrubber is electrically connected to the water outlet device.

In a fourth aspect, the present application provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of controlling a floor scrubber as described in the first aspect above.

In a fifth aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements a method of controlling a floor scrubber as described in the first aspect above.

The above technical solutions in the embodiments of the present application have at least one of the following technical effects:

through setting up quantitative moisturizing stage to suitably improve the moisturizing volume and in order to reduce the temperature rise rate under the higher circumstances of motor temperature rise rate, can maintain the balance between the temperature rise of washing ground machine and the ground residual water stain better.

Furthermore, by inserting the quantitative water supplementing stage in the whole operation stage of the floor washing machine, the water yield of the water outlet device can be regulated based on the temperature rising rate of the motor while the first stage and the third stage are dynamically regulated, so that the water supplementing amount is properly increased to reduce the temperature rising rate under the condition that the temperature rising rate of the motor is higher, and the balance between the temperature rising of the floor washing machine in the whole working state and residual water stains on the ground is better maintained.

Furthermore, whether the floor washing machine is in fault or not is judged through the rolling brush current and the duration time of the rolling brush current, and the judgment accuracy is high; under the condition of determining faults, the fault information is output, so that a user can be reminded of the faults of the floor washing machine in time, and the floor washing machine has high man-machine interaction.

Still further, through setting up multilayer judgement logic in order to judge the operating condition of floor-cleaning machine, have higher judgement accuracy and accuracy.

Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, wherein:

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

FIG. 2 is a second flow chart of a control method of the scrubber according to the embodiment of the present application;

FIG. 3 is a third flow chart of a control method of the scrubber according to the embodiment of the present application;

fig. 4 is a schematic structural view of a control device of the floor scrubber according to an embodiment of the present application;

fig. 5 is a schematic structural view of a floor scrubber according to an embodiment of the present application.

Detailed Description

Technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application are within the scope of the protection of the present application.

The terms first, second and the like in the description and in the claims, 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, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type and not limited to the number of objects, e.g., the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.

The control method of the floor washing machine, the control device of the floor washing machine, the floor washing machine and the readable storage medium provided by the embodiment of the application are described in detail below by means of specific embodiments and application scenes of the specific embodiments with reference to the accompanying drawings.

The control method of the floor washing machine can be applied to the terminal, and can be executed by hardware or software in the terminal.

The execution main body of the control method of the floor washing machine provided in the embodiment of the present application may be a floor washing machine or a functional module or a functional entity in the floor washing machine capable of implementing the control method of the floor washing machine, and the control method of the floor washing machine provided in the embodiment of the present application will be described below by taking the floor washing machine as an execution main body as an example.

It should be noted that, the floor scrubber provided in the embodiment of the application includes a rolling brush and a water outlet device.

Wherein the number of the rolling brushes can be one or more.

In the case where the number of the rolling brushes is plural, the plurality of rolling brushes may include: a front rolling brush and a rear rolling brush.

The water outlet device is connected with each rolling brush and is used for supplying water to each rolling brush.

In the actual execution process, an electromagnetic valve can be arranged at the joint of the rolling brush and the water outlet device so as to control the communication state of the rolling brush and the water outlet device, and when the electromagnetic valve is opened, the water outlet device supplies water to the rolling brush; when the electromagnetic valve is closed, the water outlet device stops supplying water to the rolling brush.

In some embodiments, the amount of water supply may also be adjusted by controlling the opening area of the solenoid valve.

As shown in fig. 1, the control method of the floor scrubber comprises: step 110, step 120 and step 130.

Step 110, controlling a water outlet device to continuously supply water to the rolling brush with a first water amount under the condition that the floor washing machine enters a first stage;

in this embodiment, the first stage is a high water volume stage for fully wetting the roller brush.

The first water amount is a larger water amount, for example, 200ml/min or 220ml/min, etc., and the present application is not limited.

The duration of the first phase is a first duration, and the first duration is a shorter duration, for example, the first duration may be 10s or 15s, etc., which is not limited in this application.

It will be appreciated that the longer the first duration, the less the corresponding first amount of water.

In the actual execution process, in the first stage, the water outlet device can be controlled to continuously supply water to the rolling brush for a first duration time with a first water quantity, for example, the water outlet device is controlled to continuously supply water to the rolling brush for 15s with a water outlet quantity of 200ml/min until the rolling brush is completely soaked by water.

The rolling brush of the floor washing machine is in contact with the scraping strip of the floor washing machine at any time in the running process, and in the state that the rolling brush is not wetted, the interference resistance between the scraping strip and the rolling brush is large, so that the current output by the motor is large, and the generated heat is high; under the condition that the rolling brush is soaked by water, the interference resistance between the scraping strip of the floor washing machine and the rolling brush is reduced, and the output current of the motor of the corresponding floor washing machine is also reduced, so that the temperature rise rate of the motor is reduced.

In the step, the water outlet device is controlled to outlet a large amount of water in a short time to quickly wet the rolling brush in the first stage, so that the interference resistance between the rolling brush and the scraping strip can be effectively reduced, the output current of the motor is obviously reduced, the generated heat is reduced, the temperature rise rate of the motor is effectively reduced, and the temperature rise of the motor is optimized.

In some embodiments, where the roller brush includes a front roller brush and a rear roller brush, step 110 may include step 111, where the scrubber enters the first stage, controlling the water outlet device to continuously supply water to the front roller brush and the rear roller brush, respectively, at a first water volume;

in this embodiment, the roll brush includes a front roll brush and a rear roll brush.

For example, the water outlet device may be controlled to supply water to the front and rear rolling brushes, respectively, at a first water volume for a first duration, such as controlling the water outlet device to supply water to the front and rear rolling brushes, respectively, at a water outlet of 200ml/min for 15s, until the front and rear rolling brushes, respectively, are completely wetted with water.

According to the control method of the floor washing machine, provided by the embodiment of the application, the front and rear rolling brushes can be soaked quickly by controlling the water outlet device to outlet a large amount of water in a short time in the first stage, so that the interference resistance between the front and rear rolling brushes and the scraping strip can be effectively reduced, the output current of the motor is obviously reduced, the generated heat is reduced, the temperature rise rate of the motor is effectively reduced, and the temperature rise of the motor is optimized.

Step 120, under the condition that the floor scrubber finishes the first stage and enters the second stage, controlling the water outlet device to continuously supplement water to the rolling brush with the target water quantity;

in this step, the second stage is a normal water amount stage for reducing the water yield while ensuring the cleaning ability so as to reduce the residual water stain on the floor.

The target water amount is smaller than the first water amount.

The value of the target water amount can be customized based on a user, for example, the target water amount can be set to 20ml/min or 30ml/min, etc., the application is not limited, and the setting can be specifically performed based on actual needs.

The duration of the second stage is a second duration, which should be longer than the first duration, for example, the second duration may be 5min or 10min, etc., which is not limited in this application.

It should be noted that, in the case that the rolling brush includes the front rolling brush and the rear rolling brush, the target water amounts corresponding to the front rolling brush and the rear rolling brush may be the same or may be different, and the target water amounts corresponding to the front rolling brush should be not lower than the target water amounts corresponding to the rear rolling brush.

It will be appreciated that in the second stage, the water output of the water output device is reduced, which results in a reduced wettability of the roller brush, so that the interference resistance between the roller brush and the scraping bar of the floor cleaning machine becomes large, and the motor current starts to increase, so that the motor temperature rise rate is increased.

According to the control method of the floor scrubber, provided by the embodiment of the application, the water supply amount of the rolling brush is reduced in the second stage, so that the water yield can be reduced while the cleaning capability is ensured, and the residual water stain on the ground is reduced.

With continued reference to fig. 1, in some embodiments, step 120 may further include step 121, step 122, and step 123.

Wherein, step 121, step 122 and step 123 are three parallel implementations.

The implementation of step 120 is described below in terms of three implementations, respectively.

1. Normal water supply for rolling brush

In some embodiments, step 121 may include: under the condition that the floor washing machine finishes the first stage and enters the second stage, controlling the water outlet device to continuously supply water to the rolling brush with the second water quantity;

in this embodiment, the second amount of water is less than the first amount of water.

For example, the second amount of water may be 20ml/min or 30ml/min, etc., without limitation.

It should be noted that this embodiment may be applied to a single-roll-brush scenario, or to a multi-roll-brush scenario.

In the multi-rolling brush scene, the water yield corresponding to each rolling brush is the same and is the second water yield.

According to the control method of the floor washing machine, the water outlet device is controlled to continuously supply water to the rolling brush by the second water quantity smaller than the first water quantity in the second stage, so that the water outlet quantity can be reduced while the cleaning capacity is ensured, residual water stains on the ground are reduced, water resources are effectively saved, the cleaning effect is ensured, and the use experience of a user is improved.

The implementation of this step will be described below taking the example that the roll brush includes a front roll brush and a rear roll brush.

In some embodiments, step 121 may include: under the condition that the floor washing machine finishes the first stage and enters the second stage, controlling the water outlet device to continuously supply water to the front rolling brush and the rear rolling brush respectively by the second water quantity; the second amount of water is less than the first amount of water;

in this embodiment, both the front and rear roll brushes are water yielding and the water yield is equal.

The second amount of water is less than the first amount of water.

In the actual execution process, after the front rolling brush and the rear rolling brush are fully soaked in the first stage, the floor washing machine can be controlled to enter the second stage, and after entering the second stage, the water outlet device can be controlled to respectively supply water for 5min with water yield of 20ml/min to the front rolling brush and the rear rolling brush respectively, so that the ground is fully cleaned, and residual water stains on the ground are reduced.

According to the control method of the floor washing machine, the water outlet device is controlled to respectively supply water to the front rolling brush and the rear rolling brush in the second stage by the second water amount, so that the water outlet amount can be reduced while the cleaning capacity is ensured, residual water stains on the ground are reduced, water resources are effectively saved, the cleaning effect is ensured, and the use experience of a user is improved.

