CN107743674A - Self-propelled electronic equipment - Google Patents
Self-propelled electronic equipment Download PDFInfo
- Publication number
- CN107743674A CN107743674A CN201680011324.2A CN201680011324A CN107743674A CN 107743674 A CN107743674 A CN 107743674A CN 201680011324 A CN201680011324 A CN 201680011324A CN 107743674 A CN107743674 A CN 107743674A
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- Prior art keywords
- battery
- rechargable
- rechargable battery
- output voltage
- information
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000004891 communication Methods 0.000 claims abstract description 55
- 230000009471 action Effects 0.000 claims abstract description 40
- 238000001514 detection method Methods 0.000 claims abstract description 40
- 238000007600 charging Methods 0.000 claims description 63
- 238000003860 storage Methods 0.000 claims description 30
- 230000005856 abnormality Effects 0.000 claims description 16
- 230000005611 electricity Effects 0.000 claims description 13
- 230000007774 longterm Effects 0.000 abstract 1
- 238000004140 cleaning Methods 0.000 description 58
- 230000006870 function Effects 0.000 description 55
- 239000000428 dust Substances 0.000 description 26
- 230000002159 abnormal effect Effects 0.000 description 16
- 239000000203 mixture Substances 0.000 description 11
- 238000007689 inspection Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000007423 decrease Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 230000009467 reduction Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000009833 condensation Methods 0.000 description 2
- 230000005494 condensation Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 229910018095 Ni-MH Inorganic materials 0.000 description 1
- 229910018477 Ni—MH Inorganic materials 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 150000002500 ions Chemical class 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Vacuum Cleaner (AREA)
- Secondary Cells (AREA)
Abstract
The problem of the present invention is selected in a manner of it can carry out long-term and safe action in possessing the self-propelled electronic equipment of multiple rechargable batteries and switches rechargable battery.A kind of self-propelled electronic equipment for possessing multiple rechargable batteries, it is characterised in that including：Power supply unit, it generates the action power voltage of electronic equipment；Switching part is connected, it carries out the connection and releasing of the power supply unit and each rechargable battery；Voltage detection department, it is detected to the output voltage exported from each rechargable battery；First communication unit, it communicates with each rechargable battery and obtains the defined information of each rechargable battery；And control unit；Output voltage of the control unit based on the information got from each rechargable battery, with detected each rechargable battery, select the rechargable battery that should be used；The rechargable battery selected is connected by the connection switching part with the power supply unit；The power supply unit utilizes the electric power from the rechargable battery supply connected to generate action power voltage, and the control unit performs the defined function of self-propelled electronic equipment.
Description
Technical field
The present invention relates to a kind of self-propelled (self-propelled) electronic equipment, possesses rechargable battery more particularly to one kind
And independently divide a word with a hyphen at the end of a line and carry out the self-propelled electronic equipment such as the self-propelled suction cleaner of the cleaning of predetermined region.
Background technology
Always using in self-propelled suction cleaner so far, a rechargable battery is carried in most cases, the rechargable battery is usual
Can not easily load and unload, fixed configurations are in enclosure interior.In addition, the residual capacity (output voltage) in rechargable battery drops to rule
In the case of below definite value, such as stop to clean and be parked in the position or return to the position of cradle.
In addition, on portable communication equipment of today, proposition has as follows：It has multiple batteries, judges in communication
In the case that the voltage of the battery just used is in warning voltage range, switches to other batteries and perform communication, communicating
In the case that the voltage of battery before judging after end in use is not yet less than the minimum voltage that can be acted, before switching back to
Battery in use, so as to realize effective utilization of the capacity of multiple batteries (with reference to patent document 1).
Prior art literature
Patent document
[patent document 1] Japanese Patent Laid-Open 2006-129626 publications
The content of the invention
The technical problems to be solved by the invention
However, in the self-propelled suction cleaner for only carrying a rechargable battery, determine to enter by the capacity of the rechargable battery
The transport maximum time that row cleans, if by the time, the charging of rechargable battery must be carried out.
In addition, in rechargable battery fixed configurations in the case of enclosure interior, it is necessary to integratedly filled with body of dust collector itself
Electric operation, so as to there is the problem of can not being cleaned in the charging.
In addition, as the existing portable communication equipment, by the way that multiple rechargable batteries that can be loaded and unloaded are equipped on
Self-propelled suction cleaner simultaneously alternately switches and used, and can extend the time that can be cleaned.
But cleaned or the midway divided a word with a hyphen at the end of a line automatically performing, briefly also have following situation：In the rechargable battery that will be used
In the case of switching to another, it is applied to cleaning motor or divides a word with a hyphen at the end of a line to be produced with the voltage of motor and significantly change, so as to
Driving to motor impacts, and carries out unexpected action；Or action becomes bad.
In addition, except the battery core of rechargable battery (cell) residual capacity (output voltage) decline in addition to, also produce battery core it is bad or
In the case that battery core heating exception waits, from the viewpoint of security etc., it is generally desirable to will not be to the charging of this abnormality
Pond switches.
Therefore, the present invention is to complete in view of the above circumstances, its problem be to provide one kind possess multiple rechargable batteries and
The self-propelled electronic equipment of the switching control of the rechargable battery of the extension of security and the duration of runs can have been accounted for.
The means solved the problems, such as
The present invention provides a kind of self-propelled electronic equipment for possessing multiple rechargable batteries, it is characterised in that including：Power supply unit, its
Generate the action power voltage of electronic equipment；Switching part is connected, it carries out the connection and releasing of the power supply unit and each rechargable battery；
Voltage detection department, it is detected to the output voltage exported from each rechargable battery；First communication unit, it communicates simultaneously with each rechargable battery
Obtain the defined information of each rechargable battery；And control unit；The control unit is based on the information and institute got from each rechargable battery
The output voltage of each rechargable battery detected, select the rechargable battery that should be used；The connection switching part has selected described
Rechargable battery be connected with the power supply unit；The power supply unit utilizes the electric power generation action from the rechargable battery supply connected
Supply voltage, the control unit perform the defined function of self-propelled electronic equipment.
In addition, the self-propelled electronic equipment of the present invention is characterised by：Each rechargable battery possesses：The battery that can be charged
Battery core, the battery core state detecting section detected to the state of the battery battery core, store the storage parts of charging times, and
Two communication units；The battery core of the state for the battery battery core that second communication unit is detected expression by the battery core state detecting section
Information, with the charging times for being stored in the storage part it is sent to first communication unit；The control unit is utilized for each
The cell information accessed by rechargable battery, select to act with the output voltage of each rechargable battery detected
Rechargable battery, the rechargable battery that can be acted have it is multiple in the case of, be based on action rechargable battery the output voltage or
The charging times, select the rechargable battery that should be used.
In addition, the self-propelled electronic equipment of the present invention is characterised by：Each rechargable battery also includes to the battery battery core
The temperature detecting part that temperature is detected；Second communication unit sends the temperature information detected by the temperature detecting part
To first communication unit, the temperature information received is used to select the rechargable battery that can be acted by the control unit.
According to the present invention, can be moved using for the cell information accessed by each rechargable battery, temperature information, output voltage selection
The rechargable battery of work, the rechargable battery that can be acted have it is multiple in the case of, based on output voltage or charging times selection should use
A rechargable battery, it is thus possible to rechargable battery that use can not act is prevented in advance, in addition by selecting without exception and output electricity
The rechargable battery not declined is pressed, and safely and for a long time can use electronic equipment as far as possible.
In addition, the self-propelled electronic equipment of the present invention is characterised by：Also include to carry out the electricity of power on operation
Source switch；In the case where the power switch is pressed, all rechargable batteries are being connected to institute using the connection switching part
After stating power supply unit, the voltage detection department detects to the output voltage exported from each rechargable battery, and first communication unit connects
Receive cell information, temperature information and the detected charging times sent from the second communication unit of each rechargable battery；It is described
Control unit should make in the cell information of the received each rechargable battery of utilization, temperature information, charging times and output voltage selection
After one rechargable battery, a selected rechargable battery is only connected to the power supply unit using the connection switching part, its
His rechargable battery is not attached to the power supply unit.
Accordingly, in the case where power switch is pressed, selected using cell information, temperature information, charging times and output voltage
Select the rechargable battery that should be used, thus before rechargable battery is begun to use, it is contemplated that rechargable battery can running-active status, and select pair
The rechargable battery being adapted to for the defined function of electronic equipment is performed.
