Control for Floor Scraping Machine

Not applicable.

Not applicable.

This invention relates generally to machines for stripping, by scraping, materials such as adhesive bonded floor coverings from floor surfaces. Such machines are commonly referred to as “floor scrapers” or “floor strippers.” Such machines may be ride-on or walk behind machines.

In 2009, Martin L. Anderson was awarded U.S. Pat. No. 7,562,412 entitles “Blade Position Control for Ride-on Floor Scraping Machine.” The machine disclosed in that patent includes a rear housing section having a pair of rear wheels and a motor for driving each of the rear wheels, a motor section attached to the front of the rear housing section, and an adjustable blade assembly. The adjustable blade assembly comprises a bracket attached to the front of the motor section, a vertically adjustable plate positioned generally perpendicular to the floor surface and held by the bracket, a blade holder, and a hinge attached at the base of the vertically adjustable plate for pivotally connecting the blade holder to the vertically adjustable plate. A blade is attached directly to the blade holder. In some embodiments, the blade holder includes a first component attached by a hinge to the vertically adjustable plate, a second component to which the blade is attached, and a rod member and collar to rotatably connect the first and second components together.

Various types of blades may be used during operation of the above referenced machine including, without limitation, blades of the type shown in Anderson's U.S. Pat. No. 7,562,412, the various angled shank blades shown in Anderson's U.S. Pat. Nos. 6,813,834 and 7,082,686, winged blades shown in U.S. Pat. No. 10,941,529 granted to Bigham et al on Mar. 9, 2021, and blades of the type shown in U.S. Pat. No. 11,085,195 granted to Burk on Aug. 10, 2021.

The adjustable blade assembly of the above referenced machine further comprises a first linear actuator (e.g., a hydraulic cylinder) to rotate the blade holder about the hinge relative to the vertically adjustable plate. This first linear actuator also holds the blade holder at a desired angle relative to the vertically adjustable plate. The adjustable blade assembly may also include a second linear actuator. This second linear actuator is employed to position and hold the vertically adjustable plate at a desired height relative to the bracket attached to the motor section of the machine.

The linear actuators of the blade holder assembly of the above referenced machine are controlled manually by an operator to adjust the angle of attack of a scraping blade. The machine's ability to remove material efficiently and effectively from the floor is dependent on the angle of attack set by the operator. The optimal angle of attack of the blade is dependent on various factors including the material to be removed from the floor, e.g., carpet, ceramic tile, hardwood, vinyl tile, stone, adhesive, etc., the type of blade attached to the machine, and the weight of the motor section which adds weight to the front of the floor scraping machine to increase the effectiveness of the floor scraping blade. Use of an improper angle of attack often results in inefficiencies when scraping and expedited wearing (dulling) of blades.

A skilled, experienced operator familiar with the above referenced machine and its operation is able to separately adjust the two linear actuators to achieve a suitable angle of attack. However, adjusting the linear actuators to achieve the optimal angle of attack can be time consuming even for highly skilled and experienced operators. Unskilled, inexperienced operators can find this task quite daunting. Further, if the blade is not properly positioned for scraping with the front caster elevated sufficiently from the floor, the casters can become damaged during the scraping operation. A significant factor leading to this difficulty and such damage is not being able to readily discern where and how the blade and casters are positioned. Thus, there currently exists a real need for a machine that can automatically identify for the operator the position of the blade in real time, automatically identify for the operator if the casters are elevated from the floor, automatically operate the linear actuators to set the blade at a preferred angle of attack based at least on the flooring material to be removed, or some combination of the foregoing. There is also a need for machines that can automatically operate the machine in view of other factors such as the type of blade being used, and the amount of auxiliary weight added to the machine.

Further, such machines need to be narrow enough to fit through standard doorways and powerful enough to plow through and lift floor coverings from the floor. When in use, the front of the machine is often supported solely by the blade so that the machine can supply maximum downward force to the blade. This combination of needs has, in the past, resulted in machines that are difficult for inexperienced riders to control. Thus, there also exists a real need to provide a machine that both experienced users and novices find easy to maneuver.

The present invention relates to floor strippers. Various embodiments of the invention comprise a drive section, a blade positioning assembly, a control assembly, and a user interface.

