TWI554239B - Automatic return charging method for self - propelled cleaning device - Google Patents

Description

Automatic reset charging method for self-propelled cleaning device

The invention relates to a method for operating a self-propelled cleaning device, and more particularly to an automatic reset charging method for automatically detecting a charging base by a self-propelled cleaning device.

With the evolution of technology, an automatic cleaning device with an automatic vacuuming function has appeared. The automatic cleaning device does not need to be dragged by the user and controls the position of the suction port to absorb dust. The automatic cleaning device itself moves and Automatically vacuuming while moving, and replacing the manpower to complete the cleaning work. Therefore, after the user only needs to start the automatic cleaning device, the automatic cleaning device automatically cleans and cleans the space required for cleaning, thereby greatly increasing the convenience of the user to clean. In addition, after the automatic cleaning device automatically vacuums for a period of time, it will automatically return to the charging station for charging before the battery is exhausted.

For example, the automatic cleaning device for robot cleaning machine of the Republic of China No. M453295 discloses that the charging stand requires at least three signal transmitting lamps, and the deflecting signal transmitting lamps on both sides need to form an inverted V shape. However, the angle of the inverted V-shape needs to be precisely adjusted. The angle is too small, so that the signal overlaps so that the cleaning machine cannot enter the charging stand position, and the angle is too large, which makes the position of the charging stand inaccurate and difficult to enter; in addition, the cleaning machine only has The front end is equipped with a receiver, and the receiving angle of the receiver is limited, generally within 120 degrees. Therefore, when the walking direction of the cleaning machine is slightly outward at a small angle, it is difficult to capture the signal from the charging stand, and thus the charging stand cannot be charged normally. In addition, the front end of the cleaning machine is equipped with a metal plate for charging, when the cleaning machine and furniture or articles When it collides, it is easy to damage the furniture, and it is also easy to cause the metal plate to be contaminated, resulting in poor charging contact.

The main object of the present invention is to solve the problem that the conventional robot cleaner cannot accurately search for the charging stand.

In order to achieve the above object, the present invention provides an automatic reset charging method for a self-propelled cleaning device, the method comprising the following steps: Step 1: using a microcontroller included in a self-propelled cleaning device to preset The power value to be charged in the microcontroller determines that the power of a battery included in the self-propelled cleaning device is lower than the power value to be charged, and receives the first signal disposed on the side edge of the self-propelled cleaning device. Normally detecting a position signal sent from a charging base; Step 2: the microcontroller outputs a first direct signal to drive a power unit included in the self-propelled cleaning device to enable the self-propelled cleaning The device is in direct contact with at least one obstacle; step 3: the microcontroller outputs a first rotation signal to drive the power unit, and the self-propelled cleaning device is rotated by an offset angle to face the first signal receiver The obstacle, the microcontroller stores the offset angle as an offset data; Step 4: the microcontroller outputs a second straight signal to drive the power unit to enable the self-propelled cleaning Setting a straight line for a preset distance; step 5: the microcontroller outputs a mobile signal to drive the power unit to move in an arcuate trajectory, and the self-propelled cleaning device is again touched by the obstacle, the microcontroller is based on The self-propelled cleaning device generates the arcuate trajectory and touches the travel time of the obstacle to generate a travel time data, and generates an angle with the travel time data and a travel speed data preset in the microcontroller. Data; step 6: determining that the first signal receiver obtains the position signal sent by the charging base, and the first signal receiver outputs a signal to the microcontroller Position confirmation signal; Step 7: After receiving the position confirmation signal, the microcontroller outputs a second rotation signal to the power unit to cause the self-propelled cleaning device to rotate, and the self-propelled cleaning device includes one The second signal receiver obtains the position signal from the charging base and outputs a positioning signal to the microcontroller. Step 8: After receiving the positioning signal, the microcontroller stops outputting the second rotation signal to the power unit, stops the self-propelled cleaning device from rotating, and makes a charging portion included in the self-propelled cleaning device face The charging base; and the step 9: the microcontroller outputs a third straight line signal to drive the power unit, and the self-propelled cleaning device is advanced toward the charging base, so that the charging portion electrically contacts the charging base Charge the battery.

