JPH05269063A - Vacuum cleaner - Google Patents

Abstract

PURPOSE:To accurately judge the kind of floor irrespective of the operation of a suction nozzle part. CONSTITUTION:The title cleaner is provided with a travel sensor 25 for detecting the travel of a suction nozzle part 16, a floor sensor 34 for detecting the kind of floor, and a control part 37 which detects the kind of floor based on the result of the mapping of the input-output relation by a neural network, taking the outputs of the travel sensor 25 and the floor sensor 34 as the input. The control part 37 judges only the output of the floor sensor 34 to be effective in a specified period in two strokes during which the suction nozzle part 16 travels based on the output of the travel sensor 25, and identifies the kind of floor based on the result of the mapping of the input-output relation be the neural network, taking the time for which the floor sensor 34 outputs 'H' level signal and the number of edges of the output pulses as the input layer in two strokes.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to improving the usability of an electric vacuum cleaner, particularly to dealing with a floor surface and reducing the load.

[0002]

2. Description of the Related Art Conventionally, various studies have been conducted on improvement of usability of electric vacuum cleaners. The electric vacuum cleaner is one of the most widely used electric appliances in the home, and the improvement of its usability is very beneficial. In particular, in recent years, various measures have been taken to control the drive of the electric vacuum cleaner or to reduce the load related to the drawing of the suction nozzle of the electric vacuum cleaner in accordance with the type of floor surface. .

FIG. 29 shows the structure of an electric vacuum cleaner according to the first conventional example, particularly the suction nozzle section thereof. The electric vacuum cleaner shown in this figure is disclosed in Japanese Patent Laid-Open No. 2-131727.
This is a perspective view of the suction nozzle portion 1 drawn from the side in contact with the floor surface.

The suction nozzle section 1 shown in this figure has a construction in which a front wheel 3 and a rear wheel 4 are provided on the lower surface of a suction nozzle section body 2, and when the suction nozzle section 1 is routed, the front wheel 3 and the rear wheel 4 are arranged. 4 rotates. Further, a pressure-sensitive conductor 5 is provided on the lower surface of the suction nozzle body 2, and convex portions 6 are further formed on both left and right sides of the pressure-sensitive conductor 5.

The pressure-sensitive conductor 5 is an element whose electric resistance changes depending on the applied pressure. A predetermined gap is secured between the plane formed by the front wheel 3 and the rear wheel 4 and the tip of the pressure-sensitive conductor 5. Therefore, when the floor to be cleaned is a hard floor, the pressure-sensitive conductive material is used. The pressing force from the floor is not applied to the body 5. Therefore, in this case, the electric resistance value of the pressure-sensitive conductor 5 does not change.

On the contrary, when the floor has a soft quality like a carpet,
A negative pressure is applied to the suction port of the suction nozzle unit 1 by the suction force of an electric blower (not shown), the carpet of the suction port is sucked up, and a pressing force is applied to the pressure-sensitive conductor from below. Due to this pressure, the electric resistance value of the pressure-sensitive conductor 5 becomes smaller than that in the case of a hard floor.

Further, when the floor is a tatami mat, the tatami mat is sucked up by the suction force of the electric blower and a pressing force is applied to the pressure-sensitive conductor 5 from below, but this pressing force is smaller than that of a carpet. .. That is, since the tatami mat is locked by the convex portions 6 provided on the left and right sides of the pressure-sensitive conductor 5, the pressing force is reduced and the electric resistance of the pressure-sensitive conductor 5 becomes an intermediate value.

Therefore, when the suction nozzle portion 1 as in this conventional example is used, the drive type of the electric vacuum cleaner can be suitably controlled by detecting the type of the floor surface.

FIG. 30 shows a structure of an electric vacuum cleaner according to a second conventional example, particularly a structure of a suction nozzle portion thereof. This drawing is a drawing in which the suction nozzle portion is viewed from the lower surface, and a part is represented by a cross section. This conventional example is disclosed in Japanese Patent Laid-Open No. 2-243125.

The conventional example shown in this figure also has a structure in which the front wheel 3 and the rear wheel 4 are provided on the suction nozzle body 2. Reference numeral 8 in the drawing is a rotary brush, and the rotary brush 8 is connected to a rotary brush motor 10 via a belt 9. Therefore, when the rotary brush motor 10 is rotationally driven, the rotary brush 8 rotates accordingly, and the rotary brush 8 cleans the floor surface.

Further, in this figure, the rotation sensor 1
1 is shown. The rotation sensor 11 is a sensor that detects the rotation of the rear wheel 4 that occurs due to the movement of the suction nozzle portion 7 when the suction nozzle portion 7 contacts the floor surface for cleaning and moves on the floor surface. A control circuit component is arranged on the printed circuit board 12, and when the rotation sensor 11 detects the stop of the wheels 4, a blower motor (not shown) is stopped. That is, the rotation sensor 11 can control the operation of the blower motor.

[0012]

In the vacuum cleaner of the first conventional example described above, when the suction nozzle portion 7 moves, the pressing force applied to the pressure-sensitive conductor 5 becomes uneven. In particular, the change in the pressing force during start-up, intermediate, and stop during one operation of the suction nozzle part 1 is large, and the pressing force changes when the suction nozzle part 1 is pushed and when it is pulled. There was a problem that I could not judge.

Further, in the electric vacuum cleaner of the second conventional example, it is possible to detect whether the suction nozzle portion 7 is moving or stopped on the floor surface related to the cleaning, and thus the operation control of the blower motor is performed. However, there is a problem that the blower and the rotary brush 8 cannot be finely controlled by the moving direction.

The present invention has been made to solve the above problems, and an object thereof is to obtain an electric vacuum cleaner which is not affected by the operation of the suction nozzle portion and which can accurately determine the type of floor surface. To do.

Further, according to the present invention, by performing finer control according to the moving direction of the suction nozzle section,
It is intended to realize effects such as reducing a load related to drawing around the suction nozzle portion.

[0016]

In order to achieve such an object, according to claim 1 of the present invention, a suction nozzle portion which is brought into contact with a floor surface, and a dust collection chamber through the suction nozzle portion. An electric blower that dusts, a floor sensor that detects the physical characteristics of the floor, and the floor sensor output during the period when the suction nozzle is moving are used to determine the floor type, and depending on the determination result. And a control unit for driving and controlling the electric blower.

According to a second aspect of the present invention, there is provided a suction nozzle portion which has a rotating brush which is in communication with the dust collecting chamber and which is rotatable and which is in contact with the floor surface, and a floor surface sensor which detects physical characteristics of the floor surface. When,
And a control unit that determines the type of floor surface based on the output of the floor surface sensor during the period in which the suction nozzle unit is moving and that drives and controls the rotary brush according to the determination result.