In addition, the self-propelled electronic equipment of the present invention is characterised by：Only the rechargable battery that should be used is being connected
In the case of being connected to after the power supply unit function as defined in performing, newly obtain the cell information of the rechargable battery, temperature information and
Output voltage, and in the case of detecting there occurs following any state, i.e. according to acquired cell information, battery battery core
For abnormality, acquired temperature information is abnormality, and detected output voltage is less than defined output voltage threshold
Value；Other rechargable batteries that can be acted are connected to the power supply unit, and should be used described in releasing one by the connection switching part
The connection of individual rechargable battery and the power supply unit.
Accordingly, it is new on the rechargable battery utilizing in the case of function as defined in being performed in the rechargable battery that utilization should use
Cell information, temperature information and the output voltage got, in the case of detecting there occurs following any state, i.e. battery
Battery core abnormality, temperature anomaly state, the decline state of output voltage, other rechargable batteries that can be acted are connected to power supply
Portion, and release the rechargable battery for producing described abnormality etc., it is thus possible to the exception of the rechargable battery in because of use and electronics is set
For the rechargable battery for before stopping function, switching to other to act, so that function is continued executing with.
In addition, the self-propelled electronic equipment is the self-propelled suction for the function of dividing a word with a hyphen at the end of a line of having cleaning function and independently divide a word with a hyphen at the end of a line
Dirt device, it is characterised in that：In the case where multiple rechargable batteries detachably are accommodated in into self-propelled suction cleaner, described in use
A rechargable battery being acted in the rechargable battery being contained and perform the cleaning function and divide a word with a hyphen at the end of a line function when, just make described
Rechargable battery as its battery battery core is abnormality, temperature information is that abnormality, output voltage export less than defined
In the case of any state of voltage threshold, stop the cleaning function and function of dividing a word with a hyphen at the end of a line after, it is described connection switching part will connect
In the rechargable battery of the power supply unit, the rechargable battery that other can act is switched to from the rechargable battery just used, using described
Other rechargable batteries that can be acted and restart the cleaning function and function of dividing a word with a hyphen at the end of a line.
Accordingly, it is that battery battery core abnormality, temperature are different in the rechargable battery just used when performing cleaning function and dividing a word with a hyphen at the end of a line function
In the case of any state in normal state, the decline state of output voltage, make the cleaning function that is carrying out and function of dividing a word with a hyphen at the end of a line
After stopping, the rechargable battery that other can act is switched to from the rechargable battery just used, and restarts cleaning function and work(of dividing a word with a hyphen at the end of a line
Can, even if thus the large variation of output voltage can be produced during the switching of rechargable battery, can not also cause unexpected action, so as to
Enough realize the safe of cleaning function etc..
In addition, the self-propelled electronic equipment of the present invention is characterised by：In it following situations be present any one set up
In the case of rechargable battery, i.e. the cell information represents that the battery battery core of rechargable battery is the situation of abnormality, the temperature letter
Breath expression is the situation of the temperature outside the defined regular event scope of rechargable battery, and the output voltage is less than defined output electricity
The situation of threshold value is pressed, does not select the rechargable battery as the rechargable battery that should be used.
Invention effect
According to the present invention, because of the output of each rechargable battery based on the information obtained from multiple each rechargable batteries, with detected by
Voltage, a rechargable battery should using is selected, so can be to prevent rechargable battery that selection can not act, and for a long time and safely
The mode for performing the function of electronic equipment carries out the switching control of rechargable battery.
Brief description of the drawings
Fig. 1 is the composition block diagram of an embodiment of the self-propelled suction cleaner of the present invention.
Fig. 2 be the present invention self-propelled suction cleaner body and rechargable battery connection example explanation figure.
Fig. 3 is stored in the explanation figure of the information in the self-propelled suction cleaner of the present invention.
Fig. 4 is the explanation figure for representing the receive information and the relation of selection rechargable battery of the present invention.
Fig. 5 is the switching explanation figure that the rechargable battery of the present invention is connected with power supply unit.
Fig. 6 is the flow chart of an embodiment of the rechargable battery connection selection processing of the present invention.
Fig. 7 is the flow chart of an embodiment of the rechargable battery connection hand-off process of the present invention.
Fig. 8 is the flow chart of an embodiment of the rechargable battery connection hand-off process of the present invention.
Embodiment
Hereinafter, based on the embodiment shown in figure, the present invention will be described.
In addition, thus, not the present invention is limited.
The composition ＞ of the self-propelled suction cleaner of the ＜ present invention
Fig. 1 represents the composition block diagram of an embodiment of the self-propelled suction cleaner of the present invention.
Herein, the embodiment as self-propelled electronic equipment, is illustrated to self-propelled suction cleaner 100.
Wherein, as long as self-propelled electronic equipment at least possesses rechargable battery, divide a word with a hyphen at the end of a line automatically controls and have along predetermined region
The electronic equipment of mobile function, is not limited to self-propelled suction cleaner.
For example, the self-propelled robot of the function required by self-propelled air purifier, self-propelled ion generator, execution user
Etc. being both contained in self-propelled electronic equipment.
In Fig. 1, self-propelled suction cleaner 100 (hereinafter referred to as dust catcher) of the invention is by rechargable battery 1 and body of dust collector 2
And form, rechargable battery 1 is made up of multiple rechargable batteries.
Rechargable battery 1 is detachably accommodated in the enclosure interior of body of dust collector 2.In order to defeated only by residual capacity reduction
Go out the rechargable battery dismounting of electric power decline, and charged installed in charger (not shown), rechargable battery is preferably set to can be for
The composition of family handling.By enabling each rechargable battery to load and unload, even if when one rechargable battery of taking-up is charged, only by other
The rechargable battery that can be acted is accommodated in the state of body 2 and can also cleaned.
As long as in addition, the multiple rechargable battery rated voltages stored, output current ability, interface specification (physical specification, electrically rule
Lattice, software metrics) matching, then it can also mix and carry the different rechargable battery such as rated capacity, residual capacity, life-span.
Further, as long as the shape of rechargable battery, size are identical and can be accommodated in filling for the inner space of body of dust collector
Battery, then the rechargable battery utilized in other purposes beyond dust catcher can also be used.Wherein, one or more can also be filled
Battery is fixedly arranged on enclosure interior.
For example, the enclosure interior in body of dust collector 2 sets the space that can be set for multiple rechargable batteries, by the upper of body 2
After panel dismounting, the rechargable battery of the residual capacity reduction in the space is dismantled, and the rechargable battery to charge is installed
In the space.
Body of dust collector 2 with the past in the same manner as, be to utilize the electric power exported from rechargable battery 1, perform and cleaning function or independently divide a word with a hyphen at the end of a line
Function of dividing a word with a hyphen at the end of a line etc. part.
The composition ＞ of ＜ rechargable batteries
Rechargable battery 1 (BT1) mainly possesses control unit 11, battery battery core 12, battery core state detecting section 13, communication unit 14, temperature inspection
Survey portion 15 and storage part 16.
In the case where possessing multiple rechargable batteries 1, other rechargable batteries (BT2~BTn) also possess identical composition.Rechargable battery 1 is such as
Fruit is installed in self-propelled suction cleaner 100, then can be connected to body of dust collector 2 via power line 4 and order wire 5.
Or also may be configured as possessing power supply terminal and communication terminal respectively in rechargable battery 1 and body of dust collector 2, work as charging
When pond 1 is installed in body, mutual power supply terminal contacts respectively with communication terminal.
Power line 4 provides the electric power exported from battery battery core 12 to the power supply unit 22 in body 2.
Order wire 5 is the line for being connected rechargable battery 1 with the mutual communication unit (14,26) of body 2, double via the order wire 5
To the information of communication procedure.
Control unit 11 is the part that the action to rechargable battery 1 is controlled, and is made up of microcomputer, the microcomputer by
CPU (Central Processing Unit, central processing unit), ROM (Read Only Memory, read-only storage), RAM
(random access memory), I/O (Input/Output, input/output) controller, timer etc. is formed, based on being stored in
Program in storage part 16, CPU perform abnormality detection processing of battery battery core etc. by making various hardware organically act.
Battery battery core 12 is the electrical storage device that can be charged, and specifically, uses lithium ion battery, Ni-MH battery etc..
Battery core state detecting section 13 is the part for the state for detecting battery battery core 12, and detection battery battery core itself is normal shape
State or abnormality.For example, the information that overcharge, overdischarge, overload based on battery battery core etc. obtain from battery battery core,
To detect the presence of exception.
