JP2009017910A - Vacuum cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent a vacuum cleaner provided with a free-running function for following a user from being in contact with the user or furniture, etc. and to improve usability while improving the following capability. <P>SOLUTION: The vacuum cleaner is composed of a driving control means for controlling a driving means which is provided with a first speed (commanded speed at "movement mode") and a second speed (commanded speed at "stop mode"), individually, and controls in a way that the second speed becomes higher than the first speed. By this, the user can control the free-running distance and restrain the contact even when a following detection means improperly detects during the cleaning operation and have the vacuum cleaner quickly follow while in the "stop mode" before cleaning to improve the usability. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a method for controlling a vacuum cleaner having a self-propelled function.

  Examples of conventional inventions that reduce the body pulling (pulling) force when a user cleans the floor with a floor-moving electric vacuum cleaner include the following.

For example, the one described in Patent Document 1 below is an electric vacuum cleaner main body in which an electric blower and a dust collection chamber that communicates with the intake side of the electric blower are provided inside, and a connection port that communicates with the dust collection chamber is provided on an outer surface portion. And a hose having one end connected to the connection port of the vacuum cleaner body and a hand grip on the other end, and the cleaner body provided on the cleaner body and movable on the surface to be cleaned. Traveling means, driving means provided in the cleaner body for driving the traveling means, detecting means for detecting a tensile force applied to the hose, and controlling the driving means according to a detection signal of the detecting means Drive control means, the drive control means, the greater the tensile force applied to the hose,
(1) By controlling the driving means to increase the driving speed of the driving means, the user moves a long distance by strongly pulling the hose of the vacuum cleaner, and moves a little by slightly pulling the hose. Can be made.
(2) By controlling so that the driving time of the traveling means by the driving means is shortened and the driving speed is increased, the distance that the cleaner body moves when the hose is pulled is independent of the tensile force. Can be the same.
Thus, the followability of the user to walking is improved.
Japanese Patent No. 2683441

  However, in the above conventional configuration, if the user intentionally operates the hose, the movement distance can be optimized and the followability is improved. However, even if the user performs the cleaning operation, the hose has a tension. For this reason, even when not intended, there is a problem that the main body may approach the user and hit the user.

  The present invention solves the above-mentioned conventional problems, and has a high followability to the movement of the user in a stopped state where cleaning is not performed, while maintaining the followability during cleaning, the main body Can control the collision with the user and the surrounding furniture, and by controlling the speed, even if it comes in contact, the impact at the time of the contact is suppressed, and the influence on the user and the furniture is suppressed. The purpose is to provide an easy-to-use electric vacuum cleaner.

  In order to solve the conventional problems, an electric vacuum cleaner of the present invention includes an electric blower that generates suction air, a dust collecting unit that collects dust, an operation mode for supplying electric power to the electric blower, and electric power supply. A control means for controlling the power supplied to the electric blower with a stop mode that is not performed, a rotatable traveling roller for moving the main body, a driving means for driving the traveling roller, and a rotation direction of the traveling roller And / or rotation detection means capable of detecting the number of rotations, drive control means for controlling the driving means in accordance with a signal from the rotation detection means, and controlling the moving speed of the main body by the traveling roller, and the main body Follow-up detection means for detecting the start of follow-up to the user, and the drive control means starts driving the drive means in response to an output from the follow-up detection means, and the operation mode and the stop mode. In the de it is obtained by a structure for controlling the movement speed of the body at different rates or different accelerations.

  By this, when the user tries to move the device by holding the operation unit of the device in the stop mode before the user starts cleaning, the follow-up detection unit detects the operation, and the drive control unit Since the driving means is driven so as to move the main body at a high speed, it is possible to quickly follow the user who moves at a high speed compared with the cleaning operation. When the user enters the cleaning operation and starts using the device in the operation mode, the movement speed of the user is slower than the movement before the cleaning is started. When the movement is detected, the drive control means drives the drive means so as to move the main body at a preset slow movement speed. Even if the follow-up detection means misdetects the cleaning operation, the misdetection time is short, and the movement distance can be reduced by moving at a slow speed, to the user and surrounding furniture. Can be suppressed. In addition, the movement during the cleaning operation is a movement while performing the cleaning, which is slower than the movement speed of the user before the start of cleaning. Can be secured.

  Since the vacuum cleaner of the present invention follows the user with a self-propelled function, the operation force when moving the main body can be reduced, and collision with the user and surrounding furniture can be suppressed. Even so, it has high reliability that can suppress the impact on the user and surrounding furniture, etc., and has high follow-up performance that matches the use situation and the moving speed of the user, and can improve usability. .

