JP4553793B2

JP4553793B2 - Vacuum cleaner

Info

Publication number: JP4553793B2
Application number: JP2005140603A
Authority: JP
Inventors: 剛志前田; 朋生小林; 正博山崎
Original assignee: Mitsubishi Electric Corp
Current assignee: Mitsubishi Electric Corp
Priority date: 2005-05-13
Filing date: 2005-05-13
Publication date: 2010-09-29
Anticipated expiration: 2025-05-13
Also published as: JP2006314569A

Description

この発明は、掃除機本体に自走機能を備える電気掃除機に関するものである。 The present invention relates to a vacuum cleaner having a self-propelled function in a vacuum cleaner body.

従来のこの種の電気掃除機として、ホースと掃除機本体との接続部分にホース張力検出手段を設け、使用者が前進して掃除機本体から遠ざかったり、吸込ホースを引っ張るなどしてそのホース張力が張力検出手段で検知されると、掃除機本体を吸込ホースの進行方向に自走させるようにしたものがある（例えば、特許文献１参照）。 As a conventional vacuum cleaner of this type, hose tension detection means is provided at the connection between the hose and the main body of the vacuum cleaner, and the hose tension is detected by the user moving forward and away from the main body of the vacuum cleaner or pulling the suction hose. Is detected by the tension detecting means, there is one in which the main body of the cleaner is caused to self-run in the advancing direction of the suction hose (see, for example, Patent Document 1).

また、手元ハンドル部から吸込口体までの間の位置に発信装置を設け、その発信装置から発信された信号を掃除機本体に設けられた受信装置で受信し、その信号に基づいて手元ハンドル部と掃除機本体との距離を検出し、手元ハンドル部と掃除機本体との距離を一定に保つように掃除機本体を走行制御するようにしたものがある（例えば、特許文献２参照）。 Also, a transmitting device is provided at a position between the hand handle portion and the suction port body, and a signal transmitted from the transmitter device is received by a receiving device provided in the cleaner body, and the hand handle portion is based on the signal. The distance between the main body of the cleaner and the main body of the cleaner is detected, and the main body of the cleaner is controlled so as to keep the distance between the hand handle portion and the main body of the cleaner (see, for example, Patent Document 2).

特開昭６４−８６９２５号公報（第３頁左上欄最終行〜右上欄１０行）JP-A-64-86925 (page 3, upper left column, last line to upper right column, 10 lines) 特開平２−１７２４３３号公報（第１頁、特許請求の範囲（１））JP-A-2-172433 (first page, claims (1))

しかしながら、特許文献１の技術では張力検出部にホース張力が伝わって初めて掃除機本体が自走するため、掃除機本体が自走を開始する直前には必ず手元にホース張力が伝わる。このため、掃除動作中の操作負荷の軽減の程度は十分なものではなかった。 However, in the technique of Patent Document 1, since the main body of the cleaner self-propels only after the hose tension is transmitted to the tension detector, the hose tension is always transmitted to the hand immediately before the main body of the cleaner starts self-propelling. For this reason, the degree of reduction of the operation load during the cleaning operation is not sufficient.

この点に関し、特許文献２の技術によると、手元ハンドル部と掃除機本体との距離を適切に設定することで、手元にホース張力が伝わることのないように掃除機本体を自走させることが可能であるが、掃除中に発信装置と受信装置の間に人体や家具などの障害物が入り込むと、手元ハンドル部と掃除機本体との距離検出が行えず、制御不能状態に陥るという課題があった。 In this regard, according to the technique of Patent Document 2, by appropriately setting the distance between the hand handle and the vacuum cleaner main body, the vacuum cleaner main body can be self-propelled so that the hose tension is not transmitted to the hand. Although it is possible, if an obstacle such as a human body or furniture enters between the transmitting device and the receiving device during cleaning, the distance between the hand handle and the cleaner body cannot be detected, and there is a problem that it falls into an uncontrollable state there were.

この発明はこのような点に鑑みなされたもので、常に快適に掃除動作を行えるように掃除機本体を安定して走行制御することができ、使用者の操作負荷を低減することが可能な電気掃除機を提供することを目的とする。 The present invention has been made in view of the above points, and it is possible to stably control the cleaner main body so that the cleaning operation can be always performed comfortably, and the electric load that can reduce the operation load on the user. The purpose is to provide a vacuum cleaner.

この発明に係る電気掃除機は、電気送風機および電気送風機に連通する集塵室を内蔵する掃除機本体と、掃除機本体に開設された接続口に接続することにより集塵室に連通するホースと、このホースの先端側と連通するパイプと、このパイプの先端に接続される吸込口体と、掃除機本体を移動自在に支持する走行車輪と、この走行車輪を駆動する駆動部と、ホースとパイプとの位置関係を、ホースの所定部分とパイプの所定部分とがなす角度またはホースの所定部分とパイプの所定部分との間の距離によって検出する位置関係検出部と、位置関係検出部の検出信号に基づき、吸込口体と掃除機本体との距離を一定又は所定範囲内に保つように掃除機本体の駆動部を制御する制御部とを備えたものである。 The vacuum cleaner according to the present invention includes an electric blower and a vacuum cleaner body having a dust collection chamber communicating with the electric blower, and a hose communicating with the dust collection chamber by connecting to a connection port established in the vacuum cleaner body. A pipe communicating with the tip side of the hose, a suction port connected to the tip of the pipe, a running wheel that movably supports the cleaner body, a drive unit that drives the running wheel, and a hose A positional relationship detector that detects a positional relationship between the pipe and a predetermined portion of the hose and a predetermined portion of the pipe or a distance between the predetermined portion of the hose and the predetermined portion of the pipe, and detection of the positional relationship detector And a control unit that controls the drive unit of the cleaner body so that the distance between the suction port body and the cleaner body is kept constant or within a predetermined range based on the signal.

この発明により、ホースとパイプとの位置関係を、ホースの所定部分とパイプの所定部分とがなす角度またはホースの所定部分とパイプの所定部分との間の距離によって検出し、その検出信号に基づいて掃除機本体の走行制御を行うようにしたので、従来のように距離検出が行えないといった不都合を防止でき、常に快適に掃除動作を行えるように掃除機本体を安定して走行制御することができ、使用者の操作負荷を確実に低減することが可能となる。 According to the present invention, the positional relationship between the hose and the pipe is detected by the angle formed by the predetermined portion of the hose and the predetermined portion of the pipe or the distance between the predetermined portion of the hose and the predetermined portion of the pipe, and based on the detection signal. Therefore, it is possible to prevent the inconvenience that distance detection cannot be performed as in the past, and to stably control the travel of the cleaner body so that the cleaning operation can always be performed comfortably. It is possible to reliably reduce the operation load on the user.

