JP2833517B2 - Self-propelled vacuum cleaner - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled vacuum cleaner having a cleaning function and a moving function, and more particularly to improvement of driving safety.

[0002]

2. Description of the Related Art Conventionally, a vacuum cleaner has been developed in which a moving function is added to the vacuum cleaner to improve operability at the time of cleaning. Generally, a microcomputer and various sensors are mounted on the vacuum cleaner. 2. Description of the Related Art A so-called self-guided self-propelled cleaner that moves and cleans while determining a cleaning place by itself has been developed.

FIG. 4 is a block diagram of a conventional self-propelled cleaner, and the operation will be briefly described below. In FIG. 1, reference numeral 1 denotes a storage battery that can be generally charged by a DC power supply unit. 2 is a traveling motor for moving the cleaner body, 3 is the traveling motor 2
A driving control unit 4 is connected to the traveling motor 2, and an encoder unit that outputs a signal according to the number of rotations. 5 outputs a speed signal to the traveling control unit 3 according to a signal from the encoder unit 4. Servo control IC, 6 is a fan motor for cleaning, 7 is a cleaning control unit for driving the fan motor 6, 8 is an obstacle detection unit for detecting an obstacle in front of the movement of the cleaner body, and is generally an ultrasonic sensor. Is used. 9
Is a key input unit for the user to select a use state, such as whether to perform cleaning or simply moving the cleaner body, and 10 is a display for displaying the use state selected by the key input unit 9 and details of an abnormality. Reference numeral 11 denotes a gyro for detecting a moving direction of the cleaning main body, and reference numeral 12 denotes a floor surface level difference detecting unit for detecting a level difference on the floor surface. Reference numerals 13, 14, 15, 16, and 17 denote a plurality of input / output signal extensions I for transmitting signals to the cleaning control unit 7, the obstacle detection unit 8, the key input unit 9, the display unit 10, and the gyro 11.
C. Here, the input / output signal extension IC 15 transmits signals from the key input unit 9 and the floor surface level difference detection unit 12. Reference numeral 18 denotes a microcomputer which outputs a signal to the servo control IC 5 according to information obtained via the input / output signal extension ICs 13 to 17.

The reason why the microcomputer 18 is connected via a plurality of input / output signal extension ICs is that the number of input / output signals of the microcomputer 18 is limited with respect to the number of input / outputs to be managed. For example, the key input unit 9 has two lines (start and stop), the display unit 10 has 10 bits (7-segment LED, 3 digits display is 10 bits), the communication with the gyro 11 is 15 bits, and the obstacle detection unit 8 is generally used. Are provided and driven individually. For example, if there are eight, six (3
Plus 3), the servo control IC 5 is 8 bits or the like, which is at least 41, and an enormous number is required considering other functions.

[0005]

However, in the self-propelled cleaner having the above configuration, the microcomputer 18 does not directly control the input / output of the obstacle detection unit 8 and the travel control unit 3, so that the input / output signal expansion is not performed. There has been a problem that when an abnormality such as an electrostatic failure or latch-up occurs in the IC or the servo IC, control becomes impossible. Generally, the microcomputer 18 periodically supplies (refreshes) data to the input / output signal extension IC, but this is not a fundamental measure because the input setting port may be changed to an output setting port.

The present invention solves such a conventional problem, and provides a self-propelled cleaner in which traveling-related input / output control and motor energization control are directly performed by a microcomputer port to improve traveling-related safety. It is intended to be.

[0007]

To achieve the above object, a first means of the present invention comprises a DC power supply, a traveling motor for moving a cleaner body, a traveling control unit for driving the traveling motor, An encoder connected to the traveling motor and outputting a signal corresponding to the number of revolutions, a servo control IC outputting a speed signal to a traveling controller in response to a signal from the encoder, and a fan motor for cleaning; A cleaning control unit that drives a fan motor, the DC power supply unit and a traveling motor, an all-motor energization control unit that controls energization to the fan motor, and an obstacle detection unit that detects an obstacle ahead of the movement of the cleaner body. A key input unit for the user to select a use state such as whether to perform cleaning or simply moving the cleaner body, and a display unit for displaying the use state selected by the key input unit or the content of an abnormality. , Sweep A gyro for detecting the direction of movement of the main body, a plurality of input / output signal extension ICs for transmitting signals to the obstacle detection section, the key input section, the display section, and the gyro, and a floor step detection for detecting a floor step And a microcomputer that outputs signals to the all-motor energization control unit and the servo control IC in accordance with the information obtained through the input / output signal expansion IC and the signal from the floor surface level difference detection unit ,
The microcomputer directly receives the signal from the floor step detecting unit.
Contact input, the traveling motor,
It controls the energization of the fan motor .

