JP2005211495A - Self-propelled cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled cleaner in which a means for detecting a dust full load state is simplified. <P>SOLUTION: A microphone 20 is installed at a prescribed position in a dust carrying pipe 6. The output signals of the microphone 20, that are the voltage signals of an amplitude corresponding to a sampled sound volume inside the dust carrying pipe 6, are inputted to a control part 10. In the control part 10, an initial amplitude corresponding to the sound volume inside the dust carrying pipe 6 in the case of sucking the dust in a state without the dust inside a dust collecting chamber 5 and an amplitude change amount indicating how much it changes from the initial amplitude in the case that the dust becomes in a full load state inside the dust collecting chamber 5 are stored beforehand. Then, the control part 10 calculates the difference value of the amplitude of the voltage signals and the initial amplitude, and when the difference value becomes larger than the amplitude change amount, detects the dust full load state, stops cleaning and stops the movement of a main body. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a self-propelled cleaner that performs cleaning while automatically running in a preset area, and more particularly to a means for detecting a full load of dust in a dust collection chamber of the self-propelled cleaner.

  The self-propelled cleaner includes a traveling unit that travels the main body and a cleaning unit that performs cleaning, and performs cleaning while automatically traveling in a preset area. At this time, if the dust in the dust collection chamber is full, the dust cannot be reliably sucked, and the original purpose of the cleaner for cleaning cannot be achieved. For this reason, a method for detecting the full load of dust in the dust collection chamber has been devised.

For example, as a method of detecting the full load of dust in a dust collection chamber of a self-propelled vacuum cleaner, the frequency of sound in a pipe that leads the dust to the dust collection chamber is measured, and if this frequency reaches a predetermined value, There is a method of detecting that dust is full (see Patent Document 1).
JP-A-7-39498

  However, in the self-propelled cleaner described in Patent Document 1, the sound in the pipe is sampled with a microphone, the frequency of this sound is detected through a filter, and FV conversion is performed with an FV converter. Further, a full load of dust in the dust collection chamber is detected by comparing the voltage obtained by the FV conversion with a comparator and a preset reference voltage. That is, in the self-propelled cleaner described in Patent Document 1, first, the frequency of the sound signal acquired by the microphone is detected. Next, a voltage signal having an amplitude corresponding to the detected frequency is generated. Next, the amplitude of the voltage signal is compared with a preset amplitude, and when the amplitude of the voltage signal is larger than the preset amplitude, it is determined that the dust in the dust collection chamber is full. As described above, in the self-propelled cleaner described in Patent Document 1, the frequency of the sound collected by the microphone must be detected once, and the configuration of the full load detection unit for dust becomes complicated.

  It is an object of the present invention to provide a self-propelled cleaner that simplifies the means for detecting garbage full load.

  According to the present invention, there is provided cleaning means for storing dust taken in from a cleaning nozzle in a box-shaped dust collection chamber via a dust transport pipe, and traveling means for automatically moving and turning the main body within a preset region. In the self-propelled cleaner provided, a garbage fullness detecting means for detecting the full quantity of garbage in the dust collection chamber using a microphone attached to the garbage transport pipe, a volume collected by the microphone and a preset reference volume It is characterized by having.

  In this configuration, the fact that the volume in the dust transport pipe changes according to the status of dust storage in the dust collection chamber is utilized. That is, the microphone collects the sound in the dust transport tube and outputs a voltage signal having an amplitude corresponding to the volume. The full dust detection means compares the amplitude of this voltage signal with a preset amplitude, and determines that the dust in the dust collection chamber is full when the difference between them exceeds a predetermined value. To do.

  In addition, the present invention is characterized in that when the full garbage detection means detects the full garbage in the dust collection chamber, the main body is stopped by controlling the traveling means.

  In this configuration, when the dust full detection means determines the full load of dust based on the volume, the traveling means stops moving the main body and waits until the dust in the dust collection chamber is discarded.

  Further, the present invention is characterized in that, when the dust full detection means detects the full load of dust in the dust collection chamber, the travel means is controlled to perform travel different from that during normal cleaning.

  In this configuration, when the dust full detection means determines that the dust in the dust collection chamber is full based on the sound volume, the travel means causes the main body to perform a travel operation different from that during normal cleaning.

  Further, the present invention is characterized in that a switching means for switching the cleaning mode is provided in the main body, and the reference load is switched according to the cleaning mode by the full dust detection means.

  In this configuration, the reference sound volume for detecting the full load of dust in the dust collection chamber is switched according to the specifications of the floor surface such as flooring, carpets, and tatami mats.

  Further, the present invention is characterized in that the main body is provided with a display means, and when the dust full detection means detects a dust full state, the display means displays a display indicating the garbage full load.