According to a third aspect of the present invention, a suction nozzle portion that is in contact with the floor surface, a cleaner body that collects dust from the floor surface through the suction nozzle portion, and a memory that stores physical characteristics of the floor surface for each type. And the floor surface sensor that detects the physical characteristics of the floor surface and the content of the memory and the output of the floor surface sensor are compared to determine the type of floor surface, and the cleaner body and / or suction And a control unit that controls the operation of the nozzle unit.

According to a fourth aspect of the present invention, there is provided a suction nozzle portion which is in contact with the floor surface, a cleaner body which collects dust from the floor surface through the suction nozzle portion, and a floor surface sensor which detects physical characteristics of the floor surface. ,
It is determined whether or not the suction nozzle portion has moved a plurality of times, the type of floor surface is determined based on the average value of the output of the floor surface sensor during the plurality of movements, and the cleaner body and / or
Alternatively, a control unit that drives and controls the suction nozzle unit is provided.

According to a fifth aspect of the present invention, there is provided a suction nozzle portion which is in contact with the floor surface, a cleaner body which collects dust from the floor surface through the suction nozzle portion, and a floor surface sensor which detects a physical characteristic of the floor surface. ,
The type of the floor surface is detected based on the result of mapping the input / output relationship by the neural network using the output of the floor surface sensor as the input layer when the suction nozzle is moving, and the cleaner main body and / or And a control unit that controls driving of the suction nozzle unit.

According to a sixth aspect of the present invention, there is provided a suction nozzle portion which is in contact with the floor surface, a cleaner body which collects dust from the floor surface through the suction nozzle portion, and a floor surface sensor which detects physical characteristics of the floor surface. ,
Using the output of the floor sensor when the suction nozzle is moving as the antecedent, the type of floor is deduced according to a predetermined fuzzy control rule, and the cleaner body and / or the suction nozzle is driven according to the inference result. And a control unit for controlling.

According to a seventh aspect of the present invention, there is provided a suction nozzle portion which is in contact with the floor surface, a cleaner body which collects dust from the floor surface through the suction nozzle portion, and a floor surface sensor which detects physical characteristics of the floor surface. ,
A movement sensor that detects the movement speed and movement distance of the suction nozzle section, a direction sensor that detects the movement direction of the suction nozzle section, and a floor surface type that is determined based on the output values of the floor sensor, movement sensor, and direction sensor. And a control unit that controls driving of the cleaner body and / or the suction nozzle unit according to the determination result.

According to an eighth aspect of the present invention, there is provided a suction nozzle portion which is in contact with the floor surface, a cleaner body which collects dust in the dust collecting chamber through the suction nozzle portion, and means for detecting a moving direction of the suction nozzle portion. And a control unit configured to reduce the load associated with the movement of the suction nozzle unit by drivingly controlling the cleaner body according to the detected movement direction.

According to a ninth aspect of the present invention, there is provided a suction nozzle portion which has a rotating brush which is in communication with the dust collecting chamber and is rotatable back and forth, and which is brought into contact with the floor surface, and the suction nozzle portion is moved forward or backward. And a control unit for rotating the rotating brush forward when the detected moving direction is forward and rotating backward when the detected moving direction is backward.

According to a tenth aspect of the present invention, there is provided a suction nozzle portion which is in contact with the floor and has a rotary brush which is in communication with the dust collecting chamber and is rotatable back and forth, and the suction nozzle portion is moved leftward or rightward. By switching the rotation direction of the rotary brush according to the detected movement direction and the detected movement direction,
A control unit that reduces the load accompanying the movement of the suction nozzle unit,
It is characterized by including.

According to a tenth aspect of the present invention, a suction nozzle portion which is brought into contact with the floor surface, two light emitting elements, two light receiving elements provided corresponding to each light emitting element, and a circular light shield which rotates with dust collection are provided. A block type photo interrupter having a plate, a means for detecting the rotation direction of the circular light shielding plate based on the sum of the outputs of two light receiving elements, a cleaner body for collecting dust from the floor through the suction nozzle portion, and a circular shape By controlling the operation of the suction nozzle section and / or the cleaner body according to the rotation direction of the light shielding plate,
A control unit that reduces the load accompanying the movement of the suction nozzle unit,
A plurality of two types of blades having different lengths are provided on the circumference of the circular light-shielding plate, and the light beams emitted from both light emitting elements to the corresponding light receiving elements are blocked by the long blades.
It is characterized in that a light beam emitted from one light emitting element to a corresponding light receiving element is blocked / transmitted by a blade having a short length.

According to a twelfth aspect of the present invention, there is provided a suction type photointerrupter having a suction nozzle portion which is in contact with the floor surface, a light emitting element, a light receiving element provided corresponding to the light emitting element, and a reflecting plate which rotates with dust collection. A means for detecting the rotation direction of the reflector based on the output of the light receiving element, a cleaner body for collecting dust from the floor surface through the suction nozzle part, and a suction nozzle part and / or a cleaner depending on the rotation direction of the reflector plate By controlling the operation of the main body of the machine, the control unit that reduces the load accompanying the movement of the suction nozzle unit is provided, and the reflection plate is arranged so that the light beam emitted by the light emitting element is reflected toward the light receiving element. It is characterized by being painted in order with at least three levels of reflectance along the line.

A thirteenth aspect of the present invention is a cut-off type having a suction nozzle portion abutting on the floor surface, a light emitting element, a light receiving element provided corresponding to the light emitting element, and a circular light shielding plate which rotates with dust collection. A photo interrupter, a means for detecting the rotation direction of the circular shading plate based on the output of the light receiving element, a cleaner body for collecting dust from the floor surface through the suction nozzle portion, and a suction nozzle depending on the rotation direction of the circular shading plate. A control unit for reducing the load accompanying the movement of the suction nozzle unit by controlling the operation of the cleaning unit and / or the main body of the vacuum cleaner. A plurality of blades are arranged to block / transmit
In addition, at least a part of the blades is arranged at unequal intervals.

[0029]

According to the first aspect of the present invention, the physical characteristics of the floor surface are detected by the floor surface sensor, and the type of floor surface is determined by the control unit based on the detection result. At this time, since the output of the floor surface sensor during the period when the suction nozzle portion is moving is used, even if there is a change in the floor surface sensor output due to the start of the suction nozzle portion, etc. Judged and accurate electric blower control is realized. Also in claim 2 of the present invention, similarly, the type of floor surface is accurately determined. As a result, the rotary brush is drive-controlled more accurately.

