JP2894018B2 - Control system and 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 household electric appliance such as a vacuum cleaner and a washing machine, and more particularly to a vacuum cleaner which is optimally operated according to a floor to be cleaned and a use condition of a user.

[0002]

2. Description of the Related Art A conventional vacuum cleaner is disclosed in Japanese Patent Application Laid-Open No. 64-52430.
As described in Japanese Patent Application Laid-Open Publication No. H11-209, the surface to be cleaned is detected from a change in current flowing through a power brush motor provided in a suction port, and the input of a fan motor is controlled based on the result.

[0003]

In the above-mentioned prior art, for example, the current flowing through the nozzle motor provided at the suction port differs depending on the person who operates the suction port. There was a problem of making mistakes.

It is an object of the present invention to provide an electric vacuum cleaner capable of automatically obtaining an optimum suction force according to a floor surface to be cleaned and a use condition of a user.

[0005]

In order to achieve the above object, the present invention is characterized in that a control system driven by a motor and a detection device for detecting a load state of the control system are provided. In the method, a plurality of characteristic amounts corresponding to the type of the load of the control target are extracted from the shape of the fluctuation value of the output signal of the detection device, and the type of the load of the control target is comprehensively determined from the plurality of characteristic amounts. And an optimum control amount determining mechanism for transmitting a control command to the motor based on the comprehensive determination result.

[0006]

According to the present invention, attention is paid to the fact that the load state determined by the operator's will appears as a change in the output signal of the load state detection sensor, and a plurality of feature amounts corresponding to the load state are detected from the change. Then, the load state is comprehensively determined from the plurality of feature amounts by the optimum control amount determination mechanism, and the control target is controlled based on the result, whereby the load target can be accurately determined regardless of the operation force of the operator. A control system and a vacuum cleaner can be provided.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. Although the present invention is directed to home appliances, a case where the present invention is applied to a vacuum cleaner will be mainly described. 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 the variable speed motor, an AC commutator motor, a phase control motor, an inverter-driven induction motor, a reluctance motor, a brushless motor, or the like, whose speed changes by controlling an input, can be considered. An example will be described in which a brushless motor having no slave motor and a brush with mechanical sliding and therefore having a long life and good control response is used as a fan motor.

Further, the present embodiment is based on the premise that a nozzle having a nozzle motor for driving a rotary brush at the suction port (hereinafter referred to as a power brush suction port) and a nozzle having no nozzle motor (hereinafter referred to as a general suction port) are used. A DC magnet motor or an AC commutator motor can be considered as the nozzle motor. In the present embodiment, 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) is provided in the cleaner body for detecting clogging of the filter will be described.

FIG. 1 shows a control system according to the present invention. In the figure, reference numeral 1 denotes an object to be loaded such as a cleaning floor surface in the case of a vacuum cleaner, a cloth amount and a cloth in a washing machine, and 2 denotes a control object such as a fan in a vacuum cleaner and a pulsator in a washing machine. ,
Numeral 3 is a motor, 4 is a sensor for detecting a cleaning floor if a vacuum cleaner, a sensor for detecting the amount of cloth, cloth and dirt for a washing machine, 5 is an optimal control amount determining mechanism, and 6 is a load state detecting unit. , 7 is a feature extraction unit corresponding to the cleaning floor surface in the case of a vacuum cleaner, cloth amount and cloth in the case of a washing machine, and 8 is a load target from the output of the load state detection unit 6 and the feature extraction unit 7. The load target determination unit 9 to be determined is a control command generation unit that generates a control command based on the output of the load target determination unit 8, and the motor 3 is controlled in accordance with the control command so as to be in an optimal operation state. . That is, the home electric appliance to which the present invention is directed can be automated if it can be optimally operated automatically with the intention of the operator. Therefore, for the load target 1 which is a load state determined by the operator's intention, the current operation state is detected by the load state detection unit 6 from the output signal of the load state detection sensor 6, and the feature amount extraction unit 7 A plurality of feature amounts corresponding to the type of load are detected, and the load target determination unit 8 receives the outputs of the load state detection unit 6 and the feature amount extraction unit 7 and performs a neuro and fuzzy calculation, etc. Is determined, and the control target 2 is controlled via the motor 3 in accordance with the result, whereby it is possible to provide a home appliance capable of realizing a driving state according to the will of the operator.

