JP2012009552A - Power generator and power generation method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To generate power more suitably.SOLUTION: A housing of a cleaner 100 is formed into an octagonal via side faces 102. The inner side of each side face 102 has an angle shape. More specifically, top faces 101 are formed as slant faces facing different directions from one another and inclining upward from the respective side faces 102 toward the center. Because solar cell units 111 installed on the respective top faces 101 face different directions from one another, the amount of power generation varies among the units when light is irradiated from one direction. The cleaner 100 determines from which direction the light is irradiated by comparing the amounts of power generated by the solar cell units 111. A movement control unit 151 controls a movement function unit 171 to move the housing of the cleaner 100 toward the light irradiation direction. The present invention may be applied to a power generator, for example.

Description

  The present invention relates to a power generation apparatus, method, and program, and more particularly, to a power generation apparatus, method, and program capable of performing power generation more appropriately.

  Conventionally, solar power generation panels are generally fixedly installed in places where sunlight is likely to hit, such as on the roof. Even if the user can easily and freely determine the installation location of the photovoltaic power generation panel like a portable device equipped with a photovoltaic power generation panel, it can only determine the installation location. From the state of installation, they responded positively to changes in the surrounding environment due to the season, time, weather, surrounding trees and organisms, and did not try to improve power generation efficiency.

  Further, as a control method for improving the power generation efficiency, for example, there is a maximum power point tracking type electric control (MPPT (Maximum Power Point Tracking)) for controlling the voltage and current so that the maximum power can be obtained.

  Furthermore, in recent years, a method of changing the installation angle of the solar panel according to the direction of sunlight has been considered. Further, a mobile robot that moves to a charging facility when the remaining amount of the battery is low is considered (see, for example, Patent Document 1).

JP 2006-285547 A

  However, there is a fear that the conventional method cannot appropriately generate power. For example, when a photovoltaic power generation panel is fixedly installed, the location is not always the optimum location, and it cannot cope with changes in the surrounding environment. Also, in the case of a portable solar power generation panel, the place where the user has installed is not always the optimum place. Moreover, after installation, it was not possible to cope with changes in the surrounding environment until the user changed the position and orientation. Furthermore, changes by the user have not always been appropriate.

  In addition, when performing MPPT control, the position of the photovoltaic power generation panel that generates power is not necessarily a suitable position, and there is a possibility that power generation cannot be performed efficiently.

  Furthermore, in the case of the method of changing the installation angle of the solar panel according to the direction of sunlight, even if the installation angle is changed, the position may not be appropriate, and it is not always possible to efficiently generate power. It was.

  Further, in the case of the above-described mobile robot, movement is performed according to the remaining amount of the battery, but it has not been possible to search for a suitable position where power generation can be performed efficiently.

  This invention is made | formed in view of such a condition, and it aims at enabling it to perform electric power generation more appropriately by calculating | requiring an appropriate position and moving by itself.

  One aspect of the present invention is a power generation device that generates power, and is provided in the housing of the power generation device in different directions, and a plurality of power generation means that convert light energy into electrical energy to generate power, Detection means for detecting a current obtained by power generation of each power generation means, and determination means for determining a moving direction so as to go in the light irradiation direction based on the magnitude of each current detected by the detection means; And a moving means for moving the power generating apparatus in the moving direction determined by the determining means.

  Associating position detection means for detecting the current position of the power generation device, the current position detected by the position detection means, and the magnitude of current detected by the power generation of each power generation means detected by the detection means Storage means for storing can be further provided.

And further comprising a power storage means for storing power obtained by power generation of the plurality of power generation means,
The moving means can be driven by consuming the electric power stored by the power storage means.

  The apparatus may further comprise power consumption means for consuming the power stored by the power storage means and realizing a predetermined function.

It further includes a time measuring means for providing the current time,
The power consuming means can perform processing according to the current time provided by the time measuring means.

  The battery further comprises a remaining amount detecting means for detecting the remaining amount of the electric power stored in the electric storage means, and the moving means is in a state where the remaining amount of the electric power detected by the remaining amount detecting means is close to full charge. The power generation device can be moved to a position where the power generation amount is small.

  The battery further comprises a remaining amount detecting means for detecting the remaining amount of the electric power stored in the electric storage means, and the moving means is in a state where the remaining amount of the electric power detected by the remaining amount detecting means is close to an empty charge. The power generation device can be moved to a position where the amount of power generation is large.

  The apparatus can further comprise power output means for outputting the power stored in the power storage means to another device.

  The plurality of power generation means are dye-sensitized solar cells using dyes of different colors, and an estimation means for estimating a current time zone based on the magnitude of each current detected by the detection means Furthermore, it can be provided.

  One aspect of the present invention is also a power generation method for a power generation apparatus that generates power, wherein a plurality of power generation units provided in different directions of the power generation apparatus convert light energy into electrical energy to generate power. The detection unit of the power generation device detects the current obtained by each power generation, and the determination unit of the power generation device is directed in the light irradiation direction based on the magnitude of each detected current. In the power generation method, the moving direction is determined, and the moving unit of the power generating apparatus moves the power generating apparatus in the determined moving direction.

  In one aspect of the present invention, light energy is converted into electrical energy to generate power, and currents obtained by each power generation are detected. Based on the magnitudes of the detected currents, The moving direction is determined so as to go, and the power generation apparatus is moved in the determined moving direction.

  According to the present invention, power can be generated by converting light energy into electrical energy. In particular, power generation can be performed more appropriately.

It is a figure which shows the structural example of the cleaner which applied this invention. It is a figure explaining the example at the time of irradiating light to the vacuum cleaner to which this invention is applied. It is a block diagram which shows the structural example inside the cleaner which applied this invention. It is a flowchart explaining the example of the flow of an operation control process. It is a flowchart explaining the example of the flow of a self-consumption process. It is a flowchart explaining the example of the flow of a charge priority process. It is a flowchart explaining the example of the flow of a city system control process. It is a figure which shows the other structural example of the cleaner which applied this invention. It is a figure explaining the example of the spectrum of sunlight. It is a figure explaining the example of the light absorption wavelength for every pigment | dye. It is a block diagram which shows the other structural example of the inside of the cleaner which applied this invention. It is a flowchart explaining the other example of the flow of a self-consumption process. It is a figure which shows the structural example of the cleaning system to which this invention is applied. It is a block diagram which shows the further another structural example inside the vacuum cleaner to which this invention is applied. It is a flowchart explaining the other example of the flow of an operation control process. It is a flowchart explaining the other example of the flow of an electric power supply process.

Hereinafter, modes for carrying out the invention (hereinafter referred to as embodiments) will be described. The description will be given in the following order.
1. 1st Embodiment (self-propelled cleaner)
2. Second embodiment (self-propelled cleaner using a dye-sensitized solar cell)
3. Third embodiment (cleaning system)

<1. First Embodiment>
[Self-propelled vacuum cleaner appearance]
FIG. 1 is a diagram illustrating the appearance of a self-propelled cleaner to which the present invention is applied. The housing of the vacuum cleaner 100 shown in FIG. 1 mainly includes a plurality of upper and side surfaces as shown in FIG. 1A and a bottom surface as shown in FIG. 1C.

  As shown in FIG. 1B, the housing of the vacuum cleaner 100 has an octagonal shape when viewed from the upper surface side, and has eight upper surfaces (upper surface 101-1 to upper surface 101-8). Hereinafter, when it is not necessary to distinguish the upper surface 101-1 to the upper surface 101-8 from each other, they are simply referred to as the upper surface 101.

  Each side surface forming the peripheral portion of the housing of the vacuum cleaner 100 is formed substantially perpendicular to the ground, and corresponds to the top surface 101 on a one-to-one basis as shown in FIG. 1A. That is, as shown in FIG. 1A, the side surface 102-1 is formed on the upper surface 101-1, the side surface 102-2 is formed on the upper surface 101-2, and the side surface 102- is formed on the upper surface 101-3. 3 is formed. Although illustration is omitted, the side surface 102-4 to the side surface 102-8 are similarly formed on the upper surface 101-4 to the upper surface 101-8.

  That is, eight sides are formed on the housing of the vacuum cleaner 100. Hereinafter, when it is not necessary to distinguish the side surface 102-1 to the side surface 102-8 from each other, they are simply referred to as the side surface 102.

  As shown in FIG. 1B, the casing of the vacuum cleaner 100 has an octagonal shape formed by the side surface 102. Moreover, as FIG. 1A shows, the inner side of the side surface 102 has comprised the mountain shape. That is, each upper surface 101 is formed as a slope facing in different directions so as to increase from the side surface 102 toward the center.

  As shown in FIG. 1C, the bottom surface 103 facing the top surface 101 is formed by a substantially flat surface. Since this bottom surface 103 is also surrounded by the side surface 102, it becomes an octagonal plane.

