TWM473256U - Displacement operation system of full automatic displacement cleaning device - Google Patents

Description

Displacement operation system of fully automatic displacement cleaning device

The present invention relates to a fully automatic displacement cleaning device, in particular to a displacement operation system of a fully automatic sweeping machine, a vacuum cleaner or a grater.

Prior art such as U.S. Patent Nos. 6,883,201 and 6,594,844 disclose information.

The above prior art has completely disclosed that a fully automatic displacement sweeping machine, a vacuum cleaner or a screed machine, etc., can be mounted on the lower side, the front side or the periphery thereof to prevent the fully automatic displacement sweeping machine and the vacuum cleaner. Or when the trowel encounters an obstacle, there will be a problem of violently hitting an obstacle, or when the obstacle is a descending step, the automatic sweeping machine, the vacuum cleaner or the squeegee can be prevented from being directly The situation of damage caused by falling occurs; therefore, it can be seen that the fully automatic displacement sweeper, vacuum cleaner or grater must rely on the sensor to provide correct information to the fully automatic function in order to achieve anti-collision and anti-drop function. The displacement sweeper, vacuum cleaner or squeegee can be used to advance, decelerate, reverse or stop.

However, in the actual operation of the prior art described above, the fully automatic displacement sweeper, vacuum cleaner or squeegee often has problems of abnormal operation, and the reason for this is that the external environment in which it operates is There are too many kinds of light in the middle, so that when the sensors are all received, the fully automatic displacement sweeper, vacuum cleaner or trowel can not be correctly and effectively interpreted, which often causes abnormal advancement, deceleration, The operation of reversing or stopping occurs, and the service life of the fully automatic displacement sweeper, vacuum cleaner or trowel is shortened; this problem is the biggest problem of the prior art products, and is also strongly sought by the industry in the current technical field. solved problem.

The main purpose of this creation is to solve the above-mentioned shortcomings, and to provide a displacement operation system for achieving a fully automatic displacement cleaning device which can be operated stably without external light or infrared light.

According to the above main object, the present invention proposes a displacement operation system for a fully automatic displacement cleaning device, comprising: a charging stand and a fully automatic displacement cleaning device, the charging stand comprising a charging module for outputting a charging power, and a charging module An infrared emitter emitting at least one encrypted infrared signal, the fully automatic displacement cleaning device comprising a battery, a driving wheel, a sweeping roller, at least one servo motor, an infrared receiver, a microcontroller, a light emitter and a a light receiving body, the battery is preset with a charging voltage for supplying the fully automatic displacement cleaning device, and the driving wheel and the sweeping roller are driven by the servo motor, and the driving wheel drives the fully automatic displacement cleaning device to shift For the sweeping roller to clean the floor.

The digital signal in the microcontroller forms an encrypted encoded data set sent in a continuous manner by an encoding technique for controlling the rotation of the servo motor, and when the infrared receiving body receives the encrypted infrared signal, the microcontroller Encrypting the infrared signal for decoding, and detecting the current voltage of the battery. When the current voltage of the battery is higher than the charging voltage, the microcontroller generates a control for the servo motor to operate the fully automatic displacement cleaning device away from the charging stand. a control signal, when the current voltage of the battery is lower than the charging voltage, the microcontroller generates a control to operate the servo motor to move the fully automatic displacement cleaning device to the charging stand and combine with the charging stand to receive the supply of the battery The second control signal of the charging power.

The light emitter is activated by the microcontroller transmitting and converting the formed voltage, and the light receiver receives the light of the light emitter and converts the transmission to the microcontroller, and the function button selects the micro controller to provide The servo motor is controlled by the preset function to convert the data value in the encrypted encoded data group into a low or high voltage, and activate the light emitted or deactivated or brightened by the light emitter, the light receiving body Continuously receiving a series of corresponding light rays corresponding to the reflected light generated or extinguished or brightened by the light emitter to form a low or high corresponding voltage, so that the corresponding voltage is converted to form a corresponding digital signal to provide the microcontroller with the encrypted encoded data set The decoder compares and decodes, and the microcontroller provides control of the forward, deceleration, reverse or stop operation of the servo motor according to the correctness of the decoding and detecting the strong, weak, presence or absence of the corresponding digital signal.

In one embodiment, the encrypted encoded data set is formed by Manchester coding technology (Manchester).

In an embodiment, the microcontroller further includes an encoder that forms the encrypted encoded data set, and a decoder that can be compared with the encrypted encoded data set for decoding.

In an embodiment, the fully automatic displacement cleaning device further includes an electronic switch that controls the data values in the encrypted encoded data set, and a corresponding voltage that is formed by the light receiving body to receive light or is low or high. The analog/digital converter (A/D Converter) corresponding to the digital signal.

In one embodiment, the fully automatic displacement cleaning device is a sweeper.

In one embodiment, the encrypted infrared signal includes a first encrypted infrared signal having a first operating frequency and a second encrypted infrared signal having a second operating frequency.