2. The front rolling brush normally supplies water, and the rear rolling brush does not supply water

In some embodiments, step 122 may include: under the condition that the floor washing machine finishes the first stage and enters the second stage, controlling the water outlet device to continuously supply water to the front rolling brush by the fourth water amount, and stopping supplying water to the rear rolling brush; the fourth water amount is smaller than the first water amount;

in this embodiment, the front roller brushes are water-yielding and the rear roller brushes are not water-yielding.

The fourth water amount is smaller than the first water amount.

For example, the fourth amount of water may be 20ml/min or 30ml/min, etc., and the present application is not limited thereto.

In the actual execution process, after the front rolling brush and the rear rolling brush are fully soaked in the first stage, the floor washing machine can be controlled to enter the second stage, after entering the second stage, the water outlet device can be controlled to continuously supply water to the front rolling brush for 5min with the water outlet amount of 20ml/min, and meanwhile, the water supply to the rear rolling brush is stopped, so that the water outlet amount is further reduced on the basis of fully cleaning the ground, and the residual water stain on the ground is reduced.

It should be noted that, when the floor scrubber is running, the front rolling brush is controlled to normally supply water for cleaning, and the rear rolling brush is not supplied with water, so that the rear rolling brush can be utilized to absorb water stain remained on the ground after the front rolling brush sprays water, and the cleaning effect is met, and meanwhile, the residual water stain on the ground is further reduced.

According to the control method of the floor washing machine, the water outlet device is controlled to continuously supply water to the front rolling brush by the fourth water amount in the second stage, and the water supply to the rear rolling brush is stopped, so that the water outlet amount can be reduced while the cleaning capability is ensured; in addition, the water stain remained on the ground by the rolling brush before being absorbed by the rear rolling brush in the cleaning process can be further reduced, so that water resources are effectively saved, the cleaning effect is ensured, and the use experience of a user is improved.

3. The front and back rolling brushes supply water normally, and the water supply quantity of the front rolling brush is larger than that of the back rolling brush

In some embodiments, step 123 may include: under the condition that the floor washing machine finishes the first stage and enters the second stage, controlling the water outlet device to continuously supply water to the front rolling brush by the fifth water quantity and continuously supply water to the rear rolling brush by the sixth water quantity; the fifth and sixth water amounts are both less than the first water amount, and the sixth water amount is less than the fifth water amount;

in this embodiment, both the front and rear roller brushes are water yielding and the front roller brush is higher in water yielding than the rear roller brush.

The fifth and sixth amounts of water are both less than the first amount of water, and the sixth amount of water is less than the fifth amount of water.

For example, the fifth amount of water may be 20ml/min or 30ml/min, etc., and the sixth amount of water may be 10ml/min or 15ml/min, etc., without limitation in this application.

In the actual execution process, after the front rolling brush and the rear rolling brush are fully soaked in the first stage, the floor washing machine can be controlled to enter the second stage, after entering the second stage, the water outlet device can be controlled to continuously supply water to the front rolling brush for 5min with the water outlet of 20ml/min, and simultaneously, the water outlet of 10ml/min is continuously supplied to the rear rolling brush for 5min, so that the water outlet is reduced on the basis of fully cleaning the ground, and the residual water stain on the ground is reduced.

When the floor washing machine is operated, the front rolling brush is controlled to operate with the water supply quantity larger than that of the rear rolling brush, so that the rear rolling brush can be utilized to absorb water stains left on the ground after the front rolling brush sprays water, and the cleaning effect is met, and meanwhile, the water stains left on the ground are further reduced.

According to the control method of the floor washing machine, the water outlet device is controlled to continuously supply water to the front rolling brush by the fifth water amount and to continuously supply water to the rear rolling brush by the sixth water amount in the second stage, so that the water outlet amount can be reduced while the cleaning capability is ensured; in addition, the water stain remained on the ground in the cleaning process of the back rolling brush can be absorbed by the front rolling brush, so that the residual water stain on the ground is further reduced, the water resource is effectively saved, the cleaning effect is ensured, and the use experience of a user is improved.

In step 120, by providing a plurality of control modes, an optimal control mode can be selected based on the model or specific use situation of the floor washing machine, so that the floor washing machine has higher use flexibility and universality.

130, controlling the water outlet device to supply water to the rolling brush with a third water amount under the condition that the floor washing machine finishes the second stage and enters the third stage;

wherein the first amount of water is greater than the third amount of water, and the third amount of water is greater than the target amount of water.

In this step, the target water amount includes: a second amount of water, a fourth amount of water, a fifth amount of water, a sixth amount of water, and so on.

The value of the third water amount can be customized based on a user, for example, the third water amount can be set to 40ml/min or 45ml/min, etc., which is not limited in this application, and can be specifically set based on actual needs.

The duration of the third phase is a third duration.

The water supply may be continuous or intermittent.

The number of the roller brushes may be one or more.

In some embodiments, the third amount of water may be 2 times the second amount of water.

In some embodiments, step 130 may further comprise: and under the condition that the floor washing machine finishes the second stage and enters the third stage, controlling the water outlet device to supply water to the front rolling brush and the rear rolling brush respectively according to the third water quantity.

In some embodiments, step 130 may further comprise: and under the condition that the floor washing machine finishes the second stage and enters the third stage, controlling the water outlet device to intermittently supply water to the rolling brush by the third water amount.

In this embodiment, the third stage is an intermittent water replenishment stage for reducing the rate of temperature rise of the motor while reducing the amount of water produced.

Wherein intermittent water supply includes supplying water to the front and rear roll brushes simultaneously based on a target time period (i.e., the front and rear roll brushes supplement water simultaneously), or may include supplying water to the front and rear roll brushes sequentially based on the target time period (i.e., the front and rear roll brushes replace water).

In some embodiments, where the roll brush includes a front roll brush and a rear roll brush, step 130 may include: and under the condition that the floor washing machine finishes the second stage and enters the third stage, controlling the water outlet device to intermittently supply water to the front rolling brush and the rear rolling brush respectively according to the third water quantity.

In this embodiment, the water outlet means supplies water intermittently to the roll brush in the third stage, instead of continuously.

In some embodiments, the third water amounts corresponding to the front and rear roller brushes may be the same or may be different.

It can be appreciated that in the third stage, the water yield of the rear rolling brush by the water outlet device is increased, so that the wettability of the rear rolling brush can be improved, the interference resistance between the rear rolling brush and the scraping strip of the floor washing machine is reduced, the motor current is reduced, and the temperature rise rate of the motor is reduced.

It should be noted that the motor temperature rise rate of the floor washing machine in the third stage is lower than that in the second stage.

As shown in fig. 2, in some embodiments, controlling the water outlet device to intermittently supply water to the roll brush with a third amount of water may include: controlling the water outlet device to continuously supply water to the rolling brush for a second time period by a third water amount every first time period; the first time period is longer than the second time period.

In this embodiment, the first time period and the second time period are both shorter time periods, and the second time period may be smaller than the first time period.

For example, the first time period may be set to 40s or 45s or the like, and the second time period may be set to 5s or 10s or the like, which is not limited in this application.

With continued reference to fig. 2, in some embodiments, controlling the water outlet device to intermittently supply water to the front and rear roll brushes, respectively, at a third water volume may include: controlling the water outlet device to continuously supply water to the front rolling brush and the rear rolling brush for a second time period respectively at intervals of the first time period by a third water quantity; the first time period is longer than the second time period.

In the actual execution process, after the second stage is finished and the third stage is carried out, the water outlet device can be controlled to adjust the water outlet amount to 40ml/min every 45s, water is continuously supplied to the front rolling brush and the rear rolling brush for 5s respectively, and then water supply is stopped or the water amount is reduced; the third phase is re-entered after 45 seconds of duration, and the cycle is continued.

According to the control method of the floor washing machine, the water outlet device is controlled to respectively supply water to the front rolling brush and the rear rolling brush for the second time period at intervals of the first time period and the third water amount in the third stage, so that the water outlet amount can be reduced as much as possible to reduce residual water stains on the ground, the wettability of the rear rolling brush can be improved, interference resistance between the rear rolling brush and scraping strips of the floor washing machine can be reduced, motor current can be reduced, the temperature rise rate of the motor can be reduced, and the optimal balance between the temperature rise of the motor and the residual water stains on the ground can be realized.

The inventor finds that in the research and development process, in the related technology, when a rolling brush of a cleaning machine is in a dry state, the rolling brush enters a first stage, and a water pump is controlled to spray water to the rolling brush with a larger flow value so as to quickly wet the rolling brush; after the humidity of the rolling brush reaches a certain degree, the rolling brush enters a second stage, the water pump is controlled to automatically reduce the water spraying flow value of the rolling brush to a certain time, and then the rolling brush enters the first stage again and circulates in sequence. However, the method reduces the residual water stain on the ground and increases the drying time of the rolling brush, so that the temperature rise rate of the motor is improved, and the optimal balance between the temperature rise of the motor and the residual water stain on the ground cannot be realized.

In the application, through setting three stages, large water is discharged in the first stage to quickly soak the rolling brush, so that the interference resistance between the rolling brush and the scraping strip can be effectively reduced, the output current of the motor is obviously reduced, the generated heat is reduced, and the temperature rise rate in the initial starting stage is reduced; in the second stage, the water quantity is reduced, so that the residual water stain on the ground can be reduced as much as possible while the ground is ensured to be completely cleaned; the water yield of the rolling brush is improved to improve the wettability of the rolling brush in the third stage, so that the resistance of the rolling brush is reduced to reduce the temperature rise rate, the water yield is reduced to reduce residual water stains on the ground as much as possible, the wettability of the rolling brush is improved to reduce the temperature rise rate, and the optimal balance between the temperature rise of the motor and the residual water stains on the ground is realized.

