KR20240029713A - Cordless vacuum cleaner and operting method of cordless vacuum cleaner - Google Patents

Abstract

Detecting the connection of the brush device to the cleaner main body through a voltage value input to the input port of at least one processor through a load detection sensor or signal line of the cleaner main body; detecting the connection of the brush device to the cleaner body, thereby identifying the type of brush device connected to the cleaner body; and determining a frequency for PWM control corresponding to the type of brush device identified; and controlling the operation of a switch element used to supply power from a battery of the cleaner main body to a brush device connected to the cleaner main body, based on the determined frequency.

Description

Cordless vacuum cleaner and method of operation of a cordless vacuum cleaner {CORDLESS VACUUM CLEANER AND OPERTING METHOD OF CORDLESS VACUUM CLEANER}

One embodiment of the present disclosure relates to a cordless vacuum cleaner that controls the operation of a brush device and a method of operating the cordless cleaner.

A cordless vacuum cleaner is a type of vacuum cleaner that charges the battery built into the vacuum cleaner itself without the need to connect a wire to an outlet. The cordless vacuum cleaner includes a suction motor that generates suction force, and can suck foreign substances such as dust along with air from the cleaner head (brush) through the suction power generated by the suction motor, and separate the sucked foreign substances from the air to collect dust.

Recently, the types of vacuum cleaner heads (brushes) connected to the main body of a cordless vacuum cleaner are becoming more diverse. The brushes of a cordless vacuum cleaner can be divided into a main brush, which is generally used to clean the floor, and an auxiliary brush, which is used for special purposes. In order to be applicable to various cleaning environments, the types of auxiliary brushes used for special purposes are being further subdivided. Various brushes may have different mechanical structures and different motor specifications (power consumption, shape, etc.) for each brush. Therefore, in order to improve the performance of each brush, customized control tailored to the characteristics of each brush is necessary.

A wireless vacuum cleaner according to an embodiment of the present disclosure includes a battery; A switch element used to supply power from the battery to the brush device connected to the cleaner body; A load detection sensor that detects the load of the brush device connected to the cleaner body; And it may include at least one processor. At least one processor may detect the connection of the brush device to the cleaner body through a load detection sensor or a voltage value input to an input port of the at least one processor through a signal line. At least one processor may identify the type of brush device connected to the cleaner body. At least one processor may determine a frequency for Pulse Width Modulation (PWM) control corresponding to the type of brush device identified. At least one processor may control the operation of the switch element based on the determined frequency.

A method of operating a wireless vacuum cleaner according to an embodiment of the present disclosure detects the connection of the brush device to the vacuum cleaner body through a voltage value input to the input port of at least one processor through a signal line or a load detection sensor of the vacuum cleaner body. steps; detecting the connection of the brush device to the cleaner body, thereby identifying the type of brush device connected to the cleaner body; determining a frequency for PWM control corresponding to the type of brush device identified; And based on the determined frequency, it may include controlling the operation of a switch element used to supply power from the battery of the cleaner main body to the brush device connected to the cleaner main body.

1 is a diagram for explaining a wireless vacuum cleaner according to an embodiment of the present disclosure.
Figure 2 is a diagram for explaining the main body of a vacuum cleaner according to an embodiment of the present disclosure.
FIG. 3 is a diagram for explaining the operation of at least one processor according to an embodiment of the present disclosure.
Figure 4 is a diagram for explaining a brush device according to an embodiment of the present disclosure.
FIG. 5 is a diagram for explaining a first type of brush device including an identification resistor according to an embodiment of the present disclosure.
FIG. 6 is a diagram for explaining the identification resistance of a brush device according to an embodiment of the present disclosure.
FIG. 7 is a diagram illustrating a second type of brush device in which the signal line is shorted to the + power line according to an embodiment of the present disclosure.
FIG. 8 is a diagram illustrating a third type of brush device in which a signal line is shorted to a power line according to an embodiment of the present disclosure.
FIG. 9 is a diagram for explaining a fourth type of brush device with an open signal line according to an embodiment of the present disclosure.
Figure 10 is a diagram for explaining the type of brush device according to an embodiment of the present disclosure.
FIG. 11A is a diagram illustrating a method of controlling the operation of a switch element for controlling power supply to a brush device in a wireless vacuum cleaner according to an embodiment of the present disclosure.
FIG. 11B is a diagram for explaining resonance frequencies for each type of brush device according to an embodiment of the present disclosure.
FIG. 11C is a diagram for explaining characteristics of each type of brush device according to an embodiment of the present disclosure.
FIG. 12 is a flowchart illustrating a method of determining parameters related to driving a brush device based on the type of the brush device according to an embodiment of the present disclosure.
FIG. 13 is a diagram for explaining an operation of determining parameters related to driving a brush device based on the type of the brush device according to an embodiment of the present disclosure.
FIG. 14 is a flowchart illustrating a method of adjusting parameters related to driving a brush device based on a load value of the brush device according to an embodiment of the present disclosure.
FIG. 15 is a diagram for explaining an operation of adjusting parameters related to driving a brush device when the brush device is in a high load state according to an embodiment of the present disclosure.
FIG. 16 is a flowchart illustrating a method by which a wireless vacuum cleaner adjusts parameters related to driving a brush device based on the intensity of suction force according to an embodiment of the present disclosure.
FIG. 17 is a diagram for explaining an operation of adjusting parameters related to driving a brush device based on a suction power mode selected by a user according to an embodiment of the present disclosure.
FIG. 18 is a flowchart illustrating a method of adjusting parameters related to driving a brush device based on the strength of suction force automatically adjusted in AI mode according to an embodiment of the present disclosure.
FIG. 19 is a diagram illustrating an AI model (SVM model) that is learned to infer the usage environment state of a brush device according to an embodiment of the present disclosure.
FIG. 20 is a diagram illustrating an operation in which the vacuum cleaner main body identifies the usage environment state of the brush device using an AI model (SVM model) according to an embodiment of the present disclosure.
FIG. 21 is a diagram for explaining operation information of a wireless vacuum cleaner according to the usage environment state of the brush device according to an embodiment of the present disclosure.
Figure 22 is a flow chart to explain a method of adjusting the frequency or duty ratio for PWM control according to the voltage drop of the battery according to an embodiment of the present disclosure.
FIG. 23 is a diagram for explaining an operation of adjusting the frequency and duty ratio for PWM control according to the voltage drop of the battery according to an embodiment of the present disclosure.

Terms used in the present disclosure will be briefly described, and an embodiment of the present disclosure will be described in detail.

The terms used in the present disclosure have selected general terms that are currently widely used as much as possible while considering the function in an embodiment of the present disclosure, but this may vary depending on the intention or precedent of a person skilled in the art, the emergence of new technology, etc. there is. In addition, in certain cases, there are terms arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the corresponding embodiment of the present disclosure. Therefore, the terms used in this disclosure should be defined based on the meaning of the term and the overall content of this disclosure, rather than simply the name of the term.

In the present disclosure, the expression “at least one of a, b, or c” refers to “a”, “b”, “c”, “a and b”, “a and c”, “b and c”, “a, b and c", or variations thereof.

Throughout the present disclosure, when a part “includes” a certain element, this means that it may further include other elements rather than excluding other elements, unless specifically stated to the contrary. In addition, terms such as "...unit" and "module" described in the present disclosure refer to a unit that processes at least one function or operation, and "...unit" and "module" are implemented in hardware or software. Alternatively, it can be implemented through a combination of hardware and software.

Below, with reference to the attached drawings, embodiments of the present disclosure will be described in detail so that those skilled in the art can easily practice them. However, an embodiment of the present disclosure may be implemented in various different forms and is not limited to the embodiment described herein. In order to clearly describe an embodiment of the present disclosure in the drawings, parts that are not related to the description are omitted, and similar parts are assigned similar reference numerals throughout the present disclosure.

FIG. 1 is a diagram for explaining a wireless vacuum cleaner 100 according to an embodiment of the present disclosure.

The wireless cleaner 100 may refer to a vacuum cleaner that has a built-in rechargeable battery and does not need to connect a power cord to an outlet during cleaning. The user can use the handle mounted on the cleaner main body 1000 to move the wireless cleaner 100 back and forth and have the brush device 2000 suck up dust or foreign substances (e.g., dust, hair, trash) from the surface to be cleaned. You can. Foreign substances sucked from the surface to be cleaned through the brush device 2000 may be collected in the dust collection bin (also referred to as a dust bin) of the cleaner main body 1000.

The wireless cleaner 100 according to an embodiment of the present disclosure may be a stick-type cleaner including a cleaner main body 1000, a brush device 2000, and an extension tube 3000. However, not all of the components shown in Figure 1 are essential components. The wireless cleaner 100 may be implemented with more components than those shown in FIG. 1, or the wireless cleaner 100 may be implemented with fewer components. For example, the wireless cleaner 100 may be implemented as a cleaner body 1000 and a brush device 2000, excluding the extension tube 3000. Additionally, the wireless cleaner 100 may further include a station (not shown) for discharging dust from the cleaner main body 1000 and charging the battery. Let's look at each configuration below.

The cleaner main body 1000 may include a suction motor that creates a vacuum inside the wireless cleaner 100, a dust container (dust container) that accommodates foreign substances sucked from the surface to be cleaned (e.g., floor, bedding, sofa, etc.), etc. It is a part that the user can hold and move when cleaning. The cleaner body 1000 includes a switch element 1133 for controlling power supply from the battery 1500 to the brush device 2000 connected to the cleaner body 1000, and a brush device 2000 connected to the cleaner body 1000. It may further include a load detection sensor 1134 that detects the load, at least one processor 1001, etc., but is not limited thereto. The specific configuration of the cleaner main body 1000 will be examined in detail later with reference to FIG. 2.

The brush device 2000 is a device that is in close contact with the surface to be cleaned and can suck air and foreign substances from the surface to be cleaned. The brush device 2000 may also be represented as a vacuum cleaner head. The brush device 2000 may be rotatably coupled to the extension pipe 3000. The brush device 2000 may include a motor, a drum with a rotating brush attached thereto, but is not limited thereto. According to one embodiment of the present disclosure, the brush device 2000 may further include at least one processor for controlling communication with the cleaner main body 1000. The types of brush device 2000 may vary. For example, the brush device 2000 may be classified into general brushes (floor brushes), carpet brushes, bedding brushes, pet brushes, mop brushes, etc., depending on the purpose, but is not limited thereto. Different types of brush devices 2000 may have different maximum motor outputs and may require different electrical inputs depending on the characteristics of each application. The type of brush device 2000 will be discussed in more detail later with reference to FIG. 4 .

The extension pipe 3000 may be formed of a pipe or a flexible hose having a predetermined rigidity. The extension pipe 3000 can transmit the suction force generated through the suction motor of the cleaner main body 1000 to the brush device 2000, and move the air and foreign substances sucked through the brush device 2000 to the cleaner main body 1000. there is. The extension tube 3000 may be separably connected to the brush device 2000. The extension tube 3000 may be formed in multiple stages between the cleaner main body 1000 and the brush device 2000. There may be two or more extension tubes 3000.

According to an embodiment of the present disclosure, the cleaner main body 1000, brush device 2000, and extension tube 3000 included in the wireless cleaner 100 each have a power line (for example, a +power line, a -power line). and signal lines. The power line may be a line for transmitting power supplied from the battery 1500 to the cleaner main body 1000 and the brush device 2000 connected to the cleaner main body 1000. The signal line is different from the power line and may be a line for transmitting and receiving signals between the cleaner main body 1000 and the brush device 2000. The signal line may be implemented to be connected to a power line within the brush device 2000.

Referring to 101 in FIG. 1, according to an embodiment of the present disclosure, in the case of a cordless vacuum cleaner 100 to which a battery 1500 is applied, the voltage supplied from the battery 1500 decreases as the battery 1500 is discharged. shows a tendency Accordingly, when the battery 1500 is 100% charged, the drum of the brush device 2000 may rotate rapidly, but as the charge level of the battery 1500 decreases, the drum of the brush device 2000 may rotate gradually more slowly. That is, the RPM (revolutions per minute) of the drum of the brush device 2000 does not remain constant, and as the cleaning time elapses, the voltage of the battery 1500 drops, causing the RPM (revolutions per minute) of the drum of the brush device 2000 to drop. A phenomenon in which the drum RPM (hereinafter also referred to as drum RPM) decreases occurs.

Therefore, the wireless cleaner 100 includes a switch element 1133 for PWM (Pulse Width Modulation) control (hereinafter referred to as a PWM control switch element) in order to keep the drum RPM of the brush device 2000 constant. (also referred to as) may include. PWM (Pulse Width Modulation) control is a control method that allows the average power per unit time to be input to the brush device (2000) by repeating the power supply section (ON section) and the power cutoff section (OFF section) at regular intervals. It can mean. At this time, the average power per unit time input to the brush device 2000 may vary depending on the duty value. The duty value refers to the duty cycle (Duty Cycle, Duty Ratio) of the pulse width when the cycle is constant. In particular, it can refer to the ratio occupied by the power transmission section (hereinafter referred to as the On duty section) within a single cycle. there is. As the duty value increases, the total time during which current flows through the motor of the brush device 2000 becomes longer, so the average power supplied to the brush device 2000 may increase.

Referring to 102 in FIG. 1, the cleaner main body 1000 according to an embodiment of the present disclosure has a duty value (i.e., the switch element 1133 is turned on as the voltage of the battery 1500 drops, thereby turning the brush device 2000 on). Control to compensate for a decrease in the drum RPM of the brush device 2000 can be performed by increasing the section in which power is supplied. For example, the cleaner main body 1000 maintains the duty value at about 72% for the first certain period of time after starting cleaning, and then gradually increases the duty value according to the voltage drop of the battery 1500 so that the duty value becomes 95%. You can.

Referring to 103 in FIG. 1, when the duty value is adjusted in the cleaner main body 1000, the average voltage input to the brush device 2000 (hereinafter also referred to as the input voltage of the brush device 2000) is maintained constant. You can. For example, even if the voltage of the battery 1500 drops, if the vacuum cleaner body 1000 appropriately increases the duty value, the voltage required by the brush device 2000 (e.g., 18V) is constantly supplied to the brush device 2000. It can be done as much as possible.

Therefore, according to an embodiment of the present disclosure, when the input voltage of the brush device 2000 suitable for the type of the brush device 2000 is determined, the wireless cleaner 100 appropriately increases the duty ratio during the cleaning operation, thereby The drum RPM of the device 2000 can be maintained constant. At this time, the frequency for PWM control (hereinafter also referred to as PWM frequency) may be fixed.

However, when the fixed PWM frequency is a high frequency, the loss of the PWM control switch element 1133 increases as the number of switching increases (e.g., increased heat generation, increased component stress, increased switching noise), so that the wireless vacuum cleaner 100 The usage time may be shortened. Conversely, if the fixed PWM frequency is too low, problems may occur in driving and controlling the brush device 2000.

Additionally, if the fixed PWM frequency is close to the mechanical resonance frequency of the brush device 2000, abnormal noise or abnormal vibration problems may occur. In particular, the types of brush devices 2000 may vary, and the mechanical structure or motor specifications (e.g., power consumption, shape, etc.) may be different for each type of brush device 2000. Therefore, if the wireless cleaner 100 uses the same PWM frequency regardless of the type of brush device 2000, a problem may occur in which abnormal noise or abnormal vibration increases in a specific brush device.

Therefore, according to an embodiment of the present disclosure, the wireless cleaner 100 identifies the type of brush device 2000 mounted by the user and, depending on the type of brush device 2000, sets the frequency for PWM control. By selecting differently, the motor efficiency of the brush device 2000 can be increased and abnormal noise and abnormal vibration can be reduced (resonance avoided). For example, if the brush device 2000 connected to the cleaner body 1000 is an A-type brush device 10, the wireless cleaner 100 selects the PWM frequency as the first frequency and When the connected brush device 2000 is a B-type brush device 20, the wireless cleaner 100 selects the PWM frequency as the second frequency, and the brush device 2000 connected to the cleaner main body 1000 is a C-type brush device 20. In the case of the brush device 30, the wireless cleaner 100 may select the PWM frequency as the third frequency. At this time, the first frequency may be a frequency that reflects the characteristics (e.g., motor output, resonance point, etc.) of the A-type brush device 10, and the second frequency may be a frequency that reflects the characteristics of the B-type brush device 20 (e.g., The third frequency may be a frequency reflecting the characteristics (e.g., motor output, resonance point, etc.) of the C-type brush device 30. For example, if the C type brush device 30 is a light load (or low load) brush device (a brush device with a low maximum motor output), the PWM frequency is selected as a third frequency lower than the first frequency, and switching Loss and electrical noise can be reduced. At this time, the third frequency may be a frequency that does not generate abnormal noise or vibration when the C-type brush device 30 is driven. The operation of the wireless cleaner 100 to determine the frequency for PWM control differently depending on the type of brush device 2000 will be discussed in detail later with reference to FIG. 11A.

Meanwhile, according to an embodiment of the present disclosure, the wireless cleaner 100 may adjust other parameters related to PWM control in addition to the PWM frequency to suit the type of brush device 2000. For example, the wireless cleaner 100 may determine the input voltage, trip level, etc. of the brush device 2000 in addition to the PWM frequency according to the type of brush device 2000 connected to the cleaner main body 1000. The input voltage of the brush device 2000 may be an average voltage per unit time to be supplied to the brush device 2000. The restraint level is intended to prevent overload of the brush device 2000 and may include a reference load value (eg, a reference current value) for stopping the operation of the brush device 2000.

