JPH0531059A - Control system, optimum control quantity determining device, and vacuum cleaner - Google Patents

Abstract

PURPOSE:To provide the optimum intake quantity in response to the floor surface and the using state by detecting multiple feature quantities from the shape of the output signal of a load state detecting device, judging the type of the load, and controlling a motor based on the result. CONSTITUTION:The present operating state is detected by a load state detection section 6 from the output signal of a detecting sensor 4 of the load state on a load object 1 in the load state determined by the intent of an operator, and multiple feature quantities in response to the type of the load are detected by a feature quantity extraction section 7. Outputs of the load state detection section 6 and the feature quantity extraction section 7 are inputted to a load object judgment section 8, where neuro/fuzzy calculations are performed to synthetically judge the type of the load. A control object 2 is controlled via a motor 3 according to the result. The operating state in response to the intent of the operator can be realized.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a household electric appliance such as an electric vacuum cleaner and a washing machine, and more particularly to an electric vacuum cleaner which is optimally operated according to a floor surface to be cleaned and a usage condition of a user.

[0002]

2. Description of the Related Art A conventional vacuum cleaner is disclosed in JP-A-64-52430.
As described in Japanese Patent Publication No. JP-A-2003-264, what the surface to be cleaned is is detected from the change in the current flowing through the power brush motor provided at the suction port, and the input of the fan motor is controlled based on the result.

[0003]

In the above-mentioned prior art, for example, the current flowing through the nozzle motor provided at the suction port varies depending on the person who operates the suction port. There was a problem that made mistakes.

An object of the present invention is to provide an electric vacuum cleaner capable of automatically obtaining an optimum suction force according to the floor surface to be cleaned and the usage condition of the user.

[0005]

A first object of the present invention is to provide a control system including a control target driven by a motor and a detection device for detecting a load state of the control target,
From the shape of the output signal of the detection device, a plurality of feature quantities corresponding to the type of the load of the control target is extracted, the type of the load of the control target is comprehensively determined from the plurality of feature quantities, and the comprehensive determination result This is achieved by including an optimum control amount determination mechanism that transmits a control command to the motor based on

A second object of the above is to provide a filter for collecting dust, a fan motor of a variable speed for applying a suction force to the cleaner, a controller for adjusting an input of the fan motor, and a cleaner. A pressure sensor for detecting clogging of the filter in the main body case and a suction port operated by an operator are provided, and static pressure fluctuations are detected from the output of the pressure sensor due to the suction port operation during cleaning, This is achieved by extracting from the shape of the variation value a characteristic amount corresponding to the type of cleaning floor surface by the control device and controlling the input of the fan motor according to the characteristic amount.

[0007]

In the first object, since the load state determined by the operator's intention appears as a change in the output signal of the load state detection sensor, a plurality of characteristic quantities corresponding to the load state are detected from this change, The optimum control amount determination mechanism performs neuro and fuzzy calculations from these multiple feature amounts to comprehensively judge the load state, and by controlling the controlled object based on the result, the operating state according to the operator's intention is realized. Can provide home appliances that can.

For the second purpose, since the suction port is in direct contact with the floor surface, a variation in the output of the pressure sensor provided in the case of the cleaner body appears due to the suction port operation during cleaning, and the shape of this variation is cleaned. Different for each floor. Therefore, by detecting the characteristic amount of the cleaning floor surface with the microcomputer from this variation shape and controlling the input of the fan motor according to the characteristic amount, the suction force can be adjusted steplessly, and further the operator's An electric vacuum cleaner that can be cleaned with an optimum suction force according to the degree of suction operation is obtained.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. Although the present invention is intended for home appliances, the case where it is applied to a vacuum cleaner will be mainly described. In this embodiment, it is premised that a variable speed motor is used as a fan motor as a drive source of the vacuum cleaner. The variable speed motor may be an AC commutator motor, a phase control motor, an induction motor driven by an inverter, a reluctance motor, a brushless motor, or the like, the speed of which changes by controlling the input, but in the present embodiment, the AC commutation motor is used. An example will be described in which a brushless motor, which does not have a child motor and a brush accompanied by mechanical sliding, and therefore has a long life and good control response, is used as a fan motor.