The drive section of floor strippers typically includes at least one wheel rotated by a motor to move the machine across the floor. Most machines have two such wheels. Machines having two such wheels are typically turned either left or right by rotating the wheels at different speeds or in different directions. These wheels support a frame which, in turn, supports other components of the machine.

The blade positioning assembly is coupled to the drive section and enables a blade attached to a blade holder of the blade positioning assembly to be rotated relative to the drive section. In some embodiments, the blade positioning assembly comprises a hinge rotatably coupling a blade holder to the drive section. In other embodiments, the blade positioning assembly comprises a bracket attached to the drive section, a vertically adjustable plate configured to slide up and down vertically relative to the bracket, and a blade holder pivotally connected to the vertically adjustable plate by a hinge. In still other embodiments, the blade positioning assembly includes a linkage, such as a four-bar linkage, rotatably coupling a blade holder either directly to the drive section or to a vertically adjustable plate configured to slide up and down relative to a bracket attached to the drive section.

The control assembly includes a blade sensor configured to send position signals in real time corresponding to the position of the blade holder, a load or position sensor configured to send signals indicating whether the casters are elevated from the floor, and at least one actuator assembly configured to receive actuator control signals and, based on said actuator control signals, rotate the blade holder into, and then hold the blade holder at, a preferred angle of attack for a blade held by the blade holder. In some embodiments, the control assembly also includes a controller.

When the blade holder is coupled directly to the drive section by a hinge or linkage of a blade positioning assembly, a single actuator assembly may be provided. This single actuator assembly may comprise a linear actuator coupled at one of its ends to the drive section and at the other of its ends to the blade holder or some other link of the linkage. Alternatively, this single actuator assembly may comprise a rotary actuator proximate the hinge or a hinged joint of the linkage.

When the blade holder is coupled to the drive section via a bracket and vertically adjustable plate, two actuator assemblies may be provided, i.e., a first actuator assembly for raising, lowering, and holding the vertically adjustable plate in a desired position, and a second actuator assembly for rotating and holding the blade holder at a desired angle relative to the vertically adjustable plate and drive section. The first and second actuator assemblies each comprise an actuator which may be a linear actuator or a rotary actuator. In such embodiments, an additional position sensor is provided to sense the position of the vertically adjustable plate relative to the bracket.

Different types of actuator assemblies may be employed as either the first or the second actuator assemblies. The actuator assemblies may include a hydraulic cylinder or hydraulic motor, together with valves, and valve actuators (e.g., solenoids) controlling the length of the hydraulic cylinder or rotational position of the hydraulic motor. Alternatively, electro-mechanical linear actuators, such as those having a lead screw, a nut assembly and a motor configured to drive the lead screw, may be used. The motor may be an electric motor such as a de brush motor, dc brushless motor, stepper motor, induction motor or servo motor. Rotary electro-mechanical actuators may also be employed.

The control assembly may additionally include motor(s) for driving the wheel(s). For example, the control assembly may include a first wheel motor assembly configured to receive first wheel control signals and drive a first wheel of the pair of wheels, a second wheel motor assembly configured to receive second wheel control signals and drive a second wheel of the pair of wheels, a first wheel sensor configured to send in real time first wheel signals indicative of the speed and direction of rotation of the first wheel, and a second wheel sensor configured to send in real time second wheel signals indicative of the speed and direction of rotation of the second wheel.

Different types of wheel motor assemblies may be used. In some embodiments, the motor assemblies may each include a rotary hydraulic motor, valves and valve actuators uses to control the rate and direction of the flow of hydraulic fluid from a motor driven pump through the hydraulic motor, and thus the speed and direction of rotation of the motor's output shaft and the wheel coupled to the motor's output shaft. In other embodiments, the wheel motor assemblies comprise a variable speed electric motor and circuitry configured to process control signals to regulate the speed and direction of the motor's output shaft.

Different types of sensors may be employed as position sensors and wheel sensors. Examples include inductive sensors, Hall Effect sensors, magneto-resistive sensors, and optical sensors.

The user interface includes at least one operator actuated control assembly configured to send a set of operator input signals. Such operator input signals may be indicative of the flooring type to be removed, the type of blade attached to the machine, the weight of the machine, or some other factor the controller should consider when determining a preferred angle of attack for the blade. These operator input signals may be used by a controller, in combination with signals received from the position sensor(s), to generate the actuator control signals to the actuator(s) and thereby set the angle of attack of a blade coupled to the blade holder. In some embodiments, the control assembly and the user interface cooperate not only to adjust the angle of attack of the blade, but also to separately control the speed and direction of rotation of each wheel. Thus, the user assembly may also include additional operator actuator control assemblies allowing the user to control the speed and direction of the machine.

