JPH0560376B2 - - Google Patents
Info
- Publication number
- JPH0560376B2 JPH0560376B2 JP8042986A JP8042986A JPH0560376B2 JP H0560376 B2 JPH0560376 B2 JP H0560376B2 JP 8042986 A JP8042986 A JP 8042986A JP 8042986 A JP8042986 A JP 8042986A JP H0560376 B2 JPH0560376 B2 JP H0560376B2
- Authority
- JP
- Japan
- Prior art keywords
- dust
- vacuum cleaner
- air passage
- cleaner body
- amount
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 239000000428 dust Substances 0.000 claims description 53
- 238000001514 detection method Methods 0.000 description 16
- 238000004140 cleaning Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
Landscapes
- Electric Vacuum Cleaner (AREA)
Description
【発明の詳細な説明】
産業上の利用分野
本発明は、無人で掃除を行うことのできる電気
掃除機に関するものである。DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a vacuum cleaner that can be cleaned unattended.
従来の技術
従来、この種電気掃除機は、自動走行用の車輪
と走行制御と吸込の制御用にマイクロコンピユー
ターを内蔵し、走行のための各種センサ、走行用
のモータ、吸込用のモータ、フアン、吸い込みノ
ズル、ダスト箱を内蔵し、あらかじめプログラム
されたプログラムモード、あるいは、反射テー
プ、マーカー等を目印に、またあるいは、自動的
に走行方向を制御しながら本体を移動し、無人で
掃除を行なうものであつた。Conventional technology Conventionally, this type of vacuum cleaner has built-in wheels for automatic travel, a microcomputer for travel control and suction control, and various sensors for travel, a travel motor, a suction motor, and a fan. It has a built-in suction nozzle and dust box, and can be cleaned unattended by moving the main body using pre-programmed program modes, reflective tape, markers, etc., or automatically controlling the running direction. It was hot.
発明が解決しようとする問題点
このような従来の電気掃除機では、被掃除面の
ゴミの量にかかわらず、通常一回だけ同じ所を走
行し、吸い込むのが普通であつた。このため、ゴ
ミの少ない所はそれできれいに掃除が行なえる
が、多い所は不十分なため、ゴム残りが発生する
という問題があつた。Problems to be Solved by the Invention In such conventional vacuum cleaners, regardless of the amount of dirt on the surface to be cleaned, it was normal to run the same place only once and suck it up. For this reason, areas with a small amount of dust can be cleaned thoroughly, but areas with a large amount of dust are not cleaned properly, resulting in the problem of rubber residue being generated.
また、これを防止するため、吸い込み力を大き
めに設定したり、走行スピードを遅くしておく
と、ゴミの少ない所で不必要な吸い込み電力をロ
スするという問題があつた。 In addition, if the suction force is set to be large or the traveling speed is made slow to prevent this, there is a problem that unnecessary suction power is lost in areas with little dust.
本発明は上記問題点を解消した電気掃除機を提
供することを目的とする。 An object of the present invention is to provide a vacuum cleaner that solves the above problems.
問題点を解決するための手段
上記問題点を解決するため、本発明は、電動送
風機と、自動走行機構部およびこの自動走行機構
部を制御する走行制御部を内蔵した掃除機本体
と、この掃除機本体が走行する床面に対向した吸
込口と、前記掃除機本体内の電動送風機のフアン
前方に設けたダスト箱と、吸込口とダスト箱をつ
なぐ空気通路と、この空気通路に設けられこの空
気通路内のゴミの量に応じて上記走行制御部へ入
力される信号を発するゴミ検出部とを具備し、空
気通路内のゴミの量が多い時、自動走行機構部の
入力が小となり、走行スピードが低下するように
ゴミ検出部の信号と走行制御部の制御を設定した
ものである。Means for Solving the Problems In order to solve the above-mentioned problems, the present invention provides a vacuum cleaner main body that includes an electric blower, an automatic travel mechanism section, and a travel control section that controls the automatic travel mechanism section, and A suction port facing the floor surface on which the main body runs, a dust box provided in front of the fan of the electric blower inside the vacuum cleaner main body, an air passage connecting the suction port and the dust box, and a dust box provided in this air passage. and a dust detection part that emits a signal input to the travel control part according to the amount of dust in the air passage, and when the amount of dust in the air passage is large, the input to the automatic travel mechanism part becomes small, The signal from the dust detection unit and the control from the travel control unit are set so that the travel speed is reduced.
