JP2003325405A - Suction port hood and vacuum cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a suction port hood which lightens moving operation of a suction port hood body, and a vacuum cleaner. <P>SOLUTION: The suction port hood includes: driving wheels 26 for helping movement of the suction port hood body 23; a motor 31 for driving the driving wheels 26; a detection roller 27 for detecting the moving direction of the suction port hood body 23; and a control means for driving and controlling the motor 31 on the basis of the detection of the detection roller 27. The control means controls the motor 31 so that the suction port hood body 23 moves forward, when the power of the vacuum cleaner body is turned on. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suction port body having a drive wheel for assisting movement of a suction port body, and an electric vacuum cleaner provided with the suction port body.

[0002]

2. Description of the Related Art Conventionally, there has been known a suction port body provided with a drive wheel, a motor for rotationally driving the drive wheel, and a moving direction detecting means for detecting a moving direction of a suction port body.

The suction port body controls the drive of the motor based on the detection direction detected by the moving direction detection means to rotate the drive wheel in the same direction as the suction port body. Even in the case of a carpet or the like, the suction port body can be moved with a small force.

[0004]

By the way, since the moving direction detecting means detects the moving direction of the suction port body by moving the suction port body, it moves when the suction port body is placed on the floor. The direction detecting means does not detect the movement of the suction port body. Therefore, the motor is not rotating and the drive wheels are stopped. That is, the drive wheels are not rotating at the initial stage when the suction port body is placed on the floor and then moved. Therefore, there is a problem that the moving operation for moving the suction port main body forward is very heavy.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a suction port body and an electric vacuum cleaner that can lighten the operation of moving the suction port body.

[0006]

To achieve the above object, the present invention detects a drive wheel for assisting the movement of a suction port body, a motor for driving the drive wheel, and a moving direction of the suction port body. A suction port body including a moving direction detecting means for controlling the motor based on the detection of the moving direction detecting means, the control means comprising:
The motor is controlled so that the suction port body moves forward when the power of the vacuum cleaner body is turned on.

Further, when the surface to be cleaned detection means detects the surface to be cleaned, the motor is controlled so that the suction port body moves forward.

Further, when the output of the detection signal of the moving direction detecting means is stopped, the motor is controlled so that the drive wheel rotates in a direction opposite to the rotation direction of the drive wheel before the stop.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of a suction port body and a vacuum cleaner according to the present invention will be described below with reference to the drawings. [First Embodiment] In FIG. 1, reference numeral 10 denotes an electric vacuum cleaner main body, in which a main body 10 is provided with a dust collecting chamber (not shown) and an electric blower 11 for making the dust collecting chamber a negative pressure. There is. 1
Reference numeral 5 is a hose, one end of which is detachably connected to the vacuum cleaner body 10, and the other end of the hose 15 has a hand operation tube 1
6 is provided.

The hand operation pipe 16 is provided with a handle portion 16A and an operation portion 16B. The operation portion 16B automatically sets a power switch OFF switch SW1 for turning off the power of the electric blower 11 and the power of the electric blower 11. Automatic setting switch SW2
And a manual setting switch SW3 for setting the power level of the electric blower 11.

An extension pipe 17 is detachably connected to the hand operation pipe 16, and a suction port body 20 is detachably connected to a distal end portion of the extension pipe 17.

As shown in FIG. 2, the suction port body 20 has a suction port body 23 having a suction chamber 22 having a suction opening 21 on the bottom surface thereof, a rotary cleaning body 25 rotatably disposed in the suction chamber 22, and the like. It has and. As shown in FIG. 1, light-emitting diodes LED1 and LED2 are provided on the upper surface of the suction port main body 23, and a drive wheel 26, which will be described later, rotates normally (rotates in a direction in which the suction port main body 23 moves forward). When LED
1 emits light, and the LED 2 emits light when the drive wheel 26 rotates in the reverse direction.

On the bottom surface of the suction port body 23, the suction port body 2
A pair of drive wheels 26 for assisting the movement of the suction port 3 and the suction port body 2
3, a detection roller (moving direction detecting means) 27 for detecting the moving direction of the sheet 3, a contact 28 for detecting that the suction port body 23 is in contact with the surface to be cleaned, and a pair of rear wheels 2.
9 and a pair of rollers 30 and the like are provided. The pair of rear wheels 29 and the pair of rollers 30 set a predetermined distance between the bottom surface 23A of the suction port main body 23 and the surface to be cleaned, and when the surface to be cleaned is the floor surface, the drive wheels are placed on the floor surface. 26 and the bottom surface 23A of the suction port body 23 are set so as not to come into contact with each other.

A motor 31 for driving the drive wheel 26 and the rotary cleaning body 25, a control circuit 50 for controlling the motor 31 (see FIG. 5) and the like are provided in the suction port body 23. The rotary cleaning body 25 is adapted to rotate in a direction opposite to that of the drive wheel 26.

The detection roller 27 is brought into contact with the surface to be cleaned and is rotated by the movement of the suction port body 23. As shown in FIG. 3 (A), the upper half of the peripheral surface (see FIG. 3).
In (A), the black and white first patterns are provided at equal intervals along the circumferential direction, and the black and white second patterns are arranged on the lower half thereof at equal intervals along the circumferential direction and alternate with the black and white of the first pattern. It is attached as follows.

A photo sensor HT1 is installed in the suction port body 23 so as to face the first pattern, and a photo sensor HT2 is installed in the suction port body 23 so as to face the second pattern. The photosensors HT1 and HT2 are adapted to output an H level signal when detecting white of the first and second patterns and an L level signal when detecting black. And
The distance between the photo sensor 33 and the photo sensor 34 in the circumferential direction is set to 1/2 of the space F of the pattern.

When the detection roller 27 rotates forward (forward rotation), that is, when it moves leftward in FIG. 3A, the photosensors HT1 and HT2 relatively move rightward. 3 (b), (c)
As shown on the right side of, the photo sensors HT1, HT2 to H,
When the L level signal is output and the L level changes to the H level, the photo sensor HT1 is
It is 1/4 cycle earlier than 2. On the contrary, when the detection roller 27 rotates in the backward direction (reverse rotation), the photosensor HT2 is ahead of the photosensor HT1 by ¼ cycle earlier than the photosensor HT1. The rotation direction of the detection roller 27, that is, the movement direction of the suction port main body 23 is determined from this timing.

The contactor 28 is provided, for example, as shown in FIG. 4, so as to face a hole 23h formed in the bottom surface 23A, is urged downward by a spring 38, and when the surface to be cleaned is the floor surface, this floor surface is used. It will not come into contact with. The biasing force of the spring 38 is set to be small, and when the surface to be cleaned is a carpet or the like, the contact piece 28 is moved upward against the biasing force of the spring 38 due to the hair of the carpet or the like, and the contact piece provided on the contact piece 28. 41 contacts the contacts 39, 40 so that the contacts 39, 40 are electrically connected, that is, turned on. The contact piece 41 and the contacts 39, 40 constitute a carpet switch (contact switch: cleaning surface detecting means) SW5. When the carpet switch SW5 is turned on, the suction port main body 2
It is detected that 3 is in contact with a surface to be cleaned such as a carpet, that is, that the suction port body 23 is placed on the surface to be cleaned such as a carpet.

