JP2893969B2 - How to operate a vacuum cleaner - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vacuum cleaner, and more particularly to a vacuum cleaner which uses a power brush suction port provided with a rotary brush at a suction port and is optimally operated according to a floor surface to be cleaned and a suction port to be used. .

[0002]

2. Description of the Related Art A conventional vacuum cleaner is disclosed in JP-A-63-309232.
As described in JP-A-64-52430, the power supply to the nozzle motor is turned off when the current flowing through the nozzle motor provided at the suction opening exceeds a certain set value for a certain set time or more. As described above, what is the surface to be cleaned is detected from the change in the current flowing through the nozzle motor provided in the suction port, and the input of the fan motor is controlled based on the result.

[0003]

In the above prior art, the current flowing through the nozzle motor provided at the suction port differs depending on the person who operates the suction port, and the magnitude varies depending on the cleaning floor surface. Depending on the value of the set value and the value of the set time, there is a possibility that the lock of the rotary brush may be determined in a complicated manner. In another conventional technique, for example, a current flowing through a nozzle motor provided in a suction port differs depending on a person who operates the suction port, and a method of detecting a floor surface using the size of the suction port has a problem that a floor surface is erroneously determined.

[0004] It is an object of the present invention to provide a vacuum cleaner capable of judging lock of a rotary brush and protecting a nozzle motor.

[0005]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention is characterized by a filter for collecting dust, a fan motor for applying a suction force to a vacuum cleaner, and a rotary brush for driving a suction port. In a method for operating a vacuum cleaner having a power brush suction port containing a nozzle motor to be operated and a phase control circuit for adjusting a voltage applied to the nozzle motor, a current detection circuit for detecting a load current of the nozzle motor is provided. When the output of the current detection circuit exceeds a first set value, the phase control angle of the nozzle motor is adjusted to reduce the applied voltage, and the second setting in which the output of the current detection circuit is lower than the first set value When the value exceeds the value, it is determined that the rotary brush is locked, and the operation of the nozzle motor is stopped.

[0006]

According to the present invention, when the output of the current detection circuit exceeds the first set value, the rotary brush seems to be locked, so that the phase control angle of the nozzle motor is adjusted to reduce the applied voltage. Therefore, the current flowing through the nozzle motor is reduced, and damage around the commutator can be prevented.

According to the invention, when the output of the current detection circuit exceeds a second set value lower than the first set value, it is determined that the rotary brush is locked, and the operation of the nozzle motor is stopped. As a result, the nozzle motor can be protected.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. In the present embodiment, it is assumed that a variable speed motor is used as a fan motor as a drive source of the cleaner. As variable speed motors, AC commutator motors whose speed changes by controlling the input, phase control motors,
Induction motors driven by inverters, reluctance motors, brushless motors, etc. can be considered.
In this embodiment, there is no brush with mechanical sliding,
Therefore, an example in which a brushless motor having a long life and good control response is used as a fan motor will be described.

Further, in the present invention, it is basically assumed that a nozzle motor for driving a rotary brush is provided at a suction opening. As the nozzle motor, a DC magnet motor or an AC commutator motor can be considered. An example using a DC magnet motor with a built-in rectifier circuit will be described. An example in which a pressure sensor (semiconductor pressure sensor) for detecting clogging of a filter and a temperature sensor (such as a thermistor) for protecting a fan motor or a control circuit from overheating will be described in the cleaner body.

FIG. 1 is a block diagram showing a schematic configuration of a control circuit, and FIG. 2 shows an overall configuration of the control circuit.

In the figure, reference numeral 16 denotes an inverter control device. An AC power supply 29 rectifies the power supply 29 with a rectifier circuit 21, smoothes the rectified power with a capacitor 22, and supplies a DC voltage Ed to the inverter circuit 20. The inverter circuit 20 includes a TR ₁ to Tr _6, a 120-degree conduction inverter constructed from a freewheeling diode D ₁ to D ₆ connected in parallel to each of the transistors TR ₁ to Tr _6. Transistor TR ₁ to Tr ₃ constitutes a positive arm. The transistors TR _{4 to} TR ₆ constitute negative arms, each of which has a conduction period of 120 degrees in electrical angle, and is subjected to pulse width modulation (PWM) by matching with the triangular wave generation circuit 38. R ₁ is a relatively low resistor connected between the negative side of the emitter side and the capacitor 22 of the transistor TR ₄ to Tr ₆ that constitutes a negative arm.

Reference numeral FM denotes a brushless motor which is a motor for driving a fan (hereinafter, referred to as a fan motor), and has a rotor R composed of two-pole permanent magnets and armature windings U, V, W. . Load currents I flowing through these windings U, V, W
_D can be detected as a voltage drop across the resistor R _1. The speed control circuit of the fan motor FM includes a magnetic pole position detection circuit 18 for detecting the magnetic pole position of the rotor R with the Hall element 17 and the like, a fan motor current detection circuit 23 for detecting and amplifying the load current _ID described above, and the transistor TR. _It mainly comprises a base driver 15 for driving _{1 to} TR ₆ and a microcomputer 19 for driving the base driver 15 based on a detection signal 18S obtained from the detection circuit 18. Reference numeral 30 denotes an operation switch operated by an actual user, 3
Reference numeral 6 denotes a self-diagnosis operation switch operated by a service person.

