Patent ID: 9354634
Filing Date: 2016-05-31
CPC Classification: A47L,B60L,G05D,Y02T

Claim Text:
1. An automatic horning and charging method for a self-moving cleaning apparatus, comprising the steps of: step 1: judging electric power of a battery of the self-moving cleaning apparatus being lower than an intended charging power value preset in a microcontroller of the self-moving cleaning apparatus, and detecting in regular conditions a position signal issued from a charging dock by a first signal receiver located at a lateral side of the self-moving cleaning apparatus; step 2: outputting a first straight moving signal by the microcontroller to drive a drive unit of the self-moving cleaning apparatus to make the self-moving cleaning apparatus to move straightly to bump against at least one obstacle; step 3: outputting a first turning signal by the microcontroller to drive the drive unit to make the self-moving cleaning apparatus to turn a swerved angle to make the first signal receiver to face the obstacle, and saving the swerved angle by the microcontroller as a swerved moving data; step 4: outputting a second straight moving signal by the microcontroller to drive the drive unit to make the self-moving cleaning apparatus to move straightly for a preset distance; step 5: outputting a moving signal by the microcontroller to drive the drive unit to make the self-moving cleaning apparatus to move along an arched locus so that the self-moving cleaning apparatus bumps against the obstacle again, and generating a moving time data by the microcontroller based on moving time of the self-moving cleaning apparatus when moves along the arched locus, and generating an angle data by using the microcontroller to process the moving time data and a moving speed data preset in the microcontroller; step 6: judging the position signal issued from the charging dock being received by the first signal receiver, and sending a position confirmation signal by the first signal receiver to the microcontroller; step 7: outputting a second turning signal to the drive unit by the microcontroller upon receiving the position confirmation signal to make the self-moving cleaning apparatus to generate self-rotation, and making a second signal receiver of the self-moving cleaning apparatus to get the position signal issued by the charging dock and send a positioning signal to the microcontroller; step 8: stopping sending of the second turning signal to the drive unit by the microcontroller upon receiving the positioning signal to make the self-moving cleaning apparatus to stop self-rotation, and making a charging portion of the self-moving cleaning apparatus to face the charging dock; and step 9: outputting a third straight moving signal by the microcontroller to drive the drive unit to make the self-moving cleaning apparatus to move toward the charging dock so that the charging portion forms electrical contact with the charging dock to charge the battery.