Hereinafter, an actual application example will be described. FIG.
Fig. 3 is a block diagram showing a schematic configuration of a vacuum cleaner control system, Fig. 3 shows a configuration of a vacuum cleaner control circuit, and Fig. 4 shows a schematic structure of the vacuum cleaner.

2 to 4, reference numeral 1 denotes a load object composed of a cleaning floor, 2 denotes a control object composed of a fan 24, 3 denotes a motor composed of a fan motor 23 and a power brush motor 25, and 4 denotes a filter 33 clogging. A pressure sensor (semiconductor pressure sensor) for detecting the load, a load state detection process (load state detection unit) 6 for detecting an operation state of the controlled object 6, a feature amount corresponding to the cleaning floor 1 Cleaning floor surface corresponding feature extraction process (which is a feature amount extraction unit, and is composed of a neurological cleaning floor surface corresponding feature extraction process 7A and a fuzzy cleaning floor surface corresponding feature extraction process 7B), a neuro operation process 12, and A load object determination unit 8 comprising a fuzzy operation processing 14, a suction characteristic determination processing 13, a triac phase time determination processing 15, and a firing signal generation processing 16
This is an optimal control amount determining mechanism composed of a control command generator 9 composed of Reference numeral 10 denotes a static pressure detection circuit that converts the output of the pressure sensor 4 into a static pressure, 11 denotes a low-pass filter including a resistor R and a capacitor C for removing a noise component of an output signal of the static pressure detection circuit 10, and 17 denotes an AC power supply 19. A zero-crossing detecting circuit 18 for detecting zero-crossing is a microcomputer including a central processing unit (CPU) 18-1, a read-on memory (ROM) 18-2, a random access memory (RAM) 18-3, and the like. However, they are connected to each other by an address bus and a control bus, and the optimal control amount determining mechanism 5 is stored in the microcomputer 18. The ROM 18-2 has programs necessary for driving the fan motor 23, for example, load state detection processing 6, feature quantity extraction processing 7, neuro calculation processing 12, fuzzy calculation processing 14, suction characteristic determination processing 13, triac phase Time determination processing 15, firing signal generation processing 16, zero-cross detection processing 17, and the like are stored. RAM18
Reference numeral -3 is used to read and write various data necessary for executing various programs stored in the ROM 18-2. 20 is a triac FLS1, 22 for adjusting the voltage applied to the fan motor 23.
Is a triac FLS2 for adjusting the applied voltage of the power brush motor 25 for driving the rotary brush 26 in the suction opening 36, and is driven by ignition circuits 27 and 28, respectively. Reference numeral 21 denotes a display circuit for displaying the operation state of the vacuum cleaner, 29 denotes an operation switch provided on the hand operation unit 35, and 30 denotes a rotary brush 26 provided on the hand operation unit 35.
(To turn on the power brush switch 30 to turn on the power brush, and to turn it off to turn into the general suction). The vacuum cleaner control circuit 31 is configured by the above-described circuit configuration.

In such a control system, the cleaner operated on the cleaning floor 1 includes a cleaner body 32, a display circuit 21, an electric blower including a fan motor 23 and a fan 24, a pressure sensor 4, A vacuum cleaner control circuit 31 and a filter 33 are housed therein, and a hose 34, a hand operation unit 3
5, an extension pipe 37 and a suction port 36.

Next, the internal structure of the power brush suction port is shown in FIG.
Shown in In the drawing, a power brush motor 25, a rotary brush 26, and a brush 39 attached to the power brush motor 25, the rotary brush 26, are provided inside a suction case 36A of the power brush suction port 36.
40 is a timing belt for transmitting the driving force of the power brush motor 25 to the rotary brush 26, 42 is a suction extension tube,
41 is a roller. A power supply lead 38 of the power brush motor 25 is connected to a power supply 37A provided in an extension tube 37.
It is connected to the.

Thus, when the power brush motor 25 is supplied with power and rotates, the rotary brush 26 rotates via the timing belt 40. When the power brush suction port 36 is brought into contact with the cleaning floor 1 while the rotary brush 26 is rotating, the brush 3 attached to the rotary brush 26 is removed.
9 hits the surface of the cleaning floor 1 to improve the cleaning efficiency.