Battery core state detecting section 13 can be built in battery battery core 12 or also be mountable near battery battery core with to battery core
State is detected.Battery core state detecting section 13 from battery battery core 12 detect represent abnormality information in the case of,
Will represent battery battery core 12 in there occurs exception signal to be sent to control unit 11.
Control unit 11 will represent the cell information of state of battery core via logical based on the signal obtained from battery core state detecting section 13
Letter portion 14 is sent to body of dust collector 2.
Communication unit 14 is to enter the part of row data communication with the communication unit 26 of body 2 via order wire 5, equivalent to described
Second communication unit.For example, according to the request from body 2, information (charging times, the temperature letter of the state of rechargable battery 1 will be represented
Breath, cell information etc.) it is sent to the communication unit 26 of body 2.
Temperature detecting part 15 is the part for the temperature for detecting battery battery core 12, equivalent to so-called temperature sensor.Examined by temperature
The temperature information that survey portion 15 detects is sent to the communication unit 26 of body 2 via order wire 5.
Storage part 16 is the part of the storage information relevant with the state of rechargable battery 1 or program, is partly led using ROM, RAM etc.
Body memory element.In storage part 16 for example store represent to the rechargable battery 1 charging number information (charging times 17) or
Id information of the rechargable batteries such as model etc..
Rechargable battery 1 is not limited to the composition, in addition to the composition, such as possess to be connected to charger and filling for being charged
Electric terminal.
The composition ＞ of ＜ body of dust collector
In Fig. 1, body of dust collector 2 mainly possesses control unit 21, power supply unit 22, switching switch 23, connection switching part 24, voltage inspection
Survey portion 25, communication unit 26, function part 27 of dividing a word with a hyphen at the end of a line, cleaning function portion 28 and input unit 29.
Control unit 21 is the part of the action for each inscape for controlling dust catcher 1, main to be controlled using by CPU, ROM, RAM, I/O
The microcomputers of the compositions such as device processed, timer is realized.CPU makes various hardware organic based on the program for being pre-stored in ROM etc.
Ground acts, and performs the handoff functionality etc. of cleaning function of the invention, function of dividing a word with a hyphen at the end of a line, rechargable battery.For example, control unit 21 is based on from each
The information and the output voltage of detected each rechargable battery that rechargable battery obtains, select the rechargable battery that should be used.
Power supply unit 22 is the action power voltage for utilizing the electric power generation electronic equipment (dust catcher) supplied from rechargable battery 1
Part.That is, it is such as lower part：Utilize the electric power supplied from the rechargable battery for being connected to power supply unit 22 in multiple rechargable batteries, generation
For execution cleaning or the supply voltage 30 of each hardware action of the body of dust collector 2 for function of dividing a word with a hyphen at the end of a line, and it is supplied to each hardware.
Switching switch 23 is such as lower part, i.e. configuration is being connected to the power line 4 and power supply unit of the battery battery core 12 of rechargable battery 1
Between 22, and the feed path of the electric power supplied from battery battery core 12 via power line 4 is connected and releases (blocking).
Connection switching part 24 is to carry out power supply unit 22 and the part of connection and the releasing of each rechargable battery, is that control is cut specifically
Change the part of connection and the releasing of switch 23.
Switching switch 23 is as be described hereinafter shown in Fig. 2, possess to connect or release power line 4 power supply feed path connection
Point, such as close tie point using the connection request signal from connection switching part 24, power line 4 is connected to power supply unit
22, the power supply in self-charging in future pond 1 to body of dust collector 2.Tie point is released on the contrary, releasing request signal using connection
Put, cut off the electricity supply portion 22 and the connection of power line 4, stop from the supply electric power of rechargable battery 1.
Switching switch 23 is arranged in correspondence with and the identical quantity of rechargable battery 1 with each rechargable battery 1.
Connection switching part 24 selects the rechargable battery of supply electric power by controlling each switching switch 23 respectively, and selected is filled
Battery is connected to power supply unit 22.When performing cleaning function etc., power supply unit 22 is connected to only one battery battery core 12 in principle
Mode, switching switch 23 is switched over.
Voltage detection department 25 is the part for the output voltage that detection exports from each rechargable battery, and battery electricity is connected to being output to
The voltage of the power line 4 of core 12 is detected.That is, voltage detection department 25 as shown in Figures 1 and 2, detects each rechargable battery respectively
The voltage of power line 4 between battery battery core 12 and switching switch 23.For the voltage detected by each rechargable battery as inspection
Survey output voltage 44 and be stored in storage part 40.
Communication unit 26 is to be communicated via order wire 5 with the communication unit 14 of each rechargable battery and obtain the defined letter of each rechargable battery
The part of breath, equivalent to first communication unit.
For example, receive the charging times 17 of each rechargable battery, the temperature information detected using the temperature detecting part 15 of each rechargable battery,
And the cell information that detects of battery core state detecting section 13 using each rechargable battery.
Received information is respectively as reception charging times 41, reception temperature information 42, reception cell information 43, battery ID
Information 49, it is stored in for each rechargable battery in storage part 40.
Function part 27 of dividing a word with a hyphen at the end of a line is the autonomous part divided a word with a hyphen at the end of a line for controlling self-propelled suction cleaner 100, using being located in housing
Divide a word with a hyphen at the end of a line with motor to control the rotation of a pair of driving wheels at the back side for being arranged on body 2, advanced, retreated, rotated, be static etc.
Action, and mainly divided a word with a hyphen at the end of a line by carrying out straight line and spinning movement is divided a word with a hyphen at the end of a line automatically in defined region.
In addition, using be arranged on housing side the obstacle detecting part being made up of microswitch, measure away from wall or desk etc. pair
As the ultrasonic sensor or infrared ray sensor of the distance of thing, one side avoiding obstacles while move automatically in defined region
OK.
Cleaning function portion 28 is the part for the cleaning for carrying out ground, in the same manner as common dust catcher, by air entry, exhaust
The required component of mouth, dust collecting part, rotating brush, side brush, air blower, cleaning motor, other cleanings is formed.
The action in this divide a word with a hyphen at the end of a line function part 27 and cleaning function portion 28 is the hardware by being supplied to each function part from power supply unit 22
Action power voltage 30 performs.
Input unit 29 is the part for the action that input dust catcher is indicated for user, is set as guidance panel or operation button
Put in surface of shell.On input unit 29, such as power switch is set, cleans operation mode switch, configuration switch, timer
Switch etc..
Power switch is the power line 4 that all rechargable batteries are connected to the switch that power on operation is carried out for user.In electricity
In the case that source switch is pressed and (connects input), electric power is supplied to from the power line 4 for being connected to each battery battery core 12 respectively
In body 2, turn at least control unit 21, connection switching part 24, voltage detection department 25, the enabled state of communication unit 26.
Storage part 40 is the part that information or program needed for the various functions of dust catcher are realized in storage, using ROM, RAM,
The semiconductor memory components such as flash memory, HDD (Hard-Disk Drive, harddisk memory), SSD (Solid State Disk, Gu
State hard disk) etc. storage device and other storage mediums.
Mainly store in storage part 40 and receive charging times 41, receive temperature information 42, receive cell information 43, detection output
Voltage 44, use battery information 45, voltage decision condition 46, temperature decision content 47, selection battery condition 48, battery id information 49
Deng.
It is the number to be charged to rechargable battery to receive charging times 41, and is the letter for being directed to each rechargable battery and storing
Breath.
The temperature that temperature information 42 is the battery battery core 12 of rechargable battery is received, and is the information for being directed to each rechargable battery and storing.
The information for the state (normal or abnormal) that cell information 43 is the battery battery core 12 for representing rechargable battery is received, and is for every
Individual rechargable battery and the information stored.
Three information (41,42,43) is the information transmitted via order wire 5 from each rechargable battery 1.
It is the information detected by voltage detection department 25 to detect output voltage 44, and is exported from the battery battery core 12 of each rechargable battery
The supply voltage value of electric power, stored for each rechargable battery.
Expression is stored in the explanation figure of an embodiment of the information of storage part 40 in Fig. 3.
The information obtained from n each rechargable batteries is represented in Fig. 3 (a).As described, obtained from n rechargable battery (BT1~BTn)
Information (41~44,49), and be stored in storage part 40.Because any information can change, so being stored in override
Memory in.