The user interface may include one or more displays. Simple seven segment alpha-numeric displays may be used in some embodiments. In other embodiments a simple graphical display is used. For example, in embodiments employing a single actuator to adjust the angle of the blade holder and a single sensor configured to generate signals indicative of that angle, an LCD display element comprising a plurality of LEDs arranged in a line or arc may be used to display a scale equating to an angle of the blade/blade holder. One or more LEDs of a particular row are illuminated by the display's controller based on sensor signals received to provide an indication of the angle. In embodiments including two actuators and two position sensors, one indicating the position of the vertically adjustable plate and another indicating the angle of the blade holder relative to the vertically adjustable plate, the display may include two rows of LEDs, one row having one or more LEDs illuminated by the display's controller to indicate the position of the vertically adjustable plate, and another having one or more LEDs illuminated by the display's controller to indicate the angle of the blade holder. Alternatively, the LED display may include one or more rows of multi-colored LEDs, one color generated by the illuminated LEDs of a row being used to indicate the position of the vertically adjustable blade plate while a second color generated by the illuminated LEDs of a row being used to indicate the angle of the blade holder/blade relative to the vertically adjustable plate. These same displays, a separate display, an indicator light, or audible alarm may be used to indicate whether the casters are in contact with or elevated from the floor based on the signals generated by a sensor associated with the caster(s). This sensor may be a pressure, proximity or position sensor, or a sensor in the form of a switch that is configured to be closed when the caster is in contact with the floor and open when the caster is raised from the floor. In still other embodiments, a capacitive or resistive touch screen that displays information based on signals received from the controller and delivers signals to the controller based on “touch events.” Such screens are currently used on smart phones, tablet computers, laptop computers, automobiles, and a variety of consumer products. The controller may be programmed to cause the touch screen to display various selectable options, and further programmed to process touch events corresponding to the selected options. Such options, for example, may include options relating to types of material to be removed from the floor, blade types used with the machine, the total weight of auxiliary weights attached to the machine, a desired maximum speed of the machine, a desired maximum rate of acceleration, or other options related to the user, the machine, or the project with which the machine is being used.

Alternatively, or additionally, the user interface may comprise one or more switches. In some embodiments, a switch may be provided to send a signal to a controller instructing the controller to store the then current position of the blade, and that switch (or a second switch) can then be used to send a signal to the controller instructing the controller to restore the blade to the stored position after the blade has been moved from the stored position to a different position, such as during replacement of the blade. In some embodiments, multi-position switches, e.g., rotary switches, each having a plurality of switch positions. For example, the individual switch positions of one multi-position switch may correspond to different types of flooring materials that the machine can strip from a floor, each of said switch positions corresponding to different type of flooring material, e.g., carpet, ceramic tile, vinyl, or stone. Likewise, the individual switch positions of a multi-position switch may correspond to different types of blades, each of said switch positions corresponding to a different blade type. In still other embodiments, multi-position switches may be used to select a desired maximum rate of acceleration, a desired maximum speed, the number of auxiliary weights attached to the machine, or other parameters relating to use of the machine.

In still other embodiments, the user interface may include a plurality of sets of switches. The individual sets may be used to identify various parameters including, among others, the type of flooring being removed, the type of blade attached to the machine, the maximum acceleration rate for the machine, or the maximum speed of the machine.

The wheel motor assemblies of some embodiments may be configured to receive control signals from the controller. In such cases, the user interface includes an operator actuated control assembly configured to respond to actions by the user and send signals to the controller indicative of a desired speed and direction of the machine. For example, an operator actuated control assembly of the user interface may include a joystick and even a mechanism for adjusting the sensitivity of the joystick. Such a sensitivity adjustment mechanism may also be used to adjust the sensitivity of other user operated controls.

The optimal range of speeds within which the machine should be operated may be impacted by the type of blade attached to the machine, the blade's angle of attack, the type of material to be removed from the floor, and/or the training and experience of the user. Machines employing wheel motor assemblies controlled by the controller may be configured to control the speed of the machine based on these factors. The range within which the machine may be accelerated may similarly be controlled.

