JP2010057647A - Vacuum cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problems that a conventional vacuum cleaner can have high dust collection performance when an electric air blower or a rotating brush is normally driven by maximal output but energy more than necessary is consumed and, by providing energy more than necessary, noise becomes louder or dust is scattered around. <P>SOLUTION: The vacuum cleaner has: a suction port part; a rotating brush provided inside the suction port part; a rotating brush motor for driving the rotating brush; a floor surface sensor for detecting the kind of floor surface; an electric air blower for generating suction force for sucking dust from the suction port part; and a control means for controlling the rotating brush motor and the electric air blower. The control means controls the rotation direction of the rotating brush, rotation speed of the rotating brush, and the number of rotations of the electric air blower in accordance with the kind of floor surface detected by the floor surface sensor. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vacuum cleaner.

  Conventionally, this type of vacuum cleaner has an electric blower built in the main body housing, a dust collecting case for collecting dust sucked by the electric blower, a rotating brush that sweeps up dust from the suction port, and a rotating brush. It is composed of an electric motor to be driven, an intake passage to a suction port and a dust collecting case, and a hand control panel. Further, the self-propelling function includes a traveling wheel attached to the main body casing and an electric motor that drives the traveling wheel. In addition, a battery may be mounted as a power source, and power may be supplied from the battery to the electric blower, the electric motor that drives the rotating brush, and the electric motor that drives the traveling wheel.

  In the above-described configuration, the rotating brush has a function of scraping dust on the floor surface and improving dust collection performance. For example, Patent Document 1 discloses a technique for reducing noise on the wooden floor and preventing dust from flying off when the suction force is weak with respect to the operation of the rotating brush. Moreover, in the vacuum cleaner which a person operates rather than a self-propelled type, it is desired that operation force is light. In particular, when the floor surface is a carpet, the operability during cleaning tends to be poor and the feeling of operation tends to be heavy. Therefore, for example, Patent Document 2 discloses a technique for improving the operational feeling by changing the rotation direction of the rotating brush according to the amount of dust when cleaning the carpet surface. A technique for automatically discriminating the material of the floor surface along with the level difference of the floor surface is described in Patent Document 3, for example.

JP 2007-54146 A JP-A-11-28179 Japanese Patent Laying-Open No. 2005-211364

  In an electric vacuum cleaner, high dust collection performance can be expected if the electric blower and the rotating brush are always driven at the maximum output, but there is a problem that more energy is consumed than necessary. In addition, there are problems such as giving more energy than necessary and increasing noise or splashing dust.

  In addition, in the case of a vacuum cleaner equipped with a battery as a power source for a vacuum cleaner, the current battery requires a certain amount of time for recharging after discharging, and the vacuum cleaner cannot be cleaned during recharging. . Therefore, there is a demand for cleaning as long as possible with one charge capacity of the battery.

  With the techniques disclosed in Patent Document 1 and Patent Document 2, a certain effect is expected for the dust collection performance and operational feeling of the vacuum cleaner by control according to the floor surface material. However, there is a lack of consideration for energy saving and battery consumption.

  The objective of this invention is providing the vacuum cleaner which can perform the optimal dust collection suitable for the floor surface material.

  In order to achieve the above object, the present invention is characterized by a suction port, a rotating brush provided in the suction port, a rotating brush motor for driving the rotating brush, and a floor for detecting the type of floor surface. A surface sensor, an electric blower that generates a suction force for sucking dust from the suction port, and a control means for controlling the rotary brush motor and the electric blower, wherein the control means is the floor sensor. According to the detected floor type, the rotational direction of the rotary brush, the rotational speed of the rotary brush, and the rotational speed of the electric blower are controlled.

  Further, the present invention is characterized by a vacuum cleaner main body, a suction part built in the vacuum cleaner body, and a suction force built in the vacuum cleaner body for sucking dust from the suction part. An electric blower, a battery built in the main body of the vacuum cleaner and supplying electric power to the electric blower and the rotary brush motor, a dust collection case detachably provided on the main body of the vacuum cleaner, a floor surface A floor sensor for detecting the type, and a control unit for controlling the rotary brush motor and the electric blower, wherein the control unit is configured to control the rotary brush according to the type of the floor detected by the floor sensor. It is to control the rotation direction, the rotation speed of the rotary brush, and the rotation speed of the electric blower.

