JP2009172235A - Floor surface detector and vacuum cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a floor surface detector and a vacuum cleaner which allow the kind of floor surface to be discriminated more finely than a conventional distinction between a panel floor, a tatami mat, and a carpet, do not need to exchange even after many hours' use, and precisely and quickly discriminate the kind of floor surface slid in a wide range of use scenes. <P>SOLUTION: The floor surface detector is provided with a vibration detection sensor 12 for detecting vibrations inside a casing of a suction tool 8. Vibration when the suction tool 8 slides or is placed is detected, a peak frequency giving a maximum value is calculated by a discrimination part 16 after a band 500 to 1,000 Hz is narrowed down to by BPF (Band-Pass Filter) with respect to an FFT output of the vibration signal, and further the peak frequency is compared with a threshold for two or more floor materials for discrimination preset. Thus, the kind of floor is discriminated more finely than the two conventional kinds, of a carpet and a wooden floor. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a floor surface detection device that determines the type of a floor surface that comes into contact with a housing based on an image of the vibration of the housing when sliding or an image of the floor surface, and a vacuum cleaner equipped with the floor surface detection device. It is.

  As a conventional technique for detecting the floor surface, a lip that detects the uneven state of the floor surface as an absolute value of the resistance value is provided at a position where the housing contacts the floor surface, and when the lip is in contact with the floor surface It is equipped with a detection means that detects the type of floor surface using the absolute value of the resistance value and the amount of change in the resistance value. For example, when the absolute value of the resistance is large and the amount of change is large, the carpet is sunk and uneven In some cases, when the absolute value of resistance is small and the amount of change is small, the floor type is discriminated using fuzzy inference, such as a wooden floor (see Patent Document 1).

  In addition, as a first example of applying the technology to detect a floor surface to a vacuum cleaner, the type of floor surface is automatically detected by detecting the load current value of the brush motor that drives the rotary brush provided in the suction tool. There is something to distinguish. According to this principle, the load applied to the rotating brush and the brush motor is small because the frictional resistance is small in the plate and the tatami mat. However, the carpet has high frictional resistance, and a large load is applied to the rotating brush and the brush motor. The current flowing through the brush motor is detected, and when the detected load current value is larger than the threshold value, it is determined as a carpet, and when it is smaller, it is determined as a board or a tatami mat (see Patent Document 2).

  In addition, as a second example in which the technology for detecting the floor surface is applied to a vacuum cleaner, there is a method of determining the type of floor by detecting the air pressure in the dust collection chamber. This principle is that the suction device is strongly adsorbed to the floor and the air pressure in the dust collection chamber is reduced in the floor and tatami mats, whereas the suction of the suction tool is weak in the floor made of fibers such as carpets, and the air pressure in the dust collection chamber is Get higher. Therefore, when the air pressure in the dust collection chamber to which the air pressure detecting means is attached is larger than the threshold value, it is determined as a carpet, and when it is smaller, it is determined as a plate or a tatami mat (see Patent Document 3).

JP-A-5-253146 (pages 3 to 4, FIGS. 1 to 3) JP2007-29218A (6th page, FIG. 2) Japanese Patent Laid-Open No. 5-192279 (page 3, FIG. 2, FIG. 4)

In the prior art, the type of floor surface that can be detected is limited to carpets or other types, and there is a problem that more detailed discrimination such as tatami mats and board floors cannot be performed.
Moreover, in the conventional example shown by patent document 1, a lip is provided in the location which contact | connects the floor surface of a housing | casing, and since a lip continues contacting with a floor surface in the detection means which detects the pressure change by contact with a floor surface. There is a problem that it is necessary to replace the lip regularly because it is worn and misidentified when used continuously.

  Moreover, in the conventional example shown by patent document 2, although a detection means detects the load current of the brush motor 10, in order to detect the kind of floor surface, the subject that it is necessary to drive the rotating brush 9 has the subject. there were.

  Further, in the conventional example shown in Patent Document 3, the detection means detects the air pressure in the dust collection chamber. However, dust accumulates in the dust collection chamber with repeated use, the suction force decreases, and the air pressure in the dust collection chamber decreases. There was a problem of misjudging because it was not lowered as expected.

  In addition, since the air pressure detection means requires a sufficient time for the air pressure in the dust collection chamber to stabilize so that the air pressure can be discriminated, there is a problem that the discrimination result of the floor surface is not immediately reflected.