In an embodiment of the present invention, in the step 4, the self-propelled cleaning device further comprises the sub-step of the third step by contacting the other obstacle during the traveling.

In an embodiment of the present invention, the step 3 further includes a sub-step of causing the microcontroller to accumulate time and store the data as a search time according to the output of the first rotation signal by the microcontroller.

In an embodiment of the present invention, after the step 5, the method further includes: determining that the search time data meets a time determination condition preset by the microcontroller, and the microcontroller outputs a fourth rotation signal to the power unit, The self-propelled cleaning device is rotated by a second exit angle and the sub-steps of the second step are performed again.

In an embodiment of the present invention, after the step 5, the method further includes: the microcontroller is configured to generate a line of data according to the offset data and the angle data, and determine that the path data conforms to a preset by the microcontroller. The debug condition is determined by the microcontroller. And outputting a third rotation signal to the power unit, rotating the self-propelled cleaning device to a first exit angle, and performing the sub-step of the second step again.

In an embodiment of the invention, the debugging condition is that the offset angles included in the offset data and the angles included in the angle data are greater than 540°.

In an embodiment of the invention, the step 1 further includes: using at least one virtual wall generating device to project at least one optical signal to a cleaning area to form a limited cleaning area for restricting the self-propelled cleaning device to continue to advance. step.

In an embodiment of the invention, the self-propelled cleaning device includes a third signal receiver that detects the optical signal and outputs a warning signal to the microcontroller to move the self-propelled cleaning device away from the limited cleaning area. The wall generating device includes a light source generating member that projects the optical signal after a plurality of energizations, and a power module that supplies power to the light source generating member.

In an embodiment of the invention, the step 1 further includes a sub-step of causing the microcontroller to output a disable signal to a cleaning unit included in the self-propelled cleaning device to turn off the cleaning unit.

In an embodiment of the present invention, the step 9 further includes: causing the microcontroller to start according to the output of the third straight line signal by the microcontroller, to be preset by the first detection of the microcontroller. The time is determined whether the charging unit contacts the charging base during the first detecting time. If the first detecting time is exceeded and the charging portion is away from the charging base, the sub-steps of the second step to the second step are performed again.

With the above method of the present invention, the automatic reset charging method of the self-propelled cleaning device of the present invention can accurately find the charging base for charging.

1‧‧‧Self-propelled cleaning device

11‧‧‧Microcontroller

12‧‧‧Battery

13‧‧‧Power unit

14‧‧‧ cleaning unit

15‧‧‧First signal receiver

16‧‧‧Second signal receiver

17‧‧‧Charging Department

18‧‧‧ Third Signal Receiver

2‧‧‧Charging base

21‧‧‧Charging parts

22‧‧‧Signal Transmitter

23‧‧‧Power transmission unit

24‧‧‧ boards

3‧‧‧Virtual wall generator

31‧‧‧Light source generating parts

32‧‧‧Power Module

A1‧‧‧Offset angle

A2‧‧‧first departure angle

A3‧‧‧Second departure angle

D1‧‧‧ position signal

D2‧‧‧Disable signal

D3‧‧‧First direct signal

D4‧‧‧First rotation signal

D5‧‧‧Second straight signal

D6‧‧‧Mobile signal

D7‧‧‧ third rotation signal

D8‧‧‧fourth rotation signal

D9‧‧‧Location confirmation signal

D10‧‧‧second rotation signal

D11‧‧‧ positioning signal

D12‧‧‧ third straight signal

D13‧‧‧Optical signal

D14‧‧‧Warning signal

G‧‧‧ Signal Group

L1‧‧‧Preset distance

L2‧‧‧ curved track

P1, P2‧‧‧ obstacles

Steps S100, S101, S102, S103, S104, S105, S106, S107, S108, S109, S110, S111, S112‧‧

Figure 1 is a schematic view showing the structure of a self-propelled cleaning device and a charging base of the present invention.

2 is a block diagram showing the system of the automatic reset charging method of the self-propelled cleaning device of the present invention.

