JP6445087B2 - Electric vacuum cleaner - Google Patents

Description

  An embodiment of the present invention includes a vacuum cleaner body that includes an operation unit that operates by feeding power from a secondary battery, and that can autonomously travel, and a charging device that includes a charging circuit that charges the secondary battery. About.

  Conventionally, a so-called autonomous traveling type vacuum cleaner (cleaning robot) that cleans the floor surface while autonomously traveling on the floor surface as a surface to be cleaned while detecting an obstacle using a sensor or the like is known. ing. In such a vacuum cleaner, driving wheels are arranged in the main body case of the vacuum cleaner main body, and the driving wheels are driven to rotate by a motor and autonomously run, and an electric blower provided in the main body case is operated to perform cleaning. do. And if the capacity | capacitance of the secondary battery which supplies electric power to a motor and an electric blower falls, it will return to charging apparatuses, such as a charging stand, and will charge a secondary battery using commercial power.

  In recent years, the demand for power saving has increased, and in particular, the hourly rate system has been adopted for electricity charges, and the electricity charges during the peak hours of daytime when the demand for electricity increases are set relatively high. There is a tendency to curb power demand in the belt. Therefore, there is a need for users to avoid using commercial power during peak hours. On the other hand, in the case of an autonomously traveling electric vacuum cleaner, it may be necessary to charge the secondary battery even during cleaning.

  Therefore, there is a demand for a vacuum cleaner that can charge the secondary battery while avoiding the peak hours of the hourly fee system.

JP 2000-197599 A

  The problem to be solved by the present invention is to provide an electric vacuum cleaner that can be effectively cleaned while charging the secondary battery while avoiding the peak time zone of the hourly fee system.

The vacuum cleaner according to the embodiment includes a secondary battery and an operation unit that operates by power feeding from the secondary battery, and includes a vacuum cleaner body that can autonomously travel. Moreover, this electric vacuum cleaner has a charging device provided with the charging circuit which charges a secondary battery. And this electric vacuum cleaner has a memory | storage means which memorize | stores cleaning completion time limit. Furthermore, this electric vacuum cleaner operates the operating unit to perform cleaning at a predetermined time set based on the cleaning end deadline time stored in the storage means and the peak time zone of the hourly fee system, and the predetermined condition Sometimes it has control means for connecting the vacuum cleaner body to the charging device. Moreover, this electric vacuum cleaner has a charging / discharging control means which controls charging / discharging of the secondary battery by a charging circuit. The charge / discharge control means charges the secondary battery by the charging circuit until a predetermined time in a state where the main body of the vacuum cleaner is connected to the charging device. When the capacity of the secondary battery is reduced to a predetermined amount during cleaning, the control means interrupts the cleaning and connects the main body of the vacuum cleaner to the charging device, and the charge / discharge control means uses the charging circuit to recharge the secondary battery. When the battery is charged, the operating time is predicted from the capacity of the secondary battery, and when the operating time is greater than the difference between the cleaning end time and the current time, the charging of the secondary battery is terminated. Then, the connection of the main body of the electric vacuum cleaner to the charging device is released to resume cleaning .

It is a block diagram which shows the internal structure of the vacuum cleaner of 1st Embodiment. It is a perspective view of a vacuum cleaner same as the above. It is a bottom view which shows the vacuum cleaner main body of a vacuum cleaner same as the above. It is a flowchart which shows the main control of the charge operation | work of a vacuum cleaner same as the above. It is a flowchart which shows a part of sub control of a charging operation same as the above. It is a flowchart which shows another part of sub control of a charging operation same as the above. It is a flowchart which shows another part of sub control of a charging operation same as the above. It is a flowchart which shows another part of sub control of a charging operation same as the above. It is a flowchart which shows another part of sub control of a charging operation same as the above. It is a flowchart which shows another part of sub control of a charging operation same as the above. It is a flowchart which shows another part of sub control of a charging operation same as the above. It is a flowchart which shows another part of sub control of a charging operation same as the above. It is a flowchart which shows another part of sub control of a charging operation same as the above. It is a flowchart which shows another part of sub control of a charging operation same as the above. It is a flowchart which shows control of the setting operation | work of the vacuum cleaner of 2nd Embodiment.

  The configuration of the first embodiment will be described below with reference to the drawings.

  In FIG. 1 to FIG. 3, reference numeral 10 denotes an electric vacuum cleaner. The electric vacuum cleaner 10 includes an electric vacuum cleaner main body 11 and a charging device (charging stand) 12 serving as a base for charging the electric vacuum cleaner main body 11. And.

  In this embodiment, the electric vacuum cleaner body 11 is a so-called self-propelled robot cleaner that cleans the floor surface while autonomously traveling (self-propelled) on the floor surface as a surface to be cleaned. The vacuum cleaner main body 11 communicates with a hollow main body case 20 as a running / cleaning part, an electric blower 21 as an operation part accommodated in the main body case 20, and a suction side of the electric blower 21 Dust collecting unit 22, for example, driving wheels 23 and 23 as a plurality (a pair) of driving units for traveling, motors 24 and 24 as driving means for driving these driving wheels 23 and 23, turning for turning For example, side brushes 26 and 26 as auxiliary cleaning means as a plurality of (a pair of) swivel cleaning parts, which are arranged so as to be swivelable along the floor surface at the bottom of the wheel 25 and the body case 20, and swivel these side brushes 26 and 26 Side brush motors 27 and 27 that are turning drive means as operating parts to be rotated, a rotating brush 28 that is a cleaning means that is rotatably arranged at the lower part of the body case 20, and a rotating brush 28 that rotates the rotating brush 28 Rotation as operating part to drive And a like brush motor 29 is driving means. The vacuum cleaner main body 11 includes a sensor unit 31 as an operation unit having various sensors as an input / output / control unit, a light receiving unit 32 as a receiving unit, a light emitting unit 33 as a transmitting unit, an input operation unit, and a display. Touch panel 34 having function of means, wireless LAN device 35 as wireless communication means, time measuring unit 36 that measures time, nonvolatile storage unit 37 that is storage means for storing various data, and circuit board The control means 38 comprised by these, etc. are provided. The vacuum cleaner main body 11 includes a secondary battery 39 in the main body case 20 for supplying power to each of the above parts. Hereinafter, the direction along the traveling direction of the vacuum cleaner main body 11 (main body case 20) will be referred to as the front-rear direction (arrow FR and RR directions shown in FIG. 3 and the like), The direction (both sides) will be described as the width direction.