In addition, according to an embodiment of the present disclosure, the wireless cleaner 100 is configured to measure the actual load value of the brush device 2000 connected to the cleaner main body 1000, the suction force strength of the cleaner main body 1000, or the voltage of the battery 1500. Parameters related to PWM control can also be adjusted to reflect the drop. The wireless cleaner 100 adjusts parameters related to PWM control according to the type of brush device 2000, the actual load value of the brush device 2000, the suction power strength of the cleaner body 1000, or the voltage drop of the battery 1500. The operation will be examined in detail later with reference to FIGS. 12 to 23.

Hereinafter, the configuration of the cleaner body 1000 that controls power supply to the brush device 2000 according to the type of brush device 2000 installed by the user will be examined with reference to FIG. 2.

FIG. 2 is a diagram for explaining the cleaner main body 1000 according to an embodiment of the present disclosure.

Referring to FIG. 2, the cleaner main body 1000 includes a suction force generating device (hereinafter referred to as the motor assembly 1100) that generates the suction force necessary to suck in foreign substances on the surface to be cleaned, and a dust collection container that accommodates foreign substances sucked from the surface to be cleaned. (1200, also known as a dust bin), a filter unit 1300, a pressure sensor 1400, a battery 1500 capable of supplying power to the motor assembly 1100, a communication interface 1600, a user interface 1700, at least one may include a processor 1001 (e.g., a main processor 1800, a first processor 1131, etc.), and a memory 1900. However, not all of the components shown in FIG. 2 are essential components. The cleaner main body 1000 may be implemented with more components than those shown in FIG. 2, or the cleaner main body 1000 may be implemented with fewer components.

Below, we will look at each configuration.

The motor assembly 1100 is connected to a suction motor 1110 that converts electrical force into mechanical rotational force, a fan 1120 (or impeller) that is connected to the suction motor 1110 and rotates, and a suction motor 1110. It may include a driving circuit (PCB: Printed Circuit Board) 1130. The suction motor 1110 and the fan 1120 connected to and rotating with the suction motor 1110 may form a vacuum inside the wireless cleaner 100. Here, vacuum means a state lower than atmospheric pressure. The suction motor 1110 may include a brushless motor (hereinafter referred to as a brushless direct current (BLDC) motor), but is not limited thereto.

The driving circuit 1130 controls the suction motor 1110, a processor (hereinafter referred to as the first processor 1131) that controls communication with the brush device 2000, and a first switch element 1132 connected to a signal line. , a switch element 1133 (hereinafter referred to as a PWM control switch element) for controlling the power supply to the brush device 2000, and a load detection sensor 1134 that detects the load of the brush device 2000. , but is not limited to this. The PWM control switch element 1133 may include a field effect transistor (FET), a bipolar junction transistor (BJT), an insulated gate bipolar transistor (IGBT), etc. The load detection sensor 1134 may include a shunt resistor, a shunt resistor and amplification circuit (OP-AMP), a current detection sensor, and a magnetic field detection sensor (non-contact type). Hereinafter, for convenience of explanation, the FET will be described as an example of the PWM control switch element 1133, and the shunt resistance will be described as an example of the load detection sensor 1134.

The first processor 1131 may obtain data related to the state of the suction motor 1110 (hereinafter referred to as state data) and transmit the state data of the suction motor 1110 to the main processor 1800. In addition, the first processor 1131 controls (e.g., turns on or turns off) the operation of the first switch element 1132 connected to the signal line and sends a signal (hereinafter referred to as the first signal) to the brush device 2000 through the signal line. ) can be transmitted. The first switch element 1132 is an element that can set the signal line to Low. For example, the first switch element 1132 is an element that can cause the voltage of the signal line to be 0V. The first signal is the target rotation per minute (hereinafter also referred to as target drum RPM) of the rotating brush of the brush device 2000, the target trip level of the brush device 2000, or the consumption of the suction motor 1110. It may include data representing at least one of power, but is not limited thereto. For example, the first signal may include data for controlling a lighting device included in the brush device 2000. The first signal may be implemented with a preset number of bits. For example, the first signal may be implemented with 5 bits or 8 bits, and may have a transmission period of 10 ms per bit, but is not limited thereto.

The first processor 1131 may detect a signal (hereinafter referred to as a second signal) transmitted from the brush device 2000 through a signal line. The second signal may include data indicating the current state of the brush device 2000, but is not limited thereto. For example, the second signal may include data regarding current operating conditions (e.g., current drum RPM, current restraint level, current lighting device setting value, etc.). Additionally, the second signal may further include data indicating the type of brush device 2000. The first processor 1311 may transmit data indicating the current state of the brush device 2000 or data indicating the type of the brush device 2000 included in the second signal to the main processor 1800.

The motor assembly 1100 may be located within a dust collection container (dust container, 1200). The dust collection container 1200 may be configured to filter and collect dust or dirt in the air flowing in through the brush device 2000. The dust collection box 1200 may be provided to be detachable from the cleaner main body 1000.

The dust collection container 1200 can collect foreign substances through a cyclone method that separates foreign substances using centrifugal force. Air from which foreign substances have been removed through the cyclone method may be discharged to the outside of the cleaner main body 1000, and the foreign substances may be stored in the dust collection container 1200. A multi-cyclone may be placed inside the dust collection container 1200. The dust collection container 1200 may be provided to collect foreign substances on the lower side of the multi-cyclone. The dust collection container 1200 may include a dust collection container door (also referred to as the cover 10 of the dust container 1200) that opens the dust container 1200 when connected to the station. The dust collection container 1200 may include a first dust collection unit that is primarily collected and relatively large foreign substances are collected, and a second dust collection unit that is collected by a multi-cyclone and relatively small foreign substances are collected. Both the first dust collection unit and the second dust collection unit may be arranged to be open to the outside when the dust collection container door is opened.

The filter unit 1300 can filter ultrafine dust that is not filtered in the dust collection container 1200. The filter unit 1300 may include an outlet that allows air that has passed through the filter to be discharged to the outside of the wireless cleaner 100. The filter unit 1300 may include a motor filter, a HEPA filter, etc., but is not limited thereto.

The pressure sensor 1400 can measure the pressure inside the flow path (hereinafter also referred to as flow path pressure). In the case of the pressure sensor 1400 provided at the suction end (e.g., suction duct 40), the change in flow rate at the corresponding location can be measured by measuring the static pressure. The pressure sensor 1400 may be an absolute pressure sensor or a relative pressure sensor. When the pressure sensor 1400 is an absolute pressure sensor, the main processor 1800 can use the pressure sensor 1400 to sense the first pressure value before operating the suction motor 1110. Additionally, the main processor 1800 may sense the second pressure value after driving the suction motor 1110 at the target RPM, and use the difference between the first pressure value and the second pressure value as the pressure value inside the flow path. At this time, the first pressure value may be a pressure value due to internal/external influences such as weather, altitude, status of the wireless vacuum cleaner 100, and dust inflow, and the second pressure value may be a pressure value due to altitude, status of the wireless vacuum cleaner 100, and dust inflow. It may be a pressure value due to internal/external influences such as the inflow amount and a pressure value due to driving the suction motor 1110, and the difference between the first pressure value and the second pressure value may be a pressure value due to driving the suction motor 1110. Therefore, when the difference between the first pressure value and the second pressure value is used as the pressure value inside the flow path, internal/external influences other than those of the suction motor 1110 can be minimized.

The flow path pressure measured by the pressure sensor 1400 identifies the current use environment state of the brush device 2000 (e.g., the state of the surface to be cleaned (floor, carpet, mat, corner, etc.), the state lifted from the surface to be cleaned, etc.) It may be used to measure suction power that changes depending on the degree of contamination of the dust collection container 1200 or the degree of dust collection.

The pressure sensor 1400 may be located at the suction end (eg, suction duct 40). The suction duct 40 is a structure that connects the dust collection container 1200 and the extension pipe 3000 or the dust collection container 1200 and the brush device 2000 to allow fluid containing foreign substances to move to the dust collection container 1200. It can be. The pressure sensor 1400 may be located at the end of a straight section (or an inflection point between a straight section and a curved section) of the suction duct 40 in consideration of contamination by foreign substances/dust, but is not limited thereto. The pressure sensor 1400 may be located in the middle of the straight portion of the suction duct 40. Meanwhile, when the pressure sensor 1400 is located in the suction duct 40, the pressure sensor 1400 is located in front of the suction motor 1110 that generates suction force, so the pressure sensor 1400 is a negative pressure sensor. sensor).

In the present disclosure, the case where the pressure sensor 1400 is located in the suction duct 40 is described as an example, but is not limited thereto. The pressure sensor 1400 may be located at the discharge end (eg, within the motor assembly 1100). When the pressure sensor 1400 is located at the discharge end, the pressure sensor 1400 is located at the rear end of the suction motor 1110, so it can be implemented as a positive pressure sensor. Additionally, a plurality of pressure sensors 1000 may be provided in the wireless vacuum cleaner 100.

The battery 1500 may be detachably mounted on the cleaner body 1000. The battery 1500 may be electrically connected to a charging terminal provided in the station. The battery 1500 can be charged by receiving power from a charging terminal.

The cleaner main body 1000 may include a communication interface 1600 for communicating with an external device. For example, the cleaner main body 1000 may communicate with the station (or server device 300) through the communication interface 1600. The communication interface 1600 may include a short-range communication unit and a long-distance communication unit. The short-range wireless communication interface includes a Bluetooth communication unit, BLE (Bluetooth Low Energy) communication unit, NFC (Near Field Communication interface), WLAN (Wi-Fi) communication unit, Zigbee communication unit, and infrared (IrDA) communication unit. , Infrared Data Association) communication department, WFD (Wi-Fi Direct) communication department, UWB (ultra wideband) communication department, Ant+ communication department, etc., but is not limited thereto.

The user interface 1700 may be provided on the handle. The user interface 1700 may include an input interface and an output interface. The cleaner main body 1000 may receive user input related to the operation of the wireless cleaner 100 through the user interface 1700, and may output information related to the operation of the wireless cleaner 100. The cleaner main body 1000 may output information about the docking state, information about the state of the dust bin 1200, information about the state of the dust bag, etc. through the user interface 1700. The input interface may include a power button, a suction power intensity control button, etc. The output interface may include, but is not limited to, an LED display, LCD, touch screen, speaker, etc.

The cleaner main body 1000 may include at least one processor 1001. The cleaner main body 1000 may include one processor or may include a plurality of processors. For example, the cleaner body 1000 may include a main processor 1800 connected to the user interface 1700 and a first processor 1131 connected to the suction motor 1110. At least one processor 1001 may control the overall operation of the wireless vacuum cleaner 100. For example, the at least one processor 1001 determines the power consumption (suction force intensity) of the suction motor 1110, the drum RPM of the brush device 2000, the trip level of the brush device 2000, etc. You can.

At least one processor 1001 may detect the connection of the brush device 2000 to the cleaner body 1000 through the load detection sensor 1134. At least one processor 1001 may identify the type of brush device 2000 connected to the cleaner main body 1000. For example, at least one processor 1001 may identify the type of brush device based on a voltage value input through a signal line. At least one processor 1001, when the voltage value input through the signal line is between the maximum input voltage value and the minimum input voltage value, a brush device having an identification resistance corresponding to the voltage value input through the signal line among a plurality of types. can be identified. At least one processor 1001 provides a voltage value input to the input port according to the operation (ON/OFF) state of the switch element 1133 when the voltage value input through the signal line is the maximum input voltage value or the minimum input voltage value. Based on the change, the type of brush device 2000 can be identified. At least one processor 1001 may determine a frequency (PWM frequency) for pulse width modulation (PWM) control corresponding to the type of the identified brush device 2000. At least one processor 1001 may control the operation of the switch element 1133 based on the determined PWM frequency.

At least one processor 1001 according to the present disclosure includes a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Accelerated Processing Unit (APU), Many Integrated Core (MIC), Digital Signal Processor (DSP), and NPU ( Neural Processing Unit) may be included. At least one processor 1001 may be implemented in the form of an integrated system-on-chip (SoC) including one or more electronic components. Each of the at least one processor 1001 may be implemented as separate hardware (H/W). At least one processor 1001 may be expressed as a MICOM (Micro-Computer, Microprocessor Computer, Microprocessor controller), MPU (Micro Processor unit), or MCU (Micro Controller Unit).

At least one processor 1001 according to the present disclosure may be implemented as a single core processor or a multicore processor.

The memory 1900 may store programs for processing and control of at least one processor 1001, and may also store input/output data. For example, the memory 1900 includes a previously learned artificial intelligence (AI) model (e.g., Support Vector Machine (SVM) algorithm, etc.), state data of the suction motor 1110, and measurement of the pressure sensor 1400. value, status data of the battery 1500, status data of the brush device 2000, error occurrence data (failure history data), power consumption of the suction motor 1110 corresponding to the operating condition, RPM of the drum with the rotating brush, restraint Level, operation sequence of the suction motor 1110 corresponding to the suction force generation pattern, type of brush device 2000 corresponding to the voltage value input through the signal line, PWM frequency for each type of brush device 2000, brush device 2000 ), the average input voltage for each type, the high load reference value (low load reference value) for each type of brush device (2000), etc. can be stored. The high load reference value may be a reference load value for determining the state of the brush device 2000 as a high load state, and the low load reference value may be a reference load value for determining the state of the brush device 2000 as a low load state. The high load reference value and the low load reference value may vary depending on the type of brush device 2000, suction force intensity, suction force mode, etc.

Memory 1900 may include external memory and internal memory. For example, the memory 1900 may be a flash memory type, hard disk type, multimedia card micro type, or card type memory (e.g., SD or XD memory). etc.), RAM (Random Access Memory), SRAM (Static Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM (Programmable Read-Only Memory), magnetic It may include at least one type of storage medium among memory, magnetic disk, and optical disk. Programs stored in the memory 1900 may be classified into a plurality of modules according to their functions.

Hereinafter, the operation of the processors of the wireless vacuum cleaner 100 will be examined in detail with reference to FIG. 3.

FIG. 3 is a diagram for explaining the operation of processors of the wireless vacuum cleaner 100 according to an embodiment of the present disclosure.

Referring to FIG. 3, the main processor 1800 communicates with the battery 1500, the pressure sensor 1400, and the first processor 1131 in the motor assembly 1100 to check the status of parts in the cordless vacuum cleaner 100. You can. At this time, the main processor 1800 may communicate with each component using universal asynchronous receiver/transmitter (UART) communication or Inter Integrated Circuit (I2C) communication, but is not limited to this. For example, the main processor 1800 obtains data about the voltage status (e.g., normal, abnormal, fully charged, fully discharged, charging voltage, charging amount, etc.) of the battery 1500 from the battery 1500 using the UART. can do. The main processor 1800 may obtain data about flow path pressure from the pressure sensor 1400 using I2C communication.

In addition, the main processor 1800 uses the UART from the first processor 1131 connected to the suction motor 1110 to determine the suction force intensity, RPM of the suction motor 1110, and the status of the suction motor 1110 (e.g., normal , abnormalities, etc.) can be obtained. Suction power is the electrical power consumed to operate the wireless vacuum cleaner 100, and may be expressed as power consumption. The main processor 1800 may obtain data related to the load of the brush device 2000 and data related to the type of the brush device 2000 from the first processor 1131.

Meanwhile, the first processor 1131 provides status data (e.g., drum RPM, trip level, normal, abnormal) of the brush device 2000 through signal line communication with the second processor 2410 of the brush device 2000. etc.) can also be obtained from the brush device 2000. At this time, the first processor 1131 may transmit the status data of the brush device 2000 to the main processor 1800 through UART. According to an embodiment of the present disclosure, the first processor 1131 is a suction motor. The state data of 1110 and the state data of the brush device 2000 may be transmitted to the main processor 1800 at different cycles. For example, the first processor 1131 transmits the status data of the suction motor 1110 to the main processor 1800 once every 0.02 seconds, and transmits the status data of the brush device 2000 to the main processor 1800 once every 0.2 seconds. ), but is not limited to this.

The main processor 1800 determines whether an error has occurred based on the state of the parts in the wireless cleaner 100, the state of the suction motor 1110, and the state of the brush device 2000, and sends data related to the error occurrence at a short distance. It can also be periodically transmitted to the station through wireless communication (e.g. BLE communication).

When connecting the first processor 1131 of the cleaner main body 1000 and the second processor 2410 of the brush device 2000 through UART communication or I2C communication, high impedance and electrostatic discharge due to internal lines of the extension tube 3000 may occur. Problems include electrostatic discharge (ESD) and/or damage to circuit elements due to overvoltage (e.g. exceeding the maximum voltage of the Micom AD port). Therefore, according to an embodiment of the present disclosure, the first processor 1131 of the cleaner main body 1000 and the second processor 2410 of the brush device 2000 communicate through signal line communication instead of UART communication or I2C communication. . At this time, the circuit for signal line communication is a voltage distribution circuit (hereinafter referred to as voltage distribution circuit) to prevent damage to circuit elements due to overvoltage, power noise, surge, ESD (Electrical Overstress), and EOS (Electrical Discharge). (referred to as a distributor). However, communication between the first processor 1131 of the cleaner main body 1000 and the second processor 2410 of the brush device 2000 is not limited to signal line communication.

According to an embodiment of the present disclosure, when the noise reduction circuit is applied to the cleaner main body 1000 and the brush device 2000, the first processor 1131 of the cleaner main body 1000 and the second processor 1131 of the brush device 2000 The processor 2410 may also communicate using UART communication or I2C communication. The noise reduction circuit may include at least one of a low pass filter, a high pass filter, a band pass filter, a damping resistor, and a distribution resistor. It is not limited to this. According to an embodiment of the present disclosure, when the level shifter circuit is applied to the cleaner main body 1000 or the brush device 2000, the first processor 1131 of the cleaner main body 1000 and the second processor 1131 of the brush device 2000 The processor 2410 may also communicate using UART communication or I2C communication. Hereinafter, for convenience of explanation, the case where the cleaner main body 1000 and the brush device 2000 communicate through signal line communication will be described as a main example.

