CN101554304B - Active-drive type vacuum cleaner - Google Patents
Active-drive type vacuum cleaner Download PDFInfo
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- CN101554304B CN101554304B CN2008100527067A CN200810052706A CN101554304B CN 101554304 B CN101554304 B CN 101554304B CN 2008100527067 A CN2008100527067 A CN 2008100527067A CN 200810052706 A CN200810052706 A CN 200810052706A CN 101554304 B CN101554304 B CN 101554304B
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Abstract
The invention relates to an active-drive type vacuum cleaner which mainly comprises a main body, a drive part, a suction hose combination part, a sense part and a control part. The active-drive type vacuum cleaner can utilize the sense part arranged at the inner part of the main body to appropriately distinguish cleaning action and movement action of users, does not need additional traction when the users input intention for moving the cleaner through the suction hose, but utilizes a drive motor arranged at the inner part of the main body to drive the cleaner, thereby the trouble that the users move the cleaner can be avoided. In addition, the sense part can sense self inclination, and the control part can control the posture of the main body, so that the main body is designed to have an unstable state with a high centre of gravity, then mobility and balance performance of the cleaner can be greatly enhanced, and then the users can obtain strong gratification during the process of operation.
Description
Technical field
The present invention relates to a kind of active drive formula vacuum cleaner of can the perception user controlling automatically from the operation intention of suction hose input and to main body of dust collector.
Background technology
Vacuum cleaner (below be referred to as dust catcher) is that a kind of utilization is arranged on vacuum inhalation power that the suction motor of its body interior produces and sucks near the air the cleaning face, utilizes the filter of body interior to remove the device of the impurity that is mingled with in the air then.Usually, this vacuum cleaner can be divided into two big types haply: one type is that suction nozzle and main body are provided with respectively, and through tube connector connect split type; Another kind of is the vertical type of suction nozzle and main body one.Because dust catcher is very convenient to use, therefore popularized gradually in recent years.In addition, except that industries such as hotel, in each family, positions such as sofa are difficult to traditional wiping, the method cleaning such as sweep totally, so the demand of dust catcher is very big, and have stable market.
Simply explain in the face of the separation type vacuum cleaner structure in above-mentioned two types of dust catchers down.This dust catcher mainly comprises and which is provided with the suction motor that can produce the vacuum inhalation power, dust collect plant and move device main body such as wheel; Suction apparatus (below suction nozzle, suction line and three parts of handle being referred to as suction apparatus); And be connected the suction hose between aforementioned body and the suction apparatus.When the user when cleaning face moves above-mentioned suction apparatus; In the person's of being used pulling, the vacuum inhalation power is provided through the main body that suction hose links to each other with suction apparatus, thereby will be stored in the dust collect plant inside that is installed on the main body through the dust that suction hose sends through being installed in its inner suction motor.This separation type vacuum cleaner need pull out power line and be inserted on the indoor socket usually when using; Suction motor in main body provides power supply; But owing in the main body heavy suction motor is installed; Therefore need very firmly ability mobile agent, and because the obstruction of power line, so use inconvenience more.
Also there are some problems in the upright vacuum that suction nozzle that occurs in order to address the above problem and main body are integrally formed.The main body that needs the user that heavy suction motor will be housed owing to upright vacuum moves above the cleaning face as hay mover cleans, so it just is suitable under the situation of broad space being cleaned with simple cleaning action.And if want to carry out careful cleaning, also need connect other instrument, thus its to be difficult to catch up with suction apparatus small and light, and also can carry out the separation type vacuum cleaner of careful cleaning with very little power.In addition, for above-mentioned upright vacuum, also have the motor miniaturization and be directly installed on the vertical rod formula dust catcher on the suction apparatus.But, therefore be difficult to obtain satisfied suction effect because the power of motor on this dust catcher is little.The rechargeable dust catcher that can the power line that bother most be removed in addition in addition.But this dust catcher also is the assembling low-power machine, so suction is not enough, and service time is very short, adds because of the former of battery service life thereby needs the periodic replacement battery, therefore is difficult to solve satisfactorily original problem.
Summary of the invention
In order to address the above problem; The object of the present invention is to provide a kind of tractive force that moves dust catcher that can make minimum; And dust catcher is moved and switching direction at an easy rate according to the direction that the user wants; Automatically main body is moved easy operating, and active drive formula vacuum cleaner through perception user's operation behavior simultaneously with homeostasis function.
In order to achieve the above object, active drive formula vacuum cleaner provided by the invention comprises the main body that has a pivot at least; Be used to drive the drive division of main body; With pivot setting separated by a distance, and the suction hose joint portion that combines with main body; The sense part that variable in distance in the time of can moving the suction hose joint portion between main body and the cleaning face is carried out perception; With the control part that can control drive division according to the perception information of sense part.
Active drive formula vacuum cleaner provided by the invention comprises main body; Under halted state, come supportive body and drive the drive division of main body with a strong point; With pivot setting separated by a distance, and the suction hose joint portion that combines with main body; The sense part that variable in distance in the time of can moving the suction hose joint portion between main body and the cleaning face is carried out perception; With the control part that can control drive division according to the perception information of sense part.
Active drive formula vacuum cleaner provided by the invention comprises main body; Under halted state, come supportive body and drive the drive division of main body with two strong points; The suction hose joint portion that combines with main body; The sense part of in the time of can changing in the center of gravity of main body the variable in distance between main body and the cleaning face being carried out perception; With the control part that can control drive division according to the perception information of sense part.
Active drive formula vacuum cleaner provided by the invention comprises main body; Be used to support and drive the drive division of main body; Be connected between main body and the drive division at least one attaching parts that can the edge be rotated with main body or the opposite direction of drive division; With pivot setting separated by a distance, and the suction hose joint portion that combines with main body; The sense part that variable in distance in the time of can moving the suction hose joint portion between main body and the cleaning face is carried out perception; With the control part that can control drive division according to the perception information of sense part.