According to the above main object, the present invention further provides a displacement operation system for a fully automatic displacement cleaning device, comprising: a charging stand and a fully automatic displacement cleaning device, the charging stand comprising a charging module for outputting a charging power; An infrared emitter emitting at least one encrypted infrared signal, the fully automatic displacement cleaning device comprising a battery, a driving wheel, a vacuum fan motor, at least one servo motor, an infrared receiver, a microcontroller, a light emitter and a light receiving body, the battery is preset with a charging voltage for supplying the fully automatic displacement cleaning device, and the driving wheel and the suction fan motor are driven by the servo motor, and the driving wheel drives the fully automatic displacement cleaning The device is displaced for the vacuum fan motor to clean the floor.

The digital signal in the microcontroller forms an encrypted encoded data set sent in a continuous manner by an encoding technique for controlling the rotation of the servo motor, and when the infrared receiving body receives the encrypted infrared signal, the microcontroller Encrypting the infrared signal for decoding, and detecting the current voltage of the battery. When the current voltage of the battery is higher than the charging voltage, the microcontroller generates a control for the servo motor to operate the fully automatic displacement cleaning device away from the charging stand. a control signal, when the current voltage of the battery is lower than the charging voltage, the microcontroller generates a control to operate the servo motor to move the fully automatic displacement cleaning device to the charging stand and combine with the charging stand to receive the supply of the battery The second control signal of the charging power.

The light emitter transmits and converts the light emitter activated by the formed voltage via the microcontroller, and the light receiver receives the light of the light emitter and converts the light to the microcontroller, and the function button selects the micro The preset function provided by the controller controls the vacuum fan motor and the servo motor to convert the data value in the encrypted encoded data group into a low or high voltage, and activates the light emitter to generate or destroy Or a bright light, the light receiving body continuously receives a series of corresponding light rays corresponding to the reflected light generated or extinguished or brightened by the light emitting body to form a low or high corresponding voltage, so that the corresponding voltage is converted to form a corresponding digital signal to provide the micro The controller is compared with the encrypted encoded data set for decoding. The microcontroller provides the servo motor forward rotation and deceleration according to the correctness of the decoding and detecting the strong, weak, presence, and absence of the corresponding digital signal. Reverse or stop the control of operation.

In one embodiment, the encrypted encoded data set is formed by Manchester coding technology (Manchester).

In an embodiment, the microcontroller further includes an encoder that forms the encrypted encoded data set, and a decoder that can be compared with the encrypted encoded data set for decoding.

In an embodiment, the fully automatic displacement cleaning device further includes an electronic switch that controls the data values in the encrypted encoded data set, and a corresponding voltage that is formed by the light receiving body to receive light or is low or high. The analog/digital converter (A/D Converter) corresponding to the digital signal.

In an embodiment, the fully automatic displacement cleaning device is a vacuum cleaner, and a vacuum suction port communicating with the vacuum fan motor is disposed under the vacuum cleaner.

In one embodiment, the encrypted infrared signal includes a first encrypted infrared signal having a first encrypted password and a first operating frequency, and a second encrypted infrared signal having a second encrypted password and a second operating frequency.

According to the above main object, the present invention further provides a displacement operation system for a fully automatic displacement cleaning device, comprising: a charging stand and a fully automatic displacement cleaning device, the charging stand comprising a charging module for outputting a charging power; An infrared emitter emitting at least one encrypted infrared signal; the fully automatic displacement cleaning device comprises a battery, a driving wheel, at least one servo motor, an infrared receiving body, a microcontroller, a light emitting body and a light receiving body, The battery is preset to have a charging voltage and is used to supply the fully automatic displacement cleaning device, and the driving wheel is driven by the servo motor, and the driving wheel drives the fully automatic displacement cleaning device to shift.

The digital signal in the microcontroller forms an encrypted encoded data set sent in a continuous manner by an encoding technique for controlling the rotation of the servo motor, and when the infrared receiving body receives the encrypted infrared signal, the microcontroller Encrypting the infrared signal for decoding, and detecting the current voltage of the battery. When the current voltage of the battery is higher than the charging voltage, the microcontroller generates a control for the servo motor to operate the fully automatic displacement cleaning device away from the charging stand. a control signal, when the current voltage of the battery is lower than the charging voltage, the microcontroller generates a control to operate the servo motor to move the fully automatic displacement cleaning device to the charging stand and combine with the charging stand to receive the supply of the battery The second control signal of the charging power.

The light emitter transmits and converts the light emitter activated by the formed voltage via the microcontroller, and the light receiver receives the light of the light emitter and converts the transmission to the microcontroller, and the function button selects the micro control The function function of the servo motor is controlled by the preset function provided by the device to convert the data value in the encrypted encoded data group into a low or high voltage, and activate the light emitter to generate or extinguish or brighten Light, the light receiving body continuously receives a series of corresponding light corresponding to the reflected light generated or extinguished or brightened by the light emitter to form a low or high corresponding voltage, so that the corresponding voltage is converted to form a corresponding digital signal to provide the microcontroller And the encrypted encoded data set is compared with each other for decoding, and the microcontroller provides the servo motor to rotate, decelerate, reverse or according to the correctness of the decoding and detecting the strength, weakness, presence or absence of the corresponding digital signal. Stop the control of operation.

