JP3564782B2 - Self-propelled vacuum cleaner - Google Patents

Description

[0001]
[Industrial applications]
The present invention relates to a self-propelled vacuum cleaner having a cleaning function and a moving function and performing automatic cleaning.
[0002]
[Prior art]
2. Description of the Related Art In recent years, vacuum cleaners have been developed in which operability during cleaning is improved by adding a moving function to the vacuum cleaner. Particularly recently, a so-called self-guided self-propelled cleaner having a microcomputer and various sensors mounted thereon has been developed.
[0003]
This type of self-propelled vacuum cleaner has a suction nozzle and a brush at the bottom of the main body as a cleaning function, a power source such as a storage battery inside the main body as a moving function, and has running wheels and steering wheels driven by a motor. Usually, the speed control of the main body is performed using a wheel encoder or the like, and the guidance control of the main body is generally performed using an optical guidance means or an inertial navigation means using a gyro.
[0004]
[Problems to be solved by the invention]
In such a self-propelled vacuum cleaner, if a failure occurs in the drive control system, the main body continues to be used without any knowledge of the user, and the abnormal performance continues as a result that the original performance is not exhibited. There is a possibility that the components may be destroyed or the service life may be shortened.
[0005]
Conventionally, a method of detecting an abnormality in the driving situation from the encoder input has been adopted.However, since the self-propelled type does not have a user nearby, it is difficult to know in what situation and under what circumstances the encoder input has occurred. In the case where there is an abnormality in the system, there is a problem that it takes time and effort to perform an accurate response because the cause and a response method are not known.
[0006]
The present invention solves these problems, suppresses cost increase by obtaining the command speed and the actual traveling speed, quickly detects an abnormality in the drive system and an abnormality in the encoder input system, stops the main body, and determines the content of the abnormality. It is an object to supply a self-propelled cleaner with high safety and high serviceability to notify.
[0007]
[Means for Solving the Problems]
A first means of the present invention for achieving the above object is a driving means for moving the cleaner body, a driving control means for controlling the driving means, an encoder input means for detecting a rotation state of the driving means, An actual traveling speed integrating means for integrating an actual traveling speed obtained from the encoder input means, a main body control means for issuing a traveling / stop command to the drive control means, and a command for integrating a command speed issued to the drive control means When the integrated value obtained from the actual traveling speed integrating means is less than or equal to a fixed ratio, or when the integrated value obtained from the actual traveling speed integrating device is greater than or equal to a fixed ratio as compared with the integrated value obtained from the command speed integrating device, a drive system abnormality determining means for determining that there is an abnormality, a drive system abnormality informing means for informing it when the drive system abnormality determination means determines an abnormality, a change in command speed issued to the drive control means It is determined, in the case of the change is more constant, in which and a speed change determination means for clearing the accumulated between said command speed integration means the actual traveling velocity integrating means.
[0008]
A second means of the present invention includes a direction sensor for detecting a running direction of the main body, and a main body running determining means for determining a running state from a change in a value obtained by the direction sensor .
[0009]
[Action]
The first means of the present invention operates as follows.
[0010]
The drive control means receives the command speed from the main body control means and controls the drive means. At this time, the command speed integrating means integrates the command speed for a certain period of time. Further, the encoder input means detects the rotational state of the driving means at this time, and the actual traveling speed is obtained from the result, and this value is integrated by the actual traveling speed integrating means. The drive system abnormality determination means compares the two integrated values, and determines that the drive system is abnormal when the actual traveling speed is equal to or less than a fixed ratio with respect to the command speed. Conversely, when the ratio is equal to or more than a certain ratio, it is also determined that the drive system is abnormal. At this time, the ratio as a criterion is smaller than in the case described above, that is, when the actual traveling speed is low. If it is determined that the drive system is abnormal, whether the speed is higher or lower than the command speed is notified by the drive system abnormality notification means, and the main body is stopped by the main body control means .
[0011]
The first aspect of the present invention operates as follows.
[0012]
The change in the command speed output from the main body control means is monitored, and if this change is at the level at the time of rapid acceleration / deceleration, the contents of the command speed integrating means and the actual traveling speed integrating means are cleared once, and the integration is started again to make a decision. To do.
[0013]
The second means of the present invention operates as follows.
[0014]
When the main body moves, the value of the direction sensor changes. Based on this change, the main body traveling determining means determines the state of travel of the main body, and the main body traveling determining means determines whether the main body is moving when the actual traveling speed is lower than the command speed, and an abnormality in the drive control system. Or the driving condition .
[0015]
【Example】
Hereinafter, an embodiment of the first means of the present invention will be described with reference to FIG.
[0016]