The use of battery information 45 is the rechargable battery 1 of the specific supply electric power when performing the function of self-propelled suction cleaner 100
Information, for example, in the case of using first rechargable battery BT1, referred to as BT1 information is store, represent just to use the at present
One rechargable battery.
Voltage decision condition 46 stores the threshold voltage compared with the detection output voltage got from rechargable battery, is pre-
The information first regularly set for the battery size of matching.By the way that detection output voltage (V) is compared with threshold voltage
Compared with, and as described later, carry out the selection for the rechargable battery to be used or the switching determination of rechargable battery, whether allow what is cleaned to sentence
It is fixed to wait processing.
The explanation figure of an embodiment of the voltage decision condition is represented in Fig. 3 (b).Herein, sentence as to carry out voltage
Fixed threshold voltage, set for each battery size used operating stop voltage Va and action forbid voltage Vc both
Voltage.
It is the threshold voltage for determining whether to perform cleaning function etc. that operating, which stops voltage Va, and setting respectively cleans operating
When voltage Va1 with clean stop when voltage Va2.
For example, the threshold voltage Va1=15.5 (V) when being set to clean operating, cleans the threshold voltage Va2=16 (V) when stopping.
When cleaning operating, it is less than threshold voltage in the detection output voltage V of the detected current rechargable battery just used
In the case of Va1 (V ＜ Va1), it is judged as that the capacity of the rechargable battery has been reduced, stops so that cleaning operating or switch to other
The rechargable battery that can be acted.
In addition, when cleaning stopping, it is less than threshold voltage Va2's in the detection output voltage V of the rechargable battery just used at present
In the case of (V ＜ Va2), be judged as that the capacity of the rechargable battery has been reduced, so as to switch to the rechargable battery that other can be acted.
Herein, in general, Va1 ＜ Va2, the reason is that the larger side of output current because of the internal driving of battery battery core
Output voltage can decline.
On the other hand, voltage Vc is forbidden in action can be safely discharged to prevent as the rechargable battery caused by overdischarge
Deterioration discharge voltage minimum, be so-called blanking voltage (cut-off voltage).
For example, setting Vc=13 (V), is less than threshold voltage Vc's in the detection output voltage V of the rechargable battery just used at present
In the case of (V ＜ Vc), promptly block power supply or the rechargable battery that switches to other to act.
Temperature decision content 47 be in order to the temperature information 42 for judging to be detected by temperature detecting part 15 be normal temperature or
Be action in produce problem degree abnormal temperature and predetermined temperature.On temperature decision content 47, table is mainly set
Show the higher limit and lower limit of the regular event scope of rechargable battery.If detection temperature is in the range of regular event, then is sentenced
It is set to normally, in the case where being operating normally outside scope, is determined as temperature anomaly.
For example, as temperature decision content 47,0 degree to 40 degree (=To) is preset, is T in received temperature information (T)
In the case of≤To, it is judged as that battery battery core there occurs temperature anomaly, stops the action of cleaning function etc., or, switch to
Other rechargable batteries that can be acted.
Select battery condition 48 be following condition, i.e. the rechargable battery carried have it is multiple in the case of and can act
Rechargable battery exist it is multiple in the case of, to determine that the rechargable battery conduct of which of the rechargable battery that can act of selection will use
Rechargable battery.
Fig. 3 (c) represents the explanation figure of an embodiment of selection battery condition 48.
Herein, three selection battery conditions 48 are represented.Preset using which of three conditions condition.
In the case where setting first condition, represent that selection receives the minimum rechargable battery conduct of charging times 41 and made
Battery.
That is, as shown in Fig. 3 (a), the charging times (JC1~JCn) received from multiple rechargable batteries are compared, selection is wherein
Rechargable battery with minimum charging times is as the rechargable battery to be used.In general, if rechargable battery has charging times and increased
Add the tendency of so maximum battery capacity reduction, thus have selected the small rechargable battery of charging times can extend actuation time.
Second condition represents 44 maximum rechargable battery of selection detection output voltage.
That is, as shown in Fig. 3 (a), the detection output voltage 44 (VB~VBn) of acquired multiple rechargable batteries is compared, selected
Selecting detection output voltage 44 shows the rechargable battery of maximum as the battery to be used.
Accordingly, the maximum rechargable battery of output voltage in the output voltage that selection detects at present, it is thus possible to over reach time.
3rd condition represents, in the case where the rechargable battery numbering for being imparted to rechargable battery in advance is numeral, to select the numerical value
Minimum rechargable battery.
It is not numeral but in the case of the manufacture numbering such as comprising letter in rechargable battery numbering, it is specific based on lexicographic order etc.
Sequential selection rechargable battery.
Or in the case where the slot position to installing rechargable battery assigns numbering, it may be alternatively mounted at the smaller side's of numbering
Rechargable battery.
In addition, selection battery condition 48 is not limited to three conditions shown in Fig. 3 (c), other conditions can be optionally utilized.
Battery id information 49 is the intrinsic information of the rechargable batteries such as model or the build date of the rechargable battery carried, read-out
Model it is unmatched in the case of excluded selecting outside battery.Herein, about whether mismatch, such as with being recorded in suction
The match battery model table of dirt device body storage part 40 is compareed so as to be judged.Furthermore it is possible to believed based on battery size
Cease to set optimal threshold value for each flash-over characteristic.
Fig. 2 represents the body of the self-propelled electronic equipment of the present invention and the explanation figure of the connection example of rechargable battery.
In fig. 2, possess two rechargable batteries 1 (BT1, BT2), respectively connected on two power lines 4 switching switch 23 (SW1,
SW2).In addition, a part for the contiguous block for illustrating Fig. 1 is omitted in Fig. 2.
In fig. 2, the battery battery core 12 of rechargable battery 1 has+terminal ,-terminal, and+terminal is connected to power line 4, the connection of-terminal
In the earth point (GND) shared with body 2.
23 (SW1, SW2) of switching switch have one that can connect and discharge according to the instruction from connection switching part 24
To tie point (C1, C2), power line 4 is connected to a tie point C1.Another tie point C2 of switching switch 23 is connected to power supply unit
22。
In addition, power line 4 is also connected to voltage detection department 25, be output to battery battery core 12+the terminal power line 4 that is connected
Voltage is detected by voltage detection department 25.
Order wire 5 is connected to the communication unit 14 of rechargable battery 1 and the communication unit 26 of body 2, if the communication unit from body 2
Request signal as defined in 26 transmissions, then response signal corresponding with the request can be replied from the communication unit 14 of rechargable battery 1.
For example, in the case where sending out to obtain the charging times request signal of charging times from the communication unit 26 of body 2,
Charging times 17 are read from the storage part 16 of rechargable battery 1, and the charging times 17 are sent from the communication unit 14 of rechargable battery 1.
In addition, detected in temperature information request signal from the case that body 2 is sent to rechargable battery 1 by temperature detecting part 15
Temperature information the communication unit 26 of body 2 is sent to via order wire 5.
In addition, the situation of rechargable battery 1 is being sent to obtain the cell information request signal of the state of battery battery core from body 2
Under, the cell information of the state for the battery battery core for representing to be detected by battery core state detecting section 13 is sent to this via order wire 5
The communication unit 26 of body.
As described, though having power switch as one of input unit 29, in the release shape that power switch is not pressed
State, i.e. in the state of self-propelled suction cleaner is failure to actuate, 23 (SW1, SW2) of switching switch tie point is the state of release, not
23 supply electric powers are switched from rechargable battery 1 via the switching for being connected to power line 4.
In the case where pressing power switch by user, power supply feed path closure (not shown), using from all rechargable batteries
Synthesis driven by power control unit 21, voltage detection department 25, connection switching part 24, communication unit 26, storage part 40 etc., complete switching
The switching of switch 23.
The embodiment ＞ of the connection switching of ＜ rechargable batteries
Fig. 5 represents the switching explanation figure that rechargable battery is connected with power supply unit.
Fig. 5 (a) represents the state that two 23 (SW1, SW2) of switching switch are released, in this case, exported from power supply unit 22
Action power voltage 30 is 0 volt.
Fig. 5 (b) represents that a switching switch SW1 in two switching switches 23 of connection receives the battery electricity from rechargable battery BT1
The electric power of core 12, from the state of the output action supply voltage 30 of power supply unit 22.In this case, using supplying from rechargable battery BT1
Electric power, each functional block of dust catcher 1 are acted.