On the other hand, reference numeral 26 denotes a nozzle motor for driving the rotary brush 10 provided on the suction side of the cleaner. Electric power is supplied by controlling the phase of the AC power supply 29 with a triac (FLS) 25. 24 is Triac 2
In ignition circuit 5 outputs a firing signal 24S, 27 is a current detector of the load current I _N flowing through the nozzle motor 26,
Reference numeral 28 denotes a nozzle motor current detection circuit that detects and amplifies an output signal of the current detector 27.

The magnetic pole position detecting circuit 18 receives a signal from the Hall element 17 and generates a magnetic pole position signal 18S of the rotor R. The magnetic pole position signal 18S is used not only for switching the current of the armature windings U, V, and W (commutation), but also for detecting the rotation speed. The microcomputer 19 calculates the magnetic pole position signal 1
By counting 8S in a fixed sampling,
It is to find the speed.

The detecting circuit 23 of the load current I _D of the fan motor FM is a voltage drop across the resistor R ₁ into a DC component through a peak hold circuit (not shown), and amplifies and load of the fan motor FM The current _ID is obtained.

Nozzle motor (with built-in rectifier circuit)
Detection circuit 28 for the load current I _N of 26, a current detector 2
Since 7 output signal is an AC to be rectified into a DC component, and amplifies and in which obtaining the load current I _N of the nozzle motor 26.

The microcomputer 19 includes a central processing unit (CPU) 19-1, a read-only memory (ROM) 19-2, and a random access memory (RAM) 19-3. And a control bus. And the ROM 19-2
Are programs required to drive the fan motor FM, for example, speed calculation processing, speed control processing (AS
R), current control processing (ACR), nozzle motor current detection processing, fan motor current detection processing, static pressure detection processing, and the like. The RAM 19-3 is provided in the ROM 1
It is used to read and write various necessary external data when executing various programs stored in 9-2.

The transistors TR _{1 to} TR ₆ are respectively driven by the base driver 15 according to the ignition signal 19S generated and processed by the microcomputer.

The triac 25 is driven by the ignition circuit 24 in response to an ignition signal 19D generated and processed by the microcomputer 19 based on the zero-cross detection circuit 32 of the AC power supply 29.

The static pressure detection circuit 31 converts the output of the pressure sensor 8 in the cleaner body into a static pressure, and receives a signal from the microcomputer 19 to determine a conversion gain.
The temperature detection circuit 34 is a temperature sensor 3 provided in the cleaner body.
7 to fan motor 17 or inverter control device 1
The operating temperature of No. 6 is detected.

The 100% duty detection circuit 33 is pulse width modulated by comparing the ignition signal 19D, which is a current switching (commutation) signal of the armature windings U, V, W of the fan motor FM, and the triangular wave signal 38S. transistor TR ₁ to Tr ₆ from firing signal 15S is obtained by detecting that there are no chopping. Reference numeral 35 denotes a display circuit for indicating an operation state of the fan motor FM driven by the inverter control device 16.

This type of brushless fan motor FM is
Since the current flowing through the armature winding corresponds to the output torque of the motor, the output torque can be varied by changing the applied current. That is, by adjusting the applied current, the output of the motor can be continuously and arbitrarily changed. Further, by changing the drive frequency of the inverter, the rotation speed of the fan motor FM can be freely changed.

The vacuum cleaner of the present invention uses such a brushless motor.

Next, FIG. 3 shows the overall structure of the vacuum cleaner, and FIG. 4 shows the internal structure of the power brush suction port.

3 and 4, reference numeral 1 denotes a cleaning floor, 2 denotes a main body of the cleaner, 3 denotes a hose, 4 denotes a hand switch, 5 denotes an extension tube, and 6 denotes a built-in nozzle motor 26 for driving the rotary brush 10. A brush 7; a filter 7; a pressure sensor 37 for detecting the degree of clogging of the filter 7;
Is a temperature sensor for detecting an over-temperature of the fan motor FM or the inverter control device 16, and 35 is a display circuit composed of an LED or the like indicating an operation state of the cleaner. Inside the suction case 6A of the power brush suction mouth 6, there is a nozzle motor 26, a rotary brush 10, and a brush 11 attached thereto. Reference numeral 12 denotes a timing belt for transmitting the driving force of the nozzle motor 26 to the rotary brush 10, 13 denotes a suction extension tube, and 14 denotes a roller. The power supply lead wire 9 of the nozzle motor 26 is connected to a power supply line 5A provided in the extension tube 5.

Thus, when the nozzle motor 26 is supplied with power and rotates, the rotary brush 10 rotates via the timing belt 12. When the power brush suction port 6 is brought into contact with the floor surface 1 while the rotary brush 10 is rotating,
Since the brush 11 is provided with the brush 11, the brush 11 comes into contact with the floor 1 and the load current I
_N increases. By the way, as a result of various experiments, the rotary brush 10 also rotates in one direction because the nozzle motor 26 rotates in one direction, and when the power brush suction port 6 is operated back and forth, the power brush suction port 6 advances when the rotary brush 10 is rotated. load current I _N of the nozzle motor 26 is reduced in the case of operating the power brush suction port 6 in the direction,
When operating the power brush suction port 6 in the opposite direction has been found that the load current I _N of the nozzle motor 26 increases.