Further, in the present embodiment, it is premised that one having a nozzle motor for driving a rotary brush in the suction port (hereinafter referred to as a power brush suction port) and one having no nozzle motor (hereinafter referred to as a general suction port) are used. A DC magnet motor or an AC commutator motor can be considered as the nozzle motor. In this embodiment, an example using a DC magnet motor with a built-in rectifier circuit will be described. Further, an example will be described in which a pressure sensor (semiconductor pressure sensor) is provided in the cleaner body for detecting clogging of the filter.

FIG. 1 shows the control system of the present invention. In the figure, reference numeral 1 is a cleaning floor surface for an electric vacuum cleaner, load amount such as cloth amount and quality for a washing machine, 2 is a fan for electric vacuum cleaner, and pulsator for a washing machine ,
Reference numeral 3 is a motor, 4 is a vacuum floor detection sensor in the case of an electric vacuum cleaner, cloth amount, cloth quality and dirt detection sensors in the case of a washing machine, 5 is an optimum control amount determination mechanism, 6 is a load state detection unit , 7 is a cleaning floor surface in the case of an electric vacuum cleaner, a feature amount extraction unit corresponding to the amount and quality of cloth in the case of a washing machine, and 8 is a load target from outputs of the load state detection unit 6 and the feature amount extraction unit 7. A load target determination unit, 9 is a control command generation unit that generates a control command based on the output of the load target determination unit 8, and the motor 3 is controlled according to the control command so as to be in an optimum operating state. . In other words, the home electric appliance targeted by the present invention can be automated if the operator's intention is set and the optimum operation can be automatically performed. Therefore, with respect to the load object 1 which is a load state determined by the operator's will, the load state detection unit 6 detects the current operating state from the output signal of the load state detection sensor 6, and the feature amount extraction unit 7 A plurality of feature amounts corresponding to the type of load are detected, and the outputs of the load state detection unit 6 and the feature amount extraction unit 7 are used as inputs to perform a neuro and fuzzy calculation by the load target determination unit 8 to comprehensively load the load. By controlling the controlled object 2 via the motor 3 according to the result of the determination, it is possible to provide a home electric appliance that can realize an operating state according to the intention of the operator.

An actual application example will be described below. Figure 2
Is a block diagram showing a schematic configuration of a vacuum cleaner control system, FIG. 3 is a configuration of a vacuum cleaner control circuit, and FIG. 4 is a schematic structure of a vacuum cleaner.

2 to 4, 1 is a load object consisting of a cleaning floor, 2 is a control object consisting of a fan 24, 3 is a motor consisting of a fan motor 23 and a power brush motor 25, and 4 is a clogging of a filter 33. A sensor including a pressure sensor (semiconductor pressure sensor) for detecting a load state detection process (load state detection unit) 6 for detecting an operating state of the controlled object 2, and a feature amount corresponding to the cleaning floor surface 1 are extracted. Cleaning floor surface-corresponding feature amount extraction processing (feature amount extraction unit including neuro cleaning floor surface-corresponding feature extraction processing 7A and fuzzy cleaning floor surface-corresponding feature extraction processing 7B) 7, neuro calculation processing 12, and A load target determination unit 8 including a fuzzy calculation process 14, a suction characteristic determination process 13, a triac phase time determination process 15, and an ignition signal generation process 16.
The optimal control amount determining mechanism is composed of a control command generator 9 consisting of. Reference numeral 10 is a static pressure detection circuit for converting the output of the pressure sensor 4 into static pressure, 11 is a low-pass filter composed of a resistor R and a capacitor C for removing noise components of the output signal of the static pressure detection circuit 10, and 17 is an AC power supply 19. A zero-cross detection circuit for detecting a zero-cross, 18 is a microcomputer including a central processing unit (CPU) 18-1, a read-on memory (ROM) 18-2, a random access memory (RAM) 18-3, etc. Although not connected to each other by an address bus and a control bus, the optimum control amount determining mechanism 5 is stored in the microcomputer 18. The ROM 18-2 has a program necessary for driving the fan motor 23, for example, a load state detection process 6, a feature amount extraction process 7, a neuro calculation process 12, a fuzzy calculation process 14, a suction characteristic determination process 13, a triac phase. A time determination process 15, an ignition signal generation process 16, a zero cross detection process 17 and the like are stored. RAM18
-3 is used for reading and writing various data necessary for executing various programs stored in the ROM 18-2. Reference numeral 20 is a triac FLS1, 22 for adjusting the voltage applied to the fan motor 23.
Is a triac FLS2 for adjusting the applied voltage of the power brush motor 25 that drives the rotary brush 26 in the suction port 36, and is driven by the ignition circuits 27 and 28, respectively. In addition, 21 is a display circuit for displaying the operating state of the vacuum cleaner, 29 is an operation switch provided in the hand operation unit 35, and 30 is a rotary brush 26 provided in the hand operation unit 35.
Is a power brush switch for activating or not (when the power brush switch 30 is turned on, it becomes a power brush suction port, and when it is turned off, it becomes a general suction port). The vacuum cleaner control circuit 31 is configured by the circuit configuration described above.