Further, in the third aspect, the output of the floor surface sensor is compared with the memory content, the type of the floor surface is judged by this, and the operation of the cleaner main body and / or the suction nozzle portion is accurately controlled. .. In claim 4, the type of the floor surface is determined based on the average value of the output of the floor surface sensor during the movement of the suction nozzle portion a plurality of times, and the operation of the cleaner body and / or the suction nozzle portion is accurately controlled. To be done. In the present invention, since the floor surface type is detected based on the result of mapping the input / output relationship by the neural network using the output of the floor surface sensor when the suction nozzle is moving as an input layer, the cleaner main body is detected. And / or the operation of the suction nozzle part is controlled quickly and optimally. In claim 6, the type of the floor surface is deduced according to a predetermined fuzzy control law with the output of the floor surface sensor when the suction nozzle portion is moving as the antecedent portion, and the cleaner body and / or the suction nozzle portion The operation is adaptively controlled.

According to a seventh aspect of the present invention, the physical characteristics of the floor surface are measured by the floor surface sensor, the moving speed and the moving distance of the suction nozzle portion are measured by the movement sensor, and the moving direction of the suction nozzle portion is measured by the direction sensor. To be detected. The control unit determines the type of floor surface based on these detection results,
The cleaner body and / or the suction nozzle unit is drive-controlled according to the determination result. As a result, even if the output of the floor surface sensor changes due to the start of the suction nozzle portion or the like, the type of floor surface can be accurately determined. Further, by using the outputs of the floor surface sensor, the movement sensor and the direction sensor,
Alternatively, the drive control of the suction nozzle portion is performed more precisely and more accurately.

In the eighth aspect, the moving direction of the suction nozzle portion is detected, and the cleaner body is drive-controlled according to the detection result. In the ninth and tenth aspects, the rotation direction of the rotary brush is controlled according to the detection result. In the present invention, these controls reduce the load associated with the movement of the suction nozzle portion. The load associated with the movement of the suction nozzle portion changes depending on the dust collecting operation by the cleaner body and the rotating direction of the rotating brush. Therefore, the load can be reduced by controlling these. If the rotating brush is moving forward or backward,
The load can be reduced by rotating the brush in the same direction as the moving direction, and when the rotary brush is moving left or right, the load can be reduced by rotating the brush in a direction determined according to the structure of the rotary brush.

In the eleventh, twelfth and thirteenth aspects, the moving direction of the suction nozzle portion is detected based on the output of the photo interrupter. The photo interrupter in claims 11 and 13 is a blocking photo interrupter, and the photo interrupter in claim 12 is a reflective photo interrupter.

The photo interrupter according to claim 11 has two light emitting elements, two light receiving elements and a circular light shielding plate. The light receiving element is provided corresponding to each light emitting element, and the light beam emitted by each light emitting element is blocked / transmitted by the blade on the circumference of the circular light shielding plate. As this blade, two types of blades having different lengths are provided. The longer blade blocks the light rays of both light emitting elements, and the shorter blade blocks the light beam of one light emitting element. As a result, the light receiving timings of the respective light receiving elements are different, so that the rotation direction of the circular light shielding plate due to dust collection can be detected depending on how the sum of the outputs changes.

A photo interrupter according to a twelfth aspect has a light emitting element, a light receiving element and a reflector. The light beam emitted by the light emitting element is reflected by the reflector,
The light is received by the light receiving element. At that time, since the reflector is sequentially painted along at least three levels of reflectance along the circumference, it is possible to detect the rotation direction of the circular light shield due to dust collection depending on how the output of the light receiving element changes. Is.

The photo interrupter according to claim 13 has a light emitting element, a light receiving element and a circular light shielding plate. The light beam emitted by the light emitting element is blocked / transmitted by the blades on the circumference of the circular light shielding plate. At this time, at least a part of the blades is arranged at unequal intervals, so that the rotation direction of the circular light shielding plate due to the dust collection can be detected depending on how the output of the light receiving element changes.

[0037]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. The same components as those of the conventional example shown in FIGS. 29 and 30 are designated by the same reference numerals and the description thereof will be omitted.

FIG. 1 shows the overall structure of an electric vacuum cleaner according to the first embodiment of the present invention. The vacuum cleaner shown in this figure has a hose 14 drawn from a cleaner body 13.
Is connected to the pipe 15, and the suction nozzle portion 16 is connected to the tip of the pipe 15. A hand operation unit 17 is provided at one end of the hose 14, and a user operates the hand operation unit 17 to operate the entire operation of the electric vacuum cleaner.

The cleaner body 13 has a blower motor 18 built-in. A dust collection chamber 19 is formed on the hose 14 side as viewed from the blower motor 18, and when the blower motor 18 is rotationally driven, dust is collected in the dust collection chamber 19 through the intake port 20. Also, the blower motor 1
An exhaust port 21 is formed on the back surface of the device 8.

FIG. 2 shows the construction of the suction nozzle portion 16 in this embodiment.

The suction nozzle portion 16 has a rotary brush 8 supported at the suction port 22 so as to be rotatable forward and backward in the longitudinal direction of the suction nozzle portion main body 2, and one end of the shaft of the rotary brush 8 is provided. A pulley 23 is provided. Further, a rotary brush drive motor 10 is arranged near the rotary brush 8, and a timing belt 9 is wound around a pulley 24 and the pulley 23 fixed to the shaft of the rotary brush drive motor 10. . Therefore, the rotary brush drive motor 1
The rotary brush 8 rotates with a driving force of zero.

The front wheel 3 is attached to the suction nozzle body 2.
The front wheel 3 and the rear wheel 4 are rotatably supported in parallel with the rotary brush 8 so that the front wheel 3 and the rear wheel 4 are suction nozzle body 2
It is slightly exposed from the bottom plate of.

Further, a circular light shield plate 26 (see FIG. 3) of a movement sensor 25 for detecting the movement of the suction nozzle portion 1 is provided on the shaft of one rear wheel 4. The circular shading plate 26 has a large number of blades divided by a large number of slits, and the circular shading plate 26 constitutes a blocking type photo interrupter 27 together with a light emitting element and a light receiving element.

