JP3713735B2 - Self-propelled vacuum cleaner - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to a self-propelled cleaner having a cleaning function and a moving function, and more particularly to improving reliability when stationary or when the moving function is stopped.
[0002]
[Prior art]
Conventionally, vacuum cleaners have been developed to improve the operability at the time of cleaning by adding a moving function to the vacuum cleaner. In general, by installing a microcomputer and various sensors, the cleaning place can be set by yourself. So-called self-propelled self-propelled cleaners that move and clean while judging are being developed.
[0003]
FIG. 10 shows a sectional view of a conventional self-propelled cleaner, and FIG. 11 shows a cleaning path of the self-propelled cleaner, which will be briefly described below.
[0004]
In the figure, 1 is a distance sensor for detecting an obstacle present in the front of the traveling direction, and 2 is a self-propelled cleaner body (hereinafter referred to as a body), which processes the signal from the distance sensor 1 A driving device (not shown) for controlling the moving direction and moving state of the motor is incorporated.
[0005]
Further, at the lower part of the main body 2, a pair of steering and driving wheels 3 that are independently driven by signals from the driving device, a swingable auxiliary wheel 4, and a main body 2 for protecting the main body 2 from obstacles. A bumper 5 is provided and constitutes a moving function. Further, the lower portion of the main body 2 is further provided with a suction nozzle, a rotating brush, and the like (not shown), and constitutes a cleaning function in which each is driven by a cleaning motor. Reference numeral 6 denotes a charging terminal provided in the main body 2, and 7 denotes a power supply terminal provided in the charging device 8 at a position facing the charging terminal.
[0006]
Reference numeral 9 denotes a charging circuit built in the charging device 8. The main body 2 is provided with a rechargeable power source such as a storage battery as a power source (not shown). Reference numeral 10 denotes a floor surface on which the main body 2 performs cleaning.
[0007]
With the above configuration, first, as shown in FIG. 11, the main body 2 makes a round while cleaning the floor surface 10 along the wall while keeping the distance from the side wall constant. After that, traveling control is performed using inertial navigation means, etc., and the interior is advanced while cleaning the floor 10 until an obstacle in the traveling direction is detected by the distance sensor 1, and the direction is determined when the obstacle is detected. It moves forward while changing and cleans the cleaning area thoroughly. Note that a microcomputer is generally used for processing during running.
[0008]
[Problems to be solved by the invention]
However, since the self-propelled cleaner requires a processing time inside the microcomputer, the main body 2 runs idle during this time, so that the stop distance is extended and cannot be stopped at the shortest distance. In other words, there is a problem in terms of movement function that the risk of colliding with an obstacle increases as the traveling speed increases, and this problem is extremely important particularly during an emergency stop.
[0009]
Furthermore, since the microcomputer needs to be initialized when the power supply voltage rises, the output logic has an indefinite time, and there is a risk that the output is not stabilized and the traveling system is erroneously started.
[0010]
The present invention solves such a conventional problem, and is a self-propelled type that improves the reliability of the function of stopping at the shortest distance at the time of emergency stop and reliably stopping even within the operation indefinite time of the microcomputer. It aims to provide a vacuum cleaner.
[0011]
[Means for Solving the Problems]
In order to achieve the above object, the first means of the present invention generates a travel motor for moving the cleaner body, a travel motor drive for driving the travel motor, and a signal for forcibly stopping the travel of the cleaner body. A forced stop signal generating unit, a first timer unit that starts an operation in response to the output of the forced stop signal generating unit, and calculating a direction and speed of the main body to travel, from a forced stop signal generating unit A travel computation unit that computes the direction and speed to be stopped by a signal, a speed computation unit that gives the speed of the travel motor by an output from the travel computation unit, a forward direction computation unit that gives a forward direction signal of the travel motor, and travel A reverse direction calculation unit that gives a reverse direction signal of the motor, and an output from the speed calculation unit, the forward direction calculation unit, and the reverse direction calculation unit give a traveling logic to the traveling motor drive unit, Includes a running logic unit to provide a braking logic to the travel motor drive unit in accordance with the output from the timer unit, a DC voltage generating unit providing operating power to the respective units, and a DC power supply unit is a power supply to move the whole thereof, When the switch of the forced stop signal generator operates, it is output to the first timer unit and the travel calculation unit, and the first timer unit starts time measurement from the time when the forced stop signal generator operates, and the travel After the signal is input to the calculation unit, the speed calculation unit, the forward direction calculation unit, and the reverse direction calculation unit respectively perform calculation processing, and the time until the signal is output is output to the travel logic unit to output the travel logic. The brake signal is output from the motor to the travel motor drive unit .
