JPH05228088A - Self-traveling vacuum cleaner - Google Patents

Abstract

PURPOSE:To enable the switching of the running direction of a cleaner automatically as intended by an operator. CONSTITUTION:A suction device 2 is provided with a pair of wheels 3, left and right, motors for driving the wheels 3 individually and a handle 6 for operation having a grip 7 held with an operator's hand. The grip 7 is provided with at least four pressure sensors 8 longitudinally and horizontally at a proper interval while outputs of the pressure sensors 8 are subjected to an arithmetic processing. A controller is provided to control the operation of the respective motors so that the suction device 2 is moved in the direction determined by a distribution state of a holding force of the grip 8.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled electric vacuum cleaner, and more particularly to a self-propelled electric vacuum cleaner capable of moving a suction tool in a traveling direction intended by an operator.

[0002]

2. Description of the Related Art Conventionally, as a self-propelled cleaner, for example, as disclosed in Japanese Unexamined Patent Publication No. 3-28, a suction tool has a motor and bevel gears which are interlocked with the motor and rotate in mutually opposite directions. A pair of clutches for transmitting the rotation of the bevel gear to the axle, a pair of wheels fixed to both ends of the axle, a handle for operation, and the above-mentioned 1
There is a self-propelled vacuum cleaner (hereinafter referred to as Conventional Example 1) provided with a clutch control mechanism that selectively connects a pair of clutches.

Further, as disclosed in, for example, Japanese Patent Application Laid-Open No. 58-203736, the suction tool is provided with a pair of left and right wheels, a motor for individually driving each wheel, and a grip held by an operator. A handle for operation is provided, and a switch for detecting the rotation operation of the grip is provided on the handle, while controlling the operation of each motor so that the suction tool moves in the rotation operation direction of the handle detected by the switch. There is a device provided with a control device (hereinafter referred to as Conventional Example 2).

Further, as disclosed in, for example, Japanese Utility Model Laid-Open No. 62-151834, a suction wheel is provided with a steering wheel and an operating handle having a grip that an operator holds with his / her hand. There is also an electric vacuum cleaner (hereinafter referred to as Conventional Example 3) in which the steering angle of steered wheels is controlled.

[0005]

However, in the conventional example 1, the rotation direction of the wheels can only be changed by operating the handle, and the traveling direction of the electric vacuum cleaner cannot be automatically changed.

On the other hand, in the conventional example 2, the rotation operation of the handle is detected by the switch, and the rotation speed or the rotation direction of the pair of wheels is changed to make the traveling direction of the cleaner to be the rotation operation direction of the hand. Can be converted.

However, in the conventional example 2, since the operating direction of the steering wheel is detected by turning the switch on and off, a subtle difference in steering wheel operation is not detected and it is difficult to drive the vehicle as intended by the user. ..

Further, in the conventional example 3, since the steering angle of the steered wheels is mechanically changed by the operation of the steering wheel, it is possible to slightly change the steering angle according to the operation amount of the steering wheel.

However, in the conventional example 3, since the wheels are rotated by the rotation of the handle, a considerable force is required depending on the kind of the floor surface, and the burden on the user is large. Especially when the vehicle is not equipped with the drive wheels, labor is required to move the cleaner, and the burden on the user is further increased.

Further, in this prior art example 3, particularly when the steering wheel is directly connected to the steering wheel via the holder, there is no play in the steering mechanism, and therefore there is an excessive reaction to the operation of the steering wheel, which is not intended by the user. May move in opposite directions.

The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a self-propelled electric vacuum cleaner capable of automatically changing the traveling direction of the cleaner as intended by the operator. To aim.

[0012]

According to the present invention, the distribution state of the operating force of the operator applied to the grip held by the operator is detected by the pressure sensor to change the traveling direction of the self-propelled electric vacuum cleaner. ..