According to the control method of the floor washing machine, provided by the embodiment of the application, the water outlet stages are arranged to respectively control the water supplementing logic of the rolling brush, so that the water outlet amount can be reduced as much as possible on the basis of ensuring the cleaning capability, the residual water stains on the ground are reduced, and the cleaning effect is improved; meanwhile, the wettability of the rolling brush can be controlled within a reasonable range, so that the temperature rise rate of the motor is controlled within a reasonable range, and the optimal balance between the temperature rise of the motor and residual water stains on the ground is realized.

It can be understood that in the actual execution process, the jump of each stage can be controlled based on the actual duration and the preset duration of each stage; or the jump between each stage can be controlled based on the magnitude of the rolling brush current and a preset value, or the jump between each stage can be controlled based on the motor temperature rise rate or the motor temperature and the like and the preset value; or the jump between the stages can be controlled based on the start-up state of the floor scrubber; or the jump between the stages can be controlled in other realizable manners, which are not limited in this application.

The jump control logic between the stages is described below in connection with fig. 2 from a plurality of angles such as time, temperature, and on state, respectively.

First, control based on start-up state

With continued reference to fig. 2, in some embodiments, in the event the floor scrubber enters the first stage, the method may further include, before controlling the water outlet device to continuously supply water to the front and rear roller brushes, respectively, at a first water volume:

acquiring the MCU power-on state of the floor washing machine and the starting state of the floor washing machine;

controlling the floor scrubber to enter a first stage under the condition that the MCU is powered on for the first time or started after leaving the base station for the first time;

And controlling the floor washer to enter a second stage under the condition that the MCU is powered on for the first time and the MCU is started for the first time after the MCU is not unset from the base station.

In this embodiment, the micro control unit (Microcontroller Unit, MCU) is used to burn the program and control the operating state of the scrubber based on the burned program.

The MCU power-on state comprises: primary power up and non-primary power up.

The MCU power-on state is that the MCU main board burns firmware and then is powered on for the first time after the MCU power-on state is that the MCU main board burns firmware.

The starting state of the floor washing machine comprises: the first start after leaving the base station and the first start after not leaving the base station.

In some embodiments, the method may further comprise:

acquiring a charging state between the floor washing machine and the base station;

in the event of a state of charge disconnection, it is determined that the floor scrubber is unseated from the base station.

In this embodiment, it may be determined whether the scrubber is unseated from the base station by the state of charge between the scrubber and the base station.

If the charging state between the floor washer and the base station is a connection state, indicating that the floor washer is positioned on the base station; in the off state of the charge between the scrubber and the base station, it is indicated that the scrubber has left the base station.

Of course, in other embodiments, a position sensor may also be disposed on the scrubber, and the real-time displacement between the scrubber and the base station may be acquired based on the sensor to determine whether the scrubber is away from the base station, which is not limited herein.

With continued reference to FIG. 2, in some embodiments, in the event that the MCU power-up status is determined to be a primary power-up, the floor scrubber may be controlled to enter a first stage.

With continued reference to fig. 2, in some embodiments, if it is determined that the MCU power-up status is a non-primary power-up, then the start-up status of the scrubber may be further determined.

And controlling the floor washing machine to enter a first stage under the condition that the starting state of the floor washing machine is determined to be the first starting state after the floor washing machine leaves the base station.

In some embodiments, the floor scrubber is controlled to enter the second stage if the floor scrubber is first started after the MCU is powered on for a non-initial time and the start-up state is not unseated from the base station.

Second, time-based control

With continued reference to fig. 2, in some embodiments, in the event that the floor scrubber ends the first stage and enters the second stage, the method may further include, prior to controlling the water outlet to continue to supply water to the forward roller brush with a fifth amount of water and to continue to supply water to the rearward roller brush with a sixth amount of water:

controlling the floor scrubber to finish the first stage and enter the second stage under the condition that the first duration of the first stage is not less than a fifth time threshold; the first duration is less than the second duration of the second phase.

In this embodiment, the fifth time threshold is the maximum sustainable duration of the first phase, such as 15s, etc.

It can be understood that under the condition that the water outlet device supplies water to the rolling brush by the first water quantity to reach the fifth time threshold, the rolling brush can be ensured to be completely soaked in the first water quantity and can not cause more residual water stains on the ground, and the temperature rise rate of the motor can be reduced.

For example, in the actual execution process, a timer may be set in the floor washing machine to obtain in real time a first duration of time for the floor washing machine to enter the first stage, and determine whether the first duration reaches a fifth time threshold, and if the first duration does not reach the fifth time threshold, maintain the running state of the first stage; and if the fifth time threshold is reached, controlling the floor washing machine to finish the first stage and enter the second stage.

With continued reference to fig. 2, in some embodiments, in the event that the floor scrubber ends the second stage and enters the third stage, the method may further include, prior to controlling the water outlet device to intermittently supply water to the front and rear roller brushes, respectively, at a third water volume: and controlling the floor scrubber to enter a third stage under the condition that the second duration of the second stage reaches the first time threshold.

In this embodiment, the first time threshold is the maximum sustainable duration of the second phase.

In some embodiments, the first time threshold may be 5 minutes.

Of course, in other embodiments, the first time threshold may be other values, such as 10 min.

It can be understood that under the condition that the water outlet device supplies water to the rolling brush with the target water quantity to reach the second time threshold, the rolling brush can be ensured to completely clean the ground and reduce residual water stains on the ground to the greatest extent, and the temperature of the motor is controlled to be in a controllable range and not too high so as to maintain the temperature rise rate of the motor.

For example, in the actual execution process, acquiring a second duration of the floor washing machine entering the second stage in real time, judging whether the second duration reaches a first time threshold, and if the second duration does not reach the first time threshold, maintaining the running state of the second stage; and when the first time threshold is reached, controlling the floor washing machine to finish the second stage and enter a third stage.

Third, based on temperature control

In some embodiments, in the case that the floor scrubber ends the second stage and enters the third stage, before controlling the water outlet device to intermittently supply water to the front and rear rolling brushes with the third water amount, respectively, the method may further include: and controlling the floor washing machine to enter a third stage under the condition that the temperature of a motor of the floor washing machine is not less than a first temperature threshold value.

In this embodiment, the first temperature threshold is the highest temperature that the motor temperature of the floor scrubber can reach in the second phase.

The first temperature threshold may be user-defined, such as set to 76 ℃ or 80 ℃, etc., and is not limited herein.

The motor temperature may be acquired based on the sensor.

For example, in the actual execution process, the motor temperature of the floor washing machine is obtained in real time, whether the motor temperature reaches a first temperature threshold value is judged, and if the motor temperature does not reach the first temperature threshold value, the running state of the second stage is maintained; and when the first temperature threshold value is reached, controlling the floor washing machine to finish the second stage and enter a third stage.

According to the control method of the floor washing machine, which is provided by the embodiment of the application, the jump among the stages is controlled based on multiple aspects such as time, temperature, starting state and the like, so that the control method has higher flexibility and higher control accuracy and precision.

With continued reference to fig. 2, in some embodiments, after controlling the water outlet device to intermittently supply water to the front and rear roller brushes, respectively, in a third amount of water in the event that the floor scrubber ends the second stage and enters the third stage, the method may further include:

controlling the water outlet device to enter a second stage or controlling the water outlet device to stop supplying water under the condition that the temperature rise rate of a motor of the floor washing machine is smaller than a first temperature rise rate threshold value or the duration that the rolling brush current of the floor washing machine is smaller than a first electric threshold value is not smaller than a second time threshold value;

And under the condition that the temperature rise rate of the motor is not less than the first temperature rise rate threshold value and the duration time of the rolling brush current being less than the first electric threshold value is less than the second time threshold value, controlling the water outlet device to maintain the third stage.

In this embodiment, the roll brush current is the real-time operating current of the roll brush motor.

The motor temperature rise rate of the floor washer may be collected by a sensor or may be calculated based on motor current, as not limited in this application.

The first temperature increase rate threshold may be user-defined, and is not limited in this application.

The first electrical threshold may be user-defined based, such as set to 5A, etc., and is not limited in this application.

The second time threshold may be user-defined, such as set to 5min, etc., and is not limited in this application.

It will be appreciated that the rate of motor temperature rise may be reflected in the rate of change of the brush current.

In combination with the first electrical threshold and the second time threshold, a maximum rate of change of the brush current may be determined, the maximum rate of change corresponding to a maximum value of the motor temperature rise rate, e.g., the maximum rate of change of the brush current may be: the rolling brush current is smaller than 5A after 5 minutes continuously.

In the actual execution process, after the floor washing machine enters the third stage, the temperature rise rate of the motor can be judged in real time.

In some embodiments, the water outlet device is controlled to maintain the third stage in the event that the duration of the scrubber current less than the first electrical threshold does not reach the second time threshold.

In some embodiments, where the roll brush includes a front roll brush and a rear roll brush, controlling the water outlet device to enter the second stage may include: controlling the water outlet device to continuously supply water to the front rolling brush and the rear rolling brush respectively by a second water amount; or controlling the water outlet device to continuously supply water to the front rolling brush by the fourth water quantity and controlling the water outlet device to stop supplying water to the rear rolling brush; or controlling the water outlet device to continuously supply water to the front rolling brush by the fifth water quantity, and continuously supply water to the rear rolling brush by the sixth water quantity, wherein the sixth water quantity is smaller than the fifth water quantity.

For example, when the continuous 5min rolling brush current of the motor is smaller than 5A, the rolling brush water supplementing has been considered to be effective, the temperature rising rate of the motor is reduced to a controllable range, the temperature rising temperature of the motor is slowly increased to about 100 ℃, the water supplementing capacity is smaller each time, the ground residual water quantity can be controlled well, the water supplementing is not needed again or the water supplementing quantity can be reduced in the subsequent process, and the water outlet device can be controlled to stop water supply or enter the second stage.

It can be appreciated that after entering the second stage, the jump control logic provided in the above embodiments may be further used to control the jump of the floor scrubber between the second stage and the third stage, which is not described herein.