As should be clear from the forgoing, the controller can identify the type of material to be removed, the type of blade attached to the machine, and the amount of auxiliary weigh added to the machine via inputs received from the user interface. Alternatively, the machine may be provided with a sensor (e.g., an optical sensor) and the controller with logic that allows the machine to identify the type of flooring lying beneath or in front of the machine. The machine may also be provided with a blade sensor and the blades may be embedded or otherwise labeled with a blade type code. In such cases, the blade's code is configured to be read by the blade sensor positioned, for example, on the blade holder which sends signals to the controller. A sensor may also be used to identify the number of auxiliary weights (or the total of the added auxiliary weight) added to the machine. The controller can use the signals from such sensors to identify the desired angle of attack of the blade and send corresponding control signals to the actuator(s). The controller can also use these signals as it governs the speed (or acceleration) of rotation of the wheel(s) based on a programmed set of instructions.

This description of the preferred embodiment is intended to be read in connection with the accompanying drawings, which are to be considered part of the entire written description of this invention. In the description, relative terms such as “lower”, “upper”, “horizontal”, “vertical”, “above”, “below”, “up”, “down”, “top” and “bottom”, “under”, as well as derivatives thereof (e.g., “horizontally”, “downwardly”, “upwardly”, “underside”, etc.) should be construed to refer to the orientation as then described or as shown in the drawings under discussion. These relative terms are for convenience of description and do not require that the apparatus be constructed or operated in a particular orientation. Terms such as “connected”, “connecting”, “attached”, “attaching”, “joined”, and “joining” are used interchangeably and refer to one structure or surface being secured to another structure or surface or integrally fabricated in one piece unless expressly described otherwise.

A self-propelled ride-on machinefor stripping floor coverings from floor surfaces is shown generally in. Machineincludes drive section, a blade positioning assembly, a blade, a user interface, and a control assembly. Drive sectioncomprises a framesupported by a pair of drive wheelsand. A pair of caster wheelsare also located at the front of the drive section. Blade positioning assemblycomprises a bracketattached the drive section, a vertically adjustable plateheld by bracketgenerally perpendicular to the floor to be stripped, a blade holder, and a hingepivotally connecting vertically adjustable plateand blade holder. Bladeis coupled to the blade holderby blade holder bracketwhich may include a support rodjournaled for rotation within a receiver socketof the blade holder.

Control assemblycomprises a controllerconfigured to receive and process signals from the user interfaceand various sensors and send control signals to various devices. These sensors may include two position sensorsand. Position sensoris configured to sense the vertical position of vertically adjustable plate. Position sensoris configured to sense the angle of blade holderrelative to vertically adjustable plate. In alternative embodiments not including the vertically adjustable plate, the blade holdermay be attached to the front of the drive sectionby a hinge or linkage. In such alternative embodiments, position sensormay be eliminated and sensoris then used to sense the angle of the blade holderrelative to drive section. An alternative or additional sensorfor sense this angle is also shown. Different types of sensors may be employed as position sensorsand/. Examples include inductive sensors, Hall Effect sensors, magneto-resistive sensors, and optical sensors.

In some embodiments, a sensoris employed to generate signals indicative of whether the caster wheelsat the front to the machine are engaged with the floor. Sensorcan be a proximity, position sensor, or pressure sensor, or even a switch that is closed when the caster wheels are engaging the floor and otherwise open.

In some embodiments, control assemblyincludes a first wheel sensorconfigured to sense the speed and direction of rotation of wheeland a second wheel sensorconfigured to sense the speed and direction of rotation of the wheel. In still other embodiments, other sensors are provided, e.g., sensors,andshown in. Sensormay be a sensor used to generate signals indicative of the amount of auxiliary weight or the number of auxiliary weights added to machine. Sensormay, for example, be an optical or image sensor directed beneath or in front of the machine that sends signals to the controllerwhich the controller processes to ascertain the type of flooring to be removed. As explained further below, sensormay be used to send signals to the controller related to the blade attached to the blade holder.