As shown in FIG. 5, the control circuit 50 includes four switch elements Q1 to Q4 and respective switch elements Q1 to Q.
4 and on / off control device 51 and the like. The switch elements Q1 to Q4 flow a current in the arrow direction, and when the switch elements Q1 and Q4 are turned on, a current flows in the arrow P1 direction to drive the motor 31 in the normal direction.
By driving the motor 31 in the normal direction, the drive wheel 26 rotates in the forward direction and the suction port body 23 moves forward. When the switch elements Q2 and Q3 are turned on, a current flows in the direction of arrow P2 to drive the motor 31 in the reverse direction. When the motor 31 is driven in the reverse direction, the drive wheel 26 is rotated in the reverse direction and the suction port body 23 is moved backward.

U1 and U2 are power supply lines provided in the suction port body 23, and these power supply lines U1 and U2 are provided in the cleaner body 10 via power supply lines (not shown) wired to the extension tube 17 and the hose 15. And a DC voltage is applied to the power supply lines U1 and U2. When a DC voltage is applied to the power supply lines U1 and U2, the control device 51 starts up.

The control device 51 comprises a CPU and the like,
Based on the output signals of the carpet switch SW5 and the photosensors HT1 and HT2, ON / OFF of each of the switch elements Q1 to Q2 is controlled and the light emitting diodes LED1 and LED2
The lighting of is controlled. [Operation] Next, operations of the suction port body and the electric vacuum cleaner of the above-described embodiment will be described based on the flow charts shown in FIGS. 6 to 10.

For example, when the automatic setting switch SW2 or the manual setting switch SW3 is operated, the power of the electric blower 11 is automatically set or set to be strong or weak and driven. A DC power supply circuit (not shown) is operated by operating the switches SW2 and SW3, and a predetermined DC voltage is applied to the power supply lines U1 and U2 provided in the suction port main body 23 through the power supply lines (not shown) of the hose 15 and the extension pipe 17. Is applied.

When a predetermined DC voltage is applied to the power supply lines U1 and U2, the control device 51 of the suction port main body 23 rises and each processing operation is performed according to the flow chart of the power supply processing shown in FIG.

In FIG. 6, in step 1, the values Jt, Js of the internal timers TJt, TJs are set to 0, the internal memories MA, MB described later are set to 1, and the internal memories MC, MD, MJ are set to 0. Set. In addition, the internal timer T
The values a, b, n, and q of a, Tb, Tn, and Tq are set to zero. The internal memories MA and MB store 1 when the outputs of the photosensors HT1 and HT2 are at H level, and 0 when they are at L level. Further, the internal memories MC and MD store 1 when the outputs of the photo sensors HT1 (A) and HT2 (B) change from the L level to the H level.

In step 2, advance processing for advancing the suction port main body 23 is performed, and this advance processing is performed according to the flow shown in FIG. Then, in step 3, carpet recognition processing is performed, and this carpet processing is performed according to the flow shown in FIG. In step 4, a traveling direction recognition process for recognizing the traveling direction of the suction port body 23 is performed, and this traveling direction recognition process is performed according to the flow shown in FIG. Then, the process returns to step 2, and steps 2 to 4
The processing operation of is repeated.

Step 1 of the forward processing routine shown in FIG.
At 0, it is determined whether or not the time measured by the internal timer Ta is 0.1 seconds or more, and the result is YES, that is, the photo sensor HT1.
When the output of (A) has not changed, the routine proceeds to step 14, and when the output of the photosensor A is no, that is, the routine proceeds to step 11. In step 11, it is determined whether or not the time measured by the internal timer Tb is 0.1 seconds or more. If yes, that is, the output of the photo sensor HT2 (B) has not changed, the process proceeds to step 14, and if no, that is, the photo sensor B When the output is changing, go to step 12.

The time measured by the internal timers Ta and Tb is the time during which the outputs of the photosensors A and B are at the H and L levels, and the steps (44, 46) and (45, 4) to be described later.
7) (see FIG. 9). And
When the time measured by the internal timers Ta and Tb is 0.1 seconds or more, it is determined that the detection roller 27 is not rotating,
When the time measured by the internal timers Ta and Tb is less than 0.1 second, it is determined that the detection roller 27 is rotating.

That is, when the detection roller 27 is rotating, that is, when the suction port body 23 is moving, the process proceeds to step 12, and when the movement of the suction port body 23 is stopped, that is, the rotation of the detection roller 27 is stopped. When stopped, the process proceeds to step 14.

In step 12, the motor 31 is driven to rotate the drive wheel 26 in the forward direction to move the suction port main body 23 forward, the LED 1 is caused to emit light, and the LED 2 is turned off.

By the way, when the switches SW2 and SW3 are operated, the value of the internal timer Ta is set to 1 in step 2 and the value of the internal timer Tb is set to 1 only. Then the suction port body 23
Even if you haven't moved, step 11
And the drive wheels 26 are driven. That is, when the switches SW2 and SW3 are operated, the drive wheels 26 are driven to assist the forward movement of the suction port body 23. Therefore, at the initial stage of the movement of the suction port body 20, the movement operation of moving the suction port body 23 forward is extremely difficult. Since the drive wheel 26 is not rotating, the moving operation for moving the suction port main body 23 forward does not become very heavy unlike the conventional case.

At step 13, internal timers Tn, Tq
The values n and q of are set to 0 and the process returns. Here, when the suction port body 23 is stopped during the backward movement, the internal timer Tq counts the stopped time.

In step 14, the motor 31 is driven in the reverse direction to rotate the drive wheels 26 in the reverse direction.
Move 3 backwards. In addition, the LED 2 is caused to emit light and LE
Turn off D1. In this way, when the forward movement of the suction port body 23 is stopped, the drive wheels 26 are rotated in the reverse direction,
When the suction port body 23 is moved forward and then rearward, the initial operation of the backward movement operation of the suction port body 23 becomes very light.

In step 15, the value n of the internal timer Tn
To n + 1 and the value q of the internal timer Tq to 0. In step 15, 1 is added to the value n of the internal timer Tn, and the added value is the internal timer Tn.
The timed time of n is shown. Further, the internal timer Tn measures the time when the suction port main body 23 is stopped while it is moving forward. Also, step 1
At 5, the values a and b of the internal timers Ta and Tb are set to 0, and the internal memories MC and MD are set to 0.

In step 16, it is judged whether or not the time measured by the internal timer Tn is 1 second or longer. If the result is no, the process returns, and if the result is yes, the process proceeds to step 17. In step 17, the reverse driving of the motor 31 is stopped, the LEDs 1 and 2 are turned off, and the process returns.

This is because when the suction port main body 23 is stopped during forward movement and continues to be stopped for one second or more, it is judged that the suction port main body 23 is not moved backward and the drive wheels 26 are reversed. It is to stop.

In step 20 of the carpet recognition processing routine shown in FIG. 8, it is judged whether or not the carpet switch SW5 is turned on. If no, the process proceeds to step 26, and if yes, the process proceeds to step 21. In step 21, the value Jt of the internal timer TJt is set to Jt + 1. In this step 21, 1 is added to the value Jt of the internal timer TJt, and the added value Jt is the internal timer TJt.
It indicates the time counting time of t. Where the internal timer T
Jt measures the duration of time that the carpet switch SW5 is on.