  According to the present invention, an object of the present invention is to provide an electric vacuum cleaner that can perform optimum dust collection suitable for the floor material.

  A suction-type vacuum cleaner according to an embodiment of the present invention will be described in detail below with reference to FIGS.

  FIG. 1 is a diagram showing a schematic structure of a self-propelled electric vacuum cleaner according to an embodiment of the present invention. In FIG. 1, 1 is a vacuum cleaner main body, 2 is built in the vacuum cleaner main body 1, and an electric blower for generating a suction force for sucking dust from the suction port 12 is incorporated in the vacuum cleaner main body 1. A battery for supplying power to the blower 2 and the rotary brush motor 14, 4 is a dust collection case detachably provided on the cleaner body 1, 5 is a control circuit board, and 6 is a traveling direction of the cleaner body 1 (FIG. 1). The left traveling wheel disposed on the left side of the upper direction), 7 is the right traveling wheel disposed on the right side in the traveling direction of the cleaner body 1 (upward direction in FIG. 1), and 8 rotates the left traveling wheel 6. A drive motor, 9 is a drive motor that rotationally drives the right traveling wheel 7, 10 is a bumper disposed in front of the cleaner body 1, and 11 is a charging terminal for charging the battery 3.

  Moreover, FIG. 2 is a figure which shows the outline which looked at the vacuum cleaner main body 1 from the back surface. In FIG. 2, 12 is a suction part that opens toward the floor and sucks in dust, 13 is a rotary brush provided in the suction part 12, 14 is a rotary brush motor that drives the rotary brush 13, and 15 is a vacuum cleaner. 2 is a floor distance sensor provided on the bottom surface of the main body 1.

  FIG. 3 is a schematic view of the cleaner body 1 as seen from the side. In FIG. 3, 16 is an intake passage provided in the cleaner body 1 and connects the suction port 12 and the dust collecting case 4, 17 is a pressure sensor for detecting the pressure in the intake passage 16, and 18 is a bumper and an obstacle. It is a contact detection sensor which detects a contact with. Each element shown in FIGS. 1 to 3 is mounted inside the cleaner body 1.

  FIG. 4 is a diagram showing a configuration of a control circuit of the self-propelled electric vacuum cleaner according to the embodiment of the present invention. A control circuit (control means) is mounted on the control circuit board 5. In FIG. 4, 20 is a control main circuit including a central processing unit (CPU), 21 is a drive circuit for the left traveling motor 6, 22 is a rotation detector for the left traveling motor 6, and 23 is a drive for the right traveling motor 9. A circuit, 24 is a rotation detector of the right traveling motor 9, 25 is a drive circuit of the rotary brush motor 14, and 26 is a rotation detector of the rotary brush motor 14. Reference numeral 27 denotes a driving circuit for the electric blower 2, 28 denotes a driving circuit for the floor distance sensor 15, 29 denotes a driving circuit for the pressure sensor 17, and 30 denotes a driving circuit for the bumper contact detection sensor 18. 31 is a power supply circuit, 32 is a battery capacity detection circuit (battery capacity detection means), 33 is a control main circuit power supply circuit, 34 is a left travel motor power supply circuit, 35 is a right travel motor power supply circuit, and 36 is a rotating brush motor. , 37 is a power supply circuit for an electric blower, and 38 is a sensor drive power supply circuit for the floor distance sensor drive circuits 28 to 30.

  Furthermore, 40 is a central processing unit (CPU) constituting the control main circuit, 41 is a memory circuit, 42 is an input / output circuit, 43 is an input unit, 44 is an output unit, 45 is an address bus, 46 is a data A bus, 47 is a control bus, and 48 is a timer circuit.

  Although not shown, a circuit for controlling the power switch for turning on / off the power supply from the power supply circuit 31, the input of the operation switch for giving a cleaning start command or the like to the cleaner, and the output of the display lamp, etc. It is connected to the control main circuit 20.

