JP6993937B2 - Electric cleaning device - Google Patents

Description

An embodiment of the present invention relates to an electric cleaning device including an electric vacuum cleaner capable of autonomous traveling and a base device to which the electric vacuum cleaner can be connected.

Conventionally, a so-called autonomous traveling type electric vacuum cleaner (cleaning robot) that cleans while autonomously traveling on the surface to be cleaned is known. This vacuum cleaner has a built-in secondary battery as a power source. Then, this vacuum cleaner constitutes an electric cleaning system together with a charging stand as a base device for charging the secondary battery during standby such as after cleaning is completed.

This type of vacuum cleaner is provided with a dust collecting unit for collecting dust collected from the floor surface as a surface to be cleaned. Then, during cleaning, when a predetermined amount or more of dust is collected in the dust collecting part, that is, when the dust in the dust collecting part becomes full, the user is notified or the dust collecting part is returned to the charging stand to forcibly end the cleaning. By doing so, there is something that prevents the cleaning from being continued while the dust collecting part is full. However, in this case, if the dust collecting portion is easily filled, the cleaning is completed without sufficient cleaning. In addition, every time the dust collecting section is full, it takes time and effort for the user to dispose of the dust collected in the dust collecting section. Therefore, it is conceivable to set a large capacity of the dust collecting unit in advance so that the dust collecting unit is not easily filled until the cleaning is completed. However, in this case, there arises a problem of increasing the size of the vacuum cleaner.

In this regard, for example, the charging stand is provided with a dust collecting container as a dust accommodating portion, an electric blower as a transfer means, and the like, and when the cleaning is completed and the electric vacuum cleaner returns to the charging stand, the dust of the electric vacuum cleaner is collected. Some of the dust collected in the part is transferred to a dust collecting container by an electric blower or the like.

However, the conditions for the autonomous driving type vacuum cleaner to return to the charging stand are when cleaning is completed, when the remaining amount of the secondary battery is low, or when the user issues a command. Even with this configuration, unless the vacuum cleaner returns to the charging stand, dust will continue to accumulate in the dust collecting portion as cleaning progresses, and the same problems as described above will occur.

Japanese Patent No. 5957296 Japanese Patent No. 598602 Japanese Unexamined Patent Publication No. 2016-185189

An object to be solved by the present invention is to provide an electric vacuum cleaner capable of miniaturizing an electric vacuum cleaner and not continuing cleaning with dust accumulated in a dust collecting portion.

The electric vacuum cleaner of the embodiment has an electric vacuum cleaner capable of autonomous traveling and a base device to which the electric vacuum cleaner can be connected. The electric vacuum cleaner includes a driving unit for traveling, a cleaning unit, a dust collecting unit, a dust collecting amount detecting means, and a traveling control means. The cleaning unit cleans the dust. The dust collecting unit collects the dust cleaned by the cleaning unit. The dust collection amount detecting means detects the amount of dust accumulated in the dust collection unit. The travel control means controls the drive of the drive unit to autonomously drive the vacuum cleaner. Further, the base device includes a dust accommodating portion and a transfer means. The transfer means is driven so as to transfer the dust collected in the dust collecting unit to the dust accommodating unit with the vacuum cleaner connected to the base device. Then, the traveling control means controls to interrupt the cleaning and travel to the base device when the amount of dust in the dust collecting portion exceeds a predetermined amount during cleaning, and after driving the transfer means, the dust collecting amount is detected. If it is determined that the dust in the dust collecting section has been transferred based on the detection result of the means, the dust collecting section is separated from the base device and cleaning is restarted. If it is determined that the dust in the dust collecting section has not been transferred, cleaning is performed. Is controlled to stand by at the base device without restarting . It is reset at the start of cleaning, and a counter that counts up when the amount of dust detected by the dust collection amount detecting means while cleaning by the cleaning unit is equal to or more than a predetermined amount, and a display related to the count by the counter are displayed. Further provided with display means. Alternatively, the transfer means is driven when the amount of dust detected by the dust collection amount detecting means before starting cleaning is a predetermined amount or more .

It is a perspective view which shows the electric cleaning apparatus of 1st Embodiment. It is a perspective view which shows the state which the electric vacuum cleaner is connected to the base device of the electric vacuum cleaner as above. Same as above It is a plan view showing the vacuum cleaner from below. It is a block diagram which shows the internal structure of the electric vacuum cleaner as above. It is a block diagram which shows the internal structure of the base device of the electric cleaning device as above. It is the flowchart which shows the cleaning control of the electric cleaning apparatus. It is a flowchart which shows the cleaning control of the electric cleaning apparatus of 2nd Embodiment. It is a block diagram which shows the internal structure of the vacuum cleaner of 3rd Embodiment. It is the flowchart which shows the cleaning control of the electric cleaning apparatus. It is a block diagram which shows the cleaning control of the electric cleaning apparatus of 4th Embodiment. It is a flowchart which shows the internal structure of the vacuum cleaner of 5th Embodiment. It is a block diagram which shows the internal structure of the base apparatus of 6th Embodiment. It is the flowchart which shows the cleaning control of the electric cleaning apparatus.

Hereinafter, the configuration of the first embodiment will be described with reference to the drawings.

In FIGS. 1 and 2, 10 indicates an electric vacuum cleaner, and the electric vacuum cleaner 10 is an autonomous traveling type electric vacuum cleaner 11 and a base device that serves as a standby place when the electric vacuum cleaner 11 is not cleaning. It is equipped with a dust station 12 as.