  On the upper surface 101, a solar cell that performs solar power generation for converting light energy into electric energy is installed. For example, as shown in FIG. 1A, a solar cell panel 111-1-1, a solar cell panel 111-1-2, and a solar cell panel 111-1-3 are installed on the upper surface 101-1. Similarly, a solar cell panel 111-2-1, a solar cell panel 111-2-2, and a solar cell panel 111-2-3 are installed on the upper surface 101-2. Also on the upper surface 101-3, the solar cell panel 111-3-1, the solar cell panel 111-3-2, and the solar cell panel 111-3-3 are installed.

  These solar cells may be anything. For example, a so-called silicon solar cell using crystalline silicon or amorphous silicon may be used.

  As shown in FIG. 1B, solar cell panels are similarly installed on each of the upper surface 101-4 to upper surface 101-8. The solar cell panel on each upper surface 101 forms one unit. That is, the solar cell unit 111-1 is installed on the upper surface 101-1. Similarly, the upper surface 101-2 to the upper surface 101-8 are provided with the solar cell unit 111-2 to the solar cell unit 111-8.

  That is, the solar cell unit 111-1 to the solar cell unit 111-8 are installed in different directions. The power generation of the solar cell is independent for each unit, and the power generation amount (current value) can be detected for each unit. Hereinafter, the solar cell units 111-1 to 111-8 are simply referred to as the solar cell unit 111 when it is not necessary to distinguish between them.

  The electric power generated in the solar cell unit 111 is stored in a secondary battery built in the cleaner 100. That is, the vacuum cleaner 100 has not only a power generation function but also a power storage function. Moreover, the cleaner 100 can perform the floor cleaning which cleans the ground (floor) in which the cleaner is located, using the electric power generated in the solar cell unit 111 or the electric power stored in the secondary battery. That is, the vacuum cleaner 100 has a cleaning function as a power consumption function that drives by consuming electric power.

  As shown in FIG. 1C, dust and dust suction ports 113-1 to 113-4 are formed on the bottom surface 103. In the following, when it is not necessary to distinguish between these suction ports, they are simply referred to as the suction ports 113. The vacuum cleaner 100 cleans the floor by sucking floor dust and dirt from the suction port 113 of the bottom surface 103.

  Furthermore, the vacuum cleaner 100 can move itself (an enclosure) using the electric power generated in the solar cell unit 111 or the electric power stored in the secondary battery. That is, the cleaner 100 has a moving function as a power consumption function.

  As shown in FIG. 1C, tires 112-1 to 112-4 whose direction can be freely changed are formed on the bottom surface 103. Hereinafter, these tires are simply referred to as tires 112 when it is not necessary to distinguish them from each other. Each tire 112 is driven by a motor built in the vacuum cleaner 100, and can move the housing in any direction along the floor.

  As described above, each solar cell unit 111 is installed in a different direction from each other. Therefore, when light is irradiated from one direction as shown in FIG. 2A, as shown in FIG. As a result, there is a bias in power generation.

  In the case of the example in FIG. 2A, since light is irradiated from the upper surface 101-2 side, the power generation amount of each solar cell unit 111 is as shown in FIG. 2B. 2 is the largest, and the solar cell unit 111-6 facing the opposite side is the smallest.

  Thus, since each solar cell unit 111 is installed in a mutually different direction, the cleaner 100 is irradiating light from which direction by comparing the electric power generation amount of each solar cell unit 111. I can grasp it.

[Internal configuration of vacuum cleaner]
FIG. 3 is a block diagram illustrating an exemplary main configuration inside the cleaner 100. In FIG. 3, thick arrows indicate the supply relationship of power (current) generated in the solar cell unit 111.

  As shown in FIG. 3, the vacuum cleaner 100 includes a current detection unit 131-1 to a current detection unit that detect current obtained by power generation of the solar cell units 111-1 to 111-8 that operate as a power generation function. 131-8. Hereinafter, when it is not necessary to distinguish the current detection units 131-1 to 131-8 from each other, they are simply referred to as the current detection unit 131.

  As shown in FIG. 3, each solar cell unit 111 is provided with one current detection unit 131. That is, the current detection unit 131 can individually detect the current generated in each solar cell unit 111. Any method may be used to detect the current. For example, the detection may be performed using a general small-scale current detection circuit using an operational amplifier. The current value detected by each current detection unit 131 is supplied to the CPU 134.

  Moreover, the vacuum cleaner 100 controls the charging current control part 132 which controls whether the secondary battery 133 is made to store the electric power (electric current) obtained by electric power generation in the solar cell unit 111-1 thru | or the solar cell unit 111-8. -1 to charging current control unit 132-8. Hereinafter, when it is not necessary to distinguish the charging current control unit 132-1 to the charging current control unit 132-8 from each other, they are simply referred to as the charging current control unit 132.

  As shown in FIG. 3, each solar cell unit 111 is provided with one charging current control unit 132. That is, the charging current control unit 132 can individually control charging of the current generated in each solar cell unit 111. This charging control method may be performed by any method. For example, the charging control method may be controlled using a switch circuit that short-circuits or releases the current detection unit 131 and the secondary battery 133. It may be. The operation control of each charging current control unit 132 is performed by the CPU 132.

  The vacuum cleaner 100 includes a secondary battery 133 that stores electric power generated in the solar cell unit 111. The secondary battery 133 appropriately supplies the stored power to the CPU 134 and the function processing unit 135. That is, the secondary battery 133 operates as a power storage function and a power supply function. Note that the secondary battery 133 may be any battery as long as it has such a function. For example, a lithium ion secondary battery, a nickel / cadmium secondary battery, and the like are conceivable. Although not shown, the vacuum cleaner 100 can supply the power generated by the solar cell unit 111 to the CPU 134 and the function processing unit 135 without using the secondary battery 133.

  The vacuum cleaner 100 includes a CPU 134 that appropriately performs arithmetic processing, control processing, and the like to control the entire vacuum cleaner 100. As illustrated in FIG. 3, the CPU 134 includes a control unit 141, a battery charge amount detection unit 142, a current calculation unit 143, a time measurement unit 144, a position measurement unit 145, a charge current control unit 146, an operation selection unit 147, and a movement control unit. 151 and a cleaning control unit 152.

  The control unit 141 performs processing related to control of the entire vacuum cleaner 100. For example, the control unit 141 includes information on the remaining battery level supplied from the battery charge amount detection unit 142, information on the power generation amount supplied from the current calculation unit 143, time information acquired from the time measurement unit 144, and position measurement unit 145. Based on the acquired current position information and the like, the charging current control unit 146, the operation selection unit 147, the movement control unit 151, the cleaning control unit 152, and the like are controlled to control charging and power consumption operations.

  The battery charge amount detection unit 142 detects the remaining battery level (Vbat) of the secondary battery 133 and notifies the control unit 141 of the detection. The method for detecting the remaining battery level is arbitrary. The parameter supplied to the control unit 141 may be any parameter as long as it indicates the remaining battery level of the secondary battery 133.

  The current calculation unit 143 calculates a parameter related to the power generation amount of each solar cell unit 111 using the current value detected by the current detection unit 131. For example, the current calculation unit 143 includes a total current calculation unit 161, a maximum current calculation unit 162, and a minimum current calculation unit 163 as illustrated in FIG.

  The total current calculation unit 161 calculates the total (Isp_ttl) (integrated value) of the current values detected so far for each current detection unit 131. The maximum current calculation unit 162 obtains the maximum value Isp_max among the current values detected by each current detection unit 131 this time. The minimum current calculation unit 163 obtains the minimum value Isp_min among the current values detected by each current detection unit 131 this time. For example, the current calculation unit 143 may calculate parameters other than those described above, such as an average value or a median value. The current calculation unit 143 supplies the obtained parameter to the control unit 141.

  The time measuring unit 144 has a function of managing time and time, and appropriately supplies time information to the control unit 141. The position measurement unit 145 has a position measurement function, such as a global positioning system (GPS), for example, specifies the current position of the vacuum cleaner 100, and uses position specifying information indicating the position as a control unit. 141.

  The charging current control unit 146 controls the charging current control unit 132 according to the information supplied from the control unit 141, and starts or stops charging the power generated in the solar cell unit 111.

  The operation selection unit 147 selects a function to be driven while consuming electric power, under the control of the control unit 141. In the case of the example in FIG. 3, the operation selection unit 147 selects whether to move or clean as a power consumption function. When moving, the operation selection unit 147 selects and controls the movement control unit 151. When cleaning is performed, the operation selection unit 147 selects and controls the cleaning control unit 152.

  The movement control unit 151 selected by the operation selection unit 147 controls and drives the movement function unit 171 according to the control of the control unit 141. The cleaning control unit 152 selected by the operation selection unit 147 controls and drives the cleaning function unit 172 according to the control of the control unit 141.

