JP2009056216A - Vacuum cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain a high-precision self-running function without an influence on the self-running function caused by dust capacity in a vacuum cleaner having a self-running function to follow a user. <P>SOLUTION: The vacuum cleaner has an assist function to reduce the operation load when a user moves the body of the vacuum cleaner. The vacuum cleaner is constituted in such a manner that a microcomputer (a following detection means) 20 to determine the start of following after the user changes the detecting sensitivity according to the output of current detecting means (a condition detecting means) 21 to detect the dust capacity or the like. Because of this, running motion for following can be stabilized, the precision of the assist function can be improved and the self-running function without an influence by the dust capacity can be achieved irrespective of the amount of dust accumulated, or the like. <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, what is disclosed in Patent Document 1 below is an electric vacuum cleaner and an electric vacuum cleaner in which a dust collection chamber communicating with the intake side of the electric blower is provided inside and a connection port communicating with the dust collection chamber is provided in an outer surface portion. A main body, a hose having one end connected to the connection port of the main body of the vacuum cleaner and a hand grip portion on the other end side, and provided on the main body of the vacuum cleaner, the main body of the vacuum cleaner can be moved on the surface to be cleaned. Traveling means provided in the cleaner body, driving means for driving the traveling means, detection means for detecting a tensile force applied to the hose, and the driving means according to a detection signal of the detection means. Drive control means for controlling, the drive control means, the greater the tensile force applied to the hose,
(1) By controlling the driving means so as to increase the driving speed of the traveling means, the user moves a long distance if the hose of the vacuum cleaner is pulled strongly, and moves a little if the hose is pulled lightly. be able to.
(2) By controlling the driving means so as to shorten the driving time of the traveling means and increase the driving speed, the distance that the cleaner body moves when the hose is pulled is the same regardless of the tensile force. Can be placed.
That is, the followability of the user to walking is improved.

Further, the one disclosed in Patent Document 2 below is connected to the traveling roller, a disk that rotates following the rotation of the traveling roller in the forward direction, and has a large number of slits in the peripheral portion, and the traveling roller. The drive motor is driven by inputting a pulse signal from the phototransistor generated by the rotation of the disk, and a photodiode and a phototransistor disposed on both sides of the disk facing the slit. At the same time, by providing a drive motor drive unit that controls the drive time, for example, when the hose is temporarily pulled to move the cleaner body slightly, the traveling roller, that is, the disk is moved according to the amount of movement. The motor rotates and the phototransistor senses the rotation speed, and the drive motor according to the rotation speed (ie, according to the force with which the user pulls the hose) It controls the drive and a driving time of the control circuit the drive motor, the running rollers by adjusting the travel distance with advancing rotation, is that followability to the user's stepping is improved.
JP-A-4-92634 JP-A-4-105623

  However, the conventional configuration described above is to detect the user's operating force and cause the user to follow the main body according to the operating force and reduce the operating force of the main body's routing. In addition to the user's tensile force, the force applied to the air also includes the pressure (negative pressure) generated by the electric blower, and this pressure also increases the amount of dust accumulated in the dust collection chamber and the suction of the hose. Since it also changes depending on the degree of contact with the object to be cleaned on the side, setting the method of following the main body only for the user's operating force will cause a large variation in follow-up in actual use. There was a problem that it was not possible to obtain the followability expected of.

  The present invention solves the above-mentioned conventional problems, and detects the state of the intake path such as the dust accumulation state in the dust collecting part and the filtering part, and also considers forces other than the tensile force applied to the hose etc. It aims at providing the vacuum cleaner which can improve the precision of an assist function by setting it as driving | running | working operation | movement of this.

  In order to solve the above-mentioned conventional problems, the vacuum cleaner of the present invention includes a state detecting means for detecting the state of the intake path such as the accumulation state of dust in the dust collecting part and the filtering part, and a rotatable that moves the main body. A travel roller, a drive means for driving the travel roller, a rotation detection means capable of detecting the rotation direction and / or the number of rotations of the travel roller, and the drive means are controlled in accordance with a signal from the rotation detection means. Drive control means for controlling the movement of the main body by the traveling roller, and follow-up detection means for detecting the start of the follow-up of the main body to the user, and an operation when the user moves the main body. In the configuration having an assist function for reducing the burden, the follow-up detection unit is configured to vary the detection sensitivity in accordance with the output of the state detection unit.