Next, a description will be given of a change in the load current of the nozzle motor according to the suction operation. First, FIG. 5 shows a zero-cross detection circuit for controlling the phase of the nozzle motor, and FIG. 6 shows voltage and current waveforms applied to the nozzle motor.

5 and 6, the AC power supply 29 is
If the voltage V _S is in the middle (A), the zero cross signal 32S shown in FIG. 6B is obtained by the zero cross detection circuit 32 including the resistor R ₂ , the photocoupler PS, and the resistor R ₃ . The microcomputer 19 calculates the zero-cross signal 3
The count timer shown in FIG. 6C synchronized with the rising edge of 2S is synchronized, and when the count timer becomes zero,
The microcomputer 19 outputs a firing signal 19D to the FLS 25 (although not shown, the zero-cross signal 32S may be inverted so as to operate the count timer in synchronization with the fall of the zero-cross signal). Thus, the nozzle motor 26 flows a load current I _N shown in FIG. 6 (b), the rotational speed of the nozzle motor 26 by the phase control, so the input is controlled.

FIG. 7 shows a configuration of a current detection circuit of a nozzle motor and an output example. Because the load current I _N is supplied to the nozzle motor 26 is intermittent and alternating current waveform as shown in FIG. 6 (b), detecting the load current I _N by the current detector 27 comprising a current transformer, a current detection Circuit 2
Enter 8 The current detection circuit 28 includes a full-wave rectification amplification circuit 28A, a diode D ₁₀ , a peak hold circuit 2
The 8B, is converted into a DC voltage signal V _DP corresponding to the peak current of the load current I _N shown in FIG. 7 (b) (load current I _N
Is detected because the peak current has an adverse effect on the nozzle motor 26 and the peak current significantly changes with respect to the suction operation.) The output signal V _DP changes between the voltages V _MX and V _MN in response to the operation of the mouthpiece, as shown in FIG. The difference between the two voltages (V _MX -V _MN ) is determined by the variation range of the detection voltage V _MB , and the average value of the two voltages (V _MX -V _MN ) / 2
Is the average value V _AV of the detection voltages.

FIG. 8 shows the average value V _AV of the detected voltage with respect to the change of the phase control angle when the rotary brush is locked. When the rotary brush is locked, if the phase control angle is large, the applied voltage to the nozzle motor is small, so the average value V _{AV of the} detected voltage is small, but as the phase control angle is reduced, the applied voltage to the nozzle motor increases. Therefore, the average value V _{AV of the} detection voltage also increases. Therefore, the lock of the rotary brush can be detected from the magnitude of the average value V _AV of the detection voltage, but the average value V _{AV of the} detection voltage changes by the suction operation.

FIG. 9 shows a change in the average value V _AV of the detected voltage when the rotary brush is locked during the suction operation. When the vacuum cleaner is driven to operate the suction opening, the average value V _AV of the detected voltage fluctuates as shown in the figure (nozzle motor phase control angle θ ₁ ), but when the rotary brush locks, the average value V of the detected voltage V _AV is obtained. _AV rapidly increases due to the action of the peak hold circuit. At this time, the average value V equal to or more than the first set value _V01
After a lapse of the first set time above T ₁ is continuously _AV determines the locked state of the rotary brush. When the rotary brush is in the locked state, the load current of the nozzle motor becomes very large, so stopping the operation of the nozzle motor can prevent damage around the commutator of the nozzle motor. It may be different, which is rather inconvenient in terms of usability.

[0032] Therefore, when it is determined that the locked state of the rotary brush, lowers the applied voltage to the nozzle motor by increasing the phase control angle theta _2, the second set value V ₀₂ or more average value V _AV at this time After a lapse of a second predetermined time T ₂ or more consecutive determines the lock of the rotary brushes, to stop the operation of the nozzle motor. Accordingly, when the operator leaves the suction port on the floor surface, for example, when the average value V _AV of the detected voltage exceeds the first set value V ₀₁ and when it is determined that the rotary brush is in a locked state, the suction port is again operated by the operator. If you operate
Since the rotary brush rotates, the lock determination of the rotary brush is released. Here, when it is determined that the rotary brush is in the locked state, the voltage applied to the nozzle motor is reduced, so that the load current flowing through the nozzle motor is small,
Damage around the commutator can be prevented. FIG. 10 shows a flowchart of the lock determination of the rotary brush. The process shown by the dotted line in the figure is, as shown in FIG. 8, the average value V _{AV of the} detected voltage depending on the phase control angle θ.
Is changed, when the first set value V _AV ′ is indicated by a dashed line in order to further increase the accuracy of the lock determination of the rotary brush, this V _AV ′ is obtained by calculation.

Next, a method of determining the cleaning floor surface will be described. First, FIG. 11 shows a state in which the nozzle motor rotates at a low speed.
This shows the result of measuring the fluctuation width V _MB of the detection voltage corresponding to the change in the load current of the nozzle motor during the suction operation, according to the floor surface. Here, the rotation speed of the fan motor increases in order from the rotation speed to the rotation speed, in other words, the suction force increases in order. Also, carpets to carpets represent the length of the bristle feet, and become longer in order.