  The vacuum cleaner 100 further includes a function processing unit 135. The function processing unit 135 operates by consuming electric power supplied from the secondary battery 133 or the solar cell unit 111 and realizes a predetermined function (self-power consumption function). In the case of the example of FIG. 3, the function processing unit 135 includes a movement function unit 171 and a cleaning function unit 172.

  The movement function unit 171 includes, for example, the tire 112, a motor that rotates the tire 112, and the like, and moves the housing to a desired position by driving the motor and the like according to the control of the movement control unit 151.

  The cleaning function unit 172 includes, for example, a suction port 113, a motor for suctioning from the suction port 113, and the like by driving the motor according to the control of the cleaning control unit 152, so that Clean.

  For example, the cleaner 100 can clean a wide area compared to the casing by performing floor cleaning with the cleaning function section 172 while moving the casing with the moving function of the moving function section 171.

  In addition, the cleaner 100 moves the housing by a moving function of the moving function unit 171, moves the housing to a position suitable for solar power generation by the solar cell unit 111, controls the charging current control unit 146, and performs secondary operation. The battery 133 can be charged.

  The vacuum cleaner 100 performs these operations using electric power supplied from the secondary battery 133 or the solar cell unit 111. That is, the vacuum cleaner 100 can clean an entire predetermined area such as a living room or perform more efficient power generation (charging) by autonomous operation.

  Note that the self-power consumption function of the vacuum cleaner 100 may be other than the movement function and the cleaning function. That is, the function processing unit 135 may have a function unit other than the movement function unit 171 and the cleaning function unit 172. For example, one that consumes power generated in the solar cell unit 111 or power stored in the secondary battery 133 such as ventilation function, air conditioning function, humidification function, dehumidification function, lighting, image display, audio output, or communication Any function may be used. The number of functions is also arbitrary.

  The vacuum cleaner 100 further includes a ROM (Read Only Memory) 181 and a RAM (Random Access Memory) 182. Predetermined programs, data, and the like are stored in the ROM 181 in advance, and are read as appropriate by the CPU 134. The RAM 182 is appropriately loaded with a program executed by the CPU 134, data to be processed, and the like. These ROM 181 and RAM 182 may be built in the CPU 134.

  Furthermore, the vacuum cleaner 100 includes an input unit 191, an output unit 192, a storage unit 193, a communication unit 194, and a drive 195.

  The input unit 191 includes, for example, an arbitrary input device such as a keyboard, a mouse, a button, or a touch panel, an input terminal, and the like. The input unit 191 receives information input from the outside such as a user or another device, and inputs the input information to the CPU 134. provide.

  The output unit 192 includes a display such as a CRT (Cathode Ray Tube) display, an LCD (Liquid Crystal Display), a speaker, or an output terminal, and provides information supplied from the CPU 134 to the user as an image or sound, Or to other devices as a signal.

  The storage unit 193 includes, for example, a solid state drive (SSD) such as a flash memory, a hard disk, and the like, and stores information supplied from the CPU 134 and supplies stored information to the CPU 134.

  The communication unit 194 includes, for example, a wired LAN (Local Area Network), a wireless LAN interface, a modem, and the like, and performs communication processing with other devices via a network including the Internet. For example, the communication unit 194 is controlled by the CPU 134, acquires a computer program via a network including the Internet, and installs it in the storage unit 193.

  For example, a removable medium 196 such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory is appropriately attached to the drive 195. For example, the drive 195 is controlled by the CPU 134, reads a computer program from the removable medium 196, and installs it in the storage unit 193.

[Flow of operation control processing]
Next, the process which the above vacuum cleaner 100 performs is demonstrated. First, an example of the flow of operation control processing executed by the CPU 134 will be described with reference to the flowchart of FIG.

  When a power switch (not shown) of the cleaner 100 is turned on, a predetermined activation process is performed, and then the CPU 134 starts an operation control process.

  When the operation control process is started, the control unit 141 determines in step S101 whether to end the operation control process. If it is determined that the operation control process is to be continued because the power is not turned off or the like, the control unit 141 advances the process to step S102.

  In step S102, when the battery charge amount detection unit 142 detects the remaining battery level of the secondary battery 133, the control unit 141 determines whether the detected remaining battery level is equal to or greater than a predetermined threshold value. . This threshold value may be determined in advance, or may be set as appropriate based on some other factor such as time information, position information, or event occurrence.

  Further, this determination process determines whether or not the storage state of the secondary battery 133 is in a fully charged state or a state close thereto. Therefore, the magnitude of this threshold is arbitrary, but basically it is desirable to have a large value close to the fully charged state.

  When it determines with the battery remaining charge of the secondary battery 133 being less than a predetermined threshold value, the control part 141 advances a process to step S103.

  In step S <b> 103, the charging current control unit 146 controls the charging current control unit 132 to start a charging process for charging the secondary battery 133 with the electric power generated in the solar cell unit 111. If already started, this process can be omitted.

  In step S104, the control unit 141 acquires the current detection results supplied from each current detection unit 131 and the values of various parameters calculated from the current detection results by the current calculation unit 143 via the current calculation unit 143. To do.

  In step S <b> 105, the control unit 141 determines the moving direction of the cleaner 100 based on the power generation amount of each solar cell unit 111.

  Although the vacuum cleaner 100 can be used outdoors, it is basically assumed to be used indoors. For example, in the case of indoors, the floor to which the cleaner 100 can move is surrounded by walls, ceilings, windows, and the like, and sunlight is often not directly applied to all areas where the cleaner 100 can move. In the case where the area where the vacuum cleaner 100 is movable, such as indoors, where the light hits in a biased area, the vacuum cleaner moves by moving toward the light irradiation direction, that is, toward the brighter side. 100 can move to a position where the irradiation amount of light (mainly sunlight) is large.

  As described above, since the solar cell units 111 are installed in different directions in the vacuum cleaner 100, the control unit 141 can easily generate light by comparing the power generation amounts of the solar cell units 111. The irradiation direction can be specified.

  For example, as in the example of FIG. 2B, when the power generation amount of the solar cell unit 111-2 is the largest, light (mainly sunlight) is irradiated from the solar cell unit 111-2 side as shown in FIG. 2A. You can see that

  When the light irradiation direction is grasped in this way, the control unit 141 determines the moving direction as a direction toward the light irradiation direction (in the example of FIG. 2A, a direction toward the upper surface 101-2 side).

  For example, a portion where sunlight enters from an indoor floor window (a portion exposed to direct sunlight) becomes brighter than other portions (portions where no direct sunlight is exposed). Usually, the sunlight is reflected and diffused to some extent on the floor. Therefore, in the vicinity of the portion into which sunlight is inserted, the amount of light irradiated from the portion into which the sunlight is inserted increases. That is, the vacuum cleaner 100 moves to a bright direction where the amount of light irradiation is large (in the direction of the solar cell unit 111 where the amount of power generation is large), and moves to a portion where the sunlight is inserted, and receives direct sunlight and efficiently generates power. It can be carried out.

  The controller 141 determines the moving direction in this way. At this time, the control unit 141 can determine the moving direction more easily by using the parameter calculated by the current calculation unit 143. For example, the control unit 141 includes the solar cell unit 111 from which the maximum current (Isp_max) calculated by the maximum current calculation unit 162 is obtained, and the solar from which the minimum current (Isp_min) calculated by the minimum current calculation unit 163 is obtained. By specifying the battery unit 111, the light irradiation direction can be easily estimated, and the movement direction can be determined.

  When the movement direction is determined in this way, the movement control unit 151 controls the movement function unit 171 to move the housing of the cleaner 100 in the movement direction.

  In step S107, the position measurement unit 145 detects the current position of the chassis (current position). In step S108, the control unit 141 stores the power generation amount of each solar cell unit 111 in the storage unit 193 in association with the current position detected in step S107. This is a process for creating history information for each observation position of the power generation amount, that is, map information of the light irradiation amount. The history of the power generation amount at each observation position accumulated in this way is used for searching for a suitable position for power generation, as will be described later.

  At this time, the control unit 141 may store the values of various parameters calculated by the current calculation unit 143 in the storage unit 193 in association with the power generation amount and the current position. By doing in this way, the control part 141 can obtain easily various information using parameters, such as the irradiation direction of the light of each observation position, for example.

  In addition, the control unit 141 may acquire the current time from the time measuring unit 144 and store the current time information in the storage unit 193 in association with the power generation amount and the current position. In this way, for example, the control unit 141 can obtain history information for each observation position at each time, and can perform control according to the time.

  When the process of step S108 ends, the control unit 141 returns the process to step S101 and repeats the subsequent processes.

  While the operation control process is not ended and it is determined in step S102 that the remaining battery level is less than the predetermined threshold value, the processes in steps S101 to S108 are repeatedly executed.