  This allows the state detection means to detect the magnitude of the force that is actually transmitted to the main body, such as the pressure (negative pressure) that is added to the tensile force applied to the operation unit by the user to pull the main body. For example, when the pressure is detected and the follow-up detecting means determines the start of the follow-up of the main body, the start determination value is set so that the follow-up is started with a force corresponding to the tensile force obtained by subtracting the detected pressure component. By changing the sensitivity, that is, by changing the sensitivity with the output of the state detection means and starting the main body, the force that the user tries to route without being affected by the pressure applied to the hose It is possible to realize a uniform running operation and assist function according to the situation.

  Since the vacuum cleaner of the present invention has a self-propelled function and follows the user, the operation force when moving the main body can be reduced and the tracking can be performed without being affected by the change in the internal pressure applied to the hose. The running operation can be stabilized and the accuracy of the assist function can be improved.

  According to a first aspect of the present invention, there is provided an electric blower that generates suction air provided on a main body, a dust collecting unit that collects dust, or a filtering unit that filters dust, and a dust collecting unit that collects dust to the dust collecting unit and the filtering unit. State detection means for detecting the state of the intake path such as the accumulation condition, and a flexible part that has an operation part at one end and is detachably connected to the main body, and constitutes a part of the intake path From a hose, a rotatable traveling roller for moving the main body, a driving means for driving the traveling roller, a rotation detecting means capable of detecting the rotation direction and / or the number of rotations of the traveling roller, and the rotation detecting means A driving control means for controlling the movement of the main body by the traveling roller by controlling the driving means in accordance with the signal of the driving, and a follow-up detection means for detecting the start of the follow-up of the main body to the user. When an operator moves the main body In the configuration having an assist function for reducing the burden, the follow-up detection means can change the detection sensitivity according to the output of the state detection means, so that the follow-up running operation can be stabilized, and the assist function Accuracy can be improved.

  In a second invention, the state detecting means of the first invention is constituted by a pressure detecting means for detecting the internal pressure of the hose, and the follow-up detecting means has a low detection sensitivity if the pressure detected by the pressure detecting means is high. However, since the detection sensitivity is increased when the pressure is low, the follow-up detection means causes the body to follow up when the pressure in the hose is high and the force applied to the tensile force applied to the operation unit is large. When the judgment value of the force to be started is increased, that is, the sensitivity is lowered, and when the pressure force to be added is small, the judgment value is decreased, that is, the sensitivity is increased to facilitate the start of the driving. It is possible to make the running start timing of the main body uniform with respect to the pulling force that tries to draw the main body.

  In a third invention, the state detecting means of the first invention is a dust amount detecting means for detecting the amount of dust accumulated in the dust collecting section or the filtering section, and the follow-up detecting means is a part of the dust amount detecting means. According to the output, if the amount of dust is small, the detection sensitivity is lowered, and if the amount of dust is large, the detection sensitivity is increased, so that a force such as a relatively large pressure by suction of the electric blower is applied to the hose. In a state where the amount of accumulated dust is small, the follow-up detection means increases the judgment value of the force for starting the follow-up of the main body, that is, lowers the sensitivity and the pressure applied to the hose is relatively small. In many states, the judgment value is reduced, that is, the sensitivity is increased, and it is easy to start running, so the main body against the tensile force that the user tries to pull the main body regardless of the amount of accumulated dust The start timing of It can be one.