In such a control system, the vacuum cleaner operated on the cleaning floor surface 1 is a cleaner main body 32, an electric blower having a display circuit 21, a fan motor 23 and a fan 24 therein, a pressure sensor 4, The control circuit 31 for the vacuum cleaner and the filter 33 are housed, the hose 34, the handy operation unit 3
5, it is composed of an extension pipe 37 and a suction port 36.

Next, the internal structure of the power brush suction port is shown in FIG.
Shown in. In the figure, inside the suction case 36A of the power brush suction port 36, there are a power brush motor 25, a rotary brush 26, and a brush 39 attached thereto.
40 is a timing belt for transmitting the driving force of the power brush motor 25 to the rotary brush 26, 42 is a suction extension tube,
41 is a roller. The power supply lead wire 38 of the power brush motor 25 is a power supply wire 37 A provided in the extension pipe 37.
It is connected to the.

As a result, when the power brush motor 25 is supplied with electric power and rotates, the rotary brush 26 rotates via the timing belt 40. When the power brush suction port 36 is brought into contact with the cleaning floor surface 1 while the rotary brush 26 is rotating, the brush 3 attached to the rotary brush 26
9 hits the surface of the cleaning floor 1 to improve the cleaning efficiency.

If the operator operates the suction port 36 back and forth on the cleaning floor surface 1 while the fan motor 23 is being driven, the output signal of the low-pass filter 11 fluctuates as shown in FIG. Fig. 6 (a) shows "Yuka" on the cleaning floor 1,
6B shows a typical example of the output signal of the low-pass filter 11 when the suction port 36 is operated on the "folding" of the cleaning floor 1 and FIG. 6C. Is. That is, it was found that the output signal of the low-pass filter 11 differs depending on the type of the cleaning floor surface 1, and the feature amount corresponding to the type of the cleaning floor surface 1 is extracted from this output signal. As an example, the average value of the captured data within a certain sampling time is obtained, and the number of times the captured data crosses (when the average value is crossed) the average value is the cross count CR, and the exceeded time is t ₁ , The lowering time is t ₂ , and (t ₁ −t ₂ ) is the operation time difference TD,
Let (t ₁ / (t ₁ + t ₂ )) be the operation time ratio TR, and let the deviation between the maximum and minimum values of the static pressure be the static pressure fluctuation width ΔH. FIG. 7 shows the relationship between the cleaning floor surface 1 and the number of crosses CR, the operation time difference TD, and the operation time ratio TR, which are the cleaning floor surface corresponding feature amounts. 7 (a) shows the number of crosses CR, FIG. 7 (b) shows the operation time difference TD, and FIG. 7 (c) shows the correspondence between the operation time ratio TR and the cleaning floor surface 1. The horizontal axis shows the number of crosses CR, the operation. The probability of each cleaning floor surface with respect to the magnitude of the time difference TD and the operation time ratio TR is shown. From the figure, when the type of the cleaning floor surface 1 is specified with the size of one cleaning floor surface corresponding feature amount, there is a case where the respective cleaning floor surfaces 1 correspond to each other at the same output level, which makes determination difficult. . However, when comparing the sizes of the respective cleaning floor surface corresponding feature amounts, the corresponding positions of the cleaning floor surface 1 with respect to the output level are different. Therefore, by using a plurality of cleaning floor surface corresponding feature amounts, the cleaning floor surface 1 It can be said that the type of can be determined.