  The first invention includes an electric blower that generates suction air, a dust collecting part that collects dust, an operation mode in which electric power is supplied to the electric blower, and a stop mode in which electric power is not supplied. Control means for controlling power supplied to the blower, rotatable travel rollers for moving the main body, drive means for driving the travel rollers, and rotation detection capable of detecting the rotational direction and / or the rotational speed of the travel rollers. And a drive control means for controlling the moving speed of the main body by the traveling roller by controlling the driving means in accordance with a signal from the rotation detecting means, and detecting the start of following of the main body to the user. Follow-up detection means, and the drive control means starts driving the drive means in response to an output from the follow-up detection means, and changes the moving speed of the main body between the operation mode and the stop mode. Or, because it is configured to control at different accelerations, it follows at high speed before moving in the stop mode before cleaning, and during cleaning in the operation mode, the tracking speed is slowed down so that the user can It is possible to achieve high usability by suppressing collisions with furniture, etc., and suppressing impacts even in the unlikely event that they come into contact with the furniture.

  In the second invention, the follow-up detecting means of the first invention is constituted by an operation detecting means for detecting an operation in which the user tries to pull the main body, so there is no need to detect the following direction, and it is simple. It can be realized with a configuration.

  According to a third aspect of the present invention, in the configuration in which the drive control means of the first or second aspect of the invention controls the drive means so that the main body moves at a constant speed, the second speed for moving the main body in the stop mode, Since it is controlled to be faster than the first speed at which the main body is moved in the operation mode, it is possible to follow at a desired speed regardless of the load state of the floor, and while maintaining the followability, it is wrong. High usability can be achieved without hitting the user.

  According to a fourth aspect of the invention, in the configuration in which the drive control means of the first or second aspect of the invention controls the movement speed of the main body such as a slow start while varying the second maximum speed for moving the main body in the stop mode. Since the control is performed so as to be faster than the first maximum speed at which the main body is moved in the operation mode, the follow-up detection means is temporarily erroneously detected by the user's cleaning operation in the operation mode, and the drive means Even if is driven, if the travel distance can be further reduced at the speed at the slow start and the follow-up detection means continuously detects the user's movement even at the end of the slow start, before cleaning Since the main body is made to follow at a speed that matches the speed at the time of the movement during the cleaning, the followability can be ensured in both the stop mode and the operation mode.

  According to a fifth aspect of the invention, the drive control means of the first or second aspect operates in a configuration in which the moving speed of the main body such as a slow start is varied while controlling the second acceleration that varies the speed in the stop mode. Since it is controlled to be larger than the first acceleration that varies the speed in the mode, in the stop mode, the speed is increased faster and the followability is further improved, and in the operation mode, the increase in speed is suppressed, The accuracy of not hitting the user can be further improved, and even if the user or furniture is contacted, the impact can be further suppressed.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the embodiments.

(Embodiment 1)
Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a schematic side view of the electric vacuum cleaner according to the first embodiment, FIG. 2 is a side sectional view of the electric vacuum cleaner, and FIG. 3 is a top sectional view of the electric vacuum cleaner. The main body 1 includes an electric blower 2 that generates suction air and a dust collecting unit 3 that collects dust. When an air flow for sucking dust is generated by the rotation of the electric blower 2, dust on the surface to be cleaned is sucked from the suction tool 7 and enters the main body 1 through the extension pipe 6 and the hose 4, and the dust collecting unit 3. It is collected at. The air carrying the dust is filtered by the dust collecting unit 3, the dust is collected in the dust collecting unit, and only the filtered air is exhausted outside the main body 1. A hand grip 5 is provided at the tip of the hose 4 so that the user can easily handle the vacuum cleaner. The hand grip 5 is provided with operation means 8 capable of setting an “operation mode” and a “stop mode”. The setting in the operation means 8 is input to the microcomputer 20 as the control means. The microcomputer 20 as the control means, if the mode set in the operation means 8 is “operation mode”, the electric blower drive means 31. The electric power is supplied to the electric blower 2 so that the electric power supplied to the electric blower 2 is set in advance by phase control, and suction air is generated. If in the “stop mode”, the electric power supply to the electric blower 2 is stopped. In the initial state where the device is powered on and the operation means 8 is not operated, the “stop mode” is set. The electric blower driving means 31 generally uses a bidirectional thyristor or the like when controlling the load of the electric blower 2 or the like with an AC power supply. A power plug 11 is connected to the commercial power supply 30 and supplies power to the device.