That is, in order to achieve the above object, the first self-propelled electric vacuum cleaner of the present invention includes a suction tool, a pair of left and right wheels, a motor for individually driving each wheel, and an operator. An operation handle having a grip to be held by a hand is provided, and at least four pressure sensors are provided on the grip at appropriate intervals in front, rear, left and right, while the output of each pressure sensor is arithmetically processed to obtain a grip. A control device for controlling the operation of the motor of each wheel is provided so as to move the suction tool in the direction determined by the distribution state of the force that grips the wheel.

The second self-propelled electric vacuum cleaner of the present invention has a suction tool, a steering wheel, and
A steering mechanism that controls the steering direction of the steered wheels, an actuator that drives the steering mechanism, and an operating handle that has a grip that an operator holds with a hand are provided, and the grip is provided at least at appropriate intervals in front, rear, left, and right. While four pressure sensors are provided, the output of each pressure sensor is arithmetically processed, and the actuator is operated to move the suction tool in a direction determined by the distribution state of the grip grip force. A control device for controlling the corner is provided.

Further, in order to achieve the above-mentioned object, the third self-propelled electric vacuum cleaner of the present invention comprises a motor for the suction tool, and a pair of left and right wheels which are connected to the motor through a clutch. An operating handle having a grip that an operator holds by hand is provided, and at least four pressure sensors are provided on the grip at appropriate intervals in front, rear, left and right, while the output of each pressure sensor is processed. However, a control device for controlling the discontinuous state of each clutch is provided so as to move the suction tool in a direction determined by the distribution state of the gripping force.

[0016]

In the first self-propelled electric vacuum cleaner of the present invention,
The distribution of the force with which the operator grips the grip is detected by at least four pressure sensors. The control unit
By indexing the movement direction of the suction tool intended by the operator based on the output of these pressure sensors, and varying the rotation speed or rotation direction of the motor of each wheel so that the suction tool moves in the indexed direction. , Change the running direction of the suction tool to the indexed direction.

Further, in the second self-propelled electric vacuum cleaner of the present invention, the distribution state of the force with which the operator grips the grip is detected by at least four pressure sensors. Based on the output of these pressure sensors, the controller indexes the moving direction of the suction tool intended by the operator, operates the actuator so that the suction tool moves in the indexed direction, and changes the steering angle of the steered wheels. By controlling, the running direction of the suction tool is changed to the indexed direction.

Further, in the third self-propelled cleaner of the present invention, the distribution state of the force with which the operator grips the grip is detected by at least four pressure sensors. The control device indexes the moving direction of the suction tool intended by the operator based on the output of these pressure sensors, and controls the disengaged state of the pair of clutches so that the suction tool moves in the indexed direction. By changing the rotational speeds of both wheels, the traveling direction of the suction tool is changed to the indexed direction.

[0019]

1 is a side view of a self-propelled electric vacuum cleaner according to an embodiment of the present invention. This self-propelled electric vacuum cleaner has a main body 1
An attachment-type suction tool 2 and a pair of left and right traveling wheels 3 are provided at the lower end of the.

Then, as shown in the plan view of FIG. 2, both wheels 3 are individually interlocked and connected to a traveling electric motor (motor) 5 via a gear type speed reducer 4.

Further, as shown in FIG. 1, a handle 6 is erected from a rear portion of the main body 1, and a grip 7 which an operator holds with a hand is provided at an upper end portion thereof. As shown in the enlarged side view of FIG. 3 and the sectional view of FIG.
For example, the pressure sensors 8 made of a pressure-sensitive conductive rubber or the like are provided dispersedly at four positions with appropriate intervals in the front-rear direction and the left-right direction.

As shown in the circuit block diagram of FIG. 5, these pressure sensors 8 are connected to a control device 10 composed of a microcomputer provided in the main body 1 via wiring 9 passing through the handle 6. , This control device 1
0 compares the output of each pressure sensor 8 and, for example, Table 1
As shown in FIG. 5, the operator is allowed to index the traveling direction of the vacuum cleaner, and the rotational speeds or the rotational directions of the left and right motors 5 are made different so that the vacuum cleaner moves in the indexed direction.

