JPH07308270A - Self-running vacuum cleaner - Google Patents

Abstract

PURPOSE:To manipulate a self-running vacuum cleaner by the operation similar to that for handling an ordinary vacuum cleaner, and to enable the cleaner to run in the cross direction to the cleaner main body. CONSTITUTION:A self-running vacuum cleaner comprises a self-running unit part 1 provided with self-running wheels 8, 8, and a cleaner main body part 2 which is loaded on the self-running unit 1 and provided with a handle part 4, wherein the cleaner main body part 2 is rotatably provided on the self-running unit 1. In the self-running vacuum cleaner, a difference between the front face direction of the cleaner main body part 2 and the directions of self-running wheels 8, 8 caused by the rotation of the cleaner main body 2 to the self-running unit part 1 is detected, and according to the detection value, the rotation of the self-running unit part 1 is controlled in such a manner that the self-running wheels 8, 8 are directed in the front face direction of the cleaner main body 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled vacuum cleaner.

[0002]

2. Description of the Related Art Conventionally, as disclosed in, for example, Japanese Utility Model Publication No. 62-19319 (International Patent Classification A47L 9/00), a cleaner body having a handle portion is mounted on a self-propelled unit portion, The self-propelled unit can be moved in the front-rear direction by pushing and pulling it back and forth, and the front wheel of the self-propelled unit is provided rotatably around the vertical axis, and the handle part of the handle is at its axial center. It is provided rotatably around, and the rotation direction of this grip portion is electrically detected by interlocking with, for example, a variable resistor, and the amount of rotation of the left and right self-propelled wheels is changed in accordance with the rotation direction of this grip portion to proceed. It is known that the change of the direction to be performed (or to be returned) can be performed.

[0003]

However, in the above-mentioned conventional self-propelled cleaner, the user must rotate the grip portion of the handle portion in order to change the direction. The convenience is different from operating a general non-traveling type vacuum cleaner, and the user has to be aware that he or she always operates, so it takes a considerable amount of time to get used to the operation. Will be needed.

In view of the above circumstances, the present invention is a self-propelled cleaning device that can be operated in the same manner as when handling an ordinary vacuum cleaner, and that it can be moved laterally with respect to the main body of the vacuum cleaner. The purpose is to provide a machine.

[0005]

A self-propelled cleaner having a first structure includes a self-propelled unit section having self-propelled wheels, and a cleaner body section mounted on the self-propelled unit section and provided with a handle section. In a self-propelled cleaner in which the cleaner body is rotatably provided with respect to the self-propelled unit, the cleaner main body accompanying rotation of the cleaner main body with respect to the self-propelled unit. Means for detecting a deviation between the front direction of the self-propelled wheel and the direction of the self-propelled wheel, and the self-propelled unit section so that the self-propelled wheel faces the front direction of the cleaner body based on the detection value of the detection means. And a control means for controlling rotation.

The self-propelled vacuum cleaner of the second structure comprises a self-propelled unit section having self-propelled wheels and a cleaner main body section mounted on the self-propelled unit section and provided with a handle section. In a self-propelled vacuum cleaner in which a machine body is rotatably provided with respect to a self-propelled unit, in the lateral direction of the cleaner main body and the self-propelled cleaner as the cleaner body rotates with respect to the self-propelled unit. Means for detecting a deviation from the direction of the running wheel,
And a control means for controlling rotation of the self-propelled unit so that the self-propelled wheels face the lateral direction of the cleaner body based on the detection value of the detection means.

A self-propelled cleaner having a third structure has the above-mentioned first structure and second structure, and means for switching between a front-rear movement mode and a lateral movement mode.

In the self-propelled vacuum cleaner of the fourth structure, the handle portion is an operation intention sensor for detecting the operation intention of the user, and a front and rear sensor for detecting the operation force in the axial direction of the handle portion and the handle. It has a left-right sensor that detects the operating force around the axis of the section, and the front-rear sensor serves as the traveling speed command means in the front-rear movement mode, and the left-right sensor serves as the traveling speed command means in the lateral movement mode. There is.

In the self-propelled vacuum cleaner of the fifth structure, in the fourth structure, the operation intention sensor consisting of the front and rear sensors and the left and right sensors has means for switching between the front and rear movement mode and the lateral movement mode. I am configuring.

In the self-propelled vacuum cleaner of the sixth construction, in any one of the first to fifth constructions, the control means sets the rotation speed of the self-propelled unit portion for eliminating the deviation to a large deviation amount. It is configured to control in response to this.

In the self-propelled cleaner having the seventh structure, in any one of the first to sixth structures, even when the intention of the user to stop cleaning is judged, the control means detects the detection means. The vacuum cleaner body and the self-propelled unit are made to match in direction based on the value.

[0012]

When a general vacuum cleaner is handled, the suction port is placed on the floor and the hose or handle connected to it is used to move the suction port diagonally forward and backward. In the case of changing the direction, the operation of pushing or pulling the hose or the handle is made parallel after the direction of the hose or the handle is made parallel to the direction to be advanced (or moved backward). That is, it is customary to perform an operation in which the hose or handle is made to coincide with the axially advancing direction with the suction port substantially at the center.