A floor sensor 28 is provided near the movement sensor 25. As shown in detail in FIG. 4, the floor surface sensor 28 includes a groove 2 provided in the suction nozzle body 2.
The pressure sensitive conductor 30 made of conductive rubber is arranged in the inside 9. The lower portion of the pressure-sensitive conductor 30 is supported by a supporting portion 32 via a spring 31 so as to be able to move up and down. A roller 33 is rotatably supported by the support portion 32, and a lower end of the roller 33 slightly protrudes from the front wheel 3 and the rear wheel 4 of the suction nozzle body 2. Therefore, when cleaning a hard floor such as a P tile or tatami mat, the roller 33
The vertical position of the lower end of the same is the same as the lower surface of the front wheel 3 and the rear wheel 4, and a force is applied to the pressure-sensitive conductor 30 so that the resistance value changes greatly. When cleaning a soft floor, for example, a carpet, the vertical position of the lower end of the roller 33 projects slightly from the front wheel 3 and the rear wheel 4, and the force applied to the pressure-sensitive conductor 30 is smaller than that on a hard floor. As a result, the change in resistance is also small. As the length of the carpet length increases, the amount of protrusion of the roller 33 increases and the change in resistance value further decreases. Therefore, the type of floor surface can be determined by detecting the resistance value of the pressure-sensitive conductor 30.

Further, the analog floor surface sensor 2 described above is used.
Instead of 8, a digital floor surface sensor 34 as shown in FIG. 5 may be used. The floor sensor 34 has a light-shielding shaft 33 whose lower end is connected to a support portion 32 which is vertically guided by a housing 35 forming a groove 29.
A photo interrupter 36 that detects the light-shielding shaft 33 is arranged above the housing 35. Hereinafter, description will be made using the digital floor surface sensor 22.

FIG. 6 is a block diagram showing the control system of the electric vacuum cleaner of this embodiment.

This electric vacuum cleaner has a control unit 37 in the hand operation unit 17. The control unit 37 controls each motor and determines the type of floor surface based on the outputs of the movement sensor 25 and the floor surface sensor 34. The control unit 37 includes a movement sensor 25, a floor surface sensor 34, a rotary brush drive motor 10,
Also, an electric blower 18 provided in the cleaner body is connected. Further, the control unit 37 is provided with a "H" level time (model value) of the floor surface sensor 34 corresponding to various floors.
Is connected to the memory 38.

Next, the operation of this embodiment will be described with reference to the flowchart of FIG.

When the power is turned on, the control unit 37 turns off the rotary brush drive motor 10, controls the electric blower 18 to rotate at the minimum rotation, and initializes each counter (step 1). The control unit 37 uses the movement sensor 25.
It is determined whether or not the suction nozzle portion 16 is moving (step 2), and when it is determined that the suction nozzle portion 16 is moving, one stroke (1 It is determined whether or not the operation) is completed (step 3). When it is determined that one stroke of the movement of the suction nozzle unit 16 is completed, the stroke counter is incremented (step 4) and the pulse width of the movement sensor 25 is set to the pulse width plus the value of the pulse width counter. Assume that the 25 pulse edges are the number of edges plus the value of the edge counter (step 5).

Then, the control unit 37 determines whether or not the stroke counter has reached 2 (step 6), and when it determines that the stroke counter has reached 2, it sets the stroke counter to 0 (step 7), and FIG. As shown
Outputs for two strokes of the floor surface sensor 34 during a predetermined period during which the suction nozzle portion 16 moves are obtained twice and averaged (step 8). Further, the control unit 37 performs the neural network processing described later (step 9) and performs the LED display processing of the determined floor type (step 10). Then, the control unit 37 performs a rotary brush control process such as a rotary brush OFF for the floor or tatami and a rotary brush ON for the mat or carpet based on the determined floor type (step 1
1), the current power is maintained on floors and tatami mats, and mats and carpets with short naps are changed to one level larger than the current power.
In the case of a carpet with long hair, electric blower control processing such as changing the power to two levels higher than the current power is performed (step 12).

The blower motor 18 may be controlled by the cleaning operation detected by the output of the movement sensor 25, and the output of the stratum wind motor 18 may be corrected depending on the type of the floor surface. Next, various methods for detecting the type of floor surface will be described.

(1) The controller 37, as shown in FIG.
A predetermined time (for example, 100 mS) T of the top speed portion during one stroke is obtained from the output of the movement sensor 25, and only the output of the floor surface sensor 34 during the period T is taken as valid. However, the output of the floor sensor 34 may differ greatly depending on the type of the floor surface between the pushing operation and the pulling operation of the suction nozzle unit 1, and thus the floor of the floor for a predetermined time T in two strokes of the pushing operation and the pulling operation. The type of floor surface is determined by adding the outputs of the surface sensor 34 and comparing this value with the model value stored in the memory 38.

The present applicant has experimentally determined the outputs of the movement sensor 25 and the floor sensor 34 for various floors, as shown in FIG. As a result, a predetermined time (for example, 1
00mS x 2 strokes) T floor sensor 22 "H"
Level output time is about 200m on floor (P tile) and tatami
About 125mS for S and mat, about 75m for carpet with 7mm hair
It has been found that S and S are about 50 mS for a carpet with 14 mm of fluff and about 25 mS for a carpet with 25 mm of fluff, and these values are stored in the memory 38 in advance as model values.

(2) The "H" level time of the floor surface sensor 22 of the patterns A to E as shown in FIG. 11 is stored in the memory 38 in advance, and one stroke of the pushing operation obtained in the same manner as described above. Floor sensor 34 for a predetermined time T in
Output "H" level time is classified into A to E, and the floor sensor 3 for a predetermined time T in one stroke of the pulling operation in the same manner.
The output “H” level time of No. 4 is classified into A to E, and the type of floor surface is determined by the combination of the classification patterns.

For example, if E and E are combined, the floor (P
Tile) or tatami mat, if E and B combination, matte,
If it is a combination of D and A, a carpet with 7mm hair, C and A
If it is a combination with, the carpet is 14 mm in length, and if it is a combination of B and A, the carpet is 25 mm in length.

(3) The "H" level time of the floor sensor 34 obtained by adding two strokes to the output "H" level time of the floor sensor 34 for a predetermined time T in one stroke, which is obtained in the same manner as above, and the floor surface. Using the number of edges of the output pulse signal of the sensor 34 as input data, representative floor sensor information and the answer (teacher) of the floor type at that time are given to the input / output layer of the neural network to learn the mapping relationship. Use to determine the type of floor surface.

As shown in FIG. 12, the "H" level time is allocated as a time neuron of 0 to 200 mS at intervals of 25 mS, for example, and the number of edges of the output pulse signal of the floor sensor 34 is allocated as the number of pulse change neurons. The time neuron has a continuous value of 0 to 1 and the resolution is 1
mS, and several neurons have discrete values of 0 or 1.
Then, learning is performed in order to give the neural network the desired characteristics. As the learning data, as shown in FIG. 13, representative values are input with the time neurons as discrete values, and a desired neural network is constructed.