Meanwhile, the main processor 1800 may receive user input for setting buttons (e.g., ON/OFF button, +/- setting button) included in the user interface 1700, and may control the output of the LCD. . The main processor 1800 uses a previously learned AI model (e.g., SVM algorithm) to determine the usage environment status of the brush device 2000 (e.g., the state of the surface to be cleaned (floor, carpet, mat, corner, etc.), the surface to be cleaned, (e.g. lifted state, etc.), and operation information of the wireless cleaner 100 (e.g., power consumption of the suction motor 1110, drum RPM, trip level, etc.) that matches the usage environment condition of the brush device 2000. ) can also be determined. At this time, the main processor 1800 may transmit operation information of the wireless vacuum cleaner 100 that matches the usage environment state of the brush device 2000 to the first processor 1131. The first processor 1131 can adjust the strength of the suction force (power consumption, RPM) of the suction motor 1110 according to the operation information of the wireless cleaner 100, and generate a wireless cleaner suitable for the usage environment of the brush device 2000. The operation information of 100 may be transmitted to the second processor 2410 through signal line communication. In this case, the second processor 2410 may adjust the drum RPM, restraint level, lighting device (eg, LED display), etc. according to the operation information of the wireless cleaner 100. Hereinafter, with reference to FIG. 4, we will look at the brush device 2000 in more detail.

FIG. 4 is a diagram for explaining a brush device 2000 according to an embodiment of the present disclosure.

Referring to FIG. 4, the brush device 2000 may include a motor 2100, a drum 2200 with a rotating brush attached thereto, a lighting device 2300, etc., but is not limited thereto. The motor 2100 of the brush device 2000 may be provided inside the drum 2200 or may be provided outside the drum 2200. When the motor 2100 is provided outside the drum 2200, the drum 2200 can receive power from the motor 2100 through a belt.

Referring to 410 of FIG. 4, the motor 2100 may be a planetary geared motor. A planetary geared motor may be a combination of a DC motor and a planetary gear. The planetary gear is used to adjust the RPM of the drum 2200 according to the gear ratio. In the case of a planetary geared motor, the RPM of the motor 2100 and the RPM of the drum 2200 may have a constant ratio. Referring to 420 in FIG. 4, the motor 2100 may be a BLDC (Brushless Direct Current) motor, but is not limited thereto. When the motor 2100 is a BLDC motor, the RPM of the motor 2100 and the RPM of the drum 2200 may be the same.

The lighting device 2300 is used to illuminate the dark surface to be cleaned, to facilitate identification of dust or foreign matter on the surface to be cleaned, or to indicate the status of the brush device 2000, and is located on the front or top of the brush device 2300. It can be provided. The lighting device 2300 may include, but is not limited to, an LED display. For example, the lighting device 2300 may be a laser. The lighting device 2300 may operate automatically as the motor 2100 is driven, or may operate under the control of the second processor 2410. According to an embodiment of the present disclosure, the lighting device 2300 may change color or brightness under control of the second processor 2410.

Referring to 420 of FIG. 4, the brush device 2000 may further include a driving circuit (PCB) 2400. The driving circuit 2400 may include a circuit for signal line communication with the cleaner main body 1000. For example, the driving circuit 2400 includes a second processor 2410, a switch element (hereinafter also referred to as a second switch element) (not shown) connected to the signal line, and an identification resistor indicating the type of the brush device 2000 ( (not shown), etc., but is not limited thereto.

Meanwhile, the types of brush device 2000 may vary. For example, the brush device 2000 includes a multi brush 401, a floor brush 402, a mop brush 403, a turbo (carpet) brush 404, a bedding brush 405, a pet brush 406, It may include a brush (not shown), a gap brush (not shown), etc., but is not limited thereto. The brush device 2000 may include a light load (or low load) brush with a relatively low maximum motor output and a high load brush with a relatively high maximum motor output.

According to an embodiment of the present disclosure, the brush device 2000 includes a first type of brush device including an identification resistor, a second type of brush device in which the signal line is shorted to a + power line, and a - power line. It may also include a third type of brush device in which the signal line is shorted and a fourth type of brush device in which the signal line is open. Each type will be looked at in more detail later with reference to FIGS. 6 to 10.

According to an embodiment of the present disclosure, when the first type of brush device 2000 including an identification resistor is connected to the cleaner main body 1000, the cleaner main body 1000 is based on the input voltage value detected through the signal line. The types of brush device 2000 can be distinguished. Meanwhile, the cleaner main body 1000 may distinguish the type of brush device 2000 based on the data signal transmitted from the brush device 2000. For example, the brush device 2000 may transmit a data signal including information indicating the type of the brush device 2000 to the cleaner body 1000.

Hereinafter, types of the brush device 2000 classified by different internal circuit designs will be examined with reference to FIGS. 5 to 10.

FIG. 5 is a diagram for explaining a first type of brush device 2001 including an identification resistor 2500 according to an embodiment of the present disclosure.

Referring to FIG. 5 , the first type of brush device 2001 may be designed to include an identification resistor 2500 . The identification resistor 2500 represents the type of brush device 2000 and may be different for each brush device 2000. For example, the identification resistance of the multi brush 401 may be 330KΩ, the identification resistance of the floor brush 402 may be 2.2MΩ, and the identification resistance of the turbo (carpet) brush 404 may be 910KΩ, but are not limited thereto. no.

When the first type of brush device 2001 is coupled to the wireless cleaner 100, the first processor 1131 operates based on the voltage value (input voltage value) input to the input port of the first processor 1131. , the type of brush device 2000 can be identified. For example, if the brush device 2000 includes an identification resistor A, and the driving circuit 1130 of the cleaner body 1000 includes a voltage divider (resistor B and resistor C) connected to the signal line 30, The voltage value (input voltage value) input to the input port of the first processor 1131 may be as follows.

The voltage value input to the input port of the first processor 1131 may decrease as the value of the identification resistor 2500 increases. When resistance B and resistance C are constant, the voltage value input to the input port varies depending on the value of identification resistor A, so the first processor 1131 sets the identification resistor 2500 based on the voltage value input to the input port. The type of corresponding brush device 2000 can be identified. For example, the first processor 1131 may select a first type of brush device 2001 including an identification resistor 2500 corresponding to an input voltage value among a plurality of identification resistors, a brush device connected to the cleaner body 1000 ( 2000). Referring to FIG. 6, let's take a closer look at the identification resistor 2500.

FIG. 6 is a diagram for explaining the identification resistor 2500 of the brush device 2000 according to an embodiment of the present disclosure.

Referring to the table 600 in FIG. 6, the identification resistance of the multi brush 401 is 330KΩ, the identification resistance of the floor brush 402 is 2.2MΩ, and the identification resistance of the turbo (carpet) brush 404 is 910KΩ. You can. If the voltage of the battery 1500 is 25.2V, the voltage value input to the input port of the first processor 1131 when the multi brush 501 is coupled to the wireless cleaner 100 is 2.785V, and the voltage value input to the input port of the wireless cleaner 100 is 2.785V. When the floor brush 502 is coupled to the 100, the voltage value input to the input port of the first processor 1131 is 0.791V, and when the turbo (carpet) brush 504 is coupled to the wireless vacuum cleaner 100 The voltage value input to the input port of the first processor 1131 may be 1.563V. Accordingly, the first processor 1131 determines that the brush device 2000 is coupled to the wireless cleaner 100, and in a situation where the voltage of the battery 1500 is 25.2V, the voltage value input to the input port is 2.785V. If , the multi brush 501 is identified as being combined, and if the voltage value input to the input port is 0.791V, the floor brush 502 is identified as being combined, and if the voltage value input to the input port is 1.563V. It can be identified that the turbo (carpet) brush 504 is combined.

According to an embodiment of the present disclosure, when the first processor 1131 identifies the type of the brush device 2000, it may transmit information about the type of the brush device 2000 to the main processor 1800.

Meanwhile, as can be seen in the table 600 of FIG. 6, the input voltage value is 3.3V (or 5.0V) or less depending on the identification resistance value of the first type brush device 2001 including the identification resistor 2500. They appear differently from each other. As the number of first type brush devices 2001 including the identification resistor 2500 increases, the interval between input voltage values according to the identification resistance value becomes shorter, so even if only a little noise is generated, the cleaner main body The possibility of misidentifying the type of brush device 2000 in 1000 may increase.

Accordingly, the internal circuit design of the brush device 2000 may be changed to indicate the type of the brush device 2000 in a manner other than an identification resistance method. For example, the circuit of the brush device 2000 can be used to indicate the type of the brush device 2000 using short or open conditions for the power lines 10 and 20 and the signal line 30. can be designed. Please refer to FIGS. 7 to 10.

FIG. 7 is a diagram for explaining a second type of brush device 2002 in which the signal line 30 is shorted to the + power line 10 according to an embodiment of the present disclosure.

Referring to FIG. 7, the second type of brush device 2002 may be designed so that the signal line 30 is shorted to the + power line 10. The second type of brush device 2002 may be the same as in the first type of brush device 2001 where the identification resistance is 0.

When the second type of brush device 2002 is connected to the cleaner main body 1000, the voltage value (input voltage value) input to the input port of the first processor 1131 of the cleaner main body 1000 may be as follows: there is.

Accordingly, the first input voltage value ( ) than the second input voltage value ( ) may be larger. Hereinafter, the second input voltage value ( ) is defined as the maximum input voltage value.

In the case of the second type of brush device 2002, the + power line 10 and the signal line 30 are short-circuited, so the voltage value input to the input port of the first processor 1131 (input voltage value) is the maximum input voltage value ( ) can be constant. Accordingly, the first processor 1131 of the cleaner main body 1000 sets the input voltage value to the maximum input voltage value ( ), the brush device 2000 connected to the cleaner main body 1000 can be identified as a second type brush device 2002 in which the + power line 10 and the signal line 30 are shorted. For example, referring to FIG. 6, the mop brush 403 may be implemented such that the + power line 10 and the signal line 30 are shorted. At this time, the first processor 1131 of the cleaner main body 1000 is installed by the user when the input voltage value is constant at the maximum voltage value regardless of the ON/OFF state of the PWM control switching element 1133. One brush device 2000 can be identified as a wet mop brush 403. The first processor 1131 of the cleaner main body 1000 may transmit information that the brush device 2000 installed by the user is a wet mop brush 403 to the main processor 1800.

FIG. 8 is a diagram for explaining a third type of brush device 2003 in which the signal line 30 is shorted to the power line 20 according to an embodiment of the present disclosure.

Referring to FIG. 8, the third type of brush device 2003 may be designed so that the signal line 30 is shorted to the power line 20. In the case of the third type of brush device 2003, the signal line 30 is shorted to the power line 20, so when the PWM control switch element 1133 is in the on state, the first processor ( The voltage value (input voltage value) input to the input port of 1131 is the voltage value (input voltage value) input to the input port of the first processor 1131 when the PWM control switch element 1133 is in an off state. ) may be different.

For example, when the first processor 1131 outputs a High signal to the PWM control switch element 1133 and the PWM control switch element 1133 is turned on, the first processor 1131 of the cleaner main body 1000 The voltage value (input voltage value) input to the input port may be 0 (GND). Hereinafter, 0 (GND) will be defined as the minimum input voltage value. On the other hand, when the first processor 1131 outputs a low signal to the PWM control switch element 1133 and the PWM control switch element 1133 is turned off, the input port of the first processor 1131 of the cleaner main body 1000 The voltage value (input voltage value) input may be as follows.

That is, when the third type of brush device 2003 is connected to the cleaner main body 1000, the input voltage value when the PWM control switch element 1133 is in the on state is the maximum input value ( ), and the input voltage value when the PWM control switch element 1133 is in an off state may be the minimum input voltage value (0, GND).

Therefore, when the input voltage value input to the input port before PWM control is the maximum input voltage value or the minimum input voltage value, the cleaner main body 1000 changes the operating state of the PWM control switch element 1133 to the on state and then turns it off again. You can try changing the status. At this time, the input voltage value when the PWM control switch element 1133 is in the on state is the minimum input voltage value (0), and the input voltage value when the PWM control switch element 1133 is in the off state is the maximum input voltage value. , the first processor 1131 of the cleaner main body 1000 may identify the brush device 2000 connected to the brush device 2000 as the third type of brush device 2003. For example, the bedding brush 405 may be implemented so that the power line 20 and the signal line 30 are shorted. At this time, the first processor 1131 determines that the input voltage value in the off state of the switch element 1133 is the maximum input voltage value, and the input voltage value in the on state of the switch element 1133 is the maximum input voltage value. In the case of the minimum input voltage value, it can be identified that the brush device 2000 installed by the user is the bedding brush 405. The first processor 1131 of the cleaner main body 1000 may transmit information that the brush device 2000 installed by the user is the bedding brush 405 to the main processor 1800.

FIG. 9 is a diagram for explaining a fourth type of brush device 2004 in which the signal line 30 is open according to an embodiment of the present disclosure.

Referring to FIG. 9, the fourth type of brush device 2004 may be designed so that the signal line 30 is open. Since the signal line 30 of the fourth type of brush device 2004 is open, even if the ON/OFF state of the PWM control switching element 1133 changes, it is connected to the input port of the first processor 1131. The input voltage value may be '0 (GND)'.

Accordingly, the first processor 1131 of the cleaner main body 1000 detects the operating current of the brush device 2000 through the load detection sensor 1134, but turns on/off the PWM control switching element 1133. OFF) Even if the state changes, if the input voltage value is constant at the minimum input voltage value (0), the brush device 2000 connected to the cleaner main body 1000 is connected to the fourth type of brush device 2004 with the signal line 30 open. It can be identified as: For example, referring to FIG. 6 , the soft brush (general floor brush) 407 may be implemented such that the signal line 30 is open. The first processor 1131 of the cleaner main body 1000 controls the user when the input voltage value is constant at the lowest pressure value (0) regardless of the ON/OFF state of the PWM control switching element 1133. It can be identified that the mounted brush device 2000 is a soft brush 407. The first processor 1131 of the cleaner main body 1000 may transmit information that the brush device 2000 installed by the user is a soft brush 407 to the main processor 1800.

FIG. 10 is a diagram for explaining the type of brush device 2000 according to an embodiment of the present disclosure.

Referring to FIG. 10, the brush device 2000 can be divided into four types depending on the internal circuit design. For example, the brush device 2000 includes a first type brush device 2001 including an identification resistor 2500, and a second type brush device 2002 in which the signal line 30 is shorted to the + power line 10. ), - can be divided into a third type of brush device 2003 in which the signal line 30 is shorted to the power line 20, and a fourth type of brush device 2004 in which the signal line 30 is open.

The cleaner body 1000 has an input voltage value (AD #2) when the second type brush device 2002 is connected ( ), the type of brush device 2000 can be identified by considering the signal (α: High or Low) output to the PWM control switch element 1133. The input voltage value (AD #2) when the second type of brush device (2002) is connected can be defined as the maximum input voltage value.

For example, the cleaner main body 1000, 1) when the input voltage value is constant at the maximum input voltage value (AD #2) regardless of the signal (α: High or Low) output to the PWM control switch element 1133 , the brush device 2000 connected to the cleaner body 1000 is identified as a second type brush device 2002 in which the signal line 30 is shorted to the + power line 10, and 2) a PWM control switch element. The input voltage value when the signal (α) output to (1133) is Low is the maximum input voltage value (AD #2), and the input when the signal (α) output to the PWM control switch element (1133) is High. When the voltage value is 0 (GND), the brush device 2000 connected to the cleaner body 1000 is connected to a third type brush device 2003 in which the signal line 30 is shorted to the power line 20. 3) If the input voltage value is 0 (GND) regardless of the signal (α: High or Low) output to the PWM control switch element 1133, the brush device 2000 attached to the cleaner body 1000 can be identified as a fourth type of brush device 2004 in which the signal line 30 is open, and 4) when the input voltage value is lower than the maximum voltage A (AD #2), the cleaner body 1000 The connected brush device 2000 may be identified as a first type of brush device 2001 including an identification resistor 2500 . When the first type of brush device 2001 is connected to the cleaner body 1000, the cleaner body 1000 has a specific input voltage value ( ) Based on this, the type of brush device 2000 can be accurately identified.

Hereinafter, with reference to FIG. 11A, we will take a closer look at how the wireless cleaner 100 determines the frequency for PWM control based on the type of the brush device 2000.

FIG. 11A is a diagram for explaining how the wireless cleaner 100 controls the operation of the switch element 1133 for controlling power supply to the brush device 2000 according to an embodiment of the present disclosure.

In step S1110, the wireless cleaner 100 according to an embodiment of the present disclosure brushes the brush using a voltage value input to the input port of at least one processor 1001 through the load detection sensor 1134 or the signal line 30. The connection of the device 2000 to the cleaner body 1000 may be detected. Connecting the brush device 2000 to the cleaner body 1000 may include not only connecting the brush device 2000 directly to the cleaner body 1000 but also indirectly connecting it through the extension pipe 3000.

According to an embodiment of the present disclosure, at least one processor 1001 of the wireless cleaner 100 may detect whether the brush device 2000 is attached or detached using the load detection sensor 1134. For example, when the brush device 2000 is not coupled to the wireless cleaner 100 (e.g., handy mode), the operating current of the brush device 2000 detected by the load detection sensor 1134 is “0” (zero). ) can be. On the other hand, when the brush device 2000 is coupled to the wireless cleaner 100 (e.g., brush mode), the operating current of the brush device 2000 detected by the load detection sensor 1134 may be 50 mA or more. Accordingly, at least one processor 1001 of the wireless cleaner 100 determines that the brush device 2000 is detached when the operating current of the brush device 2000 detected by the load detection sensor 1134 is 0, If the operating current of the brush device 2000 detected by the load detection sensor 1134 is 50 mA or more, it may be determined that the brush device 2000 is coupled. Meanwhile, the reference operating current value for determining that the brush device 2000 is coupled is not limited to 50 mA and may be changed.