According to the above-mentioned first structure, the vacuum cleaner can be handled by the same operation as that in the case of handling this general vacuum cleaner. That is, when the advancing direction of the suction port is changed, an operation is performed in which the suction port is substantially at the center (strictly speaking, the self-propelled wheel part is at the center) and the axial direction of the handle part coincides with the advancing direction. The handle operation causes rotation of the cleaner body with respect to the self-propelled unit, and a deviation between the front direction of the cleaner body and the direction of the self-propelled wheels due to this rotation is detected. Then, based on the detection value of the detection means, the self-propelled unit rotates to eliminate the deviation,
The self-propelled wheels face the front of the cleaner body. By matching the direction of the self-propelled wheels with the front direction of the cleaner body, the cleaner can be easily moved in the direction in which it wants to advance (or move backward).

According to the second configuration, the handle is operated so that the axial direction of the handle is 90 ° with respect to the desired direction of the cleaner, whereby the first configuration is achieved. A similar effect can be achieved for lateral movement of the vacuum cleaner.

According to the third structure, one vacuum cleaner can enjoy both the first and second effects.

According to the fourth structure, the front and rear sensors for detecting the axial force of the handle portion are used so that the directions of the self-propelled wheels of the self-propelled unit portion coincide with the front direction of the cleaner body portion. The left and right sensors can detect the force around the axis of the handle, and can move left and right when the direction of the self-propelled wheels of the self-propelled unit matches the lateral direction of the cleaner body. Can be operated.

According to the fifth configuration, the operation intention sensor including the front and rear sensors and the left and right sensors also functions as a switch for switching between the front and rear movement mode and the lateral movement mode. There is no need to provide it separately.

According to the sixth structure, the rotation speed of the self-propelled unit portion for eliminating the deviation is controlled according to the magnitude of the deviation amount, so that the rotation speed of the self-propelled unit portion is high. Therefore, it is possible to prevent an overshoot from occurring that the target position is greatly exceeded by too much momentum, and conversely, the responsiveness for eliminating the shift is reduced due to the slow speed of the self-propelled unit.

According to the above-mentioned seventh structure, the following effects are obtained. That is, when the rotation control for canceling the deviation of the self-propelled unit is stopped at the same time as the stop of the vacuum cleaner, when the cleaning is performed again later, the deviation between the front direction of the cleaner main body and the direction of the self-propelled wheel is stopped. The cleaning will be started without the problem being solved, and immediately after the cleaning is started, the cleaner may move in a direction different from the direction intended by the user. According to this configuration, even if the vacuum cleaner is stopped, the directions of the cleaner main body and the self-propelled unit are matched, so that the above-mentioned problems are solved.

[0020]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings showing its embodiments.

As shown in the side view of FIG. 1 and the plan view of FIG. 2, an upright type electric vacuum cleaner according to an embodiment of the present invention includes a self-propelled unit 1 and a vertical axis centered on the self-propelled unit. The cleaner main body 2 is mounted so as to be rotatable around 90 degrees left and right. The cleaner body 2 is provided with a suction port 3 and a handle 4, and the handle 4 has a power switch for turning on and off the drive of the cleaner and a unit for controlling the operation of the self-propelled unit 1. A handle input section (operation intention sensor) 5 is provided.

As shown in the cross-sectional plan view of FIG. 3, the self-propelled unit portion 1 has a pair of motors 6 capable of rotating in both forward and reverse directions.
And a pair of self-propelled wheels 8 driven by the respective motors 6 via the transmission device 7.

The motor 6, the transmission device 7, and the self-propelled wheels 8 are arranged symmetrically with respect to the rotation axis of the self-propelled unit portion 1 with respect to the cleaner body 2 and the suction port portion 3, and particularly both self-propelled wheels 8 are arranged. As shown in FIGS. 3 and 4, are arranged symmetrically and coaxially with respect to the rotation axis of the self-propelled unit 1 with respect to the cleaner body 2 and the suction port 3.

As shown in FIG. 5, each transmission device 7 has
A planetary gear 10 housed in a gear box 9 fixed to the motor 6, a small pulley 11 fitted to the planetary gear 10, and fixed to each self-propelled wheel 8 as shown in FIGS. 3 and 4. A large pulley 12 and a timing belt 13 wound around the corresponding large and small pulleys 11 and 12, the rotation of each motor 6 is decelerated by a planetary gear 10, and the small pulley 11 and the large pulley 12 further The speed is reduced and transmitted to each self-propelled wheel 8.

As shown in FIGS. 4 to 6, the motor 6 is
The transmission device 7 has a cylindrical upper case 14 with a lid and a cylindrical lower case 15 with a bottom, which are formed separately from each other and integrated by screwing in order to prevent dust and dust from entering them. It is housed in a dustproof case 16 composed of.