実施の形態１．
図１〜図４は、この発明の実施の形態１の電気掃除機を示す図である。
電気掃除機は、図１に示すように、電気送風機および電気送風機に連通する集塵室を内蔵する掃除機本体１と、掃除機本体１の前面に開設された接続口１ａに接続することにより集塵室に連通するホース４と、ホース４の先端側に設けられたハンドル部５と、ハンドル部５の先端側に接続されるパイプ６と、パイプ６の先端に接続される吸込口体７とを備えており、吸込口体７から吸い込まれた塵埃を含む空気は、パイプ６、後述の第１の回動接続部８、ホース４及び第２の回動接続部２０の内部の風路を通過し、集塵室へと吸い込まれるようになっている。ハンドル部５には、電源操作部５ａが設けられており、電源操作部５ａには、電動送風機をオンオフさせるための電源スイッチ（図示せず）等が設けられている。 Embodiment 1 FIG.
1-4 is a figure which shows the vacuum cleaner of Embodiment 1 of this invention.
As shown in FIG. 1, the vacuum cleaner is connected to a vacuum cleaner main body 1 having a built-in dust collecting chamber communicating with the electric blower and the electric blower, and a connection port 1 a opened on the front surface of the vacuum cleaner main body 1. A hose 4 communicating with the dust collecting chamber, a handle portion 5 provided on the tip side of the hose 4, a pipe 6 connected to the tip side of the handle portion 5, and a suction port 7 connected to the tip of the pipe 6 The air containing the dust sucked in from the suction port body 7 is an air path inside the pipe 6, a first rotation connection portion 8, which will be described later, the hose 4, and the second rotation connection portion 20. And is sucked into the dust collection chamber. The handle portion 5 is provided with a power supply operation portion 5a, and the power supply operation portion 5a is provided with a power switch (not shown) for turning on and off the electric blower.

掃除機本体１の底面前方には、水平方向に回動自在なキャスタ内において、水平方向の回転軸を持つ補助前輪２９（図３参照）が設けられており、また、掃除機本体１後方には、掃除機本体１を移動自在に支持する走行車輪としての左後輪２及び右後輪３（後述の図５参照）が左右対称に設けられている。この補助前輪２９、左後輪２及び右後輪３により、掃除機本体１が被掃除面上で任意の方向に移動可能となっている。 An auxiliary front wheel 29 (see FIG. 3) having a horizontal rotation shaft is provided in front of the bottom surface of the vacuum cleaner body 1 in a caster that can be rotated in the horizontal direction. The left rear wheel 2 and the right rear wheel 3 (see FIG. 5 described later) as traveling wheels that movably support the cleaner body 1 are provided symmetrically. The auxiliary front wheel 29, the left rear wheel 2, and the right rear wheel 3 enable the cleaner body 1 to move in any direction on the surface to be cleaned.

ホース４のハンドル部５側には、ホース４の軸とパイプ６の軸とを含む平面に垂直な垂直軸８ａ（図３参照）を軸として、ホース４とパイプ６とを回動自在に接続する第１の回動接続部８が設けられている。第１の回動接続部８は、ホース４とパイプ６とを連結する連結部としての風路屈曲部３７に設けられている。第１の回動接続部８には、第１の回動接続部８の回動角度を検出することによりホース４とパイプ６との位置関係を検出し、その検出結果に基づいて吸込口体７と掃除機本体１との間の距離を検出する位置関係検出部としてのホース回動角度検出部１５（後述の図８参照）が設けられている。ホース回動角度検出部１５は、具体的には例えば回転式ポテンショメータで構成される。第１の回動接続部８の具体的な構成については後述の図６〜図８により詳述する。 On the handle portion 5 side of the hose 4, the hose 4 and the pipe 6 are rotatably connected around a vertical axis 8 a (see FIG. 3) perpendicular to a plane including the axis of the hose 4 and the axis of the pipe 6. A first pivot connection 8 is provided. The first rotation connection portion 8 is provided in an air path bending portion 37 as a connection portion that connects the hose 4 and the pipe 6. The first rotation connection portion 8 detects the positional relationship between the hose 4 and the pipe 6 by detecting the rotation angle of the first rotation connection portion 8, and based on the detection result, the suction port body A hose rotation angle detection unit 15 (see FIG. 8 described later) is provided as a positional relationship detection unit that detects the distance between 7 and the cleaner body 1. Specifically, the hose rotation angle detection unit 15 is configured by, for example, a rotary potentiometer. A specific configuration of the first rotation connecting portion 8 will be described in detail with reference to FIGS.

ホース４の掃除機本体１側には、ホース４を、掃除面に略平行な面方向に回動自在に掃除機本体１に接続する第２の回動接続部２０が設けられている。第２の回動接続部２０には、第２の回動接続部２０の回動角度を検出することにより、掃除機本体１に対するホース４の導出方向を検出するためのホース導出方向検出部１６（後述の図５参照）が設けられている。ホース導出方向検出部１６は、具体的には例えば回転式ポテンショメータで構成される。第２の回動接続部２０の具体的な構成については後述の図９〜図１１により詳述する。 On the cleaner body 1 side of the hose 4, there is provided a second rotation connecting portion 20 that connects the hose 4 to the cleaner body 1 so as to be rotatable in a surface direction substantially parallel to the cleaning surface. The second rotation connection unit 20 detects the rotation angle of the second rotation connection unit 20, thereby detecting the direction of the hose 4 with respect to the cleaner body 1. (See FIG. 5 described later). Specifically, the hose lead-out direction detection unit 16 is configured by, for example, a rotary potentiometer. A specific configuration of the second rotation connecting portion 20 will be described in detail with reference to FIGS.

図５は、この発明の実施の形態１における制御信号の経路を示す模式図である。
制御部３０は、電気掃除機全体の制御を行う部分で、ホース回動角度検出部１５及びホース導出方向検出部１６のそれぞれで検出された検出信号が入力されるようになっており、その入力信号に応じた処理を行うように構成されている。その処理を行うための処理プログラムを含む制御プログラムと各種データとが、制御部３０内に備えられたメモリ３１内に格納されている。 FIG. 5 is a schematic diagram showing the path of the control signal in the first embodiment of the present invention.
The control part 30 is a part which controls the whole vacuum cleaner, and the detection signal detected by each of the hose rotation angle detection part 15 and the hose lead-out direction detection part 16 is input thereto. It is configured to perform processing according to the signal. A control program including a processing program for performing the processing and various data are stored in a memory 31 provided in the control unit 30.

制御部３０は、ホース回動角度検出部１５からの検出信号に基づいて吸込口体７と掃除機本体１との間の距離を求め、吸込口体７と掃除機本体１との間の距離を一定又は所定範囲内に保つように（どちらを選択するかは設定次第である）、モータドライバ３４を介して左側駆動用モータ３２及び右側駆動用モータ３３をそれぞれ駆動制御し、左後輪２及び右後輪３の走行制御を行う。ここで、吸込口体７と掃除機本体１との間の距離は、吸込口体７の移動に伴う使用者の負荷軽減を目的として決定されるもので、具体的には使用者にホース張力が伝わることのない距離として決定される。 The control unit 30 obtains the distance between the suction port body 7 and the cleaner body 1 based on the detection signal from the hose rotation angle detection unit 15, and the distance between the suction port body 7 and the cleaner body 1. The left rear wheel 2 is controlled by driving the left driving motor 32 and the right driving motor 33 via the motor driver 34 so that the motor is kept constant or within a predetermined range (which one is selected depends on the setting). And the traveling control of the right rear wheel 3 is performed. Here, the distance between the suction port body 7 and the cleaner body 1 is determined for the purpose of reducing the load on the user accompanying the movement of the suction port body 7, and specifically, the hose tension is set to the user. Is determined as the distance that cannot be transmitted.