  4th invention is the electric blower which generate | occur | produces suction | inhalation wind, the dust collection part which collects dust, or the filtration part which filters dust, and the accumulation condition of the dust to the said dust collection part and the said filtration part, etc. A state detection means for detecting the state of the device, a flexible hose which has an operation portion at one end and is detachably connected to the main body at the other end, and forms a part of the intake path; In accordance with a signal from the rotation detection means, a rotation travel roller that can be moved, a drive means that drives the travel roller, a rotation detection means that can detect the rotation direction and / or the number of rotations of the travel roller. Drive control means for controlling the drive means to control the movement of the main body by the traveling roller, and follow-up detection means for detecting the start of the follow-up of the main body to the user, the user moving the main body Reed to reduce the burden of operation Since the drive control means determines the control amount of the drive means in accordance with the output of the state detection means, the user added to the operation unit to draw the main body. For the magnitude of the pressure (negative pressure) added to the tensile force, for example, the state detection means detects the pressure, and the timing at which the follow-up detection means determines the start of the follow-up of the main body is increased. Depending on the detected pressure, the drive control means controls the movement of the main body following the user, so that the user's routing is not affected by the pressure applied to the hose. It is possible to achieve a uniform running operation and assist function according to the force to be applied.

  According to a fifth aspect of the present invention, the state detection means according to the fourth aspect of the present invention comprises pressure detection means for detecting the internal pressure of the hose, and the drive control means is provided to the user if the pressure detected by the pressure detection means is low. Because the drive means is controlled so that it quickly follows, the pressure in the hose is high, and when the pressure force added to the tensile force applied to the operation part is small, it is the same as when the pressure is large Since the force transmitted to the main body is smaller than the tensile force, and the timing at which the follow-up determining means determines the start of the follow-up of the main body is delayed, the drive control means controls the drive means so that the main body follows the main body quickly. Thus, it is possible to compensate for the delay in the start of follow-up and make the follow-up property of the main body uniform with respect to the tensile force that the user tries to draw the main body.

  According to a sixth aspect of the invention, the state detection means of the fourth aspect of the invention is a dust amount detection means for detecting the amount of dust accumulated in the dust collecting section or the filtration section, and the drive control means is the dust amount detection means. According to the output, if the amount of dust is large, the driving means is controlled so as to follow the user quickly, so that the pressure applied to the hose by suction of the electric blower becomes relatively small, and the amount of accumulated dust In a state where there is a large amount of dust, the force transmitted to the main body is smaller for the same tensile force than when there is a large amount of accumulated dust, and the timing for the follow-up determination means to determine the start of follow-up of the main body is also delayed. By controlling the drive means so that the drive control means follows the main body quickly, it compensates for the delay in the start of follow-up, regardless of the amount of dust accumulated, Uniform follow-up performance It can be.

  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.

  1 is a schematic side view of the electric vacuum cleaner according to Embodiment 1, and FIG. 2 is a top cross-sectional view of the main body 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 flexible hose 4. , And collected by the dust collecting unit 3. An intake path is configured by the paths of the suction tool 7, the extension pipe 6, the hose 4, and the dust collecting unit 3. The air that has carried the dust is filtered by the dust collecting unit 3 that also serves as a filtering unit, the dust is accumulated in the dust collecting unit, and only the filtered air is exhausted outside the main body 1. Further, a hand grip 5 is provided at an end portion of the hose 4 as an operation unit so that a 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 by the operation means 8 is input to the microcomputer 20, and if the mode set by the operation means 8 is the "operation mode", the microcomputer 20 presets the electric blower drive means 31 by phase control. Electric power is supplied to the electric blower 2 so as to be supplied electric power, suction air is generated, and the electric power supply to the electric blower 2 is stopped in the “stop mode”. 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.

  Here, the power supplied to the electric blower 2 is controlled by the microcomputer 20, but the microcomputer 20 also has a function as drive control means to be described later. That's it.

  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. 3 shows a configuration diagram of the follow-up detection of the main body 1. In FIG. 3, reference numeral 22 denotes an air inlet of the main body 1, which communicates with the dust collecting unit 3 and is connected to the hose 4. . The connection part 23 of the hose 4 is provided with a buckle 24, and when the connection part 23 is inserted into the intake port 22, it fits into the buckle hole 25 provided in the intake port 22 and pulls the hose 4. The hose 4 is configured not to be removed from the air inlet of the main body 1. The buckle hole 25 is provided with a pressure-sensitive element 26 for detecting the follow-up. When the hose 4 is pulled, the tensile force is applied to the pressure-sensitive element 26.