  The main body case 20 is formed into a flat columnar shape (disk shape) by, for example, synthetic resin, etc., and is long in the width direction, that is, horizontally long at a position near the rear portion of the center portion in the width direction of the circular bottom surface. The suction port 41 is opened. The suction port 41 communicates with the suction side of the electric blower 21 via the dust collecting unit 22. In addition, the rotary brush 28 is rotatably disposed in the suction port 41.

  The electric blower 21 generates negative pressure by driving and sucks dust from the suction port 41 to the dust collecting part 22.For example, the suction side is directed rearward and the axial direction is the front-rear direction (horizontal direction). Along the way, it is housed inside the main body case 20. The electric blower 21 may not be necessary in the case of, for example, a configuration in which dust is scraped up to the dust collection unit 22 by the rotating brush 28 or the like, and is not an essential configuration.

  The dust collecting unit 22 collects dust sucked from the suction port 41 by driving the electric blower 21, and is located, for example, at the rear part of the main body case 20, and can be attached to and detached from the main body case 20. ing.

  Each driving wheel 23 is for traveling (autonomous traveling) the vacuum cleaner body 11 (main body case 20) in the forward and backward directions on the floor surface, that is, for traveling, not shown along the left-right width direction. It is formed in a disk shape having a rotation axis. Further, these drive wheels 23 are disposed in the width direction on both sides of the suction port 41 at positions near the center in the front-rear direction of the lower part of the main body case 20, and are symmetrical with respect to the width direction. It has become.

  Each motor 24 is arranged corresponding to each of the driving wheels 23, for example, and can drive each driving wheel 23 independently. These motors 24 may be directly connected to each drive wheel 23, or may be connected to each drive wheel 23 via a transmission means (not shown) such as a gear or a belt.

  The swivel wheel 25 is a driven wheel that is positioned at the front and substantially at the center in the width direction of the main body case 20, and is capable of swiveling along the floor surface.

  Each side brush 26 has brush hairs 43 as a plurality of (for example, three) cleaning bodies that project radially and come into contact with the floor surface. The side brushes 26 and 26 are disposed at positions on both sides of the main body case 20 in front of the drive wheels 23 and 23 and behind the swivel wheel 25.

  Each side brush motor 27 moves each side brush 26 to the center side in the width direction of the body case 20, in other words, the right side brush 26 to the left side, and the left side brush 26 to the right side, that is, each side. The brushes 26 can be rotated so as to scrape dust to the suction port 41 side.

  The side brush 26 and the side brush motor 27 are not indispensable as long as they can be sufficiently cleaned by the electric blower 21 or the rotating brush 28.

  The rotary brush 28 is formed in a long shape, and both end portions are pivotally supported on both side portions in the width direction of the suction port 41 so as to be rotatable. The rotating brush 28 protrudes downward from the lower surface of the main body case 20 through the suction port 41, and the lower part contacts the floor surface while the vacuum cleaner main body 11 is placed on the floor surface, and dust is collected. It is configured to scrape.

  The brush motor 29 is housed inside the main body case 20, and is connected to the rotating brush 28 via a gear mechanism (not shown) as a mechanism portion.

  Note that the rotating brush 28 and the brush motor 29 are not essential components as long as they can be sufficiently cleaned by the electric blower 21 or the side brushes 26 and 26.

  Further, the sensor unit 31 is, for example, a position detection sensor that measures the moving distance of the vacuum cleaner main body 11 by measuring the number of rotations of the motor 24, an angular velocity sensor that detects the direction (direction) of the vacuum cleaner main body 11, and the like. Sensors, acceleration sensors that detect acceleration when the vacuum cleaner body 11 moves, obstacle sensors (ranging sensors) such as infrared sensors that detect obstacles such as walls and furniture, and the like are provided.

  The light receiving unit 32 is for estimating the position of the charging device 12 by detecting infrared light emitted from the charging device 12, and a plurality of the light receiving units 32 are arranged, for example, on the side of the main body case 20.

  The light emitting unit 33 emits infrared rays or the like to the charging device 12, and is disposed, for example, on the upper portion of the main body case 20.

  The touch panel 34 allows the user to directly input various settings, and displays various information related to the electric vacuum cleaner main body 11. The touch panel 34 is disposed, for example, on the upper portion of the main body case 20.

  The wireless LAN device 35 is for wireless communication with an external terminal (not shown). Therefore, it is possible to receive various information from an external network such as the Internet or to input various information from an external terminal such as a smartphone via the wireless LAN device 35.

  The timer 36 measures calendar information such as the current date and time.

  The storage unit 37 is, for example, a flash memory or the like, and mode storage for storing the operation mode of the electric vacuum cleaner main body 11 (for example, the normal cleaning mode which is the first mode, the eco cleaning mode which is the second mode (energy saving mode), etc.) Time zone storage area that stores the area, daytime time zone, night time zone, and peak time zone of the time zone fee system, the set cleaning start time, and the set scheduled return time A cleaning time storage area for storing a cleaning end time limit, a charging start time that is a set first time, and a charging time storage area that stores a charging end time that is a set second time, A cleaning interruption storage area (cleaning completion storage area) for storing whether or not the processing has been interrupted (whether cleaning has been completed) is provided.

  Here, the charge system by time zone is a system in which the charge varies depending on the time zone set according to the degree of user demand among the commercial power supplied throughout the day. The normal price is from 7am to 1pm, and from 4pm to 11:00 pm, during the daytime hours, when the power demand is relatively low, the price is the cheapest from 11pm to 7am The night time zone (night discount time zone) is set to the peak hour when the electricity demand is highest from 1 pm to 4 pm. That is, this hourly rate system is appropriately set according to the electric power company that supplies commercial power to the season and the area where the user resides.