  At this time, the interval for checking the remaining battery level (step S102) is arbitrary. For example, it may be repeated every predetermined time, or may be performed when a predetermined event occurs.

  Moreover, the number of times of determination of the moving direction (step S105) may be smaller than the number of times of detection of the power generation amount of each solar cell unit 111 (step S104). Furthermore, the amount of movement for one process of step S106 is also arbitrary. It may be lengthened or shortened depending on the situation. For example, when the moving direction does not change from the previous time, in order to suppress an unnecessary increase in power consumption and load due to determination of an unnecessary moving direction, the moving amount of one movement is lengthened to increase the moving direction determination interval. It may be. On the other hand, when the moving direction changes frequently, in order to suppress an unnecessary increase in the moving path, the moving amount of one movement may be shortened to shorten the moving direction determination interval. Further, the moving amount may be adjusted by controlling the moving speed without changing the time interval for determining the moving direction.

  Further, the interval between the position detection (step S107) and the power generation amount storage (step S108) is also arbitrary. For example, in order to obtain information on the power generation amount with higher accuracy, the power generation amount may be stored by detecting the position a plurality of times during one movement (step S106). In order to reduce the load and power consumption, position detection and power generation amount storage may be performed once for a plurality of movements.

  That is, for the determination in step S102, the processes in steps S103 to S108 can be omitted or performed a plurality of times.

  If it is determined in step S102 that the remaining battery level is equal to or greater than the predetermined threshold, the control unit 141 advances the process to step S109.

  In this case, since the secondary battery 133 is substantially fully charged, the charging current control unit 146 controls the charging current control unit 132 in step S109 to stop the charging process.

  Furthermore, in step S110, the control unit 141 controls the operation selection unit 147, the movement control unit 151, and the cleaning control unit 152, and self-consumption processing for consuming the power stored in the secondary battery 133 by the cleaner 100 itself. To start. For example, as a self-consumption process, the control unit 141 drives the movement function unit 171 to move the housing, or drives the cleaning function unit 172 to perform floor cleaning, and is stored in the secondary battery 133. Power consumption.

  When the self-consumption process is started, the control unit 141 returns the process to step S101 and repeats the subsequent processes.

  In step S101, for example, when it is determined that the operation control process is to be ended, for example, by turning off a power switch (not shown) of the cleaner 100, the control unit 141 ends the operation control process.

  When the amount of light irradiation is uniform at any position in the region where the vacuum cleaner 100 can move, the efficiency is almost unchanged regardless of where the power generation (charging) is performed, but generally the amount of light irradiation In many cases, there is a bias. For example, there may be a part of the sun that is exposed to sunlight and a part of the sun that is not exposed to sunlight. In such a case, it is more efficient to generate power (charge) in the sun than to generate power (charge) in the sun.

  The vacuum cleaner 100 can move from the sun to the sun by performing the operation control as described above, and can efficiently generate power (charge).

  In addition, it is also conceivable that the position where sunlight is inserted changes as the position of the sun changes. That is, it is conceivable that the method of biasing the light irradiation amount changes. Even in such a case, since the vacuum cleaner 100 has a self-propelled function, it can move in accordance with the change and can efficiently generate power (charge) at a suitable position at all times. .

  As described above, the vacuum cleaner 100 is installed in the casing with the solar cell units facing in different directions, and the output (power generation amount) of the solar cell unit 111 is used as a sensor output. The light irradiation direction can be easily determined based on the amount of power generation.

  Moreover, since the cleaner 100 is provided with the movement function part 171, and can be self-propelled, it can generate electric power in the bright position where the amount of light irradiation is large by moving toward the light irradiation direction. it can. Therefore, the cleaner 100 can generate power more efficiently.

  Further, the vacuum cleaner 100 includes a secondary battery 133 and can store the electric power generated in the solar cell unit 111. That is, the cleaner 100 can be moved to a bright position and charged more efficiently. Moreover, the cleaner 100 can use the electric power stored in the secondary battery 133 as appropriate for a moving function and a cleaning function (it can be self-consumed). That is, it can autonomously operate using the power generated by itself without receiving power from other devices or circuits.

  Moreover, since the cleaner 100 is provided with the charging current control part 132, it can stop charge, when a battery remaining charge increases. Thereby, unnecessary charging operation can be suppressed, and deterioration of the secondary battery 133 can be suppressed (life extension).

[Flow of self-consumption processing]
Next, an example of the flow of the self-consumption process started in the process of step S110 of FIG. 4 will be described with reference to the flowchart of FIG.

  When the self-consumption process is started, the control unit 141 acquires time information from the time measuring unit 144 and confirms the current time in step S131. In step S132, the cleaning control unit 152 controls the cleaning function unit 172 according to the control of the control unit 141, and performs the cleaning function operation according to the current time.

  When the control unit 141 confirms the current time in step S131, the control unit 141 determines the cleaning function operation corresponding to the time. In the morning, for example, it is suitable for cleaning because it is suitable for the life cycle or has a high tolerance for noise, and the time to sunset is relatively long and consumes power. Even power generation by sunlight is easy. Therefore, for example, the control unit 141 preferentially selects the cleaning function operation, and performs cleaning with high power (increases the suction force).

  In the evening, for example, it is expected that the time until sunset will be short and it will become difficult to generate power with sunlight. Therefore, the control unit 141 reduces power and performs cleaning. Furthermore, for example, in the case of nighttime, it is difficult to generate power with sunlight, and the tolerance for noise is reduced. Therefore, the control unit 141 further reduces the power to perform cleaning, or stops the cleaning function operation with large power consumption.

  Thus, the control part 141 controls the content of cleaning function operation | movement according to time. Of course, the operation according to the time described above is an example, and the control unit 141 may perform control so as to perform an operation other than the above.

  The cleaning control unit 152 controls the cleaning function unit 172 according to such an instruction from the control unit 141, and performs a cleaning function operation according to the current time.

  In step S133, the control unit 141 causes the battery charge amount detection unit 142 to detect the remaining battery level of the secondary battery 133, and determines whether or not the remaining battery level of the secondary battery 133 is equal to or greater than a predetermined threshold value. .

  This threshold value may be determined in advance, or may be set as appropriate based on some other factor such as time information, position information, or event occurrence.

  Further, this determination process determines whether or not the storage state of the secondary battery 133 is in a fully charged state or a state close thereto. Therefore, the magnitude of this threshold is arbitrary, but basically it is desirable to have a large value close to the fully charged state.

  When it is determined that the remaining battery level is equal to or greater than the predetermined threshold and the battery is fully charged or nearly full, the control unit 141 advances the process to step S134.

In step S <b> 134, the control unit 141 specifies a position where the power generation amount is small as a movable range based on the history stored in the storage unit 193. In step S135,
The control unit 141 causes the operation selection unit 147 to select the movement control unit 151. The control unit 141 designates a movable range for the selected movement control unit 151 and instructs the cleaner 100 to move within the range. The movement control unit 151 controls the movement function unit 171 in accordance with the instruction, and moves the cleaner 100 within the movable range set by the control unit 141.

  When the cleaner 100 moves within the movable range, the control unit 141 restricts the movement of the cleaner 100 within the movable range in step S136. Thereafter, the movement control unit 151 controls the movement function unit 171 so as to move only within the movable range according to the control of the control unit 141.

  When the process of step S136 ends, the control unit 141 advances the process to step S138. If it is determined in step S133 that the remaining battery level is not greater than the predetermined threshold, the control unit 141 advances the process to step S137. In step S137, the control unit 141 releases the movement restriction set in the movable range. Note that this processing is omitted when there is no movement restriction. When the process of step S137 ends, the control unit 141 advances the process to step S138.

  In step S138, the control unit 141 determines whether or not to end the self-consumption process. If it is determined not to end the process, the control unit 141 returns the process to step S131 and repeats the subsequent processes. In step S138, for example, when it is determined that the self-consumption process is to be terminated because the remaining battery level is low or the user is instructed as described later, the control unit 141 ends the self-consumption process.

  By performing the self-consumption process in this way, the cleaner 100 can appropriately perform the cleaning function operation (self-power consumption operation) according to the current time.

  In addition, when the remaining amount of the battery is large (when the battery is fully charged or close to it), the control unit 141 sets the movable range based on the history of the power generation amount corresponding to the position information (the region where the power generation amount is small). That is, by limiting to the region where the amount of light irradiation is small, unnecessary power generation can be suppressed, and deterioration of the solar cell unit 111 can be suppressed (life can be extended).

  In addition, when the remaining amount of the battery is reduced and the secondary battery 133 is in a chargeable state, the control unit 141 may efficiently generate power (charge) by releasing the movement restriction. it can.