Here, when the operator operates the suction port 36 back and forth on the cleaning floor 1 while the fan motor 23 is being driven, the output signal of the low-pass filter 11 fluctuates as shown in FIG. FIG. 6A shows the cleaning floor 1 on the “Yuka”.
(B) shows a typical example of the output signal of the low-pass filter 11 when the suction port 36 is operated on the "float" of the cleaning floor 1 and FIG. It is. That is, it has been found that the output signal of the low-pass filter 11 differs depending on the type of the cleaning floor 1, and a feature amount corresponding to the type of the cleaning floor 1 is extracted from this output signal. As an example, the average value of the acquired data within a certain sampling time is obtained, the number of times the acquired data crosses (when the average value is crossed) is crossed with respect to this average value, and the time over which the acquired data crosses is t _1. , The time under which the vehicle has fallen is t ₂ and (t ₁ −t ₂ ) is the operation time difference TD,
Let (t ₁ / (t ₁ + t ₂ )) be the operation time ratio TR, and let the deviation between the maximum value and the minimum value of the static pressure be the static pressure fluctuation width ΔH. FIG. 7 shows the relationship between the number of crosses CR, the operation time difference TD, and the operation time ratio TR, which are the feature amounts corresponding to the cleaning floor surface, and the cleaning floor surface 1. 7A shows the number of crosses CR, FIG. 7B shows the operation time difference TD, and FIG. 7C shows the correspondence between the operation time ratio TR and the cleaning floor 1. The horizontal axis shows the number of crosses CR and operation. It shows the probability of each cleaning floor surface with respect to the magnitude of the time difference TD and the operation time ratio TR. As shown in the figure, when specifying the type of the cleaning floor 1 with the magnitude of one cleaning floor corresponding feature amount, it is difficult to determine because each cleaning floor 1 may correspond at the same output level. . However, when the magnitudes of the respective features corresponding to the cleaning floor are compared, the corresponding positions of the cleaning floor 1 with respect to the output levels are different. Can be determined.

As described above, according to the present invention, when the operator operates the suction opening back and forth on the cleaning floor, the output signal of the low-pass filter provided at the subsequent stage of the pressure sensor corresponds to the signal corresponding to the cleaning floor. Are superimposed, and it is extracted as a plurality of feature values by the cleaning floor corresponding feature extraction unit, and the types of the cleaning floor are comprehensively determined by performing a neuro calculation and a fuzzy calculation, and the motor is determined based on the result. , It is possible to provide an electric vacuum cleaner capable of cleaning with an optimum suction force according to the cleaning floor surface and the operation force of a person.

Next, the load object determination unit will be described. There is a neural network as a method of determining a cleaning floor using a plurality of cleaning floor corresponding features. FIG. 8 shows a unit configuration of a neural network in the neuro operation unit 12. The input χ ₁ ~χ ₃ (corresponding to the cleaning floor corresponding feature quantity), multiplied by the weighting factor ω ₁ ~ω ₃ 46 respectively, the product sum 43 and the multiplication value by combining (synthesis of each multiplication value The product is converted by the Sigmoid function 44 into an output signal zi, which is a neural network.
The output y of the sum of products 43 and the output z of the sigmoid function 44 can be obtained by the equations shown in FIG.

FIG. 9 is an explanatory diagram of the fuzzy operation of the fuzzy operation unit 14. That is, the input and fit to the membership A ₁₁ of the rule 1 input x ₁ x ₂
From membership smaller fit the fit to A _12, obtains the area of membership B ₁ output.
Even Rule 2 in the same manner determine the area of membership B ₂ of output. And overlap the area for the number of rules,
The center of gravity is obtained, and this center of gravity is the output of the fuzzy operation.

FIG. 10 shows a fuzzy rule applied to the vacuum cleaner of the present invention, and FIG. 11 shows a membership function applied to the vacuum cleaner of the present invention. The operation air volume Q corresponds to the input x ₁ , and the air volume Q is, as shown in FIG. 2, the absolute value of the static pressure |
H |, or when the fan motor 23 is an AC commutator motor, as a function of the phase control angle of the triac FLS1, which is a control element. Input a static pressure fluctuation range ΔH that corresponds to x _2, the static pressure fluctuation range ΔH is affected by the type of the operation force and cleaning the floor of the operator who operates the suction port,
It is mainly affected by the operating force of the operator. The membership functions for input and output were five memberships: "small", "slightly small", "standard", "slightly large", and "large".