  A bumper 10 and a bumper sensor 18 are attached to the cleaner body 1. The left traveling wheel 6 is connected to the left traveling motor 8 via an axle and a gear (not shown). The right traveling wheel 7 is connected to the right traveling motor 9 via an axle and a gear (not shown). The rotating brush 13 is connected to the rotating brush motor 14 via an axle and a gear.

  A floor distance sensor 15 is attached to the lower surface of the cleaner body 1. Although not shown, on the upper surface of the vacuum cleaner main body 1, power-on, hand operation switches, and display lamps are arranged. The vacuum cleaner main body 1 is docked on a charging stand (not shown), and the battery 3 is charged via the charging terminal 11 from an external charging stand.

  In FIG. 4, the control main circuit 20 includes a left travel motor drive circuit 21, a right travel motor drive circuit 23, a rotary brush motor drive circuit 25, an electric blower drive circuit 27, a floor distance sensor drive circuit 28, and a pressure sensor. The drive circuit 29, the bumper contact detection sensor drive circuit 30, and the control main circuit power supply circuit 33 are connected.

  The left traveling motor drive circuit 21 is connected to the left traveling motor 8, and the left traveling motor 8 is connected to the left traveling motor rotation detector 22. The left travel motor rotation detector 22 is connected to the control main circuit 20. Further, the left traveling motor drive circuit 21 is supplied with electric power from the left traveling motor power supply circuit 34. The right traveling motor drive circuit 23 is connected to the right traveling motor 9, and the right traveling motor 9 is connected to the right traveling motor rotation detector 24. The right travel motor rotation detector 24 is connected to the control main circuit 20. Further, the right traveling motor drive circuit 23 is supplied with electric power from the right traveling motor power supply circuit 35.

  The rotary brush motor drive circuit 25 is connected to a rotary brush motor 14 that rotationally drives the rotary brush 13, and the rotary brush motor 14 is connected to a rotary brush motor rotation detector 26. The rotary brush motor rotation detector 26 is connected to the control main circuit 20. The rotating brush motor drive circuit 25 is supplied with electric power from a rotating brush motor power supply circuit 36. The electric blower 2 is connected to the electric blower drive circuit 27. Electric power is supplied to the electric blower drive circuit 27 from an electric blower power supply circuit 37.

  The floor distance sensor 15 is connected to the floor distance sensor drive circuit 28. The pressure sensor 17 is connected to the pressure sensor drive circuit 29. A bumper sensor 18 is connected to the bumper sensor drive circuit 30. The floor distance sensor drive circuit 28, the pressure sensor drive circuit 29, and the bumper sensor drive circuit 30 are supplied with electric power from a sensor drive power supply circuit 38.

  A power supply circuit 31 is connected to the battery 3. The power supply circuit 31 includes a control main circuit power supply circuit 33, a left side travel motor power supply circuit 34, a right side travel motor power supply circuit 35, a rotary brush motor power supply circuit 36, an electric blower power supply circuit 37, and a sensor drive power supply. A circuit 38 is connected. A battery capacity detection circuit 32 is connected to the power supply circuit 31. The power supply circuit 31 detects that the charging terminal 11 is connected to the charging stand and causes other components to perform a required operation. The battery capacity detection circuit 32 monitors the voltage of the battery 3 via the power supply circuit 31.

  The central processing unit 40 of the control main circuit 20 is connected to an address bus 45, a data bus 46, a control bus 47, and a timer circuit 48. The memory circuit 41 and the input / output circuit 42 are respectively connected to addresses. Connected to bus 45, data bus 46 and control bus 47. The electric signal of each circuit connected to the control main circuit 20 is transmitted to the control main circuit 20 through the input unit 43 and the output unit 44 of the input / output circuit 42.

  The left traveling motor rotation detector 22, the right traveling motor rotation detector 24, and the rotating brush motor rotation detector 26 shown in FIG. 4 are encoders, for example, which are encoders of the left traveling motor 6, the right traveling motor 7, and the rotating brush motor 14, respectively. The electronic component is configured to generate a pulse signal in accordance with the rotation speed.

  The floor surface distance sensor 15 is a distance sensor using infrared rays, for example. The infrared distance sensor is an electronic component including a light emitting element, a light receiving element, and a lens surface. A thin beam of infrared light is projected from the light emitting element through the lens surface to the object, and the infrared light reflected from the object is received by the light receiving element through the lens surface, and the distance to the object is measured from the intensity of the received reflected light. Sensor.