また、制御部３０は、ホース導出方向検出部１６からの検出信号に基づいてホース導出方向すなわち掃除機本体１の進行方向を判断しており、その方向に掃除機本体１が自走するように左側駆動用モータ３２及び右側駆動用モータ３３を制御する。すなわち、制御部３０は、掃除機本体１に対する吸込口体７の位置に応じて左側駆動用モータ３２及び右側駆動用モータ３３の制御を行っており、かかる制御を行うための、掃除機本体１に対する吸込口体７の位置と、その位置にある吸込口体７を掃除機本体１に対して所定の距離または所定範囲内に保つための右側駆動用モータ３３及び左側駆動用モータ３２に供給すべきモータ出力値との対応関係は、テーブルや、関係式によって予め提供されメモリ３１内に格納されている。 Moreover, the control part 30 judges the hose derivation | leading-out direction, ie, the advancing direction of the cleaner main body 1, based on the detection signal from the hose derivation | leading-out direction detection part 16, and the cleaner main body 1 carries out self-propelled in the direction. The left drive motor 32 and the right drive motor 33 are controlled. That is, the control unit 30 controls the left drive motor 32 and the right drive motor 33 according to the position of the suction port body 7 with respect to the cleaner body 1, and the cleaner body 1 for performing such control. The position of the suction port body 7 with respect to the position and the right side drive motor 33 and the left side drive motor 32 for keeping the suction port body 7 at that position within a predetermined distance or a predetermined range with respect to the cleaner body 1 are supplied. The correspondence relationship with the motor output value is provided in advance by a table or a relational expression and stored in the memory 31.

図６〜図８は、第１の回動接続部の構成の一例を示す図である。
第１の回動接続部８は、左カバー９ａと右カバー９ｂとから構成されたカバー部９と、シャッター部１０と、筒状のホース接続部１１とを備えている。シャッター部１０は、カバー部９側から、大シャッター１０ａと、中シャッター１０ｂと、小シャッター１０ｃとを備えた構成となっており、各シャッター１０ａ，１０ｂ，１０ｃは、ホース接続部１１の上端側の外周に突出して設けられた円筒状の円筒軸部１２に対し、カバー部９内に収納自在な方向に回動自在に接続されている。また、カバー部９、大シャッター１０ａ、中シャッター１０ｂ、小シャッター１０ｃ及びホース接続部１１は、それぞれ引掛部１０ａａ，１０ｂａ，１０ｃａ，１１ａが順次引掛けられることにより接続された構成となっている。そして、ホース接続部１１が円筒軸部１２を軸として回動すると、その回動動作に連動してシャッター部１０がカバー部９に収納する方向、又はカバー部９から引き出される方向に動作するようになっている。 6-8 is a figure which shows an example of a structure of a 1st rotation connection part.
The first rotation connection portion 8 includes a cover portion 9 including a left cover 9a and a right cover 9b, a shutter portion 10, and a cylindrical hose connection portion 11. The shutter unit 10 includes a large shutter 10a, a middle shutter 10b, and a small shutter 10c from the cover unit 9 side. The shutters 10a, 10b, and 10c are on the upper end side of the hose connection unit 11. Is connected to a cylindrical cylindrical shaft portion 12 that protrudes from the outer periphery of the cover portion 9 so as to be rotatable in a direction in which the cover portion 9 can be accommodated. Further, the cover portion 9, the large shutter 10a, the middle shutter 10b, the small shutter 10c, and the hose connecting portion 11 are connected by sequentially hooking the hook portions 10aa, 10ba, 10ca, and 11a. Then, when the hose connection portion 11 rotates about the cylindrical shaft portion 12, the shutter portion 10 operates in a direction in which the shutter portion 10 is housed in the cover portion 9 or pulled out from the cover portion 9 in conjunction with the rotation operation. It has become.

また、図８に示すように、左カバー９ａにおいて円筒軸部１２の左側端面１２ａに対向する部分には、ホース回動角度検出部１５としての距離検出用回転式ポテンショメータ１５が配設されている。距離検出用回転式ポテンショメータ１５は、円筒軸部１２の左側端面１２ａから円筒軸部１２の軸方向に延出された軸部１３に嵌着されている。そして、回転式ポテンショメータ（ホース回動角度検出部）１５の検出信号は、ホース４の外周に埋設された導線（図示せず）を介して制御部３０に入力されるようになっている。 Further, as shown in FIG. 8, a distance detecting rotary potentiometer 15 as a hose rotation angle detector 15 is disposed in a portion of the left cover 9a facing the left end surface 12a of the cylindrical shaft portion 12. . The distance detecting rotary potentiometer 15 is fitted to a shaft portion 13 that extends from the left end surface 12 a of the cylindrical shaft portion 12 in the axial direction of the cylindrical shaft portion 12. The detection signal of the rotary potentiometer (hose rotation angle detection unit) 15 is input to the control unit 30 via a conducting wire (not shown) embedded in the outer periphery of the hose 4.

かかる構成の第１の回動接続部８においては、ユーザがハンドル部５を把持して吸込口体７を進める動作を行うと、ホース接続部１１が円筒軸部１２を軸として図６中の矢印Ａ方向に回動する。すると、ホース接続部１１の先端部が、小シャッター１０ｃ、中シャッター１０ｂ、大シャッター１０ａの順に収納され、最終的には各シャッター１０全体がカバー部９の内部に収納された状態となる。逆に、ユーザがハンドル部５を把持して吸込口体７を引き寄せる動作を行うと、ホース接続部１１が円筒軸部１２を軸として図中の矢印Ｂ方向に回動する。すると、引掛部１０ａａ、１０ｂａ，１０ｃａ，１１ａにより互いに係合された小シャッター１０ｃ、中シャッター１０ｂ及び大シャッター１０ａがこの順に展開し、カバー部９内から引き出された状態となる。なお、図７は最大限に展開された状態を示している。 In the first rotation connection portion 8 having such a configuration, when the user performs an operation of holding the handle portion 5 and moving the suction port body 7, the hose connection portion 11 is centered on the cylindrical shaft portion 12 in FIG. 6. It rotates in the direction of arrow A. Then, the tip of the hose connection portion 11 is housed in the order of the small shutter 10c, the middle shutter 10b, and the large shutter 10a, and finally the entire shutter 10 is housed inside the cover portion 9. On the other hand, when the user grips the handle portion 5 and performs the operation of pulling the suction port body 7, the hose connection portion 11 rotates in the direction of arrow B in the drawing with the cylindrical shaft portion 12 as an axis. Then, the small shutter 10c, the middle shutter 10b, and the large shutter 10a that are engaged with each other by the hook portions 10aa, 10ba, 10ca, and 11a are developed in this order and are pulled out from the cover portion 9. FIG. 7 shows a fully developed state.

