WO2023103315A1

WO2023103315A1 - Floor scrubber

Info

Publication number: WO2023103315A1
Application number: PCT/CN2022/098346
Authority: WO
Inventors: 万旭成; 陈铄庭; 黄志高
Original assignee: 深圳市追光智造科技有限公司
Priority date: 2021-12-10
Filing date: 2022-06-13
Publication date: 2023-06-15

Abstract

A floor scrubber, comprising a floor scrubber main body (100) and a direction recognition mechanism (200) being arranged thereon, the direction recognition mechanism (200) comprising a follower component (210), a transmission mechanism (220), an encoding disk (230) and at least two optical paths (300). The follower component (210) rotates along with the movement of the floor scrubber main body (100), and the transmission mechanism (220) converts the rotation of the follower component (210) into the rotation of the encoding disk (230). The encoding disk (230) is arranged in the at least two optical paths (300), and the at least two optical paths (300) are separated by a predetermined angle in the circumferential direction of the encoding disk (230). The encoding disk (230) is provided with at least one pathway component, and when the pathway component is aligned with the optical paths (300), the optical paths (300) are unblocked. The floor scrubber main body (100) is provided with a processor (101), the processor (101) being used for receiving information on blockage and unblockage of each optical path (300) and determining the moving direction of the floor scrubber main body (100) according to the information on blockage and unblockage of each optical path (300).

Description

Washing machine

technical field

The present application relates to the field of floor washing machines, in particular to a floor washing machine.

Background technique

As a cleaning appliance, floor washing machines are more and more popular among users. The bottom of the main body of the scrubber is provided with a plurality of roller brushes, and the inside of the main body is provided with a cleaning water tank, which sprays water onto the roller brushes to clean the ground during the movement of the scrubber. For a hand-held scrubber, the user needs to hold the handle of the scrubber and drag the scrubber to the position where cleaning is required. When the user cleans a large area of the ground, it is tiring to drag the scrubber for a long time.

Contents of the invention

In view of the deficiencies of the above-mentioned prior art, the purpose of the present application is to provide a washing machine.

In order to solve the above technical problems, the application has adopted the following technical solutions:

The present application provides a washing machine, including a main body of the washing machine, wherein the main body of the washing machine is provided with a direction recognition mechanism, and the direction recognition mechanism includes a follower component, a transmission mechanism, a code disc and at least two Optical path; wherein, the follow-up component rotates following the movement of the main body of the scrubber, and the transmission mechanism converts the rotation of the follow-up component into the rotation of the code disc; the code disc is set on the In at least two optical paths, and the at least two optical paths are separated by a predetermined angle in the circumferential direction of the code disc; the code disc is provided with at least one passage portion, when the passage portion is aligned with the optical path , the optical path is in a path state; the main body of the washing machine is equipped with a processor, the processor is used to receive the on-off information of each of the optical paths, and the processor is used to determine the on-off information of each of the optical paths The moving direction of the main body of the scrubber is judged.

Further, when the main body of the washing machine moves forward, the follow-up part rotates in the first direction; when the main body of the washing machine moves backward, the follow-up part rotates in the second direction; The first direction is opposite to the second direction.

Further, the bottom of the main body of the scrubber is provided with a front roller brush and a rear roller brush, and the rotation axes of the front roller brush, the rear roller brush and the follower part are parallel to each other.

Further, the front rolling brush is configured with a first motor, and the rear rolling brush is configured with a second motor; the processor is electrically connected to the first motor and the second motor, and when the processor judges When the moving direction of the main body of the washing machine is to move forward, control the first motor and the second motor to drive the front rolling brush and the rear rolling brush to roll forward, and make the rear rolling brush The rotating speed is greater than the rotating speed of the front rolling brush; when the processor judges that the moving direction of the main body of the scrubber is to move backward, control the first motor and the second motor to drive the front rolling brush Rolling backward with the rear rolling brush, and making the rotating speed of the front rolling brush greater than the rotating speed of the rear rolling brush.