In one embodiment, the encrypted encoded data set is formed by Manchester coding technology (Manchester).

In an embodiment, the microcontroller further includes an encoder that forms the encrypted encoded data set, and a decoder that can be compared with the encrypted encoded data set for decoding.

In an embodiment, the fully automatic displacement cleaning device further includes an electronic switch that controls the data values in the encrypted encoded data set, and a corresponding voltage that is formed by the light receiving body to receive light or is low or high. The analog/digital converter (A/D Converter) corresponding to the digital signal.

In one embodiment, the fully automatic displacement cleaning device is a troweling machine, and a squeegee element for cleaning the floor is attached to the trowel.

In one embodiment, the encrypted infrared signal includes a first encrypted infrared signal having a first encrypted password and a first operating frequency, and a second encrypted infrared signal having a second encrypted password and a second operating frequency.

The shifting operation system of the automatic displacement cleaning device of the present invention mainly transmits an encrypted infrared signal, and the encrypted infrared signal is decoded by the microcontroller and detects the current voltage of the battery, when the current voltage of the battery is high. At the charging voltage, the microcontroller generates a first control signal for the fully automatic displacement cleaning device to avoid the charging stand during normal operation so that it does not touch and strike the charging stand; The current voltage of the battery is lower than the charging voltage, and the microcontroller generates a second control signal for the fully automatic displacement cleaning device to move the charging position to the charging base for charging when the current voltage of the battery is insufficient to be charged. The encrypted infrared signal can be encrypted with different passwords or different working frequencies, so that the fully automatic displacement cleaning device can distinguish whether it is another infrared light source, so as to achieve stable operation without interference from external light or infrared light.

100‧‧‧Encrypted coded data set

1‧‧‧Automatic displacement cleaning device

10‧‧‧ sweeping machine

10a‧‧‧ vacuum cleaner

10b‧‧‧Spreading machine

101, 101a, 101b‧‧‧ electronic switch

102, 102a, 102b‧‧‧ analog/digital converters

103‧‧‧Infrared receiver

11, 11a, 11b‧‧‧ batteries

12, 12a, 12b‧‧‧ function buttons

13, 13a, 13b‧‧‧ Microcontrollers

131, 131a, 131b‧‧‧ encoder

132, 132a, 132b‧‧‧ decoder

14a, 14b, 14c, 14e‧‧‧ servo motor

14d‧‧‧Dusting fan motor

15, 15a, 15b‧‧‧ drive wheel

16‧‧‧Sweeping wheel

17, 17a, 17b‧‧‧ light emitters

18, 18a, 18b‧‧‧Light receivers

19‧‧‧Dust suction

20‧‧‧Wiping components

30‧‧‧ obstacles

4‧‧‧Charging stand

41‧‧‧Charging module

42‧‧‧Infrared emitters

421‧‧‧First encrypted infrared signal

422‧‧‧Second encrypted infrared signal

A‧‧‧Light

B‧‧‧Infrared light

FIG. 1 is a schematic diagram of a continuous digital signal of an encrypted data group.

FIG. 2 is a block diagram showing the system of the first embodiment of the displacement operation system of the automatic displacement cleaning device.

FIG. 3 is a block diagram showing the system of the second embodiment of the shift operation system of the automatic displacement cleaning device.

4 is a block diagram showing the system of the third embodiment of the displacement operation system of the automatic displacement cleaning device.

FIG. 5 is a schematic diagram of a continuous digital signal of the first encrypted infrared signal.

FIG. 6 is a schematic diagram of a continuous digital signal of a second encrypted infrared signal.

The detailed description and technical content of this creation are as follows:

Please refer to FIG. 1 and FIG. 2, as shown in the figure: This is a displacement operation system of a fully automatic displacement cleaning device, comprising a fully automatic displacement cleaning device 1 and a charging base 4, the charging base 4 comprising an output one A charging module 41 for charging electric power; an infrared emitter 42 emitting at least one infrared ray B, the infrared ray B containing at least one encrypted infrared signal. The fully automatic displacement cleaning device 1 includes a battery 11 for supplying the fully automatic displacement cleaning device 1. The battery 11 is preset with a charging voltage; a driving wheel 15 for driving the fully automatic displacement cleaning device 1; a cleaning roller 16 for cleaning the floor; at least one servo motor 14a, 14b for driving the driving wheel 15 and the cleaning roller 16, an infrared receiving body 103 for receiving the encrypted infrared signal; and controlling the servo motor 14a, 14b A rotating microcontroller 13 (MCU, Microcontroller Unit), the digital signal in the microcontroller 13 is formed by a coding technique into a continuously encoded encrypted encoded data set 100 (as shown in FIG. 1), for example: Forming a continuous digital signal into a digital signal of the encrypted encoded data set 100 such as "1001101000011110101000111001010" through Manchester coding technology (Manchester), and the microcontroller 13 decodes the encrypted infrared signal and detects Measuring the current voltage of the battery 11, when the current voltage of the battery 11 is higher than the charging voltage, the microcontroller 13 generates a control for the servo motor 14a, 14b operates to move the fully automatic displacement cleaning device 1 away from the first control signal of the charging stand 4. When the current voltage of the battery 11 is lower than the charging voltage, the microcontroller 13 generates a control to operate the servo motor 14a, 14b. The fully automatic displacement cleaning device 1 is moved to the charging stand 4 and combined with the charging stand 4 to receive a second control signal for supplying the charging power to the battery 11.