As described above, according to the present invention, when the operator operates the suction port back and forth on the cleaning floor surface, the signal corresponding to the cleaning floor surface is added to the output signal of the low-pass filter provided after the pressure sensor. , The cleaning floor surface corresponding feature quantity extraction unit extracts them as a plurality of feature quantities, and performs a neuro operation and a fuzzy operation to comprehensively determine the type of the cleaning floor surface. It is possible to provide an electric vacuum cleaner that can perform cleaning with an optimum suction force according to the cleaning floor surface and the operation force of a person by controlling the.

Next, the load object determination unit will be described. There is a neural net as a method for determining a cleaning floor surface using a plurality of cleaning floor surface corresponding feature amounts. FIG. 8 shows a unit structure of the neural network in the neuro operation unit 12. The inputs χ _{1 to} χ ₃ (corresponding to the cleaning floor surface corresponding feature amount) are multiplied by the weighting factors ω _{1 to} ω ₃ 46, respectively, and the multiplication values are combined (combination of each multiplication value is sum of products 43 It is a neural network that outputs the sum of products by the Sigmoid function 44 and outputs it as the output signal z _i .
The output y of the sum of products 43 and the output z of the Sigmoid function 44 are obtained by the formula shown in FIG.

FIG. 9 is an explanatory diagram of the fuzzy operation of the fuzzy operation unit 14. That is, in rule 1, the conformance of the input x _{1 to} the membership A ₁₁ and the input x
The area of the output membership B ₁ is calculated from the smaller one of the _two which is smaller than the fitness for the membership A ₁₂ . Similarly for rule 2, output membership B ₂
Find the area of. Then, the areas corresponding to the number of rules are overlapped to obtain the center of gravity, and this center of gravity becomes the output of the fuzzy operation.

FIG. 10 shows a fuzzy rule applied to the vacuum cleaner of the present invention, and FIG. 11 shows a membership function applied to the vacuum cleaner of the present invention. The operating air volume Q corresponds to the input x ₁ , and this air volume Q is, as shown in FIG. 2, the absolute value of the static pressure which is the output of the load state detecting unit 6 |
H |, or when the fan motor 23 is an AC commutator motor, it is obtained as a function of the phase control angle of the triac FLS1 which is the control element. The static pressure fluctuation width ΔH corresponds to the input x ₂ , and the static pressure fluctuation width ΔH is affected by the operation force of the operator who operates the suction port and the type of the cleaning floor surface.
It is mainly affected by the operating force of the operator. The membership functions for input and output are five memberships, namely "small", "slightly small", "standard", "slightly large", and "large".

FIG. 12 shows the processing contents of the control block diagram including the above neuro operation and fuzzy operation. The number of crosses CR, which is the output of the cleaning floor surface corresponding feature amount extraction processing 7,
The neuro operation unit 12, which receives the operation time difference TD and the operation time ratio TR, adopts the structure of a neural network called "hierarchical network", and is composed of an input layer, an intermediate layer and an output layer, and each unit of each layer is The structure of the unit shown in FIG. 8 is formed. The weighting coefficient ω _i in each unit uses a learning rule called “back propagation (error backpropagation method)”, which is not shown, and inputs each unit in the input layer, and outputs the value output from the output layer. The bond strength between the units is changed so as to minimize the difference by comparing with a desired value (teaching data), and this represents the bond strength. The output signals 12A, 12B and 12C of the neuro operation unit 12 are "Yuka",
It is an output signal corresponding to "Tatami" and "Carpet". The suction characteristic determination unit 13 outputs the phase control angle f (θ) that keeps the air volume Q and the static pressure H constant according to “Yuka”, “Tatami”, and “Carpet” from the output of the neuro calculation unit 12. Here, the constant air volume Q ensures the minimum necessary air volume and static pressure at the suction port, and the static pressure increases according to the degree of clogging of the filter. The constant static pressure H reduces the adhesion between the cleaning floor surface and the suction port. For example, even if a foreign substance sticks to the suction port, the static pressure rises only up to a certain value, which is an advantage that the foreign substance can be easily removed. . That is, since the suction force of the vacuum cleaner is proportional to the product of the air volume Q and the static pressure H, and the dust suction performance depends on the air volume Q, the air volume constant shown in the figure depends on the type of the cleaning floor surface. And the phase control angle f (θ) corresponding to the static pressure constant command. Whether the air volume is constant and the static pressure is constant can be judged from the static pressure value because the absolute value of the static pressure is input.