  In this configuration, the user is notified of the full garbage by the display means, together with the travel operation different from the stop of the main body or the normal cleaning operation.

  According to the present invention, it is possible to determine the full state of dust by simply comparing the volume in the dust transport tube, that is, the amplitude of the voltage signal output from the microphone, with the reference amplitude, and thus it is simple to detect the full state of dust. A self-propelled cleaner with a structure can be constructed.

  Moreover, according to this invention, since the traveling of the main body is stopped when the full load of dust is detected, a self-propelled cleaner that can suppress unnecessary traveling such as traveling without being cleaned can be configured.

  Further, according to the present invention, the user can surely recognize the dust full state by performing a different traveling operation when the full load of dust is detected. Thereby, although it is a simple structure, the self-propelled cleaner which can detect a dust full state and can notify a user reliably can be comprised.

  Further, according to the present invention, since a different reference volume is set according to the specifications of the floor surface, it is possible to configure a self-propelled cleaner that accurately detects a dust full state according to the floor surface being cleaned. it can.

  Further, according to the present invention, the garbage full state is notified to the outside by the display means along with the change of the traveling operation, so that the user can be surely notified by detecting the dust full state while having a simple structure. A self-propelled cleaner can be constructed.

  A self-propelled cleaner according to a first embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram showing a schematic configuration of a self-propelled cleaner according to the present embodiment.

  The self-propelled cleaner includes traveling means for moving the main body 1 along a preset track in the cleaning area, and cleaning means for removing and storing dust on the floor surface in the cleaning area.

  Drive wheels 2 and drive motors 14 that are connected to the respective drive wheels 2 and rotate the drive wheels 2 are provided on the left and right of the lower rear portion of the main body 1. 3 is provided. The drive motor 14 is electrically connected to a travel control unit 11 that controls the travel of the main body 1. The travel control unit 11, the drive wheel 2, the drive motor 14, and the driven wheel 3 correspond to “traveling means” of the present invention.

  Further, the main body 1 is provided with a nozzle 4 for removing dust on the floor, a box-shaped dust collection chamber 5 for storing the dust, and the nozzle 4 and the dust collection chamber 5 connected to the main body 1 to remove dust. A dust transport pipe 6 leading to the dust collection chamber 5 is provided, and a brush 40 is disposed inside the nozzle 4. A discharge fan 13 is installed on the side wall of the dust collection chamber 5 on the side facing the dust transport pipe 6. The main body 1 is provided with a cleaning control unit 12 that controls the cleaning operation, and is electrically connected to the discharge fan 13 and the brush 40. These nozzle 4, brush 40, dust collection chamber 5, discharge fan 13, dust transport pipe 6, and cleaning control unit 12 correspond to “cleaning means” of the present invention. In addition, a microphone 20 that collects sound in the dust transport tube 6 is installed at a predetermined position of the dust transport tube 6. The microphone 20 may be provided in the dust transport pipe 6 or in the vicinity of the outside of the dust transport pipe 6 as long as it is installed at a position where the sound in the dust transport pipe 6 can be stably collected.

  Furthermore, the main body 1 is provided with a control unit 10 that controls the operation of the entire self-propelled cleaner, and the control unit 10 performs a traveling operation and a cleaning operation via a traveling control unit 11 and a cleaning control unit 12, respectively. To control. The control unit 10 is electrically connected to the microphone 20 and detects a voltage signal output from the microphone 20.

  Next, the operation of such a self-propelled cleaner will be described.

  When a cleaning start command is input from the user or when a preset cleaning start time is detected, the cleaning control unit 12 rotates the brush 40 to splash dust on the floor and take it into the nozzle 4. At the same time, the cleaning control unit 12 operates the discharge fan 13 to discharge the air in the dust collection chamber 5 to the outside. As a result, the dust taken into the nozzle 4 is guided to the dust collection chamber 5 through the dust transport pipe 6, and sequentially accumulated and stored in the dust collection chamber 5.

  The travel control unit 11 controls the drive motor 14 to rotate the drive wheel 2 and starts moving from the cleaning start position. At this time, a movement path (trajectory) of the main body 1 is stored in advance in a memory (not shown). For example, when a rectangular room is used as a cleaning area, the object moves along the long side direction (outward path), and when it reaches the boundary, it turns in the short side direction and moves a predetermined distance along the short side direction. Next, it turns in the long side direction and moves along the long side direction in the opposite direction to the forward path. Then, it turns in the short side direction and moves by a predetermined distance. Hereinafter, this operation is repeated, and this track is generally referred to as a zigzag running track. The travel control unit 11 controls the drive motor 14 so as to move along the track, and the drive motor 14 rotates the drive wheels 2 in a predetermined direction in accordance with this control. Here, a plurality of sensors (not shown) are attached to the main body 1, and these sensors sense the situation around the main body 1. The detection result is input to the travel control unit 11, and the travel control unit 11 drives the drive motor 14 based on the detection result, thereby preventing collision with surrounding obstacles and walls.