According to an embodiment of the present disclosure, at least one processor 1001 of the wireless cleaner 100 is configured to output a voltage value (hereinafter referred to as input voltage) input to the input port of the at least one processor 1001 through the signal line 30. The connection of the brush device 2000 to the cleaner body 1000 can be detected through the value (referred to as a value). For example, when the brush device 2000 is not coupled to the wireless cleaner 100 (eg, handy mode), the input voltage value may be “0V” (zero). On the other hand, when the brush device 2000 is combined with the wireless cleaner 100 (e.g., brush mode), the input voltage value may be greater than 0V and may vary depending on the type of the brush device 2000. For example, referring to FIG. 6, when the voltage of the battery 1500 is 25.2V and the multi-brush 401 is connected to the vacuum cleaner body 1000, the input voltage value may be 2.785V, and the voltage of the vacuum cleaner body 1000 ), when the floor brush 402 is connected to the input voltage value may be 0.791V. Accordingly, the at least one processor 1001 of the wireless cleaner 100 determines that the brush device 2000 is detached when the input voltage value is 0V, and when the input voltage value is greater than 0V, the brush device 2000 is detached. It can be judged as combined.

In step S1120, when the wireless cleaner 100 according to an embodiment of the present disclosure detects the connection of the brush device 2000 to the cleaner main body 1000, the brush device 2000 connected to the cleaner main body 1000 type can be identified.

According to an embodiment of the present disclosure, based on a voltage value (hereinafter referred to as an input voltage value) input to the input port of at least one processor 1001 of the wireless cleaner 100 through a signal line, the brush device 2000 ) can be identified.

For example, when the input voltage value is between the maximum input voltage value (MAX) and the minimum input voltage value (MIN) (e.g., 0V), the at least one processor 1001 may generate an identification resistor corresponding to the input voltage value. The brush device 2000 may be identified. The identification resistor may be located between the + power line 10 and the signal line 30 within the brush device 2000. The maximum input voltage value may be the voltage value input to the input port when the identification resistance is 0 (that is, when the signal line is shorted to the + power line). Accordingly, when the input voltage value is between the maximum input voltage value (MAX) and the minimum input voltage value (MIN), the brush device 2000 connected to the cleaner body 1000 is a first type of brush having an identification resistance greater than zero. It could be Device (2001). At this time, the at least one processor 1101 of the wireless cleaner 100 is configured to identify the type of the brush device 2000 by using a first type of brush device 2001 having an identification resistance corresponding to an input voltage value in a previously stored table. can be immediately identified.

At least one processor 1001 operates in the operation (ON/OFF) state of the switch element 1133 when the voltage value (input voltage value) input through the signal line 30 is the maximum input voltage value or the minimum input voltage value. Based on the change in input voltage value, the type of brush device 2000 can be identified. For example, when the voltage value (input voltage value) input through the signal line 30 is the maximum input voltage value or the minimum input voltage value, at least one processor 1001 is connected to the cleaner main body 1000 and the brush device 2000 ) may be determined not to be the first type of brush device 2001 including the identification resistor 2500.

Accordingly, at least one processor 1001 may change the PWM control switch element 1133 to the on state and then back to the off state in order to confirm the specific type of the brush device 2000. And the at least one processor 1001 compares the input voltage value when the PWM control switch element 1133 is in the on state with the input voltage value when the switch element 1133 is in the off state, and controls the vacuum cleaner body 1000. The specific type of brush device 2000 connected to can be identified.

According to an embodiment of the present disclosure, when the input voltage value of the at least one processor 1001 maintains the maximum input voltage value regardless of the on or off state of the PWM control switch element 1133. , the second type of brush device 2002 in which the signal line 30 is shorted to the + power line 10 can be identified as the brush device 2000 connected to the cleaner main body 1000. For example, the wet mop 403 may be implemented with a signal line shorted to the + power line. At this time, when the input voltage value maintains the maximum input voltage value regardless of the on or off state of the switch element 1133, the at least one processor 1001 controls the brush connected to the cleaner main body 1000. Device 2000 can be identified as a mopping brush 403.

In addition, the at least one processor 1001 determines that the input voltage value in the off state of the switch element 1133 is the maximum input voltage value, and the input voltage value in the on state of the switch element 1133 is the maximum input voltage value. In the case of this minimum input voltage value, the third type of brush device 2003, in which the signal line 30 is shorted to the power line 10, can be identified as the brush device 2000 connected to the cleaner main body 1000. there is. For example, the bedding brush 405 may be implemented in a form where the signal line 30 is shorted to the power line 10. At this time, the input voltage value in the off state of the switch element 1133 is the maximum input voltage value, and the input voltage value in the on state of the switch element 1133 is the maximum input voltage value of the at least one processor 1001. If this is the minimum input voltage value, the brush device 2000 connected to the cleaner main body 1000 can be identified as the bedding brush 405.

Meanwhile, at least one processor 1001 operates the signal line 30 when the input voltage value is constant at the minimum input voltage value regardless of the on or off state of the PWM control switch element 1133. This open fourth type of brush device 2004 can be identified as the brush device 2000 connected to the cleaner body 1000. For example, the pet brush 406 may be implemented so that the signal line 30 is open. At this time, the at least one processor 1001, if the input voltage value is constant at the minimum input voltage value regardless of the on or off state of the PWM control switch element 1133, the cleaner main body 1000 ) can be identified as the pet brush 406.

In step S1130, the wireless cleaner 100 according to an embodiment of the present disclosure may determine a frequency for PWM control (hereinafter also referred to as PWM frequency) corresponding to the type of brush device 2000.

According to an embodiment of the present disclosure, as the wireless cleaner 100 identifies the type of the brush device 2000 connected to the cleaner main body 1000, the PWM frequency corresponding to the type of the brush device 2000 is set to the PWM frequency. You can select (search) from the table. The PWM frequency table may have predetermined PWM frequencies defined for each type of brush device 2000. For example, the optimal frequency considering noise, electrical noise, back electromotive force generated by the motor 2100, etc. for each type of brush device 2000 may be defined in the PWM frequency table. The wireless cleaner 100 selects different frequencies for PWM control depending on the type of brush device 2000, thereby increasing the motor efficiency of the brush device 2000 and reducing abnormal noise and vibration (avoiding resonance). can do.

For example, referring to Figure 11b, it can be seen that the abnormal noise of the jet brush reaches its maximum when the PWM frequency is 2 kHz. Therefore, in consideration of abnormal noise, the PWM frequency of the jet brush may be adjusted to 1 kHz or 3 kHz instead of being determined to be 2 kHz.

According to an embodiment of the present disclosure, the PWM frequency may be determined by considering the driving current of the brush device 2000. For example, referring to FIG. 11C, the brush device 2000 is configured according to the type of the brush device 2000 (i.e., the type of the motor 2100 (e.g., A type, B type, C type, D type)). The driving current (or voltage) may vary. Therefore, the PWM frequency is determined to be higher as the driving current corresponding to the type of brush device 2000 connected to the cleaner body 1000 is larger, and the driving current corresponding to the type of brush device 2000 connected to the cleaner body 1000 is determined to be higher. The smaller the value, the higher or lower it can be determined.

According to an embodiment of the present disclosure, the PWM frequency is determined to be higher as the maximum motor output value corresponding to the type of the brush device 2000 connected to the cleaner main body 1000 is larger, and the brush device connected to the cleaner main body 1000 ( 2000), the smaller the maximum output value of the motor corresponding to the type, the lower it can be determined. For example, the wireless cleaner 100 determines the PWM frequency of a light load brush (e.g., bedding brush) with a relatively low motor maximum output value to be lower than the PWM frequency of a general load brush (e.g., floor brush), thereby reducing the PWM frequency. The switching loss of the control switch element 1133 can be reduced. On the other hand, the wireless cleaner 100 determines the PWM frequency of a high-load brush (e.g., carpet brush) with a relatively high motor maximum output value to be higher than the PWM frequency of a general-load brush (e.g., floor brush), thereby making the brush device (2000) The efficiency of the motor 2100 can be increased.

The wireless cleaner 100 according to an embodiment of the present disclosure may determine a frequency range for PWM control corresponding to the type of brush device 2000. The frequency determined for PWM control may vary between 0.5 kHW and 8 kHz depending on the type of brush device 2000. For example, when it is identified that the floor brush 402 is mounted on the cleaner main body 1000, it is determined that the PWM control switch element 1133 operates in the frequency range of 0.5 kHz to 2 kHz, and the cleaner main body 1000 is operated. If it is identified that the carpet brush 404 is mounted, it may be determined that the PWM control switch element 1133 operates in a frequency range of 1.0 to 3.0 kHz, which is higher than the frequency range of the floor brush 402. According to an embodiment of the present disclosure, the wireless cleaner 100 measures the actual load value of the brush device 2000, the suction force intensity of the cleaner main body 1000, etc. within a frequency range corresponding to the type of the brush device 2000. Taking this into account, a specific PWM frequency can be selected.

In step S1140, the wireless cleaner 100 according to an embodiment of the present disclosure uses a switch element 1133 to control power supply to the brush device 2000 based on the frequency corresponding to the type of the brush device 2000. ) operation can be controlled.

According to an embodiment of the present disclosure, at least one processor 1001 of the wireless cleaner 100 sends a High signal and a High signal to the PWM control switch element 1133 according to the PWM frequency corresponding to the type of the brush device 2000. Low signals can be output alternately. The PWM control switch element 1133 may be turned on when a high signal is input, and may be turned off when a low signal is input. Accordingly, the PWM control switch element 1133 may repeat the on and off states depending on the PWM frequency.

According to an embodiment of the present disclosure, by adjusting the PWM frequency according to the type of brush device 2000 connected to the wireless cleaner 100, optimal control tailored to the characteristics of the brush device 2000 is possible.

According to an embodiment of the present disclosure, steps S1110 to S1140 may be performed by at least one processor 1001 of the wireless cleaner 100. For example, steps S1110 to S1140 may be performed by the main processor 1800 or the first processor 1131 of the suction motor 1110. Additionally, some of steps S1110 to S1140 may be performed by the main processor 1800 and some remaining steps may be performed by the first processor 1131 of the suction motor 1110.

Hereinafter, a method of determining other parameters related to the operation of the brush device 2000 (e.g., input voltage, restraint level, etc. of the brush device 2000) in addition to the frequency according to the type of the brush device 2000 is shown in FIG. 12. Let's take a closer look by referring to .

FIG. 12 is a flowchart illustrating a method of determining parameters related to driving the brush device 2000 based on the type of the brush device 2000 according to an embodiment of the present disclosure.

In step S1210, the wireless cleaner 100 according to an embodiment of the present disclosure may initialize the system upon receiving a user input for turning on the power. For example, the wireless vacuum cleaner 100 may wake-up the battery 1500 and supply power to a circuit such as at least one processor 1001 according to a user input to turn on the power.

In step S1220, the wireless cleaner 100 according to an embodiment of the present disclosure may determine whether the brush device 2000 is connected to the cleaner main body 1000.

According to an embodiment of the present disclosure, the brush device 2000 may be connected directly to the cleaner main body 1000 or may be connected through an extension tube 3000.

According to an embodiment of the present disclosure, the wireless cleaner 100 can detect whether the brush device 2000 is attached or detached using the load detection sensor 1134. For example, the at least one processor 1001 of the wireless cleaner 100 determines that the brush device 2000 is detached when the operating current of the brush device 2000 detected by the load detection sensor 1134 is 0. And, if the operating current of the brush device 2000 detected by the load detection sensor 1134 is 50 mA or more, it may be determined that the brush device 2000 is coupled.

In step S1230, when the wireless cleaner 100 according to an embodiment of the present disclosure identifies that the brush device 2000 is not connected to the cleaner main body 1000 (NO in S1220), it enters the handy mode 1201. It can work. The handy mode 1201 may be a mode in which the brush device 2000 is detached and cleaning is performed using only the cleaner body 1000.

In step S1240, when the wireless cleaner 100 according to an embodiment of the present disclosure identifies that the brush device 2000 is connected to the cleaner main body 1000 (YES in S1220), it can operate in brush mode 1202. there is. The brush mode 1202 may be a mode in which the brush device 2000 is mounted and cleaning is performed.

Referring to the table 1210, the handy mode 1201 may operate at a higher suction power intensity than the brush mode 1202 in the same suction power mode. For example, jet mode may be set in the wireless vacuum cleaner 100. At this time, in the handy mode 1201, the wireless cleaner 100 drives the suction motor 1110 with a power consumption of 580W to generate a suction power of 220W, but in the brush mode 1202, the wireless cleaner 100 uses a suction motor ( 1110) can be driven with a power consumption of 335W to generate a suction power of 140W.

In step S1250, when operating in brush mode, the wireless cleaner 100 according to an embodiment of the present disclosure may identify the type of brush device 2000 connected to the cleaner main body 1000. According to an embodiment of the present disclosure, based on a voltage value (hereinafter referred to as an input voltage value) input to the input port of at least one processor 1001 of the wireless cleaner 100 through a signal line, the brush device 2000 ) can be identified.

Since step S1250 corresponds to step S1120 of FIG. 11A, detailed description will be omitted.

In step S1260, the wireless cleaner 100 according to an embodiment of the present disclosure, based on the type of the brush device 2000, determines the frequency for PWM control (PWM frequency), the input voltage of the brush device 2000, or At least one of the restraint levels can be determined.

For example, the wireless cleaner 100 may determine the PWM frequency based on the type of brush device 2000. The wireless cleaner 100 may determine the PWM frequency and the input voltage of the brush device 2000 based on the type of the brush device 2000. The wireless cleaner 100 may determine the PWM frequency, the input voltage of the brush device 2000, and the restraint level based on the type of the brush device 2000.

According to an embodiment of the present disclosure, the operation of the wireless cleaner 100 determining the PWM frequency based on the type of the brush device 2000 has been described in S1130 of FIG. 11A, and thus redundant description will be omitted.

According to an embodiment of the present disclosure, the wireless cleaner 100 may determine the input voltage of the brush device 2000 in addition to the PWM frequency based on the type of the brush device 2000. The input voltage of the brush device 2000 is the voltage required for the brush device 2000 to drive the drum 2200 at the target RPM, and may vary depending on the type of the brush device 2000.

The brush device 2000 requires different electrical inputs depending on the characteristics of each type (use). For example, the first motor applied to the wide floor brush 402 requires a normal level of output to rotate the drum 2200 at the target RPM, and the second motor applied to the narrow pet brush 406 The drum 2200 can be driven at the target RPM even with relatively low output. Accordingly, the wireless cleaner 100 may determine the input voltage of the brush device 2000 to be lower when the brush device 2000 connected to the cleaner main body 1000 is a pet brush 406 than when the brush device 2000 is a floor brush 402. there is.

According to an embodiment of the present disclosure, the input voltage of the brush device 2000 may mean an average voltage that must be supplied to the brush device 2000 through PWM control. Accordingly, the wireless cleaner 100 increases the duty value (On duty section) of the PWM control switch element 1133 as the input voltage of the brush device 2000 increases, so that more voltage is transferred from the battery 1500 to the brush device 2000. ) can be supplied. As the duty value increases, the total time during which current flows through the motor 2100 becomes longer, so the average power supplied to the brush device 2000 may increase.

On the contrary, the wireless cleaner 100 reduces the duty value (On duty section) of the PWM control switch element 1133 as the input voltage of the brush device 2000 increases, so that less voltage is transferred from the battery 1500 to the brush device 2000. ) can be supplied. As the duty value is smaller, the total time during which current flows through the motor 2100 becomes shorter, so the average power supplied to the brush device 2000 may decrease. When the average power supplied to the brush device 2000 decreases, the usage time of the battery 1500 can be efficiently increased.

According to an embodiment of the present disclosure, the wireless cleaner 100 may determine the restraint level of the brush device 2000 in addition to the PWM frequency based on the type of the brush device 2000. The restraint level is intended to prevent overload of the brush device 2000 and may mean a reference load value (eg, reference current value) for stopping the operation of the brush device 2000. According to an embodiment of the present disclosure, the wireless cleaner 100 monitors the load value of the brush device 2000 through the load detection sensor 1134, and as a result, the load value of the brush device 2000 is changed to the load value of the brush device 2000. ), the PWM control switch element 1133 can be controlled to cut off the power supply to the brush device 2000 when the load value of the restraint level determined based on the type of load is reached.

According to an embodiment of the present disclosure, as the wireless cleaner 100 identifies the type of the brush device 2000 connected to the cleaner main body 1000, the restraint level corresponding to the type of the brush device 2000 is set to the restraint level. You can select (search) from the table. The restraint level table may have predetermined restraint levels defined for each type of brush device 2000.

According to an embodiment of the present disclosure, the restraint level is determined to be higher as the maximum motor output value corresponding to the type of the brush device 2000 connected to the cleaner main body 1000 is larger, and the brush device connected to the cleaner main body 1000 ( 2000), the smaller the maximum output value of the motor corresponding to the type, the lower it can be determined. For example, the wireless vacuum cleaner 100 determines the restraint level of a light load brush (e.g., bedding brush) with a relatively low motor maximum output value to be lower than the restraint level of a general load brush (e.g., floor brush), thereby preventing overload. Therefore, it is possible to prevent light load brushes from breaking down. For example, when the restraint level of the general load brush is 2.0A, the wireless cleaner 100 determines the restraint level of the light load brush to be 1.5A, that is, the durability of the brush device 2000 can be improved. .