  The pressure sensor 17 is an electronic component configured so that the output voltage changes according to the pressure. The bumper contact detection sensor 18 is a microswitch attached to the structural member of the bumper 10, for example. When a predetermined force is applied to the microswitch, the switch opens and closes and generates an electrical signal corresponding to the opening and closing.

  The control main circuit 20 drives the left traveling motor 8 and the right traveling motor 9 via the left traveling motor driving circuit 21 and the right traveling motor driving circuit 23. Further, based on the rotation of the left traveling motor 8 and the right traveling motor 9 detected by the left traveling motor rotation detector 22 and the right traveling motor rotation detector 24, the rotation direction and the rotational speed of the left traveling motor 8 and the right traveling motor 9 are determined. Calculate and control the rotation of the left traveling wheel 6 connected to the left traveling motor 8 and the right traveling wheel 7 connected to the right traveling motor 9. The vacuum cleaner body 1 performs moving operations such as forward, backward, right rotation, and left rotation according to the rotation direction and rotation speed of the left traveling wheel 6 and the right traveling wheel 7.

  The main control circuit 20 drives the rotary brush motor 14 via the rotary brush motor drive circuit 25. Based on the rotation of the rotary brush motor 14 detected by the rotation detector 26, the rotation direction and the rotation speed of the rotary brush motor 14 are calculated, and the rotation of the rotary brush 13 connected to the rotary brush motor 14 is controlled. The rotation direction of the rotating brush 13 is a forward rotation that rotates the rotating brush in a direction that supports the movement of the mouthpiece 12, and a reverse rotation that rotates the rotating brush in a direction that hinders the movement of the mouthpiece 12. , And rotation stop. The forward direction is a direction in which the left traveling wheel 6 and the right traveling wheel 7 rotate when the left traveling wheel 6 and the right traveling wheel 7 are given the same rotation to advance the cleaner body 1 and the suction port 12. .

  The main control circuit 20 controls the operation and stop of the electric blower 2 and the strength of the suction force via the electric blower drive circuit 27.

  Further, the control main circuit 20 drives the floor surface distance sensor 15 via the floor surface distance sensor drive circuit 28 and measures the distance from the bottom surface of the cleaner body 1 to the floor surface. In addition, although the four floor surface distance sensors 15 are provided in front of the cleaner body 1 in FIG. 2, the number is not limited to four.

  The control main circuit 20 drives the pressure sensor 17 via the pressure sensor drive circuit 29 and measures the pressure of the air flowing through the intake passage 16.

  Further, the control main circuit 20 receives an electrical signal output from the bumper sensor 18 via the bumper contact detection sensor drive circuit 30 and detects contact between the bumper 10 and the obstacle.

  FIG. 5 is a schematic diagram illustrating a cleaning operation of the vacuum cleaner according to the embodiment of the present invention. FIG. 5A is a schematic diagram when the carpet is being cleaned, FIG. 5B is a schematic diagram when the wooden floor is being cleaned, and FIG. 5C is a diagram illustrating the wooden floor under different operating conditions. It is a schematic diagram in the case of cleaning. In FIG. 5, small objects shown in black represent dust. Moreover, the moving direction of the main body, the rotating direction of the right traveling wheel 7 and the rotating direction of the rotating brush 13 are indicated by arrows. Although not shown, it is assumed that the left traveling wheel 6 also rotates in the same direction as the right traveling wheel 7 and the cleaner body 1 moves forward. In the present embodiment, the right side of FIG. The suction port 12 moves forward at the same speed as the forward speed of the cleaner body 1.

  Generally, in the suction port of a vacuum cleaner, it is said that the dust collection performance is better when the rotating brush is rotated in the direction of lifting up with respect to the moving direction of the suction port.

  As shown in FIG. 5 (a), when the rotating brush 13 is rotated in the counterclockwise direction that is counterclockwise toward the paper surface, the direction of the suction portion is scraped up and the carpet enters the carpet. Dust can be scraped and sucked, and dust collection performance is improved. Further, since the dust scraping effect is better when the rotation speed of the rotating brush is larger, the dust collecting performance can be further improved by controlling the rotation speed of the rotating brush so as to rotate in the reverse direction.