[0012]
[Action]
According to the first hand stage, the signal of the forced stop signal generator also transmitted to the driving logic from the first timer unit at the same time transmitted to the driving operation unit. Therefore, the main body can be stopped based on the content of the brake signal during the time of the first timer section, and thereafter calculated by the travel calculation section, and the free running distance can be eliminated.
[0013]
【Example】
FIG. 1 shows a block diagram of a first embodiment of the present invention, FIG. 2 shows an operation explanatory diagram thereof, and description will be made based on these drawings.
[0014]
In FIG. 1, reference numeral 21 denotes a travel motor that moves the cleaner body 22, and reference numeral 23 denotes a travel motor drive unit that drives the travel motor 21. An encoder unit 24 attached to the traveling motor 21 outputs a signal corresponding to the rotational speed of the traveling motor 21. Reference numeral 25 denotes a forcible stop signal generator for generating a signal for stopping the traveling of the cleaner main body 22, which is constituted by a switch in this embodiment. When this switch is operated, a signal is output from the forced stop signal generator 25.
[0015]
26 is a first timer unit that starts the operation upon receiving the output of the forced stop signal generating unit 25, 27 calculates the direction and speed of the cleaner body 22 to travel based on information from the encoder unit 24, This is a travel calculation unit that calculates the direction and speed to be stopped by a signal from the forced stop signal generation unit 25.
[0016]
28 is a speed calculation unit that gives the speed of the travel motor 21 based on the output from the travel calculation unit 27, 29 is a forward direction calculation unit that gives a forward direction signal of the travel motor 21 based on the output from the travel calculation unit 27, and 30 is It is a reverse direction calculation unit that gives a reverse direction signal of the travel motor 21 by an output from the travel calculation unit 27.
[0017]
Reference numeral 31 denotes a travel logic given to the travel motor drive unit 23 by outputs from the speed calculation unit 28, forward direction calculation unit 29, and reverse direction calculation unit 30, or the travel by the output from the first timer unit 26. This is a travel logic unit that applies brake logic to the motor drive unit 23. Reference numeral 32 denotes a DC voltage generator for supplying an operating power to the above-mentioned units, and 33 denotes a DC power source which is a power source for moving these components. In this embodiment, the travel calculation unit 27, the speed calculation unit 28, the forward direction calculation unit 29, and the reverse direction calculation unit 30 are calculated by the microcomputer 34.
[0018]
In this embodiment, the operation time of the first timer unit 26 is calculated by the speed calculation unit 28, the forward direction calculation unit 29, and the reverse direction calculation unit 30 after a signal is input to the travel calculation unit 27, Is set to the time until is output.
[0019]
In the above configuration, the operation will be described below with reference to FIG.
[0020]
Before the forced stop signal generating unit 25 operates, the travel calculation unit 27 calculates the direction and speed in which the cleaner body 22 should travel based on the speed value from the encoder unit 24 connected to the travel motor 21, and the speed calculation unit 28, signals are output to the forward direction calculation unit 29 and the reverse direction calculation unit 30. (Before time T0)
When the switch of the forced stop signal generation unit 25 is operated, this signal is output to the first timer unit 26 and the travel calculation unit 27. The first timer unit 26 starts time measurement from the time when the forced stop signal generating unit 25 is operated, and the traveling logic unit 31 outputs a brake signal to the traveling motor driving unit 23 by this output. Specifically, the signal from the speed calculation unit 28 is set to speed 0, and the outputs of the forward direction calculation unit 29 and the reverse direction calculation unit 30 are simultaneously set to ON signals.
[0021]
That is, the traveling motor 21 is forcibly brought into a regenerative state. This time is set to 0.1 second in this embodiment. On the other hand, the travel calculation unit 27 starts calculation of an optimal stop method for the cleaner body 22 after the chattering removal time of the switch of the forced stop signal generation unit 25. (Time T1)
The travel calculation unit 27 inputs speed information from the encoder unit 24, and outputs a signal of deceleration or reverse direction to the speed calculation unit 28, the forward direction calculation unit 29, and the reverse direction calculation unit 30 to stop the cleaner body 22. Repeat the action to be attempted. As a result, the cleaner body 22 stops traveling. (Time T2)
Next, FIG. 3 shows a block diagram of the second embodiment of the present invention, FIG. 4 shows an operation explanatory diagram thereof, and description will be made based on these drawings.
[0022]
In FIG. 3, the same reference numerals are given to the same operations as those in FIG. 1, and the description thereof is omitted here.