  Each time zone of the time zone fee system may be input by the user via the touch panel 34 or an external terminal, or may be acquired from an external network or the like via the wireless LAN device 35.

  The control means 38 includes a CPU that is a main body of the control means, a ROM that is a storage unit that stores fixed data such as a program read by the CPU, and various memories such as a work area that is a work area for data processing by the program. A RAM, which is an area storage unit that dynamically forms an area, is provided. The control means 38 includes an electric blower 21, each motor 24, each side brush motor 27, a brush motor 29, a sensor unit 31, a light receiving unit 32, a light emitting unit 33, a time measuring unit 36, a storage unit 37, a touch panel 34, and a wireless It is electrically connected to the LAN device 35 and the like, and based on the detection result by the sensor unit 31, the drive of the electric blower 21, each motor 24, each side brush motor 27, and the brush motor 29 can be controlled. The control means 38 has a function of voltage (capacity) detection means for detecting the voltage (capacity) of the secondary battery 39 and a function of charge / discharge control means for controlling charge / discharge of the secondary battery 39. Yes. The charging control of the secondary battery 39 by the control means 38 includes, for example, a normal charging mode that is the first charging mode and an eco charging mode that is the second charging mode, depending on the operation mode of the vacuum cleaner body 11. Is set. Specific charging control in these normal charging mode and eco charging mode will be described later.

  The secondary battery 39 supplies power to the electric blower 21, each motor 24, each side brush motor 27, brush motor 29, sensor unit 31, light receiving unit 32, light emitting unit 33, wireless LAN device 35, control means 38, and the like. is there. The secondary battery 39 is electrically connected to, for example, the charging terminals 45 exposed on both sides of the turning wheel 25 on the lower surface of the main body case 20, that is, the front part.

  On the other hand, the charging device 12 includes a charging device case 51, a charging circuit 52 accommodated in the charging device case 51, a charging terminal 53 electrically connected to the charging circuit 52, and a power source connected to a commercial power source. Charging device light-emitting unit 55 that outputs the position information of the charging device 12 using a code 54, for example, infrared rays, the charging device light-receiving unit 56 that receives light emitted from the light-emitting unit 33 of the vacuum cleaner main body 11, and these charging device light-emitting units 55 and charging device control means 57 for controlling the operation of the charging device light receiving unit 56 and the like.

  The charging device case 51 is disposed at a position that does not interfere with cleaning, such as in the vicinity of the wall portion.

  The charging circuit 52 is a constant current circuit for charging the secondary battery 39 of the vacuum cleaner body 11 in which the charging terminal 45 is connected to the charging terminal 53.

  The charging terminal 53 is exposed at a lower portion of the charging device case 51, and is connected mechanically and electrically to the charging terminal 45 of the vacuum cleaner body 11 that has moved (returned) to the charging device 12. .

  The power cord 54 is electrically connected to the charging circuit 52, the charging device light emitting unit 55, and the charging device control means 57, and is connected to an outlet installed on a wall or the like, so that the charging circuit 52 is connected from a commercial power source. It is possible to supply power to

  The charging device light emitting unit 55 emits infrared rays or the like to the electric vacuum cleaner main body 11, and is disposed on the upper portion of the charging device case 51, for example. The charging device light emitting unit 55 may emit light at all times, or may emit light when light from the light emitting unit 33 of the electric vacuum cleaner main body 11 is received by the charging device light receiving unit 56, for example.

  The charging device light receiving unit 56 is for grasping the positional relationship between the vacuum cleaner main body 11 and the charging device 12 by detecting infrared light emitted from the light emitting unit 33 of the vacuum cleaner main body 11, for example, Arranged at the top of the charging device case 51.

  The charging device control means 57 generates, for example, an infrared signal emitted from the charging device light emitting unit 55, or processes the infrared signal from the light emitting unit 33 of the vacuum cleaner body 11 received by the charging device light receiving unit 56. It is.

  Next, the operation of the first embodiment will be described with reference to the flowcharts shown in FIGS.

  In general, in the case of a vacuum cleaner having an autonomously traveling electric vacuum cleaner main body 11, the user sets the operation mode of the electric vacuum cleaner main body 11 and the electric operation according to the operation mode set by the setting operation. It is roughly divided into a cleaning operation in which the cleaner body 11 performs cleaning and a charging operation in which the secondary battery 39 is charged by the charging device 12 in accordance with the operation mode. The setting operation may be performed each time cleaning is performed, or the setting once input may be stored, and the setting may be changed only when necessary.

(Setting work)
When the user selects and sets the operation mode of the vacuum cleaner main body 11 via the touch panel 34 or an external terminal, when the normal cleaning mode is selected, 0 is stored in the mode storage area of the storage unit 37, When the eco cleaning mode is selected, 1 is stored in the mode storage area of the storage unit 37.

  Next, the control means 38 prompts the user to input the setting of the cleaning start time desired by the user. When the user inputs the cleaning start time, the input cleaning start time is stored in the cleaning time storage area of the storage unit 37. To do. At this time, for example, the cleaning end time, charging start time, charging end time, etc. may be input and set by the user. For example, the charging start time and the charge end time are stored in the time zone storage area of the storage unit 37. The control means 38 may arbitrarily determine and store it in the cleaning time storage area of the storage unit 37 in accordance with the start time and end time of the night time zone of the time zone fee system stored in

  Then, the control means 38 refers to the mode storage area of the storage unit 37, and further stores the charge start time and the charge end time limit in the charge time storage area of the storage unit 37 when the eco cleaning mode is set. To do.

  Here, the charging start time and the charging end deadline time are set to a time different from the peak time zone of the time zone fee system, preferably the night time zone of the time zone fee system.

(Cleaning work)
When the cleaning start time stored in the cleaning time storage area of the storage unit 37 is reached, the electric vacuum cleaner main body 11 has an electric blower 21, drive wheels 23 and 23 (motors 24 and 24), side brushes 26 and 26 (side brush motors 27). 27) and the rotating brush 28 (brush motor 29) are driven, for example, detached from the charging device 12, and cleaning is started while autonomously running on the floor surface by the drive wheels 23 and 23. The cleaning start position can be set at any place such as the travel start position of the electric vacuum cleaner main body 11 or the entrance / exit of the room.