That is, the motor 6 and the gear box 9 are connected to the upper and lower cases 14 through the rubber cushions 17 and 18.
The vibrations are sandwiched between the 15 and 15 to prevent these vibrations from being transmitted to the dustproof case 16.

The small pulley 11 is sandwiched between the upper and lower cases 14 and 15 via a bearing 19, and the large pulley 12 and the support shaft 20 of the self-propelled wheel 8 are screwed to the lower case 15.

The rotation speed of the motor 6 is a rotation speed detecting device 22 including a slit plate 21 fixed to the small pulley 11 and a photo sensor (photo interrupter) screwed to the upper case 14 as shown in FIG. Is measured at.
That is, the rotation speed of the motor 6 is measured by detecting the transmitted light of the slit plate 21 with a photosensor, and the setting is arbitrarily set according to the measured rotation speed and the push / pull operation amount of the handle input unit 5 as described later. It is controlled so that it matches the rotation speed.

Further, the self-propelled wheel 8 has its lower peripheral portion projected below the lower case 15 so that it can roll on the floor surface.

As shown in FIGS. 4 and 6, a cylindrical sleeve 23 is formed on the upper portion of the dust-proof case 16.
A main body case 24 of the suction port portion 3 formed in a cylindrical shape with a lid having a diameter larger than that of the dustproof case 16 is rotatably fitted on the sleeve 23.

A constant load device 27 having a bearing 25 and a coil spring 26 is provided between the main body case 24 and the dustproof case 16, and the weight of the cleaner main body 2, the suction port portion 3 and the handle portion 4 is reduced. The self-propelled unit 1 is evenly distributed around the rotation axis, and is applied below a certain load set by the coil spring 26.

A rotary volume (hereinafter referred to as a steering angle sensor) 29 is fixed to the center of the body case 24 via a case 28 screwed to the body case 24. Volume lever 30 of this steering angle sensor 29
Has a non-circular cross section, such as a D-shape, and is inserted into the sleeve 23 in a non-rotating manner, so that when the dust-proof case 16 rotates with respect to the main body case 24, the volume lever 30 of the steering angle sensor 29 is rotated. Is rotated and the resistance value of the steering angle sensor 29 is changed.

That is, by the steering angle sensor 29, the front direction (or lateral direction) of the cleaner body 2 with the rotation of the cleaner body 2 with respect to the self-propelled unit 1 and the direction of the self-propelled wheel 8 are detected. Deviation can be detected, and based on this deviation detection value, direction matching control described later (control to rotate the self-propelled unit 1 so as to cancel the deviation by following the rotation of the cleaner body 2) Is done.

In order to prevent the shaft centers of the dustproof case 16 and the other from tilting relative to each other when the dustproof case 16 is rotated with respect to the main body case 24, as shown in FIGS. Is formed with a plurality of convex portions 31 slidingly contacting the lower surface of the lid of the main body case 24 at appropriate intervals in the circumferential direction.

The number of the convex portions 31 may be plural, but
By providing a plurality of three or more, the main body case 24 can be stably supported by the dustproof case 16, and in this embodiment, the stability of the support of the main body case 24 by the dustproof case 16 is further increased and the protrusion 31 is formed. Body case 24
In order to reduce the contact pressure on the
The individual convex portions 31 are provided every 90 degrees in the circumferential direction.

Further, in order to prevent the dustproof case 16 from being eccentric with respect to the main body case 24 and limit the rotation range of the self-propelled unit 1 with respect to the main body case 24 to a certain range or less, as shown in FIGS. 3 and 7. , Dustproof case 16
A convex portion 32 which is slidably contacted with the inner surface of the peripheral wall of the main body case 24 is provided at one location on the outer peripheral surface of the main body case 24, and is slidably contacted with the outer peripheral surface of the dust-proof case 16 at an appropriate interval in the circumferential direction on the inner peripheral surface of the main body case 24. The individual convex portions 33 are formed.

The circumferential interval between the protrusions 33 on the main body case 24 side can be freely set. In this embodiment, the rotation range of the self-propelled unit portion 1 with respect to the main body case 24 is set to 18.
In order to be able to change over 0 degree, there is a space of about 240 degrees larger than this 180 degree around the axis of rotation.

As shown in FIG. 6, a wire bundle 34 consisting of the lead wire derived from the motor 6 and the lead wire derived from the rotation speed detecting device 22 passes through the sleeve 23, and further as shown in FIG. As shown, the lead wire of the steering angle sensor 29 and the lead wire of the steering angle sensor 29 are connected to the cleaner body 2 so as to reduce the twist and stress applied to the lead wires.

As shown in FIG. 1 to FIG. 3, FIG. 7 and FIG. 8, the suction port portion 3 is formed in the front and rear of the main body case 24 and has a horizontally long suction port 35 formed in series. 1 and 3, the left and right ends of the suction port 35 and the lower end of each tip of the left and right connecting parts 36 are connected to each other. It has a total of four adjustable wheels 37.