作 用
上記本発明の構成によれば、ダスト箱内へ吸い
込まれるゴミの量を検出し、ゴミの量が多い時に
は掃除機本体の走行スピードを低下させて、より
たんねんに吸い込みをおこない、被掃除面のゴミ
の量に応じた掃除を行なうことができる。Effects According to the above configuration of the present invention, the amount of dust sucked into the dust box is detected, and when the amount of dust is large, the running speed of the vacuum cleaner main body is reduced to suck more thoroughly and absorb the dust. Cleaning can be performed according to the amount of dirt on the cleaning surface.
実施例
以下、本発明の実施例を第1図〜第4図に基づ
いて説明する。Embodiment Hereinafter, embodiments of the present invention will be described based on FIGS. 1 to 4.
図において、掃除機本体(以下本体と称す)1
には吸い込み用の電動送風機2が内蔵されてい
る。電動送風機2はモータ2aと、フアン2bよ
り構成され、フアン2bの前方にフイルター3を
内蔵したダスト箱4が設けられている。掃除機本
体1の下部右側には走行用の車輪5が設けられ、
モータ6にて駆動される。左側には同じく車輪7
とモータ8が設置され、後方には従動輪9と10
が設けられている。本体1の前方床面上部に吸込
口11が設けられ、同吸込口11とダスト箱4は
パイプ12によつて結ばれており、パイプ12と
ダスト箱4の接続部にゴミ検出部13が設けられ
ている。本体1の中央下部には電源用のバツテリ
ー14とマイクロコンピユーターを内蔵した制御
回路15が設けられている。 In the figure, the vacuum cleaner body (hereinafter referred to as the main body) 1
has a built-in electric blower 2 for suction. The electric blower 2 is composed of a motor 2a and a fan 2b, and a dust box 4 containing a filter 3 is provided in front of the fan 2b. Wheels 5 for running are provided on the lower right side of the vacuum cleaner body 1,
It is driven by a motor 6. Also on the left side is wheel 7
and motor 8 are installed, and driven wheels 9 and 10 are installed at the rear.
is provided. A suction port 11 is provided at the upper part of the front floor surface of the main body 1, and the suction port 11 and the dust box 4 are connected by a pipe 12, and a dust detection section 13 is provided at the connection between the pipe 12 and the dust box 4. It is being At the lower center of the main body 1, a battery 14 for power supply and a control circuit 15 containing a microcomputer are provided.
第3図は制御回路ブロツク図で、制御信号の流
れを図示してある。走行用モータ6には駆動制御
部16が、走行用モータ8には駆動制御部17
が、吸い込み用モータ2には吸込制御部18が接
続され、中央制御部19にはマイクロコンピユー
ターが内蔵されて、各制御部をコントロールし、
制御回路15を構成している。また中央制御部1
9はゴミ検出部13とも接続されている。ゴミ検
出部13はゴミを検出するため、赤外発光ダイオ
ード20に対向してフオトダイオード21が設け
てある。 FIG. 3 is a control circuit block diagram showing the flow of control signals. The traveling motor 6 includes a drive control section 16, and the traveling motor 8 includes a drive control section 17.
However, the suction control section 18 is connected to the suction motor 2, and the central control section 19 has a built-in microcomputer to control each control section.
A control circuit 15 is configured. In addition, the central control unit 1
9 is also connected to the dust detection section 13. The dust detection section 13 includes a photodiode 21 facing the infrared light emitting diode 20 in order to detect dust.