[0023]
In FIG. 3, reference numeral 35 denotes a power supply voltage detector that measures the output voltage of the DC voltage generator 32 and determines whether it is higher than a predetermined voltage. In this embodiment, the microcomputer 34 uses a voltage detection IC. The voltage is set lower than the reset release voltage. Reference numeral 36 denotes a second timer unit that receives an output from the power supply voltage detection unit 35 and starts an operation, and the traveling logic unit 31 is configured to give a braking logic to the traveling motor drive unit 23 by this output. The operation time of the second timer section 36 is set to the time from when the power is turned on until the initialization of the microcomputer 34 is completed.
[0024]
In the above configuration, the operation will be described below with reference to FIG.
[0025]
At time T3 in the process of increasing the output voltage of the DC power supply generating unit 32, for example, when the power switch is turned on, the second timer unit 36 starts operating, and the traveling logic unit 31 operates the traveling motor driving unit 23. Gives the brake logic. (Before time T4)
When the voltage exceeds the reset voltage release, initialization of the microcomputer 34 is started, and the travel calculation unit 27, speed calculation unit 28, forward direction calculation unit 29, and reverse direction calculation unit 30 are initialized, and at time T4. finish. During this time, the traveling logic unit 31 is programmed to give a braking logic to the traveling motor drive unit 23 simultaneously with the output of the second timer unit 36, so that the cleaner body 22 does not start to move. (Time T4)
Next, FIG. 5 shows a block diagram of a third embodiment of the present invention, FIG. 6 shows an operation explanatory diagram thereof, and description will be made based on these drawings.
[0026]
In FIG. 5, the same reference numerals are given to the same operations as those in FIG. 1 or FIG. 3, and description thereof is omitted here.
[0027]
In FIG. 5, reference numeral 37 denotes an initialization end detection unit that detects completion of initialization inside the microcomputer 34, such as the travel calculation unit 27, the speed calculation unit 28, the forward direction calculation unit 29, and the reverse direction calculation unit 30. The program is configured to input a signal from the forced stop signal generator 25 immediately after the output of the initialization end detector 37.
[0028]
This operation will be described with reference to FIG. 6. If the information of the forced stop signal generator 25 is not input at the end of initialization, normal processing is performed. If the information of the forced stop signal generator 25 is input, The travel logic unit 31 continues to provide brake logic to the travel motor drive unit 23. If in the switch configuration Therefore forced stop signal is operated by detecting that there is a step, can not be operated unless the launched power off that status.
[0029]
Next, FIG. 7 shows a block diagram of a fourth embodiment of the present invention, FIG. 8 shows an operation explanatory diagram thereof, and description will be made based on these drawings.
[0030]
In FIG. 7, the same reference numerals are given to the same operations as those in FIG. 1, 3, or 5, and description thereof is omitted here.
[0031]
In FIG. 7, 38 a is a relay contact provided in series in the system of the DC power supply unit 33 and the traveling motor drive unit 23, and 38 b is a relay coil provided in parallel with the DC power supply unit 33. 39 is a watchdog detection unit for detecting whether or not the processing of the microcomputer 34 such as the travel calculation unit 27, the speed calculation unit 28, the forward direction calculation unit 29, and the reverse direction calculation unit 30 is operating normally; It is a relay drive unit that drives the relay coil 38b by an AND signal with the initialization end detection unit 37 and the watchdog detection unit 39. Here, the watchdog signal is an inverted signal output at regular intervals by the microcomputer 34. When the microcomputer 34 runs away, the signal is not inverted, and it is detected whether the operation is normal. It is a general method.
[0032]
In this embodiment, when the watchdog detection unit 39 operates, a brake signal of the travel logic unit 31 is given to the speed calculation unit 28, the forward direction calculation unit 29, and the reverse direction calculation unit 30, and the relay drive unit 40 The program is configured to stop driving.
[0033]
This operation will be described with reference to FIG. 8. Since normal processing is performed during normal operation after completion of initialization, the watchdog detection unit 39 does not operate, and the relay drive unit 40 excites the relay coil 38b and relay contact 38a. Is closed, and the electric power of the travel motor drive unit 23 is transmitted.
[0034]
However, if the microcomputer 34 goes into a runaway state for some reason (time T6), the watchdog detection unit 39 detects this and travels with respect to the speed calculation unit 28, the forward direction calculation unit 29, and the reverse direction calculation unit 30. A signal is issued so that the brake signal of the logic unit 31 is applied, and at the same time, a signal is issued to stop the driving of the relay drive unit 40. In response to this, the traveling logic unit 31 immediately enters the brake state, but the relay contact 38a is opened after a time of several seconds (time T7) due to the mechanical delay time.