When the motor does not meet the condition that the continuous rolling brush current for 5min is smaller than 5A, the temperature rise rate of the motor is considered to be still higher, and the water yield is still required to be increased to reduce the interference resistance between the rolling brush and the scraping strip, so that the temperature rise rate is reduced; the water outlet device can be controlled to maintain the working state of the third stage until the rolling brush current of the motor is less than 5A for 5 minutes continuously.

According to the control method of the floor washing machine, whether the third stage is ended is judged based on the temperature rise rate of the motor or the rolling brush current, the third stage is ended after the temperature rise rate is reduced so as to reduce water yield, the third stage is maintained under the condition that the temperature rise rate is higher so as to reduce the rolling brush current, and the balance between the temperature rise of the motor and residual water stains on the ground can be effectively maintained.

In some embodiments, the method may further comprise: under the condition that the floor washing machine stops working in the first stage, after the floor washing machine is restarted, the first stage is reset, and the floor washing machine is controlled to enter the first stage after being reset.

In this embodiment, for example, when the floor scrubber is not fully wetted due to an interruption of operation for unknown reasons within 15s of the first stage, the first stage is re-entered on the next re-operation and the water outlet means is controlled to continuously replenish the roller brush with water for 15s based on the first amount of water until the roller brush is fully wetted.

According to the control method of the floor washing machine, when the floor washing machine is interrupted in the first stage, the control logic of the first stage is re-executed after the floor washing machine is started again, emergency can be effectively treated, and the rolling brush can be fully wetted to reduce the temperature rise rate of the motor.

In some embodiments, the method may further comprise: and under the condition that the floor washing machine ends the first stage and stops working before entering the second stage, after restarting the floor washing machine, controlling the floor washing machine to enter the second stage.

In this embodiment, for example, when the floor scrubber is stopped for 15 seconds after a large amount of water is replenished, the operation is interrupted for unknown reasons before the floor scrubber enters the second stage, and then the floor scrubber directly enters the second stage when the floor scrubber is restarted next time, the water outlet device is controlled to continuously replenish water to the rolling brush based on the target water amount until the floor scrubber enters the third stage.

According to the control method of the floor washing machine, when the floor washing machine stops working after finishing the first stage, the floor washing machine directly enters the second stage after being started again, repeated wetting of the rolling brush can be avoided, residual water stains on the ground are reduced, and the working efficiency can be effectively improved.

It should be noted that, in addition to the above three stages, the embodiment of the present application further provides a fourth stage.

The fourth stage is a quantitative water quantity stage and is used for improving the water yield of the rolling brush at the current moment so as to reduce the temperature rise rate of the motor.

The implementation of the fourth stage is described below by way of specific embodiments in connection with fig. 1 and 3.

With continued reference to fig. 1, in some embodiments, the method of controlling a floor scrubber may further include: step 210 and step 220.

Step 210, acquiring working parameters of the floor scrubber under the condition that the MCU power-on state of the floor scrubber is the primary power-on state or the starting state of the floor scrubber is the primary starting state after the floor scrubber leaves the base station;

in this step, the micro control unit (Microcontroller Unit, MCU) is used to burn the program and control the operating state of the scrubber based on the burned program.

The MCU power-on state is that the MCU main board burns firmware and then is powered on for the first time after the initial power-on.

The operating parameters are used to characterize the motor temperature of the floor washer.

The operating parameters may include the brush current and motor temperature.

The rolling brush current is the real-time current of the rolling brush of the floor washing machine.

During actual execution, the operating parameters may be acquired based on the sensors.

Such as real-time acquisition of motor temperature based on NTC.

In this embodiment, when conditions such as the MCU is first powered on or the floor cleaning machine is first started after leaving the base station, etc., the operation parameters of the floor cleaning machine can be obtained.

It can be appreciated that the greater the operating parameter, the higher the corresponding motor temperature; accordingly, the higher the rate of increase of the operating parameter, the greater its corresponding rate of temperature rise of the motor.

In the actual execution process, the temperature rise rate of the motor can be judged based on the increase rate of the working parameters, and under the condition of higher temperature rise rate, the water yield of the rolling brush (comprising the front rolling brush and/or the rear rolling brush) at the current moment is increased so as to reduce the temperature rise rate of the motor; and under the condition of stable temperature rise rate, controlling the floor washing machine to execute a standard flow.

The specific control method will be described below.

Step 220, after the running time from the starting time to the current time of the rolling brush exceeds the third time, determining that the duration of the working parameter not smaller than the fourth electrical threshold reaches the sixth time threshold, and controlling the water outlet device to continuously supply water to the rolling brush for the fourth time with the seventh water amount.

In the step, the third time period is the operation time period from the starting time to the current time of the rolling brush.

The third duration is a preset duration for judging whether the running duration from the starting time to the current time of the rolling brush exceeds a set threshold, and the third duration can be customized based on a user, for example, set to 3min or 3.5min, etc., which is not limited in the application.

The fourth electrical threshold and the sixth time threshold are used for judging whether the rolling brush meets the condition of entering the fourth stage.

The sixth time threshold may be less than the third time period.

It should be noted that, in the present application, the fourth electrical threshold should be consistent with the type of the working parameter, that is, when the working parameter is the rolling brush current, the fourth electrical threshold should be the current threshold; when the operating parameter is motor temperature, the fourth electrical threshold should be a temperature threshold.

The values of the fourth electrical threshold and the sixth time threshold may be user-defined based on a user.

For example, in the case where the operation parameter is the rolling brush current, the fourth electrical threshold may be set to 6.5A or 6.6A, or the like, and the sixth time threshold may be set to 1min or 1.5min, or the like, which is not limited in this application.

The duration of the fourth phase is a fourth duration.

The fourth time period may be greater than the first time period and the second time period, and the fourth time period is less than the second time period.

For example, the fourth duration may be 40s or 45s, etc., and the present application is not limited.

The seventh water amount is greater than the target water amount, and the seventh water amount is less than the first water amount.

For example, the seventh water amount may be set to 40ml/min or 45ml/min or the like, which is not limited in this application.

In some embodiments, the operating parameters include a roll brush current, and step 220 may include: and determining that the duration that the rolling brush current is not smaller than the fourth electric threshold value reaches a sixth time threshold value, and controlling the water outlet device to continuously supply water to the rolling brush for a fourth duration with a seventh water amount.

In some embodiments, the operating parameters include motor temperature, and step 220 may include: and determining that the duration time that the temperature of the motor is not less than the fourth electric threshold reaches a sixth time threshold, and controlling the water outlet device to continuously supply water to the rolling brush for a fourth duration time with a seventh water amount.

In some embodiments, where the roll brush includes a front roll brush and a rear roll brush, controlling the water outlet device to continuously supply water to the roll brush for a fourth period of time with a seventh amount of water may include: and controlling the water outlet device to supply water to the front rolling brush and the rear rolling brush for a fourth time duration according to the seventh water quantity.

In some embodiments, after step 210, the method may further comprise: after the running time from the starting time to the current time of the rolling brush exceeds the third time, determining that the duration of the working parameter not smaller than the fourth electrical threshold value does not reach the sixth time threshold value, and controlling the water yield of the water outlet device based on the running time.

In this embodiment, after the third duration, when the duration of the working parameter not less than the fourth electrical threshold does not reach the sixth time threshold, a standard flow is entered, and the water yield of the water outlet device is controlled based on the operation duration.

Wherein the standard flow comprises a second stage and a third stage.

The water outlet control logic in the second stage and the third stage is described in the above embodiments, and is not described herein.

It will be appreciated that the operating time may vary, the phase to which it corresponds may vary, and the amount of water produced may vary.

In the case where the roll brush includes a front roll brush and a rear roll brush, the water output amounts of the front roll brush and the rear roll brush may be different in different stages.

This embodiment will be described below by taking an example in which the roll brush includes a front roll brush and a rear roll brush.

As shown in fig. 3, in the actual execution process, when the MCU power-on state of the floor washer is the first power-on state or the starting state of the floor washer is the first starting state after leaving the base station, after the rolling brush operates for 3min, the magnitude relation between the working parameter and the fourth electrical threshold is judged;

when the working parameters are not less than 6.5A for 1min, the motor temperature rise rate can be considered to be higher, the water outlet device can be controlled to enter a fourth stage to quickly improve the water outlet of the rolling brush, in the fourth stage, the water outlet device is controlled to continuously supply water for 40s to the front rolling brush and the rear rolling brush respectively with the water outlet of 40ml/min so as to improve the water outlet of the front rolling brush and the rear rolling brush, reduce the interference resistance of the rolling brush and the scraping strip, and reduce the motor current, thereby quickly reducing the temperature rise rate of the motor;

When the working parameters are not satisfied and the duration is not less than 6.5A for 1min, the temperature rise rate of the motor can be considered to be normal, the water yield of the rolling brush is not required to be quickly increased, the water yield of the water outlet device can be controlled based on the operation time, namely, the water outlet device is controlled to enter the second stage or the third stage based on the operation time.

According to the control method of the floor washing machine, the quantitative water supplementing stage is arranged to properly improve the water supplementing amount under the condition that the temperature rising rate of the motor in the second stage is higher so as to reduce the temperature rising rate, so that the balance between the temperature rising of the floor washing machine and the residual water stain on the ground can be maintained better.

With continued reference to FIG. 3, in some embodiments, controlling the water output of the water outlet device based on the run length may include:

controlling the floor washing machine to enter a second stage under the condition that the operation time length does not reach the first time threshold value, and continuously supplementing water to the rolling brush by the water outlet device in the second stage with the target water quantity, wherein the target water quantity is smaller than the seventh water quantity; the first time threshold is greater than the third time period;

and under the condition that the operation time length reaches the first time threshold value, controlling the floor washing machine to enter a third stage, and intermittently supplying water to the rolling brush by the water outlet device in the third stage with a third water quantity, wherein the third water quantity is larger than the target water quantity.