  On the other hand, as shown in FIG. 5 (b), when the rotating brush 13 is rotated in the reverse direction when the floor surface is a wooden floor, the wooden floor has a smaller friction than the carpet, and therefore, particularly in the case of solid dust, the rotating brush. 13 causes the dust to jump to the outside of the vacuum cleaner and diffuses the dust. In the case of a wooden floor, since dust hardly enters the interior of the floor like a carpet, dust can be collected even if the effect of scraping by the rotating brush 13 is small. Therefore, as shown in FIG. 5 (c), if the rotating brush 13 is rotated in the forward direction, which is a clockwise rotation toward the paper surface, dust can be collected while suppressing splashing. Alternatively, the rotating brush 13 may be stopped and dust may be collected only by suction by the electric blower 2 in order to suppress splashing.

  In addition, dust collection performance is improved by collecting dust with a strong suction force in the carpet, but dust on the floor can be sucked and collected without increasing the suction force to the strength required for the carpet on the wooden floor. Therefore, depending on the floor surface material, the operation condition of the electric blower 2 may be controlled in addition to the operation condition of the rotation direction and the rotation speed of the rotary brush 13 described above.

  FIG. 6 shows a combination of the rotation direction and rotation speed of the rotary brush 13 and the electric blower output according to the floor material. When the floor material is a carpet system such as woolen fabric or carpet, the rotation direction of the rotary brush 13 is reversed, the rotation speed of the rotary brush 13 is high, and the output of the electric blower 2 is strong (the rotational speed of the electric blower 2 is increased). ) And increase the suction power. Further, when the floor material is a wood floor system such as wood or tile, the rotation direction of the rotary brush 13 is rotated forward, the rotation speed of the rotary brush 13 is low, and the output of the electric blower 2 is weak (the rotational speed of the electric blower 2). The suction force is reduced. By setting it as such a combination, suitable dust collection according to the floor surface material can be performed. Further, in the wood floor system, power saving for driving the electric blower 2 and the rotary brush motor 14 can be achieved, so that the entire time for cleaning the house in the home where the carpeted room and the wood floor room exist. If you look at it, you can expect an energy saving effect on average.

  Such a combination is stored in advance in the memory circuit 41 of the control main circuit 20. When the carpet system or the wood floor system is selected by the operation switch or the floor surface material is automatically determined by the means described later, the central processing unit 40 responds to the floor material selected from the memory circuit 41. The combination is read out and controlled and output to the rotary brush motor drive circuit 25 and the electric blower drive circuit 27. Thereby, the rotary brush motor 14 operates the rotary brush 13 with a predetermined rotation direction and rotation speed, and causes the electric blower 2 to perform a predetermined operation.

  Here, the automatic determination means (floor surface sensor) of the floor material of the carpet system and the wood floor system will be described. On the carpet-based floor surface, the suction port tends to be in close contact with the floor surface, so the suction pressure is higher than in the case of the wooden floor system. Therefore, the suction pressure of the intake passage 16 is measured by the pressure sensor 17 and compared with a predetermined pressure threshold value to determine whether the carpet system or the wood floor system. The pressure threshold value is stored in the memory circuit 41 of the control main circuit 20, and the central processing unit 40 performs a comparison determination calculation process. However, the suction pressure also varies depending on the dust collection situation of the dust collection case 4. When the dust collection case 4 is almost full, it may be difficult to distinguish between the carpet system and the wood floor system.

  Therefore, means for discriminating the floor material without using a pressure sensor will be described. In FIG. 7, the block diagram (circuit diagram of other embodiment) of the said means is shown. In FIG. 7, 50 is a left traveling motor current detecting element, 51 is a right traveling motor current detecting element, and 52 is a rotating brush motor current detecting element. Other components are the same as those in FIG. The left travel motor current detection element 50 is connected to the left travel motor drive circuit 21, the right travel motor current detection element 51 is connected to the right travel motor drive circuit 23, and the rotary brush motor current detection element 52 is a rotary brush motor drive circuit 25. Connected to. The motor current detection elements 50, 51, 52 are connected to the control main circuit 20.