As shown in FIGS. 1 and 2, the cleaner body 2 is connected to the tip of each connecting portion 36 via an arm 38, and is formed on the lower surface of the suction port 35 as shown in FIG. The left and right horizontally long suction ports 39 communicate with the dust bag inside the cleaner body 2 through the internal space of the suction port 35 and the hose 40 shown in FIGS. 1 to 3.

The handle portion 4 is, as shown in FIG.
A stick 41 fixed to the rear part of the cleaner body 2 and a handle input section 5 provided on the upper part of the stick 41 are provided. The handle input section 5 is slidably attached to the stick 41 as shown in FIG. An inserted actuator 42 and a spring holder 43 that houses the actuator 42 are provided.

The spring holder 43 is fixed to the stick 41, and a pushing spring 44 for pushing the actuator 42 in the axial direction of the stick 41 and an actuator 42 in the pulling direction are provided inside the spring holder 43. Energizing pulling spring 4
5 is provided, and when no operating force is applied to the actuator 42, as shown in FIG.
Enables automatic return to the neutral position in the spring holder 43 in which both springs 44 and 45 are in balance.

The handle input section 5 is provided with a slide volume (front and rear sensor) 47 fixedly supported in the stick 41 via a volume holder 46, and a slide lever 48 of the slide volume 47 is inserted into the actuator 42. I am doing it.

The actuator 42 has a holder 49.
11 is connected to the handle 51 via 50, and when the handle 51 is pushed in, the actuator 42 is pushed in from the neutral position and the slide lever 48 of the slide volume 47 is moved in the forward direction from the neutral position, as shown in FIG. The resistance value of the slide volume 47 changes. Also, FIG.
As shown in FIG. 4, when the handle 51 is pulled, the actuator 42 is pulled from the neutral position, and the slide volume 4
The slide lever 48 of 7 is moved in the backward direction from the neutral position, and the resistance value of the slide volume 47 changes in the reverse direction.

The forward or reverse speed is set based on the resistance value of the slide volume 47 which changes corresponding to the amount of change from the neutral position of the handle 51 (for example, the speed is set in three stages of high, medium and low), and As described above, based on the set value and the measured value of the rotation speed detection device 22, the measured rotation speed of each motor 6 and the set rotation speed are controlled to match. In addition,
The resistance value of the volume 47 may be used only for the direction control, and the speed control may be performed by the speed setting switch.

The handle 51 is further provided with a lateral movement switch 52. When the lateral movement switch 52 is turned off, the rotation directions of the motors 6 and 6 of the self-propelled unit section 1 are opposite to each other. The rotation directions of the self-propelled wheels 8 are the same.
Further, when the lateral movement switch 52 is turned on, the rotation directions of the motors 6 of the self-propelled unit unit 1 are switched to the same direction, and the self-propelled wheels 8 rotate in mutually opposite directions.

Therefore, when the lateral movement switch 52 is turned on while holding the handle 51 of the handle portion 4, the self-propelled wheels 8 rotate in opposite directions at a high speed, and the self-propelled wheels 8 and the suction port portion 3 are automatically rotated. The running unit 1 rotates on the spot around the vertical axis at a high speed.

The volume lever 30 of the steering angle sensor 29 rotates as the self-propelled unit 1 rotates, and the self-propelled unit for the cleaner body 2 and the suction port 3 is based on the resistance value of the steering angle sensor 29. The direction of part 1 is detected,
As shown in FIG. 13, when the direction of the self-propelled unit 1 with respect to the cleaner body 2 and the suction port 3 is rotated by 90 degrees with respect to the front-rear direction, the rotation directions of both motors 6 are switched from the same direction to the opposite direction. , The rotation directions of the two self-propelled wheels 8 are switched from the opposite directions to the same directions, and the entire upright electric vacuum cleaner moves laterally.

This lateral movement operation is performed by rotating the handle 51. That is, the handle 51 is provided so as to be rotatable around its axis with respect to the stick 41, and the rotation direction and the rotation angle of the handle 51 with respect to the stick 41 by the operation of the operator are the same as those of the handle 51 and the stick 4.
It is detected by a rotary volume 60 which is a left-right sensor provided between the rotary volume 60 and the first volume. That is, when the handle 51 is turned to the right, the rotary volume 60 moves to the coil spring 61.
The resistance value of the rotary volume 60 changes as it turns to the right from the neutral position. Further, when the handle 51 is turned counterclockwise, the rotary volume 60 turns from the neutral position to the right direction, and the resistance value of the rotary volume 60 changes in the opposite direction.

Therefore, the speed for advancing to the right or left is set based on the resistance value of the rotary volume 60 which changes corresponding to the amount of change from the neutral position of the handle 51. This set value and the rotation speed detection device 22 are set. It is controlled so that the measured rotation speed of each motor 6 and the set rotation speed match based on the measured value of. The resistance value of the rotary volume 60 may be used only for the direction control, and the speed control may be performed by the speed setting switch.