  During traveling, the control means 38 detects, for example, the distance from the obstacle surrounding the cleaning area or the obstacle in the cleaning area, etc. The position and traveling state of the case 20) are monitored, and the vehicle travels on the floor surface while avoiding obstacles in response to detection from the obstacle sensor of the sensor unit 31.

  The vacuum cleaner main body 11 collects dust to the suction port 41 by the side brushes 26 and 26 that are driven to rotate, and the suction generated by the negative pressure generated by the driving of the electric blower 21 via the dust collection unit 22 Dust on the floor surface is sucked together with air through the mouth 41. In addition, the rotary brush 28 that is driven to rotate scrapes off dust on the floor surface to the dust collecting unit 22.

  The dust sucked together with the air from the suction port 41 is separated and collected by the dust collecting unit 22, and the air from which the dust is separated is sucked into the electric blower 21, and after cooling the electric blower 21, it becomes exhaust air. The air is exhausted from an exhaust port (not shown) provided in the main body case 20 to the outside.

  Cleaning of the cleaning area has been completed, or the capacity of the secondary battery 39 has fallen to a predetermined amount and is insufficient to complete the cleaning (the voltage of the secondary battery 39 has dropped to near the discharge end voltage) ) And the like, the control means 38 performs charging by exchanging communication between the charging device light emitting unit 55 and the charging device light receiving unit 56 of the charging device 12 and the light receiving unit 32 and the light emitting unit 33 of the vacuum cleaner body 11. Gradually approach the vacuum cleaner main body 11 to the device 12, move (return) to the charging device 12, connect the charging terminal 45 (mechanically and electrically) to the charging terminal 53, and stop each part. Finish the cleaning work. When the cleaning operation is interrupted, for example, 1 is stored in the cleaning interrupt storage area of the storage unit 37. When the cleaning operation is completed, for example, 0 is stored in the cleaning interrupt storage area of the storage unit 37.

(Charging work)
In this charging operation (FIG. 4), in the normal cleaning mode, the secondary battery 39 is charged early, and in the eco cleaning mode, the secondary battery 39 is charged while avoiding the peak hours of the hourly charge system. To control.

  Specifically, with the vacuum cleaner body 11 (charging terminal 45) connected to the charging device 12 (charging terminal 53), the control means 38 first refers to the cleaning interruption storage area of the storage unit 37. It is determined whether the cleaning has been interrupted (step 1). And in this step 1, when it is judged that the cleaning is not interrupted, that is, the cleaning is completed, the control means 38 refers to the mode storage area of the storage unit 37 and the vacuum cleaner main body 11 When the operation mode is determined (step 2) and it is determined that the operation mode is the normal cleaning mode, normal charge control is performed (step 3). On the other hand, if it is determined in step 2 that the operation mode is the eco-cleaning mode, the control means 38 refers to the time zone storage areas of the timekeeping unit 36 and the storage unit 37, and the current time is a fee system classified by time zone. It is determined whether it is before the peak time zone, during the peak time zone, or after the peak time zone (step 4). If it is determined in step 4 that the current time is before the peak time zone, the first eco charge control is performed (step 5). If it is determined that the current time is in the peak time zone, the second eco charge control is performed. (Step 6), and if it is determined that the peak time period has elapsed, the control means 38 refers to the charging time storage area of the time measuring unit 36 and the storage unit 37, and the current time is before the charging start time. (Step 7). If it is determined in step 7 that the current time is before the charge start time, the third eco-charge control is performed (step 8), and the current time is not before the charge start time, that is, after the charge start time. When the determination is made, the control means 38 refers to the charging time storage area of the timer unit 36 and the storage unit 37, and determines whether or not the current time is before the charging end time (step 9). If it is determined in step 9 that the current time is before the charge end deadline time, the fourth eco charge control is performed (step 10), and the current time is not before the charge end deadline time, that is, the charge end time. If it is determined that it is after, the process proceeds to Step 5.

  In the normal charging control shown in step 3 (FIG. 5), control is performed so that charging of the secondary battery 39 is started as early as possible and charging is ended as early as possible, regardless of the time zone fee system.

  Specifically, the control means 38 drives the charging circuit 52 to immediately start charging the secondary battery 39 (step 11). Then, the control means 38 determines whether or not the voltage of the secondary battery 39 has increased to a predetermined usable voltage (whether or not the secondary battery 39 has been charged to a predetermined level or more (fully charged)) (step S40). 12). Then, in this step 12, when it is determined that the voltage of the secondary battery 39 has increased to a predetermined usable voltage, that is, the secondary battery 39 is in a charged state (full charge) above a predetermined level. Then, the charging by the charging circuit 52 is stopped (step 13), and the charging operation is terminated. Further, when it is determined in step 12 that the voltage of the secondary battery 39 has not risen to a predetermined usable voltage, that is, the secondary battery 39 is not in a charged state (full charge) above a predetermined level. Return to step 11.

  In the first eco-charging control shown in step 5 (FIG. 6), the secondary battery 39 is basically charged until the peak time zone of the hourly rate system, and a predetermined charge such as full charge is assumed by the peak time zone. When not in the above charging state, control is performed so that additional charging is performed after the peak time period.

  Specifically, the control means 38 drives the charging circuit 52 to immediately start charging the secondary battery 39 (step 15). Then, the control means 38 determines whether or not the voltage of the secondary battery 39 has increased to a predetermined usable voltage (whether or not the secondary battery 39 has been charged to a predetermined level or more (fully charged)) (step S40). 16). In this step 16, when it is determined that the voltage of the secondary battery 39 has increased to a predetermined usable voltage, that is, the secondary battery 39 is in a charged state (full charge) above a predetermined level, control is performed. The means 38 stops the charging by the charging circuit 52 (step 17) and ends the charging operation. In step 16, when it is determined that the voltage of the secondary battery 39 has not increased to a predetermined usable voltage, that is, the secondary battery 39 is not in a charged state (full charge) above a predetermined level, The control means 38 refers to the time zone storage areas of the time measuring unit 36 and the storage unit 37 to determine whether or not the current time is the peak time zone of the hourly rate system (step 18). If it is determined in step 18 that the current time is in the peak time zone, the control means 38 stops charging by the charging circuit 52 (step 19), and proceeds to step 6. If it is determined in step 18 that the current time is not the peak time zone, the process returns to step 15.