第4図はゴミ検出部の拡大断面図であり、中央
の空気通路22の側方に赤外発光ダイオード20
が一列に並べてあり、これに対向して空気通路2
2の反対側にフオトダイオード21が設けてあ
り、このフオトダイオード21の信号は中央制御
部19へ伝達される。 FIG. 4 is an enlarged cross-sectional view of the dust detection section, in which an infrared light emitting diode 20 is placed on the side of the central air passage 22.
They are lined up in a row, and opposite to this is the air passage 2.
A photodiode 21 is provided on the opposite side of the photodiode 2 , the signal of which is transmitted to the central control unit 19 .
上記構成において、掃除機を動かして掃除を行
なうと、バツテリー14により、モータ2,6,
8と制御回路15、ゴミ検出部13は電源を供給
されて動作し、マイクロコンピユーター内蔵の中
央制御部19の制御で駆動制御部16,17がそ
れぞれモータ6,8の制御を行ない、モータ6,
8は車輪5,7を回転させるため、本体1が移動
する。 In the above configuration, when the vacuum cleaner is moved to clean, the battery 14 causes the motors 2, 6,
8, the control circuit 15, and the dust detection section 13 are supplied with power and operate, and drive control sections 16 and 17 control the motors 6 and 8, respectively, under the control of a central control section 19 with a built-in microcomputer.
8 rotates the wheels 5 and 7, so that the main body 1 moves.
従動輪9,10は本体1の移動により自然に回
転するだけで、移動の方法はモータ6,8によつ
て駆動される車輪5,7の回転数の差で右へ曲つ
たり左へ曲つたりする。マイクロコンピユーター
にはあらかじめ走行パターンがプログラムされて
おり、その指示にしたがつてモータ6,8が制御
される。(あるいは床面に反射テープを貼り付け、
そのテープ上をセンサーで検知しながらトレース
してもよく、あるいはまた、マーカーにより電波
信号を出し、その信号を目印に走行してもよい。 The driven wheels 9 and 10 simply rotate naturally due to the movement of the main body 1, and the method of movement is such that they turn to the right or to the left depending on the difference in the rotation speed of the wheels 5 and 7 driven by the motors 6 and 8. I feel tired. A travel pattern is preprogrammed into the microcomputer, and the motors 6 and 8 are controlled according to the instructions. (Or paste reflective tape on the floor,
You may trace the tape while detecting it with a sensor, or you may emit a radio signal using a marker and run using that signal as a guide.
また吸い込み用モータ2により、フアン2bが
回転し、吸込口11よりゴミが吸い込まれ、パイ
プ12内を通り、ゴミ検出部13の空気通路22
内を通つてゴミはダスト箱4内へ吸い込まれる。 In addition, the fan 2b is rotated by the suction motor 2, and dust is sucked in from the suction port 11, passes through the pipe 12, and enters the air passage 22 of the dust detection unit 13.
Dust is sucked into the dust box 4 through the inside.
ゴミ検出部はゴミが空気通路22内を通ると、
赤外発光ダイオード20からの赤外が、フオトダ
イオード21へ達するのを妨たげられて、フオト
ダイオード21の出力信号が低下する。この信号
低下により、中央制御部19は駆動制御部16,
17に対して、スピードダウンの指示を出し、走
行用モータ6,8の出力を低下させる。 When dust passes through the air passage 22, the dust detection section detects
Infrared light from the infrared light emitting diode 20 is prevented from reaching the photodiode 21, and the output signal of the photodiode 21 is reduced. Due to this signal drop, the central control section 19 causes the drive control section 16,
17 to reduce the speed, and reduce the output of the traveling motors 6 and 8.