On the other hand, the wireless cleaner 100 determines the restraint level of a high-load brush (e.g., carpet brush) with a relatively high motor maximum output value to be higher than the restraint level of a general-load brush (e.g., floor brush), thereby making the brush device (2000) It is possible to prevent the brush device 2000 from stopping frequently in a high load situation that can be tolerated. For example, the wireless cleaner 100 can improve the usability of the brush device 2000 by determining the restraint level of the high-load brush to be 2.2A when the restraint level of the general load brush is 2.0A.

According to an embodiment of the present disclosure, the wireless cleaner 100 controls the PWM frequency, the average voltage supplied to the brush device 2000, or the restraint level of the brush device 2000 depending on the type of the brush device 2000. By doing so, it is possible to provide optimal control suited to the characteristics of the brush device 2000 connected to the cleaner main body 1000. Therefore, according to an embodiment of the present disclosure, the cleaning efficiency of the brush device 2000 is increased, abnormal noise and abnormal vibration are reduced (resonance avoidance), electrical noise is reduced, and the usage time of the wireless vacuum cleaner 100 is reduced. This may increase. Referring to Figure 13, let's take a closer look.

FIG. 13 is a diagram for explaining an operation of determining parameters related to driving the brush device 2000 based on the type of the brush device 2000 according to an embodiment of the present disclosure.

Referring to FIG. 13, depending on the purpose of cleaning, the wireless cleaner 100 may be equipped with various types of brush devices 2000. For example, the wireless vacuum cleaner 100 may be equipped with a floor brush 1301, a mop brush 1302, and a pet brush 1303.

According to an embodiment of the present disclosure, the wireless cleaner 100 can identify the type of brush device 2000 installed by the user according to the cleaning purpose and provide control appropriate for the type of brush device 2000.

For example, as the wireless cleaner 100 identifies that the floor brush 1301 is mounted, the PWM frequency is determined to be 0.5 kHz, the input voltage of the brush device 2000 is determined to be 16V, and the restraint level is set to 16V. It can be determined as 1.5A. At this time, the wireless cleaner 100 may control the PWM control switch element 1133 to supply power to the floor brush 1301 with a duty value corresponding to 16V at a frequency of 0.5 kHz. During cleaning, when the load value of the floor brush 1301 reaches 1.5A, the wireless cleaner 100 may control the PWM control switch element 1133 to cut off the power supply to the floor brush 1301. For example, the first processor 1131 of the cleaner main body 1000 may output a low signal to the PWM control switch element 1133 to change the operating state of the PWM control switch element 1133 to the off state.

As the wireless cleaner 100 identifies that the mop brush 1302 is mounted, the PWM frequency is determined to be 1.0 kHz, the input voltage of the brush device 2000 is determined to be 18V, and the binding level is determined to be 2.0A. You can. At this time, the wireless cleaner 100 may control the PWM control switch element 1133 to supply power to the mop brush 1302 with a duty value corresponding to 18V at a frequency of 1.0 kHz. During cleaning, when the load value of the wet mop brush 1302 reaches 2.0A, the wireless cleaner 100 may control the PWM control switch element 1133 to cut off the power supply to the wet mop brush 1302. For example, the first processor 1131 of the cleaner main body 1000 may output a low signal to the PWM control switch element 1133 to change the operating state of the PWM control switch element 1133 to the off state.

As the wireless cleaner 100 identifies that the pet brush 1303 is mounted, the PWM frequency is determined to be 1.0 kHz, the input voltage of the brush device 2000 is determined to be 16V, and the restraint level is determined to be 1.0A. You can. At this time, the wireless cleaner 100 may control the PWM control switch element 1133 to supply power to the pet brush 1303 with a duty value corresponding to 16V at a frequency of 0.5 kHz. During cleaning, when the load value of the pet brush 1303 reaches 1.0A, the wireless cleaner 100 may control the PWM control switch element 1133 to cut off the power supply to the pet brush 1303. For example, the first processor 1131 of the cleaner main body 1000 may output a low signal to the PWM control switch element 1133 to change the operating state of the PWM control switch element 1133 to the off state.

Meanwhile, according to an embodiment of the present disclosure, the wireless cleaner 100, based on the actual load value of the brush device 2000 measured during cleaning, sets the PWM frequency corresponding to the type of the brush device 2000, the brush device (2000), the input voltage and restraint level can also be adjusted adaptively. Referring to FIG. 14, we will take a closer look at the operation of the wireless cleaner 100 to adjust parameters related to driving the brush device 2000 based on the actual load value of the brush device 2000.

FIG. 14 is a flowchart illustrating a method of adjusting parameters related to driving the brush device 2000 based on the load value of the brush device 2000 according to an embodiment of the present disclosure.

In step S1401, the wireless cleaner 100 according to an embodiment of the present disclosure determines the frequency for PWM control (PWM frequency), the input voltage or restraint of the brush device 2000, based on the type of the brush device 2000. You can decide on at least one of the levels. Since step S1401 corresponds to step S1250 of FIG. 12, detailed description will be omitted.

In step S1402, the wireless cleaner 100 according to an embodiment of the present disclosure may measure the load value of the brush device 2000. For example, the wireless cleaner 100 supplies power to the brush device 2000 according to the PWM frequency determined based on the type of the brush device 2000, the input voltage of the brush device 2000, or the restraint level, while loading the brush device 2000. The actual load value of the brush device 2000 can be monitored through the detection sensor 1134.

In step S1403, the wireless cleaner 100 according to an embodiment of the present disclosure may identify that the load value of the brush device 2000 measured through the load detection sensor 1134 is greater than the high load reference value.

The high load reference value may be a reference load value for determining that the brush device 2000 is in a high load state. The high load reference value may be different from the restraint level for determining overload. The high load reference value may be lower than the restraint level. The high load reference value may vary depending on the type of brush device 2000. For example, referring to Figure 15, the high load reference value of the floor brush 1501 is 1.2A, the high load reference value of the mop brush 1502 is 1.5A, and the high load reference value of the bedding brush 1503 is 0.8A. It may be, but is not limited to this.

Meanwhile, the high load reference value may vary depending on the suction power mode set in the wireless cleaner 100 or the suction power strength (or power consumption) of the cleaner main body 1000.

In step S1404, when the load value of the brush device 2000 is greater than the high load reference value, the wireless cleaner 100 according to an embodiment of the present disclosure uses the PWM frequency determined for PWM control and the input voltage of the brush device 2000. , or you can adjust the restraint level higher.

The wireless cleaner 100 according to an embodiment of the present disclosure may determine that the brush device 2000 is in a high load state when the load value of the brush device 2000 is greater than the high load reference value. Accordingly, the wireless cleaner 100 may adjust the frequency determined for PWM control, the input voltage of the brush device 2000, or the restraint level to be higher, reflecting the high load state of the brush device 2000. For example, when a foreign substance gets caught in the brush device 2000 or the usage environment of the brush device 2000 changes from hard floor to carpet, the load value of the brush device 2000 is lower than the high load reference value. It can get bigger.

When the brush device 2000 is in a high load state, the wireless cleaner 100 can increase the efficiency of the motor 2100 of the brush device 2000 by increasing the PWM frequency. Additionally, when the brush device 2000 is in a high load state, a larger voltage is required from the brush device 2000, so the wireless cleaner 100 sets the input voltage of the brush device 2000 higher and sets the input voltage higher. The PWM control switch element 1133 can be controlled so that power is supplied to the brush device 2000 with a duty value corresponding to the set input voltage. Meanwhile, when the brush device 2000 is in a high load state, the wireless cleaner 100 can prevent the brush device 2000 from stopping frequently in the high load state by adjusting the restraint level to a higher level.

Meanwhile, when the load value of the brush device 2000 reaches an abnormal high load reference value that is greater than the high load reference value, the wireless cleaner 100 adjusts the PWM control frequency, the input voltage of the brush device 2000, and the restraint level. Rather, it can be lowered. The ideal high load reference value may be a load value at which a problem may occur when the brush device 2000 is driven for a certain period of time under the current load state. This is because, when a load exceeding the abnormal high load reference value is applied to the brush device 2000, the risk of failure (deterioration in quality and reliability) increases due to increased circuit element loss and overload of the motor 2100 of the brush device 2000.

In step S1405, the wireless cleaner 100 according to an embodiment of the present disclosure determines that the load value of the brush device 2000 measured through the load detection sensor 1134 is between the high load reference value and the low load reference value (normal load state). ) can be identified.

The low load reference value may be a reference load value for determining that the brush device 2000 is in a low load state. The low load reference value may vary depending on the type of brush device 2000, the suction power mode set in the wireless cleaner 100, or the suction power strength (or power consumption) of the cleaner main body 1000.

In step S1406, when the load value of the brush device 2000 is between the high load reference value and the low load reference value, the wireless cleaner 100 according to an embodiment of the present disclosure uses the frequency determined for PWM control, the brush device 2000 ) can maintain the current state of the input voltage or restraint level.

According to an embodiment of the present disclosure, when the load value of the brush device 2000 is between the high load reference value and the low load reference value, the operating state of the brush device 2000 can be considered stable, so the wireless cleaner 100 may maintain the current settings of parameters related to the operation of the brush device 2000.

In step S1407, the wireless cleaner 100 according to an embodiment of the present disclosure may identify that the load value of the brush device 2000 measured through the load detection sensor 1134 is less than the low load reference value.

In step S1408, when the load value of the brush device 2000 is less than the low load reference value, the wireless cleaner 100 according to an embodiment of the present disclosure uses the frequency determined for PWM control and the input voltage of the brush device 2000. , or you can adjust the restraint level lower than the current setting.

The wireless cleaner 100 according to an embodiment of the present disclosure may determine that the brush device 2000 is in a low load state when the load value of the brush device 2000 is less than the low load reference value. Accordingly, the wireless cleaner 100 may adjust the frequency determined for PWM control, the input voltage of the brush device 2000, or the restraint level to a lower level, reflecting the low load state of the brush device 2000. For example, when the brush device 2000 is lifted from the surface to be cleaned, or the use environment state of the brush device 2000 changes from carpet to hard floor, the load value of the brush device 2000 changes to low load. It may be smaller than the standard value.

When the brush device 2000 is in a low load state, the wireless cleaner 100 can reduce the switching loss and electrical noise of the PWM control switch element 1133 by lowering the PWM frequency. When the brush device 2000 is in a low load state, a large voltage is not required from the brush device 2000, so the wireless cleaner 100 sets the input voltage of the brush device 2000 lower and sets the input voltage lower. The PWM control switch element 1133 can be controlled so that power is supplied to the brush device 2000 with a duty value corresponding to the input voltage. At this time, since the drum RPM of the brush device 2000 can be reduced, unnecessary noise generated from the brush device 2000 can be reduced and the usage time of the battery 1500 can be increased. Meanwhile, when the brush device 2000 is in a low load state, the wireless cleaner 100 can improve the durability of the brush device 2000 by adjusting the restraint level to a lower level.

In step S1409, the wireless cleaner 100 according to an embodiment of the present disclosure performs PWM control according to the PWM frequency adjusted to reflect the load value of the brush device 2000, the input voltage or restraint level of the brush device 2000. The operation of the switch element 1133 can be controlled.

For example, the wireless cleaner 100 uses a PWM control switch element 1133 to supply power to the brush device 2000 with a duty value corresponding to the input voltage of the adjusted brush device 2000 at the adjusted PWM frequency. You can control it. In addition, the wireless cleaner 100 controls the PWM control switch element 1133 to cut off the power supply to the brush device 2000 when the load value of the brush device 2000 reaches the load value of the adjusted restraint level. can do.

In step S1410, the wireless cleaner 100 according to an embodiment of the present disclosure may repeat steps S1402 to S1409 until receiving a user input for turning off the power. For example, the wireless cleaner 100 monitors the load value of the brush device 2000 during cleaning through the load detection sensor 1134, so that the load value of the brush device 2000 is adjusted according to the real-time load value of the brush device 2000. Power supply can be controlled adaptively.

Meanwhile, in FIG. 14, the state of the brush device 2000 is divided into a high load state, a normal load state, and a low load state, and the PWM frequency, input voltage, and restraint level are controlled as an example in three stages, but this is limited to this. It doesn't work. For example, the wireless cleaner 100 divides the state of the brush device 2000 into two levels or less (e.g., high load state/normal load state, high load state/low load state, normal load state/low load state, etc.). By doing so, the PWM frequency, input voltage of the brush device 2000, and restraint level can be controlled more simply. In addition, the wireless cleaner 100 configures the state of the brush device 2000 in four or more levels (e.g., ultra-high load state/high load state/normal load state/low load state, ultra-high load state/high load state/normal load state/low state). By dividing into load state/ultra-low load state, etc.), the PWM frequency, input voltage of the brush device 2000, and restraint level can be controlled in more detail.

Below, with reference to FIG. 15 , we will take a closer look at the operation of the wireless cleaner 100 to adjust parameters related to the operation of the brush device 2000 according to the state of the brush device 2000.

FIG. 15 is a diagram illustrating an operation of adjusting parameters related to driving the brush device 2000 when the brush device 2000 is in a high load state according to an embodiment of the present disclosure.

According to an embodiment of the present disclosure, the wireless cleaner 100 can identify the type of brush device 2000 installed by the user according to the cleaning purpose and provide control appropriate for the type of brush device 2000. At this time, based on the actual load value of the brush device 2000, when the brush device 2000 is in a high load state, the wireless cleaner 100 adjusts the parameters related to the operation of the brush device 2000 to be higher than the current setting. You can.

Referring to 1510 of FIG. 15, as the wireless cleaner 100 identifies that the floor brush 1501 is mounted, it determines the initial PWM frequency to be 0.5 kHz and sets the initial input voltage of the floor brush 1501 to 16V. and the initial restraint level can be determined to be 1.5A. At this time, the wireless cleaner 100 may control the PWM control switch element 1133 to supply power to the floor brush 1501 with a duty value corresponding to 16V at a frequency of 0.5 kHz.

Meanwhile, the wireless cleaner 100 monitors the load value of the floor brush 1501, and when the load value of the floor brush 1501 exceeds the high load reference value (1.2A), it determines that the floor brush 1501 is in a high load state. can do. Accordingly, the wireless cleaner 100 can change the PWM frequency from 0.5 kHz to 1.0 kHz, change the input voltage of the floor brush 1501 from 16V to 18V, and change the restraint level from 1.5A to 2.0A. In this case, the wireless cleaner 100 may control the PWM control switch element 1133 to supply power to the floor brush 1501 with a duty value corresponding to 18V at a frequency of 1.0 kHz. In addition, the wireless cleaner 100 does not cut off the power supply to the floor brush 1501 even when the load value of the floor brush 1501 reaches 1.5A, and even when the load value of the floor brush 1501 reaches 2.0A, the wireless cleaner 100 does not cut off the power supply to the floor brush 1501. In this case, the PWM control switch element 1133 can be controlled to block the power supply to the floor brush 1501.

Referring to 1520 in FIG. 15, as the wireless cleaner 100 identifies that the wet mop brush 1502 is mounted, the initial PWM frequency is determined to be 1.0 kHz, and the initial input voltage of the wet mop brush 1502 is set to 18V. and the initial restraint level can be determined to be 2.0A. At this time, the wireless cleaner 100 may control the PWM control switch element 1133 to supply power to the mop brush 1502 with a duty value corresponding to 18V at a frequency of 1.0 kHz.

Meanwhile, the wireless cleaner 100 monitors the load value of the wet mop brush 1502, and when the load value of the wet mop brush 1502 exceeds the high load reference value (1.5A), it determines that the wet mop brush 1502 is in a high load state. can do. Accordingly, the wireless cleaner 100 can change the PWM frequency from 1.0 kHz to 2.5 kHz, change the input voltage of the mop brush 1502 from 18V to 20V, and change the restraint level from 2.0A to 3.0A. In this case, the wireless cleaner 100 may control the PWM control switch element 1133 to supply power to the mop brush 1502 with a duty value corresponding to 20V at a frequency of 2.5 kHz. In addition, the wireless cleaner 100 does not cut off the power supply to the wet mop brush 1502 even when the load value of the wet mop brush 1502 reaches 2.0A, and even when the load value of the wet mop brush 1502 reaches 3.0A, the wireless cleaner 100 does not cut off the power supply to the wet mop brush 1502. In this case, the PWM control switch element 1133 can be controlled to block the power supply to the mop brush 1502.

Referring to 1530 in FIG. 15, as the wireless cleaner 100 identifies that the pet brush 1503 is mounted, it determines the initial PWM frequency to be 1.0 kHz and sets the initial input voltage of the pet brush 1503 to 16V. and the initial restraint level can be determined to be 1.0A. At this time, the wireless cleaner 100 may control the PWM control switch element 1133 to supply power to the pet brush 1503 with a duty value corresponding to 16V at a frequency of 1.0 kHz.

Meanwhile, the wireless cleaner 100 monitors the load value of the pet brush 1503, and when the load value of the pet brush 1503 exceeds the high load reference value (0.8A), the pet brush 1503 is said to be in a high load state. You can judge. Accordingly, the wireless cleaner 100 can change the PWM frequency from 1.0 kHz to 2.0 kHz, change the input voltage of the pet brush 1503 from 16V to 18V, and change the restraint level from 1.0A to 1.5A. In this case, the wireless cleaner 100 may control the PWM control switch element 1133 to supply power to the pet brush 1503 with a duty value corresponding to 18V at a frequency of 2.0 kHz. In addition, the wireless cleaner 100 does not cut off the power supply to the pet brush 1503 even if the load value of the pet brush 1503 reaches 1.0A, and even if the load value of the pet brush 1503 reaches 1.5A, the wireless cleaner 100 does not cut off the power supply to the pet brush 1503. In this case, the PWM control switch element 1133 can be controlled to block the power supply to the pet brush 1503.