Further, the follow-up component is a roller-type roller, and the roller-type roller is used to collide with the ground.

Further, the transmission mechanism is a gear transmission mechanism.

Further, the transmission mechanism includes a first gear, a second gear and a third gear, the first gear is connected to the rotating shaft of the follower component, the second gear meshes with the first gear, and the The third gear meshes with the second gear, and the third gear is coaxially connected with the code wheel.

Further, each of the optical paths is parallel to the rotation axis of the code wheel.

Further, the code wheel is disc-shaped, and the passage part is a notch on the edge of the code wheel.

Further, each of the light routes is sent out by a light beam transmitter, and each of the light beam transmitters is correspondingly provided with a light beam receiver, and the processor is electrically connected to the light beam receiver.

Further, the beam emitter is an infrared emitter or a laser emitter.

Further, the direction identification mechanism also includes a module bracket, and the follow-up component, the transmission mechanism, the code disc, the beam transmitter and the beam receiver are installed on the module bracket .

Further, the module bracket is also provided with an elastic component, and the elastic component is used to push the follower component so as to keep the follower component in contact with the ground.

Further, there are two optical paths.

Further, the two optical paths are respectively the first optical path and the second optical path, and the path part includes the first path and the second path. The first optical path and the second optical path are aligned, and the first optical path and the second optical path are in the path state; in another state of the code disc rotation, one of the first path and the second path is aligned with the first optical path and the second path. When one of the two optical paths is aligned, the first optical path or the second optical path is in the open state; in other states of the code disc rotation, the first optical path and the second optical path are in the disconnected state.

Further, the passage part also includes a third passage and a fourth passage, and in the first state where the code wheel rotates clockwise, the first passage and the second passage are respectively connected to the first optical path and the second optical path. The optical paths are aligned, the first optical path and the second optical path are in the path state; in the second state where the code disc rotates clockwise, the third path is aligned with the first optical path, and the first optical path In the passage state, the second optical path is in the open circuit state; in the third state where the code wheel rotates clockwise, the first path, the second path, the third path and the fourth path are not connected to the first optical path. Aligned with the second optical path, the first optical path and the second optical path are in an open circuit state; in the fourth state where the code disc rotates clockwise, the first optical path is aligned with the second optical path, and the The first optical path is in the open state, and the second optical path is in the open state; in the fifth state where the code disc rotates clockwise, the third path and the fourth path are connected to the second optical path and the first optical path respectively. Alignment, the first optical path and the second optical path are in a pass state.

Further, the passage part also includes a third passage and a fourth passage, and in the first state where the code wheel rotates counterclockwise, the first passage and the second passage are respectively aligned with the positions of the first optical path and the second optical path. Alignment, the first optical path and the second optical path are in the path state; in the second state where the code disc rotates counterclockwise, the fourth path is aligned with the second optical path, and the second optical path is in the path state, the first optical path is in an open state; in the third state where the code wheel rotates counterclockwise, the first path, the second path, the third path and the fourth path are not connected to the first path The optical path is aligned with the second optical path, and the first optical path and the second optical path are in an open circuit state; in the fourth state where the code disc rotates counterclockwise, the second optical path is aligned with the first optical path, so The first optical path is in the open state, and the second optical path is in the open state; in the fifth state where the code disc rotates counterclockwise, the third path and the fourth path are respectively connected with the second optical path and the The first optical path is aligned, and the first optical path and the second optical path are in a passing state.