For example, if the time is 25 mS and the edge is 1, a carpet having a hair length of 7 mm (J1), if the time is 50 mS and the edge is 2, a carpet having a hair length of 25 mm (J3), if the time is 150 mS and the edge is 2. If it is mat (M) and the time is 200 mS and the edge is 1, it is the floor or tatami (P).

When an appropriate answer is given to the learning data, almost the same output can be obtained for the input in the vicinity thereof, and the blank portion of the learning data is gradually self-organized.

(4) Floor recognition is performed using the fuzzy control law.

The output "H" level time of the floor surface sensor 34 for the predetermined time T in the first stroke and the output "H" level time of the floor surface sensor 22 for the predetermined time T in the second stroke are input, and the labels are as shown in FIG. A as shown in 11
The patterns up to E are the antecedent part 1 membership function (MF) and the antecedent part 2 membership function (MF) as shown in FIGS. 14A and 14B, and the consequent part is FIG. 14C. As shown in, the floor or tatami (P), mat (M),
mm carpet (J1), carpet with 14 mm fluff (J2), carpet with 25 mm fluff (J3), rule (Fig. 14 (d))
Based on this, the type of floor surface is determined by the MIN-MAX method.
For example, "if the first stroke is A and the second stroke is C then the floor type is a carpet with 14 mm of fluff (J2)". The blank part of the rule maintains the previous floor recognition.

Further, as shown in FIG. 15, the suction nozzle portion 16 includes an actuator 39 which is swingably supported by the suction nozzle portion main body 2 and whose one end made of rubber or the like comes into contact with the floor surface. In the case where the movement direction sensor 41 including the micro switch 40 for detecting the swing to one side of
Is turned on and off by the micro switch 40 depending on the swinging direction of the actuator 39.
6 movement directions can be detected. Therefore, it is determined whether the first stroke and the second stroke are a pushing operation and a pulling operation, a pushing operation and a pushing operation, and a pulling operation and a pulling operation, and a different rule A for each second stroke operation,
If B and C (see FIG. 16) are set, the control unit 37
As shown in the flow chart of FIG. 17, the floor surface can be recognized using the fuzzy control law by determining the operation between the first stroke and the second stroke and performing the same operation as described above.

In the embodiment described above, the sampling time of the floor sensor is 100 times the top speed of the movement of the suction nozzle 16 detected by the movement sensor 25.
Although mS is used, the present invention is not limited to the sampling time.

Further, in the above-described embodiment, the floor surface sensor using the pressure sensitive conductor or the photo interrupter for detecting the elevation of the roller 33 in contact with the floor surface has been described as an example, but the present invention is not limited to this. It is also possible to use impact force, light reflection, light transmission, or the like.

Furthermore, in the above embodiment, the averaging process is performed twice as the averaging process, but the present invention is not limited to the number of averaging processes.

The present invention is not limited to the vacuum cleaner having the above operation. For example, the floor sensor may detect the physical characteristics of the floor surface, the movement sensor may detect the movement speed and movement distance of the suction nozzle portion, and the direction sensor may detect the movement direction of the suction nozzle portion to perform control. That is, by using the outputs of these sensors, suitable control can be executed according to the type of floor surface and the movement (speed, distance, direction, etc.) of the suction nozzle portion. The control target may be either a member belonging to the cleaner body such as an electric blower or a member near the suction nozzle portion such as a rotating brush.

FIG. 18 shows the structure of an electric vacuum cleaner according to the third embodiment of the present invention, particularly the suction nozzle portion 42 thereof. The suction nozzle portion 42 shown in FIG.
The suction nozzle section of the first embodiment shown in FIG. The movement sensor 25 used in this embodiment includes a cut-off type photo interrupter.

FIG. 19 shows the structure of the movement sensor 25 used in this embodiment. As shown in this figure, the movement sensor 25 of the present embodiment constitutes a photo interrupter 27 using a circular light shielding plate 45 having two blades 43 and 44 having different lengths. The light emitting elements of the photo interrupter 27 are 46 and 47.
The number of light receiving elements is 48 and 49 correspondingly.
It is two. The light beam emitted from the light emitting element 46 is blocked by the long blade 43, but is short by the short blade 44.
Not blocked by. The light beam emitted from the light emitting element 47 is blocked by both the long blade 43 and the short blade 44. Therefore, in this embodiment, the outputs of the light receiving elements 48 and 49 obtained with the rotation of the circular light shielding plate 45 change in different patterns depending on the rotating direction of the circular light shielding plate 45.

For example, when the circular light shielding plate 45 is rotated counterclockwise in FIG. 19B, the output of the light receiving element 48 is as shown in FIG.
0 (a), the output of the light receiving element 49 changes in the pattern as shown in FIG. 20 (b). In other words, the output of the light receiving element 48 is −
L-HL- and the output of the light receiving element 49 changes to -L-
It changes like a long H-L-.

On the other hand, when the circular light shielding plate 45 rotates clockwise in FIG. 19B, the output of the light receiving element 48 is as shown in FIG.
20B changes in the pattern shown in FIG. 20D, and the output of the light receiving element 49 changes in the pattern shown in FIG. That is, the output of the light receiving element 48 changes as -HL-, and the output of the light receiving element 49 changes as -L-long HL-.

As described above, the patterns of changes in the outputs of the respective light receiving elements 48 and 49 differ depending on whether the circular light shielding plate 45 rotates to the right or to the left. In the present embodiment, the sum of the outputs of the light receiving elements 48 and 49 is obtained, and the sum is monitored to determine whether the circular light shielding plate 45 is rotating left or right. .. For example, when the circular light shielding plate 45 is rotated counterclockwise, the sum of the output of the light receiving element 48 and the output of the light receiving element 49 is -L-H-M as shown in FIG. -L- and so on,
When rotating to the right, it changes to -L-M-H-L- as shown in FIG. Therefore, depending on how the sum of the output of the light receiving element 48 and the output of the light receiving element 49 changes, the rotation direction of the circular light shielding plate 45, and thus the moving direction of the suction nozzle portion 42, can be identified.

FIG. 21 shows an example of a circuit for obtaining this sum. As shown in this figure, the light receiving element 48
20 and 49 are added by the operational amplifier 50, amplified by the operational amplifier 51, and then output, a signal relating to the sum that changes in the pattern as shown in FIG. 20 is obtained.