The present invention has been made in order to solve the above-mentioned problems. The first object is to make it possible to discriminate the type of floor surface more finely than before, such as board floors, tatami mats, and carpets. It is necessary to obtain a floor surface detection device that accurately and quickly discriminates the types of floor surfaces that are sliding in a wide range of usage scenes.
The second object is to apply the present invention to a vacuum cleaner to automatically control the optimal suction force on the floor surface and the rotational speed of the rotating brush 9 to excessively absorb and rotate the rotating brush 9. And to obtain a vacuum cleaner that can reduce power consumption while maintaining cleaning efficiency.

  A floor surface detection apparatus according to the present invention extracts a floor surface feature based on vibration information output from a detection means that is provided inside a housing and detects sliding or installation generated in the housing. The discriminator includes a discriminating unit that discriminates three or more types of floors based on at least two different thresholds for this feature. Moreover, when this floor surface detection apparatus is applied to a vacuum cleaner, it is provided with the control part which controls suction force and the rotation speed of a rotating brush according to a determination result.

  The floor surface detection apparatus of the present invention has an effect of detecting the characteristics of the floor from the vibration waveform of the housing that occurs at the time of sliding or installation or an image of the floor surface. By applying this detection means to a vacuum cleaner, it is possible to immediately determine the type of floor currently being cleaned, and to automatically control the suction force and the number of rotations of the rotating brush 9 to provide an optimal cleaning method. is there.

Embodiment 1 FIG.
The case where the floor surface detection means of the present invention is applied to a vacuum cleaner will be described. As shown in FIG. 1, the vacuum cleaner has a hand portion 5 connected to a main body 1 having a fan motor 2 by a hose 4, and a suction force button 61 for switching suction force to the hand portion 5 as shown in FIG. A brush button 62 for switching ON / OFF of the rotating brush 9, an automatic operation button 63 for switching to an automatic operation mode, a learning button 64 for designating types of plates, tatami mats, carpets and floors, and a display device 17 for displaying a discrimination result are provided. A suction tool 8 is connected to the tip of the hand portion 5 by an extension pipe 7. FIG. 3 is a diagram showing the installation position of the floor surface detection device in the suction tool 8.
The learning button 64 is a button for prompting the user to memorize the floor type indicated on the display means to the apparatus, and the user presses the learning button to allow the user to The instructed floor surface type and the output of the detection means are stored in association with each other, and the subsequent floor surface determination is affected. A learning function is provided that increases the determination accuracy each time this operation is performed.

  As shown in FIG. 3, a vibration detection sensor 12 as vibration detection means is installed at a location located above the rotary brush 9 inside the suction tool 8, and an output signal from the vibration detection sensor 12 is processed, and the floor surface There are provided a discriminating unit 16 for discriminating types in detail (specifically, three or more types) and outputting the results, and means for transmitting the output of the discriminating unit 16 to the main body 1. The main body 1 includes a controller 18 that controls the suction of the main body 1 and the rotation of the rotary brush 9 of the suction tool 8 that are programmed in advance based on the output signal of the determination unit 16.

  Next, the operation will be described with reference to FIGS. In the vacuum cleaner configured as described above, when the user presses the automatic operation button 63 of the hand portion 5, the vacuum cleaner automatically enters the mode for automatically controlling the suction force and the rotation speed of the rotary brush 9. . In this state, the detection means 12 and the determination unit 16 in the suction tool 8 work to determine the type of the floor. If the determination result is a plate, the suction force is weak and the rotation of the rotary brush 9 is stopped, and the determination result is the carpet. Then, the rotary brush 9 is driven with a strong suction force.

  In addition, when the result of the determination in the determination unit 16 is displayed on the display device 17 of the hand unit 5 and the result is an incorrect determination, the user corrects it by pressing the learning button 64 indicating the correct floor type. Is done. The discriminating unit 16 stores the output from the detection means 12 at that time, and the correction is repeated by the user so that data is accumulated and the discrimination accuracy is improved.

Next, operation | movement of the detection means 12 which detects the vibration of the suction tool 8 at the time of floor cleaning is demonstrated.
In the vacuum cleaner, when the user holds the hand portion 5 and slides the suction tool 8 on the floor surface, the suction tool 8 vibrates according to the state of the floor. The detection means 12 discriminates the kind of floor from the waveform of vibration generated in the suction tool 8 when the suction tool 8 is placed on the floor and is slid on the floor surface. The vibration generated in the suction tool 8 corresponds to the surface state of the floor surface.
FIG. 6 shows the output of the vibration detection sensor 12 when the suction tool 8 is slid on the floor surface at the same cycle without changing the suction force. FIG. 6 shows the results of frequency analysis of the output of the vibration detection sensor 12 by fast Fourier transform (FFT) for the floor types of plates, tatami mats, and carpets (cut pile, loop pile). The axis represents frequency and the vertical axis represents amplitude.