During this lateral movement (horizontal movement mode), the resistance value of the rotary volume 60 is adopted by the control system, and during the longitudinal movement (longitudinal movement mode), the above-mentioned slide is used. The resistance value of the volume 47 is adapted to the control system.

In the rotation of the self-propelled unit 1 for switching between the lateral movement mode and the front-rear movement mode, the rotation direction is selected so that the rotation amount becomes smaller. For example, when switching from the longitudinal movement mode to the lateral movement mode, in the state of FIG. 15, the lateral movement switch 52 may be turned on although it may be rotated in either direction.
In the state of FIG. 16 (a), the state of FIG. 16 (a) is rotated clockwise to the state of FIG. 16 (b) (this state is called rightward), and in the state of FIG. 17 (a), it is rotated counterclockwise. Then, the state shown in FIG. 9B (this state is referred to as leftward) is obtained.

When the lateral movement switch 52 is turned off, the rotation directions of the motors 6 of the self-propelled unit unit 1 are switched in the same direction and in the opposite direction to that at the time of turning on the self-propelled wheels 8.
Rotate in mutually opposite directions, and each motor 6 is stopped when the direction of the self-propelled unit 1 returns to the front-back direction. Thereby, the moving direction of the vacuum cleaner can be directed to the original direction, that is, to the front surface of the suction port section 3.

A control circuit using a microcomputer 53 as shown in FIG. 14 is used for the control of the motor 6 and the direction matching control described later.

Outputs from the rotary volume 60, the slide volume 47, the lateral movement switch 52, and the steering angle sensor 29 are given to the microcomputer 53, respectively. Then, depending on the resistance value of the rotary volume 60 or the slide volume 47, the microcomputer 53 moves back and forth or left and right, and further, the resistance value of the slide volume 47 and the measured value of the rotation speed detection device 22 so as to move at a set speed. The motors 6, 6 of the self-propelled unit 1 are controlled based on

Next, the direction matching control (control for rotating the self-propelled unit 1 following the rotation of the cleaner body 2) will be described with reference to FIGS. 18 to 23.

FIG. 18 is a flow chart showing the shift angle detection control. In step 11, the steering angle sensor 2
The sensor output value in 9 is taken in. Steering angle sensor 29
Is 0 (right next to the left) to 6 with respect to the direction of the self-propelled unit section 1.
4 (diagonally front left) to 128 (front) to 192 (diagonal front right)
A value of up to 255 (right next to the right) is shown. The direction in the parentheses indicates the direction of the self-propelled unit unit 1.

At step 12, the angle values (17 ways) of the self-propelled unit section 1 are converted based on the sensor output values. That is, as shown in FIGS. 19 and 20, when the sensor output values are 0 to 9 (left lateral direction), the angle value is 0 and the sensor output value is 12
2 to 137 (front direction), angle value 8 and sensor output value 2
An angle value of 16 is 50 to 255 (right lateral direction).

FIG. 21 is a flow chart showing the main routine of this control. First, it is determined whether or not the input sensor indicates the stopped state (step 101). That is, it is determined whether or not the cleaner is stopped based on the presence or absence of the output from the operation intention sensor (rotary volume 60 or slide volume 47).

If the vehicle is not stopped (that is, the traveling state),
Following the rotation of the cleaner body 2, the process proceeds to the direction matching control (step 401), which is the control for rotating the self-propelled unit 1 so as to eliminate the deviation. Note that, for convenience of notation in the flowchart, the notation such as input sensor = forward movement is used.

When it is stopped, the self-propelled unit 1
And mere direction matching control (without considering the input sensor value) with the cleaner body 2 is performed. That is, if the rotation control (the above-mentioned direction matching control) for eliminating the deviation of the self-propelled unit 1 is stopped at the same time when the cleaner is stopped, when cleaning is performed again later, the rotation of the cleaner main body 2 will be different from the front direction. Cleaning will be started with the deviation from the direction of the self-propelled wheels 8 still remaining, and immediately after the start, the cleaner may move in a direction different from the direction intended by the user. Therefore, even when the cleaner is stopped, the rotation of the self-propelled unit unit 1 is controlled so that the self-propelled wheels 8 face the front direction or the lateral direction of the cleaner body unit 2.

First, if the lateral movement switch 52 is ON (horizontal movement mode), the process proceeds to step 201, and the lateral movement switch 5
If 2 is OFF (forward / backward movement mode), step 103
Go to.

In step 103, it is determined whether or not the self-propelled unit 1 faces the front (angle value 8) based on the unit angle value obtained by the deviation angle detection subroutine (steps 11 and 12). If it is facing the front, stop output is performed (step 202). If it is not facing the front, the process proceeds to step 104. The stop output means setting of the target rotation speed to 0 and a rotation prohibition command.

In step 104, as in step 103, the direction of the self-propelled unit 1 is detected by the unit angle value. If the self-propelled unit is facing right (angle values 9 to 16), the process proceeds to step 151, and if it is facing left (angle values 0 to 7), the process proceeds to step 105.