  Here, the control means is constituted by the microcomputer 20 and also functions as drive control means described later. The control means and the drive control means are hereinafter referred to as the microcomputer 20.

  The main body 1 is provided with a single caster 9 at the front of the bottom (on the hose attachment side) and two traveling rollers 10 at the rear for movement. The traveling roller 10 is driven by a drive motor 14 and rotates forward through the speed reduction means 13 (on the hose attachment side).

  FIG. 4 is a block diagram of the circuit configuration of the vacuum cleaner. The traveling roller 10 includes a drive motor 14 driven by power supplied from the drive circuit 19, a speed reduction unit 13 that drives the drive shaft 15 to rotate by reducing the rotational output of the drive motor 14, and the rotation of the drive shaft 15. The rotation of the drive shaft 15 is detected in the same manner as the traveling roller 10 that rotates to rotate the main body 1, and two signals (encoder output signals) corresponding to the number of rotations and the direction of rotation are output as drive control means. Rotation detecting means (hereinafter referred to as an encoder) 12 for outputting to the microcomputer 20. The drive circuit 19, the drive motor 14, the drive shaft 15, and the speed reduction means 13 constitute drive means.

  Here, the speed reduction means 13 is provided with a clutch mechanism 16 so that the drive shaft 15 can rotate (idle) when the drive motor 14 is stopped. When the drive motor 14 is stopped, the traveling roller 10 is It can be easily rotated by hand. This is to prevent the rotation of the traveling roller 10 from being obstructed by the speed reduction means 13 when the user moves the main body 1 when the drive motor 14 is stopped. Is. The microcomputer 20 outputs a phase control timing signal to the electric blower driving means 31 according to the signal from the operation means 8. The electric blower 2 is operated with electric power obtained by phase-controlling the commercial power supply 30 supplied from the electric blower driving unit 31. Reference numeral 18 denotes a DC power supply that rectifies and smoothes the commercial power supply 30 and outputs DC power to the drive means 19 via the power plug 11, and is also supplied as a power supply for the microcomputer 20. The drive circuit 19 performs PWM control of the DC power 18 in accordance with the PWM timing signal from the microcomputer 20 and outputs supply power to the drive motor 14. The microcomputer 20 can detect the rotation speed and the rotation direction of the traveling roller from the encoder output signals composed of the A phase and the B phase from the encoder 12, and can also detect the moving speed and direction of the main body 1.

  Further, the microcomputer 20 has a follow-up determination unit (not shown) for determining follow-up to the user of the main body 1 based on a signal input from the encoder 12. The determination unit and the encoder 12 constitute follow-up detection means.

  About the vacuum cleaner comprised as mentioned above, the operation | movement and an effect | action are demonstrated below. When the user pulls the hose 4 to move the cleaning place, the cleaner body 1 receives a pulling force and moves slightly forward. The travel roller 10 disposed on the main body 1 is rotated by the movement. The rotation of the traveling roller 10 is transmitted to the encoder 12 by the drive shaft 15, and the encoder 12 outputs two signals of A phase and B phase shown in FIG. The two signals of the A phase and the B phase have different signal phase shifts depending on the rotation direction of the traveling roller 10, that is, the moving direction of the main body 1. The relationship is shown in Table 1 below.

  Since this is a very general output signal in a rotation detection means called an encoder, detailed description thereof is omitted. The microcomputer 20 recognizes from the output signal of the encoder 12 whether the moving direction of the main body 1 is forward or backward, and does nothing in the case of backward movement. In the case of forward movement, the user pulls the hose 4 to pull the main body 1. And a PWM timing signal is output to the drive circuit 19 so as to start following the user of the main body 1.

  The reason why the drive circuit 14 is not driven by the drive circuit 19 in the case of reverse travel is based on the assumption that the user pushes the main body 1 backward using a foot or the like while cleaning the main body 1. At that time, the main body 1 is moved backward. Needless to say, self-running is a control based on the research result that the feeling of use is lost, and can be realized by detecting two signals of the A phase and B phase of the encoder. No.

  The drive circuit 19 supplies and outputs power from the DC power supply 18 to the drive motor 14 in accordance with the PWM timing signal output from the microcomputer 20. When the drive motor 14 starts to rotate, the clutch mechanism 16 of the speed reduction means 13 is connected to the drive shaft 15 and the rotational force of the drive motor 14 is transmitted to the traveling roller 10 so that the main body 1 runs. Thus, the main body 1 starts self-running, so that the subsequent pulling force of the user is reduced. The self-run is controlled so as to end when a predetermined time elapses set in the microcomputer 20 elapses.