図９〜図１１は、第２の回動接続部の構成の一例を示す図である。
第２の回動接続部２０は、上カバー２１ａ及び下カバー２１ｂにより半割に形成されたカバー部２１と、カバー部２１と一体的に形成され、上側筒部２２ａと下側筒部２２ｂにより半割に形成された筒状の掃除機本体側接続部２２と、筒状のホース側接続部２３とから構成されている。カバー部２１は上面及び下面が閉塞された全体略円筒状を成し、周面部には周方向に長方形状の開口部２１ｃが形成されている。ホース側接続部２３は、ホース４に接続される円筒部２３ａと、円筒部２３ａの端面から外方に円弧状に延出したガイド部２３ｂとを備えており、ガイド部２３ｂがカバー部２１内に設けた図示しないガイド溝に摺動自在に嵌合され、円筒部２３ａがカバー部２１に設けた開口部２１ｃから突出した状態でカバー部２１に接続されている。 9-11 is a figure which shows an example of a structure of a 2nd rotation connection part.
The second rotation connection part 20 is formed integrally with the cover part 21 formed in half by the upper cover 21a and the lower cover 21b, and the cover part 21, and is formed by the upper cylinder part 22a and the lower cylinder part 22b. It is comprised from the cylindrical cleaner main body side connection part 22 and the cylindrical hose side connection part 23 which were formed in half. The cover portion 21 has a substantially cylindrical shape with the upper and lower surfaces closed, and a rectangular opening portion 21c is formed in the circumferential direction on the circumferential surface portion. The hose side connection portion 23 includes a cylindrical portion 23a connected to the hose 4 and a guide portion 23b extending outward from the end surface of the cylindrical portion 23a in an arc shape. The cylindrical portion 23a is slidably fitted in a guide groove (not shown) provided on the cover portion 21 and is connected to the cover portion 21 in a state where the cylindrical portion 23a protrudes from an opening portion 21c provided in the cover portion 21.

また、カバー部２１内には、カバー部２１の内周面に摺接し、開口部２１ｃを閉塞するためのシャッター２４が設けられている。シャッター２４は、短冊状の板状部材をカバー部２１の周面部に摺接するように湾曲させた構成となっており、両端部に、ホース側接続部２３のガイド部２３ｂの先端部に設けられた係止部２３ｃに引っ掛けられる引掛部２４ａが形成されている。この引掛部２４ａにより、ホース側接続部２３を回動させたとき、その回動に連動してシャッター２４が動くようになっている。また、シャッター２４には、掃除機本体側接続部２２とカバー部２１内との流路を連通させるための開口部２４ｂが形成されている。 Further, a shutter 24 is provided in the cover portion 21 to slidably contact the inner peripheral surface of the cover portion 21 and close the opening portion 21c. The shutter 24 has a configuration in which a strip-like plate-like member is curved so as to be in sliding contact with the peripheral surface portion of the cover portion 21, and is provided at both ends of the tip portion of the guide portion 23 b of the hose side connection portion 23. A hooking portion 24a is formed to be hooked by the locking portion 23c. When the hose side connection portion 23 is rotated by the hook portion 24a, the shutter 24 is moved in conjunction with the rotation. Further, the shutter 24 is formed with an opening 24b for communicating the flow path between the cleaner main body side connecting portion 22 and the inside of the cover portion 21.

また、図１１に示すように、下カバー２１ｂにはホース導出方向検出部１６としての回転式ポテンショメータ１６が配設されており、回転式ポテンショメータ１６の軸受けには、掃除機本体側接続部２２の底面に設けた軸２２ｃが圧入された状態となっている。そして、回転式ポテンショメータ（ホース導出方向検出部）１６の検出信号は、ホース４の外周に埋設された導線（図示せず）を介して制御部３０に入力されるようになっている。 Further, as shown in FIG. 11, a rotary potentiometer 16 as a hose lead-out direction detection unit 16 is disposed on the lower cover 21 b, and the bearing of the rotary potentiometer 16 includes a cleaner main body side connection unit 22. The shaft 22c provided on the bottom surface is press-fitted. The detection signal of the rotary potentiometer (hose lead-out direction detection unit) 16 is input to the control unit 30 via a conducting wire (not shown) embedded in the outer periphery of the hose 4.

次に動作について説明する。
掃除機本体１が運転され、ハンドル部５を手に持って吸込口体７が前後に動かされると、その動作に伴って第１の回動接続部８及び第２の回動接続部２０が回動する。この回動による回動角度が、距離検出用の回転式ポテンショメータ（ホース回動角度検出部１５）及び導出方向検出用の回転式ポテンショメータ（ホース導出方向検出部１６）によってそれぞれ検出され、逐次、制御部３０に出力される。制御部３０は、回転式ポテンショメータ（ホース回動角度検出部１５）及び方向検出用の回転式ポテンショメータ（ホース導出方向検出部１６）からの各検出信号に基づき、掃除機本体１に対する吸込口体７の位置を求める。そして、その求めた位置と、予めメモリ３１に記憶されたテーブルや関係式とに基づいて右側駆動用モータ３３及び左側駆動用モータ３２に供給すべきモータ出力値を求め、その求めた値に基づいてモータドライバ３４を介して右側駆動用モータ３３及び左側駆動用モータ３２とをそれぞれ駆動制御する。これにより、掃除機本体１が吸込口体７との間の距離が一定又は所定範囲内に保たれるように自走する。 Next, the operation will be described.
When the vacuum cleaner body 1 is operated and the suction port body 7 is moved back and forth while holding the handle portion 5 in the hand, the first rotary connection portion 8 and the second rotary connection portion 20 are moved along with the operation. Rotate. The rotation angle due to this rotation is detected by a rotary potentiometer for detecting distance (hose rotation angle detection unit 15) and a rotary potentiometer for detection of detection direction (hose extraction direction detection unit 16), respectively, and sequentially controlled. Is output to the unit 30. The control part 30 is a suction port body 7 with respect to the cleaner body 1 based on the detection signals from the rotary potentiometer (hose rotation angle detection part 15) and the rotational potentiometer for direction detection (hose lead-out direction detection part 16). Find the position of. Then, based on the obtained position and a table or relational expression stored in advance in the memory 31, a motor output value to be supplied to the right drive motor 33 and the left drive motor 32 is obtained, and based on the obtained value. The right driving motor 33 and the left driving motor 32 are respectively driven and controlled via the motor driver 34. Thereby, the vacuum cleaner main body 1 self-propels so that the distance between the suction inlet body 7 may be kept constant or within a predetermined range.

このように、この実施の形態１によれば、ホース４の軸とパイプ６の軸とを含む平面に垂直な垂直軸８ａを軸として、ホース４とパイプ６とを回動自在に接続する第１の回動接続部８を設け、その第１の回動接続部８に設けたホース回動角度検出部１５によって吸込口体７と掃除機本体１との間の距離を検出し、その検出信号に基づき掃除機本体１の走行制御を行うようにしたので、従来のように距離検出が行えないといった不都合を防止でき、常に快適に掃除動作を行えるように掃除機本体を安定して走行制御することができ、使用者の操作負荷を確実に低減することが可能となる。 As described above, according to the first embodiment, the hose 4 and the pipe 6 are rotatably connected around the vertical axis 8a perpendicular to the plane including the axis of the hose 4 and the axis of the pipe 6. 1 is provided, and the distance between the suction port body 7 and the cleaner body 1 is detected by the hose rotation angle detection section 15 provided in the first rotation connection section 8, and the detection is performed. Since the travel control of the vacuum cleaner body 1 is performed based on the signal, it is possible to prevent the inconvenience that the distance cannot be detected as in the past, and to stably control the travel of the vacuum cleaner body so that the cleaning operation can always be performed comfortably. It is possible to reliably reduce the operation load on the user.

また、第２の回動接続部２０をホース４に連結形成したので、第２の回動接続部２０を掃除機本体１に設ける場合に比べて掃除機本体１を小型化でき、狭い空間への収納が安易となる。 In addition, since the second rotary connection portion 20 is connected to the hose 4, the vacuum cleaner body 1 can be reduced in size compared to the case where the second rotary connection portion 20 is provided in the cleaner body 1, and the space is narrow. It becomes easy to store.