The fully automatic displacement cleaning device 1 further includes a light emitter 17 (eg, an LED tube) activated by a voltage transmitted and converted by the microcontroller 13; and a light A received by the light emitter 17 is converted and transmitted. a light receiving body 18 to the operation of the microcontroller 13; and a function button 12 for controlling the servo motor 14a, 14b by selecting a preset function provided by the microcontroller 13; wherein the microcontroller 13 may further comprise There is an encoder 131 forming the encrypted encoded data set 100, and a decoder 132 that can be mutually compared with the encrypted encoded data set 100. Alternatively, the fully automatic displacement cleaning apparatus 1 can include an encrypted encoded data. An electronic switch 101 (such as a triode or MOS tube) controlled by data values in the group 100, and an analog/digital number converted into a low or high corresponding voltage formed by the light receiving body 18 receiving the light A Converter 102 (A/D Converter); if the microcontroller 13 sends the encrypted encoded data set 100 in a continuous manner; and via the encrypted encoded data set 100, the data value is passed through The electronic switch 101 converts into a low or high voltage and activates the light A that is generated or extinguished or brightened by the light emitting body 17; the light receiving body 18 continuously receives a series of corresponding light emitters 17 that are generated or extinguished or brightened. A corresponding voltage, which is low or high, is formed by the light A reflected by the obstacle 30, and the corresponding voltage is converted by the analog/digital converter 102 to form a corresponding digital signal to provide the microcontroller 13 with the encrypted encoded data set 100. The mutual synchronization decoding, the microcontroller 13 provides the servo motor 14a, 14b forward, decelerate, reverse or stop according to the correctness of the decoding and detecting the strong, weak, presence or absence of the corresponding digital signal. Control. The fully automatic displacement cleaning device 1 is a sweeping machine 10.

In addition, please refer to FIG. 5 and FIG. 6 at the same time, which is a schematic diagram of a continuous digital signal of the first encrypted infrared signal and a continuous digital signal of the second encrypted infrared signal. As shown in the figure, the encrypted infrared signal further includes a first encrypted infrared signal 421 and a second encrypted infrared signal 422, the first encrypted infrared signal 421 has a first encrypted password and a first operating frequency, and the second encrypted infrared The signal 422 has a second encrypted password and a second operating frequency, that is, the infrared emitter 42 can respectively transmit a first encrypted infrared signal 421 and a second encrypted infrared signal 422 of different passwords, such as the first encrypted infrared signal 421. The password is 110111010001, and the password of the second encrypted infrared signal 422 is 101100011101, or the infrared emitter 42 can transmit the first encrypted infrared signal 421 and the second encrypted infrared signal 422 of the same password but different operating frequencies, such as the first An encrypted infrared signal 421 has an operating frequency of 38 kHz, and the second encrypted infrared signal 422 has an operating frequency of 50 kHz for the fully automatic displacement cleaning device 1 to distinguish whether it is another infrared light source (such as infrared light transmitted by other machine equipment, Sunlight or other lights).

Referring to FIG. 3 again, it is a system block diagram of a second embodiment of the displacement operation system of the automatic displacement cleaning device. As shown in the figure: the displacement operation system of the automatic displacement cleaning device of the present invention comprises a fully automatic displacement cleaning device 1 and a charging base 4, the charging base 4 comprises a charging module 41 for outputting a charging power; An infrared emitter 42 of at least one infrared ray B, the infrared ray B comprising at least one encrypted infrared signal. The fully automatic displacement cleaning device 1 includes at least a battery 11a for supplying the automatic displacement cleaning device 1, the battery 11a is preset with a charging voltage; a driving wheel 15a for driving the fully automatic displacement cleaning device 1; a dust suction fan motor 14d for cleaning the floor dirt; at least one servo motor 14c for driving the driving wheel 15a; an infrared receiving body 103 for receiving the encrypted infrared signal; and a microcontroller for controlling the rotation of the servo motor 14c 13a (MCU), the digital signal in the microcontroller 13a forms an encrypted encoded data set 100 sent in a continuous manner by an encoding technique, and the encrypted encoded data set 100 can be formed by Manchester coding technology (Manchester). And the microcontroller 13a decodes the encrypted infrared signal and detects the current voltage of the battery 11a. When the current voltage of the battery 11a is higher than the charging voltage, the microcontroller 13a generates a control for the servo motor 14c. Operating the first control signal of the fully automatic displacement cleaning device 1 away from the charging stand 4, when the current voltage of the battery 11a is lower than the charging voltage, the micro control 13a, generates a control operation of the servo motor 14c so that the automatic displacement of the cleaning device 1 is moved to the charging base charging cradle 4 and the binding of the cell 11a is supplied to receiving the charging power and a second control signal 4.