In step 22, it is judged whether or not the value Jt of the internal timer TJt, that is, the time measured by the internal timer TJt is 0.3 seconds or more. If the result is yes, the process proceeds to step 23, otherwise the process is return. To do. That is, if the time measured by the internal timer TJt, that is, the duration that the carpet switch SW5 is on is less than 0.3 seconds, it is determined that the surface to be cleaned is not a carpet, and the process returns.
Time measured by internal timer TJt, that is, carpet switch SW5
When the duration is ON for 0.3 seconds or more, it is determined that the surface to be cleaned is a carpet and the process proceeds to step 23.

In step 23, it is judged whether or not the internal memory MJ is 1, and if yes, the process returns, and if no, the process proceeds to step 24. Here, since 0 is set in the internal memory MJ in step 1, it is determined to be no. In step 24, the forward processing shown in FIG. 7 is performed.

That is, when the suction port main body 23 is placed on the carpet and the carpet switch SW5 detects the carpet, the suction port main body 23 is moved forward to facilitate cleaning. This is because when cleaning, the suction port body 20 is first operated so as to move forward. On the contrary, even if the suction port body 20 is first pulled to the front side and then cleaned, the suction port body 23 is lifted up when pulling the suction port body 20 toward the front side. The load when pulling the mouth 20 does not increase.

At step 25, the value J of the internal memory MJ is set to 1 to determine that the carpet is being cleaned, and the value Js of the internal timer TJs is set to 0. That is, the internal timer TJs is reset. Here, the internal timer TJ
s is for measuring the duration for which the carpet switch SW5 is off.

When it is judged No in step 20, that is, when the carpet switch SW5 is off, step 2
From 0 to step 26. In step 26, the value Js of the internal timer TJs is set to Js + 1. In this step 26, 1 is added to the value Js of the internal timer TJs, and the added value Js is the internal timer TJs.
The time measured by s is shown.

In step 27, it is judged whether or not the time measured by the internal timer TJs is 1 second or more. If the result is no, the process returns, and if the result is yes, the process proceeds to step 28. That is, when the time measured by the internal timer TJs, that is, the duration when the carpet switch SW5 is off is less than 1 second, the surface to be cleaned is determined to be a carpet and the process returns. If the duration time during which the carpet switch SW5 is off is 1 second or longer, it is determined that the surface to be cleaned is not a carpet and the process proceeds to step 28.

In step 28, the value J in the internal memory MJ
Set to 0 to confirm that the surface to be cleaned is not a carpet,
The time measured by the internal timer TJt is set to 0. That is, the value Jt of the internal timer TJt is reset.

In step 30 of the traveling direction recognition processing routine shown in FIG. 9, it is judged whether or not the output of the photosensor A is at the H level. If NO, the process proceeds to step 40, and if YES, the process proceeds to step 31. In step 31, whether or not the internal memory MA is 0, that is, the photosensor A
Is output at L level, the process proceeds to step 44 if the result is NO, and the process proceeds to step 32 if YES.

At step 32, 1 is set in the internal memory MA, the value a of the internal timer Ta is reset, and then a +
Set 1. That is, when the output of the photo sensor A changes from the L level to the H level, it is determined as YES in steps 30 and 31, and 1 is set in the internal memory MA in step 32.

In step 33, it is judged whether or not the output of the photo sensor B is at H level, and if NO, step 35.
If yes, proceed to step 33A.

Here, when the output of the photo sensor A changes from the L level to the H level while the output of the photo sensor B is at the H level, the detection roller 27 is rotating in the backward direction and the suction port main body 23. Has been set back. At this time, YES is determined in step 33, 1 is set in the internal memory MC and 0 is set in the internal memory MD in step 33A.

Then, in step 34, the suction port main body 23
Shifts to the rearward processing routine (see FIG. 8), and the drive wheels 26 are rotated in the rearward direction. This backward rotation of the drive wheel 26 makes the backward movement operation of the suction port body 23 light.

In step 35, it is judged whether or not the output of the photo sensor B is at H level.
If yes, proceed to step 36. In step 36, it is judged whether or not the internal memory MB is 0, that is, whether or not the output of the photosensor B is at L level. If NO, the process proceeds to step 45, and if YES, the process proceeds to step 37. In step 37, the internal memory M
B is set to 1, and b + 1 is set after resetting the value b of the internal timer Tb. That is, when the output of the photo sensor B changes from L level to H level, step 35,
It is judged as YES in 36, and in step 37, the internal memory M
1 is set in B.

At step 38, it is judged whether or not the output of the photosensor A is at H level, and if the result is NO, the process returns.
If yes, proceed to step 38A. Step 38A
Then, 1 is set in the internal memory MD and 0 is set in the internal memory MC. In step 39, the process proceeds to a forward process routine (see FIG. 6) that moves the suction port body 23 forward, and the drive wheels 26 are rotated in the forward direction.

Here, when the output of the photo sensor A continues to output the H level, it is judged as YES in step 30 and NO in step 31, and the routine proceeds to step 44. In step 44, it is judged whether or not the internal memory MC = 1, and if no, the process proceeds to step 35, and if yes, the process proceeds to step 44A. At step 44A, the value a of the internal timer Ta is set to a + 1. In this step 44A, 1 is added to the value a of the internal timer Ta, and this internal timer Ta is the photosensor A.
Is measured from the time when the output of is changed from the L level to the H level to the time of the H level.

When the output of the photo sensor B continues to output the H level, YES is determined in step 35, NO is determined in step 36, and the process proceeds to step 45. In step 45, it is determined whether or not the internal memory MD = 1, and if no, the process returns, and if yes, the process proceeds to step 45A. In step 45A, 1 is added to the value b of the internal timer Tb, and this internal timer Tb measures the period in which the output of the photosensor B is from the L level to the H level and then from the H level to the H level. It is something that goes.

When it is judged NO in step 30, that is, when the output of the photosensor A is at L level, step 40
Go to. In step 40, it is determined whether or not the internal memory MA is 1, that is, whether or not the output of the photosensor A is at the H level. If NO, the process proceeds to step 46, and if YES, the process proceeds to step 41. Step 41
Then, 0 is set in the internal memory MA and the internal timer Ta
After the value a of is reset, a + 1 is set. That is, when the output of the photosensor A changes from the H level to the L level, it is determined no in step 30 and yes in step 40, and 0 is stored in the internal memory MA in step 41.
Will be set.

Then, if the output of the photosensor A continues to output the L level, it is judged no in steps 30 and 40, and the process proceeds to step 46. Step 46
Then, it is determined whether or not the internal memory MC = 1, and if NO, the process proceeds to step 35, and if YES, the process proceeds to step 46A. At step 46A, the value a of the internal timer Ta is set to a + 1. In this step 46A, 1 is added to the value a of the internal timer Ta,
The internal timer Ta measures the period during which the output of the photosensor A is at the L level from the time when the output of the photosensor A is at the L level.

