TWM474871U - Movement operation system of automatic movable 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 virtual wall device and a fully automatic displacement cleaning device, the virtual wall device comprising an infrared emission emitting at least one encrypted infrared signal The infrared emitter is preset with an emission area for projecting the encrypted infrared signal. The fully automatic displacement cleaning device comprises a battery, a driving wheel, a sweeping roller, at least one servo motor, an infrared receiver, and a micro control. a light emitting body and a light receiving body, wherein the battery is used to supply 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 Displaced 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 fully automatic displacement cleaning device enters the emission area, the infrared receiving body will The received encrypted infrared signal is output to the microcontroller, and the microcontroller decodes the encrypted infrared signal and generates a control region for controlling the servo motor to move the fully automatic displacement cleaning device away from the emission area of the virtual wall device. control signal.

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-to-digital converter (A/D Converter, Analog-to-Digital Converter) corresponding to the digital signal.

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

In one embodiment, the virtual wall device includes a power module that provides power to the virtual wall device.

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 virtual wall device and a fully automatic displacement cleaning device, the virtual wall device comprising an infrared light emitting at least one encrypted infrared signal. An emitter, the infrared emitter is preset with an emission area for projecting the encrypted infrared signal, the automatic displacement cleaning device comprises a battery, a driving wheel, a vacuum fan motor, at least one servo motor, an infrared receiver, and a a micro-controller, a light emitting body and a light receiving body, wherein the battery is used to supply 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 automatic function The displacement cleaning 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. When the fully automatic displacement cleaning device enters the emission area, the infrared receiving body will be Receiving the encrypted infrared signal to the microcontroller, the microcontroller decoding the encrypted infrared signal and generating a control for controlling the operation of the servo motor to move the fully automatic displacement cleaning device away from the emission area of the virtual wall device signal.

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 virtual wall device includes a power module that provides power to the virtual wall device.

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: at least one virtual wall device and a fully automatic displacement cleaning device, the virtual wall device comprising a charging mode for outputting a charging power An infrared emitter emitting at least one encrypted infrared signal, the infrared emitter being preset with an emission area for projecting the encrypted infrared signal; the fully automatic displacement cleaning device comprising 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, wherein the battery 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 driving wheel The fully automatic displacement cleaning device is displaced.

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. When the fully automatic displacement cleaning device enters the emission area, the infrared receiving body will Receiving the encrypted infrared signal to the microcontroller, the microcontroller decoding the encrypted infrared signal and generating a control for controlling the operation of the servo motor to move the fully automatic displacement cleaning device away from the emission area of the virtual wall device signal.

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 a function button of the servo motor is controlled by a preset function provided by the controller 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 illuminated 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 And the encrypted encoded data set is compared with each other for decoding, and the microcontroller provides the servo motor forward rotation, deceleration, and reverse according to the correctness of the decoding and detecting the strong, weak, presence, and absence of the corresponding digital signal. Or stop the control of the 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 mopping machine, and a mopping device for cleaning the floor is attached to the mopping machine.

In one embodiment, the virtual wall device includes a power module that provides power to the virtual wall device.

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 at least one encrypted infrared signal, and the encrypted infrared signal is projected on an emission area, and the fully automatic displacement cleaning device enters the emission area to receive the When the virtual wall device transmits the encrypted infrared signal, the fully automatic displacement cleaning device is moved away from the virtual wall device, and the encrypted infrared signal can be encrypted with different passwords or different operating frequencies to achieve interference from external light or infrared light. Very stable operation.

100‧‧‧Encrypted coded data set

1‧‧‧Automatic displacement cleaning device

10‧‧‧ sweeping machine

10a‧‧‧ vacuum cleaner

10b‧‧‧Mopping 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‧‧‧ Virtual wall installation

41‧‧‧ Power Module

42‧‧‧ Infrared emitters

421‧‧‧First encrypted infrared signal

422‧‧‧Second encrypted infrared signal

A‧‧‧ Light

B‧‧‧ Infrared light

B1‧‧‧ Launch area

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.