The vacuum cleaner 11 shown in FIGS. 1 to 4 is a robot cleaner that cleans the floor surface while autonomously traveling on the floor surface, which is the surface to be cleaned as the traveling surface, in the present embodiment. That is, the vacuum cleaner 11 automatically cleans the floor surface. The vacuum cleaner 11 includes a main body case 20 which is a hollow main body. Further, the vacuum cleaner 11 includes a drive wheel 21 which is a traveling drive unit. Further, the vacuum cleaner 11 includes a cleaning unit 22 for cleaning dust. Further, the vacuum cleaner 11 includes a dust collecting unit 23. Further, the vacuum cleaner 11 may include a sensor unit 24. Further, the vacuum cleaner 11 may include a communication unit 25 which is a communication means for communicating via a network, for example, by wire or wirelessly. Further, the vacuum cleaner 11 includes a control unit 26 which is a control means which is a controller. Further, the vacuum cleaner 11 may include a display unit 27 which is a display means as a notification means. Then, the vacuum cleaner 11 may include a secondary battery 28 which is a battery for power supply. Further, the vacuum cleaner 11 may include an input / output unit in which predetermined settings and the like are input directly, for example, via a remote controller or the like or manually. Then, the vacuum cleaner 11 is moved to the position of the dust station 12 at least at the end of cleaning, and is travel-controlled so as to be connected to the dust station 12. In the present embodiment, the vacuum cleaner 11 is controlled so as to start cleaning from, for example, the dust station 12 or an arbitrary position, and when the cleaning is completed, return to the dust station 12 and be connected. Hereinafter, the direction along the traveling direction of the electric vacuum cleaner 11, for example, the arrow FR and RR directions shown in FIG. 1 is defined as the front-rear direction, and the left-right direction or both-sided direction intersecting or orthogonal to the front-rear direction is defined as the width direction. explain.

The main body case 20 is formed of, for example, a synthetic resin or the like. The main body case 20 is formed in, for example, a flat columnar shape or a disk shape, but is not limited to this shape. Further, the main body case 20 is provided with a suction port 31 which is a dust collecting port at a lower portion facing the floor surface. Further, the main body case 20 may be provided with a dust discharge port 32. The dust discharge port 32 may be separate from the suction port 31, or the suction port 31 may be used as the dust discharge port 32. Further, the dust discharge port 32 may be configured to be opened and closed by the opening / closing lid 33.

The drive wheel 21 autonomously causes the vacuum cleaner 11 to travel forward and backward on the floor surface, that is, for traveling. In the present embodiment, for example, a pair of drive wheels 21 are provided on the left and right sides of the main body case 20, but the arrangement is not limited to this. The drive wheels 21 are driven by a motor 34 as a drive means. In addition, instead of the drive wheel 21, an endless track or the like as a drive unit can be used.

The motor 34 is arranged corresponding to the drive wheels 21. In this embodiment, for example, a pair of left and right motors 34 are provided. The motor 34 can independently drive each drive wheel 21.

The cleaning unit 22 removes dust from a cleaned unit such as a floor surface or a wall surface. The cleaning unit 22 has a function of collecting and collecting dust on the floor surface from the suction port 31, or wiping and cleaning the wall surface, for example. The cleaning unit 22 includes an electric blower 35, which is an electric blower on the vacuum cleaner side that sucks dust together with air from the suction port 31, and a rotary brush 36 as a rotary cleaning body that is rotatably attached to the suction port 31 to scoop up dust. The brush motor 37 that drives the rotary brush 36 to rotate, and the side brush 38 and side brush 38 that are rotatably attached to both sides of the front side of the main body case 20 and are auxiliary cleaning means as a swivel cleaning unit that collects dust. It may be provided with at least one of the side brush motor 39 to be driven.

The dust collecting unit 23 is a portion for collecting dust cleaned by the cleaning unit 22. In the present embodiment, the dust collecting unit 23 is a portion that collects dust sucked from the suction port 31. The dust collecting portion 23 is formed in a box shape, for example, and is detachably stored in the rear portion of the main body case 20. Further, the dust collecting unit 23 is provided so as to communicate with the suction port 31 and the dust discharging port 32.

The sensor unit 24 senses various information that supports the running of the vacuum cleaner 11 and the status of the cleaning area. The sensor unit 24 is provided with at least a cleaning detection means for detecting, for example, a step that is an uneven state of the floor surface, a wall or an obstacle that hinders traveling, the amount of dust on the floor surface, and the like. Further, the sensor unit 24 includes a dust collection amount sensor 41 as a dust collection amount detecting means for detecting the amount of dust collected in the dust collection unit 23. Further, the sensor unit 24 includes a voltage sensor 42 as a voltage detecting means for detecting the voltage of the secondary battery 28 or the remaining amount of the secondary battery 28.

The dust collection amount sensor 41 is, for example, a current sensor that indirectly detects the amount of dust accumulated in the dust collection unit 23 by detecting the current flowing through the electric blower 35, and detects the amount of air sucked by the electric blower 35. An air volume sensor that indirectly detects the amount of dust collected in the dust collecting unit 23, an optical sensor that directly detects the amount of dust collected in the dust collecting unit 23, or the like is used.

The communication unit 25 is, for example, a wireless communication means for wirelessly communicating with the dust station 12.