When it is judged NO in step 35, that is, when the output of the photo sensor B is at L level, step 42
Go to. In step 42, it is judged whether or not the internal memory MB is 1, that is, whether or not the output of the photosensor B is at the H level. If NO, the process proceeds to step 47, and if YES, the process proceeds to step 43. Step 43
Then, 0 is set in the internal memory MB and the internal timer Tb
After the value b of is reset, b + 1 is set. That is, when the output of the photo sensor B changes from the H level to the L level, it is determined no in step 35, yes in step 42 and 0 in the internal memory MB in step 43.
Will be set.

Then, if the output of the photosensor B continues to output the L level, it is determined as NO in steps 35 and 42, and the process proceeds to step 47. Step 47
Then, it is determined whether or not the internal memory MD = 1, and if NO, the process returns, and if YES, step 47A.
Go to. In step 47A, the value b of the internal timer Tb is b
It is set to +1. In step 47A, the internal timer Tb
Is incremented by 1 and the internal timer Tb counts the period during which the output of the photosensor B is at the L level from the time when the output of the photosensor B is changed from the H level to the L level.

Here, the case where the suction port body 20 is moved forward will be described.

During this forward movement, when the output of the photosensor A changes from the L level to the H level, YES is determined in steps 30 and 31, and NO is determined in step 33 after the processing operation of step 32. Therefore, the process does not proceed to step 34. Further, when the output of the photosensor A is at the H level, it is judged no in step 31, and the process proceeds from step 44 to step 35 via step 44A or directly to step 35, so that the process does not proceed to step 34.

If the output of the photosensor A changes from the H level to the L level during the forward movement of the suction port body 20, it is determined as NO in step 30, and step 40
Since it is determined to be yes and the process proceeds to step 41, the process does not proceed to step 34. Further, when the output of the photosensor A is at the L level, it is judged no in step 40 and the process proceeds from step 46 to step 35 via step 46A or directly to step 35, so that the process does not proceed to step 34.

As described above, when the suction port body 20 is moving forward, it does not proceed to step 34 which is the backward processing routine. Then, only when the output of the photo sensor A changes from the L level to the H level and the output of the photo sensor B is the H level, that is, only when the suction port body 20 is moving backward, the steps from step 33 to step 33A are performed. I will proceed to 34.

Next, the case where the suction port body 20 is moved backward will be described.

When the output of the photosensor B changes from the L level to the H level during the backward movement, the judgment is YES in steps 35 and 36, and the judgment is NO in step 38 after the processing operation of step 37. Therefore, the process does not proceed to step 39. Further, while the output of the photosensor B is at the H level, it is judged NO in step 36 and the process returns from step 45 to step 45A or directly, so that the process does not proceed to step 39.

Further, when the output of the photo sensor B changes from the H level to the L level during the backward movement of the suction port body 20, it is determined as NO in step 35, and step 42
Since it is determined to be yes and the process proceeds to step 43 and returns, the process does not proceed to step 39. Further, when the output of the photo sensor B is at the L level, the determination at step 42 is NO and the process returns from step 47 to step 47A or directly, so that the process does not proceed to step 39.

As described above, when the suction port body 20 is moving backward, the process does not proceed to step 39. Then, only when the output of the photo sensor B changes from the L level to the H level and the output of the photo sensor A is at the H level, that is, when the suction port body 20 is moving forward, the process proceeds from step 38 to step 39. Become.

When the suction port body 20 is stopped, the outputs of the photosensors A and B remain at the H level or the L level, so that steps 30, 31, 44 (44A) or steps 30, 40, 46 are performed. Since it passes through the loop of (46A) and further through the loop of steps 35, 36, 45 (45A) or steps 35, 42, 47 (47A), the processing operation of the backward processing of step 34 and the forward processing of step 39 is not performed. I will not be missed.

Next, the reverse processing routine shown in FIG. 10 will be described.

At step 50, it is judged if the time measured by the internal timer Ta is 0.1 seconds or more. That is, when the duration of time when the output of the photo sensor A is at the H level or the L level from the rising time or the falling time is 0.1 second or more, the detection roller 27
The control device 51 determines that is not rotating, and then step 5
4. If it is less than 0.1 second, proceed to step 51.

At step 51, it is judged if the time measured by the internal timer Tb is 0.1 seconds or more. That is, the control device 51 determines that the detection roller 27 is not rotating when the duration of H level or L level from the rise time or fall time of the output of the photo sensor B is 0.1 second or more. Proceed to step 54
When it is less than 0.1 second, it is determined that the detection roller 27 is rotating, and the process proceeds to step 52.

In step 52, the motor 31 is driven in the reverse direction to rotate the drive wheel 26 in the reverse direction, the suction port body 23 is moved backward, the light emitting diode LED1 is turned off, and the light emitting diode LED2 is turned on to move backward. Let us know. In step 53, the internal timer T
The values n and q of n and Tq are set to 0 and the process returns.

When it is judged YES in steps 50 and 51, in other words, when it is judged that the movement of the suction port main body 23 is stopped and the detection roller 27 is not rotating, the routine proceeds to step 54. In step 54, the motor 31 is driven to rotate in the normal direction to rotate the drive wheel 26 in the forward direction to move the suction port body 23 forward, turn on the light emitting diode LED1 and turn off the light emitting diode LED2, and move forward. Let me know.

At step 55, the value q of the internal timer Tq is
Is set to q + 1, and the value n of the internal timer Tn is set to 0. In this step 55, the value q of the internal timer Tq is set to 1
Is added, and the internal timer Tq counts the time when the suction port body 23 is stopped.

In step 56, it is judged whether or not the time measured by the internal timer Tq is 1 second or longer. If the result is no, the process returns, and if the result is yes, the process proceeds to step 57. In step 57, the normal rotation driving of the motor 31 is stopped and the light emitting diodes LED1 and LED2 are turned off.

This is because when the suction port main body 23 is stopped during the backward movement and continues to be stopped for one second or more, it is determined that the suction port main body 23 is not moved forward and the drive wheels 26 are rotated normally. Is to stop.

By the way, after the suction port main body 23 is retracted and stopped, the suction port main body 23 is moved forward, but when the suction port main body 23 is retracted and stopped, step 5
Since the motor 31 is driven to rotate in the normal direction and the drive wheel 26 rotates in the normal direction in 4, the forward movement operation when the suction port main body 23 is moved backward and then forward is very light.

If the suction port body 23 is moved forward within 1 second after the suction port body 23 is advanced and stopped, the drive wheels 26 are rotated in the reverse direction in step 14.
In step 16, it is judged as no and returns. After this,
The moving direction of the suction port main body 23 is recognized in the advancing direction recognition processing routine, and based on the recognition of the moving direction of the suction port main body 23, the drive wheel 26 moves the suction port main body 23 in the forward processing routine.
It is rotated in the direction that assists the forward movement direction of. Therefore, when the forward movement of the suction port body 23 is simply stopped, the rotation direction of the drive wheel 26 is corrected, and cleaning becomes very easy.

When the suction port main body 23 is moved backward and stopped within 1 second after the suction port main body 23 is moved backward and stopped, the drive wheels 26 are normally rotated in step 54, but in step 56. When it is determined to be no, the process returns, and thereafter, the moving direction of the suction port main body 23 is recognized in the advancing direction recognition processing routine, and the drive wheel 26 is sucked in the reverse processing routine based on the recognition of the moving direction of the suction port main body 23. It is rotated in a direction that assists the backward movement of the mouth body 23. For this reason, when the backward movement of the suction port body 23 is simply stopped, the rotation direction of the drive wheel 26 is corrected and cleaning becomes very easy.