  In the second eco-charge control shown in Step 6 (FIG. 7), the secondary battery 39 is not charged during the peak time period of the hourly rate system, and the secondary battery 39 is charged after the peak time period has passed. Control to do.

  Specifically, the control means 38 refers to the time zone storage areas of the timekeeping unit 36 and the storage unit 37 to determine whether or not the current time is in the peak time zone of the hourly rate system (step 21). . If it is determined in step 21 that the current time is in the peak time zone, step 21 is repeated, and if it is determined that the current time is not in the peak time zone (the peak time zone has passed), the control is performed. The means 38 drives the charging circuit 52 to immediately start charging the secondary battery 39 (step 22). Then, the control means 38 determines whether or not the voltage of the secondary battery 39 has increased to a predetermined usable voltage (whether or not the secondary battery 39 has been charged to a predetermined level or more (fully charged)) (step S40). twenty three). In this step 23, if it is determined that the voltage of the secondary battery 39 has increased to a predetermined usable voltage, that is, the secondary battery 39 is in a charged state (full charge) above a predetermined level, control is performed. The means 38 stops the charging by the charging circuit 52 (step 24) and ends the charging operation. In step 23, if it is determined that the voltage of the secondary battery 39 has not increased to a predetermined usable voltage, that is, the secondary battery 39 is not in a charged state (full charge) above a predetermined level, The control means 38 refers to the charging time storage area of the timer unit 36 and the storage unit 37, and determines whether or not the current time is the charging end time (step 25). If it is determined in step 25 that the current time is the charging end time limit, the process proceeds to step 24. If it is determined in step 25 that the current time is not the charging end time, the process returns to step 22.

  In the third eco charging control shown in step 8 (FIG. 8), control is performed so that charging of the secondary battery 39 is started and ended after waiting for the night time zone of the hourly rate system.

  Specifically, the control means 38 refers to the timekeeping unit 36 and the charging time storage area of the storage unit 37 to determine whether or not the current time has become the charging start time (step 31). If it is determined in step 31 that the current time is not the charging start time, step 31 is repeated. If it is determined that the current time is the charging start time, step 22 of the second eco-charging control is performed. In addition, each control of step 32 to step 35 similar to step 25 is performed.

  In the fourth eco-charging control shown in step 10 (FIG. 9), the charging of the secondary battery 39 is controlled to start and end during the night time zone of the hourly rate system.

  Specifically, the control means 38 drives the charging circuit 52 to immediately start charging the secondary battery 39 (step 41). Then, the control means 38 determines whether or not the voltage of the secondary battery 39 has increased to a predetermined usable voltage (whether or not the secondary battery 39 has been charged to a predetermined level or more (fully charged)) (step S40). 42). In this step 42, if it is determined that the voltage of the secondary battery 39 has increased to a predetermined usable voltage, that is, the secondary battery 39 is in a charged state (full charge) above a predetermined level, control is performed. The means 38 stops the charging by the charging circuit 52 (step 43) and ends the charging operation. Further, when it is determined in step 42 that the voltage of the secondary battery 39 has not increased to a predetermined usable voltage, that is, the secondary battery 39 is not in a charged state (full charge) above a predetermined level, The control means 38 refers to the charging time storage area of the timer unit 36 and the storage unit 37 to determine whether or not the current time has reached the charging end time (step 44). If it is determined in step 44 that the current time has reached the charging end time, the process proceeds to step 43. If it is determined in step 44 that the current time is not the charging end time, the process returns to step 41.

  On the other hand, when it is determined in step 1 that the cleaning is interrupted, that is, the cleaning is not completed, the control means 38 refers to the mode storage area of the storage unit 37 and the operation mode of the electric vacuum cleaner main body 11. Is determined (step 51), and when it is determined that the operation mode is the normal cleaning mode, normal interruption charging control is performed (step 52). On the other hand, if it is determined in step 51 that the operation mode is the eco-cleaning mode, the control means 38 refers to the time zone storage area of the timekeeping unit 36 and the storage unit 37, and the current time is a fee system classified by time zone. It is determined whether it is before the peak time zone, during the peak time zone, or after the peak time zone (step 53). If it is determined in step 53 that the current time is before the peak time zone, the first suspension eco-charge control is performed (step 54). If it is determined that the current time is in the peak time zone, the second suspension eco-charge control is performed. When charge control is performed (step 55) and it is determined that it is after the peak time zone, the control means 38 refers to the charge time storage area of the timer 36 and the storage unit 37, and the current time is before the charge start time. It is determined whether or not (step 56). If it is determined in step 56 that the current time is before the charge start time, the third interruption eco-charge control is performed (step 57), and the current time is not before the charge start time, that is, after the charge start time. If it is determined, the control means 38 refers to the charging time storage area of the timer unit 36 and the storage unit 37, and determines whether or not the current time is before the charging end time (step 58). If it is determined in step 58 that the current time is before the charge end deadline time, the fourth interruption eco-charge control is performed (step 59), and the current time is not before the charge end deadline time. If it is determined that it is after the deadline time, the routine proceeds to step 54.

  In the normal interruption charging control shown in step 52 (FIG. 10), the charging of the secondary battery 39 is started as soon as possible regardless of the charge system according to the time zone, and cleaning is resumed after the charging is finished early. And control to clean the rest.