Fig. 5 (d) represents another switching switch SW2 in two switching switches of connection, receives the charging battery core from rechargable battery BT2
12 electric power, the state of output action supply voltage 30.
Generally, self-propelled suction cleaner 100 from walk and in the case of being cleaned, as shown in Fig. 5 (b) or Fig. 5 (d), only
One of rechargable battery is connected to power supply unit 22, utilizes function as defined in the electric power execution of connected rechargable battery.
For example, in the case of action power voltage 30 as defined in can not being exported in the residual capacity reduction of a rechargable battery BT1 etc.,
Need in the case of switching to another rechargable battery BT2, switching switch 23 is switched over, from Fig. 5 (b) connection status in cleaning
It is switched to Fig. 5 (d) connection status.
Wherein, in order to avoid failing the state from any one supply electric power in two rechargable batteries (BT1, BT2), and such as Fig. 5 (c)
It is shown, it is necessary in a manner of two battery battery cores 12 temporarily are connected into power supply unit 22, two switchings are switched 23 (SW1,
SW2) it is set to connection status.
But in cleaning, because of cleaning motor or divide a word with a hyphen at the end of a line with electric power is also fed with motor, so such as Fig. 5 (c) institutes
Show, if being connected to the state of power supply unit 22 simultaneously as by the battery battery core 12 of the rechargable battery of both sides, then motor driving electricity
Pressure meeting significantly change, so as to be impacted to action etc. of dividing a word with a hyphen at the end of a line.Therefore, turn to Fig. 5's (c) in the connection status change from Fig. 5 (b)
Before connection status, first have to stop cleaning function and function of dividing a word with a hyphen at the end of a line.
Then, switching switch SW2 is set to connection status, as Fig. 5 (c), turns into connection shape in the switching switch 23 of both sides
After state, as shown in Fig. 5 (d), switching switch SW1 is set to release conditions, only connects rechargable battery BT2 battery battery core.As
After Fig. 5 (d) connection status, restart the cleaning function that has stopped and function of dividing a word with a hyphen at the end of a line.
In addition, as described later, when power switch is pressed, in order to judge to use which of two rechargable batteries
Rechargable battery, switched to from Fig. 5 (a) connection status makes switching switch (SW1, SW2) connection as shown in Fig. 5 (c), and by both sides'
Battery battery core 12 is connected to power supply unit 22.
Then, judge output voltage using voltage detection department 25, in addition, receiving various information using communication unit 26, can move
Based on defined selection battery condition in the rechargable battery of work, a rechargable battery that should be used is determined.Determining that what should be used fill
After battery, the connection of the battery battery core of untapped rechargable battery is released.Thus, any connection in Fig. 5 (b) or Fig. 5 (d) is turned into
State, so as to turn into the state for being able to carry out cleaning function etc..
Fig. 4 represents the explanation figure of the receive information and an embodiment of the relation of selection rechargable battery of the present invention.
Herein, as shown in Fig. 2 representing possess the situation of two rechargable batteries (BT1, BT2).
In Fig. 4, cell information, temperature information, based on the information received via order wire 5 from rechargable battery, to represent to sentence
Disconnected is normal or abnormal result.
That is, will be that the situation of the state that can be operating normally is set to " just using receiving cell information 43 and being judged as battery battery core
Often ", the situation that will determine that is some states that can not be acted extremely are produced in battery battery core is set to "abnormal".
In addition, using temperature information 42 is received, by the detection temperature of battery battery core compared with temperature decision content 47, if place
In being considered as that can carry out so being set to " normal " within the temperature range of generally action, it is being considered as generally being acted
In the case of be set to "abnormal".
The electricity shown in detection output voltage 44 and Fig. 3 (b) that output voltage (V) expression will be detected as voltage detection department 25
Pressure decision condition 46 is compared the result of gained.
On selecting rechargable battery, in the case where meeting the defined combination of cell information, temperature information and output voltage, represent
The rechargable battery that should be selected in two rechargable batteries (BT1, BT2).
Though it is not shown in Fig. 4, on combination condition, charging times are also contemplated for than those described.
About whether allowing to clean, in the case where meeting the defined combination of cell information, temperature information and output voltage, table
Whether show allows to carry out cleaning action.Herein, also allow in the case where allowing to clean also comprising action of dividing a word with a hyphen at the end of a line in cleaning action
Divide a word with a hyphen at the end of a line action, also do not allow action of dividing a word with a hyphen at the end of a line in the case where not allowing to clean.
Whether allow to switch to other rechargable batteries indicate whether to allow to switch to from the rechargable battery just used at present it is another
Rechargable battery.In Fig. 4, only when the 1st condition is set up, it is allowed to be switched to other rechargable batteries.
That is, two rechargable batteries (BT1, BT2) cell information and temperature information " normal ", at present defeated of any rechargable battery
It is Va to go out voltage (V)2(V≤Va in the case of above2), and in the case where rechargable battery selected at present is BT1, meaning
Permission and be switched to rechargable battery BT2 from rechargable battery BT1.In addition, although not shown, in the case where selected rechargable battery is BT2,
Allow to be switched to rechargable battery BT1 from rechargable battery BT2.In the case of the other conditions after the 2nd condition, due to after being switching
Another rechargable battery cell information or temperature information be "abnormal", or, the output voltage of the rechargable battery judges less than voltage
The situation of the threshold voltage of condition, so not allowing to be switched to other rechargable batteries.
Represent in Fig. 4 from the 1st condition to the 7th condition, the cell information and temperature of two rechargable batteries (BT1, BT2)
Information is normal situation, is threshold voltage (Va in the output voltage (V) of two rechargable batteries2) more than, or, such as the 2nd
The output voltage (V) of such only one rechargable battery is threshold voltage (Va shown in condition to the 5th condition2) more than in the case of,
Allow to carry out the cleaning processing that make use of the rechargable battery for showing the high output voltage (V).
In the 6th condition, when cleaning operating, output voltage (V) is less than Va1(V ＜ Va1) in the case of, or,
When cleaning stopping, output voltage (V) is less than Va2(V ＜ Va2) in the case of, it is meant that because output voltage declines, it is believed that dynamic
Work becomes unstable, on selecting rechargable battery, the rechargable battery just used at present is maintained as former state, not allow cleaning to operate and make it
Stop.
In addition, in the 7th condition, the current output voltage (V) of any rechargable battery is respectively less than action and forbids voltage
(Vc), thus it is judged as being acted, on selecting rechargable battery, one does not also select and all off.
That is, in a manner of the release conditions identical with power switch, the battery battery core of rechargable battery is separated from power supply unit 22, clean
And the switching to other rechargable batteries is not allowed to.
It is " different in cell information and the temperature information of a rechargable battery in addition, from the 11st condition into the 19th condition
In the case of often ", if the output voltage (V) of another rechargable battery of " normal " is at least threshold voltage (Va2) more than, then meaning
Taste another rechargable battery of selection " normal ", continues to clean operating.
But the output voltage (V) in another rechargable battery is less than Va1、Va2, in the case of any one in Vc, will not select to fill
Battery, cleaning operating can also stop.
In 20th condition and the 21st condition, if only the cell information of a rechargable battery and temperature information are " normal ",
Its output voltage (V) is at least threshold voltage (Va2) more than, then mean to select one of rechargable battery, also allow to carry out
Clean operating.
22nd condition into the 31st condition, the cell information of two rechargable batteries or a wherein side for temperature information or
Both sides are "abnormal", thus represent that the state for cleaning operating should not be carried out, it is meant that the value regardless of output voltage (V),
Rechargable battery will not be selected, cleaning can also stop.
In addition, the condition shown in Fig. 4 not represents everything with process content, it is also possible to condition in addition be present
Deng.
In the case where carrying multiple rechargable batteries, when the condition shown in Fig. 4 is set up, in the rechargable battery that selection can act
One rechargable battery, in the case where output can carry out the output voltage of processing such as cleaning, held using the selected rechargable battery
The processing such as row cleaning.
Thus, in the case where multiple rechargable batteries be present, using cell information and the rechargable battery that can act of temperature information selection,
And only it can switch to another rechargable battery, it is thus possible to perform from the case that a rechargable battery switches to another rechargable battery
More efficiently and the function that cleans or divide a word with a hyphen at the end of a line for a long time.
The connection selection processing ＞ of ＜ rechargable batteries
The flow chart of an embodiment of the connection selection processing of rechargable battery is represented in Fig. 6.