Further, the fuzzy calculation unit 14 receives the static pressure fluctuation width ΔH which is the output of the cleaning floor surface corresponding feature amount extraction unit 7 and the absolute value | H | of the static pressure which is the output of the load state detection unit 6 as inputs. The fuzzy operation is performed to extract the operating force of the sucker operator,
The correction amount f (Δθ) of the phase control angle is output according to the result. When the correction amount f (Δθ) of this phase control angle is expressed by the air volume,
As shown in the suction characteristic determination unit 13, it corresponds to slightly increasing or decreasing the air volume constant command. Phase time determination unit 15
Is the phase control angle f (θ) which is the output of the suction characteristic determination unit 13 and the correction amount f of the phase control angle which is the output of the fuzzy calculation unit 14.
(Δθ) is added and the result is TRIAC FLS1
Phase control angle θ ₁ of TRIAC FLS 2
Decide on ₂ . This phase control angle θ ₁ is the phase control angle of the fan motor 23 that makes the air volume constant according to the cleaning floor surface, and the phase control angle θ ₂ of the power brush motor 25 provided in the suction port according to the cleaning floor surface. It determines the rotation speed, and "Yuka", "Tatami", and "Carpet" on the cleaning floor.
The rotation speed increases in the order of. Next, the ignition signal generation processing will be described. FIG. 13 shows the configuration of the zero-cross detection circuit, and FIG. 14 shows the voltage and current applied to the motor. 13 and 14, when the AC power supply 19 has the voltage Vs in FIG. 14A, the resistance R ₂ , the photocoupler PS, and the resistance R ₃
The zero cross detection circuit 17 consisting of
The zero-cross signal 17S shown in is obtained. The microcomputer 18 synchronizes the count timer shown in FIG. 14C with the rising edge of the zero-cross signal 17S.
When the count timer reaches zero, the microcomputer 18 outputs an ignition signal 18D to the triacs FLS1 and FLS2 (not shown, but the zero cross is operated in synchronization with the falling of the zero cross signal). The signal 17S may be inverted).
The firing signal generation process 16 receives the output signal of the triac phase time setting process 15 and sets the time t _{f of the} count timer. By adjusting this time t _f , the voltage applied to the motor changes, This controls the rotation speed of the motor, so-called input.

FIG. 15 shows the operation result when the electric vacuum cleaner employing the above-described control system of the present invention is operated on the actual cleaning floor surface. From the figure, compared to the conventional (only in the case of fuzzy control), according to the neuro & fuzzy control of the present invention, the optimum rotation speed for each cleaning floor surface, in other words, the time to reach the optimum suction force, that is, the response It has the effect of increasing the speed. It should be noted that the standby operation shown in FIG. 15 is determined not to be cleaning, and the energy saving operation is performed by increasing the sensitivity of the pressure sensor and decreasing the rotation speed.

Next, another embodiment will be described. FIG.
Shows the relationship between the cleaning floor surface and the cleaning floor surface corresponding feature amount, and FIG. 17 shows the processing contents of the optimum control amount determination mechanism using the cleaning floor surface corresponding feature amount of FIG. The difference between the above-described relationship between the cleaning floor surface and the cleaning floor surface corresponding feature amount and the processing content of the optimal control amount determination mechanism of FIG. 12 is that the cleaning floor surface corresponding feature amount is
In addition to FIG. 16 (a) cross count CR and FIG. 16 (b) operation time difference TD, a dispersion SM shown in FIG. 16 (c) and a static pressure fluctuation range shown in FIG. 16 (d) are newly provided. . The variance SM is represented by the formula shown in the figure, and is the square of the difference between the average value Hm of static pressure and the instantaneous value x _i of static pressure during a certain sampling period and averaged during a certain sampling period. As a result, although the calculation time of the neural network is increased because the number of input layers is increased, as described above, it is possible to obtain the electric vacuum cleaner which can be operated with the optimum suction force for each cleaning floor surface.