  Specifically, in this normal interruption charge control, in addition to the control of Step 61 to Step 63 similar to Step 11 to Step 13 of the normal charge control shown in Step 3, the cleaning is resumed after Step 63, and charging is performed. Step 64 for ending the work is provided. At the time of this restart, for example, the control means 38 includes the electric blower 21 of the vacuum cleaner body 11, the drive wheels 23 and 23 (motors 24 and 24), the side brushes 26 and 26 (side brush motors 27 and 27), and the rotating brush. 28 (brush motor 29), the sensor unit 31 and the like are driven to return to the position where the cleaning is interrupted by detaching from the charging device 12. Note that the position when the cleaning is interrupted is, for example, the distance traveled by the vacuum cleaner body 11 up to the charging device 12 by the position detection sensor of the sensor unit 31 and the traveling direction detected by the direction sensor in the storage unit 37, etc. It can be easily reproduced by memorizing.

  In the first interruption eco-charge control shown in step 54 (FIG. 11), the current time is the peak time while the secondary battery 39 is being charged after the cleaning is interrupted before the peak time period of the hourly charge system. When it becomes a belt, the charging is forcibly terminated and cleaning is resumed.

  Specifically, the first interruption eco-charge control includes the following steps 75 to 77 in addition to the controls of steps 71 to 74 similar to steps 15 to 18 of the first eco-charge control shown in step 5. Prepare. That is, when the control means 38 determines in step 74 that the current time is the peak time zone, the process proceeds to step 73, and after charging is stopped in step 73, cleaning is resumed in the same manner as in step 64. (Step 75), the charging operation is terminated. Further, when it is determined in step 74 that the current time is not the peak time zone, the control means 38 predicts the operable time of the vacuum cleaner body 11 from the current capacity of the secondary battery 39 (step 76), and measures the time. Referring to unit 36, the difference between the current time and the cleaning end time is compared with the operable time (step 77). If it is determined in this step 77 that the operable time is greater than the difference between the current time and the cleaning end time, the process proceeds to step 73, where the available time is equal to or less than the difference between the current time and the cleaning end time. If it is determined, the process returns to step 71.

  In the second interruption eco-charge control shown in step 55 (FIG. 12), after the cleaning is interrupted during the peak hour of the hourly charge system, the secondary battery 39 is charged only for a predetermined time after the peak hour has passed. For example, at least a voltage (capacity) capable of continuing the remaining cleaning is ensured, and the cleaning is controlled to resume.

  Specifically, this second interruption eco-charge control includes the following steps 86 to 89 in addition to the control of steps 81 to 85 similar to steps 21 to 25 of the second eco-charge control shown in step 6. Prepare. That is, after stopping charging in step 84, cleaning is resumed in the same manner as in step 64 (step 86), and the charging operation is terminated. If it is determined in step 85 that the current time is not the charging end time, the control means 38 refers to the time measuring unit 36 and determines whether or not a predetermined time has elapsed from the start of charging. (Step 87). In step 87, if it is determined that the predetermined time has elapsed, the process proceeds to step 84. If it is determined that the predetermined time has not elapsed, the control means 38 is the same as in steps 76 and 77. Predict the operable time of the vacuum cleaner body 11 from the current capacity of the secondary battery 39 (step 88), refer to the time measuring unit 36, the difference between the current time and the cleaning end time and the operable time Are compared (step 89). Then, in this step 89, if it is determined that the operable time is greater than the difference between the current time and the cleaning end deadline time, the process proceeds to step 84, where the operable time is equal to or less than the difference between the current time and the cleaning end deadline time. If it is determined that, the process returns to step 82.

  In the third interrupted eco-charging control shown in step 57 (FIG. 13), after waiting for the night time zone of the hourly rate system, the charging of the secondary battery 39 is started and terminated, and then cleaning is resumed. To control.

  Specifically, this third interruption eco-charging control is the same as that of steps 75 to 77 in addition to the control of steps 91 to 95 similar to steps 31 to 35 of the third eco-charging control shown in step 8. Steps 96 to 98 are provided. That is, after stopping charging in step 94, cleaning is resumed in the same manner as in step 64 (step 96), and the charging operation is terminated. If it is determined in step 95 that the current time is not the charging end time, the control means 38 operates the vacuum cleaner main body 11 from the current capacity of the secondary battery 39 in the same manner as in steps 76 and 77. The possible time is predicted (step 97), and the time measuring unit 36 is referred to, and the difference between the current time and the cleaning end time is compared with the operable time (step 98). If it is determined in this step 98 that the operable time is greater than the difference between the current time and the cleaning end deadline time, the process proceeds to step 94, where the operable time is less than or equal to the difference between the current time and the cleaning end deadline time. If it is determined that, the process returns to step 92.

  In the fourth interruption eco-charge control shown in step 59 (FIG. 14), control is performed so that cleaning is resumed after charging and recharging of the secondary battery 39 are started during the nighttime period of the hourly rate system.

  Specifically, in the fourth interruption eco-charge control, in addition to the control in steps 101 to 104 similar to steps 41 to 44 of the fourth eco-charge control shown in step 10, the same as in steps 75 to 77 Steps 105 to 107 are provided. That is, after stopping charging in step 103, cleaning is resumed in the same manner as in step 64 (step 105), and the charging operation is terminated. Further, when it is determined in step 104 that the current time is not the charging end deadline time, the control means 38 operates the vacuum cleaner main body 11 from the current capacity of the secondary battery 39 in the same manner as in steps 76 and 77. The possible time is predicted (step 106), and the time measuring unit 36 is referred to, and the difference between the current time and the cleaning end time is compared with the operable time (step 107). If it is determined in this step 107 that the operable time is greater than the difference between the current time and the cleaning end deadline time, the process proceeds to step 103, where the operable time is equal to or less than the difference between the current time and the cleaning end deadline time. When it is determined that, the process returns to step 101.

  As a result, when the electric vacuum cleaner main body 11 (charging terminal 45) is connected to the charging device 12 (charging terminal 53) and the charging start time is different from the peak time zone stored by the storage unit 37, the charging circuit 52 To start charging the secondary battery 39 (step 31 and step 32, or step 91 and step 92), and at least the charge end time stored in the storage unit 37 is reached, regardless of the charged state of the secondary battery 39. That is, regardless of whether the voltage of the secondary battery 39 has increased to a predetermined usable voltage (whether the secondary battery 39 has been charged more than a predetermined level (full charge)) Since charging of the secondary battery 39 is stopped (step 33 to step 35 or step 93 to step 95), the secondary battery 39 is charged while avoiding peak hours when the demand for electricity is relatively high and the charge is high. Can save power Reduction of the fine electricity rates can be expected.