The fully automatic displacement cleaning device 1 further includes a light emitter 17a (eg, an LED tube) activated by a voltage transmitted and converted by the microcontroller 13a; and a light A received by the light emitter 17a is converted and transmitted. a light receiving body 18a to the operation of the microcontroller 13a; and a function button 12a for controlling the cleaning fan motor 14d and the servo motor 14c by selecting a preset function provided by the microcontroller 13a; wherein the microcontroller 13a may further include an encoder 131a forming the encrypted encoded data set 100 (as shown in FIG. 1), and a decoder 132a contiguous with the encrypted encoded data set 100, and the fully automatic shifting The cleaning device 1 may also include an electronic switch 101a (e.g., a triode or a MOS tube) that controls the data values in the encrypted encoded data set 100, and a low or high temperature formed by the light receiving body 18a receiving the light A. An analog/digital converter 102a (A/D Converter) that converts the corresponding voltage into the corresponding digital signal; if the microcontroller 13a sends the encrypted encoded data set 100 in a continuous manner; The data value in the encrypted encoded data set 100 is converted into a low or high voltage via the electronic switch 101a, and the light A that is generated or deactivated or illuminated by the light emitting body 17a is activated; the light receiving body 18a continuously receives a series of Forming a corresponding voltage lower or higher than the light A reflected by the obstacle 30 generated or extinguished or illuminated by the light emitter 17a, causing the corresponding voltage to be converted via the analog/digital converter 102 to form a corresponding digital signal to provide The microcontroller 13a is compared with the encrypted encoded data set 100 for decoding. The microcontroller 13a provides the servo motor according to the correctness of the decoding and detecting the strong, weak, presence, and absence of the corresponding digital signal. The control of the positive rotation, deceleration, reversal or stop operation of the 14c; wherein the automatic displacement cleaning device 1 is a vacuum cleaner 10a, and a vacuum suction port 19 communicating with the suction fan motor 14d is disposed below the vacuum cleaner 10a.

In addition, please refer to FIG. 5 and FIG. 6 at the same time, which is a schematic diagram of a continuous digital signal of the first encrypted infrared signal and a continuous digital signal of the second encrypted infrared signal. As shown in the figure, the encrypted infrared signal further includes a first encrypted infrared signal 421 and a second encrypted infrared signal 422, the first encrypted infrared signal 421 has a first encrypted password and a first operating frequency, and the second encrypted infrared The signal 422 has a second encrypted password and a second operating frequency, that is, the infrared emitter 42 can respectively transmit a first encrypted infrared signal 421 and a second encrypted infrared signal 422 of different passwords, such as the first encrypted infrared signal 421. The password is 110111010001, and the password of the second encrypted infrared signal 422 is 101100011101, or the infrared emitter 42 can transmit the first encrypted infrared signal 421 and the second encrypted infrared signal 422 of the same password but different operating frequencies, such as the first An encrypted infrared signal 421 has an operating frequency of 38 kHz, and the second encrypted infrared signal 422 has an operating frequency of 50 kHz for the fully automatic displacement cleaning device 1 to distinguish whether it is another infrared light source (such as infrared light transmitted by other machine equipment, Sunlight or other lights).

Finally, please refer to FIG. 4, which is a system block diagram of a third embodiment of the displacement operation system of the automatic displacement cleaning device. As shown in the figure: the displacement operation system of the automatic displacement cleaning device of the present invention comprises a fully automatic displacement cleaning device 1 and a charging base 4, the charging base 4 comprises a charging module 41 for outputting a charging power; An infrared emitter 42 of at least one infrared ray B, the infrared ray B comprising at least one encrypted infrared signal. The fully automatic displacement cleaning device 1 includes at least one battery 11b for supplying the fully automatic displacement cleaning device 1. The battery 11b is preset with a charging voltage, and the driving wheel 15b for driving the fully automatic displacement cleaning device 1 is at least one. The servo motor 14c for driving the driving wheel 15b, an infrared receiving body 103 for receiving the encrypted infrared signal, and a microcontroller 13b (MCU) for controlling the rotation of the servo motor 14e, the digital signal in the microcontroller 13b is The encoding technique forms an encrypted encoded data set 100 that is sent in a continuous manner, and the encrypted encoded data set 100 is formed by Manchester encoding technology (Manchester), and the microcontroller 13b decodes the encrypted infrared signal. And detecting the current voltage of the battery 11b. When the current voltage of the battery 11b is higher than the charging voltage, the microcontroller 13b generates a control to operate the servo motor 14e to move the fully automatic displacement cleaning device 1 away from the charging stand 4. a first control signal, when the current voltage of the battery 11b is lower than the charging voltage, the microcontroller 13b generates a control to operate the servo motor 14e to make the self-self 1 is moved to the displacement of the cleaning device 4 and the charging dock signal and the charge holder 4 in conjunction with the cell 11b is supplied to receiving the second charging electric power control.