FIG. 12 shows the processing contents of the control block diagram including the above-described neuro operation and fuzzy operation. The number of crosses CR, which is the output of the cleaning floor corresponding feature amount extraction processing 7,
The neural operation unit 12 having the operation time difference TD and the operation time ratio TR as inputs has a neural network configuration called a “hierarchical network”, and is composed of an input layer, an intermediate layer, and an output layer. It has the structure of the unit shown in FIG. The weighting factor ωi in each unit is not shown, but is desirably a value output from the output layer by giving an input to each unit in the input layer using a learning rule called “back propagation (error back propagation method)”. Compared with the value (teacher data), the strength of the connection between the units is changed so that the difference is minimized, and this value indicates the strength of this connection. The output signals 12A, 12B and 12C of the neuro operation unit 12 are “Yuka”,
This is an output signal corresponding to "tatami" and "carpet". The suction characteristic determination unit 13 outputs a phase control angle f (θ) at which the air volume Q and the static pressure H are constant according to “Yuka”, “Tatami” and “Carpet” from the output of the neuro calculation unit 12. Here, the constant air volume Q is for securing a minimum required air volume and static pressure at the suction port, and the static pressure increases according to the degree of clogging of the filter. The constant static pressure H reduces the adhesiveness between the cleaning floor surface and the suction port. For example, even if a foreign substance adheres to the suction port, the static pressure rises only to a certain value, and there is an advantage that the foreign substance can be easily removed. . That is, since the suction force of the vacuum cleaner is proportional to the product of the air volume Q and the static pressure H, and the dust suction performance depends on the air volume Q, the air volume shown in the figure is constant according to the type of the cleaning floor surface. And a phase control angle f (θ) corresponding to the static pressure constant command. Whether the air volume is constant or the static pressure is constant can be determined from the static pressure value since the absolute value of the static pressure is input.

The fuzzy calculation unit 14 receives as input the static pressure fluctuation width ΔH output from the cleaning floor corresponding feature extraction unit 7 and the absolute value | H | of the static pressure output from the load state detection unit 6. Fuzzy calculation is performed to extract the operating force of the suction operator,
The correction amount f (Δθ) of the phase control angle is output according to the result. When the correction amount f (Δθ) of the phase control angle is represented by an air volume,
As shown in the suction characteristic determination unit 13, this corresponds to slightly increasing or decreasing the constant air volume command. Phase time determination unit 15
Is a phase control angle f (θ) output from the suction characteristic determination unit 13 and a correction amount f of the phase control angle output from the fuzzy calculation unit 14.
(Δθ), and from the result, the triac FLS1
Phase control angle θ ₁ and the triac FLS2 phase control angle θ ₂
To determine. This phase control angle θ ₁ is a phase control angle of the fan motor 23 at which the air volume is constant according to the cleaning floor surface,
The phase control angle θ ₂ determines the rotation speed of the power brush motor 25 provided in the suction opening according to the cleaning floor surface,
The rotation speed increases in the order of "Yuka", "Tatami", and "Carpet" on the cleaning floor.

Next, the firing signal generation processing will be described.
FIG. 13 shows the configuration of the zero-cross detection circuit, and FIG. 14 shows the voltage and current applied to the motor. In FIGS. 13 and 14, when the AC power supply 19 has the voltage Vs in FIG. 14A, the zero-cross detection circuit 17 composed of the resistor R ₂ , the photocoupler PS, and the resistor R ₃ is used as shown in FIG. The zero cross signal 17S is obtained. Microcomputer 1
8 is synchronized with the rise of the zero cross signal 17S in FIG.
4 (c), and when the count timer becomes zero, the microcomputer 18 sends a firing signal 18D to the triacs FLS1 and FLS2.
(Not shown, but the zero-cross signal 17S may be inverted so as to operate the count timer in synchronization with the falling of the zero-cross signal). Firing signal generation process 16 used to set the time t _f of counting the timer receives the output signal of the triac phase time setting process 15, the voltage applied to the motor is varied by adjusting the time t _f, This allows the rotation speed of the motor,
The so-called input is controlled.