In the washing machine provided by the present application, the bottom of the main body of the washing machine is provided with a direction recognition mechanism. When the user uses the washing machine to clean, the follower part of the direction recognition mechanism rotates with the dragging operation of the user. At the same time, the rotation of the follow-up part is converted into the rotation of the code disc through the transmission mechanism, and the rotation of the code disc causes the on-off of the optical path. The on-off of the optical path can be converted into an electrical signal and sent to the processor of the main body of the washing machine. The received electric signal can identify the dragging direction of the user's operation of the scrubber. On this basis, the processor can adjust the rotation speed of the front and rear roller brushes of the scrubber to form a boost, making the user's operation more labor-saving and convenient, thereby improving The intelligent level of the washing machine is improved, so that the washing machine can intelligently assist the daily operation of the user.

Description of drawings

FIG. 1 is a schematic structural view of a floor washing machine provided in an embodiment of the present application.

Fig. 2 is a schematic cross-sectional structure diagram of a direction recognition mechanism of a floor washing machine provided in an embodiment of the present application.

Fig. 3 is an internal schematic diagram of the direction identification mechanism of the washing machine provided by the embodiment of the present application.

Fig. 4 is a structural schematic diagram of a first state in which the code disc of the direction recognition mechanism of the washing machine rotates clockwise according to the embodiment of the present application.

Fig. 5 is a structural schematic diagram of a second state where the code disc of the direction identification mechanism of the scrubber provided by the embodiment of the present application rotates clockwise.

Fig. 6 is a schematic structural diagram of a third state in which the code disc of the direction identification mechanism of the scrubber provided by the embodiment of the present application rotates clockwise.

Fig. 7 is a structural schematic diagram of the fourth state where the code disc of the direction identification mechanism of the washing machine provided by the embodiment of the present application rotates clockwise.

Fig. 8 is a structural schematic diagram of a fifth state in which the code disc of the direction recognition mechanism of the scrubber provided by the embodiment of the present application rotates clockwise.

Fig. 9 is a schematic structural diagram of a first state in which the code disc of the direction identification mechanism of the floor washing machine rotates counterclockwise according to the embodiment of the present application.

Fig. 10 is a schematic structural diagram of a second state where the code disc of the direction identification mechanism of the scrubber provided by the embodiment of the present application rotates counterclockwise.

Fig. 11 is a schematic structural diagram of a third state in which the code disc of the direction recognition mechanism of the scrubber provided by the embodiment of the present application rotates counterclockwise.

Fig. 12 is a structural schematic diagram of a fourth state in which the code disc of the direction recognition mechanism of the scrubber provided by the embodiment of the present application rotates counterclockwise.

Fig. 13 is a schematic structural diagram of a fifth state in which the code disc of the direction recognition mechanism of the scrubber provided by the embodiment of the present application rotates counterclockwise.

Detailed ways

In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

It should be noted that, when an element is referred to as being “mounted on”, “fixed on” or “disposed on” another element, it may be directly on the other element or there may be an intervening element at the same time. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.

It should also be noted that the orientation terms such as left, right, up, and down in the embodiments of the present application are only relative concepts or refer to the normal use state of the product, and should not be regarded as restrictive .

As shown in Fig. 1, Fig. 2 and Fig. 3, a washing machine provided in the embodiment of the present application includes a washing machine main body 100, and a direction identification mechanism 200 is arranged on the washing machine main body 100, and the direction identification mechanism 200 It can be placed at the bottom of the main body 100 of the washing machine. The direction identifying mechanism 200 may include a follower component 210 , a transmission mechanism 220 , a code wheel 230 and at least two optical paths 300 , and the at least two optical paths 300 are distributed at intervals in the circumferential direction of the code wheel 230 .

The scrubber main body 100 may be provided with a plurality of cleaning elements for contacting the ground, such as roller brushes. When the floor washing machine is cleaning, the roller brush cleans the ground along with the movement of the main body 100 of the floor washing machine. The rolling brush can include a front rolling brush (not shown in the figure) and a rear rolling brush (not shown in the figure), and the rotating shaft of the front rolling brush is for example parallel to the rotating shaft of the rear rolling brush.