In this embodiment, the first time threshold is the maximum duration of the second phase; the first time threshold should be greater than the third time period.

The first time threshold may be user-defined, for example, set to 5min or 10min, which is not limited in this application.

In the second stage, the water outlet device continuously supplements water to the rolling brush with a target water quantity, wherein the target water quantity is smaller than the seventh water quantity.

In some embodiments, where the roll brush includes a front roll brush and a rear roll brush, continuously replenishing the roll brush with a target amount of water may include: continuously supplementing water to the front rolling brush and the rear rolling brush respectively by using a second water quantity; or continuously supplementing water to the front rolling brush by using the fourth water quantity, and stopping supplementing water to the rear rolling brush; or continuously supplementing water to the front rolling brush by the fifth water quantity, and continuously supplementing water to the rear rolling brush by the sixth water quantity, wherein the sixth water quantity is smaller than the fifth water quantity.

In the third stage, the water outlet device supplies water to the rolling brush intermittently in a third water amount.

In some embodiments, where the roll brush includes a front roll brush and a rear roll brush, intermittently supplying water to the roll brush with a third amount of water may include: the water is supplied to the front and rear rolling brushes simultaneously (i.e., the front and rear rolling brushes are simultaneously discharged) based on the target time period, or the water may be supplied to the front and rear rolling brushes sequentially (i.e., the front and rear rolling brushes are alternately discharged) based on the target time period.

The following description will proceed with an example in which the roll brush includes a front roll brush and a rear roll brush.

In the actual execution process, with continued reference to fig. 3, when the MCU power-on state of the floor washer is the first power-on state or the starting state of the floor washer is the first starting state after leaving the base station, after the rolling brush operates for 3min, the magnitude relation between the working parameter and the fourth electrical threshold is judged;

when the working parameter lasts for 1min and is not less than 6.5A, the temperature rise rate of the motor can be considered to be higher, the water outlet device can be controlled to enter a fourth stage to rapidly improve the water outlet quantity of the rolling brush, in the fourth stage, the water outlet device is controlled to continuously supply water for 40s to the front rolling brush and the rear rolling brush respectively with the water outlet quantity of 40ml/min so as to improve the water outlet quantity of the front rolling brush and the rear rolling brush, reduce the interference resistance of the rolling brush and the scraping strip, reduce the motor current, and rapidly reduce the temperature rise rate of the motor.

When the working parameters do not meet the requirements that the duration is not less than 6.5A for 1min, the temperature rise rate of the motor can be considered to be normal, and the relation between the running time of the rolling brush and the first time threshold is further judged.

And under the condition that the operation duration does not exceed the first time threshold, controlling the water outlet device to enter a second stage, for example, controlling the water outlet device to respectively supply water to the front rolling brush and the rear rolling brush for 5min at the water outlet rate of 20ml/min, so as to fully clean the ground and reduce residual water stains on the ground.

Under the condition that the operation duration exceeds a first time threshold, controlling the water outlet device to enter a third stage, for example, controlling the water outlet device to adjust the water outlet amount to 40ml/min every 45s, continuously supplying water to the front rolling brush and the rear rolling brush for 5s respectively, and then stopping water supply or reducing the water amount; therefore, the water quantity is reduced to reduce residual water stains on the ground, and meanwhile, the working parameters can be further reduced, and the temperature rise rate of the motor is slowed down.

According to the control method of the floor washing machine, the quantitative water supplementing stage is arranged to properly improve the water supplementing amount under the condition that the temperature rise rate of the motor is high so as to reduce the temperature rise rate, and the balance between the temperature rise of the floor washing machine and residual water stains on the ground is maintained better.

With continued reference to fig. 3, in some embodiments, the method may further include: controlling the floor washing machine to enter a first stage under the condition that the MCU power-on state of the floor washing machine is the primary power-on state or the starting state of the floor washing machine is the primary starting state after the floor washing machine leaves a base station, and continuously supplying water to the rolling brush by the water outlet device in the first stage; the first amount of water is greater than the seventh amount of water.

In this embodiment, after determining that the MCU power-on state of the floor scrubber is first power-on or that the start-up state of the floor scrubber is first start-up after leaving the base station, the floor scrubber may be controlled to enter the first stage while acquiring the operating parameters.

In the first stage, the water outlet device can be controlled to continuously supply water to the rolling brush with a first water quantity, wherein the first water quantity is larger than the seventh water quantity.

For example, in the case where the roll brush includes a front roll brush and a rear roll brush, the water outlet means continuously supplies water to the roll brush with a first amount of water, and may include the water outlet means continuously supplying water to the front roll brush and the rear roll brush with the first amount of water, respectively.

According to the control method of the floor washing machine, which is provided by the embodiment of the application, a large amount of water is discharged from the water discharging device in the starting stage, so that the rolling brush can be fully wetted in a short time to reduce the working parameters, and the temperature rise rate of the motor of the floor washing machine is effectively controlled.

In some embodiments, after controlling the floor scrubber into the first stage, the method may further comprise: controlling the floor scrubber to finish the first stage and enter a second stage under the condition that the first duration of the first stage reaches a fifth time threshold, wherein in the second stage, the water outlet device continuously supplements water to the rolling brush with target water quantity which is smaller than the seventh water quantity; the fifth time threshold is less than the third time period.

In this embodiment, the fifth time threshold is the maximum duration of the first phase.

The fifth time threshold is less than the third time period.

The fifth time threshold may be user-defined, such as set to 15s or 16s, etc., and is not limited in this application.

After the floor scrubber is controlled to enter the first stage, a first duration of the first stage is acquired, and the floor scrubber can be controlled to enter the second stage under the condition that the first duration reaches a fifth time threshold.

The specific control logic of the second stage is described above, and is not described herein.

It can be understood that after the floor washing machine finishes the first stage and enters the second stage, the temperature rise rate of the motor can be further judged based on the running time of the rolling brush and the working parameters so as to judge whether the floor washing machine needs to enter the fourth stage.

And after the running time from the starting time to the current time of the rolling brush exceeds the third time, controlling the floor washing machine to enter a fourth stage under the condition that the duration of the working parameter which is not smaller than the fourth electric threshold reaches a sixth time threshold.

Wherein the water yield (seventh water yield) of the fourth stage is larger than the water yield (target water yield) of the second stage.

And further judging the relation between the operation time length and the first time threshold value under the condition that the duration time length of the working parameter which is not smaller than the fourth electric threshold value does not reach the sixth time threshold value, so as to judge whether the floor washing machine enters the third stage.

Controlling the floor scrubber to maintain the working state of the second stage under the condition that the operation duration does not reach the first time threshold;

and under the condition that the operation time length reaches the first time threshold value, controlling the floor washing machine to finish the second stage and entering the third stage.

Wherein the water yield (third water yield) of the third stage is larger than the water yield (target water yield) of the second stage, and the control logic of the third stage is different from that of the fourth stage.

According to the control method of the floor washing machine, under the condition that the first duration of the first stage reaches the fifth time threshold, the floor washing machine is controlled to finish the first stage and enter the second stage, normal cleaning can be performed by timely jumping to the second stage after the rolling brush is completely soaked, and the control is efficient and has high control accuracy.

In some embodiments, the fourth stage may be a stage that is performed in parallel with the first stage through the third stage, and the fourth stage may be embodied in a plurality of working nodes at which the floor scrubber operates.

With continued reference to fig. 3, in some embodiments, the method may further include:

judging the magnitude relation between the working parameter and a fourth electrical threshold value every third time period from the starting moment of the rolling brush;

And controlling the water outlet device to continuously supply water to the rolling brush for a fourth time period with a seventh water amount under the condition that the duration time of the working parameter which is not smaller than the fourth electric threshold reaches a sixth time threshold.

In this embodiment, the third period of time is a time interval for determining whether the rate of temperature rise of the motor is too high.

The third duration may be customized based on a user, for example, set to 3min or 3.5min, etc., which is not limited in this application.

The sixth time threshold may be less than the third time period.

The values of the fourth electrical threshold and the sixth time threshold may be user-defined, such as setting the fourth electrical threshold to 6.5A or 6.6A, and the sixth time threshold to 1min or 1.5min, and the like, which is not limited in this application.

The duration of the fourth phase is a fourth duration.

In the actual execution process, when the MCU power-on state of the floor washing machine is determined to be the primary power-on state or the starting state of the floor washing machine is determined to be the primary starting state after the base station leaves the base station, after the running time from the moment of starting the rolling brush to the current moment exceeds a third time, judging the magnitude relation between the working parameter and a fourth electric threshold value every third time, and controlling the floor washing machine to enter a fourth stage when the duration time that the working parameter is not smaller than the fourth electric threshold value reaches a sixth time threshold value and controlling the floor washing machine to return to a second stage or a third stage after the duration time is prolonged; and then judging the magnitude relation between the working parameter and the fourth electric threshold again after the third time period, and controlling the floor cleaning machine to enter a fourth stage when the duration time that the working parameter is not smaller than the fourth electric threshold reaches the sixth time threshold, so that the cycle is performed.

According to the control method of the floor washing machine, the quantitative water supplementing stages are inserted in the whole operation stage of the floor washing machine, the water yield of the water outlet device can be regulated based on the temperature rising rate of the motor when the first stage to the third stage are dynamically regulated, so that the water supplementing amount is properly increased to reduce the temperature rising rate under the condition that the temperature rising rate of the motor is higher, and the balance between the temperature rising of the floor washing machine in the whole working state and residual water stains on the ground is better maintained.

The method of the embodiment of the application can also be used for judging the fault state of the floor washing machine and the rolling brush.

acquiring working parameters of the floor washing machine under the condition that the MCU is powered on for the first time or started after the MCU is unset from the base station;

and under the condition that the duration time of the working parameter larger than the second electric threshold value reaches a third time threshold value, controlling the front rolling brush and the rear rolling brush to stop working, and outputting fault information.