The fully automatic displacement cleaning device 1 further comprises a light emitter 17b (eg, an LED tube) activated by a voltage transmitted and converted by the microcontroller 13b, and receiving and transmitting the light A of the light emitter 17b. The light receiving body 18b operated by the microcontroller 13b, and a function button 12b for controlling the servo motor 14e by selecting a preset function provided by the microcontroller 13b; wherein the microcontroller 13b may further comprise a formation The encoder 131b of the encrypted encoded data set 100 (shown in FIG. 1), and a decoder 132b that can be mutually compared with the encrypted encoded data set 100; and the fully automatic displacement cleaning apparatus 1 can also include An electronic switch 101b (such as a triode or a MOS transistor) that accepts control of the data value in the encrypted encoded data set 100, and a corresponding voltage formed by the light receiving body 18b receiving the light A to be low or high is converted into the corresponding An analog/digital converter 102b (A/D Converter) of the digital signal; if the microcontroller 13b sends the encrypted encoded data set 100 in a continuous manner; and encodes the data set 1 by the encryption The data value in 00 is converted into a low or high voltage via the electronic switch 101b, and activates the light A which is generated or extinguished or brightened by the light emitting body 17b; the light receiving body 18b continuously receives a series of corresponding light emitters 17b Forming or extinguishing or illuminating the light A reflected by the obstacle 30 to form a low or high corresponding voltage, causing the corresponding voltage to be converted via the analog/digital converter 102b to form a corresponding digital signal to provide the microcontroller 13b. And the encrypted encoded data set 100 is compared with each other, and the microcontroller 13b provides the servo motor 14e to rotate forward and backward according to the correctness of the decoding and detecting the strong, weak, presence or absence of the corresponding digital signal. The control of reversing or stopping the operation; wherein the fully automatic displacement cleaning device 1 is a troweling machine 10b, and the squeegee 10b is provided with a squeegee element 20 for cleaning the floor soil, and the squeegee element 20 is : Flat piece with a rag or paper towel.

In addition, please refer to FIG. 5 and FIG. 6 at the same time, which is a schematic diagram of a continuous digital signal of the first encrypted infrared signal and a continuous digital signal of the second encrypted infrared signal. As shown in the figure, the encrypted infrared signal further includes a first encrypted infrared signal 421 and a second encrypted infrared signal 422, the first encrypted infrared signal 421 has a first encrypted password and a first operating frequency, and the second encrypted infrared The signal 422 has a second encrypted password and a second operating frequency, that is, the infrared emitter 42 can respectively transmit a first encrypted infrared signal 421 and a second encrypted infrared signal 422 of different passwords, such as the first encrypted infrared signal 421. The password is 110111010001, and the password of the second encrypted infrared signal 422 is 101100011101, or the infrared emitter 42 can transmit the first encrypted infrared signal 421 and the second encrypted infrared signal 422 of the same password but different operating frequencies, such as the first An encrypted infrared signal 421 has an operating frequency of 38 kHz, and the second encrypted infrared signal 422 has an operating frequency of 50 kHz for the fully automatic displacement cleaning device 1 to distinguish whether it is another infrared light source (such as infrared light transmitted by other machine equipment, Sunlight or other lights).

In summary, the shift operation system of the automatic displacement cleaning device of the present invention mainly transmits an encrypted infrared signal, and the encrypted infrared signal is decoded by the microcontroller 13 and detects the current voltage of the battery 11. When the current voltage of the battery 11 is higher than the charging voltage, the microcontroller 13 generates a first control signal to control the servo motor 14a, 14b, 14c, 14e, 14d to operate the fully automatic displacement cleaning device 1 away from The charging stand 4, that is, the fully automatic displacement cleaning device 1 can avoid the charging stand 4 during normal operation after the encrypted charging infrared signal is emitted from the charging stand 4, so that the charging stand 4 does not touch and hit the charging stand. 4; when the current voltage of the battery 11 is lower than the charging voltage, the microcontroller 13 generates a second control signal to control the servo motors 14a, 14b, 14c, 14d, 14e to operate the fully automatic displacement cleaning device 1 Moving to the charging stand 4, and combining with the charging stand 4 to receive charging power supplied to the battery 11, that is, the fully automatic displacement cleaning device 1 after the charging stand 4 transmits an encrypted infrared signal, in the battery 11 When the current voltage is insufficient to charge, the calibration orientation is moved to the charging stand for charging; in addition, the encrypted infrared signal may be encrypted with different passwords or different working frequencies, so that the fully automatic displacement cleaning device 1 distinguishes whether it is another infrared light source. In order to achieve a very stable operation without interference from outside light.

The above description has been made in detail, but the above is only a preferred embodiment of the present invention, and it is not possible to limit the scope of the creation of the creation, that is, the equivalent change according to the creation request. And modifications should still be covered by the patents of this creation.