  The motor current detection elements 50, 51, 52 are electronic components that output a voltage proportional to the motor current, and detect drive currents for the left traveling motor 8, the right traveling motor 9, and the rotating brush motor 14.

  When the floor surface is a carpet system, the frictional resistance applied to the rotary brush 13 is larger than that of a wooden floor system, so that the load of the rotary brush motor 14 is increased, and the current value flowing to the motor is also increased. Therefore, in a state where the rotary brush 13 is in contact with the floor surface, feedback control is performed so as to obtain a constant rotational speed, and the rotary brush motor current is detected by rotating in the forward direction or the reverse direction. By comparing with the threshold value of the rotating brush motor current stored in the memory circuit 41, it is possible to determine whether the floor surface is a carpet system or a wooden floor system.

  Further, in the carpet system, the traveling wheel sinks into the texture, so that the load resistance during traveling is large, and the load current value of the traveling motor is also large. Therefore, the traveling motor current value is detected while moving on the floor surface with feedback control so that the speed is constant, and the carpet system or wooden floor is detected in the same manner as in the determination with the rotating brush motor current. You may determine whether it is a system. The movement on the floor surface may be a turning operation on the spot. Moreover, you may combine the electric current determination of a rotary brush motor and a traveling motor.

  In the case of the determination using the motor load current described above, it is necessary to operate the rotating brush 13 and the traveling motor for a certain period of time under a predetermined condition to acquire a motor current value. Then, next, a means for automatically discriminating the floor material on the spot using the floor distance sensor 15 even when the rotary brush 13 and the traveling motor are stopped will be described.

  FIG. 8 is a result of measuring the floor surface distance for 10 seconds with one of the floor surface distance sensors 15 while the vacuum cleaner main body 1 is stopped on the floor surface with the traveling motor, the rotating brush motor 14 and the electric blower 2 stopped. is there. (A) of FIG. 8 is a measurement figure in case a floor surface is a carpet, (b) is a measurement figure in the case of a wooden floor. In the case of a wooden floor, since there are few unevenness | corrugations on the surface, the light projected from the light emitting element of the distance sensor is reflected in a stable state from the floor surface. Therefore, the dispersion of distance values measured for a certain time is small. On the other hand, since the carpet is hairy, it has a surface with many irregularities with respect to the diameter of the thin beam projected from the light emitting element, diffusely reflects, and the measurement distance value varies even when the cleaner body is stationary.

  Therefore, with the rotary brush 13, the traveling motor, and the electric blower 2 stopped, the floor distance is measured with one of the floor distance sensors 15 for several seconds, and the control main circuit 20 determines the variation in the measured value. By processing this variation in the control main circuit 20 by, for example, the spatial frequency analysis disclosed in Patent Document 3, the carpet system and the wood floor system can be automatically distinguished.

  Moreover, the accuracy of this automatic discrimination can be increased by adding the following means. In the case of a wooden floor, the measurement stability is almost maintained regardless of where the floor is scanned. On the other hand, in the case of a carpet, there is a large variation in measurement values depending on the measurement location. Therefore, as shown in FIG. 2, a plurality of floor distance sensors may be provided to measure the distance, and automatic determination may be performed based on the average and variation of the spatial frequency analysis for the plurality of measured values. Alternatively, a single distance sensor may be provided, and the main body may be turned at an arbitrary angle on the spot with the center of the cleaner body as the turning center, and the change in distance during the operation may be observed. By using this means, it is possible to automatically determine the material of the floor before starting cleaning.