In FIG. 11, it is considered whether or not the type of the cleaning floor can be estimated from the fluctuation range V _MB of the detected voltage.
When the suction force of the rotational speed is weak, the fluctuation width V _MB is zero when the floor is on the floor, whereas the folding order (when the suction port is operated in the direction in which the rushes are arranged) and the folding reverse (in the direction orthogonal to the rushing direction). When the suction port is operated), the size becomes larger in the order of the carpet, but in the case of the folding reverse, it becomes larger than the carpet. The same applies to the case of the rotation speed and the rotation speed, and the type of the floor surface cannot be determined simply based on the magnitude of the fluctuation width V _MB . However, it can be understood that the determination of the floor and other types can be made.

FIG. 12 shows the result of measurement of the fluctuation range V _MB of the detected voltage corresponding to the change in the load current of the nozzle motor during the suction operation when the nozzle motor rotates at a high speed, according to the floor surface. .

In FIG. 12, when the nozzle motor is rotating at high speed, the fluctuation range V _MB of the detected voltage is almost the same as the rotation speed of the fan motor, regardless of the rotation speed.
Since the carpets become larger in this order, it is possible to determine the type of floor surface here. That is, by adjusting the rotation speeds of the nozzle motor and the fan motor according to the determination result of the floor surface, the cleaning floor surface can be determined using the fluctuation width V _MB of the detection voltage.

Up to now, the floor surface judgment using the fluctuation range of the detection voltage V _MB which is the peak value of the current of the nozzle motor has been described, but the floor surface judgment using the output of the pressure sensor provided in the main body of the vacuum cleaner has been described. Will be described.

FIG. 13 shows the result of measuring the variation width H _{MB of the} static pressure with respect to the rotation speed of the fan motor according to the floor surface. In FIG. 13, it can be seen that, depending on the rotation speed of the fan motor, the floor and the folding can be determined, but the folding or carpet cannot be distinguished.

Further, the fluctuation width V _MB of the detection voltage and the fluctuation width H _{MB of the} static pressure vary depending on the user's operation force, the state of the cleaning floor surface, and the type of the brush of the rotary brush. There is a possibility of making a misjudgment. Therefore, erroneous determination of the cleaning floor surface is covered by using F _UZZY inference that can consider ambiguity.

FIG. 14 shows an operation mode of the fan motor. Here, the suction force P ₀ of the cleaner is proportional to the product of the air volume Q and the static pressure H. In FIG. 14, the air volume Q constant control always secures the minimum required air volume at the suction port, and the static pressure increases by the pressure loss according to the clogging of the filter. The static pressure H constant control reduces the adhesion between the floor surface and the suction port. For example, even if a foreign substance sticks to the suction port, the static pressure rises only to a certain extent, and has an advantage that the foreign substance can be easily removed. The reason why the static pressure increases as the air volume decreases is that the static pressure increases on the suction side by the pressure loss of the filter due to the static pressure constant control at the rear of the filter. When the air volume becomes small, since there is almost no suction force, the control is shifted to the rotation speed N constant control, and wasteful power is omitted. The range in which the air volume Q is constant and the static pressure H is constant is controlled by _FUZZY control.

On the other hand, if the power of the fan motor is increased when the cleaning is not being performed, not only the operation noise is noisy but also the power is wasted. Therefore, a standby operation mode is provided, in which the power is increased only when the _{suction port} is being operated for cleaning, and the operation is shifted to the _FUZZY control. Otherwise, the power is reduced and the operation returns to the standby operation state. In the standby operation mode, in order to increase the accuracy of determining whether or not the cleaning state is established, the rotation speed N control is changed to the constant air flow control when the air flow reaches a certain value, and the constant rotation speed control is performed when the static pressure is reached.

Next, the F _UZZY control will be described. FIG.
_Shows a general F _UZZY inference method. In other words, the F _UZZY inference consists of the antecedent part and the _{consequent part} of the “if-then rule”, and in rule 1, the conformity of the antecedent part to the membership A ₁₁ of the input X _{1 and} the membership A _{12 of the} input X ₂
From goodness of fit of smaller fit to determine the area of membership B ₁ of the output of the consequent part. Any rule 2 in the same manner determine the area of membership B ₂ outputs. Then, the areas corresponding to the number of rules are overlapped to obtain the center of gravity.

FIG. 23 shows a rule table studied for a vacuum cleaner. Using VS to VL as the membership function of the antecedent part, the fluctuation width Δpbi of the current of the nozzle motor (or the fluctuation width Δ of the static pressure) is used as an input of F _UZZY inference.
H) and air flow Q (or static pressure H) (in the table, the membership function and the variation width Δpb
i, the membership function and the variation width ΔH are shown in association with each other). NB to P as membership functions of the consequent
Using B, ZO is where control calms down.