In this embodiment, the fault information is information for characterizing a fault of the roll brush or the scrubber.

The second electrical threshold is the maximum current for normal operation of the roller brush, e.g. set to 11A, etc.

The third time threshold may be user-defined, such as set to 1s or 1.5s, etc., and is not limited in this application.

With continued reference to fig. 3, after the MCU is powered on for the first time or started up for the first time after leaving the base station, if the operating parameter is continuously greater than 11A for 1s, the rolling brush may be considered to be faulty, the front rolling brush and the rear rolling brush are controlled to stop working, and fault information is output.

Wherein the fault information may be output by at least one of:

First, the output may be represented as a text output.

In this embodiment, the failure information may be output in the form of text.

Second, the output may be represented as a speech output.

In this embodiment, the fault information may be output in the form of voice broadcast.

Third, the output may be represented as an image output.

In this embodiment, the fault information may be displayed on a display screen of the floor scrubber or a display screen of a cell phone or the like in communication with the floor scrubber.

Fourth, the output may be represented as a signal light output.

In this embodiment, a signal lamp may be provided on the floor washing machine, and the fault information may be outputted by controlling the signal lamp to blink.

Of course, in other embodiments, the output may take other forms, which may be determined according to actual needs, which is not limited in this application.

According to the control method of the floor washing machine, whether the floor washing machine is in fault or not is judged through the working parameters and the duration time of the working parameters, and judgment accuracy is high; under the condition of determining faults, the fault information is output, so that a user can be reminded of the faults of the floor washing machine in time, and the floor washing machine has high man-machine interaction.

With continued reference to fig. 3, in some embodiments, after acquiring the operating parameters of the floor scrubber, the method may further include: when the duration time of the working parameter larger than the second electric threshold value does not reach the third time threshold value and the duration time of the working parameter larger than the third electric threshold value reaches the fourth time threshold value, controlling the front rolling brush and the rear rolling brush to stop rotating, and outputting fault information; the second electrical threshold is greater than the third electrical threshold.

In this embodiment, the third electrical threshold is smaller than the second electrical threshold, and the third electrical threshold may be user-defined, such as setting the third electrical threshold to 7.5A or 7A, etc., which is not limited herein.

The fourth time threshold may be user-defined, for example, set to 2min, which is not limited in this application.

In the actual execution process, after the MCU is powered on for the first time or started after leaving the base station for the first time, when the working parameter does not meet the requirement that the continuous 1s is larger than 11A, the size relation between the working parameter and the third electrical threshold value can be further judged when the running time from the starting moment to the current moment of the rolling brush is within the third time.

If the working parameters are not satisfied that the continuous 1s is more than 11A and the working parameters are satisfied that the working parameters are continuously more than 7.5A for 2min in the previous 3min, the rolling brush is considered to be faulty, the front rolling brush and the rear rolling brush are controlled to stop working, and fault information is output.

In some embodiments, after acquiring the operating parameters of the floor scrubber, the method may further comprise: and controlling the rolling brush to work normally under the condition that the duration time of the working parameter larger than the second electric threshold value does not reach the third time threshold value and the duration time of the working parameter larger than the third electric threshold value does not reach the fourth time threshold value.

With continued reference to fig. 3, in this embodiment, controlling the roller brush to operate normally may include:

after the running time from the starting time to the current time of the rolling brush exceeds the third time, determining that the duration of the working parameter not smaller than the sixth electrical threshold does not reach the eighth time threshold, and the duration of the working parameter not smaller than the fourth electrical threshold reaches the sixth time threshold, and controlling the water outlet device to continuously supply water to the front rolling brush and the rear rolling brush respectively for a fourth time according to the seventh water quantity;

after the operation time length from the starting time to the current time of the rolling brush exceeds the third time length, determining that the duration time length of the working parameter not smaller than the sixth electrical threshold value does not reach the eighth time threshold value, and the duration time length of the working parameter not smaller than the fourth electrical threshold value does not reach the sixth time threshold value, and controlling the water yield of the water outlet device based on the operation time length.

Wherein the eighth time threshold is greater than the sixth time threshold, and the sixth electrical threshold is greater than the fourth electrical threshold.

The eighth time threshold and the sixth electrical threshold may be user-defined, such as setting the eighth time threshold to 2min or 2.5min, and the sixth electrical threshold to 6.8A or 6.9A, and the like, which is not limited in this application.

For example, when the MCU is powered on for the first time or started up for the first time after leaving the base station, and the operating parameter does not satisfy the continuous condition for 1s greater than 11A and the operating parameter does not satisfy the continuous condition for 2min greater than 7.5A in the first 3min, the rolling brush is controlled to operate normally.

The specific control logic has been described in the above embodiments, and is not described herein.

With continued reference to fig. 3, in some embodiments, after acquiring the operating parameters of the floor scrubber, the method may further include:

under the condition that the duration time of the working parameter larger than the second electric threshold value does not reach the third time threshold value, acquiring a fourth duration time of the working parameter larger than the fifth electric threshold value in the third duration time;

In this embodiment, the fifth electrical threshold may be user-defined based.

The fifth electrical threshold is greater than the fourth electrical threshold and the third electrical threshold, and the fifth electrical threshold is less than the second electrical threshold

In some embodiments, the fifth electrical threshold may include a first sub-electrical threshold and a second sub-electrical threshold, and the first sub-threshold is greater than the second sub-threshold.

For example, the first sub-electrical threshold may be set to 10A and the second sub-electrical threshold may be set to 8.5A.

It will be appreciated that the fifth electrical threshold is different in value and the corresponding fourth duration is also different.

In the actual execution process, if the duration time of the working parameter larger than the second electrical threshold value reaches the third time threshold value, the abnormal rolling brush can be directly determined.

Under the condition that the duration time of the working parameter larger than the second electric threshold value does not reach the third time threshold value, further acquiring a fourth duration time of the working parameter larger than the fifth electric threshold value in the third duration time from the starting moment of the rolling brush, judging whether the rolling brush is in fault or not based on the fourth duration time, and controlling the working state of the rolling brush based on the fourth duration time.

With continued reference to fig. 3, in some embodiments, controlling the operational state of the roll brush based on the fourth duration may include:

under the condition that the fourth duration reaches a seventh time threshold, controlling the rolling brush to stop working and outputting fault information;

when the fourth duration does not reach the seventh time threshold, and when the third duration does not reach the seventh time threshold and the duration of the working parameter larger than the second electric threshold reaches the fourth time threshold, the rolling brush is controlled to stop working, and fault information is output;

and controlling the rolling brush to work normally under the condition that the third duration does not reach the seventh time threshold and the duration of the working parameter larger than the second electric threshold does not reach the fourth time threshold.

In this embodiment, the seventh time threshold may be user-defined, and the present application is not limited.

The seventh time threshold may be determined based on the value of the fifth electrical threshold.

In some embodiments, the seventh time threshold may include a first sub-time threshold corresponding to the first sub-electrical threshold and a second sub-time threshold corresponding to the second sub-electrical threshold.

For example, the first sub-time threshold may be set to 100ms and the second sub-time threshold may be set to 10s.

In some embodiments, in a case that the fourth duration reaches the seventh time threshold, controlling the rolling brush to stop working and outputting the fault information may include:

determining the duration of the working parameter in the third duration which is greater than the first sub-electrical threshold value as a fourth duration;

under the condition that the fourth duration exceeds the first sub-time threshold, controlling the rolling brush to stop working and outputting fault information;

if the fourth duration does not exceed the first sub-time threshold, determining the duration in which the operating parameter in the third duration is greater than the second sub-electrical threshold as the fourth duration;

and under the condition that the fourth duration exceeds the second sub-time threshold, controlling the rolling brush to stop working, and outputting fault information.

In some embodiments, in the case that the fourth duration does not exceed the second sub-time threshold, a duration in which the operating parameter is greater than the second electrical threshold may be obtained, and a magnitude relationship of the duration in which the operating parameter is greater than the second electrical threshold to the fourth time threshold may be determined.

Under the condition that the duration time of the working parameter larger than the third electric threshold value reaches a fourth time threshold value, controlling the front rolling brush and the rear rolling brush to stop rotating, and outputting fault information;

and controlling the rolling brush to work normally under the condition that the duration time of the working parameter larger than the third electric threshold value does not reach the fourth time threshold value.

Wherein, controlling the normal operation of the rolling brush may include:

after the running time from the starting time to the current time of the rolling brush exceeds the third time, determining that the duration of the working parameter not smaller than the fourth electric threshold reaches a sixth time threshold, and controlling the water outlet device to continuously supply water to the front rolling brush and the rear rolling brush for a fourth time according to a seventh water quantity;

after the running time from the starting time to the current time of the rolling brush exceeds the third time, determining that the duration of the working parameter not smaller than the fourth electrical threshold value does not reach the sixth time threshold value, and controlling the water yield of the water outlet device based on the running time.

According to the control method of the floor washing machine, provided by the embodiment of the application, the working state of the floor washing machine is judged by arranging the multi-layer judging logic, so that the control method has higher judgment accuracy and precision.

The following description continues to take the rolling brush including a front rolling brush and a rear rolling brush as an example, and describes a specific implementation manner of the control method of the floor washing machine provided by the application.

With continued reference to fig. 3, in the actual implementation process, after the floor washer is turned on, it is first determined whether the MCU power-on state of the floor washer is the first power-on state or whether the start-up state of the floor washer is the first start-up after leaving the base station.

Under the condition that the MCU power-on state of the floor washing machine is the primary power-on state or the starting state of the floor washing machine is the primary starting state after the floor washing machine leaves a base station, the rolling brush current is obtained to judge whether the rolling brush current is larger than 11A, the floor washing machine is controlled to enter a first stage, and the water outlet device is controlled to continuously supply water to the front rolling brush and the rear rolling brush respectively with the water yield of 200 ml/min.