In step 105, since the self-propelled unit 1 is facing left, the right wheel is moved backward, the left wheel is moved forward, and a clockwise pivot turn is performed.

In step 151, since the self-propelled unit 1 is facing right, the right wheel is moved backward, the left wheel is moved forward, and a counterclockwise pivot turn is performed.

In this way, if the pivot turn is performed in steps 105 and 151 and the front is turned, the output is changed to the stop output due to the branch of step 103, so that the self-propelled unit 1 stops while facing the front.

In step 201, it is determined whether the self-propelled unit 1 faces sideways (angle values 0, 16) based on the unit angle value. If the self-propelled unit faces sideways, stop output is performed (step 202). If not facing sideways, lateral correction is performed (step 301).

In step 301, it is determined from the angle value whether the self-propelled unit 1 is facing right (angle values 9 to 16) from the front or left (angle values 0 to 8) including the front. If it is facing right from the front, the process proceeds to step 302, and if it is facing left, the process proceeds to step 351.

In step 302, since the self-propelled unit 1 faces to the right, a clockwise pivot turn is performed to turn to the right side (angle value 16).

In step 351, since the self-propelled unit is facing left, a counterclockwise pivot turn is performed to turn to the left side (angle value 0).

Note that step 302 and step 35
If you make a pivot turn at 1 and turn the right side or the left side,
By the branch of step 201, the self-propelled unit 1 stops in the state of facing the right side or the left side instead of the stop output.

(Direction coincidence control) Next, regarding the direction coincidence control (from step 401 onward), FIG. 22 which is a flowchart thereof, and the relationship between the target unit angle value and the direction in which the self-propelled unit 1 should move at the angle value will be described. It demonstrates using FIG. 23 shown.

At step 402, the movement mode is judged. If it is the horizontal movement mode, the process proceeds to step 451. If it is the front-back direction movement mode, the process proceeds to step 403.

In step 403, since the method of calculating the target unit angle differs depending on whether the direction of travel is forward or backward, it is determined whether the vehicle is moving forward or backward based on the outputs of the front and rear sensors (in the flow chart, simply referred to as input sensors).

In step 404, the target unit and the angle when moving forward are calculated. For example, the unit angle value is 12
In the case of (diagonal right front), the self-propelled wheel is facing diagonally left front with respect to the front direction of the vacuum cleaner, and the target unit angle is set to face the front direction from that state. (See FIG. 23). Therefore, the value obtained by subtracting the unit angle value from 16 is set as the target unit angle. In the above example, the target unit angle is "4" (16-12 = 4), and it is judged that the target unit angle is shifted in the diagonally forward left direction (see FIG. 23), and in step 501, the target unit angle is set to "4". The corresponding output table is searched. When the unit angle value is 8 (front), the self-propelled wheels are facing the front direction of the vacuum cleaner, and the target unit angle value is "8" (16-8). =
8), and it is determined that there is no deviation.

At step 411, the target unit and the angle for the reverse drive are calculated. The angle value is a value from 0 to 16 and the target unit angle is a value from 0 to 31, and there is a difference of 180 ° (corresponding to an angle value of 16) with respect to the forward movement. The value obtained by subtracting is the target unit angle.

In step 421, it is determined from the output of the steering angle sensor 29 whether the self-propelled unit 1 is facing right or left when moving left and right.

In step 422, it is determined based on the outputs of the left and right sensors (in the flow chart, simply referred to as an input sensor) that the target moving direction is right lateral movement, and if not, it is left lateral movement.

In step 423, the target unit angle is calculated when moving to the right in the rightward direction (forward movement). In this case, the value for subtracting the angle value is 24. That is, the right lateral movement in the rightward state is equivalent to the forward movement at the time of forward / backward movement, and in this case, diagonally right front (12)
Corresponds to diagonally forward left (4) when moving forward, diagonally right rear (2
0) corresponds to diagonally forward right (12) when moving forward. Therefore,
As the value for subtracting the angle value, 24 obtained by adding 8 to 16 in step 404 may be used.

In step 431, the target unit angle is calculated when moving leftward in the rightward direction (reverse). In this case, the value for subtracting the angle value is set to 40. That is, the left lateral movement in the rightward state is equivalent to the backward movement in the forward / backward movement, and in this case, the diagonally left rearward movement (2
8) corresponds to the diagonally right rear (20) when traveling backward, and the diagonally left front (4) corresponds to the diagonally diagonal rear (28) when traveling backward. Therefore, as the value for subtracting the angle value, 40 obtained by adding 8 to 32 in step 411 may be used.

At step 442, the target unit angle is calculated when the vehicle is moving leftward in the leftward direction (forward movement). In this case, the value for subtracting the angle value is set to 8. That is, the left lateral movement in the leftward state is equivalent to the forward movement at the time of forward / backward movement, and 8 which is obtained by subtracting 8 from 16 in step 404 may be used as a value for subtracting the angle value.