During the movement of the main body 100 of the washing machine, the follower component 210 rotates while following the movement of the main body 100 of the washing machine. Preferably, the rotation axis of the follower component 210 is parallel to the rotation axis of the front rolling brush and the rotation axis of the rear rolling brush. Thus, when the washing machine main body 100 moves forward, the follower component 210 rotates along the first direction. When the washing machine main body 100 moves backward, the follower component 210 rotates along the second direction. It can be understood that the first direction and the second direction are opposite directions.

The code wheel 230 is coupled with the follower component 210 through the transmission mechanism 220 , and the rotation of the follower component 210 can be transmitted to the code wheel 230 through the transmission mechanism 220 , so that the code wheel 230 rotates accordingly. The code wheel 230 is disposed in the optical path 300, and the code wheel 230 is provided with at least one passage portion. With the rotation of the code wheel 230 , when the passage portion is aligned with the optical path during the rotation, the optical path is in a passing state, otherwise, the optical path is in a disconnected state. The number of passage parts can be set as required.

When the scrubber provided by the embodiment of the present application is cleaning, the user can drag the scrubber main body 100 to move the scrubber main body 100, for example, move forward or backward. The follower part 210 of the direction recognition mechanism 200 rotates with the movement of the washing machine main body 100. At the same time, the rotation of the follower part 210 is converted into the rotation of the code disc 230 through the transmission mechanism 220, and the rotation of the code disc 230 will cause each The on-off of the optical path, the on-off of each optical path can be converted into an electrical signal, which can be recognized by the processor 101 of the main body 100 of the scrubber. According to the received on-off information of each optical path 300 , the processor 101 can determine the moving direction of the washing machine main body 100 dragged by the user. It can be understood that when the code wheel 230 rotates in different directions, the order of the electrical signals of each optical path received by the processor 101 is different. Thus, the processor 101 can recognize the sequence of the electrical signals received from each optical path 300 and the corresponding relationship between the sequence of the electrical signals pre-stored in the processor 101 and the moving direction of the main body 100 of the scrubber, that is, it can recognize that the user operates the scrubber. The dragging direction of the machine.

Preferably, the front rolling brush can be equipped with a first motor (not shown in the figure), and the first motor can drive the front rolling brush to rotate. The back rolling brush can be equipped with a second motor (not shown in the figure), and the second motor can drive the back rolling brush to rotate. The first motor and the second motor are respectively electrically connected to the processor 101 . When the processor 101 judges that the moving direction of the washing machine main body 100 is to move forward, it controls the first motor and the second motor to drive the front rolling brush and the rear rolling brush to roll forward, and the rotational speed of the rear rolling brush is greater than that of the front rolling brush speed. When the processor 101 judges that the moving direction of the main body 100 of the washing machine is to move backward, it controls the first motor and the second motor to drive the front rolling brush and the rear rolling brush to roll backward, and makes the rotation speed of the front rolling brush greater than the specified Describe the rotational speed of the rear roller brush. By adjusting the rotation speed of the front and rear roller brushes of the scrubber, a power boost is formed, which makes the user's operation more labor-saving and convenient, thereby improving the intelligence level of the scrubber and enabling the scrubber to intelligently assist the user's daily operation.

Referring to FIG. 2 , preferably, in the floor washing machine of this embodiment, there may be two optical paths, and the direction of each optical path may be parallel to the rotation axis of the code wheel 230 . The use of two optical paths is conducive to simplifying the structure, saving investment in components, reducing production costs, simplifying subsequent electrical signal pickup and logic processing, and increasing the stability of product recognition effects. The light path can be sent by beam transmitters 242, and each beam transmitter is correspondingly provided with a beam receiver 241, and the processor 101 is electrically connected to the beam receiver 241. The beam emitter 242 may be an infrared emitter or a laser emitter. Preferably, in this embodiment, the optical path may be an infrared optical path generated by an infrared emitter. In this embodiment, for example, two groups of infrared emitters and infrared receivers are used to form two light paths, so that the cost is low and the effect is stable.