As the control unit 26, for example, a microcomputer including a CPU, a ROM, a RAM, etc., which is the main body of the control means, is used. The control unit 26 includes a travel control unit 51 which is a travel control means for driving the drive wheels 21. Further, the control unit 26 includes a cleaning control unit 52 which is a cleaning control means electrically connected to the cleaning unit 22. Further, the control unit 26 includes a sensor connection unit 53 which is a sensor control means electrically connected to the sensor unit 24. Further, the control unit 26 may include a communication control unit 54 which is a communication control means electrically connected to the communication unit 25. Further, the control unit 26 may include a display control unit 55 which is a display control means as a notification control means electrically connected to the display unit 27. That is, the control unit 26 is electrically connected to the cleaning unit 22, the sensor unit 24, the communication unit 25, the display unit 27, and the like. Further, the control unit 26 is electrically connected to the secondary battery 28. The control unit 26 may include a memory 56 which is a storage means. Further, the control unit 26 may include a counter. Further, the control unit 26 may include a charge control unit that controls charging of the secondary battery 28. Further, the control unit 26 may include a map generation unit as a mapping means.

The travel control unit 51 controls the drive of the drive wheels 21 by controlling the drive of the motor 34 to drive the vacuum cleaner 11. The travel control unit 51 may be configured to set an optimum travel route based on, for example, map data stored in the memory 56. Further, the travel control unit 51 can change the travel route at any time according to the obstacle detected by the sensor unit 24, and can drive the vacuum cleaner 11 according to the operation input from the remote controller or the like. ..

The cleaning control unit 52 controls the drive of the cleaning unit 22, that is, by separately controlling the energization amounts of the electric blower 35, the brush motor 37, and the side brush motor 39, the electric blower 35 rotates. Controls the drive of the brush 36 and the side brush 38.

The sensor connection unit 53 acquires the detection result of the sensor unit 24 and outputs it to the travel control unit 51 and the cleaning control unit 52.

The communication control unit 54 controls the drive of the communication unit 25 to transmit and receive information to and from the dust station 12 or the mobile terminal by the communication unit 25. Information sent and received from the communication unit 25 to the external device can be arbitrarily set, but in the present embodiment, it is preferably generated by the state of the vacuum cleaner 11 such as the remaining amount of the secondary battery 28 or the map generation unit. Includes map data, etc.

For example, a cleaning completion flag for managing whether or not cleaning is completed is set in the memory 56.

The map generation unit can generate a map showing whether or not the cleaning area can be traveled based on the shape around the vacuum cleaner 11 or the main body case 20 detected by the cleaning detection means, in the present embodiment, the sensor unit 24. It has become. In the present embodiment, the peripheral shape means, for example, the distance and height of an object that becomes an obstacle.

The traveling control unit 51, the cleaning control unit 52, the sensor connection unit 53, the communication control unit 54, the display control unit 55, the memory 56, the charge control unit, and the map generation unit shown in FIG. 4 are respectively in the present embodiment. Although it is configured to be integrally provided in the control unit 26, it may be provided separately from each other, or at least one of them may be arbitrarily combined and integrally configured.

The secondary battery 28 supplies power to the cleaning unit 22, the sensor unit 24, the communication unit 25, the control unit 26, the display unit 27, and the like. Further, the secondary battery 28 is electrically connected to, for example, a charging terminal 60 as a connection portion shown in FIG. 3 exposed at the lower part of the main body case 20, and the charging terminal 60 is electrically and mechanically connected to the charging device side. By being connected to the target, the battery is charged via the charging device.

On the other hand, the dust station 12 shown in FIGS. 1, 2 and 5 generally has a function of transferring and collecting the dust collected by the dust collecting unit 23 of the vacuum cleaner 11 to the vacuum cleaner 11. Have. And the dust station 12 is arranged at an arbitrary place on the floor surface. It may be provided with a function of charging the secondary battery 28 of the dust station 12. In addition, the dust station 12 is a dust control product that is separate from the vacuum cleaner 11 and is suitable for locally cleaning a part of the floor surface, such as a mop, a broom, or a floor cleaner (not shown). , The dust collected by these, or the dust adhering to them may be sucked.

The dust station 12 is provided with a case body 65. Further, the dust station 12 includes a suction port 66 as a dust transfer port. Further, the dust station 12 is provided with a dust collecting container 67 which is a dust collecting portion as a dust accommodating portion. Further, the dust station 12 includes an electric blower 68 which is a suction means as a transfer means. Further, the dust station 12 includes a connection detection unit 69. Further, the dust station 12 may include a setting input unit. Further, the dust station 12 includes a dust collection control unit 71 which is a blower control means. Further, the dust station 12 includes a transmission / reception unit 72 that transmits / receives a signal to / from the communication unit 25 of the vacuum cleaner 11 shown in FIG. The dust station 12 includes a power supply unit 74. Further, the dust station 12 may be provided with a charging terminal 75 when it has a function of charging the secondary battery 28 of the vacuum cleaner 11. Further, the dust station 12 may be provided with an auxiliary suction port for sucking dust or the like collected by the dust control product.

The case body 65 is formed in a box shape, for example, by a synthetic resin or the like. The case body 65 has, for example, a rectangular parallelepiped shape.

The suction port 66 is connected to the vacuum cleaner 11 connected to the dust station 12. The suction port 66 is located, for example, on the front side of the case body 65. The suction port 66 may be configured to be connected to, for example, the dust discharge port 32 of the vacuum cleaner 11, or may be configured to be connected to the suction port 31. When connected to the dust discharge port 32, it is preferable that the suction port 31 is provided with an opening / closing mechanism for opening / closing the opening / closing lid 33 shown in FIG. 3 when the vacuum cleaner 11 approaches or separates from the dust station 12. That is, the suction port 66 is connected so as to communicate with the dust collecting portion 23 of the vacuum cleaner 11. Therefore, hereinafter, when the vacuum cleaner 11 is connected to the dust station 12, it means that the suction port 66 and the dust collecting portion 23 of the vacuum cleaner 11 are in communication with each other. When the dust station 12 is provided with a function of charging the secondary battery 28 of the vacuum cleaner 11, when the vacuum cleaner 11 is connected to the dust station 12, the charging terminal 60 shown in FIG. 3 of the vacuum cleaner 11 is used. It is assumed that the charging terminal 75 of the dust station 12 is connected.