In step 451, the target unit angle is calculated when moving to the right in the leftward direction (forward movement). In this case, the value for subtracting the angle value is 24. That is, the right lateral movement in the leftward state is equivalent to the backward movement at the time of forward / backward movement, and as the value for subtracting the angle value, 24 obtained by subtracting 8 from 32 in step 411 may be used.

In step 501, the output table is searched by the value of the target unit angle (0 to 31) to determine the rotational speeds and rotational directions of the left and right self-propelled wheels 8, 8. The number of rotations of the left and right self-propelled wheels 8, 8 is made to correspond to the magnitude of the amount to be rotated (deviation amount).

With such a structure, when the advancing direction of the suction port 3 is changed, like the general vacuum cleaner, the suction port 3 is substantially at the center (strictly speaking, the center of the self-propelled wheels 8 and 8). An operation is performed to match the axial direction of the handle portion 4 (stick 41) with the advancing direction around the point. By this handle operation, the cleaner main body 2 with respect to the self-propelled unit 1
Is generated, and a deviation between the front direction (or the lateral direction) of the cleaner body 2 and the direction of the self-propelled wheels 8 is detected. Then, based on this detected value (angle value), the self-propelled unit unit 1 is rotated and the self-propelled wheel 8 is rotated.
Faces the front of the cleaner body 2. Since the direction of the self-propelled wheel 8 and the front direction of the cleaner body 2 coincide with each other, the cleaner can be easily moved in the forward (or backward or lateral) direction. More specifically, for example, in the front-back direction mode, the user's operation intention is determined by the operation of moving the axial direction of the stick 41 in the desired direction (detected by the steering angle sensor) and the push and pull of the stick 41 (detected by the front-back sensor). Since the traveling of the vacuum cleaner is accurately grasped and controlled, the usability of the self-propelled vacuum cleaner is significantly improved.

Further, in the present embodiment, the rotation speeds of the left and right self-propelled wheels 8, 8 are made to correspond to the magnitude of the amount to be rotated (deviation amount), so that the rotation speed of the self-propelled unit 1 is It is possible to prevent an overshoot from occurring that the target position is greatly exceeded by too much force because it is too fast, and on the other hand, the responsiveness for eliminating the shift is deteriorated due to the slow speed of the self-propelled unit.

(Embodiment 2) Another embodiment of the present invention will be described below.

In the self-propelled cleaner of this embodiment, the lateral movement switch 52 is not provided, and the slide volume 47 which is the front and rear sensor and the rotary volume 60 which is the left and right sensor also serve as the lateral movement switch 52.

That is, in the first embodiment, the lateral movement switch 52
Equipped with, switch the mode by this switch operation,
In the lateral movement mode, the rotary volume 60
While the resistance value of is used for the speed control, the output of the slide volume 47 is ignored. On the contrary, in the forward / backward movement mode, the slide volume 47 described above is used.
While the resistance value of 1 was used for the speed control, the output of the rotary volume 60 was ignored.

In this embodiment, in the lateral movement mode, the resistance value of the rotary volume 60 is output to the control system for speed control, and the slide volume 47 functions as a mode switching switch. That is,
Even in this mode, the output of the slide volume 47 is detected, and when the output of the slide volume 47 exceeds a certain value, it is determined that the user indicates the intention of lateral movement. Then, the mode is switched to the longitudinal movement mode. And at the same time,
The resistance value of the slide volume 47 is output to the control system for the speed control, and the rotary volume 47 functions as a mode switching switch. On the other hand, the reverse operation is performed in the front-rear movement mode.

The above certain value is a value corresponding to the case where the user clearly conveys the operation intention of the forward / backward movement or the left / right movement to the handle portion, and is determined experimentally in consideration of usability. it can.

As described above, since the operation intention sensor composed of the front and rear sensors and the left and right sensors also serves as the changeover switch for the forward and backward movement mode and the lateral movement mode, it is not necessary to separately provide a switch for mode switching. Also,
The mode can be switched with just the hand holding the handle, which is convenient.

In this embodiment, the shaft fulcrum of the cleaner body 2 with respect to the self-propelled unit 1 is provided on the rear side of the self-propelled unit 1, but it may be provided on the side of the central portion. In this case, the lower surface of the cleaner main body 2 and the self-propelled unit 1
A space for allowing rotation is provided between the upper surface and the upper surface.

[0094]

As described above, according to the present invention, the user does not need to be aware of the operation, and in particular, the operation is similar to the operation when handling a general vacuum cleaner, so that the user is accustomed to the operation. It has excellent effects such as handling a self-propelled vacuum cleaner without requiring time.

[Brief description of drawings]

FIG. 1 is a side view of a self-propelled vacuum cleaner according to the present invention.

FIG. 2 is a plan view of the self-propelled vacuum cleaner of the present invention.

FIG. 3 is a cross-sectional plan view of a self-propelled unit section and a suction port section of the present invention.

4 is a vertical cross-sectional rear view taken along the line AA of FIG.