Fig. 7 is a schematic view showing the use state of the displacement operation system of the automatic displacement cleaning device.

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

Please refer to FIG. 1 , FIG. 2 and FIG. 7 , which are schematic diagrams of the continuous digital signal of the encrypted data group, the system block diagram of the first embodiment of the shift operation system of the automatic displacement cleaning device and the state of use thereof. schematic diagram. As shown in the figure: the present invention is a displacement operation system of a fully automatic displacement cleaning device, comprising a fully automatic displacement cleaning device 1 and at least one virtual wall device 4, the virtual wall device 4 including a virtual wall device 4 provided to the virtual wall device 4 The power module 41 of the electric power, an infrared emitter 42 emitting at least one infrared ray B, the infrared ray B includes at least one encrypted infrared signal, and the infrared ray emitter 42 is preset with an encrypted infrared signal (infrared ray B) Projected emission area B1. The fully automatic displacement cleaning device 1 comprises a battery 11, a driving wheel 15, a sweeping roller 16, at least one servo motor 14a, 14b, an infrared receiving body 103 and a microcontroller 13 (MCU, Microcontroller Unit). 11 supplying the power of the fully automatic displacement cleaning device 1 to operate, the microcontroller 13 controls the rotation of the servo motor 14a, 14b, and the driving wheel 15 and the cleaning roller 16 are driven by the servo motor 14a, 14b. The wheel 15 drives the fully automatic displacement cleaning device 1 to displace the cleaning roller 16 to clean the floor.

The digital signal in the microcontroller 13 is formed into a continuously encoded encrypted encoded data set 100 (as shown in FIG. 1) by an encoding technique, for example, by transmitting a continuous digital signal through Manchester encoding. The technique (Manchester) forms a digital signal of the encrypted encoded data set 100 such as "1001101000011110101000111001010", and when the fully automatic displacement cleaning device 1 enters the emission area B1 (as shown in FIG. 7), the infrared receiver 103 will The received encrypted infrared signal is output to the microcontroller 13, the microcontroller 13 decodes the encrypted infrared signal, and generates a control to operate the servo motor 14a, 14b to move the fully automatic displacement cleaning device 1 away from the virtual The control signal of the emission area B1 of the wall unit 4 is such that it does not touch and strike the virtual wall unit 4. Furthermore, the plurality of virtual wall devices 4 can be placed in different corners (as shown in FIG. 7), and the emission area B1 (which can be referred to as a virtual wall) projected by the infrared emitter 42 of the virtual wall device 4 is in different directions. The enclosure is formed into a virtual space (such as a predetermined cleaning area) to limit the operation of the fully automatic displacement cleaning device 1 in the virtual space.

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 to be converted and transmitted. The light receiving body 18 operating to the microcontroller 13 and a function button 12 for controlling the servo motor 14a, 14b by selecting a predetermined function provided by the microcontroller 13, the microcontroller 13 may further include a An encoder 131 of the encrypted encoded data set 100 is formed, and a decoder 132 that can be compared with the encrypted encoded data set 100 for decoding. In addition, the fully automatic displacement cleaning device 1 may further include an electronic switch 101 (such as a triode or a MOS tube) that controls the data values in the encrypted encoded data set 100, and a light receiving body 18 that receives the light A. Forming an analog/digital converter 102 (A/D Converter) that converts a low or high corresponding voltage into the corresponding digital signal, if the microcontroller 13 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 101, and the light A which is generated or extinguished or illuminated by the light emitting body 17 is activated, and the light receiving body 18 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 17, causing the corresponding voltage to be converted via the analog/digital converter 102 to form a corresponding digital signal to provide The microcontroller 13 is compared with the encrypted encoded data set 100 for decoding. The microcontroller 13 detects the correctness of the decoding and detects the strong, weak, presence, and absence of the corresponding digital signal. Provided the servomotor 14a, 14b forward, slow down, stop or reverse control of the operation. 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).