3-1 and 3-2 are schematic flow charts of an automatic reset charging method of the self-propelled cleaning device of the present invention.

Fig. 4 is a schematic view showing the movement trajectory of the self-propelled cleaning device of the present invention (1).

Figure 5-1 is a schematic view showing the movement trajectory of the self-propelled cleaning device of the present invention (2).

Figure 5-2 is a schematic view showing the movement trajectory of the self-propelled cleaning device of the present invention (3).

Figure 5-3 is a schematic view showing the movement trajectory of the self-propelled cleaning device of the present invention (4).

Figure 5-4 is a schematic view showing the movement trajectory of the self-propelled cleaning device of the present invention (5).

5-5 are schematic diagrams showing the movement trajectory of the self-propelled cleaning device of the present invention (6).

5-6 are schematic diagrams showing the movement trajectory of the self-propelled cleaning device of the present invention (7).

5-7 are schematic diagrams showing the movement trajectory of the self-propelled cleaning device of the present invention (8).

The detailed description and technical contents of the present invention will now be described as follows: Referring to Figures 1 and 2, the present invention is an automatic reset charging method for a self-propelled cleaning device, the purpose of which is to cause a self-propelled cleaning device 1 to automatically find a charging base 2 for charging. First, regarding the design of the charging base 2, the charging base 2 mainly includes a charging member 21, a signal transmitter 22, a power transmitting unit 23 and a circuit board 24. The signal transmitter 22 is disposed on the circuit board 24 and located between the charging members 21; and the circuit board 24 is electrically connected to the charging member 21, the signal transmitter 22, and the power transmission unit 23, and The power received by the power transmission unit 23 is supplied to the charging member 21 and the signal transmitter 22. Further, the power transmission unit 23 can be connected to provide a service The commercial power of the galvanic power is converted into the galvanic current of the commercial power, so the charging member 21 can supply the direct current to the self-propelled cleaning device 1. In addition, the signal transmitter 22 can transmit a signal for detection by the self-propelled cleaning device 1, thereby causing the self-propelled cleaning device 1 to search for the correct position of the charging base 2.

Referring to FIG. 1 and FIG. 2 , with reference to the design of the self-propelled cleaning device 1 , the self-propelled cleaning device 1 mainly includes a microcontroller 11 , a battery 12 , a power unit 13 , a cleaning unit 14 , and a cleaning unit 1 . The first signal receiver 15, a second signal receiver 16, and a charging portion 17. The power unit 13 can include a servo motor and a drive wheel set driven by the servo motor. In addition, the cleaning unit 14 may be one of a group consisting of a vacuum motor that generates a vacuuming force, a sweepable broom, or a moppable rag. Since the power unit 13 and the cleaning unit 14 can be easily accomplished by those skilled in the art with reference to the prior art, the present invention will not be described again. Further, the microcontroller 11, the power unit 13, the cleaning unit 14, the first signal receiver 15, and the second signal receiver 16 are electrically connected to the battery 12 and receive power of the battery 12, and The charging portion 17 is also electrically connected to the battery 12 and transmits power to the battery 12 by electrically contacting the charging member 21 of the charging base 2. In addition, regarding the function of the microcontroller 11, the microcontroller 11 can preset a power value to be charged and determine whether the power of the battery 12 is lower than the power value to be charged. If the microcontroller 11 detects that the power of the battery 12 is lower than the power value to be charged, the self-propelled cleaning device 1 needs to find the charging base 2 for charging; and if the power of the battery 12 is not low At the value of the power to be charged, the self-propelled cleaning device 1 continues to operate according to the settings of the user. In addition, the microcontroller 11 is also electrically connected to the power unit 13 and the cleaning unit 14, and can output a signal to drive the power unit 13 and the cleaning unit 14 to perform the functions of moving and cleaning, respectively. In addition, the The microcontroller 11 is also electrically connected to the first signal receiver 15 and the second signal receiver 16. The first signal receiver 15 is disposed on a side edge of the self-propelled cleaning device 1, and the second signal is The receiver 16 is disposed at the rear edge of the self-propelled cleaning device 1 and is located in the middle of the charging portion 17. The first signal receiver 15 and the second signal receiver 16 are configured to detect the signal transmitter 22 of the charging base 2 and return a signal to the microcontroller 11 to confirm that the charging base 2 has been found.