1 is a drive unit for moving the cleaner body, and 2 is a drive control unit for controlling the drive unit 1. Reference numeral 3 denotes a main body control unit that issues a drive command to the drive control unit 2, and reference numeral 4 denotes a command speed integration unit that integrates a command speed output from the main body control unit 3 to the drive control unit 2 for a certain period of time. Reference numeral 5 denotes an encoder input means for detecting the state of the driving means and obtaining an actual traveling speed. Reference numeral 6 denotes an actual traveling speed integrating means for integrating the actual traveling speed obtained by the encoder input means 5 for a predetermined time. Numeral 7 is a drive system abnormality judging means for comparing the value of the actual traveling speed accumulating means 6 with the value of the command speed accumulating means 4 to judge whether or not the driving system is abnormal. This is a drive system abnormality informing means for informing an abnormality when it is determined.
[0017]
Hereinafter, the operation of this embodiment will be described. The drive control means 2 receives the command speed from the main body control means 3 and controls the drive means 1 based on the new command speed and the current command speed to perform acceleration / deceleration. At this time, the command speed integrating means 4 integrates the command speed for a certain period of time. Further, the encoder input means 5 detects the rotation speed of the driving means 1 at this time, and the actual traveling speed is obtained from the result, and the actual traveling speed is integrated by the actual traveling speed integrating means 6. The drive system abnormality determination means 7 compares the two integrated values, and determines that the drive system is low speed abnormal when the actual traveling speed is, for example, 62.5% or less of the commanded speed. On the other hand, if it is 125% or more, it is determined that the drive system is abnormal at high speed. The ratio used as a criterion when the actual traveling speed is higher than the command speed is determined from the above-mentioned case, that is, a smaller ratio than the case where the actual traveling speed is lower than the command speed, in consideration of the safety and safety. . When the drive system abnormality determination means 7 determines that the drive speed is abnormal, the drive system abnormality notification means 8 notifies the drive system abnormality notification means 8 of whether the speed is higher or lower than the command speed, and notifies the main body control means 3 of the abnormality. The main body is stopped through the control means 2.
[0018]
Next, a first reference example regarding the operation of the self-propelled cleaner according to the present invention will be described with reference to FIG.
[0019]
Reference numeral 9 denotes an integrated value of the command speed integrating means 4 for integrating the command speed output to the drive control means 2 and the integrated state of the actual traveling speed integrating means 6 for integrating the actual traveling speed obtained from the encoder input means 5. Is an integrated time calculating means for calculating an integrated time in which the ratio is substantially constant.
[0020]
Hereinafter, the operation of the present embodiment will be described. First, based on the setting of a predetermined reference integration time, the command speed integrating means 4 performs integration of the commanded speed, and the actual speed integrating means 6 performs integration of the actual traveling speed obtained from the input of the encoder input means 5. At this time, the integrated time calculating means 9 constantly checks the change of the integrated time and the ratio of the two integrated values at each time, thereby obtaining the integrated time at which the ratio between the commanded speed integrated value and the actual traveling speed integrated value becomes substantially constant. Is calculated. The integrated time calculating means 9 uses this integrated time as a new reference integrated time, and the drive system abnormality judging means 7 makes the subsequent drive system abnormality determination based on the reference integrated time. As a result, the optimum integration time is obtained for the ratio between the command speed affected by the cleaning floor surface and the cleaning speed and the actual traveling speed, and the drive system abnormality can be reliably and quickly determined.
[0021]
Also, for the embodiment of the first aspect of the present invention will be described with reference to FIG.
[0022]
Numeral 10 is a speed change judging means for judging a change in the command speed outputted to the drive control means 2 and clearing the sum of the command speed accumulating means 4 and the actual traveling speed accumulating means 6 when the change is equal to or more than a certain value.
[0023]
Hereinafter, the operation of this embodiment will be described. The speed change judging means 10 monitors a change in the command speed issued from the main body control means 3, and when the acceleration or deceleration is faster than the acceleration at the time of acceleration or deceleration in normal running, such as when the vehicle suddenly stops, a drive system abnormality is detected. The determining means 7 clears the contents of the command speed integrating means 4 and the actual traveling speed integrating means 6 once, performs integration again from the beginning, and makes a determination after a predetermined integration time. For example, when a sudden stop is performed, the speed difference before and after the stop command is too large even if the integrated value of the command speed and the actual traveling speed is integrated as it is, so that accurate comparison cannot be performed. Therefore, after a sudden change in speed, the integration up to that point is cleared once, and a new judgment is started to prevent erroneous judgment due to stoppage, and to allow a quicker reaction to the subsequent drive control.
[0024]
Next, an embodiment of the second means of the present invention will be described with reference to FIG.
[0025]
Reference numeral 11 denotes an azimuth sensor for detecting the traveling direction of the main body, and reference numeral 12 denotes a main body traveling judging means for judging a traveling situation from a change in a value obtained by the azimuth sensor 11.
[0026]