  In FIG. 5 and FIG. 6 described above, the cleaner body 1 has been described as going straight forward. Next, the rotation direction of the rotating brush 13 in cases other than straight forward will be described. FIG. 9 is a diagram schematically showing the movement of the cleaner body 1. FIG. 9 (a) shows the state after starting straight, and FIG. 9 (b) shows the state after going straight. FIGS. 9C and 9D show the state before and after the start of drawing a curve, and FIGS. 9E and 9F show the state before and after the start when rotating on the spot. VL and VR in the figure are tangential velocities with respect to the floor surface of the left and right traveling wheels. Arrows attached to VL and VR indicate the moving direction of the wheel. P0, P1, P2, and P3 indicate the center position of the cleaner body 1. The coordinate axes of the positions are the x axis from the left to the right in the figure and the y axis from the bottom to the top. (A) and (b) in the figure are VL = VR, P0 (x) = P1 (x), Po (y) ≠ P1 (y). Further, (c) and (d) are VL ≠ VR, P0 (x) ≠ P2 (x), Po (y) ≠ P2 (y). Further, (e) and (f) are the conditions that the magnitudes of VL and VR are the same, the directions are reversed, and P0 (x) = P3 (x), Po (y) = P3 (y). In FIG. 9, (a) and (b) are straight forward, (c) and (d) are curved forward, and (e) and (f) are depicted as clockwise turns. If the direction of the arrows of and VR is reversed, (a) and (b) go straight backward, (c) and (d) turn backward, and (e) and (f) turn counterclockwise. .

  The movement operation of the cleaner body 1 can be roughly classified into three cases shown in FIG. FIG. 10 shows combinations of rotating brush operation and electric blower output in each case.

  On the carpet floor, when the cleaner body 1 goes straight or curves, the rotating brush 13 is rotated in the reverse direction with respect to the moving direction of the suction mouth. Moreover, when the cleaner body 1 turns on the spot, the rotating brush 13 is stopped because the rotating brush 13 may be caught in the carpet and hinder the turning operation. The rotational speed of the rotary brush 13 is set to a high speed except for the stop. The electric blower 2 is strong.

  On the wooden floor, when the cleaner body 1 goes straight or curves, the rotating brush 13 is rotated forward with respect to the moving direction of the suction mouth. Further, when the cleaner body 1 turns on the spot, no matter which of the rotating brushes 13 is rotated, the rotation direction is forward with respect to the half side of the suction port and the reverse direction rotation with respect to the other half side. Therefore, it is fixed in the forward direction. Alternatively, the rotating brush 13 may be stopped similarly to the carpet in order to prevent dust from flying off. The rotation speed of the rotary brush 13 is set to a low speed except for the stop. The electric blower 2 is weak.

  Finally, the relationship among the rotating brush 13, the electric blower 2, and the battery 3 will be described. In a vacuum cleaner driven by the battery 3, the battery capacity during cleaning becomes a problem. In particular, in the case of a self-propelled cleaner, it is necessary to leave enough capacity for self-propelled because it is self-propelled and returned to the charging stand.

  FIG. 11 shows a combination of the operation of the rotating brush 13 and the electric blower output according to the battery capacity. In the case of a carpet floor, when the battery 3 is nearly fully charged and the remaining capacity is sufficient, the rotating brush 13 is rotated in the reverse direction and at a high speed, and the blower is strong to improve the dust collecting performance. When the remaining capacity of the battery 3 is reduced, the dust collection performance of one time is lowered, but the rotation direction of the rotary brush 13 is rotated in the forward direction, which is a direction for assisting running, and the cumulative moving distance can be increased. In this way, the cleaning area is expanded. When the battery capacity further decreases, the rotating brush 13 is rotated at a low speed and the output of the electric blower is weakened to ensure the remaining capacity of the battery. Then, when the battery capacity is at a minimum, which is the lowest battery capacity that can self-propel to the charging stand, the rotating brush 13 and the electric blower 2 are stopped.

  On a wooden floor with a floor type other than carpet, a constant dust collection performance can be obtained even with a rotating brush in the forward direction, low-speed rotation, and a weak blower. To maintain. When the battery capacity becomes low, the rotating brush 13 and the electric blower 2 are stopped.

  The threshold value of the battery capacity such as the above-mentioned slight or decrease is determined in advance and stored in the memory circuit 41 of the control main circuit 20. Then, the battery capacity detection circuit 32 detects the battery capacity at any time during cleaning, and sends the result to the control main circuit 20 for comparison with the battery capacity threshold value stored in the memory circuit 41.

  Although the example of the self-propelled cleaner has been described in the present embodiment, it is not limited to this. For example, the present invention can also be applied to a floor moving type vacuum cleaner in which an electric blower and a dust collection chamber are built in the vacuum cleaner body, and a hose, an extension pipe, and a suction port are connected to the vacuum cleaner body. In this case, according to the type of the floor surface detected by the floor sensor, the rotation direction of the rotating brush arranged at the suction port, the rotation speed of the rotating brush, and the rotation speed of the electric blower built in the vacuum cleaner body are controlled. To.