Active drive formula vacuum cleaner provided by the invention can utilize the sense part that is installed in body interior suitably to distinguish user's cleaning behavior and mobile behavior; Thereby when the user moves the intention of dust catcher through the suction hose input; Do not need the extra tractive force that applies; But utilize the drive motors that is installed in body interior to drive dust catcher, thereby can save the trouble that the user moves dust catcher.In addition; Sense part and control part can carry out perception to the gradient of main body self; Thereby the posture to main body is controlled; Therefore can body design be become the high labile state of center of gravity, thereby can improve the mobility and the balance quality of dust catcher greatly, the user can access very strong satisfaction in the process of operation like this.
Description of drawings
Fig. 1 is dust catcher with wheel rotating shaft and an a pair of mobile wheel side schematic view when being in SBR.
The side schematic view of dust catcher when Fig. 2 begins to clean for the SBR from Fig. 1.
The side schematic view of dust catcher when Fig. 3 begins to move for the state from Fig. 1 or Fig. 2.
Fig. 4 is the side schematic view of the dust catcher when beginning to carry out oppositely moving of the state from Fig. 1～Fig. 3.
Fig. 5～Fig. 7 is for when having the higher main body side schematic view of position of centre of gravity when taking turns rotating shaft pivot consistent with the main body pivot.
Fig. 8～Figure 10 is for when having the lower main body side schematic view of position of centre of gravity when taking turns rotating shaft pivot consistent with the main body pivot.
Figure 11 to Figure 15 is that the structure with Fig. 8～Figure 10 changes, and makes it to have the main body side schematic view of two pivots.
Figure 16 to Figure 20 is that the structure with Fig. 5～Fig. 7 changes, and makes it to have the main body side schematic view of two pivots.
Figure 21 is the main body of dust collector texture edge sketch map with the rotating shaft of a wheel and a pair of mobile wheel.
Figure 22 is the main body of dust collector structure front schematic view shown in Figure 21.
Figure 23 is the main body of dust collector structure end face sketch map shown in Figure 21.
Figure 24 is the main body of dust collector external structure sketch map shown in Figure 21.
Figure 25 is equipped with the main body of dust collector structure sketch map of sense part for the back side shown in Figure 21.
The specific embodiment
With specific embodiment active drive formula vacuum cleaner provided by the invention is elaborated with reference to the accompanying drawings.Fig. 1 is dust catcher with wheel rotating shaft and an a pair of mobile wheel side schematic view when being in SBR.Parts as shown in Figure 1, that suction apparatus 40 persons of being to use that are made up of suction nozzle 41, suction line 42 and suction handle 43 directly clean with hand, and user's cleaning action can pass to suction hose junction surface 30 through suction hose 50.Above-mentioned suction hose joint portion 30 is that moving of suction hose 50 effectively passed to the parts that act in the middle of the plaing of main body 10; If suction hose 50 is big more the closer to main body 10 hardness; Even then the length of suction hose joint portion 30 is short or have whole mobile the biography effectively to main body 10 that suction hose 50 also can be own with it.But; General suction hose 50 has flexibility; For mobile behavior and the cleaning behavior of distinguishing the user; Therefore it need play suitable cushioning effect, if the overall bulk softness of suction hose 50 is confirmed, then to have certain length more useful for effective transmission of moving in suction hose joint portion 30.In the present invention, the pliability of suction hose 50 and own wt are transmitted the variable of amount of movements as influence to suction hose joint portion 30, below these two kinds of variablees are described respectively.At first, from the flexibility side of suction hose 50,1) if suction hose 50 is rigid body fully, then cleaning action or shift action can have no all directly to pass distinctively to suction hose joint portion 30, and be therefore in fact as broad as long with upright vacuum; Opposite 2), then might finish (being that suction hose 50 is tightened) up to its moving process and also can shift action not passed to suction hose joint portion 30 if suction hose 50 is like flexible body the cord.Next; From the own wt side of suction hose 50, under the pliability prerequisite that has to a certain degree, 3) if the weight of suction hose 50 is very big; Then its part-structure can be permanently connected on the ground; Like this when cleaning, contact position on the ground can be moved hardly, and has only on the dust catcher from the suction nozzle 41 that rest on the ground to the parts (V Fig. 1 the center, suction apparatus joint portion 51
2=0 left part) moves.Under this situation, though cleaning action can not transmitted, on the dust catcher from the main body 10 that rest on the ground to the parts (V the center, suction apparatus joint portion 51
2=0 right portions) can be in heeling condition because of the weight of suction hose 50 always, therefore, with above-mentioned situation 2) identical, the gradient of suction hose joint portion 30 can not change, and promptly this gradient is irrelevant with the cleaning action.On the contrary, 4) if the weight of suction hose 50 is very light, then with above-mentioned situation 1) identical, to compare with own wt, in fact suction hose 50 is equivalent to rigid body, and therefore cleaning action or shift action can have no all directly to pass to suction hose joint portion 30 distinctively.Therefore; From the object of the invention; If want to let suction hose joint portion 30 that the behavior that the user operates suction apparatus 40 is passed to main body 10, so that main body 10, then need be removed part cleaning action according to user's the rapid conversion direction of intention; And mainly shift action is passed to suction hose joint portion 30, therefore need the pliability of suction hose 50 be adjusted to the degree that conforms to stability with the weight of main body 10 with own wt through test.In addition, not only need adjust the weight of suction hose 50, but also will adjust the weight of suction hose joint portion 30 and main body 10 simultaneously.