[0035]
That is, when the microcomputer 34 runs out of control, the transmission path is cut after the brake state is first reached. However, in this case, since the microcomputer 34 is running out of control, it cannot be determined whether or not the brake state is entered as output to the speed calculation unit 28, the forward direction calculation unit 29, and the reverse direction calculation unit 30. At that time, it is necessary to thoroughly verify the hardware of the microcomputer 34.
[0036]
Next, FIG. 9 shows a block diagram of a fifth embodiment of the present invention, which will be described below with reference to this figure.
[0037]
In FIG. 9, the same reference numerals are given to the same operations as those in FIG. 1, 3, 5, or 9, and the description thereof is omitted here.
[0038]
In FIG. 9, reference numeral 41 denotes a diode inserted in series in the system of the relay coil 38 b and the relay driving unit 40, and one end of the input of the DC voltage generating unit 32 is connected to a part through the diode 41.
[0039]
If the DC power supply unit 33 is mistakenly connected to the reverse polarity in this configuration, no voltage is output from the DC voltage generation unit 32 and all operations are not performed. Further, since the relay coil 38 b is not excited, the relay contact 38 a remains open, and no electric power is transmitted to the traveling motor drive unit 23.
[0040]
【The invention's effect】
As apparent from the above Examples, by the present invention lever, the signal of the forced stop signal generating section also is transmitted to the driving logic from the transmitted to the driving arithmetic unit simultaneously First timer unit. Therefore, when a forced stop signal is input, a brake signal is output to the traveling logic unit within the time of the first timer unit that removes chattering inside the microcomputer. Previously, this time was idle. Thereafter, the cleaner body stops according to the content calculated by the travel calculation unit based on the information of the encoder unit. In this way, the idle running distance can be stopped at a short distance.
[Brief description of the drawings]
FIG. 1 is a block diagram of a self-propelled cleaner showing a first embodiment of the present invention. FIG. 2 is an explanatory diagram of the operation of the self-propelled cleaner. FIG. 3 shows a second embodiment of the present invention. Block diagram of the self-propelled cleaner [FIG. 4] Operation explanatory diagram of the self-propelled cleaner [FIG. 5] Block diagram of the self-propelled cleaner showing the third embodiment of the present invention [FIG. 6] FIG. 7 is a block diagram of the self-propelled cleaner showing the fourth embodiment of the present invention. FIG. 8 is an explanatory diagram of the operation of the self-propelled cleaner. Block diagram of a self-propelled cleaner showing the fifth embodiment of the present invention [FIG. 10] A cross-sectional view of a conventional self-propelled cleaner [FIG. 11] An explanatory diagram of a cleaning path of the self-propelled cleaner [Explanation of symbols] ]
DESCRIPTION OF SYMBOLS 21 Travel motor 22 Vacuum cleaner main body 23 Travel motor drive part 24 Encoder part 25 Forced stop signal generation part 26 First timer part 27 Travel calculation part 28 Speed calculation part 29 Forward direction calculation part 30 Reverse direction calculation part 31 Travel logic part 32 DC voltage generation unit 33 DC power supply unit 34 microcomputer 35 power supply voltage detection unit 36 second timer unit 37 initialization end determination unit 38a relay contact 38b relay coil 39 watchdog detection unit 40 relay drive unit 41 diode

Claims (1)

A travel motor that moves the cleaner body, a travel motor drive that drives the travel motor, a forced stop signal generator that generates a signal that forcibly stops the travel of the cleaner body, and a forced stop signal generator A first timer unit that starts an operation in response to an output; a travel calculation unit that calculates a direction and speed of the main body to travel; and a direction and speed that should be stopped by a signal from a forced stop signal generation unit; A speed calculation unit that gives a speed of the travel motor by an output from the travel calculation unit, a forward direction calculation unit that gives a forward direction signal of the travel motor, a reverse direction calculation unit that gives a reverse direction signal of the travel motor, and the speed A travel logic is given to the travel motor drive unit by an output from the calculation unit, the forward direction calculation unit, and the reverse direction calculation unit, or the travel motor according to the output from the first timer unit A traveling logical unit providing a brake logic the dynamic part includes a DC voltage generating unit providing operating power to the respective units, and a DC power supply unit is a power supply to move the whole thereof, when the switch of the forced stop signal generating unit is operated Output to the first timer unit and the travel calculation unit, the first timer unit starts time measurement from the time of operation of the forced stop signal generation unit, and calculates the speed after the signal is input to the travel calculation unit Each time, a time until the signal is output, and output to the travel logic unit, and a brake signal is output from the travel logic unit to the travel motor drive unit. Self-propelled vacuum cleaner to output .

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