Various types of bladesmay be used during operation of the machine including, without limitation, blades of the type shown in Anderson's U.S. Pat. No. 7,562,412, the various angled shank blades shown in Anderson's U.S. Pat. Nos. 6,813,834 and 7,082,686, winged blades shown in U.S. Pat. No. 10,941,529 granted to Bigham et al on Mar. 9, 2021, and blades of the type shown in U.S. Pat. No. 11,085,195 granted to Burk on Aug. 10, 2021. Examples of such bladesare also shown in. As shown in, an indicator identifying information related to the blade may be attached to bladeat the factory or elsewhere. Such information may include the type of blade, the manufacturer of the blade, the date of manufacture and lot number of the blade, the serial number of the blade, or the like. The indicator may be, for example, (a) a radio frequency identification (RFID) tag, (b) a code (e.g., a barcode, a QR code, etc.) stamped, engraved, etched, or printed on the blade or a separate label or tag affixed to the blade, (c) a set of magnets(i.e., permanent magnets, temporary magnets, or electromagnets) embedded into and coupled to the blade or a shank or rodpermanently attached to the blade, or (d) a circuit embedded in the blade and configured to transmit, in either a wired or wireless fashion, to the controller a unique signal indicative of the type of blade. Such a circuit may transmit signals identifying the blade and the blade's type in a wired fashion via ring electrodesandon the surface of the shank of an angled shank blade as shown in.

The control assembly therefore may include blade sensorconfigured to “read” the code provided by the indicator of the blade. As such, sensormay be an optical sensor as shown inconfigured to read a bar code, QR code or the like. Sensormay be an RFID reader when an RFID tag or circuit is attached to the blade. Sensormay be a Hall Effect or magneto-resistive sensor to generate signals based on the location/arrangement of the magnetsof. Sensormay also be a Wi-Fi or Bluetooth transceiver if a corresponding Wi-Fi or Bluetooth transmitter is embedded in or coupled to the blade and configured to transmit blade type identification signals. Sensormay also be electrical contacts in the socketof the blade holder. In this example, these electrical contacts are coupled to an input port of the controllerand are configured to contact the ring electrodes/of. A circuit is thus completed between controllerand an identification circuit embedded in blade.

Control assemblyincludes various devices that are controlled by controllerin accordance with a predetermined set of instructions and based on signals the controllerreceives from the user interfaceand the various sensors. These devices may be electromechanical or hydraulic.

In some embodiments, a first actuator assemblycomprises a linear actuator connected to the blade holder. Actuator assemblyis configured to receive the first actuator control signals from the controller. Based on these first actuator control signals, actuator assemblyrotates the blade holderabout the hingerelative to the vertically adjustable plate(or the drive section in embodiments not including the vertically adjustable plate) and then hold the blade holderat a desired angle relative the vertically adjustable plate(or the drive section).

This linear actuator of actuator assemblymay be replaced by a rotary actuator assembly without deviating from the invention. The rotary actuator assembly may be an electro-mechanical rotary actuator or a hydraulic rotary actuator. Either type of rotary actuator typically includes a motor coupled to an output shaft configured to rotate the blade holder, i.e., an electric motor in the case of an electro-mechanical rotary actuator or a hydraulic motor in the case of a hydraulic rotary actuator. An electro-mechanical rotary actuator will typically be a stepper motor or a servo motor that receives control signals from the controller and delivers position feedback signals to the controller indicative of blade position. A hydraulic rotary actuator will typically include a servo valve, or a pair of solenoid-controlled valves, to control the angular position of the impeller and shaft, and an angular feedback sensor sending position feedback signals to the controller indicative of blade position.

In other embodiments, the blade positioning assemblycomprises a linkage having a movable component to which the blade holderand bladeare coupled. In these embodiments, the actuator of the first actuator assemblyis connected to either a vertically adjustable plate, or to a fixed portion of the frameof the vehicle, and to a movable component of the linkage. An example of such a linkage is shown in. As shown, the linkageis a four-bar linkage comprising a fixed linkconfigured to be coupled and fixed to either the front of the frameor to vertically adjustable plate. Separately and pivotally coupled at their first ends to the fixed linkare an input linkand an output link. In this example, the blade holderis separately and pivotally coupled to the second ends of the input linkand output linkand acts as an intermediate link. The linear actuator of actuator assemblyis coupled to the input link. Thus, extension and retraction of the linear actuator causes the blade holderand attached bladeto move between the positions shown in. And the blade holderand blade are infinitely adjustable between these two positions. In this embodiment, the blade position sensor is a sensorthat senses the position (e.g., extension) of the actuator assembly. As should be clear from the foregoing, the position of the actuator assembly, working in conjunction with the linkage, sets the position of the blade holderand bladeattached to the blade holder. Further, the linear actuator could be replaced by a rotary actuator configured to rotate an input link relative to blade holder.