[0023]

[Table 1]

Since the output of each pressure sensor 8 is an analog signal, the direction of travel of the cleaner intended by the operator is finely determined from the output of each pressure sensor 8 according to the strength of the output of each pressure sensor 8. You can, but Table 1
In order to simplify the explanation, a typical example is shown in which the output of each pressure sensor 8 is considered to be a binary one of strong and weak.

In this self-propelled electric vacuum cleaner, for example, when the operator intends to change the direction of the vacuum cleaner to the right while advancing the vacuum cleaner, he manually pushes the grip in the intended traveling direction, that is, to the front right. .. As a result, the front and left pressure sensors 8 detect a strong pressure, and the control device 10 determines the motor 5 which has a strong grip on the rotation speed of both motors 5, that is, the left motor 5 based on the detection result. Is rotated in the forward direction, and the motor 5 in the opposite direction is rotated in the reverse direction. As a result, the traveling direction of the vacuum cleaner is changed to the opposite direction to the left direction where the cleaner is strongly gripped.

After that, when the direction in which the user's hand does not feel a burden, that is, the direction in which the cleaner is moving is directed, the pressure detected by the right or left pressure sensor 8 is the same. When the operator further pushes the grip 7 forward, the front pressure sensor 8 detects a strong pressure, and the control device 10 rotates both motors 5 in the same direction based on the detection result to move the cleaner forward. ..

A self-propelled electric vacuum cleaner according to another embodiment of the present invention is equipped with an attachment type suction tool 2 at the lower end of the main body 1 as in the case of the above-mentioned one embodiment, and is started up from the rear portion of the main body 1. The handle 6 is provided, and a grip 7 that an operator holds with a hand is provided at the upper end of the handle 6 (see FIG. 1).

FIG. 6 is a plan view of the traveling device assembled to the suction tool 2. This traveling device has a pair of left and right traveling drive wheels 11 and both traveling drive wheels 11 via a gear type speed reducer 12. And a pair of left and right steered wheels 14,
The steering mechanism 15 and a motor 16 as an actuator that controls the steering angle of the steered wheels 14 via the steering mechanism 15 are provided.

The steering wheel 14 is an attachment type suction tool 2.
The steering mechanism 15 is rotatably supported by a wheel support shaft 18b that is swingably supported about the vertical axis on the outer wall 17 of the vehicle through a fulcrum pin 18a. Parallel link 15b, a connecting rod 15c connecting the free ends of the parallel links 15b, and each parallel link 15
Link 15d for interlocking wheel support shaft 18b with the free end of b
Composed of and.

An arm 19 fixed to the output shaft of the motor 16 is slidably and swingably connected to one intermediate portion of the parallel link 15b.

On the grip 7 of the handle 6, pressure sensors 8 made of, for example, pressure-sensitive conductive rubber are dispersed in four positions at appropriate intervals in the front-rear direction and the left-right direction, as in the above-described embodiment. It is provided.

As shown in the circuit block diagram of FIG. 7, these pressure sensors 8 are connected to a control device 20 composed of a microcomputer provided in the main body 1 through wiring 9 passing through the handle 6. , This control device 2
0 compares the output of each pressure sensor 8 and, for example, Table 2
As shown in Fig. 8, the operator intends to index the traveling direction of the vacuum cleaner, and the motor 16 is rotated so that the vacuum cleaner moves in the indexed direction. For example, as shown in each plan view of FIG. 8 or FIG. In addition, the steering angle of the steered wheels 14 is controlled via the steering mechanism 15, and the traveling motor 13 is controlled.

[0033]

[Table 2]

As described above, each pressure sensor 8
Since the output of is a analog signal, it is possible to finely determine the advancing direction of the vacuum cleaner intended by the operator from the output of each pressure sensor 8 according to the strength of the output of each pressure sensor 8. Also in the same way as the above-mentioned embodiment, for the sake of simplification of description, Table 2 shows a typical example that is indexed when the output of each pressure sensor 8 is considered to be a binary one of strong and weak. ing.