  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.

  In FIG. 4, reference numeral 31 denotes an electric blower drive unit that controls electric power supplied to the electric blower 2, and generally includes a power control element such as a bidirectional thyristor, and phase control output from the microcomputer 20. The timing signal is input as a trigger, the AC voltage applied to the electric blower 2 is phase-controlled, and the electric power supplied to the electric blower 2 is controlled.

  Reference numeral 21 denotes a current detection unit that is connected in series with the electric blower 2 and detects the current flowing through the electric blower 2, converts the detected current value into a signal, and outputs the signal to the microcomputer 20.

  FIG. 6 shows the relationship between the current flowing through the electric blower 2 and the air flow (air flow-current characteristics). When the voltage applied to the electric blower 2 is fixed, the electric blower 2 is determined if the characteristics of the electric blower 2 are determined. The relationship between the current flowing through the air flow and the air flow is determined on a one-to-one basis, and if the relationship between the air flow and the current value is set in advance, the current detection means 21 can detect the air flow.

  In addition, if dust accumulates in the dust collection unit 3, the passage of the suction air that passes through the dust collection unit 3 and flows into the electric blower 2 is hindered. Therefore, as shown in FIG. As the amount of dust accumulated in the air increases, the air volume decreases. Since the relationship between the amount of dust and the amount of air has a one-to-one correspondence if the configuration of the dust collector is determined, the amount of dust accumulated in the dust collector 3 and the current detected by the current detector 21 It is also possible to correspond values.

  As described above, by using the current detection unit 21 as the state detection unit, it is possible to configure a dust amount detection unit that detects the amount of dust accumulated in the dust collecting unit 3. Therefore, the current detecting means 21 will be described below.

  Reference numeral 18 denotes a DC power source that outputs DC power to the driving means 19 and is also supplied as a power source 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.

  The output signal from the pressure sensitive element 26 is input to the microcomputer 20, and the microcomputer 20 has a follow-up detection unit that determines the start of follow-up of the main body based on the output voltage of the pressure sensitive element 26. The tracking detection unit, the pressure-sensitive element 26, and the buckle 25 constitute tracking detection means.

  In addition, the follow-up detection unit of the microcomputer 20 sets a determination value for making a determination to start the follow-up of the main body 1 as shown in Table 1 below with respect to the voltage level generated by the level of stress received by the buckle 24. There are a plurality, and the determination value is switched according to the current value detected by the current detection means 21, that is, the amount of dust.

  By switching the plurality of determination values, the sensitivity to the output signal of the pressure sensitive element 26 can be switched.

  About the vacuum cleaner comprised as mentioned above, the operation | movement and an effect | action are demonstrated below.

  First, the travel by the driving means will be described. When the microcomputer 20 (following detection unit) detects the start of following, it outputs a PWM timing signal to the drive circuit 19. 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-running is controlled to stop after running for a predetermined time at a predetermined running speed set in the microcomputer 20 in advance.

  When the main body self-travels and the traveling roller 10 rotates, 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 2 below.

  Since this is a very general output signal in a rotation detection means called an encoder, detailed description thereof is omitted.

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 it is desired to travel a predetermined distance D, the number of pulses from the start of travel is
Pd = D × Pl (Formula 2)
It is sufficient to drive only during the period.

Further, when traveling at the traveling speed V, the number of pulses Pt per unit time is set as follows:
Pt = V × Pl (Formula 3)
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 4)
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 5)
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, a desired traveling speed can be obtained by varying the duty of PWM that is a control amount to the drive circuit 19 in accordance with the number of pulses input from the encoder 12 to the microcomputer 20.