Please refer to FIG. 3 and FIG. 7 , which are schematic diagrams of a system block diagram of a second embodiment of the displacement operation system of the automatic displacement cleaning device and a schematic diagram thereof. 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 at least one virtual wall device 4, the virtual wall device 4 including a power supply to the virtual wall device 4. The power module 41, an infrared emitter 42 emitting at least one infrared ray B, the infrared ray B includes at least one encrypted infrared signal, and the infrared emitter 42 is preset to have the encrypted infrared signal (infrared ray B) projected Launch area B1. The fully automatic displacement cleaning device 1 comprises at least a battery 11a, a driving wheel 15a, at least one servo motor 14c, a vacuum fan motor 14d, an infrared receiver 103 and a microcontroller 13a (MCU, Microcontroller Unit). 11a supplies the fully automatic displacement cleaning device 1 to operate, the microcontroller 13a controls the rotation of the servo motor 14c, and the driving wheel 15a is driven by the servo motor 14c, and the driving wheel 15a drives the fully automatic displacement cleaning device 1 is displaced for the cleaning fan motor 14d to clean the floor, and the fully 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.

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 when the whole When the automatic displacement cleaning device 1 enters the emission area B1 (as shown in FIG. 7), the infrared receiver 103 outputs the received encrypted infrared signal to the microcontroller 13a, and the microcontroller 13a encrypts the infrared signal. Decoding is performed and a control signal is generated which controls the servo motor 14c to operate to move the fully automatic displacement cleaning device 1 away from the emission area B1 of the virtual wall unit 4 so that it does not touch and strike the virtual wall unit 4. Furthermore, the plurality of virtual wall devices 4 can be placed in different corners (as shown in FIG. 7), and the emission area B1 (which can be referred to as a virtual wall) projected by the infrared emitter 42 of the virtual wall device 4 is in different directions. The enclosure is formed into a virtual space (such as a predetermined cleaning area) to limit the operation of the fully automatic displacement cleaning device 1 in the virtual space.

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. a light receiving body 18a operating to 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. The analog/digital converter 102a (A/D Converter) corresponding to the voltage converted 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 to a low or high voltage via the electronic switch 101a, and the light A that is generated or extinguished or illuminated by the light emitting body 17a is activated; the light receiving body 18a continuously receives a series of relative A corresponding voltage that is low or high is formed by the light A reflected by the obstacle 30, which is generated or extinguished or illuminated by the light emitter 17a, such that the corresponding voltage is converted by the analog/digital converter 102a to form a corresponding digital signal to provide the corresponding voltage. The microcontroller 13a is compared with the encrypted encoded data set 100 for decoding. The microcontroller 13a provides the servo motor 14c according to the correctness of the decoding and detecting the strong, weak, presence, and absence of the corresponding digital signal. Control of forward, deceleration, reversal or stop operation.

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).

Please refer to FIG. 4 and FIG. 7 , which are schematic diagrams of a system block diagram of a third embodiment of the displacement operation system of the automatic displacement cleaning device and a schematic diagram thereof. 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 at least one virtual wall device 4, the virtual wall device 4 including a power supply to the virtual wall device 4. The power module 41; an infrared emitter 42 that emits at least one infrared ray B, the infrared ray B includes at least one encrypted infrared signal, and the infrared emitter 42 is preset to have the encrypted infrared signal (infrared ray B) projected Launch area B1. The fully automatic displacement cleaning device 1 is provided with a battery 11b, a driving wheel 15b, a servo motor 14e, an infrared receiving body 103 and a microcontroller 13b (MCU, Microcontroller Unit), and the battery 11b supplies the fully automatic displacement cleaning device 1 And the operation is performed, the microcontroller 13b controls the rotation of the servo motor 14e, and the driving wheel 15b is driven by the servo motor 14e, and the driving wheel 15b drives the fully automatic displacement cleaning device 1 to be displaced, and the fully automatic displacement cleaning The device 1 is a mopping machine 10b, and a mooring member 20 for cleaning the floor is attached to the mopping machine 10b. The wiping member 20 is a flat member with a rag or paper towel.