Herein, in the state of to having stopped in self-propelled suction cleaner, the situation of the power switch to switch on power is pressed by user
Under, the processing untill selecting the rechargable battery that any of multiple rechargable batteries should use illustrates.
First, using for the cell information accessed by each rechargable battery, temperature information and detected each filling
The output voltage of battery, select the rechargable battery that can be acted.
Also, the rechargable battery that can be acted have it is multiple in the case of, be based on action rechargable battery output voltage or fill
Electric number etc., select the rechargable battery that should be used.Then, a selected rechargable battery is only connected to power supply unit 22.
In addition, in the case of the rechargable battery that any one in following situations being present is set up, i.e. cell information represents charging
The battery battery core in pond is the situation of abnormality, and temperature information represents it is the temperature outside the defined regular event scope of rechargable battery
Situation, output voltage is less than the situation of defined output voltage threshold value, do not select the rechargable battery as the rechargable battery that should be used.
In step S1, the power supply of body of dust collector 2 is off-state at present.Now, as shown in Fig. 5 (a), switching switch 23
For all open state.
In step S2, check whether the power switch for power on (on) is pressed by user.In input power switch
In the case of, enter in step S3, switch S1 is returned in the case of other.
If input power switchs, then at least starting control portion 21 is with being connected switching part 24.
In step S3, control unit 21 exports to connection switching part 24 makes switching switch 23 connect the letter (for connection status)
Number, all switchings are switched 23 and switch to connection by connection switching part 24.Thus, the battery battery core 12 of all rechargable batteries is connected to electricity
Source portion 22.
In step S4, voltage detection department 25 detects the output voltage from the output of each rechargable battery, and for each rechargable battery as inspection
Survey output voltage 44 and be stored in storage part 40.
In step S5, control unit 21 obtains the cell information and battery id information of each rechargable battery via communication unit 26, and makees
Stored to receive cell information 43.Herein, cell information request and battery ID information request are sent to each rechargable battery 1,
The control unit 11 of rechargable battery is to the received request, by the cell information got by battery core state detecting section 13 with being somebody's turn to do
The intrinsic battery id information of rechargable battery is sent to communication unit 26 via order wire 5, and control unit 21 stores the battery core letter of transmission
Breath and battery id information.
In step S6, control unit 21 obtains the temperature information of each rechargable battery via communication unit 26, and believes as temperature is received
Cease 42 and stored.Herein, temperature information request is sent to each rechargable battery 1, the control unit 11 of rechargable battery will be by temperature detection
The temperature information that portion 15 detects is sent to the communication unit 26 of body via order wire 5.
In step S7, control unit 21 obtains the charging times of each rechargable battery via communication unit 26, and as reception charging times 41
And stored.Herein, charging times request is sent to each rechargable battery 1, the control unit 11 of rechargable battery, which is read, is stored in storage part
Charging times 17 in 16, and it is sent to via order wire 5 communication unit 26 of body.
In step S8, control unit 21 uses acquired reception cell information 43 respectively to be filled with receiving temperature information 42, inspection
Whether battery has battery core exception and temperature anomaly.
Herein, receive in cell information 43, if representing abnormal information, then the battery battery core of rechargable battery corresponding to judgement
For "abnormal", if not representing abnormal information, then judge battery battery core for " normal ".
In addition, temperature information 42 will be received compared with the temperature decision content 47 prestored, if received temperature
Information is within the scope of the normal temperature that temperature decision content represents, then judges that temperature is " normal ", if not in normal temperature
In the range of degree, then judge the temperature of battery battery core for "abnormal".
In step S9, whether the battery size for checking accessed battery id information is matching product.If matching product,
Step S11 is so entered, if being not matching product, then enter step S10.In step S10, unmatched fill is released
The connection of battery, enter step S11.
In step S11, the result for checking for the inspection is to detect times in battery core exception or temperature anomaly
The rechargable battery of one.If there is at least rechargable battery of any one being detected in battery core exception or temperature anomaly, then enter
Enter to step S12, release the connection for being detected the abnormal rechargable battery.
Herein, pair switching switch 23 being connected with being detected the battery battery core 12 of abnormal rechargable battery switches over, and release should
Tie point.Then, step S13 is entered.
On the other hand, and temperature normal on battery core state also normal rechargable battery, continues connection status, enters step
S13。
In step S13, the output voltage for each rechargable battery for judging to be detected by voltage detection department 25 using voltage decision condition 46.
In Fig. 6 flow chart, after being just switched on because of power supply, dust catcher is still in stopping is cleaned, so as described, will examine
Survey the threshold voltage (Va shown in output voltage (V) 44 and Fig. 3 (b)2, Vc) be compared, check detection output voltage (V) whether
Meet V ＜ Va2, any one in V ＜ Vc.
For example, in V ＜ Va2Situation and V ＜ Vc in the case of, because the detection output voltage V of rechargable battery is low, so judging that this fills
Battery can not act.On the other hand, in V≤Va2In the case of, judge that the rechargable battery can act.
In step S14, the rechargable battery for being judged as that output voltage declines and can not acted is checked for.In all chargings
In the case that pond can act, step S16 is entered.In the case of the rechargable battery that presence can not act, step is entered
S15, release the connection for the rechargable battery that the voltage declines and can not acted.
That is, the release of switching switch 23 for the rechargable battery that voltage has declined will be connected to.Then, step S16 is entered.
In step S16, multiple rechargable batteries that can be acted are checked for.Exist it is multiple in the case of, enter
Step S19, not exist it is multiple in the case of, enter step S17.
In step S17, in the case of the rechargable battery no one that can be acted, end processing.Or display can also be used
Or the rechargable battery no one that can act to user report such as sound or need to carry out the charging of rechargable battery.
In step S17, in the case where only existing a rechargable battery that can be acted, enter step S18, maintain this one
The connection of the individual rechargable battery that can be acted is constant, and the information of the rechargable battery that can be acted is stored in using battery information 45.
In this case, the rechargable battery handled for divide a word with a hyphen at the end of a line processing and cleaning afterwards is defined as one.
In step S19 to step S27, because the rechargable battery that can be acted exist it is multiple, so being based on selection battery set in advance
Condition 48, select the rechargable battery that should actually use.
In step S19, selection battery condition 48 is read from storage part 40.
In step S20, check the judgement based on output voltage whether is set in the condition 48, set having carried out this
In the case of fixed, step S21 is entered.In the case where not carrying out the setting, in step S23, whether set in inspection condition 48
Surely the judgement based on charging times is carried out, in the case where having carried out the setting, enters step S24.The setting is not being carried out
In the case of, enter step S26.
In step S21, the size of the output voltage of multiple rechargable batteries that can be acted is compared.
In step S22, the rechargable battery for display maximum output voltage using result of the comparison is determined.Herein, only highest is exported
The rechargable battery of voltage is connected to power supply unit 22, and releases the connection of other rechargable batteries.
In addition, the information for being determined the rechargable battery used using store in battery information 45, and terminate to handle.
In addition, maximum output voltage identical rechargable battery have it is multiple in the case of, select arbitrary rechargable battery in these rechargable batteries
.
In step S24, the charging times of multiple rechargable batteries that can be acted are compared.
In step S25, determine to show the rechargable battery of minimum charging times using result of the comparison.In minimum charging times identical
Rechargable battery exist it is multiple in the case of, select arbitrary rechargable battery in these rechargable batteries.Herein, only by minimum charging times
Rechargable battery be connected to power supply unit 22, and release the connection of other rechargable batteries.
In addition, the information for being determined the rechargable battery used using store in battery information 45, and terminate to handle.
In step S26, the numbering of multiple rechargable batteries that can be acted is compared.
In step S27, determine, using the rechargable battery that result of the comparison is lowest number, to be only connected to the rechargable battery of lowest number
Power supply unit 22, and release the connection of other rechargable batteries.
In addition, the information for being determined the rechargable battery used using store in battery information 45, and terminate to handle.
Processing more than, after carrying out power on action by user, all rechargable batteries are temporarily connected to immediately
Power supply unit 22, from information as defined in the acquisition of each rechargable battery, after detecting output voltage, utilize acquired output voltage or information
A rechargable battery should using is selected, thus the rechargable battery that can not be acted will not be selected, can properly select can act and energy
Enough rechargable batteries used for a long time.
＜ rechargable batteries connection hand-off process ＞
The flow chart of an embodiment of the rechargable battery connection hand-off process of the present invention is represented in Fig. 7 and Fig. 8.