  When the user applies a pulling force so that the main body 1 automatically runs or pulls the hand grip 5 to pull the main body 1, the pulling force transmitted through the hose 4 is sucked into the intake air of the main body 1 via the connection portion 23. It is transmitted to the mouth 22. At this time, the hose 4 is configured to be fitted with the buckle hole 25 by the buckle 24 provided in the connection portion 23 and is prevented from coming off, and the pressure sensitive element 26 is pushed by the buckle 23. That is, if the user applies a tensile force to the hand grip 5 to automatically run the main body 1, a force corresponding to the tensile force is applied to the pressure-sensitive element 26, and if a tensile force is not applied, the pressure-sensitive element 26 is configured such that no force is applied.

  By the way, normally, when the suction tool 7 is brought into contact with the surface to be cleaned and cleaning is performed, and the electric blower 2 operates and suction air is generated, pressure (negative pressure) is generated inside the intake passage. Thus, a force other than the tensile force applied by the user to the hand grip 5 is applied. If it is highly rigid, it is difficult to be affected by pressure, but if it is flexible like the hose 4, the rigidity of the body 1 changes due to the internal pressure, and the tensile force applied to the hand grip 5. It is also affected by the transmission to. When the pressure is high compared to when the pressure is low, the rigidity of the hose increases and the tensile force is easily transmitted to the main body 1. However, even if the same force is applied to the hand grip 5, it may or may not follow depending on the pressure condition, and in order to make it follow, the user must change the amount of force depending on the situation. Disappear.

  One of the factors affecting the change in the pressure inside the hose 4 is the amount of dust accumulated in the dust collecting unit 3. When dust is not accumulated in the dust collecting unit 3, the pressure generated by the suction air generated by the electric blower 2 is applied to the inside of the suction tool 7 that is in contact with the surface to be cleaned. However, if dust accumulates in the dust collection unit 3, the flow of the suction air generated by the electric blower 2 is hindered by the dust in the dust collection unit 3, and the pressure on the electric blower 2 side from the dust collection unit 3. And the inside of the intake passage closer to the suction tool 7 than the dust collecting unit 3 is close to the atmospheric pressure outside the intake passage, and the pressure (internal pressure) including the hose 4 is reduced.

  For this reason, the pressure applied to the inside of the hose 4 changes depending on the amount of dust accumulated in the dust collecting section 3, and the force applied to the main body 1 changes when the user applies a tensile force to the hand grip 5.

  As shown in Table 1, the microcomputer 20 has, in advance, three levels of determination values of sensitivity “high”, “medium”, and “low” with respect to the output of the pressure-sensitive element 26.

  The sensitivity “high” is set when the current detected by the current detection means 21 is I1 or less and the amount of dust accumulated in the dust collecting unit 3 is large, and corresponds to the tensile force F1 applied to the pressure-sensitive element 26. A determination value Vo1 for the output of the pressure sensitive element 26 is set.

  The sensitivity “low” is set when the current detected by the current detection means 21 is I2 or more (I2> I1) and the amount of dust accumulated in the dust collecting unit 3 is small, and the tensile force applied to the pressure-sensitive element 26. A determination value Vo3 (Vo3> Vo1) for the output of the pressure sensitive element 26 corresponding to F3 (F3> F1) is set.

  The sensitivity “medium” is an intermediate region between the sensitivity “high” and the sensitivity “low”. The current detected by the current detection means 21 is I1 <I <I2, and the amount of dust accumulated in the dust collecting unit 3 is intermediate. The determination value Vo2 (Vo3> Vo2> Vo1) for the output of the pressure sensitive element 26 corresponding to the tensile force F2 (F3> F2> F1) applied to the pressure sensitive element 26 is set.

  Setting is such that the smaller the determination value of the tensile force applied to the pressure-sensitive element 26 is, the easier it is to start tracking, that is, the higher the sensitivity, and the higher the determination value is, the more difficult it is to start tracking and the lower the sensitivity. It has become.