  In the loop from step S131 to step S138, the processing of each step can be omitted as appropriate or can be performed a plurality of times. For example, after restricting the movable range by the process of step S136, the processes of step S134 to step S136 can be omitted until the remaining battery level becomes less than a predetermined threshold (the movement restriction is still applied). is there).

  In the above description, the movable range is described as “a position where the power generation amount is small”, but the level of the power generation amount at this time is arbitrary. By limiting the movable range to a region where light is not irradiated more, the control unit 141 can further suppress the deterioration of the solar cell unit 111 and can improve the reliability of the solar cell unit 111. . However, in that case, generally, the movable range of the cleaner 100 becomes narrow.

  When the remaining amount of the battery is large, the control unit 141 may move the cleaner 100 to a position where light is not irradiated as much as possible and stop (do not move) the cleaner 100. That is, the control unit 141 may limit the movable range to a specific position.

[Flow of charge priority processing]
Next, an example of the flow of charge priority processing will be described with reference to the flowchart of FIG. When the remaining battery level is low, the cleaner 100 prioritizes the charging process over the cleaning function operation that consumes power. In order to perform such an operation, the CPU 134 executes a charge priority process.

  When the charge priority process is started, the control unit 141 causes the battery charge amount detection unit 142 to detect the remaining battery level of the secondary battery 133 in step S151, and whether or not the remaining battery level is equal to or less than a predetermined threshold value. Determine.

  This threshold value may be determined in advance, or may be set as appropriate based on some other factor such as time information, position information, or event occurrence.

  This determination process determines whether the electric power stored in the secondary battery 133 has been used up (hereinafter referred to as an empty charge state) or whether the battery is close to an empty charge. Therefore, although the magnitude of this threshold is arbitrary, it is basically desirable that the threshold is set to a small value so that there is a possibility that an empty charge state may be reached within a short period of time when the remaining battery level becomes less than this threshold. At least, it is necessary to set a value smaller than the threshold value in the processing of step S102 or step S133. However, if the threshold value is too small, the secondary battery 133 is immediately charged, and there is a possibility that the secondary battery 133 cannot move. Therefore, it is necessary to provide an appropriate margin.

  If it is determined in step S151 that the remaining battery level is equal to or less than the predetermined threshold, the control unit 141 advances the process to step S152. In step S152, the control unit 141 stops the self-consumption process. That is, the control unit 141 controls the movement control unit 151 and the cleaning control unit 152 to stop the movement and cleaning. As a result, the self-consumption process described with reference to the flowchart of FIG. 5 ends.

  In step S153, the control unit 141 identifies the position where the power generation amount is maximum based on the history information (map information) for each observation position of the power generation amount stored in the storage unit 193. In step S154, the control unit 141 supplies position information indicating the specified position to the movement control unit 151, and moves the cleaner 100 to that position. The movement control unit 151 controls the movement function unit 171 according to the control of the control unit 141, and moves the cleaner 100 to a position where the power generation amount is assumed to be maximum.

  When the process of step S154 ends, the control unit 141 advances the process to step S155. In Step S151, when it is determined that the remaining battery level is still sufficient and is greater than the predetermined threshold, the control unit 141 supplies the process to Step S155.

  In step S155, the control unit 141 determines whether or not to end the charge priority process. When it is determined that the charge priority process is not ended, the control unit 141 returns the process to step S151 and repeats the subsequent processes. Further, when it is determined in step S155 that the charge priority process is to be ended, the control unit 141 ends the charge priority process.

  In the loop processing from step S151 to step S155, after the battery remaining amount once falls below a predetermined threshold, the processing from step S152 to step S154 is omitted until the battery remaining amount exceeds the threshold. Can do.

  As described above, when the remaining battery level is monitored and the remaining battery level is low, the vacuum cleaner 100 ensures that the secondary battery 133 is in an empty charging state by giving priority to the charging process over the power consumption process. It is possible to suppress the breakdown of autonomous operation.

  Further, at that time, the cleaner 100 moves to a position where power generation efficiency is better and generates power, so that charging can be performed more efficiently. Furthermore, since the cleaner 100 records history information for each observation position of the power generation amount, a more suitable position (brighter position) with a large power generation amount can be easily searched based on the history information. . That is, the vacuum cleaner 100 can be easily and more efficiently charged.

[Flow of attitude control processing]
Next, an example of the flow of the attitude control process will be described with reference to the flowchart of FIG. The vacuum cleaner 100 has a solar cell unit 111 installed on each upper surface 101. Since these are installed in mutually different directions, when light is irradiated from a certain direction, the power generation amounts of the respective solar cell units 111 are different from each other in a normal case. That is, since the usage frequency is biased, a difference occurs in the durability of each solar cell unit 111.

  Therefore, the CPU 134 executes the attitude control process so as to average the usage rate of each solar cell unit 111 as much as possible.

  The total current calculation unit 161 of the current calculation unit 143 holds the power generation amount (current value) of each solar cell unit 111 detected in step S104 of FIG. When the attitude control process is started, the total current calculation unit 161 calculates the total power generation amount (total current Isp_ttl) of each solar cell unit 111 and supplies it to the control unit 141 in step S171.

  Note that the total current calculation unit 161 calculates the total power generation amount (total current Isp_ttl) of each solar cell unit 111 each time the power generation amount (current value) is calculated in step S104 in FIG. You may do it. In that case, in step S171, the total current calculation unit 161 only needs to supply the total power generation amount (total current Isp_ttl) of each solar cell unit 111 held to the control unit 141.

  In step S172, the control unit 141 compares the total power generation amount (total current Isp_ttl) of each solar cell unit 111 supplied from the total current calculation unit 161. In step S173, based on the comparison result, the control unit 141 controls the movement control unit 151 so as to maximize the power generation amount of the solar cell unit 111 having the minimum total power generation amount, and controls the orientation of the housing. Let The movement control unit 151 controls the movement function unit 171 according to the control, appropriately rotates the casing, and adjusts the direction.

  When the process of step S173 ends, the control unit 141 ends the attitude control process. By doing in this way, the cleaner 100 can make it produce electric power positively in the solar cell unit 111 with few usage-amount among the solar cell units 111 provided in multiple numbers. Thereby, the bias | inclination of the deterioration rate of each solar cell unit 111 can be suppressed, the increase in the failure rate of the solar cell unit 111 can be suppressed, and reliability can be improved.

  This posture control process can be executed as appropriate. For example, it may be periodically repeated at a predetermined time interval, or may be executed when a predetermined event occurs.

  As described above, the vacuum cleaner 100 can perform power generation more appropriately.

<2. Second Embodiment>
[Self-propelled vacuum cleaner using dye-sensitized solar cells]
FIG. 8 is a diagram showing another configuration example of the vacuum cleaner to which the present invention is applied. A cleaner 200 shown in FIG. 8 is basically the same cleaner as the cleaner 100 described in the first embodiment, has the same configuration as the cleaner 100, and performs the same processing.

  However, the vacuum cleaner 200 uses a dye-sensitized solar cell as a solar cell. A dye-sensitized solar cell is a solar cell having a structure in which an electrolyte is interposed between a titania porous electrode carrying a sensitizing dye and a counter electrode, and obtaining a photovoltaic power using an organic dye. is there.

  The eight upper surfaces of the cleaner 200 are referred to as an upper surface 201-1 to an upper surface 201-8. The upper surface 201-1 to upper surface 201-8 correspond to the upper surface 101-1 to upper surface 101-8 of the cleaner 100 described above, and are similarly formed.

  On the upper surface 201-1, as in the case of the upper surface 101-1, three solar cell panels (a solar cell panel 211-1-1, a solar cell panel 211-1-2, and a solar cell panel 211-1-3). Similarly, three solar cell panels are formed on each of the upper surface 101-2 through the upper surface 101-8, and these solar cell panels form a unit for each surface.

  That is, as shown in FIG. 8, the solar cell unit 211-1 is installed on the upper surface 201-1. A solar cell unit 211-2 is installed on the upper surface 201-2. Similarly, the upper surface 201-2 to the upper surface 201-8 are provided with the solar cell unit 211-2 to the solar cell unit 211-8.

  Also in this case, the solar cell units 211-1 to 211-8 are installed in different directions. The power generation of the solar cell is independent for each unit, and the power generation amount (current value) can be detected for each unit. In the following description, the solar cell units 211-1 to 211-8 are simply referred to as the solar cell unit 211 when it is not necessary to distinguish between them.

  In the example of FIG. 8, the solar cell panel 211-1-1 uses a red pigment. Examples of red dyes include ruthenium complexes (N719), merocyanines (D149), porphyrins (TCPP), xanthene dyes, and fluorescein or xanthene dyes.

  The solar cell panel 211-1-2 uses a blue pigment. Examples of blue pigments include squarylium pigments and cyanine pigments.