If the number of A-phase pulses output during one rotation of the encoder 12 is PA and the number of B-phase pulses is PB, the number of pulses P input to the microcomputer 20 during one rotation of the encoder 12 is PA + PB, and since the encoder 12 is installed on the same drive shaft 15 as the traveling roller 10, one rotation of the encoder 12 and one rotation of the traveling roller 10 are synchronized. Therefore, when the radius of the traveling roller 10 is r, The number of pulses Pl per unit distance is
Pl = (PA + PB) / (2 · π · r) (Formula 1)
When running at a running speed V, the number of pulses Pt per unit time is
Pt = V × Pl (Formula 2)
What is necessary is just to control a drive means so that it may become.

In the microcomputer 20, in order to determine the current traveling speed, the time is measured at a period of a predetermined time T, and the number of pulses input from the encoder 12 is monitored during the period T. In order to run 1, the number of pulses Pm input to the microcomputer 20 during the period T is
Pm = Pt × T (Formula 3)
The microcomputer 20 determines the PWM timing signal to be output to the drive circuit 19 so that the number of pulses during the period T becomes Pm when the command speed V is given.

The PWM timing signal output from the microcomputer 20 is variably controlled between 0% and 100% duty according to the command speed, and the actual pulse number P is
P <Pm (Formula 4)
If so, since the actual traveling speed is slower than the command speed, the duty of the PWM to the drive circuit 19 is increased, the applied voltage is increased, and the torque of the drive motor 14 is increased.

P> Pm (Formula 5)
If so, since the actual traveling speed is faster than the command speed, the duty of the PWM to the drive circuit 19 is lowered, the applied voltage is lowered, and the torque of the drive motor 14 is lowered.

  As described above, by varying the PWM duty to the drive circuit 19 in accordance with the number of pulses input from the encoder 12 to the microcomputer 20, the traveling speed of the main body 1 can be varied and controlled. . That is, the desired number of pulses P can be controlled as the command speed. FIG. 6 shows the operation of the actual traveling speed when the command speed is constant. The on-duty of the PWM output to the drive circuit 19 is determined according to the deviation between the command speed and the actual speed (deviation between P and Pm). While changing, the actual speed is reached to the target command speed. By varying the PWM on-duty according to the deviation, the time to reach the target command speed can be made substantially the same even on floors with different loads such as carpets and floors. Regardless, it can be moved at the target speed. Therefore, depending on the load on the floor, the PWM on-duty value when the target command speed is reached may be different.

  By the way, normally, when the user starts cleaning, after connecting the power plug 11 to the commercial power source 30, the user holds the hand grip 5 of the hose 4 and moves to the place to be cleaned while pulling the main body 1. At this time, power is not supplied to the electric blower 2 so that useless power is not consumed, that is, movement in the “stop mode” is performed. Since the purpose of the user moving at this time is to reach the place where the user wants to clean, the moving speed is increased so as to reach as soon as possible.

  When you reach the location you want to clean, set the mode to "Operation mode" and start cleaning. The purpose at this time is to clean the location you want to clean. The movement speed is slower than before starting cleaning.

  Usually, when the user performs a cleaning operation, the user holds the hand grip 5 of the hose 4 and operates the suction tool 7 so as to reciprocate in the front-rear direction. When the traveling roller 10 rotates slightly, a pulse is output from the encoder 12 due to the rotation, and the microcomputer 20 determines whether to follow and the user intends. In spite of the absence, it starts to follow and temporarily runs on its own.

As shown in FIG. 7, the microcomputer 20 has a first speed (command speed in “operation mode”) and a second speed (command in “stop mode”) in “operation mode” and “stop mode”, respectively. Speed) individually,
1st speed <2nd speed (Formula 6)
It is set according to the movement speed of the user in each situation so that the relationship is as follows: In `` Operation mode '', the target command speed is slower than `` Stop mode '', and `` Stop mode '' Then it will be faster.

  As described above, when the user is cleaning in the “operation mode”, the movement intended by the user is slower than before the cleaning, so that the speed at which the main body 1 follows the movement of the user is high. Even the first speed can sufficiently follow. Even when the hand grip 5 of the hose 4 is temporarily transmitted to the main body 1 via the hose 4 and the traveling roller 10 has made a slight rotation, the main body 1 will start self-propelled. However, since the first speed is slow, the self-propelled distance can be suppressed, and the user can be prevented from touching the surrounding furniture.