In some embodiments, control assemblymay include a second actuator assemblycomprising an actuator connected to the vertically adjustable plateand to the drive sectionor bracket. The second actuator assemblyis configured to receive second control signals from controller. Based on these second control signals, the actuator of actuator assemblyvertically adjusts the position of the vertically adjustable plateand cooperates with bracketto hold the vertically adjustable plateat a desired position.

Different types of linear actuators may be employed as part of the first actuator assemblyor the second actuator assembly. Hydraulic cylinders may be used. When hydraulic actuators are used, the first and second actuator assembliesandeach also include solenoids (or similar devices) operating multi-port valvesandthat control the flow of hydraulic fluid to and/or from the hydraulic actuators in response to the first and second actuator control signals. Alternatively, electro-mechanical actuators, such as those having a lead screw, a nut assembly and an actuator motor configured to drive the lead screw, may be used. The actuator motor may be a direct current brush motor, a direct current brushless motor, an induction motor, a stepper motor, or a servo motor. When electro-mechanical actuators are used, the first and second actuator assembliesandeach also include circuitry configured to process control signals received from the controllerand regulate the speed and direction of the motor in response to such control signals. When a servo motor or a stepper motor is used, the encoder of the motor may serve as the associated position sensor/.

The drive section of a ride-on floor strippers typically includes at least one wheel rotated by a motor to move the machine across the floor. When only one wheel is used, the wheel is a caster wheel driven by a wheel motor and steered by an actuator coupled to the wheel by a linkage or in some other suitable manner. The wheel motor and this actuator are each responsive to control signals generated by the controller in response to inputs received from the user interface and thereby control the speed and direction of the machine.

The drawings show the drive sectionhaving two wheels/and separate wheel motor assembliesand. First wheel motor assemblyis configured to rotate wheelin either a clockwise or counterclockwise direction and second wheel motor assemblyis configured to rotate wheelin either a clockwise or counterclockwise direction. As such, machineis turned either left or right by rotating the wheels/at different speeds or in different directions. In some embodiments, these wheel motor assembliesandmay be configured to receive control signals from the controller. In such embodiments, user interfacemay be configured to respond to actions by the user indicative of a desired speed and direction of the machineand send corresponding signals to controller. Distinct types of wheel motor assemblies may be employed. Wheel motor assembliesandmay each include a hydraulic motor, in which case the wheel motor assemblies will also include solenoids (or similar actuators) configured to control multi-port valves (e.g.,and) that regulate the direction and rate of flow of hydraulic fluid to and/or from the hydraulic motors and thus the direction and rate of rotation of the wheels coupled to the wheel motor assemblies. Such a hydraulic drive system will also include a main motorpowering pumpsand. The hydraulic circuit will also include a fluid reservoir, filters, and relief valves. Alternatively, the first wheel motor assemblyand the second wheel motor assemblymay each comprise an electric motor. These electric motors may be direct current brush motors, direct current brushless motors, induction motors, stepper motors, or servo motors. When electric motors are used, the wheel motor assembliesandeach also include circuitry configured to process control signals received from the controllerand regulate the speed and direction of the motor in response to such control signals. When servo motors or stepper motors are used, the encoders of the motors may serve as wheel sensors/.

User interfacewill include a plurality operator actuated control assemblies. As shown in, the operator actuated control assemblies may include a joystick, a touch display, one or more multi-position switches, one or more sets of toggle switches, or combinations of the forgoing. The touch displaymay be a capacitive or resistive touch display that displays information based on signals received from the controllerand delivers signals to the controllerbased on “touch events.” Such screens are used on smart phones, tablet computers, laptop computers, automobiles, and a variety of consumer products. The controllermay be programmed to cause the touch screento display selectable options related to operation of the machine and, and further programmed to process touch events corresponding to the selected options selected by the user. Alternatively, or additionally, such options may be selected using either the multi-position switchesor the sets of toggle switches.