  The solar cell panel 211-1-3 uses a green pigment. Examples of green dyes include squarylium dyes, croconium dyes, phthalocyanines, and ruthenium complexes (black dyes).

  Unlike the case of the solar cell unit 111, the solar cell unit 211 can individually measure the power generation amount (current value) of each solar cell panel. For example, the vacuum cleaner 200 includes, in the solar cell unit 211-1, the power generation amount of the solar cell panel 211-1-1, the power generation amount of the solar cell panel 211-1-2, and the solar cell panel 211-1-3. Each power generation amount can be detected. The solar cell units 211-2 to 211-8 are similarly configured.

  A curve 221 in the graph shown in FIG. 9 shows an example of the state of the wavelength distribution of sunlight. As in the example shown in FIG. 9, sunlight includes a plurality of wavelength components, but the light intensity of each wavelength varies depending on the angle of the sun, that is, the time zone. For example, when the sun is at a low position close to the horizon, such as at sunrise or sunset, the red wavelength component of sunlight is stronger than when the sun is at a high position, such as during the daytime.

  In the case of a dye-sensitized solar cell, the absorptance of each wavelength component varies depending on the dye. A dotted line 222 in FIG. 10A shows an example of light absorption wavelength characteristics of a solar cell using a red pigment. A dotted line 223 in FIG. 10B shows an example of the light absorption wavelength characteristic of the yellow dye.

  Thus, in the dye-sensitized solar cell, the absorption rate of each wavelength component is biased, and the wavelength component that is easily absorbed is the color of the pigment used in the solar cell (the color of the solar cell panel that is visible by the pigment). It depends on.

  Therefore, as described above, solar cell units 211 are formed by combining solar cell panels using different color pigments (pigments in which the color of the solar cell panel appears different), and the power generation amount of each panel is detected individually. By making it possible, the tendency of the wavelength distribution of the absorbed light can be analyzed.

  The vacuum cleaner 200 can detect the current time (time zone), for example, by grasping the tendency of the wavelength distribution of received sunlight. For example, when the red wavelength component contained in sunlight is strong, the vacuum cleaner 200 can be estimated to be sunrise or sunset, and when the blue or green wavelength component is strong, it can be estimated that the daytime is dark. If you can guess at night. Whether it is sunrise or sunset can be estimated by the previous state (whether it is estimated to be daytime or night).

  Further, by analyzing the wavelength distribution in more detail, the cleaner 200 can estimate, for example, a more detailed time zone, and can also estimate the weather and season. It can also be estimated whether the received light is sunlight or artificial light such as an electric lamp.

  In such light analysis, the vacuum cleaner 200 can perform more complicated and accurate analysis by using not only the current wavelength distribution of light but also past analysis results and wavelength distribution information. .

  As described above, the vacuum cleaner 200 can estimate the time zone or the like by analyzing the wavelength distribution without providing a timekeeping unit or the like, so that the configuration can be further simplified and the cost can be reduced.

  The vacuum cleaner 200 may make various estimations such as time zone and weather by combining the analysis result of the wavelength distribution with other information such as temperature, humidity, image, and sound. Good. For example, a timer may be provided and combined with time information. By doing in this way, the cleaner 200 can estimate more various information more correctly.

  Moreover, the color of the pigment used for each solar cell panel constituting the solar cell unit 211 (the color of the solar cell panel visible by the pigment) may be other than those described above, and for example, a yellow pigment is used. It may be. Examples of yellow dyes include cyanine dyes (D131), coumarin dyes, and stilbene dyes. Of course, other colors may be used.

  Furthermore, the number of colors of the pigments constituting the solar cell unit 211 (the color of the solar cell panel visible by the pigments) is arbitrary as long as it is the same among the solar cell units 211. It may be two colors. As the number of colors increases, more detailed wavelength distribution analysis is possible, but by reducing the number of colors, the increase in installation area and circuit scale is suppressed, and the processing load such as analysis and estimation is reduced. Can do.

[Internal configuration of vacuum cleaner]
FIG. 11 is a block diagram illustrating an exemplary main configuration inside the vacuum cleaner 200. As shown in FIG. 11, the vacuum cleaner 200 basically has the same configuration as the vacuum cleaner 100. The description of parts having the same configuration as that of the vacuum cleaner 100 is omitted.

  However, the vacuum cleaner 200 has the electric current detection part 131 and the charging current control part 132 for every solar cell panel. That is, as shown in FIG. 11, a current detector 131-1-1 and a charging current controller 132-1-1 are provided for the solar cell panel 211-1-1. Similarly, a current detection unit 131-1-2 and a charging current control unit 132-1-2 are provided for the solar cell panel 211-1-2, and a current is supplied to the solar cell panel 211-1-3. A detector 131-1-3 and a charging current controller 132-1-3 are provided.

  The current detection unit 131-1-1 detects the power generation amount (current value) of the solar cell panel 211-1-1, and the charging current control unit 132-1-1 generates power in the solar cell panel 211-1-1. Whether or not the secondary battery 133 stores the electric power (current) obtained in this way is controlled.

  Similarly, the current detection unit 131-1-2 detects the power generation amount (current value) of the solar cell panel 211-1-2, and the charging current control unit 132-1-2 detects the solar cell panel 211-1-. 2, whether or not the secondary battery 133 stores the electric power (current) obtained by generating the electric power in the second battery 133 is controlled. The current detector 131-1-3 detects the power generation amount (current value) of the solar cell panel 211-1-3, and the charging current controller 132-1-3 generates power in the solar cell panel 211-1-2. Whether or not the secondary battery 133 stores the electric power (current) obtained in this way is controlled.

  That is, the current detection unit 131-1 provided for the solar cell unit 211-1 includes a current detection unit 131-1-1 to a current detection unit 131-1-3, and individually generates the power generation amount of each solar cell panel. Can be detected. Moreover, the charging current control unit 132-1 provided for the solar cell unit 211-1 includes a charging current control unit 132-1-1 to a charging current control unit 132-1-3, and is obtained in each solar cell panel. It is possible to individually control the storage of the generated power in the secondary battery 133.

  Although illustration is omitted, the current detection units 131-2 to 131-8 corresponding to the solar cell units 211-2 to 211-8 have the same configuration as the current detection unit 131-1, respectively. It is possible to individually detect the power generation amount of each solar cell panel.

  Similarly, the charging current control unit 132-2 to the charging current control unit 132-8 corresponding to the solar cell unit 211-2 to the solar cell unit 211-8 have the same configuration as the charging current control unit 132-1, respectively. And storage of the electric power obtained in each solar cell panel to the secondary battery 133 can be individually controlled.

  Further, as shown in FIG. 11, in the case of the cleaner 200, the timer unit 144 of the CPU 134 is omitted. This is because, as described above, the CPU 134 analyzes the wavelength component of sunlight absorbed in the solar cell panel and estimates the time zone. Thus, in the case of the vacuum cleaner 200, since the time is estimated by the wavelength analysis of sunlight, the configuration of the CPU 134 can be further simplified.

  Of course, as in the case of FIG. 3, a timer unit 144 may be provided so that the weather, the light source, and the like can be estimated more accurately. In addition, other various information may be estimated.

[Flow of self-consumption processing]
Next, an example of the flow of the self-consumption process started in the process of step S110 of FIG. 4 in the case of the cleaner 200 will be described with reference to the flowchart of FIG.

  When the self-consumption process is started, the control unit 141 absorbs the light indicated by the power generation amount (current value) of each solar cell panel of the solar cell unit 211 detected by the current detection unit 131 in step S231. The current time zone is estimated based on the wavelength distribution.

  The estimation method is arbitrary. In the case of the solar cell unit 211 using about three colors of pigments as in the example of FIG. 8, the wavelength distribution is generally simple. Therefore, in order to reduce the amount of calculation, the current time zone may be estimated using table information indicating the relationship between the wavelength distribution and the time zone. For example, table information in which a time zone estimated for each relationship between the power generation amounts of three solar cell panels in the unit is prepared in advance, and each solar cell obtained from the current detection unit 131 by the control unit 141 is prepared. The current time zone may be estimated from the power generation amount of the panel and its table information. Of course, the estimation may be performed by other methods.

  In step S232, the control unit 141 performs a cleaning function operation according to the time zone estimated in step S231. The content of the operation is arbitrary.

  Each process of step S233 to step S238 is performed in the same manner as each process of step S133 to step S138 of FIG.

  As described above, a plurality of dye-sensitized solar cells using different dyes are used as the solar cell panel, and the control unit 141 estimates the current time zone from the current value detected in each solar cell panel. Since it was made to do, the cleaner 200 can abbreviate | omit the structure of a time measuring part etc., can simplify a structure, and can reduce cost and power consumption.

  That is, the vacuum cleaner 200 can perform power generation more appropriately.