The dust collection container 67 is a portion that collects dust sucked from the suction port 66 or the auxiliary suction port by the operation of the electric blower 68. As the dust collecting container 67, an appropriate one such as a paper pack, a filter, or a centrifuge can be used. It is preferable that the dust collecting container 67 is provided with a valve or the like for communicating the dust collecting container 67 with the suction port 66 or the auxiliary suction port by opening when the vacuum cleaner 11 is connected to the dust station 12.

The electric blower 68 is configured to apply a negative pressure generated by operating by supplying power from the power supply unit 74 to the suction port 66 or the auxiliary suction port via the dust collecting container 67.

The connection detection unit 69 detects whether or not the vacuum cleaner 11 is connected to the dust station 12. The connection detection unit 69 of the present embodiment receives, for example, a wireless signal output when the vacuum cleaner 11 is connected to the dust station 12 from the communication unit 25 of the vacuum cleaner 11, so that the vacuum cleaner 11 can perform the vacuum cleaner 11. Detects that it is connected to the dust station 12. Further, the connection detection unit 69 has a function of an information acquisition means for acquiring information of the vacuum cleaner 11 from the communication unit 25 of the vacuum cleaner 11.

In the setting input unit, the user inputs various settings to the dust station 12 directly, for example, via a remote controller or manually.

The dust collection control unit 71 controls the operation of the electric blower 68. The dust collection control unit 71 is, for example, a CPU that is the main body of the dust collection control means, a ROM that is a storage unit that stores fixed data such as a program read by the CPU, a work area that is a work area for data processing by the program, and the like. It is a microcomputer provided with a RAM or the like which is an area storage unit that dynamically forms various memory areas of the above. Further, when the dust collection control unit 71 is provided with a charging function for the secondary battery 28 of the vacuum cleaner 11 of the dust station 12, a charging circuit such as a constant current circuit electrically connected to the charging terminal 75 is provided. You can also prepare. The charging circuit may be provided integrally with the dust collection control unit 71, or may be provided separately from the dust collection control unit 71.

The transmission / reception unit 72 transmits / receives a signal to / from the communication unit 25 shown in FIG. 4 of the vacuum cleaner 11 by a wireless signal such as infrared rays.

The power supply unit 74 supplies power to the electric blower 68, the connection detection unit 69, the dust collection control unit 71, and the like. In the present embodiment, the power supply unit 74 uses a cord reel device provided with a power cord for supplying power from an external power source (not shown) such as a commercial AC power source, but for example, a battery or the like may be used.

Next, the cleaning operation of the first embodiment will be described.

The dust station 12 is installed at an arbitrary position on the floor surface, and the power supply unit 74 is connected to an external power source via a wall outlet or the like. Further, the vacuum cleaner 11 turns on the main power.

Then, as a general rule, when the vacuum cleaner 11 starts cleaning at a predetermined timing, the vacuum cleaner 11 autonomously travels on the floor surface of the cleaning area to clean the dust on the floor surface and the like, and this cleaning is performed. The collected dust is collected in the dust collecting unit 23. During cleaning, if the dust collection unit 23 collects more than a predetermined amount of dust, or if the dust collection unit 23 is full, or if the voltage of the secondary battery 28 falls below a predetermined threshold, or if the secondary battery When the remaining amount of 28 becomes less than the specified value, cleaning is interrupted, the dust is returned to the dust station 12, connected to the dust station 12, and the dust collected in the dust collecting unit 23 is transferred to the dust collecting container 67. The electric blower 68 is driven for a predetermined time so as to be driven. At this time, the secondary battery 28 may be charged as needed.

After that, if the dust of the dust collecting unit 23 cannot be transferred to the dust collecting container 67 by the drive of the electric blower 68, the cleaning is ended or interrupted as it is, and the state shifts to the standby state or the charged state of the secondary battery 28. do. If the dust from the dust collecting unit 23 can be transferred to the dust collecting container 67, if the cleaning is not completed, the dust station 12 is separated again and the cleaning is restarted. If the cleaning is completed, the dust is left as it is. Finish cleaning and wait at dust station 12.

The above cleaning operation will be described in more detail.

The vacuum cleaner 11 with the main power turned on starts cleaning at a set predetermined time, or when the user inputs a cleaning start command by a remote controller or the like. Here, the vacuum cleaner 11 will be described below assuming that cleaning is started from the dust station 12, but cleaning can also be started from any position other than the dust station 12.

In the vacuum cleaner 11, the travel control unit 51 controls the drive of the drive wheels 21 and travels on the floor surface of the cleaning area while avoiding obstacles detected by the sensor unit 24, obstacles marked on the map, and the like. Meanwhile, the cleaning control unit 52 drives the cleaning unit 22 to collect dust on the floor surface from the suction port 31 to the dust collecting unit 23. Then, when the amount of dust collected by the dust collecting unit 23 detected by the dust collecting amount sensor 41 is equal to or more than a predetermined amount, when the voltage of the secondary battery 28 detected by the voltage sensor 42 is equal to or less than a predetermined amount, or when cleaning is performed. When the operation is completed, the traveling control unit 51 controls the drive of the drive wheel 21 to return the vacuum cleaner 11 to the dust station 12 and connect it to the dust station 12, that is, dock it. At this time, for example, based on the guidance signal output from the dust station 12, or based on the position of the dust station 12 shown on the map, the traveling control unit 51 drives the drive wheels 21 to drive the electric vacuum cleaner. 11 may be controlled to return to the dust station 12. Further, the cleaning control unit 52 may stop driving the cleaning unit 22 when the vacuum cleaner 11 returns to the dust station 12. The vacuum cleaner 11 and the dust station 12 may communicate various information with each other via the communication unit 25 and the transmission / reception unit 72 in a state where the vacuum cleaner 11 is connected to the dust station 12. It is possible.