  During the cleaning while traveling in the predetermined area as described above, the microphone 20 collects the sound in the dust transport pipe 6 and outputs a voltage signal having an amplitude corresponding to the volume.

  In the control unit 10, the initial amplitude corresponding to the volume in the dust transport pipe 6 when dust is sucked in a state where no dust is accumulated in the dust collection chamber 5, and the dust is packed in the dust collection chamber 5. An amplitude change amount indicating how much the amplitude has changed with respect to the initial amplitude when dust is sucked in this state is stored in advance. And the control part 10 detects the dust full state in the dust collection chamber 5 based on the flow shown in FIG. 2, and controls whether cleaning and running operation are continued or stopped. With this configuration, the control unit 10 functions as the “full garbage detection unit” of the present invention. In this case, the volume corresponding to the initial amplitude and the amplitude change amount corresponds to the “reference volume” of the present invention.

  FIG. 2 is a flowchart showing a flow for detecting the full state of dust, running, and cleaning control.

  The control unit 10 detects the amplitude of the voltage signal output from the microphone 20 in a predetermined cycle (s1). Next, the control unit 10 calculates a difference value between the detected amplitude and the previously stored initial amplitude (s2). Next, the control unit 10 compares the difference value with the previously stored amplitude change amount (s3), and if the difference value is equal to or less than the amplitude change amount, the controller 10 travels so as to continue the cleaning operation and the moving operation. The control unit 11 and the cleaning control unit 12 are controlled. And the control part 10 repeats this operation | movement with a predetermined period until cleaning in a predetermined area | region is complete | finished or until the said difference value becomes larger than the said amplitude variation | change_quantity.

  When the difference value becomes larger than the amplitude change amount, the control unit 10 determines that the dust in the dust collecting chamber 5 is full, and controls the cleaning control unit 12 to stop the dust suction operation (s4). ), The travel controller 11 is controlled to stop the movement of the main body 1 (s5).

  When the cleaning control unit 12 receives stop control of the dust suction operation, the cleaning control unit 12 stops the rotation of the brush 40 and stops the operation of the discharge fan 13. On the other hand, when the traveling control unit 11 receives the movement stop control, the driving control unit 11 stops driving the drive motor 14.

  As described above, the self-propelled cleaner of the present embodiment utilizes the fact that the volume in the garbage transport pipe during dust suction changes according to the dust storage state in the dust collection chamber, and this volume is used to detect the dust full load. Can be used for threshold. Accordingly, it is possible to realize a self-propelled cleaner that reliably detects a dust-packed state while having a simple structure without using a complicated configuration as in the conventional example.

  In addition, it is possible to realize a self-propelled vacuum cleaner that prevents unnecessary operations such as continuing the cleaning operation with almost no dust suction capability by stopping traveling and cleaning when a dust full state is detected. it can.

  In the present embodiment, the amplitude corresponding to the volume in the dust transport tube when there is no dust in the dust collection chamber and the amplitude change amount indicating how much the amplitude changes when the dust becomes full are used. The garbage full state was detected. However, if it is known in advance whether the volume increases or decreases as dust accumulates in the dust collection chamber, the amplitude based on the volume in the dust-packed state is stored in advance as a reference amplitude. It is also possible to detect the full state of dust by determining whether the value becomes larger or smaller. In this case, the amount of amplitude stored in advance is one, and it is possible to detect the dust full state simply by comparing this amplitude with the amplitude of the voltage signal output from the microphone. Can be detected.

  In the above-described embodiment, the movement of the main body is stopped when the dust full state is detected. However, when the dust full state is detected, an operation different from the normal traveling operation may be performed. For example, after stopping the cleaning operation, an operation such as continuous rotation at that position or reciprocation within a predetermined range at a predetermined angle with respect to a normal traveling route may be performed. By setting it as such a structure, the user can see the behavior of a self-propelled cleaner main body, and can identify a garbage full state immediately. Accordingly, it is possible to realize a self-propelled cleaner that reliably detects the dust full state with a simple structure and notifies the user of the dust full state more clearly.