As shown in the flow chart of FIG. 10, the control device 20 inputs the output of each pressure sensor 8 and, for example, after confirming that the vehicle is moving forward (S1), the four pressure sensors 8 Of the output values of the above, the reciprocal α of the largest value is multiplied by an arbitrary number A to calculate a value B (S2), the timer is counted (S3), and it is confirmed that the count number of the timer reaches B. Then, the control of the steering motor 16 is started for the first time (S4) (S5). Also,
Although not shown in the figure, if it is confirmed that the vehicle is in reverse (S
6) Similarly, after inputting the output of each pressure sensor 8, the control of the steering motor 16 is started after providing a play time in inverse proportion to the strength of the force.

As described above, by providing a play time inversely proportional to the force input with respect to the input of the data of the pressure sensor 8, it is possible to prevent the excessive steering.
It is possible to improve straight running stability and smoothly run the vehicle in accordance with the intention of the operator.
Further, since the straight running stability is enhanced, the directional balance of the steered wheels 14 during straight running is stabilized, and the loss of driving force can be reduced.

Since the other construction, operation and effect of this embodiment are essentially the same as those of the above-mentioned one embodiment, detailed description thereof will be omitted.

The self-propelled electric vacuum cleaner according to another embodiment of the present invention is provided with the attachment type suction tool 2 at the lower end of the main body 1 and the rear portion of the main body 1 as in the above embodiments. A handle 6 that has been raised is provided, and a grip 7 that an operator holds with a hand is provided at an upper end portion of the handle 6 (see FIG. 1).

FIG. 11 is a plan view of the traveling device assembled to the suction tool 2. This traveling device is connected to a pair of left and right traveling wheels 21 and both wheels 21 through a clutch 22 in an interlocking manner. And a motor 24 that drives both wheels 21 via the belt type speed reducer 23 and the clutch 22.

On the grip 7 of the handle 6, pressure sensors 8 made of, for example, pressure-sensitive conductive rubber are dispersed at four positions with appropriate intervals in the front-rear direction and the left-right direction, as in the above-described embodiment. Are provided (see FIGS. 1, 3 and 5).

As shown in the circuit block diagram of FIG. 12, these pressure sensors 8 are connected to a control device 25 composed of a microcomputer provided in the main body 1 through wiring 9 passing through the handle 6. , This control device 2
5 compares the outputs of the pressure sensors 8 and, for example, Table 3
As shown in Fig. 5, the operator determines the traveling direction of the cleaner, and controls the disengaged state of both clutches 22 so that the cleaner moves in the indexed direction. The wheels 21 inside the turn
I try to make it free.

[0042]

[Table 3]

As described above, since the output of each pressure sensor 8 is an analog signal, the direction of travel of the vacuum cleaner intended by the operator is determined from the output of each pressure sensor 8 according to the strength of the output of each pressure sensor 8. Although it can be finely indexed, in this embodiment as well as the above-mentioned embodiment,
For simplification of description, Table 3 shows a typical example of indexing when the output of each pressure sensor 8 is considered to be a strong or weak binary value.

In this embodiment, when the clutch of the wheel (inner ring) 21 located inside the turn is disengaged to turn the inner ring 21 free when the direction is changed, the point at which a force is applied to the cleaner at the time of turn The outer wheel (outer wheel) 21 and the grip 7 gripped by the operator's hand are provided in two places, and the inner wheel 21 can move to the most balanced position at any given time, so compared to the case where the drive stop of both wheels 21 is controlled. This reduces the burden on the operator's wrist and enables smoother direction changes.

Since the other constructions, functions and effects of this embodiment are the same as those of the above-mentioned embodiments, detailed description thereof will be omitted.