When the dust station 12 detects, for example, the connection of the vacuum cleaner 11 by the connection detection unit 69, the dust collection control unit 71 drives the electric blower 68 immediately or after a predetermined time. Then, the dust collection control unit 71 operates the electric blower 68 for a predetermined time, for example, 10 seconds in the present embodiment, and then stops the electric blower 68. At the same time, at the dust station 12, the charging circuit may charge the secondary battery 28.

After that, when the dust amount of the dust collecting unit 23 detected by the dust collecting amount sensor 41 is equal to or more than a predetermined amount, the electric vacuum cleaner 11 does not properly transfer the dust collected in the dust collecting unit 23 to the dust collecting container 67. That is, the dust cannot be transferred to the dust collection container 67 because a predetermined amount or more of the dust has already been transferred to the dust collection container 67 or the dust in the dust collection container 67 is full. Judging, regardless of whether the cleaning is completed or not, the cleaning is completed and the standby state or the secondary battery 28 is in the charged state.

Further, when the dust amount of the dust collecting unit 23 detected by the dust collecting amount sensor 41 is less than a predetermined amount, the electric vacuum cleaner 11 appropriately moves the dust collected in the dust collecting unit 23 to the dust collecting container 67. If it is determined that there is room for dust to be transferred to the dust collection container 67, or if it is determined that the dust collection container 67 is not full and cleaning is not completed, the traveling control unit 51 sets the drive wheel. The vacuum cleaner 11 is run so as to control the drive of 21 to separate from the dust station 12 and restart cleaning, and if cleaning is completed, it is in a standby state or the secondary battery 28 is charged. It becomes a state. The position where cleaning is restarted is preferably, but is not limited to, the position where cleaning is interrupted.

The above cleaning control will be described with reference to the flowchart shown in FIG.

When cleaning is started in step S1, the vacuum cleaner 11 resets the cleaning completion flag stored in the memory 56 to 0.

Next, in step S2, the electric vacuum cleaner 11 is moved to the cleaning start position by controlling the drive of the drive wheels 21 by the traveling control unit 51. At this time, if cleaning is started from the dust station 12, for example, the position separated from the dust station 12 is set as the cleaning start position, and if cleaning is started from other than the dust station 12, a predetermined position is set. Set as the cleaning start position.

Then, in step S3, the cleaning control unit 52 drives the cleaning unit 22 and the vacuum cleaner 11 cleans.

Next, in step S4, the vacuum cleaner 11 determines, for example, whether or not the traveling control unit 51 has completed cleaning. Whether or not the cleaning is completed can be determined based on, for example, whether or not the entire floor surface in the cleaning area of the map stored in the memory 56 has been traveled, or whether or not the floor surface has traveled within a predetermined range. If it is determined in step S4 that the cleaning is not completed, it is determined in step S5 whether or not the secondary battery 28 has a predetermined stop voltage or less based on the detection of the voltage sensor 42.

If it is determined in step S5 that the voltage of the secondary battery 28 is not equal to or lower than the predetermined stop voltage, the amount of dust collected in the dust collecting unit 23 is determined in step S6 based on the detection of the dust collecting amount sensor 41. Judge whether it is more than a fixed amount.

If it is determined in step S6 that the amount of dust collected in the dust collecting unit 23 is not more than the predetermined amount, the process proceeds to step S3.

On the other hand, if it is determined in step S4 that the cleaning is completed, the cleaning completion flag stored in the memory 56 is set to 1 in step S7, and the traveling control unit 51 drives the drive wheels 21 in step S8. By controlling, the vacuum cleaner 11 is driven to return to the dust station 12 and be connected.

Further, in step S5, it is determined that the voltage of the secondary battery 28 is equal to or less than the predetermined stop voltage, or in step S6, it is determined that the amount of dust collected in the dust collecting unit 23 is equal to or more than the predetermined amount. In each case, proceed to step S8.

In step S9, in the dust station 12, the dust collection control unit 71 attempts to transfer the dust collected in the dust collection unit 23 to the dust collection container 67 by driving the electric blower 68 for a predetermined time. At this time, the charging circuit may charge the secondary battery 28 as needed.

Then, after attempting to transfer the dust in this way, in step S10, based on the detection of the dust collection amount sensor 41, it is determined whether or not the amount of dust collected in the dust collection unit 23 is equal to or more than a predetermined amount. If it is determined in step S10 that the amount of dust collected in the dust collecting unit 23 is equal to or more than a predetermined amount, dust is collected from the dust collecting unit 23 to the dust collecting container 67 due to reasons such as the dust collecting container 67 being full. Judging that it could not be transferred, the cleaning is finished as it is. On the other hand, if it is determined in step S10 that the amount of dust collected in the dust collecting unit 23 is not more than the predetermined amount, it is determined that the dust collected in the dust collecting unit 23 can be transferred to the dust collecting container 67. Then, in step S11, it is determined whether or not the voltage of the secondary battery 28 is equal to or less than the predetermined stop voltage based on the detection of the voltage sensor 42.