Further, FIG. 18 is an explanatory diagram of bandwidth cutting, and FIG. 19 shows processing contents of the optimum control amount determining mechanism using the bandwidth of FIG. In order to improve the response speed for obtaining the optimum suction force on the cleaning floor surface, when the cleaning floor surface can be determined on the basis of the threshold value, the calculation of the neural net may be bypassed. Therefore, as shown in FIG. 18, the output signals of the low-pass filter 11 are cut by providing the bandwidths B ₁ and B ₂ . Here, if there is no output signal of the low-pass filter 11 when the bandwidth is B ₁ , the cleaning floor surface is set to “Yuka”, and if there is an output signal of the low-pass filter 11 when the bandwidth is B ₂ , the cleaning floor surface is By making the threshold value judgment 45 as "rug", it is possible to obtain an electric vacuum cleaner having a fast response speed up to the optimum suction force for each cleaning floor surface.

In the present invention described above, a plurality of characteristic quantities are detected with reference to the average value of static pressure during a certain sampling time, but a plurality of feature values are detected from the median of the maximum and minimum values of static pressure during a certain sampling time. It goes without saying that the feature amount of may be detected.

[0028]

According to the present invention, a plurality of characteristic quantities corresponding to the type of the cleaning floor surface are extracted from the shape of the output signal of the detection sensor for detecting the load state, and the neuro & fuzzy are extracted from the plurality of characteristic quantities. It is possible to provide an electric vacuum cleaner that automatically obtains an optimum suction force by performing a calculation and controlling the fan motor according to the type of the cleaning floor surface and the operation force of the operator as a result of the calculation.

[Brief description of drawings]

FIG. 1 is a control system of the present invention.

FIG. 2 is a block diagram showing a schematic configuration of a control system for an electric vacuum cleaner according to the present invention.

FIG. 3 is an overall configuration of a control circuit for an electric vacuum cleaner.

FIG. 4 is a schematic structure of a vacuum cleaner.

FIG. 5 is an internal structure of a power brush suction port.

FIG. 6 shows a static pressure fluctuation state at the time of sucking operation.

FIG. 7 shows the relationship between the cleaning floor surface and the cleaning floor surface corresponding feature amount.

FIG. 8 is a unit configuration of a neural network.

FIG. 9 is an explanatory diagram of a general fuzzy operation.

FIG. 10 is a fuzzy rule applied to the vacuum cleaner of the present invention.

FIG. 11 is a membership function applied to the vacuum cleaner of the present invention.

FIG. 12 is a processing content of an optimum control amount determination mechanism.

FIG. 13 is a configuration of a zero-cross detection circuit.

FIG. 14 shows voltage and current waveforms applied to the motor.

FIG. 15 shows the operation results of the electric vacuum cleaner of the present invention.

FIG. 16 is a relationship between the cleaning floor surface and the cleaning floor surface-corresponding feature amount using dispersion.

FIG. 17 is a processing content of an optimal control amount determination mechanism using dispersion.

FIG. 18 is an explanatory diagram of band width cutting.

FIG. 19 is a processing content of an optimal control amount determination mechanism using threshold value determination.

[Explanation of symbols]

1 ... Load target (cleaning floor surface), 2 ... Control target, 3 ... Motor, 4 ... Sensor, 5 ... Optimal control amount determination mechanism, 6 ... Load state detection unit, 7 ... Feature amount extraction unit, 8 ... Load target determination Part, 9
... control command generation unit, 10 ... static pressure detection circuit, 11 ... low-pass filter, 12 ... neuro calculation processing unit, 13 ... suction characteristic determination processing unit, 14 ... fuzzy calculation processing unit, 15 ... phase time determination processing unit, 16 ... Ignition signal generation processing unit, 17 ... Zero-cross detection circuit, 18 ... Microcomputer, 23
... Fan motor, 24 ... Fan, 25 ... Power brush motor, 31 ... Control circuit, 43 ... Sum of products, 44 ... Sigmoid function, 45 ... Threshold determination process, 46 ... Weighting coefficient.