ゴミの少ない所を本体が移動しているときは、
空気通路22内を通るゴミの量は少なく、走行用
モータ6,8の出力は大きく、掃除機本体1は通
常のスピードで走行する。ゴミの多い所を移動し
ているときは、逆に走行用モータ6,8の出力が
低下し、このため掃除機本体1はゆつくりとした
スピードで走行し、ゴミはよりよく吸い込まれる
ことになる。 When the main unit is moving in an area with little dust,
The amount of dirt passing through the air passage 22 is small, the output of the traveling motors 6 and 8 is large, and the cleaner body 1 runs at normal speed. When moving through a place with a lot of dust, the output of the running motors 6 and 8 decreases, so the vacuum cleaner body 1 runs at a slower speed, and the dust is better absorbed. Become.
なお、第5図にゴミ検出部13の他の実施例を
上げると、赤外発光ダイオードにかえて、超音波
発振素子23と、超音波マイクロホン24を空気
通路22に対向させて設けてある。この超音波マ
イクロホンの信号を中央制御部19へ入力して
も、前記と同様の効果を得ることができる。 FIG. 5 shows another embodiment of the dust detection section 13. Instead of an infrared light emitting diode, an ultrasonic oscillation element 23 and an ultrasonic microphone 24 are provided facing the air passage 22. Even if the signal from this ultrasonic microphone is input to the central control unit 19, the same effect as described above can be obtained.
発明の効果
以上述べたように本発明は、電動送風機と、自
動走行機構部およびこの自動走行機構部を制御す
る走行制御部を内蔵した掃除機本体と、この掃除
機本体が走行する床面に対向した吸込口と、前記
掃除機本体内の電動送風機のフアン前方に設けた
ダスト箱と、吸込口とダスト箱をつなぐ空気通路
と、この空気通路に設けられこの空気通路内のゴ
ミの量に応じて上記走行制御部へ入力される信号
を発するゴミ検出部とを具備し、空気通路内のゴ
ミの量が多い時、自動走行機構部の入力が小とな
り、走行スピードが低下するようにゴミ検出部の
信号と走行制御部の制御を設定したことにより、
自動走行式の掃除機の電力ロスを妨ぎつつゴミの
吸い残しを防止し、効率の良い掃除を行なうこと
ができるものである。また吸込口とダスト箱をつ
なぐ空気通路にはゴミが集中して流動するため、
同空気通路に設けられたゴミ検出部は、ゴミ量変
化を確実に検出するもので、これにより、一層確
実な掃除作業ができるものである。Effects of the Invention As described above, the present invention provides an electric blower, an automatic travel mechanism section, a vacuum cleaner body incorporating a travel control section for controlling the automatic travel mechanism section, and a floor surface on which the vacuum cleaner body runs. A dust box provided in front of the fan of the electric blower inside the vacuum cleaner body, an air passage connecting the suction port and the dust box, and a dust box provided in the air passage that controls the amount of dust in the air passage. The dust detector is equipped with a dust detection part that outputs a signal to be input to the travel control part in response to the amount of dust in the air passage. By setting the signal of the detection unit and the control of the travel control unit,
This prevents dust from being left behind while preventing power loss in an automatically traveling vacuum cleaner, and enables efficient cleaning. In addition, since dirt concentrates and flows in the air passageway that connects the suction port and the dust box,
The dust detection section provided in the air passage reliably detects changes in the amount of dust, thereby making cleaning work more reliable.
第1図は本発明の実施例における電気掃除機の
外観斜視図、第2図は同側断面図、第3図は同ブ
ロツク図、第4図は同ゴミ検出部拡大図、第5図
は他の実施例におけるゴミ検出部の拡大図であ
る。
1……掃除機本体、2……電動送風機、2b…
…フアン、4……ダスト箱、5,7,6,8……
自動走行機構(車輪、走行用モータ)、11……
吸込口、13……ゴミ検出部、15……制御回
路、22……空気通路。
Fig. 1 is an external perspective view of a vacuum cleaner according to an embodiment of the present invention, Fig. 2 is a sectional view of the same side, Fig. 3 is a block diagram of the same, Fig. 4 is an enlarged view of the same dust detection part, and Fig. 5 is a FIG. 7 is an enlarged view of a dust detection section in another embodiment. 1...Vacuum cleaner body, 2...Electric blower, 2b...