Meanwhile, since the load value of the brush device 2000 is proportional to the suction power strength of the cleaner main body 1000, the cordless cleaner 100 uses the suction power strength of the cleaner main body 1000 (power consumption of the suction motor 1110). Accordingly, parameters related to the operation of the brush device 2000 may be adjusted. For example, even if the same brush device 2000 is installed, when the suction power of the cleaner main body 1000 increases, the wireless cleaner 100 changes the PWM frequency, the input voltage of the brush device 2000, or the restraint level ( Trip Level) can be increased. Conversely, even if the same brush device 2000 is installed, if the suction power of the cleaner main body 1000 decreases, the wireless cleaner 100 adjusts the PWM frequency, the input voltage of the brush device 2000, or the trip level. You can lower at least one. Hereinafter, the operation of the wireless vacuum cleaner 100 to adjust parameters related to driving the brush device 2000 based on the intensity of suction force will be examined in detail with reference to FIG. 16.

FIG. 16 is a flowchart illustrating a method by which the wireless cleaner 100 adjusts parameters related to driving the brush device 2000 based on the intensity of suction force according to an embodiment of the present disclosure.

In step S1610, the wireless cleaner 100 according to an embodiment of the present disclosure uses a voltage value input to the input port of at least one processor 1001 through the load detection sensor 1134 or the signal line 30, The connection of the brush device 2000 to the cleaner body 1000 may be detected.

According to an embodiment of the present disclosure, the wireless cleaner 100 can detect whether the brush device 2000 is attached or detached using the load detection sensor 1134. For example, the at least one processor 1001 of the wireless cleaner 100 determines that the brush device 2000 is detached when the operating current of the brush device 2000 detected by the load detection sensor 1134 is 0. And, if the operating current of the brush device 2000 detected by the load detection sensor 1134 is 50 mA or more, it may be determined that the brush device 2000 is coupled.

According to an embodiment of the present disclosure, at least one processor 1001 of the wireless cleaner 100 is configured to output a voltage value (hereinafter referred to as input voltage) input to the input port of the at least one processor 1001 through the signal line 30. The connection of the brush device 2000 to the cleaner body 1000 can be detected through the value (referred to as a value). For example, the at least one processor 1001 of the wireless cleaner 100 determines that the brush device 2000 is detached when the input voltage value is 0V, and when the input voltage value is greater than 0V, the brush device 2000 ) can be judged to be a combination.

In step S1620, the wireless cleaner 100 according to an embodiment of the present disclosure may identify the type of brush device 2000 connected to the cleaner main body 1000.

According to an embodiment of the present disclosure, based on a voltage value (hereinafter referred to as an input voltage value) input to the input port of at least one processor 1001 of the wireless cleaner 100 through a signal line, the brush device 2000 ) can be identified. Since step S1620 corresponds to step S1120 of FIG. 11A, detailed description will be omitted.

In step S1630, the wireless cleaner 100 according to an embodiment of the present disclosure may determine at least one of the frequency, the input voltage of the brush device 2000, and the restraint level, based on the type of the brush device 2000. there is. For example, the wireless cleaner 100 may determine the PWM frequency based on the type of brush device 2000. The wireless cleaner 100 may determine the PWM frequency and the input voltage of the brush device 2000 based on the type of the brush device 2000. The wireless cleaner 100 may determine the PWM frequency, the input voltage of the brush device 2000, and the restraint level based on the type of the brush device 2000.

Since step S1630 corresponds to step S1260 of FIG. 12, detailed description will be omitted.

In step S1640, the wireless cleaner 100 according to an embodiment of the present disclosure selects one of the frequency determined for PWM control, the input voltage of the brush device 2000, or the restraint level, based on the strength of the suction force of the cleaner main body 1000. At least one can be adjusted.

According to an embodiment of the present disclosure, the wireless cleaner 100 may adjust the PWM frequency, the input voltage of the brush device 2000, or the restraint level to be higher as the suction force intensity of the cleaner main body 1000 increases. An increase in the suction power of the cleaner body 1000 means that greater cleaning performance is required for the wireless cleaner 100, so the wireless cleaner 100 can adjust the PWM frequency and the input voltage of the brush device 2000 to be higher. You can. Additionally, as the suction force intensity increases, the basic load value of the brush device 2000 also increases, so the wireless cleaner 100 can adjust the restraint level higher to prevent the brush device 2000 from stopping frequently.

According to an embodiment of the present disclosure, the wireless cleaner 100 may adjust the PWM frequency, the input voltage of the brush device 2000, or the restraint level to be lower as the suction force intensity of the cleaner main body 1000 decreases. When the strength of the suction force of the cleaner main body 1000 decreases, the wireless cleaner 100 adjusts the PWM frequency and the input voltage of the brush device 2000 lower to reduce the switching loss of the PWM control switch element 1133, The usage time of the battery 1500 can be increased. Additionally, as the suction force intensity decreases, the basic load value of the brush device 2000 also decreases, so the wireless cleaner 100 can improve the durability of the brush device 2000 by adjusting the restraint level to a lower level.

According to an embodiment of the present disclosure, the intensity of suction power of the cleaner main body 1000 may be changed depending on the suction power mode selected by the user, or may be changed automatically using an AI model. The operation of automatically changing the suction power of the vacuum cleaner body 1000 using the AI model will be examined in detail later with reference to FIG. 18.

According to an embodiment of the present disclosure, the wireless vacuum cleaner 100 may receive a user input for selecting one of a plurality of suction power modes having different suction power strengths. For example, the wireless vacuum cleaner 100 may receive a user input for selecting one of a normal suction mode, a powerful mode, an extra-powerful mode, and a jet mode. At this time, the intensity of suction power may increase from the normal suction power mode to the jet mode. In the present disclosure, a case where a plurality of suction power modes are divided into four is used as an example, but the present disclosure is not limited to this. There may be 5 or more suction power modes, or there may be 3 or less.

According to an embodiment of the present disclosure, the wireless cleaner 100 is configured to select one of the frequency determined for PWM control, the input voltage of the brush device 2000, or the restraint level based on the suction force intensity of the suction force mode selected by the user input. At least one can be adjusted. Let's take a closer look with reference to FIG. 17.

FIG. 17 is a diagram illustrating an operation of adjusting parameters related to driving the brush device 2000 based on the suction power mode selected by the user according to an embodiment of the present disclosure.

Referring to FIG. 17, the user can select one of the normal suction power mode (1701), strong suction mode (1702), super strong mode (1703), and jet mode (1704) depending on the cleaning environment or preference, but is not limited thereto. . The suction power of the cleaner main body 1000 may increase as it moves from the general suction mode 1701 to the jet mode 1704. For example, referring to the table 1210 in FIG. 12, the suction power of the normal suction power mode 1701 is 18W, the suction power of the powerful mode 1702 is 40W, the suction power of the super powerful mode 1703 is 90W, and the suction power of the jet mode 1703 is 90W. The suction power of mode 1704 may be 140W.

Referring to 1710 of FIG. 17, when the floor brush 1711 is installed, the wireless cleaner 100 determines the PWM frequency to be 0.5 kHz in the general suction power mode 1701, and the input voltage of the floor brush 1711 can be determined as 16V, and the restraint level can be determined as 1.5A. Accordingly, the wireless cleaner 100 uses a PWM control switch element 1133 to supply power to the floor brush 1711 with a duty value corresponding to 16V at a frequency of 0.5 kHz when the user selects the general suction power mode 1701. ) can be controlled.

Meanwhile, when the user changes the suction power mode from the general suction power mode 1701 to the jet mode 1704, the wireless cleaner 100 adjusts the PWM frequency from 0.5 kHz to 2.0 kHz and adjusts the input voltage of the floor brush 1711. By adjusting from 16V to 18V and the restraint level from 1.5A to 2.5A, cleaning performance can be further improved according to user intention.

Conversely, when the user changes the suction power mode from the jet mode 1704 back to the normal suction power mode 1701, the wireless cleaner 100 adjusts the PWM frequency from 2.0 kHz to 0.5 kHz, and the input of the floor brush 1711 By adjusting the voltage from 18V to 16V and the restraint level from 2.5A to 1.5A, unnecessary power waste can be prevented and switching losses of the PWM control switch element 1133 can be reduced.

Referring to 1720 in FIG. 17, when the pet brush 1712 is installed, the wireless cleaner 100 determines the PWM frequency to be 1.0 kHz in the general suction power mode 1701, and the input voltage of the pet brush 1712 can be determined as 16V, and the restraint level can be determined as 1.0A. Accordingly, the wireless cleaner 100 uses a PWM control switch element 1133 to supply power to the pet brush 1712 with a duty value corresponding to 16V at a frequency of 1.0 kHz when the user selects the general suction power mode 1701. ) can be controlled.

Meanwhile, when the user changes the suction power mode from the general suction power mode 1701 to the jet mode 1704, the wireless cleaner 100 adjusts the PWM frequency from 1.0 kHz to 2.0 kHz and changes the input voltage of the pet brush 1712. By adjusting from 16V to 18V and the restraint level from 1.0A to 2.0A, cleaning performance can be further improved according to user intention.

Conversely, when the user changes the suction power mode from the jet mode 1704 back to the normal suction power mode 1701, the wireless cleaner 100 adjusts the PWM frequency from 2.0 kHz to 1.0 kHz, and the input of the pet brush 1712 By adjusting the voltage from 18V to 16V and the restraint level from 2.0A to 1.0A, unnecessary power waste can be prevented and switching losses of the PWM control switch element 1133 can be reduced.

Therefore, according to an embodiment of the present disclosure, the wireless vacuum cleaner 100 can provide optimal control by adaptively changing parameters related to the operation of the brush device 2000 when the suction power mode is changed. .

Meanwhile, the wireless vacuum cleaner 100 may operate in an AI mode in which the intensity of suction power is automatically adjusted according to the usage environment status of the brush device 2000. At this time, the wireless cleaner 100 may adjust parameters related to the operation of the brush device 2000 based on the automatically adjusted suction force intensity. A method by which the wireless vacuum cleaner 100 adjusts parameters related to driving the brush device 2000 based on the automatically adjusted suction force strength will be described with reference to FIG. 18 .

FIG. 18 is a flowchart illustrating a method of adjusting parameters related to driving the brush device 2000 based on the automatically adjusted suction force intensity in AI mode according to an embodiment of the present disclosure.

In step S1810, the cleaner main body 1000 may acquire the pressure value inside the flow path measured by the pressure sensor 1400.

The main processor 1800 of the cleaner main body 1000 may obtain the pressure value measured by the pressure sensor 1400 through I2C communication. The pressure sensor 1400 is located within the flow path and can measure the pressure inside the flow path (flow path pressure). For example, the pressure sensor 1400 may be located within the suction duct 40 or the motor assembly 1100, but is not limited thereto.

The pressure sensor 1400 may be an absolute pressure sensor or a relative pressure sensor. When the pressure sensor 1400 is an absolute pressure sensor, the main processor 1800 uses the pressure sensor 1400 to determine the first pressure value before operating the suction motor 1110 and drives the suction motor 1110 at the target RPM. The second pressure value can be sensed, and the difference between the first pressure value and the second pressure value can be used as the pressure value inside the flow path. When the difference between the first pressure value and the second pressure value is used as the pressure value inside the flow path, internal/external influences other than those of the suction motor 1110 can be minimized.

In step S1820, the cleaner main body 1000 may obtain the load value of the brush device 2000 through the load detection sensor 1134.

According to an embodiment of the present disclosure, the load detection sensor 1134 is located in the driving circuit 1130 of the motor assembly 1100 and may include, but is limited to, a shunt resistor, a current detection circuit, a load detection circuit, etc. It doesn't work. The cleaner main body 1000 may receive data related to the load of the brush device 2000 from the first processor 1131 in the motor assembly 1100.

According to an embodiment of the present disclosure, the data related to the load of the brush device 2000 is one of the operating current of the brush device 2000, the voltage applied to the brush device 2000, or the power consumption of the brush device 2000. It may include at least one, but is not limited thereto. The power consumption of the brush device 2000 may be the power consumption of the motor 2100, and may be calculated as the product of the operating current of the brush device 2000 and the voltage applied to the brush device 2000. If the brush device 2000 includes a lighting device 2300 (e.g., an LED display), the load of the brush device 2000 can be calculated as the sum of the load of the motor 2100 and the load of the lighting device 2300. there is.

In step S1830, the cleaner main body 1000 may identify the current usage environment state of the brush device 2000 by applying the pressure value inside the flow path and the load value of the brush device 2000 to the previously learned AI model.

According to an embodiment of the present disclosure, the AI model may be a machine learning algorithm learned to infer the usage status of the brush device 2000. The AI model may be trained or updated (renew, refine) in an external device (e.g., a server device, an external computing device), or may be trained or updated in the cleaner main body 1000. For example, the cleaner main body 1000 may receive an AI model learned from an external device and store it in the memory 1900, and at least one processor 1001 of the cleaner main body 1000 may use the brush device 2000. An AI model for inferring environmental conditions can also be created through learning.

Here, created through learning means that a basic artificial intelligence model (AI model) is learned using a large number of learning data by a learning algorithm, and predefined operation rules or artificial intelligence are set to perform the desired characteristics (or purpose). This means that an intelligence model is created. An artificial intelligence model (AI model) may be composed of multiple neural network layers. Each of the plurality of neural network layers has a plurality of weight values, and neural network calculation is performed through calculation between the calculation result of the previous layer and the plurality of weights.

Inference prediction is a technology that judges information and makes logical inferences and predictions, including knowledge/probability-based reasoning, optimization prediction, preference-based planning, and recommendation. Includes.

According to an embodiment of the present disclosure, the AI model may include at least one of a Support Vector Machine (SVM) model, a Neural Networks model, a Random Forest model, or a Graphical Model. , but is not limited to this.

The SVM model may be an algorithm that creates a hyper plane with the maximum margin that can classify data in three-dimensional space using a kernel function of the characteristics in the data. The Random Forest model may be an ensemble algorithm that trains multiple decision trees and predicts by combining the results of multiple decision trees. A neural network model may be an algorithm that derives an output by combining weights and transformation functions for each input value. A graphical model may be an algorithm that represents the independence between random variables as a graph. At this time, random variables can be expressed as nodes, and conditional independence between random variables can be expressed as edges.

In the case of the SVM model, the accuracy is relatively high and the response speed is fast, so the operation of the wireless vacuum cleaner 100 can be quickly converted to optimal specifications. Therefore, the case where the AI model is the SVM model will be described below as a main example.

According to an embodiment of the present disclosure, the usage environment state of the brush device 2000 may be related to the environment in which the brush device 2000 is being used during cleaning. For example, the state of the use environment of the brush device 2000 may be the state of the surface to be cleaned on which the brush device 2000 is located, the relative position of the brush device 2000 within the surface to be cleaned, or the state of the surface to be cleaned when the brush device 2000 is It may include at least one of the states mentioned in, but is not limited to this. Here, the surface to be cleaned may refer to a surface that comes into contact with the brush device 2000 during cleaning, such as a floor, bedding, or sofa. The condition of the surface to be cleaned may refer to the material of the surface to be cleaned, and may include, for example, a floor, a general carpet (normal load), a high-density carpet (overload), a mat, etc. The relative position state may include, but is not limited to, the center of the floor, the side of the floor (wall surface), a corner, etc. Hereinafter, for convenience of explanation, the mat state, floor state, carpet state, and lifting state will be described as examples among various usage environment states.

According to an embodiment of the present disclosure, the main processor 1800 of the cleaner main body 1000 stores the pressure value inside the flow path obtained from the pressure sensor 1400 and the pressure value obtained from the first processor 1131 in the pre-stored AI model. The load value of the brush device 2000 can be input, and the current usage environment state of the brush device 2000 can be obtained as a result of inference of the AI model.

According to an embodiment of the present disclosure, an AI model for inferring the use environment state of the brush device 2000 may vary depending on the type of the brush device 2000. Accordingly, the cleaner main body 1000 stores a plurality of AI models for each type of brush device 2000 in the memory 1900, and as the type of brush device 2000 is identified, the cleaner body 1000 stores a plurality of AI models corresponding to the type of brush device 2000. By selecting the AI model, the current usage environment state of the brush device 2000 can be identified. The main processor 1800 of the cleaner main body 1000 selects a first AI model corresponding to the first type of the brush device 2000 from among the plurality of AI models, and the selected first AI model includes a pressure value inside the flow path and By applying the load value of the brush device 2000, the current usage environment state of the brush device 2000 can be identified. For example, if the brush device 2000 is a multi-brush 401, the main processor 1800 selects an AI model corresponding to the multi-brush 401, and inputs the pressure value inside the flow path and the multi-brush to the selected AI model. By applying the load value of 401, the current usage environment state of the multi brush 401 can be identified.

According to an embodiment of the present disclosure, the load value of the brush device 2000 used as an input value of the AI model may vary depending on the type of the brush device 2000. For example, when the brush device 2000 is the floor brush 402, the main processor 1800 may input operating current data of the floor brush 402 into the AI model corresponding to the floor brush 402. On the other hand, when the brush device 2000 is a multi-brush 401, the power consumption (or operating current and applied voltage) of the multi-brush 401 can be input into the AI model corresponding to the multi-brush 401.