If it is determined in step S11 that the voltage of the secondary battery 28 is equal to or lower than the predetermined stop voltage, step S11 is repeated. That is, charging of the secondary battery 28 is continued until the voltage of the secondary battery 28 exceeds a predetermined stop voltage. If it is determined in step S11 that the voltage of the secondary battery 28 is not equal to or lower than the predetermined stop voltage, in step S12, for example, the traveling control unit 51 refers to the cleaning completion flag stored in the memory 56. It is determined whether or not the cleaning completion flag is set, that is, whether or not the cleaning completion flag is 1.

If it is determined in step S12 that the cleaning completion flag is 1, the cleaning is terminated as it is. If it is determined in step S12 that the cleaning completion flag is not 1 or 0, the vacuum cleaner 11 is detached from the dust station 12 in step S13, and the process proceeds to step S3. In step S13, when the vacuum cleaner 11 is separated from the dust station 12, the travel control unit 51 controls the drive of the drive wheels 21, and the vacuum cleaner 11 is traveled to the position where the cleaning is interrupted. Alternatively, the vehicle may be run to any other position to resume cleaning.

As described above, in the first embodiment, when the traveling control unit 51 interrupts the cleaning and sets the electric vacuum cleaner 11 to the dust station when the amount of dust in the dust collecting unit 23 exceeds a predetermined amount during cleaning. After controlling to drive to 12, and after driving the electric blower 68, if it is determined that the dust in the dust collection unit 23 has been transferred based on the detection result of the dust collection amount sensor 41, electricity is supplied from the dust station 12. The vacuum cleaner 11 is detached and the cleaning is restarted, and if it is determined that the dust in the dust collecting unit 23 has not been transferred, the vacuum cleaner 11 is made to stand by at the dust station 12 without restarting the cleaning. Control. As a result, since the dust can be sequentially collected in the dust collecting container 67, it is not necessary to increase the capacity of the dust collecting unit 23 of the electric vacuum cleaner 11, the electric vacuum cleaner 11 can be miniaturized, and the electric vacuum cleaner 11 can be miniaturized. If more than a predetermined amount of dust is accumulated in the dust collecting unit 23 and the dust collecting container 67 while 11 is connected to the dust station 12, cleaning is forced regardless of whether cleaning is completed or not. Therefore, cleaning is not continued with a predetermined amount or more of dust accumulated in the dust collecting unit 23.

In addition, as in the second embodiment shown in the flowchart of FIG. 7, when the dust amount detected by the dust collection amount sensor 41 is equal to or more than a predetermined amount, it is displayed on the display unit 27 and the dust amount of the dust collection unit 23 is displayed. May be notified that the amount is equal to or more than a predetermined amount or the dust collecting unit 23 is full. Here, the display includes, for example, lighting of a lamp. That is, when it is determined in step S6 that the amount of dust collected in the dust collecting unit 23 is a predetermined amount or more, in step S15, the dust amount of the dust collecting unit 23 is a predetermined amount or more or the dust collecting unit. The display unit 27 is notified that 23 is full, and the process proceeds to step S8. In this case, the reason why the vacuum cleaner 11 returns to the dust station 12 is that the dust collecting unit 23 has accumulated a predetermined amount of dust or more, or the dust collecting unit 23 is full. It can notify the user. As a result, it is possible to prevent the user from feeling doubts or suspicious about the operation of the vacuum cleaner 11 and to improve the reliability of the vacuum cleaner 11. If the amount of dust detected by the dust collection amount sensor 41 is not equal to or more than the predetermined amount after the electric blower 68 of the dust station 12 is driven, the display unit 27 shows that the dust amount of the dust collection unit 23 is equal to or more than the predetermined amount. It is also possible to make a notification different from the case notification. For example, the display unit 27 indicates that the dust amount of the dust collecting unit 23 is equal to or more than a predetermined amount or the dust collecting unit 23 is full, and the dust amount of the dust collecting unit 23 is less than the predetermined amount. When the dust collection amount sensor 41 detects that the dust amount is equal to or more than the predetermined amount, the display indicating that the dust amount of the dust collection unit 23 is equal to or more than the predetermined amount is turned off, or the dust amount of the dust collection unit 23 is equal to or more than the predetermined amount. Can have different lamp colors or light different lamps. That is, when it is determined in step S10 that the amount of dust collected in the dust collecting unit 23 is not more than the predetermined amount, the display that the amount of dust in the dust collecting unit 23 is not more than the predetermined amount is erased in step S16. , Proceed to step S11. In this case, when the cleaning is completed while the display unit 27 indicates that the dust collecting unit 23 has accumulated a predetermined amount of dust or the dust collecting unit 23 is full, the dust collecting container 67 It is possible to indirectly notify the user that a predetermined amount or more of dust is accumulated or the dust collecting container 67 is full. As a result, it is possible to induce the user to dispose of the dust in the dust collecting container 67.

Further, in the second embodiment, when the amount of dust collected in the dust collecting unit 23 is equal to or more than a predetermined amount, it may be displayed on the display unit 27 without fail. That is, when it is determined in step S10 that the amount of dust collected in the dust collecting unit 23 is equal to or more than the predetermined amount, the amount of dust in the dust collecting unit 23 is equal to or more than the predetermined amount or the dust collecting unit 23 is full. May be displayed on the display unit 27 when is not displayed on the display unit 27.

Next, a third embodiment will be described with reference to FIGS. 8 and 9. The same components and operations as those of the above embodiments are designated by the same reference numerals and the description thereof will be omitted.