Controlling the floor scrubber to enter a second stage under the condition that the MCU power-on state of the floor scrubber is not primary power-on and the starting state of the floor scrubber is not primary starting after leaving a base station, and controlling the water outlet device to continuously supply water to the front rolling brush and the rear rolling brush with target water quantity; and simultaneously acquiring the rolling brush current to judge whether the rolling brush current is larger than 11A.

And under the condition that the rolling brush current is continuously 1s more than 11A, determining that the floor washing machine is in fault, and stopping rolling brush rotation.

Under the condition that the current of the rolling brush does not meet the continuous condition that 1s is larger than 11A, continuously maintaining the rolling brush to rotate and maintaining the current stage; it is determined whether the roll brush current is greater than 10A after 1 s.

And under the condition that the rolling brush current is continuously 100ms to be more than 10A, determining that the floor washing machine is in fault, and stopping rolling brush rotation.

Under the condition that the rolling brush current does not meet the continuous condition that 100ms is more than 10A, continuously maintaining the rolling brush to rotate and maintaining the current stage; it is determined if the roll brush current is greater than 8.5A after 1 s.

And under the condition that the rolling brush current is continuously greater than 8.5A for 10 seconds, determining that the floor washing machine is in fault, and stopping rolling brush rotation.

Continuously maintaining the rolling brush to rotate under the condition that the rolling brush current does not meet the continuous condition that the current is more than 8.5A for 10 seconds; and under the condition that the first stage exists, after the first stage lasts for 15 seconds, controlling the floor washing machine to enter a second stage, and controlling the water outlet device to continuously supply water to the front rolling brush and the rear rolling brush with the target water quantity.

Judging whether the rolling brush current is more than 7.5A in the first 3 min.

And under the condition that the rolling brush current is greater than 7.5A for 2 minutes continuously, determining that the floor washing machine is in fault, and stopping rolling brush rotation.

And under the condition that the rolling brush current does not meet the continuous condition that the rolling brush current is larger than 7.5A for 2min, judging the magnitude relation between the rolling brush current and 6.8A after 3 min.

And judging whether the rolling brush is smaller than 6.5A or not under the condition that the rolling brush current is not smaller than 6.8A for 2min continuously.

And under the condition that the current of the rolling brush is not less than 6.5A for 1min continuously, controlling the floor washing machine to enter a fourth stage, and controlling the water outlet device to continuously supply water for 40s to the front rolling brush and the rear rolling brush respectively with the water outlet quantity of 40 ml/min.

And judging whether the running time of the rolling brush is longer than 5min or not under the condition that the rolling brush current does not meet the continuous condition of 1min to 6.5A.

And under the condition that the operation time is not longer than 5min, after the fourth stage is finished, controlling the floor washing machine to enter the second stage, and controlling the water outlet device to continuously supply water to the front rolling brush and the rear rolling brush with the target water quantity.

When the operation time is longer than 5min, after the fourth stage is finished, controlling the floor washing machine to enter the third stage, and controlling the water outlet device to supply water to the front rolling brush and the rear rolling brush for 10s at intervals of 40s according to the water outlet quantity of 40 ml/min.

In the subsequent water supply process, judging whether the rolling brush current meets the requirement of not less than 6.5A for 1min continuously every 3 min.

When the rolling brush current is not less than 6.5A for 1min continuously, the floor washing machine is controlled to enter a fourth stage, and the floor washing machine returns to the original stage after the fourth stage is executed until the flow is ended.

According to the control method of the floor washing machine, the execution main body can be the control device of the floor washing machine. In the embodiments of the present application, a control method for executing a control method of a floor scrubber by a control device of the floor scrubber is taken as an example, and the control device of the floor scrubber provided in the embodiments of the present application is described.

The embodiment of the application also provides a control device of the floor washing machine.

As shown in fig. 4, the control device of the floor washing machine includes: a first processing module 410, a second processing module 420, and a third processing module 430.

A first processing module 410, configured to control the water outlet device to continuously supply water to the roller brush with a first amount of water when the floor scrubber enters the first stage;

the second processing module 420 is configured to control the water outlet device to continuously replenish water to the rolling brush with a target water amount when the floor scrubber finishes the first stage and enters the second stage;

a third processing module 430 for controlling the water outlet device to supply water to the rolling brush with a third water amount when the floor scrubber finishes the second stage and enters the third stage;

wherein the first amount of water is greater than the third amount of water, and the third amount of water is greater than the second amount of water.

According to the control device of the floor washing machine, provided by the embodiment of the application, the water supplementing logic of the front rolling brush and the rear rolling brush is respectively controlled by setting the three water outlet stages, so that the water outlet quantity can be reduced as much as possible on the basis of ensuring the cleaning capability, the residual water stain on the ground is reduced, and the cleaning effect is improved; meanwhile, the wettability of the rolling brush can be controlled within a reasonable range, so that the temperature rise rate of the motor is controlled within a reasonable range, and the optimal balance between the temperature rise of the motor and residual water stains on the ground is realized.

In some embodiments, the first processing module 410 may also be configured to: under the condition that the floor washing machine enters the first stage, the water outlet device is controlled to continuously supply water to the front rolling brush and the rear rolling brush respectively according to the first water quantity.

In some embodiments, the second processing module 420 may also be configured to: under the condition that the floor washing machine finishes the first stage and enters the second stage, controlling the water outlet device to continuously supply water to the front rolling brush and the rear rolling brush respectively by the second water quantity; the second amount of water is less than the first amount of water.

In some embodiments, the second processing module 420 may also be configured to: under the condition that the floor washing machine finishes the first stage and enters the second stage, controlling the water outlet device to continuously supply water to the front rolling brush by the fourth water amount, and stopping supplying water to the rear rolling brush; the fourth water amount is smaller than the first water amount.

In some embodiments, the second processing module 420 may also be configured to: under the condition that the floor washing machine finishes the first stage and enters the second stage, controlling the water outlet device to continuously supply water to the front rolling brush by the fifth water quantity and continuously supply water to the rear rolling brush by the sixth water quantity; the fifth and sixth amounts of water are both less than the first amount of water, and the sixth amount of water is less than the fifth amount of water.

In some embodiments, the third processing module 430 may also be configured to: and under the condition that the floor washing machine finishes the second stage and enters the third stage, controlling the water outlet device to intermittently supply water to the rolling brush by the third water amount.

In some embodiments, the third processing module 430 may also be configured to: and under the condition that the floor washing machine finishes the second stage and enters the third stage, controlling the water outlet device to supply water to the front rolling brush and the rear rolling brush respectively according to the third water quantity.

In some embodiments, the third processing module 430 may also be configured to: and under the condition that the floor washing machine finishes the second stage and enters the third stage, controlling the water outlet device to intermittently supply water to the front rolling brush and the rear rolling brush respectively according to the third water quantity.

With continued reference to fig. 4, in some embodiments, the apparatus may further comprise: a fourth processing module 440 and a fifth processing module 450.

The fourth processing module 440 is configured to obtain an operating parameter of the floor cleaning machine when the MCU power-on state of the floor cleaning machine is first power-on or the start-up state of the floor cleaning machine is first start-up after leaving the base station;

and a fifth processing module 450, configured to determine that the duration of the working parameter not less than the fourth electrical threshold reaches the sixth time threshold after the running duration from the starting time to the current time of the rolling brush exceeds the third duration, and control the water outlet device to continuously supply water to the rolling brush for the fourth duration with the seventh water amount.

In some embodiments, the device may further include a sixth processing module, configured to determine that the duration of the working parameter not less than the fourth electrical threshold does not reach the sixth time threshold after the operation duration from the starting time to the current time of the rolling brush exceeds the third duration, and control the water yield of the water outlet device based on the operation duration.

According to the control device of the floor washing machine, the quantitative water supplementing stage is arranged to properly improve the water supplementing amount under the condition that the temperature rising rate of the motor in the second stage is higher so as to reduce the temperature rising rate, and the balance between the temperature rising of the floor washing machine and residual water stains on the ground is better maintained.

In some embodiments, the apparatus may further include a seventh processing module to:

controlling the floor scrubber to enter a third stage under the condition that the second duration of the second stage reaches a first time threshold before the water outlet device is controlled to supply water to the front rolling brush and the rear rolling brush intermittently according to a third water quantity when the floor scrubber finishes the second stage and enters the third stage;

and/or the number of the groups of groups,

and controlling the floor washing machine to enter a third stage under the condition that the temperature of a motor of the floor washing machine is not less than a first temperature threshold value.

In some embodiments, the apparatus may further include an eighth processing module to:

when the floor washing machine finishes the second stage and enters the third stage, after the water outlet device is controlled to intermittently supply water to the front rolling brush and the rear rolling brush respectively according to the third water quantity, the water outlet device is controlled to stop supplying water or enter the second stage under the condition that the temperature rising rate of a motor of the floor washing machine is smaller than a first temperature rising rate threshold value or the duration time of the working parameter of the floor washing machine is smaller than a first electric threshold value reaches a second time threshold value;

And under the condition that the temperature rise rate of the motor is not less than the first temperature rise rate threshold and the duration time of the working parameter smaller than the first electric threshold does not reach the second time threshold, controlling the water outlet device to maintain the third stage.

In some embodiments, the apparatus may further include a ninth processing module for:

under the condition that the floor washing machine enters a first stage, controlling a water outlet device to respectively supply water to a front rolling brush and a rear rolling brush according to a first water quantity, and acquiring an MCU power-on state of the floor washing machine and a starting state of the floor washing machine;

In some embodiments, the apparatus may further include a tenth processing module for:

In some embodiments, the apparatus may further include an eleventh processing module to: under the condition that the floor washing machine stops working in the first stage, after the floor washing machine is restarted, the first stage is reset, and the floor washing machine is controlled to enter the first stage after being reset.