FIG. 22 shows the circuit configuration of this embodiment. As shown in this figure, this embodiment has a configuration in which the output of the movement sensor 25 is amplified by the signal amplifier 52 and then processed by the control unit 37. The control unit 37 includes the rotation detection unit 53 and the output conversion unit 5.
Have four. The rotation detector 53 detects the rotation direction of the circular light shield 45 from the signal amplified by the signal amplifier 52.
That is, the moving direction of the suction nozzle portion 42 is detected. The output converter 54 converts the detection result into an output signal, and supplies the rotary brush motor 10 and the blower motor 18 with the rotary brush motor control signal 56 or the blower motor control signal 58, respectively.

As described above, the rotary brush motor 10 and the blower motor 18 are arranged in accordance with the rotation direction of the circular light shielding plate 45.
Therefore, the user is less likely to feel a load related to the drawing of the suction nozzle portion 42 when performing cleaning. For example, the rotation direction of the circular light shielding plate 45 is different depending on whether the suction nozzle unit 42 is moved forward by the user or retracted. When the rotation direction detected by the rotation detection unit 53 indicates that the suction nozzle unit 42 is moving forward, the control unit 37 accordingly rotates the rotary brush 8 in the normal direction so that the rotary brush motor 10 rotates normally. Is supplied to the rotary brush motor control signal 56 to that effect. When the rotation direction obtained by the rotation detection unit 53 indicates that the suction nozzle unit 42 is retracted, the control unit 37 accordingly controls the rotary brush motor 10 to control the rotary brush motor. Supply signal 56,
Reverse the rotating brush 8. With this configuration, when the user uses the electric vacuum cleaner to clean, the suction nozzle unit 4
It is less likely to feel the load associated with wiring 2.

Further, in this embodiment, the movement sensor 25 detects the movement of the suction nozzle portion 42 in the front-rear direction, but it may detect the movement in the left-right direction. Even in this case, it is possible to reduce the load related to the drawing of the suction nozzle portion 42.

FIG. 23 shows the structure of an electric vacuum cleaner according to the fourth embodiment of the present invention, particularly the movement sensor 59 thereof. As shown in this figure, the movement sensor 5 of this embodiment
Reference numeral 9 is configured as a reflection type photo interrupter. That is, a reflector 60 axially connected to the rear wheel 4 is used, a light beam is emitted from the light emitting element 62 to the reflector 60, and the reflected light is received by the light receiving element 64 to detect the rotation of the reflector 60. I am trying to do it.

As shown in FIG. 23B, the reflection plate 60 is divided into areas 66, 68 and 70 having different reflectances. Area 66 has the highest reflectance,
The area 70 has the lowest value. Therefore, this reflector 60
Is rotated counterclockwise in FIG. 23 (b), FIG. 24 (a)
As shown in, the output of the light receiving element 64 is −L−H−M
It changes like -L-, and when it rotates to the right, -L-
Conversion is performed as M-H-L-.

Therefore, by amplifying the output of the light receiving element 64 by the operational amplifiers 66 and 68 as shown in FIG. 25, the output change is reflected by the reflecting plate 60 as shown in FIG.
A signal indicating the direction of rotation of is obtained.

Therefore, also in this embodiment, by using the control circuit having the same configuration as that of FIG. 22, it is possible to reduce the load related to the drawing of the suction nozzle portion 42.

In this embodiment, the reflection plate 60 is divided into three regions 66 to 70 having different reflectances, but it may be divided into three or more stages. Also, the reflector 6
The same effect can be obtained by partially changing the thickness of 0.

FIG. 26 shows the structure of an electric vacuum cleaner according to the fifth embodiment of the present invention, particularly the movement sensor 72 thereof. The movement sensor 72 shown in FIG.
4, a blocking type photo interrupter 80 including a light emitting element 76 and a light receiving element 78. The feature of this embodiment resides in that, as shown in FIG. 26 (b), the circular shading plate 74 is set so that the interval between the blade and the notch is different from that of the other part. That is, the blade and the notch shown in the lower part of the figure have a width twice that of the other blades and the notch.

Therefore, when the movement sensor 72 is used, the output of the light receiving element 78 varies depending on the rotating direction of the circular light shielding plate 74, as shown in FIG. That is, at the blade and notch portion having a long width, the width of the output signal of the light receiving element 78 due to the blocking / transmitting of the light beam is twice the width of the other portion, so when this portion arrives. Thus, as shown in FIGS. 27A and 27B, it is possible to know whether the circular light shielding plate 74 is rotating left or right.

FIG. 28 shows the configuration of a circuit for amplifying the output signal of the light receiving element 78. As shown in this figure, the output of the light receiving element 78 is amplified by the operational amplifiers 80 and 82.

Therefore, according to the present embodiment, by using the control circuit having the structure shown in FIG. 22, it is possible to reduce the load related to the drawing of the suction nozzle portion 42. In this case, the rotation detection unit 53 is shown in FIG.
The times T ₁ and T ₂ indicated by are measured, and the rotation direction of the circular light shielding plate 74 is detected by successively observing the measurement results.

Specifically, the time T ₁ is started to be measured at the point A in FIG. 27 (a), and the falling edge does not yet come at the time when the time T ₁ related to the short blade has elapsed.
And the measurement is continued until time point B. After the falling edge arrives at time B, measurement of time T _I is started from this point. Since the rising H does not come even after the time T ₂ relating to the short blade has elapsed since the measurement was started,
This is registered as 0. Similarly, when the circular light shielding plate 74 is rotating to the right, as is clear from FIG.
0 is registered first and then 1 is registered.

Therefore, the rotation detecting portion 53 can know the rotation direction of the circular light shielding plate 74 depending on whether the registered value changes to -1-0- or -0-1-.

[0087]

As described above, according to the first aspect of the present invention.
According to the above, since the floor surface type is determined by using the output of the floor surface sensor during the period when the suction nozzle portion is moving, even if there is a change in the floor surface sensor output due to the start of the suction nozzle portion or the like. It is possible to accurately determine the type of floor surface, including the length of the fluff of the carpet, and to execute accurate electric blower control. Further, according to the second aspect of the present invention, similarly, the type of floor surface is accurately determined, and the rotary brush can be controlled more accurately.

Further, according to the third aspect, the type of the floor surface is judged by comparing the output of the floor surface sensor with the contents of the memory, so that the operation of the cleaner main body and / or the suction nozzle portion can be performed simply and more accurately. Can be controlled. According to claim 4, the type of the floor surface is determined based on the average value of the output of the floor surface sensor during the movement of the suction nozzle portion a plurality of times. More precise control is possible. According to claim 5, since the output of the floor sensor when the suction nozzle is moving is used as an input layer, the type of the floor is processed and detected based on the result of mapping the input / output relationship by the neural network. The operation of the cleaner body and / or the suction nozzle can be controlled quickly and optimally.
According to claim 6, the output of the floor surface sensor when the suction nozzle portion is moving is used as the antecedent portion to deduce the type of the floor surface according to a predetermined fuzzy control rule. The operation of the suction nozzle section can be controlled accurately and adaptively.