  In the above-described embodiment, the reference amplitude and the amplitude change amount are each one type, but a plurality of reference amplitudes and amplitude change amounts are stored and used according to the type of the floor surface in the cleaning area. May be. For example, the amplitude and amplitude variation when the floor is flooring, the amplitude and amplitude variation when the floor is carpet, and the amplitude and amplitude variation when the floor is tatami are stored, respectively. And the main body is provided with a changeover switch for switching the cleaning mode according to the specification of the floor surface. This switch may be a manual switch provided on the surface of the main body or an automatic switch that is configured by a sensor or the like and automatically detects the floor surface. As a result, the reference amplitude and the amount of amplitude change change based on the cleaning mode switched according to the floor surface specification, so that it is possible to reliably detect the dust full state regardless of the floor surface specification. it can.

  Next, a self-propelled cleaner according to a second embodiment will be described with reference to FIG.

  FIG. 3 is a block diagram showing a schematic configuration of the self-propelled cleaner according to the present embodiment.

  The self-propelled cleaner shown in FIG. 3 includes the display unit 15 on the upper surface side of the main body 1, and the other configuration is the same as that of the self-propelled cleaner shown in FIG. 1.

  The display unit 15 includes, for example, a plurality of LED lamps, and notifies the outside of the operation state of the main body 1 by changing the emission color and the emission pattern. The light emission control of the display unit 15 is performed by the control unit 10, and the control unit 10 outputs each control command to the traveling control unit 11 and the cleaning control unit 12, and the light emission control command corresponding to the control command is given to the display unit 15. Output.

  In such a self-propelled cleaner, as described above, when the sound volume collected by the microphone 20 changes more than a predetermined change amount with respect to a preset initial sound volume (amplitude), the control unit 10 causes the dust collecting chamber. 5 is detected, the travel control unit 11 and the cleaning control unit 12 are controlled, and the display unit 15 performs control to display the dust full state. For example, control is performed such that the green LED is turned on during normal cleaning and traveling, and the red LED is turned on when the garbage is full.

  With such a configuration, it is possible to notify the outside of the dust full state according to the light emission state from the display unit as the operation of the main body changes. You can recognize that you have to throw away garbage in the room.

The block diagram which shows schematic structure of the self-propelled cleaner which concerns on 1st Embodiment. Flowchart of garbage full load detection, travel control, and cleaning control of the self-propelled cleaner according to the first embodiment The block diagram which shows schematic structure of the self-propelled cleaner concerning 2nd Embodiment.

Explanation of symbols

1-Main body of self-propelled cleaner 2-Driving wheel 3-Driven wheel 4-Nozzle 40-Brush 5-Dust collection chamber 6-Dust transport pipe 10-Control unit 11-Movement control unit 12-Cleaning control unit 13-Ejection Feed fan 14-drive motor 15-display unit 20-microphone

Claims (6)

A cleaning means for storing the dust taken in from the cleaning nozzle in a box-shaped dust collecting chamber through a dust transport pipe;
In a self-propelled cleaner provided with traveling means for automatically moving and turning the body within a preset area,
A microphone attached to the waste transport pipe;
Using a sound volume collected by the microphone and a preset reference sound volume, a dust load detection means for detecting the load of dust in the dust collection chamber,
Display means for displaying the state of the main body;
Switching means for switching the cleaning mode according to the floor surface specifications in the main body,
The dust full load detection means, when detecting the full load of dust in the dust collection chamber based on the reference sound volume switched according to the cleaning mode, causing the display means to display a display indicating the full load of dust, A self-propelled cleaner characterized by controlling the traveling means to stop the main body or controlling the traveling means to perform a traveling operation different from that during normal cleaning. A cleaning means for storing the dust taken in from the cleaning nozzle in a box-shaped dust collecting chamber through a dust transport pipe;
In a self-propelled cleaner provided with traveling means for automatically moving and turning the body within a preset area,
A microphone attached to the waste transport pipe;
A self-propelled cleaner, comprising: a dust full detection means for detecting a full load of dust in the dust collection chamber using a volume collected by the microphone and a preset reference volume.   3. The self-propelled cleaner according to claim 2, wherein the main body is stopped by controlling the traveling means when the full garbage detection means detects the full garbage in the dust collection chamber.   3. The self-traveling device according to claim 2, wherein when the dust full detection means detects a full load of dust in the dust collection chamber, the travel means is controlled to perform a travel different from that during normal cleaning. Traveling vacuum cleaner. A switching means for switching the cleaning mode is provided,
The self-propelled cleaner according to any one of claims 2 to 4, wherein the full garbage detection means switches the reference volume according to the cleaning mode.   The self-propelled cleaner according to any one of claims 2 to 5, further comprising display means for displaying a display indicating a full load of dust when the full load detection unit detects a full load of dust in the dust collection chamber.

Images