With reference to the accompanying drawings the design factor situation of suitable selection suction hose 50 parts such as grade is explained in more detail.As shown in Figure 1, this moment, dust catcher was to be in the wait state of not cleaning, not moving, so suction hose 50 is mobile, and main body 10 is in erectility simultaneously.
The side schematic view of dust catcher when Fig. 2 begins to clean for the SBR from Fig. 1.As shown in Figure 2, in the case, suction apparatus 40 will be with V
1＞0 speed is advanced in face of cleaning, and suction hose 50 also will move thereupon thereupon, but above-mentioned mobile meeting is inhaled into the point that flexible pipe 50 contacts with ground, i.e. center, suction apparatus joint portion 51 (V
2≈ 0) absorb greatly, therefore have only the faint active force of P>=0 to pass to center, suction hose joint portion 31.At this moment, slight variation only takes place in the gradient of main body 10 (gradient θ >=0), if therefore want to correct the variation of above-mentioned gradient, only needs to apply small rotation power (moment T >=0) to mobile wheel 20 and gets final product.But under this situation, move wheel 20 and can rotate in fact hardly, so main body 10 can not advance or retreat, promptly still keep approximate upright stable state.
The side schematic view of dust catcher when Fig. 3 begins to move for the state from Fig. 1 or Fig. 2.As shown in Figure 3, in the case, suction apparatus 40 is to move in the position of distance cleaning face certain altitude, and suction hose 50 breaks away from ground thereupon, and this moment, center, suction apparatus joint portion 51 will be with V
2＞0 speed produces bigger moving.The integral body of this suction hose 50 moves and will make suction hose joint portion 30 or center, suction hose joint portion 31 bear the active force of P＞0.Certainly, the active force of above-mentioned P＞0 will cause that the gradient of main body 10 changes, and promptly therefore tiltangle＞0 in order to make main body 10 keep balance, need apply certain revolving force T＞0 to moving wheel 20.Under the effect of above-mentioned revolving force T, moving wheel 20 will be rotated, so that main body 10 is automatically along with suction apparatus 40 or suction hose 50 move, thereby the poised state of main body 10 will not be destroyed, and the user just need not effort and draws main body 10 like this.
Fig. 4 is the side schematic view of the dust catcher when beginning to carry out oppositely moving of the state from Fig. 1～Fig. 3.The situation of this situation and Fig. 3 is just in time opposite.Under this situation, though might have ground different suction hose 50 contact situation on the ground, which kind of situation no matter, the minimum point speed V of suction hose 50 with drawing
2The＜0th, can not become, therefore, main body 10 will be moved to obtain balance with the mode opposite with Fig. 3.At this moment, suction apparatus 40 or suction hose 50 will be retreated, and at it with before main body 10 contacts, main body 10 can be retreated automatically in advance, so the user need not to apply in order to let main body 10 move backward extra power.
Like Fig. 1～shown in Figure 4; Owing to sagging contact of 50 meetings of the suction hose with constant weight and pliability on ground; Therefore the mobile meeting that produces because of " cleaning is moved " of suction apparatus 40 and suction hose 50 is left in the basket or offsets, and the applied external force that is applied on the main body 10 can be approximated to be " acting on the force vector (P) on the suction hose joint portion 30 ".Therefore; The factor that whole control process is produced material impact is the gradient of main body 10; If at this moment the gradient of main body 10 changes; Then the distance between position and the ground also can change before and after its bottom surface, in order to determine the distance between main body 10 and the cleaning face effectively, can adopt the sense part of optical sensor.In addition; The tiltangle of main body 10 is the significant design factors that need append consideration; And " center of gravity " position of main body 10, weight W size and when pivot is two main body 10 " the 2nd pivot " position also be important design factor, and be used to further that the coefficient of elasticity of the spring 14 of distance also is the factor of needs consideration between wheel rotating shaft 21 and the aforementioned body specific part (such as central point).
Fig. 5～Fig. 7 is for when having the higher main body side schematic view of position of centre of gravity when taking turns rotating shaft pivot consistent with the main body pivot.At this moment; Center of gravity 11 is higher than wheel rotating shaft 21, under the reverse single pendulum situation of this unstable equilibrium, when P=0; Revolving force T always keeps 0; Therefore need to utilize to be installed in main body 10 inner sense part the distance between main body 10 and the cleaning face is carried out perception, and apply the revolving force T of trace to the left and right, make the main body 10 can overturning under the unstable equilibrium state.Here; In order to measure the distance between main body 10 and the cleaning face; Said sensed portion can be installed in any position on the main body 10 except that moving wheel, as long as can guarantee luminous/sensitization angle, so that can be to cleaning surface launching bright dipping; And can perceive the light that reflects from cleaning face effectively, and overhead too far do not get final product.In addition; For the gradient of main body 10 is carried out perception, differentiation through straight line light with multisegment mode; The photo-sensitive cell that needs basis cleaning face reflection angle Laian County corresponding with each gradient to pretend to answer number (such as; If when wanting gradient between 0 °～45 ° and 0 °～-45 ° of the angle to change to carry out perception, need to install 90 photo-sensitive cells) with 1 ° of interval.But in the present invention, for the convenience on explaining, in the front and back of above-mentioned pivot 3 photo-sensitive cells are installed respectively respectively, the light (be not laser, but have the normal optical of angle of scattering) that utilizes two light-emitting components to send comes the gradient of perception main body 10.Among Fig. 5; 1 light-emitting component (below represent with LE) and two photo-sensitive cells (below represent with PD) have been installed in the bottom, centre of main body 10; Before and after it (about in the accompanying drawing being; But consider that main