In order to streamline the signal symbol indicated in FIG. 2, all signals transmitted by the microcontroller 11 to the power unit 13 in the present case are summarized in a signal group G and are shown in FIG. 2. The signal group G includes a first The signal D3, a first rotation signal D4, a second straight line signal D5, a movement signal D6, a third rotation signal D7, a fourth rotation signal D8, a second rotation signal D10, and a third straight line Signal D12 and so on.

Referring to FIG. 3-1 to FIG. 5-7, after the self-propelled cleaning device 1 is started, the self-propelled cleaning device 1 performs a cleaning operation according to a user's setting operation. With regard to the automatic reset charging method of the self-propelled cleaning device of the present invention, first, step S100 is performed: the microcontroller 11 determines that the power of the battery 12 is lower than the power value to be charged, and first utilizes the first signal receiver. The 15 normal state is detected by a position signal D1 from the signal transmitter 22 of the charging base 2. In addition, the microcontroller 11 outputs a disable signal D2 to the cleaning unit 14 to turn off the cleaning unit 14.

Then, the controller 11 outputs a first straight line signal D3 to drive the power unit 13 to make the self-propelled cleaning device 1 go straight to contact with at least one obstacle P1. Since the charging base 2 is generally connected to the socket, and the socket is mostly disposed on the wall, the step S101 aims to make the self-propelled cleaning device 1 first look for To the obstacle P1, the charging base 2 is then searched slowly along the obstacle P1, as shown in FIG.

Then, the step S102 is performed: the microcontroller 11 outputs a first rotation signal D4 to drive the power unit 13, and rotates the self-propelled cleaning device 1 by an offset angle A1 to make the first signal receiver 15 face the obstacle. The object P1, the microcontroller 11 then stores the offset angle A1 as an offset data, as shown in FIG. In the embodiment, the offset angle A1 is preset to the microcontroller 11, so the offset angle A1 can be set to a different angle size. Further, when the self-propelled cleaning device 1 fails to advance after the offset angle A1 is rotated, the self-propelled cleaning device 1 continues to rotate the offset angle A1 until the self-propelled cleaning device 1 is unobstructed. Alternatively, when the self-propelled cleaning device 1 fails to advance after the offset angle A1 is rotated, the self-propelled cleaning device 1 first reverses a distance, and the self-propelled cleaning device 1 continues to rotate the offset angle A1. And proceeding until the self-propelled cleaning device 1 is unobstructed. It should be noted here that the microcontroller 11 will accumulate all of the offset angles A1 of the rotation as the offset data. Further, the microcontroller 11 starts from the output of the first rotation signal D4 by the microcontroller 11, accumulates the time and stores it as a search time data.

Then, the step S103 is performed: the microcontroller 11 outputs a second straight line signal D5 to drive the power unit 13 to make the self-propelled cleaning device 1 go straight a predetermined distance L1. If the self-propelled cleaning device 1 comes into contact with another obstacle (not shown) before completing the travel of the preset distance L1, the step S102 is re-executed. Further, if the self-propelled cleaning device 1 is not in contact with another obstacle (not shown) during the course of completing the preset distance L1, the next step is continued.

Then, the step S104 is performed: the microcontroller 11 outputs a mobile signal D6 to drive the power unit 13 to move along an arcuate trajectory L2, so that the self-propelled cleaning device 1 touches the obstacle P1 again, as shown in the figure. 4 is shown. In addition, the microcontroller 11 generates a travel time data according to the travel time of the self-propelled cleaning device 1 to generate the curved track L2 and touches the obstacle P1, and presets the travel time data with a predetermined time. The travel speed data calculation within controller 11 produces an angled data. In other words, the angular velocity of the self-propelled cleaning device 1 is the traveling speed data, and the traveling time is the traveling time data. Therefore, if the angular velocity of the self-propelled cleaning device 1 is multiplied by the travel time, the angle of the curved locus L2 moved by the self-propelled cleaning device 1 can be calculated, and the angle is the angle. Angle data.