  As described above, depending on whether the floor surface to be cleaned is a carpet or wood floor system, and the remaining capacity of the battery, the combination of the rotation direction and rotation speed of the rotating brush and the electric blower output is appropriately switched. By controlling, cleaning can be performed efficiently with energy saving.

It is a figure showing the schematic structure of the self-propelled electric vacuum cleaner concerning the embodiment of the present invention. It is the figure which shows the outline which looked at the vacuum cleaner main body 1 from the back surface. It is the figure which shows the outline which looked at the cleaner body 1 from the side. It is a figure which shows the structure of the control circuit of the self-propelled electric vacuum cleaner which concerns on embodiment of this invention. It is a figure explaining cleaning operation. It is a figure explaining the output combination of a rotating brush and an electric blower. It is a figure which shows the structure of the control circuit of other embodiment. It is a figure which shows the example of a floor distance sensor measurement. It is a figure explaining movement operation of a vacuum cleaner main part. It is a figure explaining the output combination with respect to movement operation | movement of a cleaner body. It is a figure explaining the output combination with respect to battery capacity.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vacuum cleaner body 2 Electric blower 3 Battery 4 Dust collection case 5 Control circuit board 11 Charging terminal 12 Suction part 13 Rotary brush 14 Rotary brush motor 15 Floor distance sensor 16 Intake flow path 17 Pressure sensor 20 Control main circuit 27 Electric blower drive Circuit 28 Floor distance sensor drive circuit 31 Power supply circuit 32 Battery capacity detection circuit 36 Power supply circuit for rotating brush motor 37 Power supply circuit for electric blower 38 Power supply circuit for sensor drive 40 Central processing unit 41 Memory circuit

Claims (6)

A suction part, a rotary brush provided in the suction part, a rotary brush motor for driving the rotary brush, a floor sensor for detecting the type of the floor, and a suction force for sucking dust from the suction part An electric blower to be generated, and a control means for controlling the rotary brush motor and the electric blower,
The control means controls the rotation direction of the rotary brush, the rotation speed of the rotary brush, and the rotation speed of the electric blower according to the type of floor surface detected by the floor surface sensor. Machine. A vacuum cleaner main body, a suction port built in the vacuum cleaner main body, an electric blower built in the vacuum cleaner main body for generating a suction force for sucking dust from the suction port, and a vacuum cleaner main body Built-in battery for supplying electric power to the electric blower and the rotating brush motor, a dust collection case detachably provided on the cleaner body, a floor sensor for detecting the type of the floor, and the rotation Control means for controlling the brush motor and the electric blower,
The control means controls the rotation direction of the rotary brush, the rotation speed of the rotary brush, and the rotation speed of the electric blower according to the type of floor surface detected by the floor surface sensor. Machine. In claim 2,
The said control means stops the rotation of the said rotation brush, when the said vacuum cleaner main body performs turning operation | movement, The vacuum cleaner characterized by the above-mentioned. In claim 2,
A battery for supplying electric power to the electric blower and the rotary brush motor, and a battery capacity detecting means for detecting the capacity of the battery;
The control means controls the rotation speed of the rotating brush and the rotation speed of the electric blower according to the type of floor surface detected by the floor surface sensor and the remaining capacity of the battery detected by the battery capacity detection means. A vacuum cleaner characterized by In any of Claims 4,
When the type of the floor surface detected by the floor surface sensor is a carpet, the control means rotates the rotation direction of the rotating brush in a direction opposite to the moving direction of the suction port, When the floor surface type detected by the floor surface sensor is other than a carpet, the rotational direction of the rotating brush is rotated in a direction that is a forward direction with respect to the moving direction of the suction port. Electric vacuum cleaner. In claim 5,
When the remaining capacity of the battery detected by the battery capacity detection means is small, the control means rotates the rotation direction of the rotary brush in a direction that is a forward direction with respect to the movement direction of the suction port. Characterized vacuum cleaner.

Images