Herein, to carrying out power on operation, the connection selection processing selection rechargable battery to be used shown in Fig. 6 is utilized
Afterwards, the situation for switching the rechargable battery to be used during the processing that cleans and divide a word with a hyphen at the end of a line is performed illustrates.
It is a feature of the present invention that：During cleaning processing and processing of dividing a word with a hyphen at the end of a line is performed, under the output because producing rechargable battery
The reasons such as drop, and need in the case of switching rechargable battery, after temporarily stopping cleaning processing and processing of dividing a word with a hyphen at the end of a line, it will use
Rechargable battery switches to other rechargable batteries that can be acted.
Especially, only should use rechargable battery is being connected to after power supply unit 22 in the case of function as defined in execution,
Cell information, temperature information and the output voltage of the rechargable battery are newly being obtained, and is detecting that there occurs the feelings of following any state
Under condition, i.e. according to acquired cell information, battery battery core is abnormality, and acquired temperature information is abnormality,
Detected output voltage is less than defined output voltage threshold value, utilizes the charging for connecting switching part 24 and can acting other
Pond is connected to power supply unit 22, and the connection of the rechargable battery that should be used described in releasing and power supply unit 22.
In step S51, body of dust collector is currently power on state, is the state that can be cleaned and divided a word with a hyphen at the end of a line.
In step S52, the input for starting cleaning function is checked whether there is.
In the case where there is cleaning to start input, step S53 is entered, in the case where being inputted without cleaning starting, returns to step
S51.On the input for starting cleaning function, such as there is user to press the situation for cleaning firing switch, setting starts timer
And the setting moment of timer situation about having reached etc..
In step S53, using divide a word with a hyphen at the end of a line function part 27 and cleaning function portion 28 start as defined in clean processing and processing of dividing a word with a hyphen at the end of a line.
In step S54, read from storage part 40 and use battery information 45.
In step S55, from multiple rechargable batteries by using the rechargable battery in battery information 45 specific use, via order wire
5 obtain cell informations and temperature information, and then are detected using voltage detection department 25 defeated from the battery battery core of the rechargable battery in use
The output voltage gone out.
In step S56, in the same manner as the step S8, using accessed cell information and temperature information, check in use
Rechargable battery whether have battery core exception and temperature anomaly.
In step S57, at least one of feelings of battery core exception and temperature anomaly in rechargable battery in use be present
Under condition, step S60 is entered, in case of absence, enters step S58.
In step S58, in the same manner as step S11, judge whether the output voltage of the rechargable battery in use declines.Herein, use
The difference of current detection output voltage (V) and Fig. 3 (b) threshold voltage is judged.
In step S59, in the case where the output voltage for the rechargable battery being judged as in use declines, step S60 is entered,
In the case where not declining, step S53 is returned to.
In step S60, exception occurs for rechargable battery in use, or, in the case that the output voltage is less than setting, make mesh
The preceding cleaning processing just carried out stops with processing of dividing a word with a hyphen at the end of a line.
In step S61, in the same manner as step S56 and step S58, other still untapped rechargable batteries at present are checked whether
There is the decline of abnormal battery core, temperature anomaly and output voltage.
Herein, cell information, temperature information and the output voltage of other rechargable batteries are obtained, is no different in the information that these get
Often and in the case that output voltage displays that regime values, the rechargable battery for judging other rechargable batteries to act.
On the other hand, detecting that battery core exception or temperature anomaly, output voltage in the case of any one, judges less than defined
The rechargable battery is the rechargable battery that can not be acted.
In step S62, check that the rechargable battery that can be acted in other rechargable batteries whether there is more than one.It can act
Other rechargable battery no ones in the case of, step S63 is entered, in other rechargable batteries that can act in the presence of one
In the case of, enter step S64.
In step S63, because of the rechargable battery that can be acted without the rechargable battery for replacing just using at present, so stopped
In the state of cleaning processing and processing of dividing a word with a hyphen at the end of a line, current position is still in, other functions is also stopped.
Or if in the case of the electric power for the degree that remaining can return to cradle, for example, rechargable battery in use
Output power V is less than Va1And it is (Vc≤V ＜ Va in the case of more than Vc1), it also can perform and return to cradle present position
Processing.
In step S64, check and whether there is multiple rechargable batteries that can be acted in addition to the rechargable battery in use.Exist
In the case of multiple, Fig. 8 step S71 is entered, in the case where only existing one, enters step S65.
In step S65, connection switching part 24 by a rechargable battery that can be acted in a manner of being connected to power supply unit 22, to switching
Switch 23 switches over.That is, in the state of the rechargable battery just used at present is connected into power supply unit 22, what other can be acted
One rechargable battery is also connected to power supply unit 22.
In step S66, switching switch 23 is switched in a manner of releasing the connection of the rechargable battery in use.
In step S67, the information for the rechargable battery for making to be connected to power supply unit 22 after the switching is stored in using in battery information 45.
In step S68, the cleaning for making to have stopped handling and processing of dividing a word with a hyphen at the end of a line restarts.Then, step S53 is returned to, is repeated
A succession of processing.
Fig. 8 step S71 to step S79, because multiple rechargable batteries that can be acted be present, so performing any to select
The processing of individual rechargable battery.These steps S71 to step S79 is equivalent to the step S17 shown in Fig. 6 to step S27.
In step S71, first, the selection battery condition 48 for being pre-set in storage part 40 is read.
In step S72, in the case where selection battery condition 48 is set as judging into line output voltage, step S73 and step are performed
Rapid S74, the result of the output voltage of more multiple rechargable batteries is set to be connected to power supply unit for the rechargable battery of display maximum output voltage
22。
In addition, in step S75, in the case where selection battery condition 48 is set as carrying out based on the judgement of charging times, perform
Step S76 and step S77, the result of the charging times of more multiple rechargable batteries is set to connect for the rechargable battery of the minimum charging times of display
It is connected to power supply unit 22.
In addition, in the case where selection battery condition 48 is set as carrying out the judgement of the number order based on rechargable battery, hold
Row step S78 and step S79, the result of the numbering of more multiple rechargable batteries is set to be connected to electricity for the rechargable battery with lowest number
Source portion 22.
In addition, maximum output voltage or minimum charging times identical rechargable battery exist it is multiple in the case of, select these
Any one rechargable battery in rechargable battery.Then, Fig. 7 step S66 is entered.
As described above from the case that the rechargable battery in switches to other rechargable batteries, being to confirm cell information
After state Deng other rechargable batteries, the rechargable battery after selection switching, it is thus possible to prevent from switching to the rechargable battery that can not be acted, from
And it can positively switch to the rechargable battery that can be acted.
In addition, when needing to switch to other rechargable batteries in cleaning or in dividing a word with a hyphen at the end of a line, temporarily stopping cleaning processing and place of dividing a word with a hyphen at the end of a line
After reason, the hand-off process of rechargable battery is carried out, then, restarts cleaning processing etc., thus cleans the medium electricity for being applied to motor
Big variation in voltage will not be produced in pressure, so as to the action etc. that prevents from unexpectedly dividing a word with a hyphen at the end of a line.
＜ other embodiments ＞
(embodiment 1)
In the embodiment, it is alternatively that the condition for the rechargable battery that can be acted, utilize be cell information, temperature information and
Output voltage, but it is not limited to these.For example, alternatively condition, using the threshold value of charging times, charging times, by mesh
Preceding charging times are excluded outside the rechargable battery that can be acted for the rechargable battery more than threshold value of charging times set in advance,
Or it can also reduce the priority of selection.
(embodiment 2)
As the condition that a rechargable battery is selected from multiple rechargable batteries that can be acted, what is utilized is maximum output voltage or most
Small charging times, also it can check detected output in power on, when connecting all rechargable batteries and obtaining various information
The order of the order of the size of voltage or the size of accessed charging times, will be preferential in the case of switching rechargable battery
Order is given to each rechargable battery.In the case where needing to switch rechargable battery, assigned preferential suitable according to using charging times etc.
Sequence, the rechargable battery that should be used according to the sequential selection of priority from high to low.
(embodiment 3)
In the embodiment, as the abnormal condition of detection rechargable battery, what is utilized is battery core exception and temperature anomaly, but not
It is limited to this.For example, in the case where manufacture date of rechargable battery can be obtained as information, manufacture days can also be used
Day, check installed rechargable battery be counted since at present it is manufactured several years ago, it is specified that the rechargable battery manufactured before year
Though no exceptions, it can also exclude outside the rechargable battery that can be acted.