It should be noted here that the step S102, the step S103 and the step S104 are aimed at continuously moving the self-propelled cleaning device 1 along the obstacle P1 without being away from the obstacle P1, and continuously searching for the The charging base 2 is as shown in FIG.

Then, the step S105 is performed: the microcontroller 11 calculates a line of data according to the offset data and the angle data, and determines whether the path data meets a debugging condition preset by the microcontroller 11. In this embodiment, the microcontroller 11 stores the offset angles A1 as negative values and stores the angles included in the angle data as positive values. For example, if the offset angle A1 of the self-propelled cleaning device 1 is 80°, it is -80°. If the angle of the angle data of the self-propelled cleaning device 1 is 50°, it is +50°. At this time, if the offset angle A1 included in the offset data and the angle included in the angle data are added together, the result is -30°, and -30° is the calculated path data. The action data in the automatic reset charging method of the self-propelled cleaning device of the present invention and the purpose of the debugging determination condition are to prevent the self-propelled cleaning The cleaning device 1 continuously circumscribes a single obstacle P2; since the room and the chair are generally provided indoors, in order to prevent the self-propelled cleaning device 1 from continuously bypassing the table and the chair, it is necessary to design a debugging mechanism to make the self-defense mechanism The walk-through cleaning device 1 searches for the charging base 2 attached to the plug along the wall (the obstacle P1) as shown in FIG. In this embodiment, the debugging condition is that the offset angle A1 included in the offset data and the angle included in the angle data are greater than 540°, so if the self-propelled cleaning device is paired One of the obstacles P2 is rotated more than 540°, that is, one and a half times, and the self-propelled cleaning device 1 is separated from the obstacle P2. However, the condition for determining the debug in this case is not limited to this implementation.

Further, if the path data meets the debugging determination condition, step S106 is further performed: the microcontroller 11 outputs a third rotation signal D7 to the power unit 13 to rotate the self-propelled cleaning device 1 After leaving the angle A2, the step S101 is re-executed, and then the obstacle P2 is left, as shown in FIG. 5-2 and FIG. 5-4. The purpose of rotating the first exit angle A2 is to prevent the self-propelled cleaning device 1 from bypassing the wrong obstacle P2 and unable to detect the position signal D1 of the charging base 2, so the obstacle must be turned away. P2. If the behavior data does not meet the debug determination condition, proceed to the next step.

Then, step S107 is further performed: the microcontroller 11 presets a time determination condition, and the microcontroller 11 determines whether the search time data meets the time determination condition.

Further, if the microcontroller 11 determines that the search time data meets the time determination condition, proceed to step S108: the microcontroller 11 outputs a fourth rotation signal D8 to the power unit 13 to make the self-propelled The cleaning device 1 rotates a second exit angle A3, and re-executes the step S101 to leave the obstacle P2, as shown in FIG. 5-3 and 5-4. The purpose of rotating the second exit angle A3 is the same as that of the first exit angle A2, and therefore will not be described again. If the microcontroller 11 determines that the search time data does not meet the time determination condition, the next step is continued.

Then, the first signal receiver 15 obtains the position signal D1 sent by the charging base 2, and the first signal receiver 15 outputs a position confirmation signal D9 to the microcontroller 11, as shown in FIG. 5. -5 is shown.

It should be noted that if the first signal receiver 15 has not obtained the position signal D1 sent by the charging base 2, the self-propelled cleaning device 1 repeatedly performs the step S101 to the step S108 until the first A signal receiver 15 obtains the position signal D1 from the charging base 2.

Then, in step S110, the microcontroller 11 receives the position confirmation signal D9, and outputs a second rotation signal D10 to the power unit 13 to cause the self-propelled cleaning device 1 to rotate, so that the second signal is received. The device 16 obtains the position signal D1 from the charging base 2 and outputs a positioning signal D11 to the microcontroller 11, as shown in FIG. 5-6.