1‧‧‧Automatic displacement cleaning device

10‧‧‧ sweeping machine

101‧‧‧Electronic switch

102‧‧‧ Analog/Digital Converter

103‧‧‧Infrared receiver

11‧‧‧Battery

12‧‧‧ function button

13‧‧‧Microcontroller (MCU)

131‧‧‧Encoder

132‧‧‧Decoder

14a, 14b‧‧‧ servo motor

15‧‧‧Drive wheel

16‧‧‧Sweeping wheel

17‧‧‧Light emitters

18‧‧‧Light receiver

30‧‧‧ obstacles

4‧‧‧Charging stand

41‧‧‧Charging module

42‧‧‧Infrared emitters

A‧‧‧Light

B‧‧‧Infrared light

Claims (18)

[Item 1]
A shifting operation system for a fully automatic displacement cleaning device, comprising:
A charging stand containing:
a charging module that outputs a charging power;
An infrared emitter that emits at least one encrypted infrared signal;
A fully automatic displacement cleaning device comprising:
a battery for supplying the fully automatic displacement cleaning device, the battery being preset with a charging voltage;
a driving wheel that drives the fully automatic displacement cleaning device;
a sweeping roller for cleaning the floor;
At least one servo motor that drives the driving wheel and the sweeping roller;
An infrared receiver for receiving the encrypted infrared signal;
a microcontroller (MCU, Microcontroller Unit) for controlling the rotation of the servo motor, wherein the digital signal in the microcontroller forms an encrypted encoded data set sent in a continuous manner by using a coding technique, and the microcontroller applies the encrypted infrared The signal is decoded and the current voltage of the battery is detected. When the current voltage of the battery is higher than the charging voltage, the microcontroller generates a first control that controls the operation of the servo motor to move the fully automatic displacement cleaning device away from the charging stand. Signaling, when the current voltage of the battery is lower than the charging voltage, the microcontroller generates a control to operate the servo motor to move the fully automatic displacement cleaning device to the charging stand and combine with the charging stand to receive the supply to the battery a second control signal for charging power;
a light emitter activated by the microcontroller to transmit and convert the formed voltage, a light receiving body that receives the light of the light emitter and converted to operate by the microcontroller; and a selection of the microcontroller Providing a preset function to control a function button of the servo motor; converting the data value in the encrypted encoded data group into a low or high voltage, and starting light generated or extinguished or illuminated by the light emitter; The light receiving body continuously receives a series of corresponding light voltages corresponding to the reflected light generated or extinguished or brightened by the light emitting body to form a low or high corresponding voltage, so that the corresponding voltage is converted to form a corresponding digital signal to provide the microcontroller with the encryption. The coded data sets are mutually compared and decoded, and the microcontroller provides the servo motor to rotate, decelerate, reverse or stop according to the correctness of the decoding and detecting the strength, weakness, presence and absence of the corresponding digital signal. control. [Item 2]
The shift operating system of the fully automatic displacement cleaning device of claim 1, wherein the encrypted encoded data set is formed by Manchester coding technology (Manchester). [Item 3]
The shift operating system of the fully automatic displacement cleaning device of claim 1, wherein the microcontroller further comprises an encoder forming the encrypted encoded data set, and one of which can be compared with the encrypted encoded data set. Decoded decoder. [Item 4]
The shifting operation system of the fully automatic displacement cleaning device of claim 1, wherein the fully automatic displacement cleaning device further comprises an electronic switch that controls the data value in the encrypted encoded data set, and a light The analog/digital converter (A/D Converter) that converts the corresponding voltage formed by the receiving body to the low or high light into the corresponding digital signal. [Item 5]
The shift operating system of the fully automatic displacement cleaning device of claim 1, wherein the fully automatic displacement cleaning device is a sweeping machine. [Item 6]
The shift operating system of the fully automatic displacement cleaning device of claim 1, wherein the encrypted infrared signal comprises a first encrypted infrared signal having a first encrypted password and a first operating frequency, and a second encrypted password. And a second encrypted infrared signal of the second operating frequency. [Item 7]
A shifting operation system for a fully automatic displacement cleaning device, comprising:
A charging stand containing:
a charging module that outputs a charging power;
An infrared emitter that emits at least one encrypted infrared signal;
A fully automatic displacement cleaning device comprising:
a battery for supplying the fully automatic displacement cleaning device, the battery being preset with a charging voltage;
a driving wheel that drives the fully automatic displacement cleaning device;
a vacuum fan motor for cleaning the floor;
At least one servo motor that drives the driving wheel;
An infrared receiver for receiving the encrypted infrared signal;
a microcontroller that controls the rotation of the servo motor, wherein the digital signal in the microcontroller forms an encrypted encoded data set sent in a continuous manner by an encoding technique, and the microcontroller decodes the encrypted infrared signal and detects Measuring the current voltage of the battery, when the current voltage of the battery is higher than the charging voltage, the microcontroller generates a first control signal for controlling the servo motor to operate the fully automatic displacement cleaning device away from the charging stand, when the battery The current voltage is lower than the charging voltage, and the microcontroller generates a second control that controls the operation of the servo motor to move the fully automatic displacement cleaning device to the charging stand and combine with the charging stand to receive the charging power supplied to the battery. signal;
a light emitter activated by the microcontroller to transmit and convert the formed voltage;