In addition, as other abnormal conditions of detection, such as utilizing the condensation sensor being arranged near rechargable battery, detecting
It is judged as exception in the case of condensation more than to generation rank set in advance.
(embodiment 4)
The rechargable battery that can be acted exist it is multiple in the case of, in order to select the rechargable battery to be used, what is utilized is defeated
Go out the numbering of voltage, charging times and rechargable battery, but not limited to this.Such as the volume of the position of specific installation rechargable battery can also be used
Number, the rated capacity of battery etc..Using battery rated capacity in the case of so that battery switching before initial operating when
Between always most long mode prioritizing selection Large Copacity rechargable battery.
Symbol description
1 rechargable battery
2 body of dust collector
4 power lines
5 order wires
11 control units
12 battery battery cores
13 battery core state detecting sections
14 communication units
15 temperature detecting parts
16 storage parts
17 charging times
21 control units
22 power supply units
23 switching switches
24 connection switching parts
25 voltage detection departments
26 communication units
27 divide a word with a hyphen at the end of a line function part
28 cleaning function portions
29 input units
30 action power voltages
40 storage parts
41 receive charging times
42 receive temperature information
43 receive cell information
44 detection output voltages
45 use battery information
46 voltage decision conditions
47 temperature decision contents
48 selection battery conditions
49 battery id informations
100 self-propelled suction cleaners
Claims (5)
1. a kind of self-propelled electronic equipment, it is the self-propelled electronic equipment for possessing multiple rechargable batteries, it is characterised in that including：
Power supply unit, it generates the action power voltage of electronic equipment；
Switching part is connected, it carries out the connection and releasing of the power supply unit and each rechargable battery；
Voltage detection department, it is detected to the output voltage exported from each rechargable battery；
First communication unit, it communicates with each rechargable battery and obtains the defined information of each rechargable battery；
Control unit；
Output voltage of the control unit based on the information got from each rechargable battery, with detected each rechargable battery, selection
The rechargable battery that should be used；
The rechargable battery selected is connected by the connection switching part with the power supply unit；
The power supply unit utilizes the electric power from the rechargable battery supply connected to generate action power voltage, and the control unit makes
The defined function of self-propelled electronic equipment performs.
2. self-propelled electronic equipment according to claim 1, it is characterised in that：
Each rechargable battery possesses：The battery battery core that can be charged, the battery core shape detected to the state of the battery battery core
State test section, store the storage part of charging times, and the second communication unit；
The cell information of the state for the battery battery core that second communication unit is detected expression by the battery core state detecting section,
Charging times with being stored in the storage part are sent to first communication unit；
The control unit utilizes the cell information and each charging detected accessed by each rechargable battery
The output voltage in pond selects the rechargable battery that can be acted, the rechargable battery that can act have it is multiple in the case of, be based on
The output voltage or the charging times of the rechargable battery of action, select the rechargable battery that should be used.
3. self-propelled electronic equipment according to claim 2, it is characterised in that：
Each rechargable battery also includes the temperature detecting part detected to the temperature of the battery battery core；
The temperature information detected by the temperature detecting part is sent to first communication unit by second communication unit, described
The temperature information received is used to select the rechargable battery that can be acted by control unit.
4. self-propelled electronic equipment according to claim 3, it is characterised in that：
Also include to carry out the power switch of power on operation；
In the case where the power switch is pressed,
After all rechargable batteries are connected into the power supply unit using the connection switching part, the voltage detection department is to from respectively filling
The output voltage of battery output is detected, and first communication unit receives what is sent from the second communication unit of each rechargable battery
Cell information, temperature information and detected charging times；
The control unit is utilizing cell information, temperature information, charging times and the output voltage of received each rechargable battery
After the rechargable battery that selection should use, a selected rechargable battery is only connected to the electricity using the connection switching part
Source portion, other rechargable batteries are not attached to the power supply unit.
5. self-propelled electronic equipment according to claim 4, it is characterised in that：
In the case of the rechargable battery that any one in following situations being present is set up, i.e. the cell information represents rechargable battery
Battery battery core is the situation of abnormality, and the temperature information represents it is the temperature outside the defined regular event scope of rechargable battery
Situation, the output voltage is less than the situation of defined output voltage threshold value,
The rechargable battery is not selected as the rechargable battery that should be used.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015108738A JP6590531B2 (en) | 2015-05-28 | 2015-05-28 | Self-propelled electronic device |
| JP2015-108738 | 2015-05-28 | ||
| PCT/JP2016/056244 WO2016189915A1 (en) | 2015-05-28 | 2016-03-01 | Self-propelled electronic device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107743674A true CN107743674A (en) | 2018-02-27 |
| CN107743674B CN107743674B (en) | 2020-09-22 |
Family
ID=57393227
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680011324.2A Expired - Fee Related CN107743674B (en) | 2015-05-28 | 2016-03-01 | Self-propelled electronic device |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6590531B2 (en) |
| CN (1) | CN107743674B (en) |
| TW (1) | TWI599139B (en) |
| WO (1) | WO2016189915A1 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019004644A (en) * | 2017-06-16 | 2019-01-10 | 工機ホールディングス株式会社 | Electrically-driven work machine |
| EP3690589A4 (en) | 2017-09-27 | 2021-06-16 | Positec Power Tools (Suzhou) Co., Ltd | Self-mobile device and automatic working system thereof |
| JP6922661B2 (en) * | 2017-11-01 | 2021-08-18 | トヨタ自動車株式会社 | Server and information providing system |
| KR20220112470A (en) | 2021-02-04 | 2022-08-11 | 엘지전자 주식회사 | Method of discharging of a plurality of batteries included in mobile robot and mobile robot thereof |
| KR20230020229A (en) | 2021-08-03 | 2023-02-10 | 엘지전자 주식회사 | Battery Management Device and Moving Robot having the same |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003235771A (en) * | 2002-02-19 | 2003-08-26 | Toshiba Tec Corp | Vacuum cleaner |
| JP2008029505A (en) * | 2006-07-27 | 2008-02-14 | Toshiba Corp | Vacuum cleaner |
| CN102055039A (en) * | 2009-11-04 | 2011-05-11 | 富士通株式会社 | Electronic device and power source control device |
| CN202363960U (en) * | 2011-08-18 | 2012-08-01 | 上海韦尔半导体股份有限公司 | Double-battery power supply device |
| CN103378650A (en) * | 2012-04-18 | 2013-10-30 | 三星Sdi株式会社 | Power supply apparatus and controlling method of the same |
| WO2014061052A1 (en) * | 2012-10-15 | 2014-04-24 | 川崎重工業株式会社 | Electric vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2513306B2 (en) * | 1989-03-23 | 1996-07-03 | 三菱電機株式会社 | Self-propelled vacuum cleaner |
-
2015
- 2015-05-28 JP JP2015108738A patent/JP6590531B2/en not_active Expired - Fee Related
-
2016
- 2016-03-01 CN CN201680011324.2A patent/CN107743674B/en not_active Expired - Fee Related
- 2016-03-01 WO PCT/JP2016/056244 patent/WO2016189915A1/en active Application Filing
- 2016-03-04 TW TW105106800A patent/TWI599139B/en not_active IP Right Cessation
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003235771A (en) * | 2002-02-19 | 2003-08-26 | Toshiba Tec Corp | Vacuum cleaner |
| JP2008029505A (en) * | 2006-07-27 | 2008-02-14 | Toshiba Corp | Vacuum cleaner |
| CN102055039A (en) * | 2009-11-04 | 2011-05-11 | 富士通株式会社 | Electronic device and power source control device |
| CN202363960U (en) * | 2011-08-18 | 2012-08-01 | 上海韦尔半导体股份有限公司 | Double-battery power supply device |
| CN103378650A (en) * | 2012-04-18 | 2013-10-30 | 三星Sdi株式会社 | Power supply apparatus and controlling method of the same |
| WO2014061052A1 (en) * | 2012-10-15 | 2014-04-24 | 川崎重工業株式会社 | Electric vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2016189915A1 (en) | 2016-12-01 |
| TWI599139B (en) | 2017-09-11 |
| CN107743674B (en) | 2020-09-22 |
| JP2016220824A (en) | 2016-12-28 |
| TW201642547A (en) | 2016-12-01 |
| JP6590531B2 (en) | 2019-10-16 |
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