[0008] The second means is an encoder unit and a signal of the floor step detecting portion to both be simultaneously inputted to the servo control IC and a microcomputer, said servo control
The IC indicates the case where the speed value of the encoder is out of the allowable range and the floor surface.
Outputs a stop signal to the travel control unit when a level difference is detected
It is configured as follows.

[0009] Next, the third means is to set the floor step detecting unit to NC.
(Normally closed) type switch.

[0010]

SUMMARY OF] According to the first means, the signal of the floor surface level difference detection unit is directly input to the microcomputer, and the microcomputer for outputting directly to a total motor current control section, upon detecting a floor level difference total The motor can be stopped.

According to the second means, the signals of the encoder section and the floor surface level difference detecting section are simultaneously inputted to the servo control IC and the microcomputer .
When the speed value is out of the permissible range or when a floor level difference is detected , the servo control IC can output a stop signal to the traveling control unit in addition to the first operation.

Next, according to the third means, since the floor surface level difference detecting section is constituted by an NC type switch, an operation error can be prevented with a simple structure.

[0013]

FIG. 1 is a block diagram showing a first embodiment of the present invention, and the description will be made with reference to this figure.

In FIG. 1, reference numeral 21 denotes a DC power supply unit which uses a storage battery in this embodiment. 22 is a traveling motor for moving the cleaner body, 23 is a traveling control unit for driving the traveling motor 22, 24 is an encoder connected to the traveling motor 22 and outputting a signal corresponding to the number of revolutions, 25 is the encoder A servo control IC that outputs a speed signal to the traveling control unit 23 in response to a signal from 24, 26 is a cleaning fan motor, 27 is a cleaning control unit that drives the fan motor 26, and 28 is the DC power supply unit 21. Traveling motor 22,
This is an all-motor energization control unit that controls energization of the fan motor 26. Reference numeral 29 denotes an obstacle detection unit that detects an obstacle in front of the movement of the cleaner main body, reference numeral 30 denotes a key input unit that allows the user to select a use state such as cleaning or simply moving the cleaner main body, 31 Is a display unit for displaying the use state or the content of the abnormality selected by the key input unit 30, 32 is a gyro for detecting the moving direction of the cleaner body, 33, 34, 3
5, 36 and 37 are the obstacle detection units 29, respectively.
A plurality of input / output signal extensions I for transmitting signals to the key input unit 30, the display unit 31, the gyro 32, and the cleaning control unit 27
C and 38 denote floor surface step detecting units for detecting a step on the floor surface, 39
Is a microcomputer that outputs signals to the all-motor energization control unit 28 and the servo control IC 25 according to information obtained through the input / output signal extension ICs 33 to 37 and a signal from the floor surface level difference detection unit 38.

That is, the signal from the floor level difference detecting unit 38 is directly input to the microcomputer 39, but the signals from the obstacle detecting unit 29, the key input unit 30 and the gyro 32 are input / output signal extension ICs 33 and 34, respectively. And 36, while the travel control unit 23 controls the servo control I
By C25, the cleaning control unit 27 is also an input / output signal extension IC.
37, a signal is output.
9 outputs a signal to the all-motor energization control unit 28.

Therefore, when a floor abnormality occurs, the signal of the floor surface level difference detecting section 38 is directly input to the microcomputer 39, and the microcomputer 39 outputs a stop signal directly to the all-motor energizing control section 28 so that the traveling motor is controlled. All motors such as the motor 22 and the fan motor 26 can be stopped reliably.

FIG. 2 shows a block diagram of a second embodiment of the present invention, and the description will be made based on this diagram.

In FIG. 2, signals from the encoder unit 24 and the floor surface level difference detecting unit 38 are both input to the servo control IC 25 and the microcomputer 39 at the same time. It is detected whether or not the actual speed value with respect to the speed setting value is within the allowable range. If it is determined that the speed value is out of the allowable range, a stop signal is output to the servo control IC 25 and at the same time, a stop signal is sent to the all-motor energization control unit 28. Output. Further, the signal of the floor surface level difference detecting section 38 is set so as to give a reset signal to the servo control IC to be in a forced stop state.

Accordingly, when a floor abnormality occurs, the microcomputer 39 outputs a stop signal directly to the all-motor energizing control unit 28 as in the first means, so that all the motors, such as the traveling motor 22 and the fan motor 26, are surely operated. When stopped, the traveling motor 22 can be set to the brake state.
The servo control IC can output a stop signal to the travel control unit.