  As described above, when a large amount of dust is accumulated in the dust collecting portion 3, the pressure applied to the hose 4 is reduced, and the flexibility appears greatly. The tensile force reaching the pressure sensitive element 26 is attenuated with respect to the force applied to the pressure. At this time, the microcomputer 20 sets the determination value Vo1 (corresponding to the tensile force F1) of the sensitivity “high” when the amount of dust is large with respect to the output of the current detection means 21 as the determination value of the follow start. Even if the force applied to the pressure-sensitive element 26 is relatively small, if an output of Vo1 or more is detected, the hand grip 5 determines that the user is applying force to move the main body 1. And it outputs to the drive circuit 19 so that driving | running | working of the main body 1 may be started.

  Further, when the amount of dust accumulated in the dust collecting portion 3 is small, the pressure (internal pressure) applied to the hose 4 is increased, the rigidity of the hose 4 is increased, and the user applies to the hand grip 5 to pull the main body. The force is easily transmitted to the pressure sensitive element 26.

  At this time, when the amount of dust accumulated in the dust collecting unit 3 is large, the determination value is the same, and even if the amount of dust is large, if the determination value is such that the main body follows as intended by the user, In order for the user to perform cleaning, the force that operates the hand grip 5 is transmitted to the pressure-sensitive element 26, and the main body 1 may start to travel even though the user does not intend. There is sex.

  The microcomputer 20 sets the determination value Vo3 (corresponding to the tensile force F3) of the sensitivity “low” when the amount of dust is small with respect to the output of the current detection means 21 as the determination value for starting tracking. Only when the output applied to the pressure element 26 is relatively large and an output of Vo3 or higher is detected, the hand grip 5 determines that the user is applying force to move the main body 1, and the main body 1 travels. Is output to the drive circuit 19 so as to start.

  Similarly, if the output of the current detection means 21 is I1 <I <I2, the microcomputer 20 determines that the sensitivity is “medium” and determines the determination value Vo2 (tensile force F2) with respect to the output of the pressure-sensitive element 26. Corresponding to when the amount of dust accumulated in the dust collecting unit 3 is intermediate, and outputs to the drive circuit 19 to start the travel of the main body 1 in response to the user's tensile force.

  Then, the amount of dust accumulated in the dust collecting unit 3 is set to “large”, “normal”, and “small” with the force applied to the hand grip 5 at a constant lower level when the user tries to pull the main body 1. By setting the outputs of the pressure-sensitive elements 26 output to the tensile forces F1, F2, and F3 applied to the pressure-sensitive elements 26 under the above conditions as Vo1, Vo2, and Vo3, respectively, the dust collecting unit 3 Regardless of the amount of dust accumulated in the main body 1, the main body 1 can start traveling according to the tensile force applied to the grip 5 by the user, and a stable traveling assist operation can be realized.

  In the present embodiment, the determination value is set in three stages, but the accuracy can be further improved by setting a plurality of determination values without being limited to three stages.

  In the present embodiment, the dust accumulated in the dust collecting unit 3 that also serves as the filtering unit has been described. However, the electric blower 2 generates the pressure (internal pressure) applied to the hose 4. Since it changes depending on the air volume and pressure to be generated, if the relation between the air volume sucked by the electric blower 2 and the pressure in the hose 4 is associated in advance, the pressure in the hose 4 is detected by the air volume sucked into the electric blower 2. Therefore, it can be detected by the current detection means described in this embodiment.

  However, a configuration in which a pressure sensor is provided in the hose 4 to detect the pressure in the hose 4 is also conceivable. This configuration has an advantage that the pressure in the hose 4 can be detected with higher accuracy, but is configured by current detection means. This method has the merit that it can be configured easily and can be realized at low cost.

  Moreover, although this Embodiment set it as the structure which paid its attention to the pressure (internal pressure) of the hose 4, even if the mass of the dust accumulate | stored in the dust collecting part 3 changes, it influences the precision of a self-propelled function. Needless to say, by detecting the mass of dust and adopting a configuration in which the sensitivity of the follow-up detection means is corrected by the mass, as in the relationship between the current detection means 21 and the follow-up detection means determination value of the first embodiment, It goes without saying that a self-propelled function that is not affected by changes in the mass of dust can be realized.