In the third embodiment, in the first embodiment, the vacuum cleaner 11 includes a counter 77. The counter 77 may be provided in, for example, the control unit 26, or may be provided separately from the control unit 26.

The counter 77 is reset at the start of cleaning, and counts up when the amount of dust detected by the dust collection amount sensor 41 during cleaning by the cleaning unit 22 is equal to or greater than a predetermined amount. The counter 77 of the present embodiment counts the number of times the vacuum cleaner 11 returns to the dust station 12 during one cleaning. For example, the counter 77 is reset to 0 at the start of cleaning, and is incremented by 1 each time the amount of dust collected in the dust collecting unit 23 becomes equal to or more than a predetermined amount and the vacuum cleaner 11 returns to the dust station 12. It is configured as follows.

That is, when the vacuum cleaner 11 starts cleaning, for example, after step S1 of each of the above embodiments, the counter 77 is reset to 0 in step S18, and the process proceeds to step S2. Step S18 may be before step S1. If it is determined in step S6 that the amount of dust collected in the dust collecting unit 23 is equal to or greater than a predetermined amount, the counter 77 is incremented by 1 in step S19, and the process proceeds to step S8.

Then, the display related to the count by the counter 77 can be displayed by the display unit 27. For example, the display unit 27 can display the count of the counter 77 as the number of times the dust collecting unit 23 is full in one cleaning.

In this way, when the amount of dust detected by the dust collection amount sensor 41 during cleaning by the cleaning unit 22 is equal to or greater than a predetermined amount, the counter 77 counts up and the display related to the count by the counter 77 is displayed. By doing so, it is possible to notify the user of how much dust the electric cleaning device 10 has been able to collect in one cleaning.

In the third embodiment, at least one of the function of the counter 77 and the function of the display unit 27 that performs the display related to the count by the counter 77 is as in the fourth embodiment shown in FIG. It can also be implemented by the application software S running on the external device T. That is, using a multifunctional portable terminal such as a smartphone or tablet terminal having a display function, a counting function, and a communication function in advance, or an external device T such as a PC, the application software S operating on the external device T is executed. As a result, at least one of the count-up when the dust amount detected by the dust collection amount sensor 41 while cleaning by the cleaning unit 22 is equal to or more than a predetermined amount and the display related to the count is set to the external device T. It may be carried out by. At this time, the external device T resets the counter at the start of cleaning by receiving a signal transmitted from the communication unit 25 of the vacuum cleaner 11, for example, and the dust amount detected by the dust collection amount sensor 41 is a predetermined amount. If the above is the case, the count can be increased. In this case, it is not necessary to provide the vacuum cleaner 11 with a dedicated counter or display unit, and the vacuum cleaner 11 can be further simplified and downsized.

Further, the third and fourth embodiments can be combined with the second embodiment, respectively.

Next, a fifth embodiment will be described with reference to FIG. The same components and operations as those of the above embodiments are designated by the same reference numerals and the description thereof will be omitted.

The fifth embodiment is driven when the dust amount of the dust collecting unit 23 detected by the dust collecting amount sensor 41 before the electric blower 68 starts cleaning is equal to or more than a predetermined amount in the first embodiment. It is something to do.

At the end of cleaning, the dust collection container 67 may have accumulated more than the specified amount of dust, but after that, the user discards the dust in the dust collection container 67 until the start of the next cleaning. It is assumed that it is. Therefore, if the amount of dust in the dust collecting unit 23 is equal to or more than a predetermined amount at the start of cleaning, the electric blower 68 is driven to transfer the dust collected in the dust collecting unit 23 to the dust collecting container 67. By doing so, it is possible to prevent the cleaning from being started with a predetermined amount or more of dust accumulated in the dust collecting unit 23.

That is, when cleaning is started, in step S20, the vacuum cleaner 11 determines whether or not the amount of dust collected in the dust collecting unit 23 is equal to or more than a predetermined amount based on the detection of the dust collecting amount sensor 41.

If it is determined in step S20 that the amount of dust collected in the dust collecting unit 23 is not equal to or more than a predetermined amount, the process proceeds to step S2. On the other hand, if it is determined in step S20 that the amount of dust collected in the dust collecting unit 23 is equal to or greater than a predetermined amount, the process proceeds to step S9.

In this way, when the amount of dust detected by the dust collection amount sensor 41 before starting cleaning is equal to or greater than the predetermined amount, the electric blower 68 is driven to collect more than the predetermined amount of dust in the dust collection unit 23. The electric vacuum cleaner 11 does not run wastefully to the cleaning start position while the dust collecting unit 23 is full or the dust collecting unit 23 is full, and the power of the secondary battery 28 can be prevented from being wasted.

The step S20 of the fifth embodiment can also be applied to the second to fourth embodiments, respectively.

Further, in the fifth embodiment, when cleaning is started, the dust collection control unit 71 always uses the electric blower 68 for a predetermined time regardless of whether or not dust is accumulated in the dust collection unit 23 in a predetermined amount or more. It may be driven, and then it may be determined whether or not the amount of dust collected in the dust collecting unit 23 is equal to or more than a predetermined amount.

Further, in each of the above embodiments, the dust collection amount sensor 41 detects whether or not the dust collection container 67 has accumulated dust in excess of a predetermined value by detecting the amount of dust in the dust collection unit 23 after the electric blower 68 is driven. Although it is indirectly determined, for example, as in the sixth embodiment shown in FIGS. 12 and 13, a detection sensor 79 as a base detection means is provided in the dust station 12, and the dust collection container 67 is provided by the detection sensor 79. It is also possible to directly detect the amount of dust accumulated in the. As the detection sensor 79, for example, like the dust collection amount sensor 41, the electric blower 68 is a current sensor that indirectly detects the amount of dust accumulated in the dust collection container 67 by detecting the current flowing through the electric blower 68. Using an air volume sensor that indirectly detects the amount of dust collected in the dust collection container 67 by detecting the amount of air sucked in, or an optical sensor that directly detects the amount of dust collected in the dust collection container 67, etc. good.