Meanwhile, according to an embodiment of the present disclosure, the parameter values of the AI model may vary depending on the strength of the suction force of the suction motor 1110. Accordingly, the main processor 1800 of the cleaner main body 1000 applies the strength of the suction force of the suction motor 1110 before inputting data related to the flow path pressure and data related to the load of the brush device 2000 to the AI model. You can modify the parameter values of the AI model. Additionally, the main processor 1800 may identify the current usage environment state of the brush device 2000 by applying the pressure value inside the flow path and the load value of the brush device 2000 to the AI model with modified parameter values.

In step S1840, the cleaner main body 1000 may determine the suction force intensity of the suction motor 1110 based on the current usage environment state of the brush device 2000.

Suction power is the electrical power (Input Power) consumed to operate the wireless vacuum cleaner 100, and the strength of the suction power of the suction motor 1110 may be expressed as the power consumption of the suction motor 1110.

According to an embodiment of the present disclosure, when the current use environment of the brush device 2000 is to clean a hard floor, the cleaner main body 1000 adjusts the suction force of the suction motor 2000 to a medium intensity. It can be determined as the 1st century. For example, the cleaner main body 1000 may determine the power consumption of the suction motor 1110 to be 75W.

If the current usage environment state of the brush device 2000 is to clean a mat (or high-density carpet), the cleaner main body 1000 determines the suction power intensity of the suction motor 1110 to be a second intensity lower than the first intensity. You can. When a user cleans a mat or high-density carpet, the brush device 2000 adheres too closely to the surface being cleaned, making it difficult for the user to move the wireless cleaner 100. Accordingly, the cleaner main body 1000 may determine the suction force intensity to be lower when cleaning a mat or high-density carpet than when cleaning a floor. For example, the cleaner main body 1000 may determine the power consumption of the suction motor 1110 to be 58W. According to an embodiment of the present disclosure, the cleaner main body 1000 automatically reduces the suction power of the suction motor 1110 when the user moves the brush device 2000 onto the mat, thereby improving user convenience. .

When the current usage environment of the brush device 2000 is for cleaning a general carpet, the cleaner main body 1000 may determine the suction power intensity of the suction motor 1110 to be a third intensity higher than the first intensity. It may require greater suction power to suck up dust or foreign substances from a regular carpet than from a floor. Accordingly, the vacuum cleaner main body 1000 can determine the suction strength to be higher when cleaning a general carpet than when cleaning a floor. For example, the cleaner main body 1000 may determine the power consumption of the suction motor 1110 to be 115W. According to an embodiment of the present disclosure, the cleaner main body 1000 can improve cleaning performance on carpets by automatically increasing the suction power of the suction motor 1110 when the user moves the brush device 2000 on the carpet. .

According to an embodiment of the present disclosure, the cleaner main body 1000 uses the suction motor 1110 when the current usage environment state of the brush device 2000 is a state in which the brush device 2000 is lifted a certain distance or more from the surface to be cleaned (hereinafter, a lifted state). The suction power intensity can be determined as the minimum intensity. For example, the cleaner main body 1000 may determine the power consumption of the suction motor 1110 to be 58W. When the brush device 2000 is in the lifted state (or idle state), the cleaner body 1000 can reduce unnecessary power consumption by reducing the strength of the suction force of the suction motor 1110, thus reducing the usage time of the battery 1500. It may be extended.

Meanwhile, according to an embodiment of the present disclosure, when the current use environment state of the brush device 2000 is to clean the corner of the wall, the cleaner main body 1000 increases the suction force of the suction motor 1110 to the maximum intensity. You can decide. For example, the cleaner main body 1000 may determine the power consumption of the suction motor 1110 to be 200W. Accordingly, the cleaner body 1000 can improve the cleaning performance at the wall corner by automatically increasing the suction power of the suction motor 1110 when the user cleans the wall corner.

In step S1850, according to an embodiment of the present disclosure, the wireless cleaner 100 performs at least one of the frequency determined for PWM control, the input voltage of the brush device 2000, or the restraint level based on the automatically adjusted suction force intensity. can be adjusted.

According to an embodiment of the present disclosure, the wireless cleaner 100 may adjust the PWM frequency, the input voltage of the brush device 2000, or the restraint level to be higher as the suction force intensity of the cleaner main body 1000 increases. An increase in the suction power of the cleaner body 1000 means that greater cleaning performance is required for the wireless cleaner 100, so the wireless cleaner 100 can adjust the PWM frequency and the input voltage of the brush device 2000 to be higher. You can. Additionally, as the suction force intensity increases, the basic load value of the brush device 2000 also increases, so the wireless cleaner 100 can adjust the restraint level higher to prevent the brush device 2000 from stopping frequently.

According to an embodiment of the present disclosure, the wireless cleaner 100 may adjust the PWM frequency, the input voltage of the brush device 2000, or the restraint level to be lower as the suction force intensity of the cleaner main body 1000 decreases. When the strength of the suction force of the cleaner main body 1000 decreases, the wireless cleaner 100 adjusts the PWM frequency and the input voltage of the brush device 2000 lower to reduce the switching loss of the PWM control switch element 1133, The usage time of the battery 1500 can be increased. Additionally, as the suction force intensity decreases, the basic load value of the brush device 2000 also decreases, so the wireless cleaner 100 can improve the durability of the brush device 2000 by adjusting the restraint level to a lower level.

Hereinafter, with reference to FIG. 19, we will take a closer look at the A1 model learned to infer the usage environment state of the brush device 2000.

FIG. 19 is a diagram illustrating an AI model (SVM model) that is learned to infer the usage environment state of the brush device 2000 according to an embodiment of the present disclosure. In Figure 19, the SVM model will be explained as an example of an AI model.

Referring to 1910 in FIG. 19, the SVM model can be created through supervised learning. The SVM model is a model that learns with labeled training data and then finds out which group the newly input data belongs to among the groups it was trained on. According to an embodiment of the present disclosure, the SVM model may be learned using the load value of the brush device 2000 and the pressure value of the suction motor 2000 in a specific usage environment state as learning data.

For example, the first flow path pressure value and the first load value of the brush device 2000 obtained when cleaning the floor, the second flow path pressure value and the second load value of the brush device 2000 obtained when cleaning the carpet, The third flow path pressure value and the third load value of the brush device 2000 obtained when cleaning the mat, the fourth flow path pressure value obtained when the brush device 2000 is lifted from the floor, and the fourth load value of the brush device 2000 The load value can be used as learning data. In addition, the SVM model uses the usage environment status (e.g. floor, carpet, mat, lifting, etc.) when the flow path pressure value and the load value of the brush device (2000) are obtained as a label (ground-truth). This can be learned.

The SVM model may be trained on an external device (e.g., a server device, an external computing device) or may be trained on the vacuum cleaner body 1000.

Referring to 1920 of FIG. 19, the learned SVM model may be composed of at least one hyperplane for classifying the usage environment state. For example, an SVM model for predicting the state of the use environment may be composed of a hyperplane to distinguish between floors and carpets, a hyperplane to distinguish between floors and mats, and a hyperplane to distinguish between carpets and lifts. . Each hyperplane can be expressed by a straight line equation (y = ax + b). In the linear equation, a and b may be parameters, and the parameters may vary depending on the suction force strength of the suction motor 1110, the type of brush device 2000, the state of the cleaner 100 (e.g., amount of dust, etc.), etc. It can be modified. Additionally, the equations of the hyperplane may be higher-order equations (e.g. y = ax ² + b, y = ax ³ + b, etc.).

In Figure 19, the SVM model is explained as an example of an artificial intelligence model (AI model) that infers the usage environment state of the brush device 2000, but it is not limited thereto. The vacuum cleaner main body 1000 can receive or learn various types of artificial intelligence models (AI models) from the outside.

Functions related to artificial intelligence according to the present disclosure are operated through a processor and memory. The processor may consist of one or multiple processors. At this time, one or more processors may be a general-purpose processor such as a CPU, AP, or DSP (Digital Signal Processor), a graphics-specific processor such as a GPU or VPU (Vision Processing Unit), or an artificial intelligence-specific processor such as an NPU. One or more processors control input data to be processed according to predefined operation rules or artificial intelligence models stored in memory. Alternatively, when one or more processors are dedicated artificial intelligence processors, the artificial intelligence dedicated processors may be designed with a hardware structure specialized for processing a specific artificial intelligence model.

Predefined operation rules or artificial intelligence models are characterized by being created through learning. Here, being created through learning means that the basic artificial intelligence model is learned using a large number of learning data by a learning algorithm, thereby creating a predefined operation rule or artificial intelligence model set to perform the desired characteristics (or purpose). It means burden. This learning may be performed in the device itself (e.g., the vacuum cleaner body 1000) on which the artificial intelligence according to the present disclosure is performed, or may be performed through a separate server and/or system. Examples of learning algorithms include supervised learning, unsupervised learning, semi-supervised learning, or reinforcement learning, but are not limited to the examples described above.

An artificial intelligence model may be composed of multiple neural network layers. Each of the plurality of neural network layers has a plurality of weight values, and neural network calculation is performed through calculation between the calculation result of the previous layer and the plurality of weights. Multiple weights of multiple neural network layers can be optimized by the learning results of the artificial intelligence model. For example, a plurality of weights may be updated so that loss or cost values obtained from the artificial intelligence model are reduced or minimized during the learning process. Artificial neural networks may include deep neural networks (DNN), such as Convolutional Neural Network (CNN), Deep Neural Network (DNN), Recurrent Neural Network (RNN), Restricted Boltzmann Machine (RBM), Deep Belief Network (DBN), Bidirectional Recurrent Deep Neural Network (BRDNN), or Deep Q-Networks, etc., but are not limited to the examples described above.

FIG. 20 is a diagram illustrating an operation of the cleaner main body 1000 identifying the usage environment state of the brush device 2000 using an AI model (SVM model) according to an embodiment of the present disclosure.

In Figure 20, the usage environment status of the brush device 2000 is divided into four types, such as floor (2010, hf: hard floor), carpet (2020, carpet), mat (2030, mat), and lift (2040, lift). Let's explain this using an example.

When cleaning the floor 2010, the flow path pressure and the load on the brush device 2000 are normal, but when cleaning the mat 2030, the flow path pressure and the load on the brush device 2000 can increase significantly, and the carpet 2020 When cleaning, the flow path pressure is normal, but the load on the brush device 2000 may greatly increase, and when the brush device 2000 is in a lifted state, the flow path pressure and the load on the brush device 2000 may be greatly reduced. Therefore, the SVM model can output 'Maru (2010)' as the usage environment state of the brush device (2000) when a normal flow path pressure value and a normal load value are applied, and a high flow path pressure value and a high load value can be output. If this is applied, 'mat 2030' can be output as the usage environment state of the brush device 2000, and if a normal flow path pressure value and a high load value are applied, 'mat 2030' can be output as the usage environment state of the brush device 2000. 'Carpet (2020)' can be output, and 'lifted (2040)' can be output as the usage environment state of the brush device 2000 when a low flow path pressure value and a low load value are applied. At this time, the floor 2010 is mapped to the first operating condition, the carpet 2020 is mapped to the second operating condition, the mat 2030 is mapped to the third operating condition, and the lift 2040 is mapped to the fourth operating condition. can be mapped to

According to an embodiment of the present disclosure, the main processor 1800 may control the operation of the suction motor 1110 and the brush device 2000 according to the usage environment status of the brush device 2000 identified through the SVM model. . For example, when the usage environment state of the brush device 2000 is identified as 'Maru (2010)', the main processor 1800 based on the first operation information corresponding to the first operation condition (Maru (2010)). Thus, the power consumption of the suction motor 1110 can be controlled.

Hereinafter, the operation in which the suction motor 1110 or the brush device 2000 is controlled according to the usage environment state of the brush device 2000 inferred by the SVM model will be examined in more detail with reference to FIG. 21.

FIG. 21 is a diagram for explaining operation information of the wireless vacuum cleaner 100 according to the usage environment state of the brush device 2000 according to an embodiment of the present disclosure.

Referring to FIG. 21, the wireless cleaner 100 may include a normal mode 2111 and an AI mode 2112. According to an embodiment of the present disclosure, the user can select the operation mode of the wireless vacuum cleaner 100 from the normal mode 2111 and the AI mode 2112.

The normal mode 2111 is a mode in which the power consumption of the suction motor 1110 or the rotation speed of the brush device 2000 does not change depending on the environmental conditions in which the brush device 2000 is used. For example, in the normal mode 2111, when the user adjusts the suction power intensity to 'strong', even if the usage environment of the brush device 2000 changes, the power consumption of the suction motor 1110 is maintained at 115W, The drum RPM of the brush device 2000 may be maintained at 3800 rpm.

In the AI mode 2112, even if the user does not change the suction power intensity, the power consumption of the suction motor 1110 or the rotation speed of the brush device 2000 is adaptively changed according to the usage environment condition of the brush device 2000. It may be a mode that works. For example, when the user selects the AI mode through the user interface 1700, the cleaner body 1000 applies the pressure value inside the flow path and the load value of the brush device 2000 to the AI model to create a brush device 2000. ) can be identified, and the suction force intensity of the suction motor 1110 and the drum RPM of the brush device 2000 can be adjusted according to the usage environment state of the brush device 2000.

Referring to the table 2110 of FIG. 21, in AI mode 2112, the wireless cleaner 100 controls the suction motor 1110 when the brush device 2000 is identified as being located on a hard floor. If the power consumption is adjusted to 75 W and the brush device 2000 is identified as being located on a normal carpet (normal load), the power consumption of the suction motor 1110 is adjusted to 115 W and the brush device 2000 is located on a high-density carpet. (Overload), the power consumption of the suction motor 1110 is adjusted to 58W, and if the brush device 2000 is identified as being located on the mat, the power consumption of the suction motor 1110 is adjusted to 58W. When the brush device 2000 is identified as being lifted from the floor and moving, the power consumption of the suction motor 1110 can be adjusted to 58W.

Therefore, compared to the normal mode 2111, in the AI mode 2112, the use time of the battery 1500 can be increased by appropriately adjusting the strength of the suction force of the suction motor 1110 according to the usage environment condition of the brush device 2000. , cleaning efficiency and user convenience can be improved. Meanwhile, according to an embodiment of the present disclosure, the frequency for PWM control, the input voltage of the brush device 2000, and the restraint level may be appropriately adjusted according to the suction force intensity automatically adjusted in the AI mode 2112.

FIG. 22 is a flowchart illustrating a method of adjusting the frequency or duty ratio for PWM control according to the voltage drop of the battery 1500 according to an embodiment of the present disclosure.

In step S2210, the wireless vacuum cleaner 100 according to an embodiment of the present disclosure determines the voltage value (hereinafter, The connection of the brush device 2000 to the cleaner body 1000 can be detected through the input voltage value (referred to as the input voltage value).

According to an embodiment of the present disclosure, the wireless cleaner 100 can detect whether the brush device 2000 is attached or detached using the load detection sensor 1134. For example, the at least one processor 1001 of the wireless cleaner 100 determines that the brush device 2000 is detached when the operating current of the brush device 2000 detected by the load detection sensor 1134 is 0. And, if the operating current of the brush device 2000 detected by the load detection sensor 1134 is 50 mA or more, it may be determined that the brush device 2000 is coupled.

According to an embodiment of the present disclosure, the at least one processor 1001 of the wireless vacuum cleaner 100 is a voltage value (input voltage value) input to the input port of the at least one processor 1001 through the signal line 30. It is possible to detect the connection of the brush device 2000 to the cleaner body 1000. For example, the at least one processor 1001 of the wireless cleaner 100 determines that the brush device 2000 is detached when the input voltage value is 0V, and when the input voltage value is greater than 0V, the brush device 2000 ) can be judged to be a combination.

In step S2220, the wireless cleaner 100 according to an embodiment of the present disclosure may identify the type of brush device 2000 connected to the cleaner main body 1000.

According to an embodiment of the present disclosure, based on a voltage value (hereinafter referred to as an input voltage value) input to the input port of at least one processor 1001 of the wireless cleaner 100 through the signal line 30, the brush The type of device 2000 can be identified. Since step S2220 corresponds to step S1120 of FIG. 11A, detailed description will be omitted.

In step S2230, the wireless cleaner 100 according to an embodiment of the present disclosure determines the frequency for PWM control (PWM frequency) and the input voltage of the brush device 2000, based on the type of the brush device 2000. You can. Since step S2230 corresponds to step S1260 of FIG. 12, detailed description will be omitted.

In step S2240, the wireless cleaner 100 according to an embodiment of the present disclosure may detect a voltage drop of the battery 1500. For example, at least one processor 1001 of the wireless vacuum cleaner 100 periodically communicates with the battery 1500 through UART communication during a cleaning operation to determine the remaining amount of the battery 1500 and the voltage drop of the battery 1500. You can continuously check, etc.

In step S2250, as the voltage drop of the battery 1500 is detected, the wireless cleaner 100 according to an embodiment of the present disclosure sets a frequency for PWM control (PWM frequency) and a duty value for PWM control (On duty). section) can be adjusted. For example, the wireless cleaner 100 can improve the efficiency of the motor 2100 of the brush device 2000 by increasing the PWM frequency in addition to the duty value as a voltage drop in the battery 1500 is detected.

According to an embodiment of the present disclosure, the wireless cleaner 100 may increase the PWM frequency and duty value in proportion to the amount of voltage drop of the battery 1500. Additionally, according to an embodiment of the present disclosure, the wireless cleaner 100 may increase the PWM frequency and duty value when the voltage of the battery 1500 drops above a certain level. For example, when the voltage of the battery 1500 decreases and reaches the threshold voltage value, or when the voltage drop of the battery 1500 reaches the critical drop amount, the wireless vacuum cleaner 100 may increase the PWM frequency and duty value. there is. Referring to Figure 23, let's take a closer look.