In some embodiments, the apparatus may further include a twelfth processing module to: and under the condition that the floor washing machine ends the first stage and stops working before entering the second stage, after restarting the floor washing machine, controlling the floor washing machine to enter the second stage.

In some embodiments, the third processing module 430 may also be configured to: controlling the water outlet device to continuously supply water to the front rolling brush and the rear rolling brush for a second time period respectively at intervals of the first time period by a third water quantity; the first time period is longer than the second time period.

In some embodiments, the apparatus may further include a thirteenth processing module for:

In some embodiments, the apparatus may further include a fourteenth processing module to: after the working parameters of the floor washing machine are obtained, under the condition that the duration time of the working parameters larger than the second electric threshold value does not reach the third time threshold value and the duration time of the working parameters larger than the third electric threshold value reaches the fourth time threshold value, controlling the front rolling brush and the rear rolling brush to stop rotating, and outputting fault information; the second electrical threshold is greater than the third electrical threshold.

In some embodiments, the apparatus may further include a fifteenth processing module to: when the floor washing machine finishes the first stage and enters the second stage, controlling the water outlet device to continuously supply water to the front rolling brush by the fifth water amount, and controlling the floor washing machine to finish the first stage and enter the second stage under the condition that the first duration of the first stage is not less than a fifth time threshold before continuously supplying water to the rear rolling brush by the sixth water amount; the first duration is less than the second duration of the second phase.

In some embodiments, the apparatus may further include a sixteenth processing module for: controlling the floor washing machine to enter a first stage under the condition that the MCU power-on state of the floor washing machine is the primary power-on state or the starting state of the floor washing machine is the primary starting state after the floor washing machine leaves a base station, and continuously supplying water to the rolling brush by the water outlet device in the first stage; the first amount of water is greater than the seventh amount of water.

In some embodiments, the apparatus may further include a seventeenth processing module for: after the floor washing machine is controlled to enter the first stage, under the condition that the first duration of the first stage reaches a fifth time threshold value, the floor washing machine is controlled to end the first stage and enter a second stage, and in the second stage, the water outlet device continuously supplements water to the rolling brush with target water quantity, wherein the target water quantity is smaller than a seventh water quantity; the fifth time threshold is less than the third time period.

In some embodiments, the sixth processing module may be further configured to:

In some embodiments, the apparatus may further include an eighteenth processing module for:

In some embodiments, the apparatus may further include a nineteenth processing module for:

after the working parameters of the floor washing machine are obtained, under the condition that the duration time of the working parameters larger than the second electric threshold value does not reach the third time threshold value, obtaining a fourth duration time of the working parameters larger than the fifth electric threshold value in the third duration time;

In some embodiments, the nineteenth processing module may be further configured to:

when the fourth duration does not reach the seventh time threshold and the duration of the working parameter larger than the second electric threshold reaches the fourth time threshold, controlling the rolling brush to stop working and outputting fault information;

and controlling the rolling brush to work normally under the condition that the fourth duration does not reach the seventh time threshold and the duration of the working parameter larger than the second electric threshold does not reach the fourth time threshold.

In some embodiments, the fifth processing module 450 may also be configured to: and controlling the water outlet device to supply water to the front rolling brush and the rear rolling brush for a fourth time duration according to the seventh water quantity.

In some embodiments, the fifth processing module 450 is configured to determine that the duration of the rolling brush current not less than the fourth electrical threshold reaches the sixth time threshold, and control the water outlet device to continuously supply water to the rolling brush for a fourth duration with the seventh water amount.

In some embodiments, the fifth processing module 450 is configured to determine that the duration of the motor temperature not less than the fourth electrical threshold reaches the sixth time threshold, and control the water outlet device to continuously supply water to the rolling brush for a fourth duration with the seventh amount of water.

The control device of the floor washing machine in the embodiment of the application may be the floor washing machine, or may be a component in the floor washing machine, for example, an integrated circuit or a chip, or may also be an electronic device in communication connection with the floor washing machine. The electronic device may be a terminal, or may be other devices than a terminal. By way of example, the electronic device may be a mobile phone, tablet computer, notebook computer, palm computer, vehicle-mounted electronic device, mobile internet appliance (Mobile Internet Device, MID), augmented reality (augmented reality, AR)/Virtual Reality (VR) device, robot, wearable device, ultra-mobile personal computer, UMPC, netbook or personal digital assistant (personal digital assistant, PDA), etc., but may also be a server, network attached storage (Network Attached Storage, NAS), personal computer (personal computer, PC), television (TV), teller machine or self-service machine, etc., and the embodiments of the present application are not limited in particular.

The control device of the floor scrubber in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an IOS operating system, or other possible operating systems, which is not specifically limited in the embodiments of the present application.

The control device of the floor washing machine provided in the embodiment of the present application can implement each process implemented by the embodiments of the methods of fig. 1 to 3, and in order to avoid repetition, a detailed description is omitted here.

The embodiment of the application also provides a floor washer.

The floor washing machine comprises: the front rolling brush, the rear rolling brush, the water outlet device and the control device of the floor washing machine in any embodiment.

The water outlet device is connected with the front rolling brush and the rear rolling brush respectively and is used for supplying water to the front rolling brush and the rear rolling brush.

The control device of the floor washing machine is electrically connected with the water outlet device, and the control device of the floor washing machine is used for executing the control method of the floor washing machine according to any embodiment.

Fig. 5 illustrates a schematic structural diagram of a floor scrubber 500, which includes a processor 501, a memory 502, and a computer program stored in the memory 502 and capable of running on the processor 501, where the program, when executed by the processor 501, implements the respective processes of the above-mentioned control method embodiments of the floor scrubber, and can achieve the same technical effects, and for avoiding repetition, a detailed description is omitted herein.

According to the floor washing machine provided by the embodiment of the application, the water supplementing logic of the front rolling brush and the rear rolling brush is respectively controlled by arranging the three water outlet stages, so that the water outlet quantity can be reduced as much as possible on the basis of ensuring the cleaning capability, the residual water stains on the ground are reduced, and the cleaning effect is improved; meanwhile, the wettability of the rolling brush can be controlled within a reasonable range, so that the temperature rise rate of the motor is controlled within a reasonable range, and the optimal balance between the temperature rise of the motor and residual water stains on the ground is realized.

The embodiment of the present application further provides a non-transitory computer readable storage medium, on which a computer program is stored, where the computer program when executed by a processor implements each process of the above-mentioned embodiment of the control method of the floor washing machine, and the same technical effects can be achieved, so that repetition is avoided, and no further description is given here.

Wherein, the processor is the processor in the scrubber described in the above embodiment. The readable storage medium includes computer readable storage medium such as computer readable memory ROM, random access memory RAM, magnetic or optical disk, etc.

The embodiment of the application also provides a computer program product, which comprises a computer program, and the computer program realizes the control method of the floor washing machine when being executed by a processor.

The embodiment of the application further provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled with the processor, the processor is used for running a program or an instruction, implementing each process of the control method embodiment of the floor cleaning machine, and achieving the same technical effect, so as to avoid repetition, and no redundant description is provided herein.

It should be understood that the chips referred to in the embodiments of the present application may also be referred to as system-on-chip chips, chip systems, or system-on-chip chips, etc.

It should be noted that, in this document, 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 the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solutions of the present application may be embodied essentially or in a part contributing to the prior art in the form of a computer software product stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk), comprising several instructions for causing a terminal (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the methods described in the embodiments of the present application.

The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those of ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are also within the protection of the present application.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A control method of a floor scrubber, characterized in that the floor scrubber comprises a rolling brush and a water outlet device, the water outlet device is connected with the rolling brush, the method comprises:

2. The control method of a floor washer according to claim 1, wherein after acquiring the operation parameters of the floor washer in the case that the MCU power-on state of the floor washer is first power-on or the start-up state of the floor washer is first start-up after leaving a base station, the method further comprises:

3. The control method of a floor washing machine according to claim 2, wherein the controlling the water output of the water output device based on the operation time period includes:

4. The control method of a floor scrubber according to claim 1, further comprising:

5. The method of controlling a floor scrubber as recited in claim 4, further comprising, after the controlling the floor scrubber into the first stage:

6. The control method of a floor scrubber according to any one of claims 1 to 5, further comprising:

7. The method of controlling a floor scrubber according to any of claims 1-5, wherein after the acquiring of the operating parameters of the floor scrubber, the method further comprises:

8. The method of controlling a floor scrubber according to any of claims 1-5, wherein after the acquiring of the operating parameters of the floor scrubber, the method further comprises:

9. The method of claim 8, wherein the controlling the operating state of the roller brush based on the fourth duration comprises:

10. The control method of a floor scrubber according to any one of claims 1 to 5, wherein the rolling brush includes a front rolling brush and a rear rolling brush, and the controlling the water outlet means to continuously supply water to the rolling brush for a fourth period of time with a seventh amount of water includes:

11. The control method of a floor scrubber according to any one of claims 1 to 5, wherein the operating parameter includes a rolling brush current, the determining that the duration of the operating parameter not less than a fourth electrical threshold reaches a sixth time threshold, and controlling the water outlet means to continuously supply water to the rolling brush for a fourth time period in a seventh amount of water includes:

12. The control method of a floor scrubber according to any one of claims 1 to 5, wherein the operating parameter includes a motor temperature, the determining that the duration of the operating parameter not less than a fourth electrical threshold reaches a sixth time threshold, and controlling the water outlet means to continuously supply water to the roller brush for a fourth time period in a seventh amount of water includes:

13. A control device of a floor scrubber, characterized in that the floor scrubber comprises a roller brush and a water outlet device, the water outlet device is connected with the roller brush, the device comprises:

14. A floor scrubber, comprising:

a rolling brush;

the water outlet device is connected with the rolling brush and is used for supplying water to the rolling brush;

the control device of a floor scrubber as set forth in claim 13, wherein the control device of the floor scrubber is electrically connected to the water outlet device.

15. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements a method of controlling a floor scrubber according to any of claims 1-12.