  As shown in FIG. 6, the output of the vibration detection sensor 12 varies depending on the type of the floor surface. In the result of frequency analysis, the peak frequency that appears in the frequency band of 500 to 1000 Hz (hereinafter referred to as the peak frequency) is the floor. It depends on the type of surface. As described above, the vibration peak frequency varies depending on the type of the floor surface, so that the type of the floor surface can be discriminated based on the peak frequency. In addition, although not shown here, the carpet has a shorter bristle and gets closer to the peak frequency of the board as it gets harder, so that vibration generated in the suction tool 8 during sliding is affected by the hardness of the floor. I understand.

  From such a difference in peak frequency, in the discrimination unit 16, for example, when the output of the vibration detection sensor includes many components at a frequency lower than a preset threshold value (for example, 750 Hz), the floor type is set as a carpet. Determine. By preparing two threshold values for discriminating the kind of floor, discrimination between a board, a tatami mat, and a carpet is performed.

  Thus, the output of the vibration detection sensor 6 varies depending on the type of the floor surface, and the peak frequency appearing in the frequency band of 500 to 1000 Hz varies depending on the type of the floor surface as a result of the frequency analysis. Since the peak frequency differs depending on the type of floor, the type of floor can be identified.

Next, a determination method in the determination unit 16 will be described.
For example, when the output of the vibration detection sensor includes many components at a frequency lower than a preset threshold, the determination unit 16 determines the floor type as a carpet. By preparing two thresholds to separate floor types (frequency between the frequency band of the board and the frequency band of the tatami mat, frequency between the frequency band of the tatami mat and the frequency band of the carpet), discrimination of the board, the tatami mat and the carpet It can be performed.

  The process in the determination part 16 is demonstrated based on FIG. When the signal output from the vibration detection sensor 12 is captured and then the waveform subjected to frequency analysis is observed, a characteristic peak depending on the hardness of the floor as shown in FIG. 6 is observed. The type of floor is determined by determining whether the peak frequency is greater than or equal to a preset threshold value.

  The brush motor 10 of the vacuum cleaner starts rotating when the automatic operation button 63 or the brush switching button 62 is pressed by the user, and rotates the rotating brush 9. When the user slides the suction tool 8 on the floor, the vibration detection sensor 12 detects the vibration of the suction tool 8 housing. The determination unit 16 inputs a signal detected by the vibration detection sensor 12 (step S11), narrows the target frequency band to 500 to 1000 Hz using a bandpass filter (step S12), and then fast Fourier transform (FFT). Is performed (step S13). Since the peak appears at a higher frequency as the floor is harder, the determination unit 16 detects a frequency at which the amplitude is a peak by a known means (step S14), and compares the obtained peak frequency with the threshold A (step S14). S15) If the peak frequency is greater than or equal to the threshold A, it is determined that the floor is a floor and is output to the display device 17 (step S17). If the peak frequency is less than or equal to the threshold A, the peak frequency is compared with the threshold B (step S16). If the peak frequency is equal to or higher than the threshold value B, it is determined as a tatami mat and output to the display device 17 (step S18). If the peak frequency is equal to or lower than the threshold value B, it is determined as a carpet and output to the display device 17 (step S18). S19). However, threshold A> threshold B.

In the vibration detecting means described so far, the upper and lower vibrations of the suction tool 8 are used to determine the type of the floor. However, the present invention is not limited to this, and by using an element capable of simultaneously detecting vibrations in the front-rear and left-right directions, the moving direction and amount of the suction tool 8 can be calculated, and how the user moves the suction tool 8 is determined. it can.
Moreover, although 750 Hz was raised as an example of a threshold value, what kind of frequency may be sufficient as long as it can discriminate | determine not only 750 Hz but the kind of floor surface.