5 is a vertical cross-sectional rear view taken along the line BB of FIG.

FIG. 6 is a vertical cross-sectional side view taken along the line CC of FIG.

FIG. 7 is a plan view of a self-propelled unit portion and a suction port portion of the present invention when moving back and forth.

FIG. 8 is a plan view of the suction port portion of the present invention.

FIG. 9 is a sectional view of a handle input unit of the present invention.

FIG. 10 is an explanatory diagram of a handle input unit of the present invention when stopped.

FIG. 11 is an explanatory diagram of a handle input unit of the present invention when moving forward.

FIG. 12 is an explanatory diagram of a handle input unit of the present invention when moving backward.

FIG. 13 is a plan view of the self-propelled unit portion and the suction port portion of the present invention when laterally moving.

FIG. 14 is a block circuit diagram of the present invention.

FIG. 15 is a cross-sectional plan view of the self-propelled unit section and the suction port section showing a state (front-rear direction mode) in which the direction of the self-propelled wheel and the direction of the suction port section match.

16 (a) and 16 (b) are clockwise rotations when the direction of the self-propelled wheels is deviated to the right with respect to the direction of the suction port, and shift to the lateral movement mode. It is an explanatory view showing how to do.

FIGS. 17 (a) and 17 (b) are counterclockwise rotation in the lateral movement mode when the direction of the self-propelled wheel is deviated leftward with respect to the direction of the suction port. It is explanatory drawing which shows a mode that it transfers.

FIG. 18 is a flowchart showing shift angle detection control of the present invention.

FIG. 19 is an explanatory diagram showing a directional relationship between a steering angle sensor value and an angle of a self-propelled unit portion of the present invention.

FIG. 20 is an explanatory diagram showing a numerical relationship between a steering angle sensor value and an angle of a self-propelled unit portion of the present invention.

FIG. 21 is a flowchart showing a main routine of the present invention.

FIG. 22 is a flowchart showing direction matching control of the present invention.

FIG. 23 is an explanatory diagram showing the relationship between the target unit angle value of the present invention and the direction in which the self-propelled unit should travel at that angle value.

[Explanation of symbols]

 1 Self-propelled unit part 2 Vacuum cleaner body part 3 Suction port part 4 Handle part 5 Handle 6 Motor 29 Rotary volume (steering angle sensor) 47 Slide volume (front and rear sensor) 52 Horizontal movement switch 53 Microcomputer 60 Rotary volume (left and right sensor)

Claims (7)

[Claims] 1. A self-propelled unit portion having self-propelled wheels, and a cleaner main body portion mounted on the self-propelled unit portion and provided with a handle portion, wherein the cleaner main body portion is a self-propelled unit portion. In a self-propelled cleaner rotatably provided with respect to the self-propelled cleaner, a deviation between a front direction of the cleaner main body and a direction of the self-propelled wheel due to rotation of the cleaner main body with respect to the self-propelled unit is detected. Means, and control means for controlling rotation of the self-propelled unit so that the self-propelled wheel faces the front direction of the cleaner main body based on the detection value of the detection means. Traveling vacuum cleaner. 2. A self-propelled unit section having self-propelled wheels, and a cleaner main body section mounted on the self-propelled unit section and provided with a handle section, wherein the cleaner main body section is a self-propelled unit section. In a self-propelled cleaner rotatably provided with respect to the self-propelled cleaner, a deviation between a lateral direction of the cleaner main body portion and a direction of the self-propelled wheel due to rotation of the cleaner main body portion with respect to the self-propelled unit portion is detected. Means, and a control means for controlling rotation of the self-propelled unit so that the self-propelled wheel faces the lateral direction of the cleaner body based on a detection value of the detection means. Traveling vacuum cleaner. 3. A self-propelled vacuum cleaner comprising the structure according to claim 1 and claim 2, and further comprising means for switching between a front-rear movement mode and a lateral movement mode. 4. A front and rear sensor for detecting an operation force in an axial direction of the handle portion, and an operation force around an axis of the handle portion, which is an operation intention sensor for detecting a user's operation intention on the handle portion. The left / right sensor is provided, and the front / rear sensor serves as the traveling speed command means in the front-rear movement mode, and the left / right sensor serves as the traveling speed command means in the lateral movement mode. Self-propelled vacuum cleaner as described. 5. The operation intention sensor comprising a front and rear sensor and a left and right sensor constitutes a means for switching between a front and rear movement mode and a lateral movement mode. Traveling vacuum cleaner. 6. The control means is configured to control the rotation speed of the self-propelled unit portion for eliminating the deviation in correspondence with the magnitude of the deviation amount.
The self-propelled vacuum cleaner according to any one of 1 to 5. 7. Even if the user's intention to stop cleaning is determined, the control means is configured to cause the cleaner body and the self-propelled unit to match in direction based on the detection value of the detection means. 7. The method according to claim 1, wherein
The self-propelled vacuum cleaner described in any of 1.