FIG. 16 shows the relationship between the input and the membership function studied for the vacuum cleaner. Fluctuation width of normalized input Δp
The bi (ΔH), the air volume Q (static pressure H), and the output Δy were prescaled to 15 steps, and each degree of conformity was set to 8 steps. FIG. 17 shows a method of calculating the air volume command Qcmd and the static pressure command Hcmd by the _FUZZY calculation. FIG.
According to the F _UZZY inference rule shown in (1), the fluctuation width Δpbi (or fluctuation width ΔH) and the air volume command Qcmd (or static pressure command Hcmd) are pre-scaled and the F _UZZY calculation and the center-of-gravity calculation are performed to calculate the output change Δy. And then integrate it to get F
The output of the _UZZY calculation was used, and finally, the air volume command Qcmd (or the static pressure command Hcmd) was obtained by post-scaling.
The _{reason why} the output change Δy is integrated and used as the output of the _FUZZY calculation is to provide output stability. FIG. 18 shows an output example of the air volume command Qcmd with respect to the current fluctuation width Δpbi. Thus, the input fluctuation width Δpbi
It can be seen that the output airflow command Qcmd (or the static pressure command Hcmd) changes stepwise according to the magnitude of (or the fluctuation width ΔH). The output is stepped in order to stabilize the output when the cleaning floor is floor-like, foldable, and carpet-like. That is, by using the F _UZZY calculation and making the air volume command Qcmd (or the static pressure command Hcmd) stepwise to compensate for the difference in input depending on the operator, it is optimal according to the cleaning floor regardless of the operator. It can be controlled to an appropriate suction force.

Next, in the constant air volume control, a method of calculating the air volume becomes a problem. FIG. 19 shows the air volume calculation formula and the air volume constant control result. From the general fluid theory of the fan motor and the characteristic equation of the motor, the following two equations can be obtained as air volume calculation equations.

[0046]

Qdata = I / N (Equation 1)

[0047]

Qdata = I × N / H (Equation 2) Here, Qdata is a calculated airflow value, I is a torque current of the fan motor, N is a rotation speed of the fan motor, and H is a static pressure. FIG. 19A shows I / I of the equation (Equation 1) as the air volume calculation equation.
19A and 19B show results of constant air volume control using the N method and the I × N / H system of the equation (2), and FIG. 19B shows an average of the equations (1) and (2) as the air volume calculation equation. (I / N + I × N /
H) / 2 shows the result of constant air volume control.
The constant air volume control method adjusts the rotation speed of the fan motor so that the calculated air volume value falls between the upper and lower limits of the air volume command value. As a result, the air volume at the air inlet portion can be controlled to be constant, but the method (b) has a high accuracy. Although not shown, the static pressure constant control method similarly adjusts the rotation speed of the fan motor so that the detected static pressure value falls between the upper limit value and the lower limit value of the static pressure command value.

The power-up and power-down corresponding to the suction operation described with reference to FIG. 14 is determined by detecting a change in static pressure. FIG. 20 shows changes in the static pressure during the standby operation and during the _FUZZY control. FIG. 20 (a) shows a change in static pressure when the suction port is operated back and forth on the floor surface during standby operation in which the output gain of the pressure sensor is increased (sensitivity is increased), and the suction port is placed on the floor from a raised state. The change of the static pressure in the case is shown. It is determined whether or not the cleaning state is detected by detecting a portion surrounded by a chain line, that is, a small positive change in static pressure. Then, when it is determined that the cleaning state is established, the power is increased and the control state is shifted to _FUZZY control.
FIG. 20 (b) shows the change in static pressure when the suction _opening is not left on the cleaning floor surface during cleaning during the _FUZZY control operation in which the output gain of the pressure sensor is reduced (sensitivity down), and
It shows a change in static pressure when the suction port is lifted from a state in which the suction port is attached to the floor surface. Whether or not the cleaning state is established is determined by detecting a portion surrounded by a chain line, that is, a change in the static pressure in the negative direction. Then, when it is determined that the state is not the cleaning state, the power is reduced and the control state is shifted to the standby operation. In addition, although the example in which the negative state change of the static pressure is detected to determine that the state is not the cleaning state has been described, the absence of the static pressure change may be detected and used for the determination.

Next, a description will be given of the determination of the used suction port. The distinction between the power brush suction port and other suction ports that are not the power brush suction port is based on the application of the instantaneous voltage to the nozzle motor based on the zero-cross signal and the detection of the current.
If it cannot be detected, it is determined to be another suction _port. If it is determined that it is a power brush suction port, the fluctuation width Δpbi of the current of the nozzle motor is used as an input of the F _UZZY calculation. The fluctuation width ΔH of the static pressure is used as the input.

Next, a description will be given of a determination process at the moment of a power interruption. When an instantaneous power interruption occurs, the control system of the fan motor increases the current command to attain the rotation speed of the speed command, and finally enters a voltage control state (non-control state) with a duty of 100%. At this time, when the power supply voltage is restored, the control system of the fan motor is in the voltage control state, so that an excessive current flows to the fan motor, and the magnet may be demagnetized. For this reason, if the zero-cross signal cannot be detected during the half cycle time of the power supply frequency, it is determined that the power supply is momentarily interrupted, the rotation speed command of the fan motor is set to a minimum, for example, and the rotation speed control state is always set. Is not detected, it is determined that the power supply is momentarily interrupted, the operation of the vacuum cleaner is stopped, and the stop condition is displayed on the display circuit.