  In particular, by setting the charge start time and the charge end deadline time in the night time zone in which the electricity rate is relatively low in the hourly rate system, further power saving and reduction in electricity rate can be expected.

  Furthermore, since at least one of the charging start time and the charging end deadline time can be set in this embodiment, the user can appropriately set the time zone in which the power saving effect and the reduction of the electricity bill can be expected, and further Expected to save electricity and reduce electricity charges.

  If the time when the vacuum cleaner main body 11 is connected to the charging device 12 is the peak time zone of the charge system according to the time zone, the charging circuit 52 does not start charging the secondary battery 39, and the peak time zone After charging, the charging circuit 52 starts charging the secondary battery 39 (step 21 and step 22, or step 81 and step 82), so the secondary battery 39 can be charged avoiding the peak time period, Reduction of electricity charges can be expected.

  In addition, for example, when the capacity of the secondary battery 39 is reduced to a predetermined amount during cleaning at the peak time of the hourly fee system, the cleaning is interrupted and the electric vacuum cleaner main body 11 is connected to the charging device 12. In such a case, after the peak time zone of the hourly rate system has passed, the charging circuit 52 charges the secondary battery 39 only for a predetermined time, disconnects the electric vacuum cleaner body 11 from the charging device 12, and resumes cleaning. (Step 81 to step 87), the vacuum cleaner main body 11 can be operated until the cleaning is completed while charging the secondary battery 39 while avoiding the peak time period, and effective cleaning becomes possible. .

  Further, for example, when the capacity of the secondary battery 39 is reduced to a predetermined amount during cleaning at a time before the peak time zone of the hourly rate system, cleaning is interrupted and the electric vacuum cleaner main body 11 is transferred to the charging device 12. And the charging circuit 52 starts charging the secondary battery 39, and during this charging, when the time is the peak time zone of the hourly rate system, the charging of the secondary battery 39 is terminated, Since the vacuum cleaner main body 11 is disconnected from the charging device 12 and cleaning is resumed (step 71 to step 75), the cleaning is resumed early while charging the secondary battery 39 while avoiding the peak time zone. For example, it is possible to finish cleaning at a timing such as before the user returns home, and it is possible to provide the electric cleaning device 10 that is more effective and easy to use.

  Then, when the capacity of the secondary battery 39 decreases to a predetermined amount during cleaning, the cleaning is interrupted and the electric vacuum cleaner main body 11 is connected to the charging device 12, and the charging circuit 52 charges the secondary battery 39. During the operation, the operation time is predicted from the capacity of the secondary battery 39, and when the operation time exceeds the difference between the cleaning end time and the current time, the charging of the secondary battery 39 is terminated. Since the vacuum cleaner body 11 is disconnected from the charging device 12 and cleaning is resumed (step 76 and step 77, step 88 and step 89, step 97 and step 98, or step 106 and step 107), use Since the cleaning can be completed as much as possible before the cleaning end time such as the time when the person returns home, the electric cleaning device 10 can be provided more effectively and is easy to use.

  In the first embodiment, the secondary battery 39 is charged until the charging start time even when the cleaning operation is finished (suspended or completed) before or during the peak time of the hourly charge system. You may wait. In this case, a step similar to step 31 (step 91) is arranged before step 15 or step 71, or step 21 or step 81 is replaced with a step similar to step 31 (step 91)). It can be realized.

  Further, for example, in the case of cleaning of a cleaning area where consideration must be given to the surrounding environment, the cleaning may not be performed during the night time period of the hourly fee system. In this case, for example, the third and fourth suspended eco-charging controls (step 57 and step 59) are replaced with the third and fourth eco-charging controls (step 8 and step 10), When the current time is determined to be inappropriate for cleaning such as the night time zone with reference to the time zone storage area of 36 and the storage unit 37, the cleaning is forcibly interrupted and connected to the charging device 12. Or you may.

  Further, when the control means 38 determines in step 74 that the current time is in the peak time zone, the charging may be temporarily stopped and the process may proceed to step 55.

  Next, a second embodiment will be described with reference to FIG. In addition, about the structure and effect | action similar to the said 1st Embodiment, the same code | symbol is attached | subjected and the description is abbreviate | omitted.

  In this second embodiment, the control means 38 of the electric vacuum cleaner 10 has a cleaning end time that is a set time such as a user's return time stored in the cleaning time storage area of the storage unit 37, A cleaning start time, which is a predetermined time, is set based on the peak time zone of the fee system classified by time zone stored in the time zone storage area, and when this cleaning start time is reached, the electric blower 21, the drive wheels 23, 23 (motor 24 24), the side brushes 26 and 26 (side brush motors 27 and 27), the rotating brush 28 (brush motor 29), the sensor unit 31 and the like are driven to perform cleaning, and the electric vacuum cleaner main body 11 is connected to the charging device 12. The secondary battery 39 is charged by the charging circuit 52 at any time during the period up to the cleaning start time and avoiding the peak time zone.

  When the user sets the cleaning end time, the estimated time required to complete the cleaning based on the size of the cleaning area and the movement (running) speed of the electric vacuum cleaner body 11, and the current Based on the capacity (voltage) of the secondary battery 39, only the time after the time obtained by adding the charging time of the secondary battery 39 necessary for completing the cleaning to the current time can be set.

  The cleaning start time is determined by comparing the cleaning end deadline time with the peak time zone. When this cleaning start time is determined, this cleaning start time is stored in the cleaning time storage area of the storage unit 37, and the control means 38 sets the charging start time and the charging end time limit of the secondary battery 39. Then, the set charging end deadline time is stored in the charging time storage area of the storage unit 37.