FIG. 15 shows an operation result when an electric vacuum cleaner employing the above-described control system of the present invention is operated on an actual cleaning floor. According to the figure, compared to the conventional case (only in the case of fuzzy control), according to the neuro & fuzzy control of the present invention, the time required to reach the optimum rotation speed for each cleaning floor surface, in other words, the time to reach the optimum suction force, ie, the response time This has the effect of increasing the speed. Note that the standby operation shown in FIG. 15 determines that cleaning is not being performed, and performs energy saving operation by increasing the sensitivity of the pressure sensor and decreasing the rotation speed.

Next, another embodiment will be described. FIG.
17 shows the relationship between the cleaning floor surface and the characteristic amount corresponding to the cleaning floor, and FIG. 17 shows the processing content of the optimum control amount determining mechanism using the characteristic amount corresponding to the cleaning floor in FIG. The difference between the relationship between the cleaning floor surface and the cleaning floor corresponding feature amount in FIG. 7 and the processing content of the optimum control amount determining mechanism in FIG.
In addition to the cross count CR and the operation time difference TD shown in FIG. 16A, the dispersion SM shown in FIG. 16C and the static pressure fluctuation width shown in FIG. 16D are newly provided. . The variance SM is represented by the equation shown in the figure, and is obtained by taking the square of the difference between the average value Hm of the static pressure during a certain sampling period and the instantaneous value xi of the static pressure and averaging the difference during a certain sampling period. Thus, although the number of input layers is increased, the operation time of the neural network is increased, but as described above, a vacuum cleaner that can be operated with an optimum suction force on each cleaning floor surface is obtained.

FIG. 18 is an explanatory diagram of the bandwidth cut, and FIG. 19 shows the processing contents of the optimum control amount determining mechanism using the bandwidth of FIG. In order to improve the response speed for obtaining the optimum suction force for the cleaning floor, the calculation of the neural network may be bypassed when the cleaning floor can be determined based on the threshold value. Therefore, as shown in FIG. 18, the output signals of the low-pass filter 11 are cut by providing the bandwidths B ₁ and B ₂ . Here, if there is no output signal of the low-pass filter 11 when the bandwidth B _1, cleaning the floor and "floor", if the output signal of the low-pass filter 11 when the bandwidth B ₂ is a cleaning floor By performing the threshold determination 45 as “carpet”, an electric vacuum cleaner having a high response speed up to the optimum suction force for each cleaning floor can be obtained.

In the present invention, a plurality of feature values are detected based on the average value of the static pressure during a certain sampling time. It is needless to say that the feature amount of (1) may be detected.

[0027]

According to the present invention, attention is paid to the fact that the load state determined by the operator's will appears as a change in the output signal of the load state detection sensor, and a plurality of feature amounts corresponding to the load state are calculated from the change. By detecting the load state comprehensively from the plurality of feature amounts by the optimal control amount determination mechanism, and controlling the control object based on the result,
It is possible to provide a control system and a vacuum cleaner that can accurately determine a load target regardless of an operation force of an operator.

[Brief description of the drawings]

FIG. 1 is a control system of the present invention.

FIG. 2 is a block diagram showing a schematic configuration of a vacuum cleaner control system of the present invention.

FIG. 3 is an overall configuration of a vacuum cleaner control circuit.

FIG. 4 is a schematic structure of a vacuum cleaner.

FIG. 5 is an internal structure of a power brush suction port.

FIG. 6 shows a static pressure fluctuation state at the time of a suction operation.

FIG. 7 shows a relationship between a cleaning floor surface and a feature amount corresponding to the cleaning floor surface.

FIG. 8 is a unit configuration of a neural network.

FIG. 9 is an explanatory diagram of a general fuzzy operation.

FIG. 10 shows a fuzzy rule applied to the vacuum cleaner of the present invention.

FIG. 11 is a membership function applied to the vacuum cleaner of the present invention.

FIG. 12 shows processing contents of an optimal control amount determining mechanism.

FIG. 13 is a configuration of a zero-cross detection circuit.

FIG. 14 shows voltage and current waveforms applied to a motor.

FIG. 15 shows an operation result of the vacuum cleaner of the present invention.

FIG. 16 is a diagram illustrating a relationship between a cleaning floor surface using a variance and a feature amount corresponding to the cleaning floor surface.