Embodiment 2. FIG.
When the user places the suction tool 8 on the floor, the inclination of the initial time of the vibration waveform differs depending on the floor type. Therefore, the floor type can also be determined by the inclination of the initial time of the vibration waveform when the suction tool 8 is placed on the floor. In this second embodiment, such a mode will be described.
FIG. 7 is a diagram showing the rise of the waveform of the vibration detection means, and shows the vibration generated in the suction tool 8 when the user places the suction tool 8 on the floor surface.
When determining the slope of the initial time to determine the type of floor, the determination unit 16 compares the time until the amplitude of vibration becomes equal to or greater than a specified value with a preset reference value. Since the carpet takes a longer time than the board floor to reach the maximum amplitude after the suction tool 8 reaches the floor, the determination means 16 determines that the carpet is a carpet when this time is longer than the reference value, If it is short, it is determined to be a board or a tatami mat. Thereby, the kind of floor can be distinguished not only in sliding but also in the operation of placing the suction tool 8.

Embodiment 3 FIG.
In the first and second embodiments, the mode in which vibration is detected and the type of the floor surface is determined based on the peak frequency has been described. However, the type of the floor surface is not based on the detected floor image but the vibration. You may make it discriminate | determine. This embodiment will be described in this third embodiment.

  FIG. 8 is a diagram showing a configuration of a floor surface detection apparatus according to Embodiment 3 of the present invention. As shown in FIG. 8, the imaging device 13 that images the floor surface from directly above the surface in front of the rotary brush 9 of the suction tool 8 and the light within a target range is condensed on the imaging device 13. The lens 14 and the illumination 15 installed at an angle that illuminates the floor surface from an oblique direction are provided, and constitutes a detecting means for capturing an image of the floor surface.

Next, the operation of the detection means for imaging the floor from above in the third embodiment will be described.
A discrimination unit 16 that discriminates the type of the floor surface from the characteristics of the image of the floor surface converted into an electrical signal by the detection means and outputs the result is provided. The main body 1 is provided with a control unit 18 that controls the suction of the main body 1 and the rotation of the rotary brush 9 of the suction tool 8 whose reference values are preset in the storage means based on the output of the determination unit 16.

The process in the determination part 16 is demonstrated based on FIG.
The brush motor 10 of the vacuum cleaner starts rotating when the automatic operation button 63 or the brush switching button 62 is pressed, and rotates the rotating brush 9. And if a user slides the suction tool 8 on a floor surface, the image pick-up element 13 will image a floor surface. The brightness and darkness of the image signal output from the image sensor 13 is as shown in FIG. 9, which is caused by the unevenness of the floor surface. Accordingly, the determination unit 16 captures the output of the image sensor 13 (step S21), then compares the difference between the maximum and minimum values of brightness and the threshold (step S22), and the difference between the maximum and minimum values of brightness is the threshold value. If it is larger than that, it is determined that it is a carpet, and a message to that effect is output to the display device 17 (step S27). If the difference in brightness is smaller than the threshold, St. As shown in FIG. 23, a threshold is provided for the input signal, and binarization processing is performed to determine 1 or 0 depending on whether the value of the input signal is larger than this threshold (step S23). Pattern recognition is performed to determine whether a pattern appears (step S24). If a linear pattern appears, it is determined that the pattern is a tatami and is output to the display device 17 (step S26). And the fact is output to the display device 17.

  In the imaging detection means described so far, the brightness of one image taken by the imaging device 13 is used to determine the type of the floor, but by using a plurality of continuous images, the suction tool 8 is used. The movement direction and amount of movement can be calculated, and it can be determined how the user moves the suction tool 8.

Embodiment 4 FIG.
In the first to fourth embodiments, the case where the floor type determined by the determination unit 16 based on the vibration detection unit or the imaging detection unit provided in the suction tool 8 is output to the display device 17 has been described. May be the control unit 18 in the main body of the vacuum cleaner instead of the display device, and the rotational speed of the fan motor 2 may be controlled under the control of the control unit 18. In the fifth embodiment, functions realized in the control unit 18 in such a case will be described.

The control unit 18 automatically controls the following capabilities of the vacuum cleaner according to the floor type determined by the determination unit 16.
The smoother the surface, the stronger the suction force is not necessary, and even if the suction force is reduced in the order of plates, tatami mats, and carpets, sufficient dust can be sucked in. The control unit 18 controls the number of rotations of the fan motor 2 with electric power supplied to the fan motor 2 in the main body, and freely changes the suction force.
The smoother the surface, the faster the rotary brush 9 does not need to be driven, and even if the rotational speed of the rotary brush 9 is decreased in the order of carpet, tatami mat, and board, sufficient dust removal is performed. The control unit 18 controls the number of rotations of the rotary brush 9 by electric power supplied to the brush motor in the suction tool 8.