body 10 seesaws, the side with suction hose joint portion 30 is called the place ahead below, and the opposition side of suction hose joint portion 30 is called the rear) 1 LE and 3 PD respectively are set.LE3 in the middle of being arranged on and PD31, PD33 before and after it regulate the reference element of photographic department benchmark speed in order to tackle the reflectance varies that the cleaning mask has.Usually, the cleaning face that utilizes vacuum cleaner to clean is such as common ground or carpet surfaces such as room floors.That is, cleaning face is the plane that is similar to the optical mouse working face, so long as not the cleaning glass, just can be suitable for the optical scanning principle and the corresponding with it photoelectric scanning device that adopt in the optical mouse.For optical mouse, as light-emitting component, use the red LED of the refraction distortion factor less than other coloured light.For dust catcher of the present invention,, therefore need to adopt light-emitting component and have sensitive speed and the fast photo-sensitive cell of film speed with especially big luminosity because the distance of being separated by between main body 10 and the cleaning face is quite big.On the contrary, need be as the high-resolution and the sweep speed of optical mouse.Can replace above-mentioned photoelectric scanning device with laser sensor or infrared ray sensor; For laser sensor; Because the shadow surface of laser beam is very narrow; Therefore for the big device of amount of movement as dust catcher, reflecting surface will be difficult to ensure the accuracy of light path, so photo-sensitive cell can not capture laser beam exactly.In addition, for infrared ray sensor, when color and the material of cleaning face not simultaneously, ultrared reflectivity has very big-difference.Even therefore carry out the reflectivity compensation, when contacting with multiple cleaning face fast, also be difficult to guarantee effective reflectivity, thereby can't guarantee the reliability of perceptual performance through benchmark light-emitting component and the benchmark photo-sensitive cell that is positioned at below, main body 10 centres.That is, under common cleaning environment, above-mentioned laser sensor (not having angle of scattering) or infrared ray sensor (in order to guarantee ultrared reflected intensity, need throw with the narrow angle of the high concentration) irradiated area on cleaning face is very narrow.Therefore,, but have the plane of certain reflectivity if cleaning face is not very smooth, then if the angle of reflection of cleaning face more partially, light just can not normally reflex to photo-sensitive cell.Therefore, photoelectric scanning device should send than strong beam easily in employing, and the visible light of regulating angle of scattering and luminous point size easily is as work light.And; Consider that light path can touch the situation of multiple cleaning face when moving than long and dust catcher; Pass through above-mentioned LE3 and PD31, PD33 correction reference luminosity earlier; Emission light that then will be corresponding with said reference luminosity is through LE1 among Fig. 5 and LE2 emission, to improve the sensing reliability of each photo-sensitive cell PD11～PD13 and PD21～PD23.
Among Fig. 5, the light of launching from LE1 shines PD11 to PD13 along the direction of arrow indication.But this considers scattering of light state, and light distributes and with the Gaussian distribution figure of the light quantity distribution between PD11～PD13 with the Gaussian function approximation, promptly GP1 is identical accurately.As stated; When main body 10 is in erectility or halted state; The light that LE1 sends will be target with PD12, and the highest point of sensitization luminosity also is PD12, though the value of PD11 and PD13 is not 0; But the luminous intensity that receives is very little, and the LE2 at main body 10 rears and the situation of PD21～PD23 also are like this.In addition, main body 10 is from the right-oblique left state of the state of above-mentioned Fig. 5 such as Fig. 6 and shown in Figure 7.Fig. 6 situation is wherein explained as follows at present.Fig. 6 is the state that main body 10 tilts to the rear of suction hose joint portion 30; If at this moment observe the PD21～PD23 sensitization luminosity relevant with the lighting angle of LE2; Can find that PD21 does not just receive light at all, near with PD23 then as the reflection kernel point by the light of cleaning face reflection.Therefore, under this situation, light quantity distribution is identical with GP2.And because the travel distance of overall optical is lacked (cleaning face is with emergency light reflex), therefore catoptrical luminosity improves, and the maximum of GP2 can be greater than the maximum of GP2 among Fig. 5 among Fig. 6.In addition, compare with the light quantity distribution situation of PD21～PD23, the reflection angle of LE1 side also can change because and the distance between cleaning face become far away, in fact the light quantity distribution of PD11～PD13 can be regarded as 0.Certainly; In said process; There are not to consider to be present in originally the exterior lighting of cleaning the space or the amount of injecting of natural daylight; In order under the lighting condition in multiple cleaning space, to receive light satisfactorily, need the luminosity of LE1, LE2 and the speed of PD11～PD23 be adjusted to satisfied level through LE3, PD31～PD33.Under the situation shown in Fig. 6, provide the PD33 of benchmark speed can not receive light, therefore can this situation be used for the gradient control of main body 10.
What Fig. 7 showed is the state opposite with Fig. 6.Compare in conjunction with Fig. 6, can change each sense part perception situation relevant and well understand with main body 10 inclination in the running direction.Under the situation of Fig. 5～Fig. 7, because main body 10 has the high unstable structure of center of gravity, the speed that therefore center of gravity 11 descends when main body 10 overturnings is faster, thereby is necessary to apply exactly the revolving force T with bigger variable.Like Fig. 5, shown in Figure 7, when selecting the high unstable structure of center of gravity, the mobility of main body 10 can improve greatly; Therefore in the whole process of using; Its to the left and right direction rock grazioso, thereby can improve user's satisfaction, but need increase extra driving energy in order to keep posture; Even also will make reply when having small external force P, so be difficult to distinguish effectively shift action and cleaning action.