<3. Third Embodiment>
[Cleaning system]
Since the cleaner 100 and the cleaner 200 described above are self-propelled moving bodies, they are preferably light and small, and therefore the secondary battery 133 is desirably small. That is, the capacity of the secondary battery 133 is arbitrary, but is practically finite.

  When the secondary battery 133 is in a fully charged state, surplus power that cannot be consumed by itself is wasted.

  Therefore, the power stored in the secondary battery 133 may be supplied to another device.

  FIG. 13 is a diagram showing a main configuration example of a cleaning system to which the present invention is applied. A cleaning system 300 shown in FIG. 13 is a system that performs autonomous cleaning, and operates by consuming electric power charged in the self-propelled cleaner 301, a power storage device 302 that stores power, and the power storage device 302. A load device 303 and a load device 304 are included.

  In the cleaning system 300, the cleaner 301 is a self-propelled cleaner that performs cleaning similar to the cleaner 100 and the cleaner 200 described above. The cleaner 301 basically has the same configuration as the cleaner 100 or the cleaner 200, but has a connection terminal 311 on the side surface 102. The connection terminal 311 may be provided on any side surface 102, may be provided on a plurality of side surfaces, or may be provided on a side other than the side surface 102. Further, the number and shape of the connection terminals 311 are arbitrary. The connection terminal 311 is a terminal that electrically connects the cleaner 301 and the power storage device 302.

  The power storage device 302 is a device that stores the power generated by the vacuum cleaner 301. The power storage device 302 stores a secondary battery (battery) (not shown) and stores power supplied from the electrically connected cleaner 301.

  The power storage device 302 appropriately supplies the stored power to the load device 303 and the load device 304 that are electrically connected.

  The power storage device 302 has a connection terminal 312. The connection terminal 312 is a terminal that electrically connects the cleaner 301 and the power storage device 302 and has a shape corresponding to the connection terminal 311.

  Although the capacity | capacitance of the secondary battery (battery) which the electrical storage apparatus 302 has is arbitrary, the one larger than the capacity | capacitance of the secondary battery 133 which the cleaner 301 has at least is desirable.

  When the secondary battery 133 is fully charged or nearly full, the cleaner 301 moves to the position of the power storage device 302 as indicated by the arrow, and the connection terminal 311 and the connection terminal 312 Connect.

  When the cleaner 301 and the power storage device 302 are electrically connected via the connection terminal 311 and the connection terminal 312, the cleaner 301 supplies power stored in the secondary battery 133 to the power storage device 302. Supply.

  When electric power is supplied from the vacuum cleaner 301 to the power storage device 302, the amount of charge of the secondary battery 133 is reduced and charging is possible. Therefore, the cleaner 301 moves from the position of the power storage device 302 and moves to an appropriate position. Charge or operate with.

  As described above, in the cleaning system 300, the electric power generated by the cleaner 301 is supplied to the power storage device 302 that is another device, and the power storage device 302, and the load device 303 and the load device that are other devices. Consumed by 304 or the like. The load device 303 and the load device 304 are arbitrary devices.

  The configuration of the cleaning system 300 may be other than that shown in FIG. 13. For example, a plurality of power storage devices 302 may be provided for one vacuum cleaner 301. A plurality of vacuum cleaners 301 may be provided for one power storage device 302. The cleaning system 300 may include a plurality of vacuum cleaners 301 and a plurality of power storage devices 302.

  The number of load devices 303 and load devices 304 is also arbitrary. Further, the vacuum cleaner 301 may be connected not to the power storage device 302 but to a device such as the load device 303 or the load device 304 that does not have a power storage function but has an electrical consumption function.

  Further, communication between devices and transmission / reception of power may be performed via a wire or may be performed wirelessly.

  As described above, by allowing the power generated in the vacuum cleaner 301 to be stored in or consumed by another device, the cleaning system 300 further increases the power generated in the vacuum cleaner 301. It can be used effectively.

  Note that, for example, the power storage device 302 may be provided with a solar power generation panel or the like, or may be configured to supply the stored power to the cleaner 301 with a small remaining battery level.

[Internal configuration of vacuum cleaner]
FIG. 14 is a block diagram illustrating an exemplary main configuration inside the cleaner 301. As shown in FIG. 11, the cleaner 301 basically has the same configuration as the cleaner 100. The description of parts having the same configuration as that of the vacuum cleaner 100 is omitted.

  In the case of the example shown in FIG. 14, the CPU 134 includes a power output control unit 353 in addition to the configuration of the example of FIG. 3. The function processing unit 135 includes a power output function unit 373 in addition to the configuration of the example of FIG.

  The power output control unit 353 selected by the operation selection unit 147 controls and drives the power output function unit 373 according to the control of the control unit 141.

  The power output function unit 373 is configured by, for example, an electric circuit (not shown) including the connection terminal 311 and the like, and connects the secondary battery 133 to the power storage device 302 through the connection terminal 311 according to the control of the power output control unit 353. Then, the power stored in the secondary battery 133 is supplied to the power storage device 302.

[Flow of operation control processing]
Next, the process which the above vacuum cleaner 301 performs is demonstrated. First, an example of the flow of operation control processing executed by the CPU 134 will be described with reference to the flowchart of FIG. This flowchart corresponds to the flowchart of FIG.

  Steps S301 through S309 are executed in the same manner as steps S101 through S109 in FIG.

  When the charging process is stopped in step S309, the control unit 141 confirms the self-consumption operation condition in step S310. For example, a condition for performing a self-consumption operation (self-consumption) such that the cleaning function or movement function should be activated when the time is during the day, and the cleaning function or movement function should not be activated when the time is during the night Operation condition) is set in advance, and the control unit 141 confirms the condition.

  In step S311, the control unit 141 determines whether or not to execute the self-consumption process based on the confirmation result.

  For example, when the conditions as described above are set, the control unit 141 should actively operate the cleaning function and the moving function if the current time zone is daytime (execute self-consumption processing). Should be determined). Conversely, if the current time zone is at night, it is determined that the cleaning function or the movement function should not be operated (the self-consumption process should not be executed).

  When it is determined that the self-consumption process should be executed, the control unit 141 advances the process to step S312. In step S312, the control unit 141 starts a self-consumption process so that the cleaning function, the movement function, and the like are actively operated to consume the power stored in the secondary battery 133. This process is executed in the same manner as step S110 in FIG. When the self-consumption process is started, the control unit 141 returns the process to step S301 and repeats the subsequent processes.

  If it is determined in step S311 that the self-consumption process should not be performed, the control unit 141 advances the process to step S313. In step S313, the control unit 141 starts a power supply process for supplying the power stored in the secondary battery 133 to another device. When the power supply process is started, the control unit 141 returns the process to step S301 and repeats the subsequent processes.

  As described above, by performing the operation control process, the cleaner 301 can not only consume the power stored in the built-in secondary battery 133 by itself, but also supply it to other devices. The power generated by itself can be used more effectively (including supply to other devices). That is, the cleaning system 300 can use the power generation function of the cleaner 301 more effectively.

[Power supply processing flow]
Next, an example of the flow of the power supply process started in the process of step S313 of FIG. 15 will be described with reference to the flowchart of FIG.

  When the power supply process is started, the control unit 141 identifies the power storage device 302 that supplies power in step S331. For example, a power storage device 302 that can supply power is registered in the cleaner 301. This registration may be performed in advance, or may be appropriately performed by a user or the like. The information of the power storage device 302 may be arbitrarily created, added, edited, deleted, etc. by the user etc., and such work is restricted by user authority, password, etc. You may make it provide.

  The number of power storage devices 302 that can be registered in the vacuum cleaner 301 is arbitrary. For example, when a plurality of power storage devices 302 are registered, the control unit 141 selects an optimal one from them and specifies its position. This selection method is arbitrary. For example, the power storage device 302 that is closest to the current position of the cleaner 301 may be selected, or the power storage device 302 that has the least remaining battery power may be selected. Of course, other methods may be used.

  When the power storage device 302 is specified as the power supply destination, the control unit 141 controls the power output function unit 373 via the power output control unit 353 in step S332, and the cleaner 301 is electrically connected to the current power storage device 302. Check if it is connected. When it determines with the connection terminal 311 not being connected to the electrical storage apparatus 302 which supplies electric power, the control part 141 advances a process to step S333.

  In step S333, the movement control unit 151 controls the movement function unit 171 according to the control of the control unit 141, moves the cleaner 301 to the location of the power storage device 302 that supplies power, and the connection terminal 312 of the power storage device 302. In addition, the connection terminal 311 of the cleaner 301 is connected.

  When the cleaner 301 is connected to the power storage device 302, the control unit 141 proceeds with the process to step S334. In Step S332, when it is determined that the vacuum cleaner 301 is connected to the power storage device 302 that supplies power, the control unit 141 omits Step S333 and proceeds to Step S334.