Next, the process of determining the duty of 100% will be described. When the duty becomes 100%, the above-described problem occurs. Conditions that lead to a duty of 100% include:
There is the above-mentioned momentary power interruption and decrease in power supply voltage. When the power supply voltage drops, the control system of the fan motor increases the current command to attain the rotation speed of the speed command, and finally reaches a duty of 100% in the voltage control state. The same problem as the instantaneous interruption will occur. FIG.
1 shows a detection circuit with a duty of 100%. The 100% duty detection circuit 33 includes a (proportional + integral) circuit and a triangular wave generation circuit 38 which receive a current command and a motor current detection value as inputs.
Chopper signal generating circuit 33A and a triangular wave generating circuit 38, each of which comprises a comparator having the output of
A 100% duty signal generation circuit 33B for generating a 100% duty signal through the circuit. FIG. 22 shows an example of a 100% duty signal. That is, for example, when the DC voltage of the power supply voltage is gradually decreased, a duty 100% signal gradually appears, and finally the duty becomes 100%. Therefore, duty 1
When the 00% signal is established, it is determined that the duty is 100%, and the correction is made in such a manner that the speed command of the fan motor is reduced so that the duty 100% signal disappears. This allows
The rotation speed is always controlled, and the above-described problem can be solved. Also, if the fan motor is rotating at high speed even when the duty is 100%, the back electromotive force is large and an excessive current does not flow with respect to the fluctuation of the power supply voltage.
% Operation processing may be performed. Next, the filter clogging determination processing will be described. Although the clogging of the filter can be determined from the magnitude of the static pressure, even if the suction port is attached to the cleaning floor surface, the static pressure changes, so there is a possibility that a determination error may occur.
Therefore, the clogging of the filter is determined based on the magnitude of H / N ^{2 based on} the general fluid theory of the fan motor. When the filter is clogged, the amount of air flowing from the suction port also decreases, and the cooling performance of the fan motor decreases, and abnormal heat generation of the motor is expected. Therefore, the operation state is changed to the _FUZZY control state as shown in FIG. Then, the control state is shifted to the standby operation state, and the power supplied to the motor is reduced to suppress abnormal heat generation of the motor.

Next, a process for determining whether or not the mouth is closed will be described. The air volume is further reduced in the closed mouth due to the clogging of the filter, and is zero in the completely closed state. At this time, abnormal heat generation of the motor is accelerated, and there is a possibility that smoke will be generated. As a method of judging whether or not the suction port is closed, as shown in FIG. 14, near the clogging of the filter or the suction port, since the rotation speed is constant, the magnitude of the air flow determines the load state.
Therefore, the load current of the fan motor decreases as the load state decreases, that is, as the air volume decreases,
If the load current continuously becomes smaller than a certain set value for a certain set time or more, it is determined that the suction port is closed, the operation of the vacuum cleaner is stopped, and the state is displayed on a display circuit provided in the main body. In the case of a vacuum cleaner, if the user unplugs the outlet plug and starts operation from the beginning, the same determination as above is repeated, so that abnormal heat generation of the motor may not be prevented. Therefore, this measure can be dealt with by changing the set time according to the magnitude of the load current of the motor, that is, reducing the set time as the load current decreases.

Further, the self-diagnosis driving process will be described. Since the vacuum cleaner is a household necessity, if the protection function of the control circuit operates and the operation is stopped, it is necessary to return the cleaner immediately. In the control circuit system shown in the present embodiment, the configuration is complicated, so that it is necessary for a service person to accurately specify the failure location. The self-diagnosis operation is responsible for this function. In the present embodiment, a self-diagnosis operation switch is provided (this switch may be provided in a hand circuit or a control circuit in the main body, or may be provided in both circuits). . In the self-diagnosis operation, there are a mode of operating at a constant rotation speed and a synchronous start operation mode. In the constant rotation operation mode, each sensor,
In other words, whether there is any abnormality in the pressure sensor, nozzle motor current detector, fan motor current detection circuit,
In addition, diagnosis (not shown) of whether the magnetic pole position detection circuit is functioning normally is performed. For example, it is possible to determine whether or not the fan motor has been demagnetized from the magnitude of the output of the current detection circuit of the fan motor. The synchronous start operation mode diagnoses each sensor when the constant rotation operation mode does not function.If the operation can be performed by synchronous start, the main circuit of the control circuit is normal, and the abnormal part is the control circuit around the microcomputer. Can be specified. When it is not possible to operate in both operation modes, it can be specified that detailed examination of the failed circuit is necessary. In this self-diagnosis operation mode, since both operation modes are used in combination, the failure location can be accurately specified.

Next, the specific control and processing of the microcomputer 19 will be described mainly with reference to FIG.

Step 1: When the operation switch 30 is turned on, the operation command fetching process and the start-up process (process 7) are performed to execute the fan motor FM.
To the minimum rotation speed.

Procedure 2—Receiving the signal 18S from the magnetic pole position detection circuit 18 and calculating the rotation speed N (Process 1). In response to the signal 31S of the static pressure detection circuit 31, a static pressure detection process (process 13) is performed to detect the static pressure H. Then, the rotation speed N and the static pressure H
The airflow Q is calculated from the current command I * of the fan motor FM (corresponding to the load current and the current detection value of the fan motor may be used) (Qdata).