Referring to FIG. 2 and FIG. 3 , preferably, in this embodiment, the code wheel 230 may be disc-shaped, and the passage portion may be formed by notches 231 - 234 on the edge of the code wheel 230 . When the optical path is aligned with the notch, the optical path is in the path, otherwise the optical path is cut off by the code disc 230 .

Referring to Fig. 2 and Fig. 3, preferably, in the floor washing machine in this embodiment, the direction recognition mechanism 200 may also include a module bracket 250, and the follow-up component 210, the transmission mechanism 220 and the code disc 230 are mounted on The module bracket 250 , the beam emitter 242 and the beam receiver 241 can also be installed on the module bracket 250 . The module bracket 250 is installed on the bottom of the washing machine main body 100 . Preferably, the module bracket 250 covers the follower component 210 , the transmission mechanism 220 and the code wheel 230 thereunder. The code wheel 230 is between each group of infrared emitters 242 and infrared receivers 241 . The module bracket 250 may also be provided with an elastic component 251 , and when in operation, the elastic component 251 pushes the follower component 210 to make it closely contact with the ground. Specifically, in this embodiment, the elastic member 251 may be a pair of compression springs.

Referring to FIG. 2 , preferably, in this embodiment, the follower component 210 may be a roller-type roller, and its rotating shaft is supported by the module bracket 250 . When the user drags the main body 100 of the washing machine, the follower component 210 rolls on the ground. The drum type roller can increase the contact area between the follower part 210 and the ground.

Referring to Fig. 2 and Fig. 3, preferably, in this embodiment of the floor washing machine, the transmission mechanism 220 may be a gear transmission mechanism, which includes a first gear 221, a second gear 222 and a third gear 223, for example. The first gear 221 is coupled with the rotating shaft of the follower part 210 and rotates with the rotation of the follower part 210, the second gear 222 meshes with the first gear 221, and the third gear 223 meshes with the second gear 222 , and the third gear 223 coaxially interlocks with the code wheel 230 . The rotation axis of the code wheel 230 is, for example, parallel to the rotation axis of the follower component 210 . Preferably, the rotation axis of the follower component 210 is located below the rotation axis of the code wheel 230 of the scrubber, and the optical path may be located at the upper half of the code wheel 230 .

Referring to FIG. 3 for the floor scrubber, in this embodiment, the two optical paths 300 may be a first optical path 301 and a second optical path 302 respectively, and the path portion may include a first path 231 and a second path 232 . According to different rotation positions of the code wheel 230 , the on-off states of the first optical path 301 and the second optical path 302 may be synchronized or not. For example, when the first path 231 is aligned with the first optical path 301 and the second path 232 is aligned with the second optical path 302, the first optical path 301 and the second optical path 302 are in the path state at the same time. When one of the first passage 231 and the second passage 232 is aligned with one of the first optical path 301 and the second optical path 302, the other of the first passage 231 and the second passage 232 is aligned with When the other of the first optical path 301 and the second optical path 302 is out of alignment, one of the first optical path 301 and the second optical path 302 is in an on state, and the other is in an off state. When any one of the first path 231 and the second path 232 is not aligned with any one of the first light path 301 and the second light path 302, the first light path 301 and the second light path 302 are at the same time open circuit state.

As shown in Figures 4-8, the passage part of this embodiment can also include a third passage 233 and a fourth passage 234, by setting the positions of the third passage 233 and the fourth passage 234 reasonably, the code wheel 230 can be turned by half A circle is an on-off period of the optical path.