For example, the individual switch positions of one multi-position switchmay correspond to different types of materials that the machine can strip from a floor. Likewise, the individual switch positions of a different multi-position switchmay correspond to different types of blades that may be attached to the machine to strip from a floor, each of said switch positions corresponding to a different blade type. The individual switch positions of a multi-position switchmay also correspond to a maximum speed or maximum rate of acceleration at which machinewill operate, the number of auxiliary weights or amount of auxiliary weight attached to the machine, or virtually any other factor that may affect performance.

As shown in, an operator actuated control assembly of user interfacemay also include a joystick(e.g., a Hall Effects joystick). Joystickmay be manipulated by a user to send signals to the controller indicative of the user's desired speed and direction of machine. The wheel sensors/(e.g., Hall Effect sensors) generate and send to the controllerfeedback signals indicative of the actual speed at which the wheels/are rotation. Controlleris configured to process signals received from the joystick and wheel sensors (and potentially other sensors and other operator actuated control assemblies) in accordance with a programmable set of instructions to generate and sent to the wheel motor assemblies/control signals for controlling the speed and direction of rotation of the wheels/. The sensitivity of the joystickmay also be adjusted in various ways using touch display, a multi-position switchor a set of toggle switches.

The operation of machinewill now be described with reference to. In, the dashed arrows are used to indicate steps may be skipped depending on the sensors and actuators of the specific embodiment of the machine. The upwardly facing arrows indicate feedback signals received from the sensors/and/.

The machine is powered on at step. Controllerthen seeks to ascertain the type of flooring material to be removed at step. When user interfaceincludes touch screen, the controller sends commands to touch screencausing touch screento display the available flooring type options. When the user selects one of the options, a corresponding signal is sent by touch displayto the controller. If the user interfaceincludes a dial or switches (e.g., multi-position switchesor toggle switch sets) for the user to employ to identify the flooring material to be removed, the user interfacegenerates a signal to a display or other indicator directing the user to select a flooring material type and the checks the status/position of the dial or those switches. If the machine includes a flooring type sensor, signals from that sensor may be used by the controllerto ascertain the type of flooring to be removed.

At step, the controller seeks to ascertain the type of blade attached to the machine. When the user interface includes touch screen, the controller sends commands to the touch screen causing the touch screen to display the available blade options. When the user selects a blade option, a corresponding signal is sent by touch displayto the controller. If the user interfaceincludes a dial or switches (e.g., multi-position switchesor toggle switch sets) for the user to employ to identify the blade type, the user interface generates a signal to a display or other indicator directing the user to select a blade type and the checks the status/position of the dial or those switches used to signal blade type. As noted above, some embodiments may include a blade type indicator on the bladeand a corresponding blade type sensor. At stepthe controllerautomatically sets the blade type based on the signals received from sensor.

The controllermay be programmed to respond to the flooring type and/or blade type information in various ways. First, the controllercan ascertain whether the attached bladeis suitable for use given the flooring type. If not, the controllercan issue a signal to the display of touch screen(or some other display or indicator) advising the user to exchange the bladefor a blade of suitable type and even recommend the type of blade to be used. Second, controllercan ascertain whether the blade attached is even authorized for use with machine. If not, the controllercan suspend further operation of the machine until an authorized blade is attached, or signal the user that use of the attached blade may be dangerous, void any warrantees, or void the terms of use in a rental agreement. If desired, the user may also be given the opportunity to acknowledge the warning and proceed to operate the machine with the acknowledgement, along with the identity of the user making the acknowledgement and its date and time, stored in the memory of the controller. Alternatively, the user may be required to enter an authorization code provided by the machine manufacturer or the machine's owner.

At step, controlleruses the flooring type and blade type (and perhaps other data such as data related to auxiliary weights) to ascertain a recommended angle of attack for the blade. At step, the controller ascertains the current angle of blade holderrelative to the vertically adjustable blade platebased on signals received from position sensorand at stepsends control signals to actuator assemblyto adjust this angle, as necessary. If the machinealso has a linear actuator as part of the actuator assemblyand a position sensor, the controller performs stepto ascertain the height of the vertically adjustable blade plateand stepduring which controllersends control signals to linear actuator of actuator assemblyto adjust the position of vertically adjustable blade plate, as necessary. The controller continues to make such adjustments until the desired attack angle for the bladeis reached.

At step, a desired maximum speed and/or maximum rate of acceleration can be set given the operating conditions, e.g., blade type, flooring material type, attack angle, and/or other user definable (or user specific) parameters.