In the first embodiment, whether or not the surface to be cleaned is a carpet is detected by the mechanical carpet switch SW5. For example, the pressure sensor detects the pressure in the suction chamber 22 of the suction port body 23. However, whether or not the surface to be cleaned is a carpet may be detected from the detected pressure. In this case, when the surface to be cleaned is a carpet, the negative pressure in the suction chamber 22 becomes large. [Second Embodiment] FIG. 11 shows a suction port body 20 of the second embodiment.
The control circuit 50 of FIG. In this second embodiment, a timer switch 52 is connected to the control device 51. The timer switch 52 is provided, for example, on the upper surface of the case of the suction port body 23, and changes the time for determining whether or not the suction port body 23 is moving by turning the timer switch 61 on and off. so,
The on / off operation is performed by the user.

12 to 15 are flow charts showing the operation of the suction port body 20 of the second embodiment.

In step 60 of the power processing routine shown in FIG. 12, 0 is set in the internal memory MJ and the internal timer T is set.
The values Jt and Js of Jt and TJs are set to 0, and the internal memories MA and MB described later are set to 0. In step 61,
The values a and b of the internal timers Ta and Tb are set to 0. In step 62, the advancing process of advancing the suction port body 23 is performed, and the advancing process is performed according to the flow shown in FIG.

In step 63, the value a of the internal timer Ta
Is set to a + 1, and the value b of the internal timer Tb is set to b + 1.

Then, in step 64, carpet recognition processing is performed, and this carpet recognition processing is performed according to the flow shown in FIG. In step 65, a traveling direction recognition process for recognizing the traveling direction of the suction port body 23 is performed, and this traveling direction recognition process is performed according to the flow shown in FIG. In step 66, adjustment processing is performed, and this adjustment processing is performed according to the flow shown in FIG. Then, the process returns to step 63, and the processing operations of steps 63 to 66 are repeated.

In step 70 of the adjustment processing routine shown in FIG. 13, it is determined whether the timer switch 52 is on or off. If no, the process proceeds to step 72, and if yes, the process proceeds to step 71. That is, if the timer switch 52 is off, the process proceeds to step 71, and the timer switch 5
If 2 is on, the process proceeds to step 72.

At step 71, 0.1 second is set in the internal memory Z, at step 72 0.4 second is set in the internal memory Z, and the routine returns.

FIG. 14 shows step 80 of the forward processing routine.
Then, it is determined whether or not the time measured by the internal timer Ta is Z seconds or more. That is, when the timer switch 52 is on, it is determined whether the time measured by the internal timer Ta is 0.4 seconds or more. When the timer switch 52 is off, the time measured by the internal timer Ta is 0.1 second. It is determined whether or not the above, and if yes, the process proceeds to step 81,
If no, go to step 84.

At step 81, it is judged if the time measured by the internal timer Tb is Z seconds or more. When the timer switch 52 is on, it is determined whether or not the time measured by the internal timer Tb is 0.4 seconds or more. When the timer switch 52 is off, the time measured by the internal timer Tb is 0.1.
It is determined whether or not the time is longer than a second. If yes, the process proceeds to step 82, and if no, the process proceeds to step 84.

Steps 82 to 87 are shown in FIG.
Since the processing operations are exactly the same as those of steps 12 to 17 shown in FIG.

The carpet recognition processing routine in step 64 is exactly the same as the carpet recognition processing routine shown in FIG.

The traveling direction recognition processing routine of step 65 is the same as the traveling direction recognition processing routine shown in FIG. 9, but the backward processing routine of step 34 of the traveling direction recognition processing routine is the backward processing routine shown in FIG. The processing operation is performed according to the above.

Step 90 of the backward processing routine of FIG.
Then, it is determined whether or not the time measured by the internal timer Ta is Z seconds or more. That is, when the timer switch 52 is on, it is determined whether the time measured by the internal timer Ta is 0.4 seconds or more. When the timer switch 52 is off, the time measured by the internal timer Ta is 0.1 second. It is determined whether or not the above, and if yes, the process proceeds to step 91,
If no, go to step 94.

At step 91, it is judged if the time measured by the internal timer Tb is Z seconds or more. When the timer switch 52 is on, it is determined whether or not the time measured by the internal timer Tb is 0.4 seconds or more. When the timer switch 52 is off, the time measured by the internal timer Tb is 0.1.
It is determined whether or not the time is longer than a second. If yes, the process proceeds to step 92, and if no, the process proceeds to step 94.

Steps 92 to 97 are shown in FIG.
Since the processing operations are exactly the same as steps 52 to 57 shown in FIG. 0, the description of those processing operations will be omitted. [Third Embodiment] FIG. 16 shows the suction port body 12 of the third embodiment.
Indicates 0. This suction port body 120 is provided with a detection rotating member 121 instead of the detection roller 27. This detection turning member 121 has a shaft 121a as shown in FIG.
A rotating body 121A that can be rotated around, and this rotating body 121
The contactor 121B extending downward from the lower part of A and the rotating body 1
It has a protrusion 121C protruding upward from the upper portion of 21A, and an arm portion 121D extending from the upper portion of the protrusion 121C in the left-right direction (the front-back direction of the suction port body 23).

Micro switches 125 and 126 are arranged at positions sandwiching the arm portion 121D, and the micro switches 125 and 126 are attached to a wall (not shown) in the suction port body 23. Further, the contactor 121B is shown in FIG.
121A of rotating body so that it may be located in the neutral position shown by the solid line.
Are urged around the shaft 121a by springs 127 and 128. The contactor 121B comes into contact with the fluff of a carpet or the like, and does not come into contact when the surface to be cleaned is a floor plate.

When the suction port main body 23 is moved forward, the contactor 121B comes into contact with the fluff of a carpet or the like to rotate the rotating body 121A counterclockwise against the biasing force of the springs 127 and 128. Let By the counterclockwise rotation of the rotating body 121A, the arm portion 121D turns on the micro switch 125. Conversely, when the suction port body 23 moves backward, the contactor 121B comes into contact with the fluff of a carpet or the like, so that the rotating body 121A rotates clockwise against the urging force of the springs 127 and 128 to rotate the arm. The part 121D turns on the micro switch 126.

When the movement of the suction port body 23 is stopped, the rotating body 121 is urged by the urging force of the springs 127 and 128.
A rotates so that the contactor 121B is positioned at the neutral position shown by the solid line in FIG. When the contact 121B is in the neutral position, the microswitch 125, 126
Is off.

FIG. 18 shows a control circuit 60 for the suction port body 40. The control circuit 60 includes a moving direction detection circuit 6 instead of the photo sensors HT1 and HT2 shown in FIG.
5 is provided.

The moving direction detection circuit 65 has resistors R1 and R2 connected in series, a microswitch 125 connected in parallel with the resistor R1, and a microswitch 126 connected in parallel with the resistor R2. One terminal of the resistor R2 is grounded, and the other terminal of the resistor R1 is connected to the output terminal of a DC power supply circuit (not shown). The connection point U between the resistors R1 and R2 is connected to the input port 51a of the control device 51.