FIG. 3 shows a block diagram of a third embodiment of the present invention, and the description will be made based on this diagram.

In FIG. 3, the floor surface level difference detector 38 has N
Since a C (normally closed) type switch is used, even if the connection is forgotten due to a work error, it can be detected immediately.

[0022]

As is apparent from the above embodiments, according to the first means of the present invention, when a floor surface level difference is detected, a signal from the floor level level detection unit is directly input to the microcomputer. The microcomputer outputs a stop signal directly to all motor energization control units, so that even if an abnormality such as an electrostatic failure or latch-up occurs in the I / O signal expansion IC or servo control IC, all the motors such as the traveling motor and fan motor Can be reliably stopped.

According to the second aspect of the present invention, a floor step is provided.
When the difference is detected, as in the first means, the microcomputer outputs a stop signal directly to all motor energization control units to surely stop all motors such as the running motor and fan motor and set the running motor to the brake state. The servo control IC can output a stop signal to the traveling control unit when the speed value of the encoder unit is out of the allowable range or when a floor surface level difference is detected. The vacuum cleaner main body can be stopped in the shortest time.

Further, according to the third means of the present invention, an operation error can be prevented with a simple configuration.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a self-propelled vacuum cleaner according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of a self-propelled vacuum cleaner according to a second embodiment of the present invention.

FIG. 3 is a block diagram showing a configuration of a self-propelled vacuum cleaner according to a third embodiment of the present invention.

FIG. 4 is a block diagram of a conventional self-propelled vacuum cleaner.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 21 DC power supply unit 22 Traveling motor 23 Traveling control unit 24 Encoder unit 25 Servo control IC 26 Fan motor 27 Cleaning control unit 28 Full motor power control unit 29 Obstacle detecting unit 30 Key input unit 31 Display unit 32 Gyro 33, 34, 35 , 36, 37 Input / output signal extension IC 38 Floor surface level difference detection unit 39 Microcomputer

──────────────────────────────────────────────────の Continuing on the front page (72) Inventor Hidetaka Yabuuchi 1006 Kazuma Kadoma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. In-house (72) Inventor Osamu Eguchi 1006 Kadoma, Kadoma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. Person Yoshifumi Takagi 1006 Kazuma Kadoma, Kadoma City, Osaka Prefecture (72) Inside the Matsushita Electric Industrial Co., Ltd. Matsushita Electric Industrial Co., Ltd. (72) Inventor Hiroyuki Senoo 1006 Oaza Kadoma, Kadoma City, Osaka Prefecture (56) References JP-A-6-327599 (JP, A) JP-A-5-158536 (JP, A) JP-A-6-98844 (JP, A) JP-A-5-84200 (JP, A) A) JP-A-3-124223 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) A47L 9/28 A47L 9/00 102

Claims (3)

(57) [Claims] 1. A direct-current power supply unit, a traveling motor that moves a cleaner body, a traveling control unit that drives the traveling motor, an encoder unit that is connected to the traveling motor and outputs a signal corresponding to a rotation speed, Servo control IC for outputting a speed signal to a travel control unit in response to a signal from the encoder unit
A fan motor for cleaning, a cleaning control unit for driving the fan motor, a DC power supply unit and a traveling motor, an all-motor energization control unit for controlling energization to the fan motor, An obstacle detection unit that performs obstacle detection, a key input unit that allows the user to select a usage state such as whether to perform cleaning or simply moving the cleaner body, and a usage state selected by the key input unit. A display unit for displaying the details of the abnormality, a gyro for detecting the moving direction of the cleaner body, and a plurality of input / output signal extension ICs for transmitting signals to the obstacle detection unit, the key input unit, the display unit, and the gyro And a floor surface level detecting unit for detecting a level difference on the floor surface, information obtained through the input / output signal extension IC, and a signal supplied from the floor surface level detecting unit to all motor energization control units and a servo control IC. Microcontroller that outputs signals Is composed of a computer, said Ma
The microcomputer directly receives the signal from the floor
Input, and the running motor and
A self-propelled vacuum cleaner that controls the energization of the fan motor. Wherein the encoder unit and the signal of the floor step detection unit configured to simultaneously input to both the servo control IC and a microcomputer, the servo control IC encoder
When the speed value of the part is out of the allowable range and when the step on the floor is detected
The self-propelled cleaner according to claim 1, further comprising: outputting a stop signal to the travel control unit . 3. The self-propelled cleaner according to claim 1, wherein the floor surface level difference detecting unit is constituted by an NC type switch.