Fig. 8～Figure 10 is for when having the lower main body side schematic view of position of centre of gravity when taking turns rotating shaft pivot consistent with the main body pivot.Shown in Fig. 8～10, at this moment, main body 10 is in the stability that center of gravity 11 is lower than wheel rotating shaft 21, and different with Fig. 6, when P=0, revolving force T also keeps 0, and at this moment main body 10 is kept stable state as tumbler.Certainly, at this moment the gradient of main body 10 also can be through the light quantity distribution GP1 of the above-mentioned PD11～PD23 of perception, and GP2 confirms.The stability of above-mentioned Fig. 8 is damaged and right-oblique left state such as Fig. 9 and shown in Figure 10.Under this situation, center of gravity 11 moves to the rightabout with main body 10 overturnings, thereby produces restoring force, so center of gravity can not be destroyed easily, thereby it is also passable when light quantity distribution produces minor variations, not apply revolving force T.The meaning of foregoing is extremely important.Center of gravity 11 designs lowly more, and is promptly more responsive to the understanding of cleaning behavior to the variation of little and interrupted main body gradient, and to begin the continuous change to medium above main body of development gradient from little variation, promptly blunt more to the understanding of mobile behavior.Thereby, when the content of the content of Fig. 1～Fig. 4 and Fig. 5～10 is taken all factors into consideration,, then can main body 10 be designed to the underslung stable equilibrium's body shown in Fig. 8～10 if the weight of suction hose 50 is big and pliability is little; And if the in light weight and pliability of suction hose 50 is big, then can main body 10 be designed to the high unstable equilibrium body of center of gravity shown in Fig. 5～7.In addition; Above-mentioned design factor can also according in suction power of motor size, dust bucket volume and weight and the multiple factors such as operating physical force relevant of establishing with subject of a sale's age suitably regulate, and can regulate better through actual service test.
Figure 11 to Figure 15 is that the structure with Fig. 8～Figure 10 changes, and makes it to have the main body side schematic view of two pivots.Shown in Figure 11～15, main body 10 has two pivots, promptly takes turns rotating shaft 21 and the 2nd pivot 12.Here; Wheel rotating shaft 21 can be connected through attaching parts 15 with the 2nd pivot 12; And main body 10 is provided with when main body 10 tilts, and is irrelevant with the action of moving wheel 20, can prevent the spring 14 between center of gravity 11 and the wheel rotating shaft 21 that is connected of main body 10 overturnings.Certainly; The shape of above-mentioned spring 14 and structure be restriction not; Because these parts do not support and rotatablely move, and only support rotatablely moving of the 2nd pivot 12, therefore also can on the axle of the 2nd pivot 12, torsion spring be set; So long as can retrain the relative rotary motion between the 2nd pivot 12 and the attaching parts 15, then can adopt any connected mode.Under the state of Figure 11, the main body 10 with center of gravity 11 is supported on the 2nd pivot 12, moves wheel 20 and then supports the body weight of being transmitted by attaching parts 15 through wheel rotating shaft 21.
Figure 12 and Figure 13 are the states that applies the small horizontal force F of left and right directions to the state of Figure 11.At this moment, attaching parts 15 are with main body 10 double swerves.Wherein Figure 12 is the state identical with Fig. 9 essence, and Figure 13 then is the state identical with Figure 10 essence, and the horizontal component F of active force P and P is inequality certainly.Existing state to Figure 12 and Figure 13 is elaborated; At this moment; Directed force F is less and soft, promptly can move the state of dust catcher as the user, need analyze from the mechanics angle user's translational speed and move operation; The coefficient of elasticity and the link position that combine spring 14 on this basis; And center of gravity 11 positions and the weight W of main body 10, add the multiple design factor such as weight and pliability of suction hose 50, thereby dust catcher is designed to make it under user's mobile behavior effect, to become the state of Figure 12 or Figure 13 with being allowed a choice.
Figure 14 and Figure 15 are the states that applies the impact horizontal force F of left and right directions to the state of Figure 11.At this moment, attaching parts 15 will be rotated to the rightabout that main body 10 tilts.Certainly, if observe the center of gravity 11 of main body 10 among Figure 14 and Figure 15 and the position of wheel rotating shaft 21, can find that then both are in the state that keeps to the side more than center of gravity among Figure 12 and Figure 13 11 and wheel rotating shaft 21 positions.In the case, by means of the restoring force of spring 14, main body 10 will be returned to the state of Figure 12 or Figure 13 consumingly.The state of Figure 14 and the violent push-and-pull dust catcher of Figure 15 person of being to use, being applied to the revolving force T that moves on the wheel 20 under this situation needs bigger.But this situation is rare, the state that moment occurred when the major part person of being to use cleaned fast.
Shown in figure 14, main body 10 tilts with the gradient close with Fig. 6, and is in the state that wheel rotating shaft 21 is drawn back.The situation that this person of being to use pulls back suction apparatus 40 in the process of the behavior of cleaning fast; And this state can not appear in the simple mobile behavior; Only produce astern speed fast in moment, promptly the user move backward idea the time often take place.At this moment, drive division will not move wheel 20 to rear drive on the main body 10, only at the very short revolving force backward that applies in a flash, can let main body 10 under the state that does not move backward, obtain stable effect.For this reason, Fig. 6 need be sent to control part with mutual different information GP2 and GP3 with Figure 14.
But the gradient among above-mentioned Fig. 6, Figure 14 on main body 10 geometry is approximate identical, and just horizontal velocity is different each other.Under this situation, the notion that can import is the optical scanning principle similar with optical mouse.If can carry out perception or compare with changing by photo-sensitive cell with the reverberation of mobile relevant unit interval of reflecting surface by control part; Under then identical, the speed different state in gradient; Compare with the main body motion state of prior storage, thus the main body compound movement state can tackle cleaning more effectively and exist the time with mobile status mixing.Therefore, each photo-sensitive cell among Figure 14 needs to distinguish the reverberation that cleaning face that with dashed lines shows moves front-reflection light and representes with solid line, and this differentiation can utilize former reason sense part of the optoelectronic scanning of employings such as optical mouse or control part to carry out.