実施の形態２．
図１２は、実施の形態２の電気掃除機の要部を示す斜視図である。実施の形態２は、図１〜図４に示した実施の形態１において、風路屈曲部３７の中間部に、第１の回動接続部８の回動方向と直交する方向（図示矢印Ｃ方向）に回動自在な第３の回動接続部３５を設けるとともに、第３の回動接続部３５に、ハンドル部５の捻り角度を検出する捻り検出部３６を設けたもので、その他の構成は図１〜図４と同様である。 Embodiment 2. FIG.
FIG. 12 is a perspective view illustrating a main part of the electric vacuum cleaner according to the second embodiment. The second embodiment is different from the first embodiment shown in FIGS. 1 to 4 in the direction perpendicular to the rotation direction of the first rotation connection portion 8 (shown by the arrow C in the figure) at the intermediate portion of the air path bending portion 37. And a third rotation connection portion 35 that is rotatable in the direction), and a twist detection portion 36 that detects the twist angle of the handle portion 5 is provided in the third rotation connection portion 35. The configuration is the same as in FIGS.

図１３は、実施の形態２の電気掃除機の電気的な構成を示すブロック図である。図１３において図５と同一部分には同一符号を付し説明を省略する。
捻り検出部３６は、使用者によるハンドル部５の捻り動作を、第３の回動接続部３５の回動角度として検出するものである。この検出信号は、制御部３０に出力され、制御部３０は、ホース回動角度検出部１５及びホース導出方向検出部１６からの検出信号に加えて捻り検出部３６からの検出信号も加味して掃除機本体１に対する吸込口体７の位置を検出する。その後の処理は実施の形態１と同様である。 FIG. 13 is a block diagram illustrating an electrical configuration of the electric vacuum cleaner according to the second embodiment. In FIG. 13, the same parts as those in FIG.
The twist detection unit 36 detects the twisting operation of the handle unit 5 by the user as the rotation angle of the third rotation connection unit 35. This detection signal is output to the control unit 30, and the control unit 30 takes into account the detection signal from the torsion detection unit 36 in addition to the detection signals from the hose rotation angle detection unit 15 and the hose lead-out direction detection unit 16. The position of the suction port body 7 with respect to the cleaner body 1 is detected. The subsequent processing is the same as in the first embodiment.

このように、この実施の形態２によれば、実施の形態１と同じ作用及び効果が得られるとともに、捻り検出部３６を設けたことにより、掃除機本体１に対する吸込口体７の位置を極めて正確に把握することが可能となる。その結果、走行制御の精度を向上させることが可能となる。また、第３の回動接続部３５を設けて回動可能な箇所を増設したため、ハンドル部５操作の自由度が高まり、掃除中の操作感を向上させることが可能となる。 As described above, according to the second embodiment, the same operation and effect as in the first embodiment can be obtained, and the twist detection unit 36 is provided, so that the position of the suction port body 7 with respect to the cleaner body 1 is extremely high. It becomes possible to grasp accurately. As a result, it is possible to improve the accuracy of travel control. Moreover, since the 3rd rotation connection part 35 is provided and the location which can be rotated is added, the freedom degree of operation of the handle | steering-wheel part 5 increases, and it becomes possible to improve the operational feeling during cleaning.

実施の形態３．
この実施の形態３では、ホース４が使用者の足元に弛んで邪魔にならないようにするためのホース４の長さ設定に関するものである。 Embodiment 3 FIG.
In the third embodiment, the length of the hose 4 is set so that the hose 4 does not get in the way of the user's feet.

図１４は、使用者が静止した状態でハンドル部を握り、腕を前後に動かした場合の人体各部位とハンドル部の移動状態を示した説明図である。なお、図１４に示した状態は、特に、ホース４が最適な長さ（必要最小長さ）に設定された状態を示している。 FIG. 14 is an explanatory diagram showing the movement of each part of the human body and the handle when the user grips the handle while the user is stationary and moves the arm back and forth. In addition, the state shown in FIG. 14 has shown the state by which the hose 4 was set to the optimal length (required minimum length) especially.

図１４において、Ｌは使用者の身長であり、θは腕を前側および後側に移動させた際の使用者の体の中心軸と腕のなす角度である。一般に掃除する際の使用者の腕の角度（θ）は最大で約±４５°の範囲である（矢印方向を正方向とする）。Ｈは使用者が腕を角度４５°まで動かした位置でのハンドル部５の握り高さであり、指節点高（Ａ）、肩峰高（Ｂ）とを用いて次式（１）によって算出できる。なお、Ｈ１は腕の長さがＢ−Ａであることから（Ｂ−Ａ）ｃｏｓ４５°で表される。 In FIG. 14, L is the height of the user, and θ is an angle formed by the arm and the central axis of the user's body when the arm is moved to the front side and the rear side. Generally, the angle (θ) of the user's arm when cleaning is in a range of about ± 45 ° at the maximum (the arrow direction is the positive direction). H is the grip height of the handle portion 5 at the position where the user moves the arm to an angle of 45 °, and is calculated by the following equation (1) using the finger node height (A) and the shoulder peak height (B). it can. H1 is represented by (B−A) cos 45 ° because the length of the arm is B−A.

Ｈ＝Ｂ−（Ｂ−Ａ）ｃｏｓ４５°・・・・・・・・・・（１） H = B- (BA) cos 45 ° (1)

また、Ｓは、ハンドル部を持って腕の角度を前後に４５°まで移動させた場合のハンドル部５の移動距離であり次式（２）によって算出できる。
Ｓ＝２（Ｂ−Ａ）ｓｉｎ４５°・・・・・・・・・・・（２） Further, S is a movement distance of the handle portion 5 when the arm portion is moved back and forth by 45 ° with the handle portion, and can be calculated by the following equation (2).
S = 2 (B-A) sin45 ° (2)

図１５および図１６は、社団法人人間生活工学研究センター発行の「日本人の人体計測データ１９９２−１９９４」のデータから分析したグラフで、図中のＬ，Ａ，Ｂは図１４のＬ，Ａ，Ｂにそれぞれ対応している。このデータは、２０〜５９歳の男子１０６６７名、女子５８３５名の身長と指節点高（Ａ）、肩峰高（Ｂ）のデータの平均値、上下各５％を除く９０％に属するデータの最大値と最小値を参考として作成されたものである。 FIGS. 15 and 16 are graphs analyzed from the data of “Japanese anthropometric data 1992-1994” published by the Research Center for Human Life Engineering, and L, A, and B in the figures are L, A in FIG. , B respectively. This data is the average of the height and finger joint height (A) and shoulder peak height (B) of 10667 males and 5835 females aged 20 to 59 years, and the data belonging to 90% excluding the upper and lower 5% each It was created with reference to the maximum and minimum values.

図１７は、体の中心軸と腕のなす角度（θ）が４５°のときの身長（Ｌ）に対するハンドル部５の握り高さ（Ｈ）の関係を示したグラフであり、図１８は、身長（Ｌ）に対するハンドル部５の移動距離（Ｓ）の関係を示したグラフである。 FIG. 17 is a graph showing the relationship of the grip height (H) of the handle portion 5 with respect to the height (L) when the angle (θ) between the central axis of the body and the arm is 45 °. It is the graph which showed the relationship of the movement distance (S) of the handle | steering-wheel part 5 with respect to height (L).