The digital signal in the microcontroller 13b 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 when the whole When the automatic displacement cleaning device 1 enters the emission area B1 (as shown in FIG. 7), the infrared receiver 103 outputs the received encrypted infrared signal to the microcontroller 13b, and the microcontroller 13b encrypts the infrared signal. Decoding is performed and a control signal is generated which controls the servo motor 14e to operate to move the fully automatic displacement cleaning device 1 away from the emission area B1 of the virtual wall unit 4 so that it does not touch and strike the virtual wall unit 4. Furthermore, the plurality of virtual wall devices 4 can be placed in different corners (as shown in FIG. 7), and the emission area B1 (which can be referred to as a virtual wall) projected by the infrared emitter 42 of the virtual wall device 4 is in different directions. The enclosure is formed into a virtual space (such as a predetermined cleaning area) to limit the operation of the fully automatic displacement cleaning device 1 in the virtual space.

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. To 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, the microcontroller 13b may further comprise a forming An 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 (eg, 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 digit An analog/digital converter 102b (A/D Converter) of the signal, if the microcontroller 13b sends the encrypted encoded data set 100 in a continuous manner; and encodes the encoded data set 100 by the encryption The data value is converted to a low or high voltage via the electronic switch 101b, and activates the light A that 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 or Turning off or illuminating the light A reflected by the obstacle 30 to form a low or high corresponding voltage, and converting the corresponding voltage to the corresponding digital signal via the analog/digital converter 102b to provide the microcontroller 13b with the encryption The coded data sets 100 are mutually compared and decoded, and the microcontroller 13b provides the servo motor 14e to forward, decelerate, reverse or according to the correctness of the decoding and detecting the strong, weak, presence or absence of the corresponding digital signals. Stop the control of operation.

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 displacement operation system of the automatic displacement cleaning device of the present invention mainly transmits an encrypted infrared signal, and the encrypted infrared signal is projected on an emission area B1, when the fully automatic displacement cleaning device 1 enters the When the area B1 is emitted, the infrared receiver 103 outputs the received encrypted infrared signal to the microcontroller 13, 13a, 13b, and the microcontroller 13, 13a, 13b decodes the encrypted infrared signal and generates a Controlling the servo motors 14a, 14b, 14c, 14d, 14e to operate the fully automatic displacement cleaning device 1 away from the control signal of the emission area B1 of the virtual wall device 4 so that it does not touch and strike the virtual wall device 4, That is, the fully automatic displacement cleaning device 1 enters the emission area B1, and when receiving the encrypted infrared signal emitted by the virtual wall device 4, the fully automatic displacement cleaning device 1 is moved away from the virtual wall device 4 without touching and The virtual wall device 4 is struck, and at least one virtual wall device 4 can be placed at different corners to form a virtual space, thereby limiting the fully automatic displacement cleaning device. 1 is operated in the virtual space. Further, the encrypted infrared signal may be encrypted with different passwords or different operating frequencies, so that the fully automatic displacement cleaning device 1 distinguishes whether it is another infrared light source to achieve interference from external light. It is very stable for the purpose of operation.