Figure 16 to Figure 20 is that the structure with Fig. 5～Fig. 7 changes, and makes it to have the main body side schematic view of two pivots.The situation of Figure 16～Figure 20 is identical with Figure 11～15; Main body 10 has two pivots; Promptly have wheel rotating shaft 21 and the 2nd pivot 12; And the 2nd pivot 12 here is higher than the center of gravity 11 of wheel rotating shaft 21 and main body 10, so main body 10 serve as that axle is equivalent to carry out simple harmonic motion when being rotated with the 2nd pivot 12, and main body 10 is that the center is equivalent to carry out reverse simple harmonic motion when being rotated to take turns rotating shaft 21.In Figure 16～Figure 20, wheel rotating shaft 21 is identical with Figure 11～Figure 15 with the 2nd pivot 12 to be to be connected through attaching parts 15, but also has the 2nd attaching parts 16 between attaching parts of being connected 15 and the main body 10.Here, the 2nd attaching parts 16 and attaching parts 15 are in can counterrotating pin connection status, and is in not the fixed support state of rotation each other with main body 10.Therefore, after moving wheel 20 actions, in order to make main body 10 homings, need between the center of gravity 11 of main body 10 and wheel rotating shaft 21, append elasticity and connect both springs 14.Under the state of Figure 16, main body 10 has center of gravity 11, and it is supported on the 2nd pivot, moves wheel 20 then supports the main body of being transmitted by attaching parts 15 10 through wheel rotating shaft 21 weight.
Figure 17 and Figure 18 are the states that the state of Figure 16 is applied small horizontal force F along left and right directions.At this moment, attaching parts 15 are with main body 10 double swerves.Wherein Figure 17 is the state identical with Fig. 6 essence, and Figure 18 then is the state (certainly active force P and F inequality) identical with Fig. 7 essence.Existing state to Figure 17 and Figure 18 is elaborated; At this moment; Directed force F is less and soft, promptly can be used as the state that the user moves dust catcher, need analyze from the mechanics angle user's translational speed and move operation; The coefficient of elasticity and the link position that combine spring 14 on this basis; And center of gravity 11 positions and the weight W of main body 10, add the multiple design factor such as weight and pliability of suction hose 50, thereby dust catcher is designed to make it under user's mobile behavior effect, to become the state of Figure 17 or Figure 18 with being allowed a choice.
Figure 19 and Figure 20 are the states that the state of Figure 16 is applied impact horizontal force F along left and right directions.At this moment, attaching parts 15 will be rotated to the rightabout that main body 10 tilts.Certainly, if observe the center of gravity 11 of main body 10 among Figure 19 and Figure 20 and the position of wheel rotating shaft 21, can find that then both are in the state that keeps to the side more than center of gravity among Figure 17 and Figure 18 11 and wheel rotating shaft 21 positions.In the case, by means of the restoring force of spring 14, main body 10 will be returned to the state of Figure 17 or Figure 18 consumingly.The state of Figure 19 and the violent push-and-pull dust catcher of Figure 20 person of being to use, under most of situation, because Figure 16～Figure 20 is the unstable equilibrium state, so the state of Figure 19 or Figure 20 only takes place in the extremely short time.But, in the extremely short time, give if desired and move wheel 20 and apply rapid revolving force T, can utilize above-mentioned spring 14, these parts are that the weight with main body 10 serves as that the storage area effect that the rotating energy that spurs above-mentioned mobile wheel 20 is stored is played on the basis.
If situation and Figure 14 of Figure 19 are compared; The variation that can find optical scanning situation among Figure 14 mainly is created on the GP2; And under the situation of Figure 19 because the position of suction hose joint portion 30 is low, thus the variation of optical scanning situation mainly to be created in PD31～PD33 last.Therefore, can give the optical scanning function to above-mentioned photo-sensitive cell according to the position of centre of gravity of main body 10, the position of suction hose joint portion 30 and the geometry of attaching parts 15,16 with being allowed a choice.
Like Figure 11～shown in Figure 15, be the main body 10 that the basis combines reverse single pendulum with the single pendulum, with the simple single pendulum mode shown in Fig. 8～Figure 10, promptly underslung main body 10 is compared, and its mobility increases and stability reduces.On the contrary, serve as the main body 10 that the basis combines single pendulum with Figure 16～reverse single pendulum shown in Figure 20, with the simple reverse single pendulum mode shown in Fig. 5～Fig. 7, the main body 10 that promptly center of gravity is high is compared, though its mobility reduces, stability increases.Thereby; For the designer who wants to realize technological thought of the present invention; Can from Fig. 5～Figure 20, select suitable subjective situation according to needed stability and mobility, and combine the material and the structure of suction hose 50; Accumulate out the perception information variation of the sense part relevant simultaneously through test of many times, reach the purpose of control voluntarily and motor-driven driving with this with multiple motion state.
For the main body 10 that will have motion among Fig. 5～Figure 20 drives or controls according to the mobile of suction hose joint portion 30; Need to install above-mentioned photo-sensitive cell; And need to be provided with and to handle the perception information of sense part on the above-mentioned photo-sensitive cell; Thereby the control part of output drive signal, and can will move the drive division that wheel 20 drives according to required revolving force or rotating speed according to the driving signal that control part sends.At first the structure of said sensed portion is described below.Said sensed portion can use common light emitting diode (LED) and photodiode respectively as luminous and photo-sensitive cell, and can basis and cleaning face between distance and exterior lighting intensity uses the light-emitting component that can send high light more with being allowed a choice high sensitivity reaches the photo-sensitive cell of film speed sooner with having more.Next; But the motor that is different from the free adjustment rotating speed that sucks motor can be installed on aforementioned body 10; Such as direct current generator; Can a motor be installed on the axle, perhaps two motors be installed in respectively on the mobile wheel 20 that is positioned at main body 10 both sides, to regulate the revolving force of move left and right wheel 20 respectively.In addition, in order to use the direct current generator that is applicable to dust catcher of the present invention, need can the family expenses alternating current be converted to the voltage commutation device of direct current and transformation in the set inside of main body 10.The direct current generator that receives dc source from above-mentioned transformation fairing can come change speed through the resistance of adjustment stator coil or the mode of change rotor voltage at an easy rate.In addition, above-mentioned direct current generator has the big more characteristics of the more little revolving force T of rotating speed, and change in rotational speed is continuous and free, and is therefore, very suitable for the ability of posture control and the drive controlling of main body 10.