Procedure 3... After the start-up processing, the mode is shifted to the standby operation mode, whereby the operation is performed with the rotation speed constant control or the air volume constant control according to the filter clogging. Since the operation mode is the standby operation mode, the gain of the pressure sensor is increased (process 15). Procedure 4—Zero cross detection circuit 3 for nozzle motor 26
2, the instantaneous voltage is applied, the signal 24S of the nozzle motor current detection circuit 24 is received, the nozzle motor current detection processing (processing 2) is performed, and the nozzle motor current is detected in the suction determination (processing 14). Power brush mouthpiece,
If it cannot be detected, it is determined to be another suction port other than the power brush suction port.

Step 5: If the result of the suction port determination is a power brush suction port, the standby operation mode is set.
2, the rotation speed of the rotary brush 10 becomes 30
The phase control angle of the nozzle motor is set so as to be 0 to 500 rotations. The rotation speed of the rotary brush 10 is 300 to
The reason why the number of rotations is set to 500 is to save unnecessary power during the standby operation and to alert the user that the rotary brush 10 is rotating around the user.

Step 6: Filter clogging detection processing (processing 5) is performed from the relationship between the static pressure H and the rotation speed to detect the degree of clogging of the filter, and displays it on the main unit side display circuit. Step 7: In the static pressure detection process (process 13), if the positive direction change ΔH of the static pressure is detected, it is determined that the cleaning state is established (process 6), and the process is shifted to the _FUZZY control. To continue. When shifting to _FUZZY control, the gain of the pressure sensor is reduced (process 15).

Step 8: In the case of shifting to the _FUZZY control, the fluctuation width Δpbi of the peak value of the nozzle motor current and the fluctuation width ΔH of the static pressure during the suction operation are detected by the fluctuation width detection processing (processing 4). .

Step 9: In the suction port determination (process 14), F is input with the fluctuation width Δpbi for the power brush suction port and the fluctuation width ΔH for the other suction ports other than the power brush suction port.
Select _UZZY operation.

Step 10: The F _UZZY operation unit 19A generates the air volume command Qcmd, and the F _UZZY operation unit generates the static pressure command Hcmd.
_{And a UZZY} operation unit. For power brush suction port select F _UZZY arithmetic unit which receives as input the F _UZZY computing unit and the variation width Δpbi and static pressure command Hcmd that as input and variation width Δpbi and air volume command QCMD, other than power brush suction port In the case of the suction port, the F _UZZY calculation unit which receives the fluctuation width ΔH and the air volume command Qcmd as input, the fluctuation width ΔH and the static pressure command Hcm
The _FUZZY calculation unit having d as an input is selected, and a new air volume command Qcmd and a static pressure command Hcmd are created from the _FUZZY calculation result. Step 11 ... air amount command Qcmd selection of F _UZZY or computing unit that receives the F _UZZY arithmetic unit or hydrostatic pressure command Hcmd that as input is performed by either air volume constant control area or static pressure constant control region. Procedure 12: Selection of constant air volume control (constant Q), constant static pressure control (constant H), and constant rotation speed control (constant N) is based on the air volume command Qcmd (or air volume calculation value Qdata) and the static pressure H Operation mode setting processing (processing 16)
Do with.

Step 13: The nozzle motor 26 determines the phase control angle in the phase control angle setting processing (processing 8) using the F _UZZY calculation result and the output of the zero-crossing detection circuit 32 as inputs, and _performs the call signal processing (processing 9). Drive through).

Step 14: In the air volume Q constant control or the static pressure H constant control, the speed command N * is determined by comparing the static pressure command Hcmd with the detected value Hdata of the static pressure or the air volume command Qcmd and the air volume calculation value Qdata. Output.

Step 15: In response to the signal 23S of the fan motor current detection circuit 23, a fan motor current detection process (process 3) is performed to detect the load current _ID . This load current I
_D , the speed control process (ASR) and the current control process (ACR) 11 in response to the rotation speed N (process 1) and the speed command N *
Outputs a current command I *. In response to the current command I *, a base driver signal 19S is output in a roll signal generation process (process 10). The fan motor FM can be controlled to a desired rotation speed by receiving the base driver signal 19S.

Thus, the fluctuation width Δpbi (V _MB ) of the peak value of the nozzle motor current and the fluctuation width ΔH of the static pressure at the time of the suction operation.
Since the rotation speeds of the fan motor FM and the nozzle motor 26 can be adjusted according to the magnitude of (H _MB ), an optimum suction force according to the cleaning floor surface can be obtained.

The abnormal processing in each processing shown in FIG.
Power brush (pb) lock determination processing (processing 14), power instantaneous interruption determination processing (processing 20), and 100% duty
There is a determination process (process 17) (this is a case where the apparatus is viewed as a vacuum cleaner, and there is an over-temperature process including a motor control system, an over-rotation process and an over-current process (not shown)). Here, the pb lock determination processing is to select the static pressure fluctuation width ΔH as the fluctuation width even in the case of the power brush suction _port , and the power supply instantaneous interruption determination processing disconnects the operation command from the output of the _FUZZY calculation unit 19A, and The disconnection operation command is selected, and the duty 100% determination process is similarly performed by setting the operation command to F
_Decoupled from the output of the _UZZY operation unit 19A, the duty 10
This is to select an operation command which is an output of the 0% operation processing.

