| 摘要 |
The self running vacuum cleaner is controlled by the simple remote controller key operation. The running state of the cleaner comprises functions; (A) reversing the direction of a vacuum motor; (B) moving forward; (C) moving backward; (D) turning right; (E) turning left and (F) stopping the moving. The control algorithm includes steps; (G) maintaining the former state by holding the state of output terminals of a microcomputer when no key is depressed before the (A) operation; (H) checking the 180 degree turn left key depression; (I) turning the cleaner left by 180 degree when the 180 degree turning left key is depressed and checking that the number of pulses of a right side encoder and a left side encoder; and (J) turning the cleaner right by 180 degree when the 180 degree turning left key is not depressed in step (H), checking the number os pulses of the right and the left side encoder and returning to the starting point.
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