Figure 21 is the main body of dust collector texture edge sketch map with the rotating shaft of a wheel and a pair of mobile wheel.Shown in figure 21; The bottom of main body 10 is equipped with power supply bobbin 64; Can in 360 ° scope, power line be extracted out downwards; Having voluntarily the mobile wheel 20 of driving force like this can freely walk around said power and (for existing dust catcher, because the mobile wheel on the dust catcher is in passive pulling state, therefore be difficult to let it cross power line.)。In addition; From the consideration on main body 10 position of centre of gravitys, can with the heaviest suction motor 61 and outside weight---parts such as drive motors 70, gear-box 71, the transformation fairing 72 that is used for drive motors 70, power supply bobbin 64 are provided with near wheel rotating shaft 21.Suck motor 61 and be connected on the suction fan 62, and also be connected with 30 extensions on the above-mentioned suction fan 62 and next inside suction line from the suction hose joint portion with the mode that can transmit revolving force.In addition, can dispose in addition from the exterior periphery of above-mentioned suction fan 62 and extend and the suction dust bucket 63 that forms.In the accompanying drawing, central sense part 113 is positioned on the vertical line of fifth wheel rotating shaft 21 and cleaning face, in the time of can it being installed in main body 10 and being in stable state (not being a definiteness erectility) or erectility and on the nearest point of cleaning face.In addition; With above-mentioned central sense part 113 is center and the 1st sense part 111 and the 2nd sense part 112 have been installed respectively in front and back; And a light-emitting component and a plurality of photo-sensitive cell of being provided with shown in figure 25 on the 1st, the 2nd sense part; If long more from the whole light path of cleaning face reflection, the configuration number also needs to increase about photo-sensitive cell.
In addition, the control part 81 that receives perception informations from above-mentioned central sense part the 113, the 1st sense part 111 and the 2nd sense part 112 is circuit boards that controller is installed, and is provided with microprocessor in the above-mentioned controller.Above-mentioned control part 81 can be judged gradient and the direction of motion and the movement velocity of current main body 10 according to the perception information of above-mentioned each sense part, and through the internal calculation process will be with it the corresponding driving signal send drive motors 70 to.
Figure 22 is the main body of dust collector structure front schematic view shown in Figure 21.Here, suction hose joint portion 30 not necessarily must be installed in the central authorities of main body 10, can according to circumstances be installed in the position near a certain sidesway driving wheel.
Figure 23 is the main body of dust collector structure end face sketch map shown in Figure 21.Figure 24 is the main body of dust collector external structure sketch map shown in Figure 21.For mobility and the stability that changes dust catcher, the internal structure of the main body 10 that Figure 21～Figure 24 shows can change at any time.
Figure 25 is equipped with the main body of dust collector structure sketch map of sense part for the back side shown in Figure 21.Like Figure 25 and shown in Figure 5, have 3 PD11 as photo-sensitive cell on the 1st sense part 111 of main body 10,5 PD12,6 PD13, thereby even the light beam swept surface diffuse reflection that light-emitting component LE1 sends also can perceive fully.
Claims (12)
1. active drive formula vacuum cleaner, it is characterized in that: described active drive formula vacuum cleaner comprises the main body (10) that has a pivot at least; Be used to drive the drive division of main body (10); With pivot setting separated by a distance, and the suction hose joint portion (30) that combines with main body (10); The sense part that variable in distance in the time of can moving suction hose joint portion (30) between main body (10) and the cleaning face is carried out perception; With the control part (81) that can control drive division according to the perception information of sense part; Described sense part comprises the photo-sensitive cell that at least one light-emitting component and at least one light that light-emitting component is sent carry out sensitization, and light-emitting component and photo-sensitive cell optically are to interconnect as middle reflecting surface with cleaning face.
2. active drive formula vacuum cleaner, it is characterized in that: described active drive formula vacuum cleaner comprises the main body (10) that has a pivot at least; Under halted state, come supportive body (10) and drive the drive division of main body (10) with a strong point; With pivot setting separated by a distance, and the suction hose joint portion (30) that combines with main body (10); The sense part that variable in distance in the time of can moving suction hose joint portion (30) between main body (10) and the cleaning face is carried out perception; With the control part (81) that can control drive division according to the perception information of sense part; Described sense part comprises the photo-sensitive cell that at least one light-emitting component and at least one light that light-emitting component is sent carry out sensitization, and light-emitting component and photo-sensitive cell optically are to interconnect as middle reflecting surface with cleaning face.
3. active drive formula vacuum cleaner, it is characterized in that: described active drive formula vacuum cleaner comprises main body (10); Under halted state, come supportive body (10) and drive the drive division of main body (10) with two strong points; The suction hose joint portion (30) that combines with main body (10); The sense part of in the time of can changing in the center of gravity of main body (10) variable in distance between main body (10) and the cleaning face being carried out perception; With the control part (81) that can control drive division according to the perception information of sense part; Described sense part comprises the photo-sensitive cell that at least one light-emitting component and at least one light that light-emitting component is sent carry out sensitization, and light-emitting component and photo-sensitive cell optically are to interconnect as middle reflecting surface with cleaning face.