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Hisao Suga             1-1-1 Higashitaga-cho, Hitachi City, Ibaraki Prefecture             Ceremony company Hitachi factory Taga factory (72) Inventor Mitsuhisa Kawamata             1-1-1 Higashitaga-cho, Hitachi City, Ibaraki Prefecture             Ceremony company Hitachi factory Taga factory

Claims (29)

[Claims] 1. A control system including a control target driven by a motor and a detection device for detecting a load state of the control target, wherein:
A plurality of feature quantities corresponding to the type of load of the control target are extracted, the type of load of the control target is comprehensively determined from the plurality of feature quantities, and a control command is transmitted to the motor based on the comprehensive determination result. A control system and an optimum control amount determining device, which are provided with an optimum control amount determining mechanism. 2. A control system comprising a control target driven by a motor and a detection device for detecting a load state of the control target, wherein a load of the control target is determined based on a size and a shape of an output signal of the detection device. A plurality of characteristic amounts corresponding to the types are extracted, the type of the load to be controlled and the intention of the operator are comprehensively determined from the plurality of characteristic amounts, and a control command is transmitted to the motor based on the comprehensive determination result. A control system and an optimum control amount determination device, which are provided with an optimum control amount determination mechanism. 3. A filter that collects dust, a variable speed fan motor that applies a suction force to the cleaner, a pressure sensor that detects clogging of the filter in the cleaner body case, and an operator. In a vacuum cleaner having a suction port operated by and a control device including a microcomputer for adjusting the input of the fan motor, static pressure fluctuations are detected from the output of the pressure sensor due to the suction port operation during cleaning, and Electricity characterized in that the control device extracts a plurality of characteristic amounts corresponding to the type of the cleaning floor surface from the shape of the variation value and controls the input of the fan motor according to the plurality of characteristic amounts. Vacuum cleaner. 4. The control device according to claim 3, wherein the control device detects the fluctuation range of the static pressure from the output of the pressure sensor, and performs a fuzzy calculation according to the fluctuation range of the static pressure and the operating state of the fan motor. At the same time, the electric vacuum cleaner is characterized in that the input of the fan motor is controlled according to the result and a plurality of characteristic amounts of the cleaning floor surface. 5. The electric vacuum cleaner according to claim 3, wherein the operating state of the fan motor is obtained from the absolute value of static pressure detected from the output of the pressure sensor. 6. The electric vacuum cleaner according to claim 3, wherein the operating state of the fan motor is obtained from a control command for the fan motor. 7. The operating range of the fan motor is determined by the control device according to a plurality of characteristic amounts of the cleaning floor surface, and the fluctuation range of static pressure is detected from the output of the pressure sensor. An electric vacuum cleaner, wherein fuzzy calculation is performed according to the fluctuation range of the static pressure and the operating state of the fan motor, and the operating region of the fan motor is corrected according to the result. 8. A filter for collecting dust, a variable speed fan motor for applying a suction force to a cleaner, a pressure sensor for detecting clogging of the filter in the cleaner body case, and an operator. In a vacuum cleaner having a suction port operated by and a control device including a microcomputer for adjusting the input of the fan motor, static pressure fluctuations are detected from the output of the pressure sensor due to the suction port operation during cleaning, and A plurality of feature quantities corresponding to the type of cleaning floor surface are extracted from the shape of the variation value by the control device, and the product sum of the plurality of feature quantities and weighting factors is taken and converted by a linear or non-linear function,
An electric vacuum cleaner, wherein an input of the fan motor is controlled according to an output of the linear or non-linear function. 9. The control device according to claim 8, wherein the controller determines the first input control amount of the fan motor based on the output of the linear or non-linear function, and detects the fluctuation range of the static pressure from the output of the pressure sensor. The fuzzy calculation is performed according to the fluctuation range of the static pressure and the operating state of the fan motor, and the input control amount of the first fan motor is corrected according to the result. Vacuum cleaner to do. 10. The electric vacuum cleaner according to claim 8, wherein the operating state of the fan motor is obtained from the absolute value of static pressure detected from the output of the pressure sensor. 11. The electric vacuum cleaner according to claim 8, wherein the operating state of the fan motor is obtained from a control command for the fan motor. 12. The operating range of the fan motor is determined by the controller according to the output of the linear or non-linear function, and the fluctuation range of static pressure is detected from the output of the pressure sensor. An electric vacuum cleaner, wherein fuzzy calculation is performed according to the fluctuation range of the static pressure and the operating state of the fan motor, and the operating region of the fan motor is corrected according to the result. 