(Embodiment 2)
The second embodiment of the present invention will be described below. In the present embodiment, the difference from the first embodiment is a follow-up detection unit configured in the microcomputer 20 that determines the configuration of the follow-up detection unit 12 and a signal input from the rotation detection unit 12 and the encoder 12. It is the method of the driving | running | working control after determining the point which comprised and the start of a tracking by the tracking determination part.

  Hereinafter, the operation will be described.

  When the user applies a force to the hand grip 5 and pulls the hose 4, the main body 1 receives a tensile 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. As shown in Table 2, the phase shift between the two signals of the A phase and the B phase differs depending on the rotation direction of the traveling roller 10, that is, the moving direction of the main body 1.

  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. Needless to say, self-running is a control based on the research result that the feeling of use is lost and it 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. After starting the self-running, the vehicle runs so as to follow the user's movement by running and stopping for a predetermined time.

  As described in the first embodiment, the force applied to the hose 4 is not only the force by which the user tries to pull the main body 1 but also the pressure caused by the suction air generated by the electric blower 2, and this pressure is , And changes depending on the amount of dust accumulated in the dust collecting unit 3.

  When the amount of dust is small, the pressure applied to the hose 4 is relatively large and the rigidity is higher than when the pressure is small, and the tensile force applied by the user to the hand grip 5 is easily transmitted to the main body. Therefore, when the user pulls the main body 1, the main body 1 starts to move relatively quickly from the time when a tensile force is applied to the hand grip 5, and a follow-up operation by automatic traveling can be started.

  When the amount of dust is large, the pressure applied to the hose 4 is small, the flexibility of the hose 4 is large, and the tensile force is difficult to transmit to the main body 1. The time from when the tensile force is applied to the main body 1 starts to move, the follow-up is detected, and the follow-up operation by the automatic travel is started is delayed. At this time, the microcomputer 20 detects the follow-up and determines the start of traveling, the number of pulses of the encoder 12 is constant, and when the pressure applied to the hose 4 is small, the microcomputer 20 automatically optimizes the movement timing of the user. If the number of pulses is set so as to start traveling, when the pressure applied to the hose 4 is large, the traveling start timing is accelerated, so there is a possibility of contact with the user. Conversely, the pressure applied to the hose 4 When the number of pulses is set so as to start the automatic driving optimally for the user's movement timing when the pressure is large, the pressure of the main body 1 is compared with the movement start timing of the user when the pressure applied to the hose 4 is small. The automatic driving start is delayed, and eventually the user has to pull.

  The microcomputer 20 has in advance a pulse number determination value for determining the start of automatic traveling with respect to the current value detected by the current detection means 21 as shown in Table 3 below.

  The pulse number determination values P1, P2, and P3 are in a relationship of P1 <P2 <P3. That is, when replaced with the movement distance of the main body 1, P1 has the shortest movement distance and P3 has the longest movement distance.

  When a large amount of dust is accumulated in the dust collecting unit 3 (when the current value is I ≦ I1), the determination value P1 of the sensitivity “high” when the amount of dust is large is set, and the hose 4 can be used. Even if the flexibility is large and the force transmitted to the main body is relatively small or delayed, if the pulse gain P input from the encoder 12 to the microcomputer 20 is equal to or greater than P1, the hand grip 5 allows the user to In order to move the main body 1, it is determined that a force is applied, and the main body 1 is output to the drive circuit 19 to start running.

  In addition, when the amount of dust accumulated in the dust collecting unit 3 is small (when the current value is I ≧ I2), the determination value P3 of sensitivity “low” when the amount of dust is small is set, and the pulse If the distance corresponding to the number P3 cannot be pulled, the main body 1 is controlled so as not to start automatic travel.

  In this way, by switching the pulse number determination value for determining the follow-up start of the main body 1 according to the amount of dust accumulated in the dust collecting unit 3, the timing of the automatic travel start of the main body 1 is varied and used. A person can realize a stable follow-up operation of the main body 1 without being affected by the amount of dust with respect to the force of pulling the main body 1.