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‧‧‧Virtual wall installation

41‧‧‧Power Module

42‧‧‧Infrared emitters

A‧‧‧Light

B‧‧‧Infrared light

Claims (21)

[Item 1]
A shifting operation system for a fully automatic displacement cleaning device, comprising:
At least one virtual wall device comprising:
An infrared emitter emitting at least one encrypted infrared signal, the infrared emitter being preset with an emission area for projecting the encrypted infrared signal;
A fully automatic displacement cleaning device comprising:
a battery that supplies the fully automatic displacement cleaning device;
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 a coding technique, and the fully automatic displacement cleaning device enters the emission In the area, the infrared receiver outputs the received encrypted infrared signal to the microcontroller, the microcontroller decodes the encrypted infrared signal, and generates a control to operate the servo motor to move the fully automatic displacement cleaning device away from the microcontroller. a control signal of an emission area of the virtual wall device;
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]
The shift operating system of the fully automatic displacement cleaning device of claim 1, wherein the virtual wall device comprises a power module for supplying power to the virtual wall device. [Item 8]
A shifting operation system for a fully automatic displacement cleaning device, comprising:
At least one virtual wall device comprising:
An infrared emitter emitting at least one encrypted infrared signal, the infrared emitter being preset with an emission area for projecting the encrypted infrared signal;
A fully automatic displacement cleaning device comprising:
a battery that supplies the fully automatic displacement cleaning device;
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 that is sent in a continuous manner by an encoding technique, and the infrared transmission is received when the fully automatic displacement cleaning device enters the emission area The body outputs the received encrypted infrared signal to the microcontroller, the microcontroller decodes the encrypted infrared signal, and generates a control that controls the operation of the servo motor to move the fully automatic displacement cleaning device away from the virtual wall device. Regional control 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 9]
The shift operating system of the fully automatic displacement cleaning device of claim 8, wherein the encrypted encoded data set is formed by Manchester coding technology (Manchester). [Item 10]
The shift operating system of the fully automatic displacement cleaning device of claim 8, wherein the microcontroller further comprises an encoder forming the encrypted encoded data set, and an optical communication data set can be compared with the encrypted encoded data set. Decoded decoder. [Item 11]
The shift operating system of the fully automatic displacement cleaning device of claim 8, 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 12]
The shifting operation system of the fully automatic displacement cleaning device of claim 8, 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 13]
The shift operating system of the fully automatic displacement cleaning device of claim 8, 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 14]
The shift operating system of the fully automatic displacement cleaning device of claim 8, wherein the virtual wall device comprises a power module for supplying power to the virtual wall device. [Item 15]
A shifting operation system for a fully automatic displacement cleaning device, comprising:
At least one virtual wall device comprising:
An infrared emitter emitting at least one encrypted infrared signal, the infrared emitter being preset with an emission area for projecting the encrypted infrared signal;
A fully automatic displacement cleaning device comprising:
a battery that supplies the fully automatic displacement cleaning device;
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 that is sent in a continuous manner by an encoding technique, and the infrared transmission is received when the fully automatic displacement cleaning device enters the emission area The body outputs the received encrypted infrared signal to the microcontroller, the microcontroller decodes the encrypted infrared signal, and generates a control that controls the operation of the servo motor to move the fully automatic displacement cleaning device away from the virtual wall device. Regional control 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 16]
The shift operating system of the fully automatic displacement cleaning device of claim 15, wherein the encrypted encoded data set is formed by Manchester coding technology (Manchester). [Item 17]
The shifting operation system of the fully automatic displacement cleaning device of claim 15, wherein the microcontroller further comprises an encoder forming the encrypted encoded data set, and one can be compared with the encrypted encoded data set. Decoded decoder. [Item 18]
The shifting operation system of the fully automatic displacement cleaning device of claim 15, 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 19]
The shifting operation system of the fully automatic displacement cleaning device according to Item 15, wherein the fully automatic displacement cleaning device is a mopping machine, and a mopping device for cleaning the floor is provided below the mopping machine. Ground element. [Item 20] The shift operating system of the fully automatic displacement cleaning device of claim 15, 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 21]
The shift operating system of the fully automatic displacement cleaning device of claim 15, wherein the virtual wall device comprises a power module for supplying power to the virtual wall device.