13. A filter for collecting dust, a variable speed fan motor for applying a suction force to a cleaner, a pressure sensor for detecting clogging of the filter in the cleaner body case, and an operator. In a vacuum cleaner having a suction port operated by and a control device including a microcomputer for adjusting the input of the fan motor, static pressure fluctuations are detected from the output of the pressure sensor due to the suction port operation during cleaning, and A plurality of feature quantities corresponding to the type of the cleaning floor surface are extracted from the shape of the variation value by the control device, and the plurality of feature quantities corresponding to the type of the cleaning floor surface are input according to the output of the neural network. An electric vacuum cleaner characterized in that the input of the fan motor is controlled. 14. The control device according to claim 13, wherein the controller determines the first input control amount of the fan motor based on the output of the neural network, and detects the fluctuation range of the static pressure from the output of the pressure sensor. An electric cleaning characterized in that fuzzy calculation is performed according to the fluctuation range of static pressure and the operating state of the fan motor, and the input control amount of the first fan motor is corrected according to the result. Machine. 15. The electric vacuum cleaner according to claim 13, wherein the operating state of the fan motor is obtained from the absolute value of static pressure detected from the output of the pressure sensor. 16. The electric vacuum cleaner according to claim 13, wherein the operating state of the fan motor is obtained from a control command for the fan motor. 17. The static pressure fluctuation range according to claim 13, wherein the controller determines an operating region of the fan motor according to the output of the neural network, and detects the fluctuation range of the static pressure from the output of the pressure sensor. The electric vacuum cleaner is characterized in that fuzzy calculation is performed according to the fluctuation range of the fan motor and the operating state of the fan motor, and the operating region of the fan motor is corrected according to the result. 18. The neural network according to claim 13, wherein the neural network is composed of an input layer, an intermediate layer and an output layer, the weighting factors of the intermediate layer and the output layer are determined off-line, and online according to the input of the input layer. An electric vacuum cleaner that is characterized by performing a neuro operation in. 19. The vacuum cleaner according to claim 13, wherein the input of the fan motor is controlled by the output of the neural network and the result of threshold value judgment using the plurality of feature quantities. 20. The method according to any one of claims 3 to 19, wherein an average value of the static pressure is detected, and a time when the instantaneous value of the static pressure exceeds the average value is t ₁ and a time when the instantaneous value is below the average value is t _2. The vacuum cleaner is characterized in that the characteristic amount of the cleaning floor surface is represented by t ₁ / (t ₁ + t ₂ ). 21. The average value of the static pressure is detected according to any one of claims 3 to 19, and the time when the instantaneous value of the static pressure exceeds the average value is t ₁ , and the time when the instantaneous value is below the average value is t _2. The electric vacuum cleaner is characterized in that the characteristic amount of the cleaning floor surface is represented by (t ₁ −t ₂ ). 22. The average value of the static pressure is detected, the bandwidth is set for the average value, and the instantaneous value of the static pressure exceeds the bandwidth of the average value. Time t
_1. An electric vacuum cleaner, characterized in that the characteristic amount of the cleaning floor surface is detected from the time t _{2 which is} lower than that. 23. The vacuum cleaner according to claim 22, wherein the band width is plural. 24. The feature of the cleaning floor surface according to claim 3, wherein the average value of the static pressure is detected, and the number of times the instantaneous value of the static pressure crosses the average value is counted. A vacuum cleaner characterized in that the quantity is represented by a count number. 25. The average value of the static pressure is detected according to any one of claims 3 to 19, and the variance of the instantaneous value of the static pressure is calculated with respect to the average value. An electric vacuum cleaner characterized by being represented by the dispersion. 26. The vacuum cleaner according to claim 3, wherein the fluctuation range of the static pressure is a deviation between a maximum value and a minimum value during a sampling time. 27. The vacuum cleaner according to claim 19, wherein the average value of the static pressure is a center value obtained by averaging a maximum value and a minimum value during a certain sampling time. 28. The electric vacuum cleaner according to claim 3, wherein a change in the static pressure is detected by an output of the pressure sensor through a low-pass filter and is used as an input signal of the control device. . 29. The power brush motor for driving a rotary brush according to claim 3, further comprising: a power brush motor for driving a rotary brush, wherein the fan motor input is controlled, and at the same time, the power brush motor input is controlled. An electric vacuum cleaner characterized in that