The control device 51 reads the voltage Va input to the input port 51a, that is, the voltage Va at the connection point U, and determines whether the suction port body 23 is moving forward, moving backward, or stopping. Here, when the suction port main body 23 moves forward and the micro switch 125 is turned on, the voltage Va at the connection point U becomes Va = V1 (5 [v]), the suction port main body 23 stops, and both micro switches 125 and 126 are turned on. When turned off, Va = V2 (5 × R2 / (R1 + R2)), and when the suction port body 23 moves backward and the micro switch 126 is turned on, Va = V3 (= 0 volt).

Since V1>V2> V3, it is possible to determine from the input voltage Va of the input port 51a whether the suction port body 23 is moving forward, moving backward or stopping.

Since the operation of the suction port body 120 is the same as that of the second embodiment, its explanation is omitted. [Fourth Embodiment] FIG. 19 shows a detecting and rotating member 70 according to the fourth embodiment. A sliding resistance 71 is attached to the rotating body 41A of the detection rotating member 70.
A sliding terminal 72 is in contact with 1. This sliding terminal 72
Is relatively slid on the sliding resistance 71 as the rotating body 41A rotates. Similar to the detection rotation member 41 of the third embodiment, the detection rotation member 70 has the contact 41B located at the neutral position shown by the solid line in FIG. 19 when the movement of the suction port body 23 is stopped. Is urged by a spring.

The sliding terminal 72 corresponds to the controller 5 shown in FIG.
One of the sliding resistors 71 is grounded, and the other terminal is connected to an output terminal of a DC power supply circuit (not shown).

When the suction port main body 23 moves forward, the contactor 41B comes into contact with the fluff of a carpet or the like to rotate the rotating body 41A counterclockwise to move the contactor 41B to the broken line position, and the rotating body 41A. The sliding terminal 72 moves to the position indicated by the broken line in FIG. As a result, the input voltage Va input to the input port 51b becomes a small voltage V4.

When the suction port body 23 moves backward,
The contactor 41B comes into contact with the fluff of a carpet or the like to rotate the rotating body 41A clockwise to move the contactor 41B to the position indicated by the chain line. Move to position. As a result, the input voltage Va input to the input port 51b becomes a large voltage V6.

The movement of the suction port body 23 is stopped and the contactor 4
When 1B is located at the solid line position, input port 5
The input voltage Va input to 1b becomes the intermediate voltage V5 between the voltage V6 and the voltage V4. Then, V4 <V5 <V6. [Operation] Next, the operation of the suction port body of the fourth embodiment will be described with reference to FIG.
1 and the flow chart shown in FIG. 22. The power supply process, the forward process, the backward process, the carpet recognition process, etc. are the same as those in the first embodiment, and the description thereof will be omitted.

In step 100, the read input voltage V
It is determined whether or not a is 3 [v] or more. If no, the process proceeds to step 102. If yes, step 10
Go to 1. In step 101, forward processing is performed, flag R is set to 0, and flag F is set to 1.

In step 102, it is judged whether or not the read input voltage Va is 2v or more. If no, the process proceeds to step 104, and if yes, step 103.
Go to.

In step 103, the backward process is performed and the flag F is set to 0. In step 4, middle processing is performed, and this middle processing is performed according to the flow shown in FIG.

Step 1 of the intermediate processing routine shown in FIG.
At 10, it is determined whether the flag F is 1. That is, it is determined whether or not the suction port main body 23 has been moved forward last time. If the result is NO, the process proceeds to step 115, and if the result is YES, the process proceeds to step 111. In step 111, the motor 31 is rotated in the reverse direction to rotate the drive wheel 26 in the reverse direction, the light emitting diode LED1 is turned off, and the light emitting diode LED2 is turned on.

In other words, when the suction port main body 23 is moved forward and stopped, it is determined NO in steps 100 and 102, YES in step 110, and step 1
At 11, the motor 31 is reversely rotated. This is for cleaning the surface to be cleaned by repeating forward / backward movement of the suction port main body 23. Therefore, when the suction port main body 23 is moved forward and stopped, the drive wheel 26 is reversely rotated in advance. The operation for moving the suction port body 23 backward is lightened at the initial stage.

At step 112, the value n of the internal timer Tn
Is incremented by 1, and the value q of the internal timer Tq is set to 0. The internal timer Tn counts the time during which the suction port body 23 is stopped, as in the first embodiment.

In step 113, it is judged whether or not the time measured by the internal timer Tn is 1 second or more. If NO, the process returns, and if YES, the process proceeds to step 114. In step 114, the motor 31 is stopped and the light emitting diode LED2 is turned off. This is to stop the reverse rotation of the drive wheel 26 when the suction port main body 23 is stopped during forward movement and continues to be stopped for 1 second or more after judging that the suction port main body 23 is not moved backward. Is.

If the flag F is not 1, step 110
Is determined to be no and the process proceeds to step 115. Step 1
At 15, the motor 31 is rotated in the forward direction to rotate the drive wheel 26 in the forward direction, the light emitting diode LED1 is turned on, and the light emitting diode LED2 is turned off. This is because when the suction port body 23 is moved forward and stopped, the drive wheels 2
6 is rotated forward in advance to lighten the moving operation at the initial stage of moving the suction port body 23 forward.

At step 116, the value n of the internal timer Tn
Is set to 0, and 1 is added to the value q of the internal timer Tq. The internal timer Tq counts the time during which the suction port body 23 is stopped, as in the first embodiment.

In step 117, it is judged whether or not the time measured by the internal timer Tq is 1 second or more. If NO, the process returns, and if YES, the process proceeds to step 118. In step 118, the motor 31 is stopped and the light emitting diode LED1 is turned off. This is because when the suction port main body 23 is stopped during the backward movement and continues to be stopped for one second or more, it is determined that the suction port main body 23 is not moved forward and the forward rotation of the drive wheels 26 is stopped. It is a thing. [Fifth Embodiment] FIG. 23 shows the suction port body 13 of the fifth embodiment.
Indicates 0. In FIG. 23, 131 is a communication pipe that communicates with the suction chamber 22, and the communication pipe 131 has a connection pipe 134.
An extension pipe (not shown) is connected via.

A shaft 132 is provided on the side wall portion 131a of the communication pipe 131 as shown in FIG. The other side wall 1
Similarly, a shaft 132 (not shown) is provided on 31a. Each shaft 132 is rotatably held by a bearing 133, and two inclined surfaces 133A, 133B are formed in the lower part of the bearing 133 so that the tip thereof is pointed downward.

Each bearing 133 is supported by a support wall 135 formed on the suction port body 23, and the bearing 133 is mounted on the support wall 135.
Of the inclined surfaces 135A, 133A, 133B facing each other,
135B is formed. A sheet-shaped pressure-sensitive element 136 is disposed between the inclined surface 133A of the bearing 133 and the inclined surface 135A of the support wall 135, and the inclined surface 133 is disposed.
A sheet-shaped pressure-sensitive element 137 between the B and the inclined surface 135B.
Are arranged.