  Further, as shown in Table 4 below, the running speed is controlled so as to switch the running speed when the automatic running is started according to the current value detected by the current detecting means 21 as shown in Table 4 below. Thus, a stable follow-up performance can be obtained regardless of the amount of dust in the dust collecting unit 3.

  From (Equation 3) described in the first embodiment, the traveling speed can be realized by controlling the PWM signal output to the drive circuit 19 so that the number of pulses Pt per unit time becomes a desired number of pulses. .

  As described above, the vacuum cleaner according to the present invention utilizes other high-value-added and high-performance cleaning that reduces fatigue during cleaning, and further uses the function to follow the movement of the user, The function can be improved and the usability of the entire device can be improved. In the case of a device having a following function, it is possible to develop other functions at the same time. 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 The top sectional view of the vacuum cleaner Same as above, explanatory diagram of follow-up detection means of vacuum cleaner Circuit block diagram of the vacuum cleaner Same as above, encoder output signal waveform diagram of vacuum cleaner The characteristic explanatory drawing of the electric blower of the vacuum cleaner Same as above, explanatory diagram of relationship between dust volume and air volume of 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 21 Current detection means 26 Pressure sensitive element

Claims (6)

The state of the intake path, such as the electric blower that generates suction air provided on the main unit, the dust collection part that collects dust or the filtration part that filters dust, and the accumulation condition of dust in the dust collection part and the filtration part A state detecting means for detecting, a flexible hose having a manipulation part at one end and detachably connected to the main body at the other end and constituting a part of the intake path, and moving the main body A traveling roller that can rotate, a driving unit that drives the traveling roller, a rotation detecting unit that can detect the rotation direction and / or the number of rotations of the traveling roller, and the driving unit according to a signal from the rotation detecting unit Drive control means for controlling the movement of the main body by the traveling roller, and follow-up detection means for detecting the start of following of the main body to the user, when the user moves the main body Reed to reduce the burden of operation Together with the door function, the follow-up detection means, an electric vacuum cleaner for varying the detection sensitivity in accordance with the output of the state detecting means. The state detection means comprises pressure detection means for detecting the internal pressure of the hose, and the follow-up detection means lowers the detection sensitivity if the pressure detected by the pressure detection means is high, and increases the detection sensitivity if the pressure is low. Item 1. A vacuum cleaner according to item 1. The state detecting means is a dust amount detecting means for detecting the amount of dust accumulated in the dust collecting section or the filtering section, and the follow-up detecting means has a small amount of dust according to the output of the dust amount detecting means. The vacuum cleaner according to claim 1, wherein the detection sensitivity is lowered and the detection sensitivity is increased if the amount of dust is large. An electric blower that generates suction air, a dust collection part that collects dust, or a filtration part that filters dust, and a state that detects the state of equipment such as dust accumulation in the dust collection part and the filtration part A detecting means, a flexible hose having an operating portion at one end and detachably connected to the main body at the other end and constituting a part of the intake path, and a rotatable traveling roller for moving the main body And a driving means for driving the traveling roller, a rotation detecting means capable of detecting the rotation direction and / or the number of rotations of the traveling roller, and controlling the driving means according to a signal from the rotation detecting means, Drive control means for controlling movement of the main body by the traveling roller and follow-up detection means for detecting the start of follow-up of the main body to the user, the burden of operation when the user moves the main body Has an assist function to reduce Both the drive control means, a vacuum cleaner to determine the control amount of the drive means in response to an output of said state detecting means. The state detection means comprises pressure detection means for detecting the internal pressure of the hose, and the drive control means controls the drive means so as to quickly follow the user if the pressure detected by the pressure detection means is low. Item 5. A vacuum cleaner according to item 4. The state detection unit is a dust amount detection unit that detects the amount of dust accumulated in the dust collection unit or the filtration unit, and the drive control unit is configured so that the amount of dust is large according to the output of the dust amount detection unit. The vacuum cleaner according to claim 4, wherein the driving means is controlled so as to follow the user quickly.

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