Combining Figures 4-8 and referring to Figure 3, the following is an example of an optical path on-off cycle: see Figure 4, when the scrubber is in the first state where the code disc 230 rotates clockwise, the first path 231 and the first path 231 The second path 232 is respectively aligned with the first light path 301 and the second light path 302, and the first light path 301 and the second light path 302 are in a path state. 5, in the second state where the code wheel 230 rotates clockwise, the third path 233 is aligned with the first light path 301, the first light path 301 is in the state of pass, and the second light path 302 is in the state of disconnection. 6, in the third state where the code wheel 230 rotates clockwise, the first path 231, the second path 232, the third path 233 and the fourth path 234 are not connected to the first optical path 301 and the second optical path 302. Alignment, the first optical path 301 and the second optical path 302 are in a disconnected state. As shown in Fig. 7, in the fourth state where the code wheel 230 rotates clockwise, the first path 231 is aligned with the second optical path 302, the first optical path 301 is in the open state, and the second optical path 302 is in the open state . 8, in the fifth state where the code wheel 230 rotates clockwise, the third path 233 and the fourth path 234 are respectively aligned with the second optical path 302 and the first optical path 301, and the first optical path 301 and the first optical path The two optical paths 302 are both in the pass state.

Figure 9-Figure 13 also exemplifies the situation of an optical path on-off cycle: the washing machine is shown in Figure 9, in the first state where the code disc 230 rotates counterclockwise, the first path 231 and the second path 232 are respectively It is aligned with the first optical path 301 and the second optical path 302, and the first optical path 301 and the second optical path 302 are in a passing state. 10 , in the second state where the code wheel 230 rotates counterclockwise, the fourth path 234 is aligned with the second light path 302 , the second light path 302 is in the pass state, and the first light path 301 is in the off state. 11, in the third state where the code wheel 230 rotates counterclockwise, the first path 231, the second path 232, the third path 233 and the fourth path 234 are not connected to the first optical path 301 and the second optical path 302. Alignment, the first optical path 301 and the second optical path 302 are in a disconnected state. As shown in Fig. 12, in the fourth state where the code wheel 230 rotates counterclockwise, the second path 232 is aligned with the first light path 301, the first light path 301 is in the pass state, and the second light path 302 is in the off state . 13, in the fifth state where the code wheel 230 rotates counterclockwise, the third path 233 and the fourth path 234 are respectively aligned with the second optical path 302 and the first optical path 301, and the first optical path 301 and the second optical path The two optical paths 302 are both in the pass state.

It can be understood that, for example, when the follow-up part 210 moves forward following the main body 100 of the washing machine, assuming that the code disc 230 is driven to rotate clockwise, the on-off of the two optical paths 300 can refer to the descriptions in Fig. 4-8 above. The processor of the machine main body 100 receives the on-off sequence information of the two optical paths, and the processor can easily determine that the scrubber main body 100 is in the Do move forward. Then, the processor can send control information to control the rotation speed of the front roller brush to be faster than the rotation of the rear roller brush, so as to form forward power assistance. Similarly, when the follow-up part 210 follows the washing machine main body 100 to move backward, assuming that the code disc 230 is driven to rotate counterclockwise, the processor can easily determine that the washing machine main body 100 is moving backward. Then, the processor can send control information to control the rotation speed of the rear roller brush to be faster than the rotation speed of the front roller brush to form a backward assist, thereby improving the intelligence of the product.

More specifically, if the electrical signal of the on-circuit state is 1, and the electrical signal of the off-circuit state is 0, the application uses the rotation of the follower part 210 to drive the code disc 230 to rotate to generate the on-off of the optocoupler signal, and the optocoupler signal is converted into 0/1 Digital signal (two yards), filters out 00 signal, and 11 signal is followed by 01 signal, and promptly signal is 1101, is the forward direction, and 11 signal is followed by 10 signal, and promptly signal is 1110, is the backward direction. Or, the rotation of the roller drives the code disc 230 to rotate, and the optocoupler signal is turned on and off. The optocoupler signal is converted into a 0/1 digital signal (two codes), and the 11 signal is filtered out. The 00 signal is followed by the 10 signal, that is, the signal is 0010 is the forward direction, and the 00 signal is followed by the 01 signal, that is, the signal is 0001, which is the backward direction. It needs to be pointed out again that the "forward direction", "backward direction", "clockwise", and "counterclockwise" in the embodiments of the present application are all relative, and they are only relative concepts or based on the normal use state of the product. for informational purposes and should not be considered limiting.