  Further, in the “stop mode”, it is possible to follow at the second speed as intended by the user who wants to move at a relatively high speed.

  As described above, in the present embodiment, the follow-up of the main body 1 to the user is performed by controlling the speed with the encoder 12 and the driving means, so that high follow-up traveling according to the moving speed of the user is achieved. In addition, the command speed in the "operation mode" and the command speed in the "stop mode" are reduced so that the command speed in the "motion mode" is slower, so the operation when the user moves The self-running accuracy can be improved while improving the performance.

  Further, by controlling the duty of PWM output to the drive circuit 19 so as to obtain a set speed based on the number of pulses of the encoder 12, the user can move at a desired speed regardless of the load on the floor. Can be followed.

  Further, by adopting a configuration that detects the follow-up of the main body 1 to the user by the pulse of the encoder 12, it can be realized with a simple configuration without providing a dedicated follow-up detection means.

(Embodiment 2)
The second embodiment of the present invention will be described below with reference to FIGS.

  The second embodiment is different from the first embodiment in that a tensile force detecting means for detecting the pulling force of the hose 4 shown in FIG. 8 is provided as the follow-up detecting means, and a drive circuit controlled by the microcomputer 20. 19 is a method of outputting a PWM timing signal to the circuit 19.

  FIG. 8 shows a configuration diagram of the tensile force detection means. The hose connection portion 24 of the main body 1 is movable in the downward direction (floor surface side) and is biased by the main body 1 by the coil spring 25. Is pulled, the hose connection portion 24 is pulled and the coil spring 25 contracts. At this time, a part of the hose connecting portion 24 that has been pressed to turn on the tensile force detection switch 26 by the urging force of the coil spring 25 is separated from the tensile force detection switch 26, so that the tensile force detection switch 26 is turned off. When the tension of the hose 4 is lost, the hose connection portion 24 is returned to the original position by the coil spring 25 biased to the main body 1 and the tension detection switch 26 is turned on again.

  FIG. 9 is a block diagram of the circuit configuration of the electric vacuum cleaner according to the second embodiment. The signal of the tensile force detection switch 26 is input to the microcomputer 20, and the microcomputer 20 has the tensile force detection switch 26 turned off. During this time, a PWM timing signal is output to the drive circuit 19 to control the main body 1 to move.

  FIG. 10 shows an explanatory diagram of the relationship between the command speed and the actual speed in the second embodiment. As shown in FIG. 10, when the follow-up is detected, the microcomputer 20 increases the command speed by Δv at a predetermined time interval Δt and switches the command speed. The predetermined time interval Δt is set to a time during which the actual speed can follow before switching to the next command speed. When the command speed reaches the maximum speed, the switching of the command speed is terminated, and the actual speed follows and then stabilizes. The period during which the command speed is switched is a slow start period, and after the microcomputer 20 detects a follow-up with a pulse from the encoder 12 by increasing the command speed stepwise at a predetermined time interval Δt. You can increase the speed slowly.

  Further, by operating Δt or Δv, the speed change rate of the slow start can be varied, and Δv / Δt becomes the acceleration. Therefore, the inclination of the slow start command speed change indicated by the dotted line in FIG. If you stand, you can perform a slow start at high acceleration, and tilt it at low acceleration.

As shown in FIG. 11, the microcomputer 20 has a first maximum speed in the “operation mode”, a first acceleration indicated by a slope A in FIG. 11, and a second maximum speed in the “stop mode”. And the second acceleration indicated by the slope B in FIG.
1st maximum speed <2nd maximum speed (Formula 7)
1st acceleration <2nd acceleration (Formula 8)
It is trying to become.

  In the movement intended by the user, since the hose 4 is continuously pulled for a certain period of time, the time during which the tensile force detection switch 26 is off is also long, and the first maximum speed and the second maximum speed are reached. The first acceleration and the second acceleration are set so that a sufficient time is required.