  In step S334, the power output control unit 353 controls the power output function unit 373 according to the control of the control unit 141, and whether or not the remaining battery level of the power storage device 302 connected to the cleaner 301 is equal to or greater than a predetermined threshold value. Determine. This threshold value may be determined in advance, or may be set as appropriate based on some other factor such as time information, position information, or event occurrence.

  Further, this determination process determines whether or not the storage state of the secondary battery of the power storage device 302 is a fully charged state or a state close thereto. Therefore, the magnitude of this threshold is arbitrary, but basically it is desirable to have a large value close to the fully charged state.

  When it is determined that the remaining battery level of the power storage device 302 is equal to or greater than the predetermined threshold, the control unit 141 determines that power supply (charging) to the power storage device 302 is impossible, and the process proceeds to step S335. Proceed.

  In step S335, control unit 141 determines whether or not an unselected power storage device 302 exists in the registered information. When it determines with existing, the control part 141 returns a process to step S331, and repeats the process after it.

  If it is determined in step S335 that there is no selectable (unselected) power storage device 302, control unit 141 gives up supplying power to another device, and the process proceeds to step S336. In step S336, the control unit 141 moves to a position where the power generation amount is minimum based on the history so as not to generate power as much as possible. When the process of step S336 ends, the control unit 141 ends the power supply process.

  In Step S334, when it is determined that the remaining battery level of power storage device 302 connected to cleaner 301 is less than a predetermined threshold, control unit 141 advances the process to Step S337.

  In step S <b> 337, the power output control unit 353 is controlled by the control unit 141 to control the power output function unit 373, and starts supplying power from the secondary battery 133.

  In step S338, the battery charge amount detection unit 142 detects the remaining battery level of the secondary battery 133. The control unit 141 determines whether or not the detected remaining battery level is equal to or greater than a predetermined threshold value. This threshold value may be determined in advance, or may be set as appropriate based on some other factor such as time information, position information, or event occurrence.

  In addition, this determination process determines whether sufficient free capacity has occurred in the secondary battery 133. Therefore, although the magnitude of this threshold is arbitrary, it is basically desirable to set it to a sufficiently small value (for example, the remaining amount is less than half or a value close to an empty charge state).

  When it is determined that the power supply is not yet sufficient and the remaining battery level of the secondary battery 133 is equal to or greater than the predetermined threshold, the control unit 141 advances the process to step S339.

  In step S339, the power output control unit 353 is controlled by the control unit 141 to control the power output function unit 373, and determines whether or not the remaining battery level of the power storage device 302 is equal to or greater than a predetermined threshold value. This threshold value may be determined in advance, or may be set as appropriate based on some other factor such as time information, position information, or event occurrence.

  Further, this determination process determines whether or not the storage state of the secondary battery of the power storage device 302 is a fully charged state or a state close thereto. Therefore, the magnitude of this threshold is arbitrary, but basically it is desirable to have a large value close to the fully charged state.

  When it is determined in step S339 that the remaining battery level is less than the predetermined threshold, the control unit 141 returns the process to step S338 and repeats the subsequent processes.

  If it is determined in step S339 that the remaining battery level of power storage device 302 is equal to or greater than the predetermined threshold, control unit 141 advances the process to step S340.

  In step S340, the power output control unit 353 controls the power output function unit 373 according to the control of the control unit 141, and stops the supply of power. When the supply of power is stopped, control unit 141 returns the process to step S335, and repeats the subsequent processes to search for another power storage device 302 that can supply the power.

  If it is determined in step S338 that the remaining battery level is less than the predetermined threshold, the control unit 141 advances the process to step S341. In step S341, the power output control unit 353 controls the power output function unit 373 according to the control of the control unit 141, and stops the supply of power. When the supply of power is stopped, the control unit 141 ends the power supply process.

  By performing the power supply process as described above, the cleaner 301 can supply power that cannot be consumed by itself to other devices, and can use the power generated by itself more effectively.

  In such a vacuum cleaner 301, a dye-sensitized solar cell may be used. In the above description, only the supply of electric power has been described. However, the vacuum cleaner 301 communicates with other devices such as the power storage device 302, the load device 303, and the load device 304 to exchange power generation history and operation history. You may be able to do that.

  As described above, the cleaning system 300 can cause the cleaner 301 to generate power more appropriately.

  The series of processes described above can be executed by hardware or can be executed by software.

  When the above-described series of processing is executed by software, a program constituting the software is installed from a network or a recording medium.

  For example, as shown in FIG. 3, the recording medium is distributed to distribute the program to the user separately from the apparatus main body, and includes a magnetic disk (including a flexible disk) on which the program is recorded, an optical disk ( It is only composed of removable media 196 consisting of CD-ROM (compact disc-read only memory), DVD (including digital versatile disc), magneto-optical disc (including MD (mini disc)), or semiconductor memory. Rather, it is configured by a ROM 181 in which a program is recorded and a hard disk included in the storage unit 193, which is distributed to the user in a state of being incorporated in the apparatus main body in advance.

  The program executed by the computer may be a program that is processed in time series in the order described in this specification, or in parallel or at a necessary timing such as when a call is made. It may be a program for processing.

  Further, in the present specification, the step of describing the program recorded on the recording medium is not limited to the processing performed in chronological order according to the described order, but may be performed in parallel or It also includes processes that are executed individually.

  In addition, in the above description, the configuration described as one device (or processing unit) may be configured as a plurality of devices (or processing units). Conversely, the configuration described above as a plurality of devices (or processing units) may be configured as a single device (or processing unit). Of course, a configuration other than that described above may be added to the configuration of each device (or each processing unit). Further, if the configuration and operation of the entire system are substantially the same, a part of the configuration of a certain device (or processing unit) may be included in the configuration of another device (or other processing unit). Good. That is, the embodiment of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the present invention.

  DESCRIPTION OF SYMBOLS 100 Vacuum cleaner, 111 Solar cell unit, 131 Current detection part, 132 Charging current control part, 133 Secondary battery, 134 CPU, 135 Function processing part, 141 Control part, 142 Battery charge amount detection part, 143 Current calculation part, 144 Timekeeping section, 145 Position measurement section, 146 Charging current control section, 147 Operation selection section, 151 Movement control section, 152 Cleaning control section, 171 Movement function section, 172 Cleaning function section, 200 Vacuum cleaner, 300 Cleaning system, 301 Vacuum cleaner , 302 power storage device, 303 and 304 load device, 353 power output control unit, 373 power output function unit

Claims (10)

A power generator for generating power,
A plurality of power generation means for generating power by converting light energy into electrical energy, provided in different directions in the housing of the power generation device;
Detection means for detecting the current obtained by the power generation of each power generation means;
Determining means for determining a moving direction so as to go in the light irradiation direction based on the magnitude of each current detected by the detecting means;
A power generation device comprising: moving means for moving the power generation device in the movement direction determined by the determination means. Position detecting means for detecting a current position of the power generator;
The storage unit according to claim 1, further comprising: a storage unit that stores the current position detected by the position detection unit and the magnitude of the current detected by the power generation unit detected by the detection unit in association with each other. Power generation device. And further comprising a power storage means for storing power obtained by power generation of the plurality of power generation means,
The power generation device according to claim 1, wherein the moving unit is driven by consuming the electric power stored by the power storage unit. The power generation device according to claim 3, further comprising power consumption means for consuming the power stored by the power storage means to realize a predetermined function. It further includes a time measuring means for providing the current time,
The power generation device according to claim 4, wherein the power consuming unit performs processing according to a current time provided by the time measuring unit. Further comprising a remaining amount detecting means for detecting the remaining amount of the electric power stored in the electric storage means,
The power generation device according to claim 3, wherein the moving unit moves the power generation device to a position where the power generation amount is small when the remaining amount of power detected by the remaining amount detection unit is close to full charge. Further comprising a remaining amount detecting means for detecting the remaining amount of the electric power stored in the electric storage means,
The power generation device according to claim 3, wherein the moving unit moves the power generation device to a position where the amount of power generation is large when the remaining amount of power detected by the remaining amount detection unit is close to empty charging. The power generation device according to claim 3, further comprising power output means for outputting the power stored in the power storage means to another device. The plurality of power generation means comprises a dye-sensitized solar cell using dyes of different colors,
The power generation device according to claim 1, further comprising: an estimation unit that estimates a current time zone based on the magnitude of each current detected by the detection unit. A power generation method for a power generation device that generates power,
A plurality of power generation means provided in different directions of the power generation device convert light energy into electrical energy to generate power,
The detection means of the power generation device detects the current obtained by each power generation,
The determining means of the power generation device determines the moving direction to go in the light irradiation direction based on the magnitude of each detected current,
A power generation method in which a moving unit of the power generation apparatus moves the power generation apparatus in the determined moving direction.

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