Two pairs of infrared emitters 242 and infrared receivers 241 are placed on both sides of the code wheel 230 in this embodiment to form two optical paths. During the rotation of the code disc 230, the on/off of the two optical paths generates electrical signals, and the processor can identify the rotation direction of the follower component 210 according to the order of the received electrical signals, and then identify the movement direction of the scrubber. When the processor receives the forward movement signal, it adjusts the speed of the front and rear roller brushes so that the speed of the front roller brushes is faster than the speed of the rear roller brushes to form a forward boost. On the contrary, the speed of the rear roller brushes is faster than that of the front roller brushes. The rotating speed of the roller brush forms a backward assist, thereby improving the intelligence of the product.

To sum up, in the embodiment of the present application, by placing the direction recognition mechanism at the bottom of the product, when the user uses the product for cleaning, the follower part of the direction recognition mechanism will rotate with the user's dragging operation. At the same time, the movement of the follower part is converted into the rotation of the code disc by the direction recognition mechanism, and the rotation of the code disc leads to the on-off of the optical path, which can be converted into electrical signals for the processor of the main body of the washing machine to identify. Since the electrical signals generated by the rotation of the code wheel in different directions have different sequences, the processor can identify the dragging direction of the scrubber operated by the user according to the sequence of the received electrical signals. On this basis, the processor adjusts the rotation speed of the front and rear roller brushes of the washing machine to form a power boost, which makes the user's operation more labor-saving and convenient, thereby improving the intelligent level of the washing machine and enabling the washing machine to intelligently assist users daily operations.

It can be understood that those skilled in the art can make equivalent replacements or changes according to the technical solutions of the present application and its application concepts, and all these changes or replacements should fall within the protection scope of the appended claims of the present application.

Claims

A washing machine, comprising a main body of the washing machine, wherein the main body of the washing machine is provided with a direction recognition mechanism, and the direction recognition mechanism includes a follower component, a transmission mechanism, a code disc and at least two optical paths;

Wherein, the follow-up part rotates following the movement of the main body of the washing machine, and the transmission mechanism converts the rotation of the follow-up part into the rotation of the code disc;

The code wheel is arranged in the at least two optical paths, and the at least two optical paths are separated by a predetermined angle in the circumferential direction of the code wheel; the code wheel is provided with at least one passage portion, when the passage When the part is aligned with the optical path, the optical path is in the passage state;

The main body of the washing machine is equipped with a processor, the processor is used to receive the on-off information of each of the optical paths, and the processor is used to judge the on-off information of the main body of the washing machine according to the on-off information of each of the optical paths. direction of movement.
The washing machine according to claim 1, wherein when the main body of the washing machine moves forward, the follower member rotates in a first direction; when the main body of the washing machine moves backward, the The follower member rotates in a second direction; the first direction being opposite to the second direction.
The washing machine according to claim 1, wherein, the bottom of the main body of the washing machine is provided with a front rolling brush and a rear rolling brush, the rotating shaft of the front rolling brush, the rotating shaft of the rear rolling brush and the following The axes of rotation of the moving parts are parallel to each other.
The washing machine according to claim 3, wherein,

The front rolling brush is configured with a first motor, and the rear rolling brush is configured with a second motor;