掃除機本体１が常に使用者の間近に位置するように掃除機本体１に対する吸込口体７の位置設定を行って走行制御すると、ホース４の長さによっては使用者の足元に弛んで邪魔になる。したがって、ハンドル部５の往復動作の範囲でホース４の張力が生じない最小のホース長さに設定することにより使い勝手が良好となる。ホース４の長さ設定にあたっては、電気掃除機を利用する大半の使用者に対応することを目的とし、男性の９５％を包含する１７８０ｍｍ以下の身長の人を対象として求めることとする。 When the position of the suction port body 7 is set with respect to the cleaner body 1 so that the cleaner body 1 is always located close to the user and travel control is performed, depending on the length of the hose 4, the hose 4 may be slackened to the user's feet. Become. Therefore, usability is improved by setting the hose 4 to a minimum length that does not cause tension in the hose 4 within the range of reciprocation of the handle portion 5. In setting the length of the hose 4, the purpose is to deal with most users who use a vacuum cleaner, and a person with a height of 1780 mm or less, including 95% of men, is determined.

１７８０ｍｍの身長の人のハンドル部５の握り高さ（Ｈ）は、図１７から９９７ｍｍであり、ハンドル部５の移動距離（Ｓ）は図１８から９２４ｍｍであることがわかる。ここで、図１４に示すようにハンドル部５と第１の回動接続部８の回動中心Ｐ１までの距離（Ｘ）を１２０ｍｍ、ホース４の掃除機本体１の接続高さ（Ｉ）を９０ｍｍ、指節点高（Ａ）を８０６ｍｍ、肩峰高（Ｂ）を１４５９ｍｍの場合におけるホース４の最小長さ（Ｚ）を算出すると、式（３）より９１３ｍｍとなる。ここでホース４の長さＺは、第１の回動接続部８の回動中心Ｐ１からホース４の湾曲開始位置（ホース側接続部２３の湾曲可能な位置）Ｐ２までの長さとする。
Ｚ＝（Ｈ２²＋Ｄ１²）^1/2
＝[（Ｈ−Ｉ−Ｘ）² ＋（Ｓ／２）²］^1/2
＝[｛Ｂ−（Ｂ−Ａ）ｃｏｓ４５゜−Ｉ−Ｘ｝²＋｛（Ｂ−Ａ）ｓｉｎ４５°｝²］^1/2
・・・・（３） It can be seen that the grip height (H) of the handle portion 5 of a person having a height of 1780 mm is 997 mm from FIG. 17, and the moving distance (S) of the handle portion 5 is 924 mm from FIG. Here, as shown in FIG. 14, the distance (X) from the handle portion 5 to the rotation center P1 of the first rotation connection portion 8 is 120 mm, and the connection height (I) of the hose 4 to the cleaner body 1 is set. When the minimum length (Z) of the hose 4 in the case of 90 mm, finger node height (A) is 806 mm, and shoulder peak height (B) is 1459 mm, it is 913 mm from the equation (3). Here, the length Z of the hose 4 is a length from the rotation center P1 of the first rotation connection portion 8 to the bending start position of the hose 4 (position where the hose side connection portion 23 can be bent) P2.
Z = (H2 ² + D1 ² ) ^1/2
= [(HI-X) ² + (S / 2) ² ] ^1/2
= [{B− (BA) cos 45 ° −I−X} ² + {(B−A) sin 45 °} ² ] ^1/2
.... (3)

しかしながら、実際のホース４は湾曲しながら屈曲するため、ホース４の最小長さ（Ｚ）ではハンドル部５の前後往復動作によりホース４に張力が発生してしまう。そこで、次式（４）により求めた値とする。 However, since the actual hose 4 bends while being bent, tension is generated in the hose 4 by the reciprocating operation of the handle portion 5 at the minimum length (Z) of the hose 4. Therefore, the value obtained by the following equation (4) is used.

Ｚ１＝Ｚ＋Ｃ・・・・（４）
ここで、Ｃ：ホース４の最小曲げ半径 Z1 = Z + C (4)
Where C: minimum bend radius of hose 4

このように、ホース長さにホース４の最小曲げ半径程度の長さの余裕を与えることにより、張力の発生をほぼ抑えることができる。したがって、外径約４５ｍｍの塩ビホースを例とすると、最小曲げ半径は約８０ｍｍであることから、ホース４の長さを最小長さ（Ｚ）９１２ｍｍにこれを加えた９９２ｍｍに設定とすることにより、身長１７８０ｍｍの使用者が静止状態でハンドル部５を前後に往復させてもホース４に張力を発生することがなく、足元で邪魔になることもない、使い勝手の良い電気掃除機を構成することができる。 In this way, by giving the hose length a margin about the minimum bending radius of the hose 4, the generation of tension can be substantially suppressed. Therefore, taking a PVC hose with an outer diameter of about 45 mm as an example, the minimum bending radius is about 80 mm, so the length of the hose 4 is set to 992 mm by adding this to the minimum length (Z) 912 mm. Even if a user with a height of 1780 mm reciprocates the handle part 5 back and forth in a stationary state, the hose 4 does not generate tension and does not get in the way of the feet, so that a user-friendly vacuum cleaner is constructed. Can do.

したがって、実際の掃除動作時に、ハンドル部５とホース４の湾曲開始位置（ホース側接続部２３の湾曲可能な位置）Ｐ２との間の水平距離（Ｄ）を、ハンドル部５の移動距離（Ｓ）の半分の長さ４６２ｍｍに最小曲げ半径程度の長さの余裕分８０ｍｍを加えた５４２ｍｍを加算した距離以下となるように掃除機本体１の自走を制御するようにすれば、ホース４に張力を発生することがなく、足元で邪魔になることもない、使い勝手の良い電気掃除機を構成することができる。なお、水平距離（Ｄ）は、ホース４の最小曲げ半径により変化するため、前記算出値５４２ｍｍに限るものでもなく、ホース４の最小曲げ半径に応じて適宜変更される。 Accordingly, during the actual cleaning operation, the horizontal distance (D) between the handle portion 5 and the bending start position of the hose 4 (the position where the hose side connecting portion 23 can be bent) P2 is set to the moving distance (S If the self-running of the vacuum cleaner body 1 is controlled to be equal to or less than the distance obtained by adding 542 mm, which is a length of about 462 mm which is half the length of) and a margin of the minimum bending radius of 80 mm, An easy-to-use vacuum cleaner that does not generate tension and does not get in the way of the feet can be configured. The horizontal distance (D) varies depending on the minimum bending radius of the hose 4 and is not limited to the calculated value 542 mm, but is appropriately changed according to the minimum bending radius of the hose 4.

上述のホース４の長さ設定とすると、身長の低い人が使用する場合はホース４の弛みが多くなる。しかし、掃除機本体１の位置を後方に配置することにより弛みが緩和されるため、操作が著しく損なわれることはない。 When the length of the hose 4 is set as described above, the slack of the hose 4 increases when a person with a short height uses it. However, since the slack is alleviated by arranging the position of the cleaner body 1 rearward, the operation is not significantly impaired.

以上説明したように、ホース４を必要最小長さに構成することにより、ホース４が弛んで床面に接触しにくくなるため、ハンドル部５を左右方向に移動させた際のホース４の動きが遅延なくホース導出方向検出部１６に伝わり、ホース４の導出方向を正確に検出することができる。これにより、走行制御を精度良く行うことができる。 As described above, by configuring the hose 4 to the minimum necessary length, the hose 4 is slackened and is difficult to contact the floor surface, so that the movement of the hose 4 when the handle portion 5 is moved in the left-right direction is reduced. It is transmitted to the hose lead-out direction detector 16 without delay, and the lead-out direction of the hose 4 can be accurately detected. Thereby, traveling control can be performed accurately.