When the user is cleaning in the “operation mode”, the moving speed of the user is slower than before the cleaning, so the speed at which the main body 1 follows the movement of the user is the first speed. Can follow up enough. When the pulling force is temporarily applied to the hose 4 by the operation of the hand grip 5 of the hose 4 and the tensile force detection switch 26 is turned off, the main body 1 starts self-running, but the speed is the first maximum speed. Even if it has reached, the first maximum speed is slower than the second maximum speed, so it is possible to suppress the self-propelled distance and prevent contact with the user and surrounding furniture I can do it. In the “stop mode”, the user can quickly reach the second maximum speed with the second acceleration and follow as intended by the user trying to move at a relatively high speed. In FIG. 11, if the period during which the tensile force is temporarily applied to the hose 4 and the tensile force detection switch 26 is OFF is as short as the time t1 shown in FIG. In the “operation mode”, the arrival speed at the acceleration in the “stop mode” becomes Vb, while it can be suppressed at a low speed, Va, and the distance of self-running can be further suppressed.

  As described above, in the present embodiment, as the follow-up detection means, the tensile force detection means for detecting the pulling force of the hose 4 is provided, and the speed is slow-started so that the first maximum speed <the second maximum speed By setting so that the self-running of the main body 1 is controlled, in the “stop mode”, while achieving high follow-up, the follow-up is ensured even during cleaning in the “operation mode”, and The user's cleaning operation can improve the accuracy of collision prevention with the user of the main body 1 and surrounding furniture.

  Furthermore, by setting and controlling the acceleration so that the first acceleration is smaller than the second acceleration, both the followability and the accuracy of preventing the collision with the user of the main body 1 and surrounding furniture are provided. In addition to being able to improve, even if it comes into contact with the user or surrounding furniture, the speed and acceleration are small and the impact can be kept small, so the influence can be suppressed.

  In this embodiment, the command speed and acceleration are set by the number of pulses input from the encoder 12. However, the speed can be varied by changing the PWM duty and the voltage applied to the drive motor 14 stepwise. Needless to say.

  As described above, the present invention is a technique useful for a high-value-added and high-function vacuum cleaner that reduces fatigue during cleaning, and also for a device that follows the movement of the user. Moreover, it is a technique useful also for the apparatus which has a function which mounts a secondary battery and self-runs.

Side view of the electric vacuum cleaner according to Embodiment 1 of the present invention Side sectional view of the vacuum cleaner Top sectional view of the vacuum cleaner Circuit block diagram of the vacuum cleaner Encoder output signal waveform diagram of the vacuum cleaner Illustration of the relationship between the command speed and actual speed of the vacuum cleaner Explanatory drawing of the relationship between the first speed and the second speed of the vacuum cleaner The block diagram of the tensile-force detection means of the vacuum cleaner in Embodiment 2 of this invention Circuit block diagram of the vacuum cleaner Explanatory diagram of variable speed of the vacuum cleaner Illustration of the relationship between the maximum speed and acceleration of the vacuum cleaner

Explanation of symbols

DESCRIPTION OF SYMBOLS 2 Electric blower 3 Dust collection part 10 Traveling roller 12 Rotation detection means 14 Drive motor 20 Microcomputer 26 Tensile force detection switch

Claims (5)

An electric blower that generates suction air, a dust collecting part that collects dust, an operation mode in which electric power is supplied to the electric blower, and a stop mode in which no electric power is supplied, and supply power to the electric blower. Control means for controlling, rotatable traveling roller for moving the main body, driving means for driving the traveling roller, rotation detecting means capable of detecting the rotation direction and / or the rotational speed of the traveling roller, and the rotation detection Drive control means for controlling the moving speed of the main body by the traveling roller by controlling the driving means in accordance with a signal from the means, and follow-up detection means for detecting the start of following of the main body to the user. The drive control means starts driving the drive means based on the output from the follow-up detection means, and changes the moving speed of the main body between the operation mode and the stop mode at different speeds or different speeds. Vacuum cleaner to control the acceleration. The electric vacuum cleaner according to claim 1, wherein the follow-up detection means is constituted by an operation detection means for detecting an operation of a user trying to draw the main body. The drive control means controls the drive means so that the main body moves at a constant speed, and the second speed for moving the main body in the stop mode is faster than the first speed for moving the main body in the operation mode. The vacuum cleaner of Claim 1 or 2 controlled to become. In the configuration in which the drive control means performs control while varying the moving speed of the main body such as a slow start, the second maximum speed for moving the main body in the stop mode and the first maximum speed for moving the main body in the operation mode The vacuum cleaner of Claim 1 or 2 which controls so that it may become quicker. In the configuration in which the drive control means performs control while varying the moving speed of the main body such as slow start, the second acceleration that varies the speed in the stop mode is larger than the first acceleration that varies the speed in the operation mode. The vacuum cleaner of Claim 1 or 2 to control.

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