Receiving, by a light receiving body, a light receiving body transmitted to the microcontroller, and a function button for controlling the cleaning fan motor and the servo motor by selecting a preset function provided by the microcontroller; Converting the data value in the encrypted encoded data set to a low or high voltage, and initiating the light emitted or extinguished or brightened by the light emitter; the light receiving body continuously receives a series of corresponding light emitters or Deactivating or brightly reflecting light to form a corresponding voltage of low or high, causing the corresponding voltage to be converted to form a corresponding digital signal to provide the microcontroller to be compared with the encrypted encoded data set for decoding, the microcontroller is decoded The correctness and detection of the strong, weak, presence, and absence of the corresponding digital signal provide control of the forward, deceleration, reversal, or stop operation of the servo motor. [Item 8]
The shift operating system of the fully automatic displacement cleaning device of claim 7, wherein the encrypted encoded data set is formed by Manchester coding technology (Manchester). [Item 9]
The shift operating system of the fully automatic displacement cleaning device of claim 7, wherein the microcontroller further comprises an encoder forming the encrypted encoded data set, and one of which is contiguous with the encrypted encoded data set Decoded decoder. [Item 10]
The shifting operation system of the fully automatic displacement cleaning device of claim 7, wherein the fully automatic displacement cleaning device further comprises an electronic switch that accepts control of the data value in the encrypted encoded data set, and a light The analog/digital converter (A/D Converter) that converts the corresponding voltage formed by the receiving body to the low or high light into the corresponding digital signal. [Item 11]
The displacement operation system of the fully automatic displacement cleaning device of claim 7, wherein the fully automatic displacement cleaning device is a vacuum cleaner, and a vacuum suction port communicating with the vacuum fan motor is disposed under the vacuum cleaner. [Item 12]
The shift operating system of the fully automatic displacement cleaning device of claim 7, wherein the encrypted infrared signal comprises a first encrypted infrared signal having a first encrypted password and a first operating frequency, and a second encrypted password. And a second encrypted infrared signal of the second operating frequency. [Item 13]
A shifting operation system for a fully automatic displacement cleaning device, comprising:
A charging stand containing:
a charging module that outputs a charging power;
An infrared emitter that emits at least one encrypted infrared signal;
A fully automatic displacement cleaning device comprising:
a battery for supplying the fully automatic displacement cleaning device, the battery being preset with a charging voltage;
a driving wheel that drives the fully automatic displacement cleaning device;
At least one servo motor that drives the driving wheel;
An infrared receiver for receiving the encrypted infrared signal;
a microcontroller that controls the rotation of the servo motor, wherein the digital signal in the microcontroller forms an encrypted encoded data set sent in a continuous manner by an encoding technique, and the microcontroller decodes the encrypted infrared signal and detects Detecting the current voltage of the battery, when the current voltage of the battery is higher than the charging voltage, the microcontroller generates a first control signal that controls the operation of the servo motor to move the fully automatic displacement cleaning device away from the charging stand, when the battery The current voltage is lower than the charging voltage, and the microcontroller generates a second control that controls the operation of the servo motor to move the fully automatic displacement cleaning device to the charging stand and combine with the charging stand to receive the charging power supplied to the battery. signal;
a light emitter activated by the microcontroller to transmit and convert the formed voltage;
Receiving light transmitted from the light emitter to be converted to a light receiving body operated by the microcontroller, and a function button for controlling the servo motor by selecting a preset function provided by the microcontroller; by the encryption encoding The data values in the data set are converted to a low or high voltage, and the light emitted or extinguished or illuminated by the light emitter is activated; the light receiving body continuously receives a series of reflections corresponding to the light emitters that are generated or extinguished or illuminated. The corresponding voltage formed by the light or low or high causes the corresponding voltage to be converted into a corresponding digital signal to provide the microcontroller to be compared with the encrypted encoded data set for decoding. The microcontroller is based on the correctness of the decoding and the detection. The strength, weakness, presence, and absence of the corresponding digital signal are measured to provide control of the forward, deceleration, reverse, or stop operation of the servo motor. [Item 14]
The shift operating system of the fully automatic displacement cleaning device of claim 13, wherein the encrypted encoded data set is formed by Manchester coding technology (Manchester). [Item 15]
The shift operating system of the fully automatic displacement cleaning device of claim 13, wherein the microcontroller further comprises an encoder forming the encrypted encoded data set, and one of which can be compared with the encrypted encoded data set. Decoded decoder. [Item 16]
The shifting operation system of the fully automatic displacement cleaning device of claim 13, wherein the fully automatic displacement cleaning device further comprises an electronic switch that controls the data value in the encrypted encoded data set, and a light The analog/digital converter (A/D Converter) that converts the corresponding voltage formed by the receiving body to the low or high light into the corresponding digital signal. [Item 17]
The shifting operation system of the fully automatic displacement cleaning device according to Item 13, wherein the fully automatic displacement cleaning device is a troweling machine, and a smear element for cleaning the floor is provided below the smearing machine. Pieces. [Item 18] The shift operating system of the fully automatic displacement cleaning device of claim 13, wherein the encrypted infrared signal comprises a first encrypted infrared signal having a first encrypted password and a first operating frequency, and a second encrypted password. And a second encrypted infrared signal of the second operating frequency.