Since the rotation direction of the rotary brush 9 of the conventional suction tool 8 continues to rotate in the forward direction, the user can slide with a light force when pushing out the suction tool 8, but heavier when pulled back. There was a problem. In order to solve this problem, the front and rear movements of the suction tool 8 slid by the user in the two detection means described above are detected, and the rotation direction of the rotary brush 9 is switched in that direction. By switching the rotation direction of the rotating brush 9, the user can slide the suction tool 8 with a light force.
Further, in this case, suddenly switching from the forward direction to the reverse direction may overload the electric signal and increase the overshoot. Therefore, the control unit 18 detects that the sliding speed has become 0 at the time of switching between the front and rear when sliding the vacuum cleaner back and forth, and temporarily stops the power supply to the brush motor 10 at that timing, Thereafter, control is performed to switch to reverse rotation. As a result, overload can be prevented and power saving can be realized.

It is a figure which shows the whole vacuum cleaner which concerns on this invention. It is a figure which shows the hand part. FIG. 3 is a diagram illustrating an installation position of a floor surface detection device in the suction tool 8 in the first embodiment. It is a flowchart of the Example of a vibration detection system. It is a flowchart of the Example of an imaging system. It is a figure which shows the frequency characteristic after the frequency analysis of a vibration detection means. It is the figure which showed the rising of the waveform of the vibration detection means in Embodiment 2. In Embodiment 3, it is a figure which shows the installation position of the floor surface detection apparatus in the suction tool. It is a figure which shows the frequency characteristic after the frequency analysis of the detection means to image.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Vacuum cleaner main body, 2 Fan motor, 3 Wheel, 4 Hose, 5 Hand part, 6 Operation part, 7 Extension pipe, 8 Suction tool, 9 Rotating brush, 10 Brush motor, 11 Roller, 12 Vibration detection sensor, 13 Imaging Element, 14 Lens, 15 Illumination, 16 Discrimination unit, 17 Display device, 18 Control unit, 61 Suction force button, 62 Brush switching button, 63 Automatic operation button, 64 Learning button

Claims (12)

A detecting means provided inside the casing that contacts and slides on the floor, and detects vibration from the floor through the casing;
A floor surface detection apparatus comprising: a determination unit that extracts a floor surface characteristic based on an output from the vibration detection unit and determines a type of the floor surface based on the characteristic.   The floor detection device according to claim 1, wherein the determination unit is capable of detecting three or more types of floor surfaces.   The discriminating unit performs frequency analysis on the signal waveform output from the vibration detection unit to extract a floor feature, and discriminates the type of the floor based on a plurality of different threshold values. The floor surface detection device according to claim 1 or 2.   The floor surface detection device according to any one of claims 1 to 3, wherein the characteristic is a frequency having a peak amplitude value in frequency characteristics. Display means;
A learning button for designating the type of floor from the outside,
The determination unit includes a storage unit and displays the determined type of the floor surface on the display unit.
When it is detected that the learning button is pressed by the user, the determination unit stores the type of the floor surface instructed by the user and the output of the detection unit in association with each other in the storage unit. The floor surface detection apparatus in any one of Claims 1-4. A detection means provided on the bottom surface of the housing of the suction tool that contacts and slides on the floor, and images the floor from above;
A floor comprising: a discriminating unit that extracts a feature of the floor image based on the floor image output from the detection means and discriminates the type of the floor based on the feature. Surface detection device.   The floor detection device according to claim 6, wherein the determination unit is capable of detecting three or more types of floor surfaces.   The floor detection device according to claim 6 or 7, wherein the determination unit determines a floor type based on a light / dark pattern of a floor image captured by the detection unit.   The determination unit calculates a difference between a maximum value and a minimum value of brightness and darkness of a floor image captured by the detection unit, and determines a type of a floor surface based on a size comparison between the difference and a threshold value. The floor surface detection device according to any one of claims 6 to 8. Display means;
A learning button for designating the type of floor from the outside,
The determination unit includes a storage unit and displays the determined type of the floor surface on the display unit.
When it is detected that the learning button is pressed by the user, the determination unit stores the type of the floor surface instructed by the user and the output of the detection unit in association with each other in the storage unit. The floor surface detection apparatus in any one of Claims 6-9.   A vacuum cleaner comprising the floor surface detection device according to claim 1. A fan motor that sucks in air;
A rotating brush provided in the suction tool;
A brush motor for driving the rotating brush;
The control unit for controlling the number of rotations of the fan motor and the number of rotations of the brush motor or ON / OFF based on the type of floor surface determined by the floor surface detection device. 11. A vacuum cleaner according to 11.

Images