FIG. 23 is a diagram for explaining an operation of adjusting the frequency and duty ratio for PWM control according to the voltage drop of the battery 1500 according to an embodiment of the present disclosure.

Referring to 2310 of FIG. 23, in the case of the cordless vacuum cleaner 100 to which the battery 1500 is applied, the voltage of the battery 1500 may decrease as the battery 1500 is discharged. At this time, the voltage drop rate of the battery 1500 may vary depending on the operation mode of the cordless vacuum cleaner 100. For example, the rate of voltage drop of the battery 1500 may increase as the normal suction power mode changes from the jet mode. In Figure 23, the case in the general suction power mode will be described as an example.

Referring to 2320 of FIG. 23, at least one processor 1001 of the wireless cleaner 100 according to an embodiment of the present disclosure changes the duty value (i.e., the switch element 1133) as the voltage of the battery 1500 decreases. ) can be turned on to increase the section in which power is supplied to the brush device 2000 (PWM control) to compensate for a decrease in the drum RPM of the brush device 2000. For example, at least one processor 1001 of the wireless cleaner 100 maintains the duty value at about 70% for the first certain period of time after starting cleaning, and then gradually increases the duty value according to the voltage drop of the battery 1500. The duty value can be set to 90%.

Referring to 2330 of FIG. 23, when at least one processor 1001 of the wireless cleaner 100 adjusts the duty value, the average voltage input to the brush device 2000 may be maintained constant. For example, when the input voltage of the brush device 2000 determined based on the type of the brush device 2000 is 18V, even if the voltage of the battery 1500 drops, at least one processor 1001 of the wireless cleaner 100 It is possible to ensure that 18V is constantly supplied to the brush device 2000 by appropriately increasing the duty value.

Referring to 2340 of FIG. 23, at least one processor 1001 of the cordless vacuum cleaner 100 may adjust not only the duty value but also the PWM frequency to be higher as the voltage of the battery 1500 drops. For example, at least one processor 1001 of the wireless cleaner 100 maintains the PWM frequency at 1.0 kHz for the first certain period of time after starting cleaning, and then increases the PWM frequency according to the voltage drop of the battery 1500 to change the PWM frequency. The frequency can be set to 3.0kHz.

According to an embodiment of the present disclosure, a switch element 1133 for identifying the type of brush device 2000 mounted by the user and controlling power supply to the brush device 2000 according to the type of brush device 2000. By adjusting the frequency, a wireless cleaner 100 can be provided that increases motor efficiency of the brush device 2000 and reduces abnormal noise or vibration.

According to an embodiment of the present disclosure, the frequency for PWM control, the input voltage to the brush device 2000 (or duty ratio for PWM control), and the brush according to the type of brush device 2000 connected to the cleaner body 1000. A wireless vacuum cleaner 100 that adjusts the trip level of the device 2000 may be provided.

According to an embodiment of the present disclosure, the frequency for PWM control, the brush device 2000, according to the actual load value of the brush device 2000, the suction force strength of the cleaner main body 1000, or the voltage drop of the battery 1500. A wireless cleaner 100 may be provided that adjusts the input voltage (or duty ratio for PWM control) and the trip level of the brush device 2000.

The wireless vacuum cleaner 100 according to an embodiment of the present disclosure includes a battery 1500; a switch element 1133 for controlling power supply from the battery 1500 to the brush device 2000 connected to the cleaner body 1000; A load detection sensor 1134 that detects the load of the brush device 2000 connected to the cleaner body 1000; and at least one processor 1001. At least one processor 1001 may detect the connection of the brush device 2000 to the cleaner body 1000 through the load detection sensor 1134. At least one processor 1001 may identify the type of brush device 2000 connected to the cleaner main body 1000. At least one processor 1001 may determine a frequency for Pulse Width Modulation (PWM) control corresponding to the type of the identified brush device 2000. At least one processor 1001 may control the operation of the switch element 1133 based on the determined frequency.

The frequency for PWM control according to an embodiment of the present disclosure is determined to be higher as the maximum motor output value corresponding to the type of the identified brush device 2000 is larger, and the maximum motor output corresponding to the type of the brush device 2000 is determined to be higher. The smaller the value, the lower it can be determined.

At least one processor 1001 may determine the input voltage of the brush device 2000 based on the type of the brush device 2000. At least one processor 1001 may adjust the duty value for PWM control according to the determined input voltage of the brush device 2000 and the voltage drop of the battery 1500.

At least one processor 1001 may measure the load value of the brush device 2000 through the load detection sensor 1134. The at least one processor 1001 may adjust at least one of the determined frequency or the determined input voltage of the brush device 2000 based on the measured load value of the brush device 2000.

At least one processor 1001 may adjust at least one of the determined frequency or the determined input voltage of the brush device 2000 to be higher as the load value of the brush device 2000 increases. For example, as the load value of the brush device 2000 increases, the at least one processor 1001 may adjust at least one of the determined frequency or the determined input voltage of the brush device 2000 to be higher than the current value. At least one processor 1001 may adjust at least one of the determined frequency or the determined input voltage of the brush device 2000 to be lower as the load value of the brush device 2000 decreases. For example, as the load value of the brush device 2000 decreases, the at least one processor 1001 may adjust at least one of the determined frequency or the determined input voltage of the brush device 2000 to be lower than the current value.

When the load value of the brush device 2000 is greater than the high load reference value corresponding to the type of the brush device 2000, the at least one processor 1001 operates at least one of the determined frequency or the determined input voltage of the brush device 2000. can be adjusted higher than the current value. When the load value of the brush device 2000 is less than the low load reference value corresponding to the type of the brush device 2000, the at least one processor 1001 operates at least one of the determined frequency and the determined input voltage of the brush device 2000. One can be adjusted lower than the current value.

The at least one processor 1001 may adjust at least one of the determined frequency or the determined input voltage of the brush device 2000 based on the intensity of suction force of the cleaner main body 1000.

At least one processor 1001 may receive a user input for selecting one of a plurality of suction force modes having different suction force intensities. The at least one processor 1001 may adjust at least one of the determined frequency or the determined input voltage of the brush device 2000 based on the suction force intensity of the suction force mode selected by the user input.

At least one processor 1001 uses the pressure value inside the flow path measured by the pressure sensor 1400 of the cleaner main body 1000 and the load value of the brush device 2000 obtained through the load detection sensor 1134 to brush. By applying an AI model learned to infer the usage environment state of the device 2000, the current usage environment state of the brush device 2000 can be identified. At least one processor 1001 may adjust the intensity of suction force of the cleaner main body 1000 based on the current usage environment state of the brush device 2000. The at least one processor 1001 may adjust at least one of the determined frequency or the determined input voltage of the brush device 2000 based on the adjusted suction force intensity.

At least one processor 1001 may increase the determined frequency and duty ratio as a voltage drop of the battery 1500 is detected.

At least one processor 1001 may determine a trip level including a reference load value for stopping the operation of the brush device 2000, based on the type of the brush device 2000. At least one processor 1001 monitors the load value of the brush device 2000 through the load detection sensor 1134, and when the load value of the brush device 2000 reaches the reference load value of the restraint level, The switch element 1133 can be controlled to block the power supply to the brush device 2000.

When the load value of the brush device 2000 is greater than the high load reference value corresponding to the type of the brush device 2000, the at least one processor 1001 may adjust the determined constraint level to be higher than the current value. When the load value of the brush device 2000 is less than the low load reference value corresponding to the type of the brush device 2000, the at least one processor 1001 may adjust the determined constraint level to be lower than the current value.

At least one processor 1001 may adjust the determined restraint level based on the strength of the suction force of the cleaner main body 1000. At least one processor 1001 monitors the load value of the brush device 2000 through the load detection sensor 1134, and when the load value of the brush device 2000 reaches the load value of the adjusted restraint level. , the switch element 1133 can be controlled to block the power supply to the brush device 2000.

At least one processor 1001 may identify the type of brush device 2000 based on a voltage value input to the input port of the at least one processor 1001 through the signal line 30.

At least one processor 1001 may receive data indicating the type of the brush device 2000 from the brush device 2000 through the signal line 30. At least one processor 1001 may identify the type of brush device 2000 based on data received through the signal line 30.

When the voltage value input to the input port through the signal line 30 is between the maximum input voltage value and the minimum input voltage value, at least one processor 1001 corresponds to the voltage value input to the input port among the plurality of identification resistors. The first type of brush device 2001 including an identification resistor may be identified as the brush device 2000 connected to the cleaner body 1000.

At least one processor 1001, when the voltage value input to the input port maintains the maximum input voltage value regardless of the on or off state of the switch element 1133, the + power line (10 ) can be identified as the brush device 2000 connected to the cleaner main body 1000.

At least one processor 1001 determines that the voltage value input to the input port in the off state of the switch element 1133 is the maximum input voltage value, and in the on state of the switch element 1133, the voltage value input to the input port is the maximum input voltage value. When the input voltage value is the minimum input voltage value, - a third type brush device 2003 in which the signal line 30 is shorted to the power line 20 is connected to the cleaner main body 1000. It can be identified as:

At least one processor 1001 operates the signal line 30 when the voltage value input to the input port is constant at the minimum input voltage value regardless of the on or off state of the switch element 1133. This open fourth type of brush device 2004 can be identified as the brush device 2000 connected to the cleaner body 1000.

The frequency determined for PWM control according to an embodiment of the present disclosure may vary between 0.5 kHz and 8 kHz.

A method of operating the wireless cleaner 100 according to an embodiment of the present disclosure includes detecting the connection of the brush device 2000 to the cleaner main body 1000 through the load detection sensor 1134 of the cleaner main body 1000. step; identifying the type of brush device (2000) connected to the cleaner body (1000) by detecting the connection of the brush device (2000) to the cleaner body (1000); determining a frequency for Pulse Width Modulation (PWM) control corresponding to the type of brush device 2000 identified; And based on the determined frequency, controlling the operation of the switch element 1133 used to supply power from the battery 1500 of the cleaner main body 1000 to the brush device 2000 connected to the cleaner main body 1000. You can.

A storage medium that can be read by a device may be provided in the form of a non-transitory storage medium. Here, 'non-transitory storage medium' simply means that it is a tangible device and does not contain signals (e.g. electromagnetic waves). This term refers to cases where data is semi-permanently stored in a storage medium and temporary storage media. It does not distinguish between cases where it is stored as . For example, a 'non-transitory storage medium' may include a buffer where data is temporarily stored.

According to one embodiment, methods according to various embodiments disclosed in this document may be provided and included in a computer program product. Computer program products are commodities and can be traded between sellers and buyers. The computer program product may be distributed on a machine-readable storage medium (e.g., compact disc read only memory (CD-ROM) or Universal Serial Bus (USB) flash drive), through an application store, or on two user devices. It can be distributed (e.g. downloaded or uploaded) directly between devices (e.g. smartphones) or online. In the case of online distribution, at least a portion of the computer program product (e.g., a downloadable app) is stored on a machine-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server. It can be temporarily stored or created temporarily.

Claims (20)

Battery (1500);
a switch element 1133 used to supply power from the battery 1500 to the brush device 2000 connected to the cleaner main body 1000;
A load detection sensor 1134 that detects the load of the brush device 2000 connected to the cleaner main body 1000; and
Includes at least one processor 1001,
The at least one processor 1001,
The brush device 2000 is connected to the cleaner body 1000 through a voltage value input to the input port of the at least one processor 1001 through the load detection sensor 1134 or the signal line 30. sense,
Identifying the type of the brush device (2000) connected to the cleaner body (1000),
Determine a frequency for PWM (Pulse Width Modulation) control corresponding to the type of the identified brush device 2000,
A wireless cleaner (100) that controls the operation of the switch element (1133) based on the determined frequency. The method of claim 1, wherein the frequency for PWM control is:
The wireless cleaner 100 is determined as higher as the maximum motor output value corresponding to the type of the identified brush device is larger, and as the maximum motor output value corresponding to the type of the brush device is smaller, it is determined as lower. The method of claim 1, wherein the at least one processor (1001):
Based on the type of brush device, determine the input voltage of the brush device,
A cordless vacuum cleaner (100) that adjusts the duty value for the PWM control according to the determined input voltage of the brush device and the voltage drop of the battery (1500). The method of claim 3, wherein the at least one processor (1001):
Measure the load value of the brush device through the load detection sensor,
The wireless cleaner (100) adjusts at least one of the determined frequency or the determined input voltage of the brush device based on the measured load value of the brush device. The method of claim 4, wherein the at least one processor (1001):
As the load value of the brush device increases, at least one of the determined frequency or the determined input voltage of the brush device is adjusted to be higher,
The wireless cleaner 100 adjusts at least one of the determined frequency or the determined input voltage of the brush device to be lower as the load value of the brush device decreases. The method of claim 5, wherein the at least one processor (1001):
If the load value of the brush device is greater than the high load reference value corresponding to the type of the brush device, adjusting at least one of the determined frequency or the determined input voltage of the brush device to be high,
When the load value of the brush device is less than the low load reference value corresponding to the type of the brush device, the wireless cleaner (100) adjusts at least one of the determined frequency and the determined input voltage of the brush device to be low. The method of claim 3, wherein the at least one processor (1001):
A wireless cleaner (100) that adjusts at least one of the determined frequency or the determined input voltage of the brush device based on the strength of suction force of the cleaner main body. The method of claim 7, wherein the at least one processor (1001):
Receive user input for selecting one of a plurality of suction force modes having different suction force strengths,
The wireless cleaner 100 adjusts at least one of the determined frequency or the determined input voltage of the brush device based on the suction force intensity of the suction force mode selected by the user input. The method of claim 7, wherein the at least one processor (1001):
The pressure value inside the flow passage measured by the pressure sensor 1400 of the cleaner body and the load value of the brush device obtained through the load detection sensor 1134 are used to infer the usage environment state of the brush device 2000. Applying the learned AI model to identify the current usage environment state of the brush device,
Adjusting the intensity of suction force of the cleaner body based on the current usage environment status of the brush device,
Based on the adjusted suction force intensity, the wireless cleaner (100) adjusts at least one of the determined frequency or the determined input voltage of the brush device. The method of claim 3, wherein the at least one processor (1001):
The wireless vacuum cleaner (1001) increases the determined frequency and the duty ratio as the voltage drop of the battery (1500) is detected. The method of claim 1, wherein the at least one processor (1001):
Based on the type of brush device, determine a trip level including a reference load value for stopping operation of the brush device,
As a result of monitoring the load value of the brush device through the load detection sensor 1134, when the load value of the brush device reaches the reference load value of the restraint level, the power supply to the brush device is cut off. A wireless vacuum cleaner (100) that controls the switch element (1133). 12. The method of claim 11, wherein the at least one processor (1001):
If the load value of the brush device is greater than the high load reference value corresponding to the type of the brush device, adjust the determined constraint level to be high,
If the load value of the brush device is less than the low load reference value corresponding to the type of the brush device, the determined constraint level is adjusted to be low. 12. The method of claim 11, wherein the at least one processor (1001):
Based on the strength of suction force of the cleaner main body 1000, adjust the determined restraint level,
As a result of monitoring the load value of the brush device through the load detection sensor 1134, when the load value of the brush device reaches the load value of the adjusted restraint level, the power supply to the brush device is cut off. A wireless vacuum cleaner (100) that controls the switch element (1133). The method of claim 1, wherein the at least one processor (1001):
A wireless cleaner (100) that identifies the type of the brush device (2000) based on a voltage value input to the input port of the at least one processor (1001) through the signal line (30). 15. The method of claim 14, wherein the at least one processor (1001):
When the voltage value input to the input port through the signal line 30 is between the maximum input voltage value and the minimum input voltage value, an identification resistor corresponding to the voltage value input to the input port is selected from among a plurality of identification resistors. A wireless cleaner (100), identifying a first type of brush device (2001) as a brush device (2000) connected to the cleaner body (1000). 15. The method of claim 14, wherein the at least one processor (1001):
When the voltage value input to the input port maintains the maximum input voltage value regardless of the on or off state of the switch element 1133, the signal line 30 is connected to the + power line 10. A wireless cleaner (100), identifying this shorted second type brush device (2002) as a brush device (2000) connected to the cleaner body (1000). 15. The method of claim 14, wherein the at least one processor (1001):
The voltage value input to the input port in the off state of the switch element 1133 is the maximum input voltage value, and the voltage value input to the input port in the on state of the switch element 1133 is the maximum input voltage value. In the case of the minimum input voltage value, - identifying the third type of brush device 2003 in which the signal line 30 is shorted to the power line 20 as the brush device 2000 connected to the cleaner main body 1000. , cordless vacuum cleaner (100). 15. The method of claim 14, wherein the at least one processor (1001):
When the voltage value input to the input port is constant at the minimum input voltage value regardless of the on or off state of the switch element 1133, the signal line 30 is open. A wireless vacuum cleaner (100), identifying a tangible brush device (2004) as a brush device (2000) connected to the cleaner body (1000). The method of claim 1, wherein the frequency determined for the PWM control is:
A cordless vacuum cleaner (100) variable between 0.5 kHz and 8 kHz. The voltage value input to the input port of at least one processor 1001 through the load detection sensor 1134 of the cleaner main body 1000 or the signal line 30 is connected to the cleaner main body 1000 of the brush device 2000. detecting a connection to;
identifying the type of the brush device (2000) connected to the cleaner body (1000) by detecting the connection of the brush device (2000) to the cleaner body (1000);
determining a frequency for PWM (Pulse Width Modulation) control corresponding to the type of the identified brush device 2000; and
Based on the determined frequency, controlling the operation of the switch element 1133 used to supply power from the battery 1500 of the cleaner main body 1000 to the brush device 2000 connected to the cleaner main body 1000. A method of operating the wireless vacuum cleaner 100, including.

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