FIG. 17 shows processing contents of an optimal control amount determining mechanism using variance.

FIG. 18 is an explanatory diagram of a bandwidth cut.

FIG. 19 shows processing contents of an optimum control amount determining mechanism using threshold value judgment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Load object (cleaning floor), 2 ... Control object, 3 ... Motor, 4 ... Sensor, 5 ... Optimal control amount determination mechanism, 6 ... Load state detection part, 7 ... Feature amount extraction part, 8 ... Load object determination Part, 9
... Control command generation unit, 10 ... Static pressure detection circuit, 11 ... Low-pass filter, 12 ... Neuro operation processing unit, 13 ... Suction characteristic determination processing unit, 14 ... Fuzzy operation processing unit, 15 ... Phase time determination processing unit, 16 ... Firing signal generation processing section, 17: zero cross detection circuit, 18: microcomputer, 23
... Fan motor, 24 ... Fan, 25 ... Power brush motor, 31 ... Control circuit, 43 ... Sum of product, 44 ... Sigmoid function, 45 ... Threshold judgment processing, 46 ... Weight coefficient.

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hisao Suga 1-1-1, Higashitaga-cho, Hitachi City, Ibaraki Prefecture Inside the Taga Plant, Hitachi, Ltd. (72) Mitsuhisa Kawamata 1-1-1, Higashitaga-machi, Hitachi City, Ibaraki Prefecture No. 1 Inside the Taga Factory, Hitachi, Ltd. (56) References JP-A-64-64616 (JP, A) JP-A-4-189335 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , (DB name) A47L 9/00-9/32

Claims (6)

(57) [Claims] A controlled object 1. A driven by the motor, the control system comprising a detector for detecting a load state of the control object, from the shape <br/> shaped variation value of the output signal of the detection device, A plurality of feature amounts corresponding to the type of the load of the control target are extracted, the type of the load of the control target is comprehensively determined from the plurality of feature amounts, and a control command is transmitted to the motor based on the comprehensive determination result. control system, characterized in that with the optimum control amount determination mechanism. 2. A control system comprising a control target driven by a motor and a detection device for detecting a load state of the control target, wherein a magnitude and fluctuation of a fluctuation value of an output signal of the detection device are controlled. From the shape of the value, a plurality of feature amounts corresponding to the type of the load of the control target are extracted, and the type of the load of the control target and the operation force of the operator are comprehensively determined from the plurality of feature amounts,
A control system comprising an optimal control amount determining mechanism for transmitting a control command to the motor based on the comprehensive determination result. 3. The method according to claim 1, wherein the plurality of feature amounts are a predetermined value of an output signal of the detection device.
The number of crosses CR, which is the number of times the average value of time is crossed,
The time exceeded the mean value t ₁ and time t ₂ that falls below
Time difference TD, time ratio T which is (t ₁ / (t ₁ + t ₂ ))
R, a control system characterized by a variation range of static pressure ΔH.
Tem. 4. A filter for collecting dust, a variable speed fan motor for applying a suction force to the cleaner, a pressure sensor for detecting clogging of the filter in the cleaner body case, and an operator. In a vacuum cleaner having a suction unit operated by a microcomputer and a control device including a microcomputer for adjusting an input of the fan motor, a change in static pressure is detected from an output of the pressure sensor due to the suction operation during cleaning. The controller extracts a plurality of feature values corresponding to the type of the cleaning floor from the shape of the fluctuation value, and controls the input of the fan motor according to the plurality of feature values. Vacuum cleaner. 5. The control device according to claim 4, wherein the control device determines an operation region of the fan motor in accordance with a plurality of characteristic amounts of the cleaning floor surface, and detects a variation range of a static pressure from an output of the pressure sensor. And a fuzzy operation according to the variation range of the static pressure and the operation state of the fan motor, and correcting an operation area of the fan motor according to the result. 6. The apparatus according to claim 4, wherein the plurality of feature amounts are a predetermined value of an output signal of the detection device.
The number of crosses CR, which is the number of times the average value of time is crossed,
The time exceeded the mean value t ₁ and time t ₂ that falls below
Time difference TD, time ratio T which is (t ₁ / (t ₁ + t ₂ ))
R, a range of variation of static pressure ΔH, electric cleaning
Machine.