According to claim 7 of the present invention, the floor surface sensor detects the physical characteristics of the floor surface, the movement sensor detects the movement speed and movement distance of the suction nozzle portion, and the direction sensor detects the movement direction of the suction nozzle portion. However, since the floor type is determined and the cleaner body and / or the suction nozzle unit is driven and controlled based on the detection result, even if the output of the floor sensor changes due to the start of the suction nozzle unit or the like. It is possible to accurately determine the type of floor surface, and it is possible to execute suitable control according to the movement (speed, distance, direction, etc.) of the suction nozzle portion.

According to the eighth aspect of the present invention, since the moving direction of the suction nozzle portion is detected and the cleaner body is drive-controlled according to the detection result, the load accompanying the movement of the suction nozzle portion can be reduced. Become. Further, according to the ninth and tenth aspects of the present invention, since the moving direction of the suction nozzle portion is detected and the rotation direction of the rotary brush is controlled according to the detection result, the suction nozzle portion also moves. The load can be reduced.

According to the eleventh aspect of the present invention, since the cut-off type photo interrupter is constructed by using the circular reflectors having the two kinds of blades of different lengths, the circular reflectors are changed due to the output change of the two light receiving elements. The rotation direction can be detected, and the movement direction of the suction nozzle portion can be detected by the rotation direction of the circular reflector. According to claim 12 of the present invention, 3
Since the reflective photointerrupter was constructed by using the reflective plates that were painted separately in the order of reflectance, the rotational direction of the reflective plate was detected from the output change of the light receiving element, and the moving direction of the suction nozzle part was determined by the rotational direction of the reflective plate. Can be detected. According to the thirteenth aspect of the present invention, since the cut-off photointerrupter is configured by using the circular light-shielding plates in which at least a part of the blades are arranged at unequal intervals, the circular reflection due to the output change of the light-receiving element. The rotation direction of the plate can be detected, and the movement direction of the suction nozzle portion can be detected by the rotation direction of the circular reflecting plate.

[Brief description of drawings]

FIG. 1 is a partial cross-sectional view showing the overall configuration of an electric vacuum cleaner according to a first embodiment of the present invention.

FIG. 2 is a sectional view showing a suction nozzle portion in the first embodiment.

FIG. 3 is a diagram showing a movement sensor in the first embodiment.

FIG. 4 is a sectional view showing a floor sensor according to the first embodiment.

FIG. 5 is a sectional view showing a floor surface sensor in the first embodiment.

FIG. 6 is a block diagram showing a configuration of a control circuit in the first embodiment.

FIG. 7 is a flowchart showing the operation of the first embodiment.

FIG. 8 is a diagram showing an operation of the first embodiment.

FIG. 9 is a diagram showing an operation of the first embodiment.

FIG. 10 is a diagram showing outputs of a movement sensor and a floor surface sensor obtained by an experiment.

FIG. 11 is a diagram showing an operation of the first embodiment.

FIG. 12 is a diagram showing an operation of the first embodiment.

FIG. 13 is a diagram showing an operation of the first embodiment.

FIG. 14 is a diagram showing an operation of the first embodiment.

FIG. 15 is a sectional view showing a moving direction sensor in the second embodiment.

FIG. 16 is a diagram showing an operation of the second embodiment.

FIG. 17 is a flowchart showing the operation of the second embodiment.

FIG. 18 is a partial cross-sectional view showing the structure of a suction nozzle portion according to the third embodiment of the present invention.

FIG. 19 is a schematic cross-sectional view and a plan view showing the configuration of a movement sensor according to a third embodiment.

FIG. 20 is a diagram showing changes in the output of the light receiving element in the third embodiment.

FIG. 21 is a diagram showing an output circuit of a light receiving element in the third embodiment.

FIG. 22 is a block diagram showing the configuration of a control circuit in the third embodiment.

FIG. 23 is a partial cross-sectional view and a plan view showing the configuration of a movement sensor according to a fourth embodiment.

FIG. 24 is a diagram showing changes in the output of the light receiving element in the fourth embodiment.

FIG. 25 is a diagram showing a configuration of an output circuit of a light receiving element in the fourth embodiment.

FIG. 26 is a partial cross-sectional view and a plan view showing the configuration of the movement sensor in the fifth embodiment.

FIG. 27 is a diagram showing changes in the output of the light receiving element in the fifth embodiment.

FIG. 28 is a diagram showing an output circuit of a light receiving element in the fifth embodiment.

FIG. 29 is a perspective view showing a suction nozzle section according to a first conventional example.

FIG. 30 is a partial cross-sectional view showing a suction nozzle portion of an electric vacuum cleaner according to a second conventional example.

[Explanation of symbols]

 2 suction nozzle main body 3 front wheel 4 rear wheel 8 rotary brush 10 rotary brush motor 11 rotation sensor 13 cleaner main body 16,42 suction nozzle section 18 blower motor 19 dust collection chamber 25, 59, 72 movement sensor 26 circular shading plate 27,80 Photointerrupter 33,60 Reflector 34 Floor sensor 37 Control unit 43,44 Blades 45,74 Circular light-shielding plate 46,47,62,76 Light emitting element 48,49,64,78 Light receiving element 53 Rotation detecting section 54 Output converter 56 Motor control signal for rotating brush 58 Motor control signal for blower 66, 68, 70 area

Front page continued (72) Inventor Ryoji Minagawa 2-14-40 Ofuna, Kamakura-shi, Kanagawa Mitsubishi Electric Corporation Living Systems Research Center (72) Inventor Kenichi Ito 2-14-40 Ofuna, Kamakura-shi, Kanagawa Mitsubishi Electric Living Systems Research Institute Co., Ltd. (72) Inventor Kanji Goto 1728 Omaeda 1 Omaeda, Hanazono-cho, Osato-gun, Saitama 1 Mitsubishi Electric Home Equipment Co., Ltd. (72) Hiroshi Taguchi 1728 Omaeda Oza-da, Hanazono-cho, Saitama Mitsubishi Electric Home Equipment Co., Ltd. (72) Inventor Akihiro Iwahara 1728 Omaeda, Omaeda, Hanazono-cho, Oza-gun, Saitama Prefecture 1 Mitsubishi Electric Home Equipment Co., Ltd.