Then, the step S111 is performed: the microcontroller 11 receives the positioning signal D11 to stop outputting the second rotation signal D10 to the power unit 13, and stops the self-propelled cleaning device 1 from rotating, so that the self-propelled cleaning device The charging portion 17 of 1 faces the charging base 2 as shown in FIGS. 5-6.

Then, the step S112 is performed: the microcontroller 11 outputs a third straight line signal D12 to drive the power unit 13 to advance the self-propelled cleaning device 1 toward the charging base 2, so that the charging portion 17 is in electrical contact. The charging member 21 of the charging base 2 charges the battery 12 as shown in FIGS. 5-7. In addition, the microcontroller 11 starts from the output of the third straight line signal D12 by the microcontroller 11 to be preset to the first of the microcontroller 11 . The detecting time determines whether the charging unit 17 contacts the charging member 21 of the charging base 2 within the first detecting time. If the first detection time is exceeded and the charging portion 17 has not touched the charging member 21, the step S101 to the step S111 are re-executed. If the first detection time has not been exceeded and the charging portion 17 contacts the charging member 21, the charging base 2 transmits power to the charging portion 17 to charge the battery 12.

Referring to FIG. 2 and FIG. 3, in another embodiment of the present invention, the automatic reset charging method of the self-propelled cleaning device further includes, by using at least one virtual wall generating device 3, projecting to a cleaning area in the step S100. At least one optical signal D13 is formed to limit a range of movement of the self-propelled cleaning device 1. The self-propelled cleaning device 1 includes a third signal receiver 18 that detects the optical signal D13 and outputs a warning signal D14 to the microcontroller 11 to move the self-propelled cleaning device 1 away from the virtual wall generating device 3. Since the virtual wall generating device 3 can be easily completed by the prior art in the prior art, the third signal acceptor 18 does not repeat how to detect and determine the optical signal D13. The virtual wall generating device 3 includes at least one light source generating member 31 that projects the optical signal D13 after being energized, and a power module 32 that supplies power to the light source generating member 31. Thereby, the user only needs to use the virtual wall generating device 3 and surround and form an area for cleaning and moving only the self-propelled cleaning device 1, as shown in FIGS. 4 to 5-4.

The automatic reset charging method of the self-propelled cleaning device of the present invention mainly comprises determining that the power of a self-propelled cleaning device is lower than a preset power value to be charged; controlling the self-propelled cleaning device to advance until an obstacle is touched Controlling the self-propelled cleaning device to rotate away from the obstacle by an offset angle; controlling the self-propelled cleaning device to go straight for a predetermined distance; controlling the self-propelled cleaning device to advance toward the obstacle until it touches the Obstacle; detecting a self-propelled cleaning device after detecting a position signal from a charging base Rotate and advance to electrically contact the charging base and charge. In addition, the automatic reset charging method of the self-propelled cleaning device of the present invention further includes a debugging mechanism for preventing the obstacle from being bypassed. Accordingly, the automatic reset charging method of the self-propelled cleaning device of the present invention can accurately find the charging base for charging.

1‧‧‧Self-propelled cleaning device

15‧‧‧First signal receiver

16‧‧‧Second signal receiver

2‧‧‧Charging base

21‧‧‧Charging parts

22‧‧‧Signal Transmitter

3‧‧‧Virtual wall generator

A1‧‧‧Offset angle

D1‧‧‧ position signal

D13‧‧‧Optical signal

L1‧‧‧Preset distance

L2‧‧‧ curved track

P1‧‧‧ obstacles

Claims (10)