The pressure sensitive elements 136 and 137 are designed so that their electric resistance values are lowered when pressure is applied. When the communication tube 131 is pushed forward by the force of F1 during the forward movement operation of the suction port book 130, the pressure sensitive element 136 receives the force of F2, and during the backward movement operation of the suction port book 130, Communication pipe 13
When 1 is pulled backward by the force of F3, the pressure-sensitive element 137 moves to F4.
It is designed to receive the power of.

As shown in FIG. 25, one terminal of the pressure sensitive element 136 is grounded through a resistor R10, and the other terminal is connected to the output terminal of a DC power supply circuit (not shown). Further, one terminal of the pressure sensitive element 137 is grounded through the resistor R10, and the other terminal is connected to an output terminal of a DC power supply circuit (not shown). Then, the pressure sensitive element 136
One terminal of the pressure sensing element 137 is connected to the input port 51c of the control device 51, and one terminal of the pressure sensitive element 137 is connected to the input port 51d of the control device 51.

When pressure is applied to the pressure-sensitive element 136, the electric resistance value of the pressure-sensitive element 136 decreases, so that the pressure-sensitive element 1
36, one terminal voltage of the controller 36 rises, and this terminal voltage serves as a detection voltage of the pressure sensitive element 136, and the input port 5 of the controller 51.
Enter in 1c. Similarly, when pressure is applied to the pressure-sensitive element 137, the electric resistance value of the pressure-sensitive element 137 is lowered, so that one terminal voltage of the pressure-sensitive element 137 rises, and this terminal voltage is detected by the pressure-sensitive element 137. As the control device 51
Input to the input port 51d.

The control unit 51 has input ports 51c and 51d.
The input voltage input to is read to determine whether the suction port body 23 is moving forward or backward.

Reference numeral 140 is a voltage switch (threshold changing means) for changing the threshold for judging whether the suction port main body 23 is stopped or moving. [Operation] Next, the operation of the suction port body 130 of the fifth embodiment will be described with reference to the flowcharts shown in FIGS. 26 to 30.

At step 120, 0 is stored in the internal memory MJ.
And the internal timers TJt and TJsTe are set to 0. In step 121, ΔVa and ΔVb to be described later are set to 5
[V] is set, and 2.5 [v] is set to Va and Vb described later. This is to prevent the determination of Yes in step 130, which will be described later, at the initial stage.

In step 122, the motor 31 is driven in the normal direction to rotate the drive wheels 26 in the normal direction, and the light emitting diode LED
1 is turned on and the light emitting diode LED2 is turned off.

Then, in step 123, carpet recognition processing is performed, and this carpet recognition processing is performed according to the flow shown in FIG. In step 124, a traveling direction recognition process for recognizing the traveling direction of the suction port body 23 is performed, and this traveling direction recognition process is performed according to the flow shown in FIG. 28. In step 125, adjustment processing is performed, and this adjustment processing is performed according to the flow shown in FIG. Then, the process returns to step 123, and steps 123 to 125 are performed.
The processing operation of is repeated.

In step 130 of the forward processing routine shown in FIG. 27, ΔVa is Y (0.1 [v] or 0.2).
[V]) It is determined whether or not the following. If yes, the process proceeds to step 133, and if no, the process proceeds to step 131.

Since steps 131 to 136 are the same processing operations as steps 82 to 87 of the forward processing routine of FIG. 14, their description will be omitted.

In step 140 of the traveling direction recognition processing routine shown in FIG. 28, one terminal voltage of the pressure sensitive element 137, that is, the voltage of the input port 51c of the control device 51 is 3V.
It is determined whether or not it is equal to or higher than [v], that is, whether or not the read voltage B (V2) of the control device 51 is equal to or higher than 3 [v]. Proceed to 141. In step 141, the backward process is performed, and the backward process is performed according to the flow shown in FIG.

In step 142, one terminal voltage of the pressure sensitive element 136, that is, the input port 51d of the control device 51.
Is higher than 3 [v], that is, whether the read voltage A (V1) of the control device 51 is higher than 3 [v] is judged. If so, the process proceeds to step 143. In step 143, forward processing is performed, and this forward processing is performed according to the flow shown in FIG.

At step 144, the value v of the internal timer Tv
Is incremented by 1. This is to measure the predetermined time for the control device 51 to read the voltage of the input ports 51c and 51d at every predetermined time.

In step 145, it is judged whether or not the time measured by the internal timer Tv is Z seconds or more. If NO, the process returns, and if YES, the process proceeds to step 146.
In step 146, the control device 51 causes the input port 51c,
The voltage of 51d is read, and the absolute value of the change in the read voltage is obtained from the read V1 and V2 and the previously read voltages Va and Vb. That is, ΔVa = | V1-Va |
And ΔVb = | V2-Vb |

At step 147, Va and Vb are changed to V1 and V
Set 2 and reset the internal timer TV. Here, the current read voltages V1 and V2 are set as the previous read voltages.

At step 148, the value e of the internal timer Te is set to e + 1. This is because 1 is added to the value e of the internal timer Te.
e is to measure the stop time after the movement of the suction port main body 23 is stopped. In step 149,
Whether the time measured by the internal timer Te has exceeded 1 second,
That is, it is determined whether or not the suction port main body 23 is stopped for one second or longer. If the result is yes, the process proceeds to step 149A, and if the result is no, the process proceeds to step 144. Step 14
At 9A, the motor 31 is stopped and the light emitting diodes LED1 and LED2 are turned off.

In step 150 of the backward processing routine shown in FIG. 29, it is determined whether or not the change ΔVb in the detection voltage of the pressure sensitive element 136 is Y (0.2 [v] or 0.1 [v]) or less. If YES, the process proceeds to step 153, and if NO, the process proceeds to step 151. This is because ΔVb is Y
In the following cases, it is determined that the suction port body 23 has not moved backward, and it is determined that the suction port body 23 has stopped moving backward.

Since steps 151 to 156 are exactly the same as steps 52 to 57 of the backward processing routine shown in FIG. 10, their description will be omitted.

Here, the case where the suction port main body 23 is moved forward will be described.

When the suction port body 23 is moved forward, pressure is applied to the pressure sensitive element 136, and the pressure sensitive element 137 is pressed.
Since little pressure is applied to the
At 40, it is determined to be no, and the routine proceeds to step 142. In step 142, since the pressure is applied to the pressure sensitive element 136, it is determined to be yes, and the process proceeds to the advance processing routine of step 143.

Then, step 13 of the forward processing routine.
At 0, since the change in ΔVa is large due to the pressure being applied to the pressure sensitive element 136, it is determined as no, and the routine proceeds to steps 131 and 132. That is, when the suction port body 23 is moved forward, the motor 31 continues to be normally driven.

When the suction port main body 23 is stopped during the forward movement, the pressure is not applied to the pressure sensitive element 136, so that the change in ΔVa becomes small, the judgment at step 130 is YES, and the routine proceeds to step 133. Step 133
Then, the motor 31 is driven in reverse, and the drive wheels 36 are rotated in reverse. By the reverse rotation of the drive wheel 36, the suction port main body 23
The initial operation of the backward movement operation of is very light.

Next, the case where the suction port body 23 is moved backward is described.