Claims (13)

[Claims] 1. A suction nozzle portion that is in contact with a floor surface, an electric blower that collects dust in a dust collection chamber through the suction nozzle portion, a floor surface sensor that detects physical characteristics of the floor surface, and a suction nozzle. An electric vacuum cleaner, comprising: a control unit that determines a floor type based on an output of a floor sensor during a period in which the unit is moving and that drives and controls an electric blower according to the determination result. 2. A suction nozzle part which has a rotating brush which is in communication with the dust collection chamber and which is rotatable and which is brought into contact with the floor surface, a floor surface sensor for detecting physical characteristics of the floor surface, and a suction nozzle part. An electric vacuum cleaner, comprising: a control unit that determines a floor type based on an output of a floor sensor during a moving period, and controls the drive of a rotating brush according to the determination result. 3. A suction nozzle portion that is in contact with the floor surface, a cleaner body that collects dust from the floor surface through the suction nozzle portion, a memory that stores physical characteristics of the floor surface for each type, and a floor. The type of floor surface is determined by comparing the floor surface sensor that detects the physical characteristics of the surface with the memory content and the output of the floor surface sensor, and depending on the determination result, the cleaner main body and / or the suction nozzle An electric vacuum cleaner comprising: a control unit that controls an operation. 4. A suction nozzle portion that is in contact with the floor surface, a cleaner body that collects dust from the floor surface through the suction nozzle portion, a floor surface sensor that detects physical characteristics of the floor surface, and a suction nozzle. It is determined whether the unit has moved a plurality of times, the type of floor surface is determined based on the average value of the output of the floor surface sensor during the plurality of movements, and the cleaner body and / or
Alternatively, a control unit that drives and controls the suction nozzle unit; 5. A suction nozzle portion that is in contact with the floor surface, a cleaner body that collects dust from the floor surface through the suction nozzle portion, a floor surface sensor that detects physical characteristics of the floor surface, and a suction nozzle. The type of floor surface is detected based on the result of mapping the input / output relationship by the neural network using the output of the floor surface sensor as the input layer when the room is moving, and the cleaner body and / or the suction nozzle is detected according to the detection result. An electric vacuum cleaner comprising: a control unit that drives and controls the unit. 6. A suction nozzle portion that is in contact with the floor surface, a cleaner body that collects dust from the floor surface through the suction nozzle portion, a floor surface sensor that detects physical characteristics of the floor surface, and a suction nozzle. Based on the output of the floor sensor when the room is moving as the antecedent, the floor type is deduced according to a predetermined fuzzy control rule, and the cleaner body and / or the suction nozzle section is driven and controlled according to the deduction result. An electric vacuum cleaner comprising: a controller. 7. A suction nozzle portion that is in contact with the floor surface, a cleaner body that collects dust from the floor surface through the suction nozzle portion, a floor surface sensor that detects physical characteristics of the floor surface, and a suction nozzle. The movement sensor that detects the moving speed and movement distance of the floor, the direction sensor that detects the moving direction of the suction nozzle, and the floor surface sensor, and the type of floor surface is determined based on the output values of the movement sensor and the direction sensor. An electric vacuum cleaner, comprising: a control unit that drives and controls a cleaner body and / or a suction nozzle unit according to a result. 8. A suction nozzle part which is brought into contact with the floor surface, a cleaner body which collects dust in the dust collecting chamber through the suction nozzle part, and means for detecting a moving direction of the suction nozzle part, An electric vacuum cleaner comprising: a control unit that reduces the load associated with the movement of the suction nozzle unit by controlling the drive of the cleaner body according to the moving direction. 9. A suction nozzle part having a rotary brush which is in communication with the dust collection chamber and rotatable back and forth, and which abuts on the floor surface, and whether the suction nozzle part moves forward or backward. An electric vacuum cleaner comprising: a detecting unit; and a control unit that rotates a rotating brush forward when the detected moving direction is forward and backward when the detected moving direction is backward. 10. A suction nozzle part, which has a rotating brush communicating with the dust collecting chamber and rotatable back and forth, communicates with the dust collecting chamber and contacts the floor surface, and the suction nozzle part moves to the left. Whether it is moving to the right or to the right, and a control unit that reduces the load accompanying the movement of the suction nozzle unit by switching the rotation direction of the rotary brush according to the detected movement direction. Vacuum cleaner characterized by. 11. A suction nozzle part that is in contact with a floor surface, two light emitting elements, two light receiving elements provided corresponding to each light emitting element, and a circular light shielding plate that rotates with dust collection. The interrupting type photo interrupter, a means for detecting the rotating direction of the circular shading plate based on the sum of the outputs of the two light receiving elements, a cleaner body for collecting dust from the floor through the suction nozzle, and the circular shading plate A control unit that reduces the load accompanying the movement of the suction nozzle unit by controlling the operation of the suction nozzle unit and / or the cleaner body according to the rotation direction, and has different lengths on the circumference of the circular light shielding plate. Each of the two types of blades is provided to block / transmit the light beam emitted from both light emitting elements to the corresponding light receiving element by the long blade, and the one light emitting element is supported by the short blade. Emitted to the light receiving element Vacuum cleaner, characterized in that to shut off / transmit was light. 12. A reflection type photointerrupter having a suction nozzle portion which is in contact with a floor surface, a light emitting element, a light receiving element provided corresponding to the light emitting element, and a reflecting plate which rotates with dust collection, and a light receiving element. Means for detecting the rotation direction of the reflector based on the output of the cleaner, the cleaner body that collects dust from the floor surface through the suction nozzle section, and the suction nozzle section and / or the cleaner body depending on the rotation direction of the reflector. And a control unit for reducing the load caused by the movement of the suction nozzle unit by controlling the operation, and the reflector has at least 3 along the circumference so that the light beam emitted by the light emitting element is reflected toward the light receiving element. An electric vacuum cleaner, characterized in that it is painted in order according to the reflectance in stages. 13. A cut-off photointerrupter having a suction nozzle portion which is in contact with a floor surface, a light emitting element, a light receiving element provided corresponding to the light emitting element, and a circular light shielding plate which rotates with dust collection, and a light receiving element. A means for detecting the rotation direction of the circular shading plate based on the output of the element, a cleaner body for collecting dust from the floor surface through the suction nozzle unit, and a suction nozzle unit and / or a cleaning unit depending on the rotation direction of the circular shading plate. A control unit that controls the operation of the machine body to reduce the load accompanying the movement of the suction nozzle, and blocks the light beam emitted by the light emitting element toward the light receiving element on the circumference of the circular light shielding plate. An electric vacuum cleaner, wherein a plurality of blades are arranged so as to be transparent, and at least a part of the blades is arranged at unequal intervals.