[0046]

As described above, according to the first self-propelled electric vacuum cleaner of the present invention, the pressure sensor provided on the grip can continuously detect the force input of the operator. Therefore, the electric vacuum cleaner can be accurately turned in the direction intended by the operator by steplessly controlling the rotational direction and the rotational speed of the left and right wheels in accordance with the detection result.

Further, according to the second self-propelled electric vacuum cleaner of the present invention, the pressure sensor provided on the grip can detect the force input of the operator steplessly. By correspondingly changing the steering angle of the steered wheels steplessly, the vacuum cleaner can be accurately turned to the direction intended by the operator.

Furthermore, according to the third self-propelled electric vacuum cleaner of the present invention, the pressure sensor provided in the grip can detect the force input of the operator steplessly. Correspondingly, the disengaged state of the left and right clutches can be changed steplessly to control the rotation speed of both left and right wheels steplessly, or the inner wheels can be set free to move the electric vacuum cleaner in the direction intended by the operator. You can turn around.

In addition, in the third self-propelled electric vacuum cleaner of the present invention, particularly when the inner ring is freed, the inner ring can move to the most balanced position at any given time, so the drive stop control for both wheels is performed. As compared with the case of doing so, the burden on the operator's wrist is lightened and the direction can be smoothly changed.

[Brief description of drawings]

FIG. 1 is a side view of the present invention.

FIG. 2 is a plan view of the traveling device of the present invention.

FIG. 3 is an enlarged side view of the handle of the present invention.

FIG. 4 is a sectional view of the grip of the present invention.

FIG. 5 is a block diagram of a control circuit of the present invention.

FIG. 6 is a plan view of another traveling device of the present invention.

FIG. 7 is a block diagram of another control circuit of the present invention.

FIG. 8 is a plan view of another traveling apparatus of the present invention when the vehicle is steered to the right.

FIG. 9 is a plan view of another traveling apparatus of the present invention when turning to the left.

FIG. 10 is a flowchart of a main part of another control method of the present invention.

FIG. 11 is a plan view of still another traveling device of the present invention.

FIG. 12 is a circuit block diagram of still another control of the present invention.

[Explanation of Reference Signs] 2 Suction Tool 3 Running Wheel 5 Motor 6 Handle 7 Grip 8 Pressure Sensor 10 Control Device 14 Steering Wheel 15 Steering Mechanism 16 Motor 20 Control Device 21 Wheel 22 Clutch 24 Motor 25 Control Device

Claims (3)

[Claims] 1. A suction tool is provided with a pair of left and right wheels, a motor for individually driving each wheel, and an operating handle having a grip that an operator holds with a hand, and the grip is suitable for front, rear, left and right. While at least four pressure sensors are provided at various intervals, the output of each pressure sensor is arithmetically processed to move the suction tool in each direction so as to move the suction tool in the direction determined by the distribution state of the gripping force. A self-propelled electric vacuum cleaner provided with a control device for controlling the operation of a motor. 2. The suction tool is provided with a steered wheel, a steering mechanism for controlling the steering direction of the steered wheel, an actuator for driving the steering mechanism, and an operating handle having a grip that an operator holds with his / her hand. At least four pressure sensors are provided on the grip at appropriate intervals in the front, rear, left, and right, while the output of each of the pressure sensors is arithmetically processed to move the suction tool in a direction determined by the distribution state of the gripping force. A self-propelled electric vacuum cleaner, which is provided with a control device that operates an actuator to move the steering wheel and controls a steering angle of a steered wheel. 3. The suction tool is provided with a motor, a pair of left and right wheels interlockingly connected to the motor via a clutch, and an operating handle having a grip that an operator holds with a hand, and the grip is provided with front and rear wheels. At least four pressure sensors are provided at appropriate intervals on the left and right, and the output of each pressure sensor is arithmetically processed to move the suction tool in the direction determined by the distribution state of the gripping force. A self-propelled electric vacuum cleaner, which is provided with a control device for controlling an on / off state of each clutch.