When the suction port body 23 is moved backward, pressure is applied to the pressure sensitive element 137, and the pressure sensitive element 136 is pressed.
Since little pressure is applied to the
In step 40, it is determined to be yes, and the routine proceeds to the backward processing routine of step 141. At step 150 of the retreat processing routine, since the pressure is applied to the pressure sensitive element 137, Δ
Since the change in Vb is large, it is judged as No and Step 1
Proceed to 51, 152. That is, when the suction port body 23 is moved backward, the motor 31 continues to be driven in reverse.

When the suction port body 23 is stopped during the backward movement, the pressure is not applied to the pressure sensitive element 137, and the change in ΔVb becomes small. Step 153
Then, the motor 31 is driven in the normal direction, and the drive wheels 36 are rotated in the normal direction. Due to the normal rotation of the drive wheel 36, the initial operation of the forward movement operation of the suction port body 23 becomes very light.

In step 160 of the adjustment processing routine shown in FIG. 30, it is determined whether or not the timer switch 52 is turned on. If yes, the process proceeds to step 164, and if no, the process proceeds to step 161. In step 161, Z is set to 0.1 second, and in step 164 Z is set to 0.4 second. This is because the control device 51 reads the voltage of the input ports 51c and 51d at every predetermined time so that the predetermined time can be switched by the timer switch 52. When the timer switch 52 is off, the predetermined time is changed. Is set to 0.1 seconds and the timer switch 52
When is on, the predetermined time is set to 0.4 seconds.

In step 162, the voltage switch 140
It is determined whether or not is turned on. If yes, the process proceeds to step 165, and if no, the process proceeds to step 163. In step 163, Y is set to 0.1 [v], and in step 165, Y is set to 0.2 [v]. This is to switch the threshold value for determining whether the suction port body 23 is moved or stopped.

According to the fifth embodiment, the user feels different because the speed at which the suction port main body 23 is moved back and forth and the length of the moving distance differ depending on the user. The value of the threshold Y for determining whether
By switching the predetermined time Z for obtaining ΔVa and ΔVb, it is possible to set the usability suitable for the user.

[0144]

As described above, according to the present invention, the operation for moving the suction port body can be lightened.

[Brief description of drawings]

FIG. 1 is a perspective view showing an appearance of an electric vacuum cleaner according to the present invention.

FIG. 2 is a bottom view showing the suction port body according to the present invention.

FIG. 3A is an explanatory diagram showing a pattern attached to the peripheral surface of the detection roller. (B) is an explanatory view showing an output signal of the photo sensor HT1. (C) is an explanatory view showing an output signal of the photo sensor HT1.

FIG. 4 is an explanatory diagram showing a configuration of a carpet switch.

FIG. 5 is a circuit diagram showing a control circuit of a suction port body.

FIG. 6 is a flowchart showing a main routine of the operation of the control device.

FIG. 7 is a flowchart showing a forward processing routine.

FIG. 8 is a flowchart showing a routine of carpet recognition processing.

FIG. 9 is a flowchart showing a routine of a traveling direction process.

FIG. 10 is a flowchart showing a routine of a backward process.

FIG. 11 is a circuit diagram showing a control circuit of a second embodiment.

FIG. 12 is a flowchart showing a main routine of an operation of the control device of the second embodiment.

FIG. 13 is a flowchart showing a routine of adjustment processing.

FIG. 14 is a flowchart showing a routine of forward processing of the second embodiment.

FIG. 15 is a flowchart showing a routine of a backward movement process of the second embodiment.

FIG. 16 is a bottom view showing the suction port body of the third embodiment.

FIG. 17 is an explanatory diagram showing a configuration of a detection rotation member used in the third embodiment.

FIG. 18 is a circuit diagram showing a control circuit according to a third embodiment.

FIG. 19 is an explanatory diagram showing a configuration of a detection rotation member used in the fourth embodiment.

FIG. 20 is a circuit diagram showing a control circuit according to a fourth embodiment.

FIG. 21 is a flowchart showing a routine of a traveling direction recognition process of the fourth embodiment.

FIG. 22 is a flowchart showing a routine of medium processing of the fourth embodiment.

FIG. 23 is a cross-sectional view showing the structure of a suction port body according to a fifth embodiment.

FIG. 24 is an explanatory view showing a structure of a bearing of a communication pipe of the suction port body of FIG. 23.

FIG. 25 is a circuit showing the configuration of the control circuit of the fifth embodiment.

FIG. 26 is a flowchart showing a main routine of the operation of the control device of the fifth embodiment.

FIG. 27 is a flowchart showing a routine of forward movement processing in the fifth embodiment.

FIG. 28 is a flowchart showing a routine of a traveling direction recognition process of the fifth embodiment.

FIG. 29 is a flowchart showing a backward processing routine of the fifth embodiment.

FIG. 30 is a flowchart showing a routine of adjustment processing of the fifth embodiment.

[Explanation of symbols]

23 Suction port body 26 drive wheels 27 Detection roller (moving direction detection means) 31 motor

Claims (7)

[Claims] 1. A drive wheel for assisting the movement of a suction port body, a motor for driving the drive wheel, a moving direction detecting means for detecting a moving direction of the suction port body, and a moving direction detecting means for detecting the moving direction. And a control means for driving and controlling the motor based on the suction means, wherein the control means controls the motor so that the suction means body moves forward when the power of the cleaner body is turned on. Suction mouth to do. 2. A drive wheel for assisting the movement of the suction port body, a motor for driving the drive wheel, a moving direction detecting means for detecting the moving direction of the suction port body, and the suction port body on the surface to be cleaned. A surface to be cleaned detection means for detecting that it is in contact,
A suction port body including: a control unit that drives and controls the motor based on the detection of the moving direction detection unit when the surface-to-be-cleaned detection unit detects the surface to be cleaned, wherein the control unit is A suction port body, wherein the motor is controlled so that the suction port body moves forward when the cleaning surface detecting means detects the cleaning surface. 3. A drive wheel for assisting the movement of the suction port body, a motor for driving the drive wheel, a moving direction detecting means for detecting a moving direction of the suction port body, and a moving direction detecting means for detecting the moving direction. A suction port body having a control means for driving and controlling the motor based on the control means, wherein the control means, when the movement direction detection means detects the stop of the movement of the suction port body, drives before the stop. A suction port body characterized in that the motor is controlled so that the drive wheel rotates in a direction opposite to the direction of rotation of the wheel. 4. The control means detects the movement direction detecting means when the movement direction detecting means again detects the movement direction before the reverse rotation after controlling the motor to rotate the drive wheels in the opposite direction. The suction port body according to claim 3, wherein the motor is controlled based on the following. 5. A drive wheel for assisting the movement of the suction port body, a motor for driving the drive wheel, a moving direction detecting means for detecting the moving direction of the suction port body, and a detecting means for detecting the moving direction. A suction port body having a control means for driving and controlling the motor based on the control means, wherein the control means controls the motor so that the suction port body moves forward when the power source for the control means is turned on. Characteristic suction mouth. 6. The control means compares the value of a detection signal of the movement direction detection means with two different preset threshold values to determine whether the suction port body is moved forward, stopped or moved backward. The suction inlet according to claim 3, further comprising threshold changing means for making a determination and changing the threshold. 7. An electric vacuum cleaner comprising the suction port body according to any one of claims 1 to 6.