4. active drive formula vacuum cleaner, it is characterized in that: described active drive formula vacuum cleaner comprises the main body (10) that has a pivot at least; The drive division that is used for support and drives main body (10); Be connected between main body (10) and the drive division at least one attaching parts (15,16) that can the edge be rotated with main body (10) or the opposite direction of drive division; With pivot setting separated by a distance, and the suction hose joint portion (30) that combines with main body (10); The sense part that variable in distance in the time of can moving suction hose joint portion (30) between main body (10) and the cleaning face is carried out perception; With the control part (81) that can control drive division according to the perception information of sense part; Described sense part comprises the photo-sensitive cell that at least one light-emitting component and at least one light that light-emitting component is sent carry out sensitization, and light-emitting component and photo-sensitive cell optically are to interconnect as middle reflecting surface with cleaning face.
5. according to each described active drive formula vacuum cleaner in the claim 1 to 4, it is characterized in that: described suction hose joint portion (30) is that benchmark is positioned at and the pivot of main body (10) or the pivot different height of drive division with cleaning face.
6. according to each described active drive formula vacuum cleaner in the claim 1 to 4; It is characterized in that: described sense part is arranged on a plurality of positions on the main body (10), and one of them position is the reference position that when main body (10) is in stable state or erectility, is used to measure cleaning face absolute light reflectivity.
7. according to each described active drive formula vacuum cleaner in the claim 1 to 4; It is characterized in that: in described sense part; A light-emitting component is corresponding with a plurality of photo-sensitive cells; When main body occurred tilting, sense part can be carried out perception to the light quantity distribution of relevant with it a plurality of photo-sensitive cells.
8. active drive formula vacuum cleaner according to claim 1 is characterized in that: described photo-sensitive cell also comprises can be to changing the structure of carrying out perception with the translational speed of main body (10) or the relevant cleaning face reverberation of displacement of main body (10).
9. active drive formula vacuum cleaner according to claim 1; It is characterized in that: correspondingly change for perception information that photo-sensitive cell receives in the specific time can be changed along with the displacement of the translational speed of main body (10) or main body (10), described light-emitting component also comprises with interrupted mode and carries out luminous structure.
10. according to each described active drive formula vacuum cleaner in the claim 1 to 4; It is characterized in that:, the motor that can control speed through the mode of change rotor voltage or stator coil resistance is installed on the described drive division for wheel (20) rotates or the state that stops can both be regulated revolving force down moving.
11. active drive formula vacuum cleaner according to claim 4; It is characterized in that: described attaching parts (15; 16), thereby make the mobile wheel (20) on the drive division apply torsion to main body (10) can counterrotating mode being connected with main body (10).
12. active drive formula vacuum cleaner according to claim 4 is characterized in that: the pivot of the pivot of described attaching parts and main body (10) or move some consistent in the pivot of wheel (20).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100527067A CN101554304B (en) | 2008-04-11 | 2008-04-11 | Active-drive type vacuum cleaner |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100527067A CN101554304B (en) | 2008-04-11 | 2008-04-11 | Active-drive type vacuum cleaner |
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| CN101554304A CN101554304A (en) | 2009-10-14 |
| CN101554304B true CN101554304B (en) | 2012-05-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2008100527067A Active CN101554304B (en) | 2008-04-11 | 2008-04-11 | Active-drive type vacuum cleaner |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107515614B (en) * | 2017-08-24 | 2024-01-19 | 北京京东乾石科技有限公司 | Automatic guiding transport vehicle and control method thereof |
| JP7149502B2 (en) * | 2018-03-29 | 2022-10-07 | パナソニックＩｐマネジメント株式会社 | AUTONOMOUS MOBILE VACUUM CLEANER, CLEANING METHOD USING AUTONOMOUS MOBILE VACUUM CLEANER, AND PROGRAM FOR AUTONOMOUS MOBILE VACUUM CLEANER |
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| US5865568A (en) * | 1997-03-27 | 1999-02-02 | Relin; Arkadi | Method of and device for suction transporting |
| JP2005211462A (en) * | 2004-01-30 | 2005-08-11 | Funai Electric Co Ltd | Self-propelled cleaner |
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| CN1889882A (en) * | 2003-12-10 | 2007-01-03 | 沃维克股份有限公司 | Floor cleaning device with means for detecting the floor |
| CN1967260A (en) * | 2005-11-18 | 2007-05-23 | 乐金电子(天津)电器有限公司 | Moving examining device of vertical vacuum sweeper and its driving method |
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| US5865568A (en) * | 1997-03-27 | 1999-02-02 | Relin; Arkadi | Method of and device for suction transporting |
| CN1889878A (en) * | 2003-12-10 | 2007-01-03 | 沃维克股份有限公司 | An automatic robotic floor cleaner |
| CN1889882A (en) * | 2003-12-10 | 2007-01-03 | 沃维克股份有限公司 | Floor cleaning device with means for detecting the floor |
| JP2005211462A (en) * | 2004-01-30 | 2005-08-11 | Funai Electric Co Ltd | Self-propelled cleaner |
| CN1967260A (en) * | 2005-11-18 | 2007-05-23 | 乐金电子(天津)电器有限公司 | Moving examining device of vertical vacuum sweeper and its driving method |
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| CN101554304A (en) | 2009-10-14 |
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Effective date of registration: 20160517 Address after: 210014 Yongfeng Road, Qinhuai District, Jiangsu, No. 28, No. Patentee after: Nanjing LG Panda Appliances Co., Ltd. Address before: 300402 Tianjin city Beichen District Xingdian Road Patentee before: Lejin Electronic and Electric Appliance Co., Ltd. (Tianjin) |