Hereinafter, the operation of this embodiment will be described. When the main body moves, the value of the direction sensor 11 changes. The main body traveling determining means 12 determines whether the main body is operating normally based on the speed command by detecting a change in the value of the direction sensor when the direction is changed and a change due to the vibration of the main body when traveling straight. At this time, when the actual traveling speed obtained from the actual traveling speed integrating means 6 is smaller than the commanded speed obtained from the commanded speed integrating means 4, the driving system abnormality judging means 7 indicates that the drive control system is abnormal if the running of the main body is normal, otherwise it is determined to be due to the running condition of the main body. A notification is issued, and the main body control means 3 stops the main body through the drive control means 2. If it is due to the running condition, the drive abnormality notifying means 8 notifies the drive wheel lock abnormality, and the main body control means 3 stops the main body through the drive control means 2.
[0027]
Next, a second reference example relating to the operation of the self-propelled cleaner according to the present invention will be described with reference to FIG.
[0028]
Reference numeral 13 denotes an input system abnormality determining means for determining from the command speed integrating means 4 and the main body traveling determining means 12 that there is an abnormality in the input system when the integrated value of the actual traveling speed obtained by the actual traveling speed integrating means 6 is 0; Reference numeral 14 denotes an input system abnormality notifying unit for notifying when the input system abnormality judging unit 13 judges that there is an abnormality in the input system.
[0029]
Hereinafter, the operation of the present embodiment will be described. If the integrated value does not change from 0 during the integration of the actual traveling speed by the actual traveling speed integrating means 6, and if the main body is clearly traveling from the command speed integrating means 4 and the main body traveling determining means 12, The input system abnormality judging means 13 judges that there is an abnormality such as a disconnection in the input system including the encoder input means 5 without considering the integrated time for judging the drive system abnormality. Notifies the abnormality, and the main body control means 3 stops the main body through the drive control means 2. If the encoder input system is disconnected, the control of the command speed cannot be performed accurately, and it is determined that the vehicle cannot travel, and the command speed is increased to the limit. Therefore, the vehicle travels without control. Since the input system abnormality determination means 13 finds this abnormality in a very short time, the safety can be further improved.
[0030]
【The invention's effect】
As described above, according to the first means of the present invention, when a lock or slip state of the drive wheels or an abnormality of the drive control system occurs, the abnormality is detected and the main body is stopped, so that the normal part is stopped. The load on the vehicle can be minimized and dangerous driving can be prevented. In addition, since the content can be notified, the user or the service side can quickly and more accurately perform the response .
[0031]
In addition, when the speed changes abruptly, by clearing the integrated value during the change, it is possible to perform more accurate integration and determine the abnormality of the drive system.
[0032]
Further, according to the second means of the present invention, since the running state of the main body is known, it is determined whether the main body is moving when the actual running speed is low, and an abnormality in the drive control system or an abnormality due to running conditions such as lock or slip is caused. Can be determined .
[Brief description of the drawings]
FIG. 1 is a block diagram of a self-propelled cleaner showing an embodiment of a first means of the present invention; FIG. 2 is a block diagram of a self-propelled cleaner showing a first embodiment of the present invention; FIG. 4 is a block diagram of a self-propelled cleaner showing an embodiment of the first means of the present invention. FIG. 4 is a block diagram of a self-propelled cleaner showing an embodiment of the second means of the present invention. Block diagram of a self-propelled vacuum cleaner showing a second reference example of [Description of symbols]
REFERENCE SIGNS LIST 1 drive means 2 drive control means 3 main body control means 4 command speed integration means 5 encoder input means 6 actual traveling speed integration means 7 drive system abnormality determination means 8 drive system abnormality notification means 9 integration time calculation means 10 speed change determination means 11 Sensor 12 Body running determination means 13 Input system abnormality determination means 14 Input system abnormality notification means

Claims (2)

Drive means for moving the cleaner body, drive control means for controlling the drive means, encoder input means for detecting the rotational state of the drive means, and actual travel speed for integrating the actual travel speed obtained from the encoder input means Integrating means, a main body control means for issuing a command for running / stopping to the drive control means, a command speed integrating means for integrating a command speed issued to the drive control means, and an integrated value obtained from the command speed integrating means. In contrast, when the integrated value obtained from the actual traveling speed integrating means is equal to or less than a predetermined ratio, or when the integrated value is equal to or more than a predetermined ratio, the driving system abnormality determining unit determines that there is an abnormality in the driving system; a drive system abnormality informing means for informing this when abnormality determination means determines an abnormality, to determine the change in the command speed issued to the drive control means, in the case of the change is more than a certain, the It propelled cleaner comprising a speed change determination means for clearing the integration of the decree speed integrated unit and the actual traveling velocity integrating means. An azimuth sensor for detecting the traveling direction of the body, the self-propelled cleaner of claim 1 Symbol placement and a body traveling determining means for determining a traveling condition from a change in the values obtained with the azimuth sensor.

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