また、ホース４が弛んで床面に接触するのを防止できるため、ホース４とパイプ６が接触したことによるホース回動角度検出部１５による不正検出や、ホース４が意図しない方向に撓んで左右に振れてしまった場合のホース導出方向検出部１６による不正検出を防止することができる。 Further, since the hose 4 can be prevented from slackening and coming into contact with the floor surface, fraud detection by the hose rotation angle detection unit 15 due to the contact of the hose 4 and the pipe 6 or the hose 4 is bent in an unintended direction. Incorrect detection by the hose lead-out direction detection unit 16 when the hose is swung can be prevented.

なお、上記各実施の形態では、ホース回動角度検出部１５、ホース導出方向検出部１６及び捻り検出部３６の各検出信号に基づいて必ず自走機能が働く形態を例に説明したが、ハンドル部５における電源操作部５ａに、駆動用モータ３２、３３をオンオフするためのオンオフスイッチを設け、必要に応じて自走機能を停止させることができるようにしてもよい。これにより、高所あるいは低所を掃除する場合や、掃除前後において掃除機本体１を引き回したり持ち運んだりする場合に、駆動用モータ３０、３４を停止状態とすることができる。 In each of the above-described embodiments, the self-propelling function always works based on the detection signals of the hose rotation angle detection unit 15, the hose lead-out direction detection unit 16, and the torsion detection unit 36. An on / off switch for turning on and off the drive motors 32 and 33 may be provided in the power supply operation unit 5a of the unit 5 so that the self-running function can be stopped as necessary. Thereby, when cleaning high places or low places, or when the vacuum cleaner body 1 is routed or carried before and after cleaning, the drive motors 30 and 34 can be stopped.

なお、上記各実施の形態では、吸込口体７と掃除機本体１との間の距離を、第１の回動接続部８の回動角度を検出するホース回動角度検出部１５の検出結果に基づいて検出する場合を例示して説明したが、これに限られたものではなく、要は、ホース４とパイプ６との位置関係を検出し、その検出結果に基づいて吸込口体７と掃除機本体１との間の距離を検出するようにすればよい。ホース４とパイプ６との位置関係の検出は、ホース４の所定部分とパイプ６の所定部分とがなす角度またはホース４の所定部分とパイプ６の所定部分との間の距離によって検出する。ここで、ホース４の所定部分とは、具体的には例えばホース４とパイプ６との接続部分からホース４の長さの中心までの間の部分とされ、また、パイプ６の所定部分とは、ホース４とパイプ６との接続部分からパイプ６の長さの中心までの間の部分とされる。このようにホース４とパイプ６との接続部分側の所定部分間の角度または距離を検出するようにすることにより、その接続部分に設けられたハンドル部５を把持しての掃除動作に際し、所定部分間に人体や家具などの障害物が入り込むといった状況を排除でき、検出動作が行えないといった従来の不都合を防止することができる。 In each of the above embodiments, the distance between the suction port body 7 and the cleaner body 1 is the detection result of the hose rotation angle detection unit 15 that detects the rotation angle of the first rotation connection unit 8. However, the present invention is not limited to this. In short, the positional relationship between the hose 4 and the pipe 6 is detected, and the suction port body 7 is detected based on the detection result. What is necessary is just to make it detect the distance between the cleaner main bodies 1. The positional relationship between the hose 4 and the pipe 6 is detected by an angle formed by a predetermined portion of the hose 4 and a predetermined portion of the pipe 6 or a distance between the predetermined portion of the hose 4 and the predetermined portion of the pipe 6. Here, the predetermined portion of the hose 4 is specifically a portion between the connecting portion of the hose 4 and the pipe 6 and the center of the length of the hose 4, and the predetermined portion of the pipe 6 is The portion between the connecting portion of the hose 4 and the pipe 6 to the center of the length of the pipe 6 is used. In this way, by detecting the angle or distance between the predetermined portions on the connection portion side of the hose 4 and the pipe 6, in the cleaning operation with the handle portion 5 provided at the connection portion, A situation in which an obstacle such as a human body or furniture enters between the parts can be eliminated, and a conventional inconvenience that the detection operation cannot be performed can be prevented.

所定部分間の距離を検出するものとしては、具体的には次の図１９〜図２１にそれぞれ示すようにスライド式ポテンショメータ４０、マグネット４１ｂと組み合わせて用いられる磁気センサ４１ａ及び超音波センサ４２等を用いることができる。なお、図１９〜図２１では、これらのセンサを第１の回動接続部８に適用した例を示しているが、第２の回動接続部２０、第３の回動接続部３５に適用しても良い。また、各回動接続部において全て同じセンサを用いてもよいし、適宜組み合わせて用いてももちろん良い。 Specifically, the distance between the predetermined portions is detected by using a magnetic sensor 41a, an ultrasonic sensor 42, etc. used in combination with a slide potentiometer 40 and a magnet 41b as shown in FIGS. Can be used. FIGS. 19 to 21 show examples in which these sensors are applied to the first rotational connection unit 8, but are applied to the second rotational connection unit 20 and the third rotational connection unit 35. You may do it. In addition, the same sensor may be used for all of the rotational connection portions, or may be used in combination as appropriate.

この発明の実施の形態１を示す掃除機全体の斜視図である。It is a perspective view of the whole vacuum cleaner which shows Embodiment 1 of this invention. この発明の実施の形態１を示す掃除機本体を切り離した際の全体斜視図である。It is a whole perspective view at the time of separating the cleaner body which shows Embodiment 1 of this invention. この発明の実施の形態１を示す掃除機全体の側面図である。It is a side view of the whole vacuum cleaner which shows Embodiment 1 of this invention. この発明の実施の形態１を示すホース回動角度検出部付近の斜視図である。It is a perspective view of the hose rotation angle detection part vicinity which shows Embodiment 1 of this invention. この発明の実施の形態１における制御信号の経路を示す模式図である。It is a schematic diagram which shows the path | route of the control signal in Embodiment 1 of this invention. この発明の実施の形態１における第１の回動接続部の構成例を示す斜視図である。It is a perspective view which shows the structural example of the 1st rotation connection part in Embodiment 1 of this invention. この発明の実施の形態１おける第１の回動接続部の構成例を示す横断面図である。It is a cross-sectional view which shows the structural example of the 1st rotation connection part in Embodiment 1 of this invention. この発明の実施の形態１おける第１の回動接続部の構成例を示す前断面図である。It is a front sectional view showing an example of composition of the 1st rotation connection part in Embodiment 1 of this invention. この発明の実施の形態１おける第２の回動接続部の構成例を示す斜視図である。It is a perspective view which shows the structural example of the 2nd rotation connection part in Embodiment 1 of this invention. この発明の実施の形態１おける第２の回動接続部の構成例を示す上断面図である。It is an upper section showing an example of composition of the 2nd rotation connection part in Embodiment 1 of this invention. この発明の実施の形態１おける第２の回動接続部の構成例を示す横断面図である。It is a cross-sectional view which shows the structural example of the 2nd rotation connection part in Embodiment 1 of this invention. この発明の実施の形態２の電気掃除機の要部（第３の回動接続部）付近を示す斜視図である。It is a perspective view which shows the principal part (3rd rotation connection part) vicinity of the vacuum cleaner of Embodiment 2 of this invention. この発明の実施の形態２の電気掃除機の電気的な構成を示すブロック図である。It is a block diagram which shows the electrical structure of the vacuum cleaner of Embodiment 2 of this invention. 使用者が静止した状態でハンドル部を握り、腕を前後に動かした場合の人体各部位とハンドル部の移動状態を示した説明図である。It is explanatory drawing which showed the movement state of each part of a human body and a handle | steering_body part at the time of grasping | ascertaining a handle | steering-wheel part in the state where the user was still and moving an arm back and forth. 使用者の身長と指節点高の関係を示すグラフである。It is a graph which shows the relationship between a user's height and phalanx height. 使用者の身長と肩峰高の関係を示すグラフである。It is a graph which shows the relationship between a user's height and shoulder height. 使用者の身長とハンドル部の握り高さの関係を示すグラフである。It is a graph which shows the relationship between a user's height and the grip height of a handle part. 使用者の身長とハンドル部の移動距離の関係を示すグラフである。It is a graph which shows the relationship between a user's height and the movement distance of a handle part. 回動角度を検出するためのセンサの他の構成例を示す図（その１）である。It is FIG. (1) which shows the other structural example of the sensor for detecting a rotation angle. 回動角度を検出するためのセンサの他の構成例を示す図（その２）である。It is FIG. (2) which shows the other structural example of the sensor for detecting a rotation angle. 回動角度を検出するためのセンサの他の構成例を示す図（その３）である。It is FIG. (The 3) which shows the other structural example of the sensor for detecting a rotation angle.