An automatic reset charging method for a self-propelled cleaning device, the method comprising the following steps: Step 1: using a microcontroller included in a self-propelled cleaning device to preset a power to be charged in the microcontroller The value of the battery included in the self-propelled cleaning device is lower than the power value to be charged, and is detected by a first signal receiver disposed on a side edge of the self-propelled cleaning device. a position signal sent by the second step; the second controller outputs a first straight line signal to drive a power unit included in the self-propelled cleaning device, so that the self-propelled cleaning device goes straight and generates at least one obstacle Touching; Step 3: The microcontroller outputs a first rotation signal to drive the power unit, causing the self-propelled cleaning device to rotate an offset angle to face the obstacle to the first signal receiver, and the microcontroller will The offset angle is stored as an offset data; Step 4: The microcontroller outputs a second straight line signal to drive the power unit, and the self-propelled cleaning device is driven to a preset distance; Step 5: The microcontroller outputs a moving signal to drive the power unit to move in an arcuate trajectory, and the self-propelled cleaning device is again touched by the obstacle, and the microcontroller generates the curved trajectory according to the self-propelled cleaning device. And the travel time of the obstacle is generated with a travel time data, and the travel time data is calculated with a travel speed data preset in the microcontroller to generate an angle data; Step 6: determining the first signal receiving Obtaining the position signal sent by the charging base, the first signal receiver outputs a position confirmation signal to the microcontroller; Step 7: after receiving the position confirmation signal, the microcontroller outputs a first position to the power unit The second rotation signal causes the self-propelled cleaning device to rotate, and the second signal receiver included in the self-propelled cleaning device obtains the position signal from the charging base and outputs a positioning signal to the microcontroller. ; Step 8: After receiving the positioning signal, the microcontroller stops outputting the second rotation signal to the power unit, stops the self-propelled cleaning device from rotating, and makes a charging portion included in the self-propelled cleaning device face The charging base; and the step 9: the microcontroller outputs a third straight line signal to drive the power unit, and the self-propelled cleaning device is advanced toward the charging base, so that the charging portion electrically contacts the charging base Charge the battery. The automatic reset charging method of the self-propelled cleaning device according to claim 1, wherein the step 4 further includes the self-propelled cleaning device being re-executed in step three when contacting the other obstacle during the traveling. Substeps. The automatic reset charging method of the self-propelled cleaning device of claim 1, wherein the step 3 further includes a step of accumulating time by the microcontroller according to the output of the first rotation signal by the microcontroller. And stored as a sub-step of searching for time data. The automatic reset charging method of the self-propelled cleaning device of claim 3, wherein after the step 5, the method further comprises: determining that the search time data meets a time determination condition preset by the microcontroller, the microcontroller Then, a fourth rotation signal is output to the power unit, the self-propelled cleaning device is rotated by a second exit angle, and the sub-step of the second step is performed again. The automatic reset charging method of the self-propelled cleaning device of claim 1, wherein after the step 5, the method further comprises: causing the microcontroller to generate a line of data according to the offset data and the angle data, and determining the The path data conforms to a debug decision bar preset to the microcontroller. The microcontroller outputs a third rotation signal to the power unit, rotating the self-propelled cleaning device to a first exit angle, and re-executing the sub-step of the second step. The automatic reset charging method of the self-propelled cleaning device according to claim 5, wherein the debugging condition is that the offset angles included in the offset data and the angles included in the angle data are greater than 540°. . The automatic reset charging method of the self-propelled cleaning device of claim 1, wherein the step 1 further comprises: using at least one virtual wall generating device to project at least one optical signal to a cleaning area to form a limit The walk-through cleaning device continues the sub-step of limiting the cleaning area. The automatic reset charging method of the self-propelled cleaning device of claim 7, wherein the self-propelled cleaning device includes detecting the optical signal to output a warning signal to the microcontroller to keep the self-propelled cleaning device away from the The third signal receiver of the cleaning area is defined. The virtual wall generating device includes a light source generating member that projects the optical signal after being energized, and a power module that supplies power to the light source generating member. The automatic reset charging method of the self-propelled cleaning device of claim 1, wherein the step 1 further includes activating the microcontroller to output a cleaning unit included in the self-propelled cleaning device. Signal to sub-steps to close the cleaning unit. The automatic reset charging method of the self-propelled cleaning device of claim 1, wherein the step 9 further includes: causing the microcontroller to start outputting the third straight line signal according to the microcontroller, Presetting the first detection time of the microcontroller to determine whether the charging unit contacts the charging base during the first detecting time, if the first detecting time is exceeded and the charging portion is away from the charging base Re-execute the sub-steps from step two to step nine.