...Juan, 4...Dust box, 5, 7, 6, 8...
Automatic traveling mechanism (wheels, traveling motor), 11...
Suction port, 13...dust detection unit, 15...control circuit, 22...air passage.
Claims (1)
動走行機構部を制御する走行制御部を内蔵した掃
除機本体と、この掃除機本体が走行する床面に対
向した吸込口と、前記掃除機本体内の電動送風機
のフアン前方に設けたダスト箱と、吸込口とダス
ト箱をつなぐ空気通路と、この空気通路に設けら
れこの空気通路内のゴミの量に応じて上記走行制
御部へ入力される信号を発するゴミ検出部とを具
備し、空気通路内のゴミの量が多い時、自動走行
機構部の入力が小となり、走行スピードが低下す
るようにゴミ検出部の信号と走行制御部の制御を
設定した電気掃除機。1. A vacuum cleaner body including an electric blower, an automatic travel mechanism section, and a travel control section that controls the automatic travel mechanism section, a suction port facing the floor surface on which the vacuum cleaner body runs, and a vacuum cleaner body inside the vacuum cleaner body. A dust box provided in front of the fan of the electric blower, an air passage connecting the suction port and the dust box, and a signal provided in this air passage that is input to the traveling control unit according to the amount of dust in this air passage. When the amount of dust in the air passage is large, the input to the automatic travel mechanism becomes small and the travel speed is reduced. Vacuum cleaner set.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP8042986A JPS62236519A (en) | 1986-04-08 | 1986-04-08 | Electric cleaner |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP8042986A JPS62236519A (en) | 1986-04-08 | 1986-04-08 | Electric cleaner |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS62236519A JPS62236519A (en) | 1987-10-16 |
JPH0560376B2 true JPH0560376B2 (en) | 1993-09-02 |
Family
ID=13718029
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP8042986A Granted JPS62236519A (en) | 1986-04-08 | 1986-04-08 | Electric cleaner |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS62236519A (en) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH02241423A (en) * | 1989-03-15 | 1990-09-26 | Matsushita Electric Ind Co Ltd | Self-running cleaner |
JP3295943B2 (en) * | 1991-02-19 | 2002-06-24 | 松下電器産業株式会社 | Self-propelled vacuum cleaner |
JPH04354920A (en) * | 1991-05-31 | 1992-12-09 | Tokyo Electric Co Ltd | Electric vacuum cleaner |
KR100283861B1 (en) * | 1998-06-13 | 2001-03-02 | 배길성 | Robot cleaner |
KR100283864B1 (en) * | 1998-06-18 | 2001-03-02 | 배길성 | Apparatus for controlling robot vacuum cleaner and method there of |
US6956348B2 (en) | 2004-01-28 | 2005-10-18 | Irobot Corporation | Debris sensor for cleaning apparatus |
JP3674481B2 (en) * | 2000-09-08 | 2005-07-20 | 松下電器産業株式会社 | Self-propelled vacuum cleaner |
ITMI20030255U1 (en) * | 2003-05-29 | 2004-11-30 | Dulevo Int Spa | BATTERY HOLDER FRAME STRUCTURE IN PARTICULAR FOR SWEEPING MACHINES |
JP5840424B2 (en) * | 2011-08-29 | 2016-01-06 | 株式会社東芝 | Electric vacuum cleaner |
JP2018086499A (en) * | 2018-03-02 | 2018-06-07 | アイロボット コーポレイション | Cleaning device provided with debris sensor |
-
1986
- 1986-04-08 JP JP8042986A patent/JPS62236519A/en active Granted
Also Published As
Publication number | Publication date |
---|---|
JPS62236519A (en) | 1987-10-16 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
EXPY | Cancellation because of completion of term |