  Specifically, first, the control means 38 determines whether or not the secondary battery 39 needs to be charged for cleaning the cleaning area from the current capacity (voltage) of the secondary battery 39 (step 110). If it is determined in step 110 that charging is not necessary (it is not necessary), the setting operation is terminated as it is. If it is determined in step 110 that charging is necessary, the control means 38 is estimated to require at least the time required for completion of cleaning from the size of the cleaning area, the movement (running) speed of the electric vacuum cleaner main body 11, and the like. The cleaning time is subtracted from the cleaning end time and stored in the cleaning time storage area of the storage unit 37 as the cleaning start time (step 111). Next, the control means 38 determines whether the cleaning end time is before the peak time zone, during the peak time zone, or after the peak time zone (step 112). In this step 112, when it is determined that the cleaning end deadline time is before the peak time period, the control means 38 determines the cleaning start time or a time that is a predetermined time earlier than the cleaning start time, that is, the cleaning start. The time before the time is stored in the charging time storage area of the storage unit 37 as the charging end deadline time (step 113), and the capacity required for cleaning the cleaning area based on the current capacity (voltage) of the secondary battery 39 ( The time required to charge the secondary battery 39 up to (voltage) is calculated (step 114), and at least this time is subtracted from the charge end time to calculate the charge start time, and the storage unit 37 stores the charge time Store in the area (step 115).

  If it is determined in step 112 that the cleaning end time is in the peak time zone, the control means 38 determines whether or not the cleaning start time is in the peak time zone (step 116). If it is determined in step 116 that the cleaning start time is not in the peak time period, that is, before the peak time period, the process proceeds to step 113. Further, when it is determined in step 116 that the cleaning start time is in the peak time zone, the control means 38 starts the peak time zone, or a time that is a predetermined time earlier than the start time, That is, the time before the start time of the peak time period is stored in the charge time storage area of the storage unit 37 as the charge end time limit (step 117), and the process proceeds to step 114.

  Further, if it is determined in step 112 that the cleaning end time is after the peak time zone, the control means 38 determines whether the cleaning start time is before the peak time zone, during the peak time zone, It is determined whether it is after the time period (step 118). If it is determined in step 118 that the cleaning start time is before the peak time period, the process proceeds to step 113. If it is determined in step 118 that the cleaning start time is in the peak time zone, the process proceeds to step 117. Furthermore, when it is determined in step 118 that the cleaning start time is after the peak time period, the control means 38 determines the capacity required for cleaning the cleaning area based on the current capacity (voltage) of the secondary battery 39. Calculate the time required to charge the secondary battery 39 to (Voltage) (Step 119), and determine whether the difference between the cleaning start time and the end time of the peak time zone is greater than this time (Step 120). In step 120, if it is determined that the difference between the cleaning start time and the end time of the peak time zone is greater than this time, the charging end time and the charging start time are set to the cleaning start time and the peak time zone. It is set between the end time and stored in the charging time storage area of the storage unit 37 (step 121). On the other hand, if it is determined in step 120 that the difference between the cleaning start time and the end time of the peak time period is equal to or less than this time, the process proceeds to step 117.

  As a result, it is possible to charge the secondary battery 39 while reliably avoiding the peak time zone of the hourly fee system, and it is possible to reliably finish the cleaning before the cleaning end time such as the user's return time.

  Note that the charging control of the secondary battery 39 may be supplemented by combining the first embodiment and the second embodiment. For example, in the second embodiment, avoid the peak time zone when sufficient charge time of the secondary battery 39 cannot be secured before the peak time zone, such as when the current time is close to the start time of the peak time zone. Cleaning is started by using the secondary battery 39 charged by the charging circuit 52 until the cleaning start time, and the cleaning is interrupted when the capacity of the secondary battery 39 is reduced to the charging device 12. 11 is moved and connected to the charging device 12, and after the secondary battery 39 is additionally charged by the charging circuit 52 while avoiding the peak time zone as in the eco-charging mode of the first embodiment, cleaning is resumed. It may be.

  In each of the above embodiments, the charging / discharging control means may be provided in the charging device 12 (charging circuit 52) instead of the control means 38. That is, charging / discharging of the secondary battery 39 may be controlled mainly by the charging device 12.

  Further, even in the case where a plurality of peak time zones of the hourly fee system are set for one day, such as in winter, the same can be dealt with by the above embodiments.

  Further, although the storage unit 37 and the ROM or RAM of the control means 38 are provided separately, these functions may be shared. That is, at least a part of the data stored in the storage unit 37 may be stored in the ROM or RAM of the control means 38.

  According to at least one embodiment described above, it is possible to effectively clean the secondary battery 39 while charging the secondary battery 39 while avoiding the peak time zone of the hourly rate system.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

10 Vacuum cleaner
11 Vacuum cleaner body
12 Charging device
21 Electric blower as moving part
24 Motor as moving part
27 Side brush motor as moving part
29 Brush motor as moving part
31 Sensor unit as operating unit
37 Storage unit as storage means
38 Control means having function of charge / discharge control means
39 Secondary battery
52 Charging circuit

Claims (1)

An electric vacuum cleaner main body including a secondary battery and an operation unit that operates by feeding from the secondary battery, and capable of autonomous traveling;
A charging device comprising a charging circuit for charging the secondary battery;
Storage means for storing a cleaning end deadline time ;
When the predetermined time set based on the cleaning end deadline time stored in the storage means and the peak time zone of the hourly fee system is reached, the operation unit is operated to perform cleaning, and the vacuum cleaner is operated under a predetermined condition. Control means for connecting a main body to the charging device;
The charging circuit controls charging / discharging of the secondary battery, and the charging circuit charges the secondary battery by the charging circuit until the predetermined time while the main body of the vacuum cleaner is connected to the charging device. A discharge control means ,
When the capacity of the secondary battery is reduced to a predetermined amount during cleaning, the control means interrupts cleaning and connects the electric vacuum cleaner body to the charging device, and the charge / discharge control means While the secondary battery is being charged by the charging circuit, the operable time is predicted from the capacity of the secondary battery, and when the operable time is greater than the difference between the cleaning end time and the current time, An electric vacuum cleaner characterized by terminating charging of the secondary battery, releasing the connection of the electric vacuum cleaner body to the charging device, and restarting cleaning .

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