Explanation of symbols

１掃除機本体、１ａ接続口、４ホース、５ハンドル部、６パイプ、７吸込口体、８第１の回動接続部、８ａ垂直軸、１５ホース回動角度検出部、１６ホース導出方向検出部、２０第２の回動接続部、３０制御部、３２左側駆動用モータ、３３右側駆動用モータ、３５第３の回動接続部、３６捻り検出部、４０スライド式ポテンショメータ、４１ａ磁気センサ、４２超音波センサ。
DESCRIPTION OF SYMBOLS 1 Vacuum cleaner main body, 1a connection port, 4 hose, 5 handle part, 6 pipe, 7 suction inlet body, 8 1st rotation connection part, 8a vertical axis, 15 hose rotation angle detection part, 16 hose derivation direction detection , 20 second rotation connection unit, 30 control unit, 32 left side drive motor, 33 right side drive motor, 35 third rotation connection unit, 36 twist detection unit, 40 slide type potentiometer, 41a magnetic sensor, 42 Ultrasonic sensor.

Claims

A vacuum cleaner body including a dust collecting chamber communicating with the electric blower and the electric blower;
A hose communicating with the dust collection chamber by connecting to a connection port established in the vacuum cleaner body;
A pipe communicating with the tip side of the hose;
A suction port connected to the tip of this pipe;
A running wheel that movably supports the vacuum cleaner body;
A drive unit for driving the traveling wheels;
A positional relationship detection unit that detects a positional relationship between the hose and the pipe based on an angle formed by a predetermined portion of the hose and a predetermined portion of the pipe or a distance between the predetermined portion of the hose and the predetermined portion of the pipe. When,
A control unit for controlling the drive unit of the cleaner body so that the distance between the suction port body and the cleaner body is constant or within a predetermined range based on the detection signal of the positional relationship detection unit; An electric vacuum cleaner.

A vacuum cleaner body including a dust collecting chamber communicating with the electric blower and the electric blower;
A hose communicating with the dust collection chamber by connecting to a connection port established in the vacuum cleaner body;
A pipe communicating with the tip side of the hose;
A suction port connected to the tip of this pipe;
A running wheel that movably supports the vacuum cleaner body;
A drive unit for driving the traveling wheels;
A positional relationship detection unit that detects a positional relationship between the hose and the pipe based on an angle formed by a predetermined portion of the hose and a predetermined portion of the pipe or a distance between the predetermined portion of the hose and the predetermined portion of the pipe. When,
Based on the detection signal of the positional relationship detection unit, the horizontal distance (D) between the handle portion provided on the distal end side of the hose and the bending start position of the hose is determined so that the angle of the arm is held back and forth with the handle portion. The drive part of the cleaner body is controlled so that it is equal to or less than the distance obtained by adding the minimum bending radius (C) of the hose to the half of the moving distance (S) of the handle part when moved to 45 °. A vacuum cleaner comprising a control unit.

A first rotation connecting portion that rotatably connects the hose and the pipe about a vertical axis perpendicular to a plane including the axis of the hose and the axis of the pipe ; The electric vacuum cleaner according to claim 1 or 2, wherein the positional relationship detection unit is provided in the rotary connection unit.

A second rotation connecting portion for connecting the hose to the cleaner body so as to be rotatable in a plane direction substantially parallel to a cleaning surface;
A hose derivation direction detection unit that detects a derivation direction of the hose with respect to the cleaner body by detecting a rotation angle of the second rotation connection unit is provided in the second rotation connection unit,
The vacuum cleaner according to claim 1, wherein the control unit controls the driving unit based on each detection signal in the positional relationship detection unit and the hose lead-out direction detection unit.

The vacuum cleaner according to claim 4, wherein the second rotation connection portion is connected to the hose.

The hose further includes a handle portion provided on the distal end side of the hose and a twist detection portion that detects a twist angle of the handle portion, and the control portion takes the detection signal of the twist detection portion into account, and The electric vacuum cleaner according to claim 1 or claim 3 or claim 4 dependent on claim 1.

A second rotation connecting portion that is connected to the vacuum cleaner main body so as to be rotatable in a plane direction substantially parallel to the cleaning surface;
A hose derivation direction detection unit that detects a derivation direction of the hose with respect to the cleaner body by detecting a rotation angle of the second rotation connection unit is provided in the second rotation connection unit,
The hose further includes a handle portion provided on the distal end side of the hose, and a twist detection portion that detects a twist angle of the handle portion,
Wherein the control unit, the positional relationship detection unit, the hose extending direction detecting unit and the electric vacuum cleaner according to claim 1, wherein the controller controls the drive unit based on the detection signal in the twist detecting unit.

A direction orthogonal to the rotation direction of the first rotation connection portion that rotatably connects the hose and the pipe with a vertical axis perpendicular to a plane including the axis of the hose and the axis of the pipe as an axis. A third rotation connecting portion that is freely rotatable is provided at a connecting portion that connects the hose and the pipe, and the twist detecting portion is provided at the third rotating connection portion. The electric vacuum cleaner according to claim 6 or 7.

The vacuum cleaner according to any one of claims 1 to 8, wherein a length Z1 of the hose is set to a value obtained from the following equation.
Z1 = [{B− (BA) cos 45 ° −I−X} ² + {(BA) sin45 °} ² ] ^1/2 + C
Here, I: connection height of the vacuum cleaner body of the hose, X: distance to the rotation center of the handle portion and the first rotation connection portion, A: the user whose height is the largest among the target users Finger joint point height, B: shoulder height of the highest user among the target users, C: minimum bend radius of the hose

The vacuum cleaner according to any one of claims 1 to 9, wherein the positional relationship detection unit is configured by any one of a rotary potentiometer, a slide potentiometer, a magnetic sensor, and an ultrasonic sensor.