[0068]

According to the present invention, it is possible to reduce the applied voltage by adjusting the phase control angle of the nozzle motor because the rotary brush seems to be locked when the output of the current detection circuit exceeds the first set value. Therefore, the current flowing through the nozzle motor is reduced, and damage around the commutator can be prevented.

According to the present invention, when the output of the current detection circuit exceeds a second set value lower than the first set value, it is determined that the rotary brush is locked, and the operation of the nozzle motor is stopped. As a result, the nozzle motor can be protected.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a schematic configuration of a control circuit for a vacuum cleaner according to the present invention.

FIG. 2 is an overall configuration diagram of the control circuit.

FIG. 3 is an overall configuration diagram of a vacuum cleaner.

FIG. 4 is an internal structural view of a power brush suction port.

FIG. 5 is a circuit diagram of a zero-cross detection circuit of an AC power supply voltage.

FIG. 6 is a diagram showing a voltage, a current waveform, a zero-cross signal, a count timer, and an FLS trigger signal applied to a nozzle motor.

FIG. 7 is a diagram showing a nozzle motor current detection circuit configuration and an output example thereof.

FIG. 8 is a diagram showing an average value of a detection voltage with respect to a phase control angle at the time of rotary brush lock.

FIG. 9 is a diagram showing a change in the average value of the detected voltage when the rotary brush locks during cleaning.

FIG. 10 is a view showing a flowchart of a rotary brush lock determination.

FIG. 11 is a diagram showing a fluctuation range of a peak value of a nozzle motor current with respect to a floor surface when the nozzle motor rotates at a low speed.

FIG. 12 is a diagram showing a fluctuation range of a peak value of a nozzle motor current with respect to a floor surface at the time of high-speed rotation of the nozzle motor.

FIG. 13 is a diagram showing a fluctuation range of a static pressure with respect to a floor surface.

FIG. 14 is a diagram showing an operation mode of the fan motor.

FIG. 15 is a diagram showing a general F _UZZY inference method.

FIG. 16 is a diagram showing a membership function applied to the vacuum cleaner of the present invention.

FIG. 17 is a diagram showing a F _UZZY calculation method applied to the vacuum cleaner of the present invention.

FIG. 18 is a diagram showing an output example of an air volume command Qcmd by F _UZZY calculation with respect to a current fluctuation width Δpbi.

FIG. 19 is a diagram showing an air volume calculation formula and a result of constant air volume control.

FIG. 20 is a diagram showing a change in static pressure during standby operation and during _FUZZY control.

FIG. 21 is a detection circuit diagram of a duty of 100%.

FIG. 22 is a diagram showing an example of a 100% duty signal.

FIG. 23 is a diagram showing a F _UZZY rule applied to the vacuum cleaner of the present invention.

[Description of Signs] 8 ... Pressure sensor, 16 ... Inverter, 19 ... Microcomputer, 23 ... Fan motor current detection circuit, 25 ...
Triac, 26 ... Nozzle motor, 28 ... Nozzle motor current detection circuit, 30 ... Operation switch, 31 ... Static pressure detection circuit, 32 ... Zero cross detection circuit, 33 ... Duty 1
00% detection circuit, 34: temperature detection circuit, 35: display circuit, 36: self-diagnosis operation switch.

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Tsunehiro Endo 4026 Kuji-cho, Hitachi City, Ibaraki Prefecture Within Hitachi Research Laboratory, Hitachi, Ltd. (72) Inventor Hisao Suga 1-1-1, Higashitaga-cho, Hitachi City, Ibaraki Prefecture Hitachi, Ltd. Taga Plant (72) Inventor Mitsuhisa Kawamata 1-1-1, Higashitaga-cho, Hitachi City, Ibaraki Prefecture Hitachi, Ltd. Taga Plant (72) Inventor Fumio Joraku 1-1, Higashitaga-cho, Hitachi City, Ibaraki Prefecture No. 1 Hitachi, Ltd. Taga Plant (72) Inventor Yoshitaro Ishii 1-1-1, Higashitaga-cho, Hitachi City, Ibaraki Prefecture Inside Hitachi, Ltd. Taga Plant (58) Fields surveyed (Int.Cl. ⁶ , DB name) ) A47L 9/00-9/32

Claims (1)

(57) [Claims] 1. A filter for collecting dust, a fan motor for applying a suction force to a vacuum cleaner, a power brush suction port containing a nozzle motor for driving a rotary brush in the suction port, and a voltage applied to the nozzle motor are adjusted. A method of operating a vacuum cleaner having a phase control circuit, comprising: providing a current detection circuit for detecting a load current of the nozzle motor, wherein the phase of the nozzle motor is increased when an output of the current detection circuit exceeds a first set value. The control angle is adjusted to reduce the applied voltage, and when the output of the current detection circuit exceeds a second set value lower than the first set value, it is determined that the rotary brush is locked, and the operation of the nozzle motor is determined. An operation method of a vacuum cleaner, wherein the operation is stopped.