The processor is electrically connected to the first motor and the second motor, and when the processor judges that the moving direction of the main body of the washing machine is to move forward, it controls the first motor and the second motor. Two motors drive the front rolling brush and the rear rolling brush to roll forward, and make the rotation speed of the rear rolling brush greater than the rotation speed of the front rolling brush; when the processor judges the movement of the main body of the washing machine When the direction is to move backward, control the first motor and the second motor to drive the front rolling brush and the rear rolling brush to roll backward, and make the rotation speed of the front rolling brush greater than that of the rear rolling brush speed.
The washing machine according to claim 1, wherein the follower part is a drum-type roller, and the drum-type roller is used for contacting the ground.
The washing machine according to claim 1, wherein the transmission mechanism is a gear transmission mechanism.
The washing machine according to claim 6, wherein the transmission mechanism includes a first gear, a second gear and a third gear, the first gear is connected to the rotating shaft of the follower component, and the second gear The third gear is meshed with the first gear, the third gear is meshed with the second gear, and the third gear is coaxially connected with the code wheel.
The floor washing machine according to claim 1, wherein each of the optical paths is parallel to the rotation axis of the code wheel.
The washing machine according to claim 8, wherein the code disc is disc-shaped, and the passage is a gap on the edge of the code disc.
The washing machine according to claim 1, wherein each of the light beams is emitted by a beam transmitter, and each of the beam transmitters is correspondingly provided with a beam receiver, and the processor is electrically connected to the beam receiver.
The washing machine according to claim 10, wherein the beam emitter is an infrared emitter or a laser emitter.
The washing machine according to claim 10, wherein the direction recognition mechanism further comprises a module bracket, and the follow-up component, the transmission mechanism, the code disc, the beam transmitter and the beam receiver The device is mounted on the module bracket.
The floor washing machine according to claim 12, wherein an elastic member is further provided on the module bracket, and the elastic member is used to push the follower part to keep the follower part in contact with the ground.
The washing machine according to claim 1, wherein there are two optical paths.
The floor scrubber according to claim 2, wherein the two optical paths are respectively the first optical path and the second optical path, and the path part includes the first path and the second path, and in a state where the code disc rotates, the The first path and the second path are respectively aligned with the first light path and the second light path, and the first light path and the second light path are in the path state; in another state where the code disc rotates, the first path and the second light path One of the passages is aligned with one of the first optical path and the second optical path, and the first optical path or the second optical path is in the passage state; in other states of the code disc rotation, the first optical path and the second optical path are in the open circuit state.
The washing machine according to claim 15, wherein the passage part further includes a third passage and a fourth passage, and in the first state where the code wheel rotates clockwise, the first passage and the second passage Align with the first optical path and the second optical path respectively, and the first optical path and the second optical path are in the path state; in the second state where the code wheel rotates clockwise, the third path and the first optical path One optical path is aligned, the first optical path is in the open state, and the second optical path is in the open state; in the third state where the code disc rotates clockwise, the first path, the second path, the third path and the None of the four paths is aligned with the first light path and the second light path, and the first light path and the second light path are in an open circuit state; in the fourth state where the code disc rotates clockwise, the first path and the second light path are in a disconnected state; The second optical path is aligned, the first optical path is in the open state, and the second optical path is in the open state; in the fifth state where the code disc rotates clockwise, the third path and the fourth path are respectively Aligned with the second optical path and the first optical path, the first optical path and the second optical path are in a passing state.
The washing machine according to claim 15, wherein the passage part further includes a third passage and a fourth passage, and in the first state where the code disc rotates counterclockwise, the first passage and the second passage Align with the positions of the first optical path and the second optical path respectively, and the first optical path and the second optical path are in the passage state; in the second state where the code disc rotates counterclockwise, the fourth passage and the second The optical paths are aligned, the second optical path is in the open state, and the first optical path is in the open state; in the third state where the code disc rotates counterclockwise, the first path, the second path, the third path and the None of the fourth paths is aligned with the first light path and the second light path, and the first light path and the second light path are in an open circuit state; in the fourth state where the code disc rotates counterclockwise, the second path Aligned with the first optical path, the first optical path is in the open state, and the second optical path is in the open state; in the fifth state where the code disc rotates counterclockwise, the third path and the fourth path Align with the second optical path and the first optical path respectively, and the first optical path and the second optical path are in a passing state.