Then, for example, in step S20 of the fifth embodiment, when it is determined that the amount of dust collected in the dust collecting unit 23 is equal to or more than a predetermined amount, the dust collecting container detected by the detection sensor 79 in step S22. Judge whether or not the amount of dust in 67 is equal to or greater than the predetermined amount. If it is determined in step S22 that the amount of dust in the dust collecting container 67 is not equal to or more than a predetermined amount, the process proceeds to step S9. If it is determined in step S22 that the amount of dust in the dust collecting container 67 is equal to or greater than a predetermined amount, the electric vacuum cleaner 11 ends the cleaning as it is.

In this way, the amount of dust collected in the dust collection container 67 is detected by the detection sensor 79, and the detected amount of dust is less than a predetermined amount, and the dust in the dust collection unit 23 detected by the dust collection amount sensor 41 By driving the electric blower 68 when the amount is equal to or more than a predetermined amount, for example, by performing this control at the start of cleaning, the dust collecting unit 23, or the dust collecting unit 23 and the dust collecting container 67 are filled with dust of a predetermined amount or more. The electric vacuum cleaner 11 does not run wastefully to the cleaning start position with the dust collecting unit 23 or the dust collecting unit 23 and the dust collecting container 67 full, and the secondary battery 28 You can prevent wasting power.

In the sixth embodiment, the detection sensor 79 detects the amount of dust in the dust collecting container 67 before the start of cleaning, but the vacuum cleaner 11 returns to the dust station 12 during cleaning. First, the detection sensor 79 detects the amount of dust accumulated in the dust collection container 67, and only when this amount of dust is less than a predetermined amount, the electric blower 68 is driven by the dust collection control unit 71, and this dust amount is reduced. It is also possible not to drive the electric blower 68 when the amount is more than a predetermined amount. In this case, for example, the dust station 12 is provided with a base display unit that displays when the detection sensor 79 detects that the dust collection container 67 contains a predetermined amount of dust or the dust collection container 67 is full. By providing, the user is notified that the dust collection container 67 has accumulated more than a predetermined amount of dust or the dust collection container 67 is full, and the user is requested to dispose of the dust in the dust collection container 67. You may induce it. Further, when the vacuum cleaner 11 returns to the dust station 12 when the cleaning is not completed, the dust collecting container 67 is filled with a predetermined amount of dust or the dust collecting container 67 is full. If is detected by the detection sensor 79, the cleaning may be terminated as it is.

Further, step S22 of the sixth embodiment can be applied to each of the second to fourth embodiments.

Further, in each of the above embodiments, the vacuum cleaner 11 may be configured to have a power supply unit such as a commercial AC power supply instead of the secondary battery 28, for example. In this case, control of step S5, step S11, etc. becomes unnecessary.

According to at least one embodiment described above, the vacuum cleaner 11 can be miniaturized, and cleaning cannot be continued with dust accumulated in the dust collecting unit 23.

Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and variations thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof.

10 Electric cleaning device
11 Vacuum cleaner
12 Dust station as a base device
21 Drive wheels that are the drive unit
22 Cleaning department
23 Dust collector
27 Display unit that is a display means as a notification means
41 Dust collection amount sensor as a dust collection amount detection means
51 Travel control unit, which is a travel control means
67 Dust collection container as a dust storage unit
68 Electric blower as a means of transportation
77 counter
79 Detection sensor as base detection means S Application software T External device

Claims (7)

A vacuum cleaner that can run autonomously,
It is equipped with a base device to which the vacuum cleaner can be connected.
The vacuum cleaner
The drive unit for driving and
A cleaning unit that cleans dust,
A dust collecting unit that collects dust cleaned by the cleaning unit,
A dust collecting amount detecting means for detecting the amount of dust collected in the dust collecting portion, and a dust collecting amount detecting means.
A traveling control means for controlling the driving of the driving unit to autonomously drive the vacuum cleaner is provided.
The base device is
Dust storage area and
A transfer means for driving the dust collected in the dust collecting section to be transferred to the dust accommodating section while the vacuum cleaner is connected to the base device is provided.
When the amount of dust in the dust collecting portion becomes a predetermined amount or more during cleaning, the traveling control means controls to interrupt the cleaning and travel to the base device, and after driving the transfer means, the traveling control means collects the dust. If it is determined that the dust in the dust collecting section has been transferred based on the detection result of the dust amount detecting means, the dust collecting section is separated from the base device and cleaning is restarted, and it is determined that the dust in the dust collecting section has not been transferred. If it is done, it is controlled to stand by at the base device without restarting cleaning.
A counter that is reset at the start of cleaning and counts up when the amount of dust detected by the dust collecting amount detecting means is equal to or greater than a predetermined amount while cleaning by the cleaning unit.
Further provided with a display means for displaying a display related to the count by the counter.
An electric cleaning device featuring that. A vacuum cleaner that can run autonomously,
It is equipped with a base device to which the vacuum cleaner can be connected.
The vacuum cleaner
The drive unit for driving and
A cleaning unit that cleans dust,
A dust collecting unit that collects dust cleaned by the cleaning unit,
A dust collecting amount detecting means for detecting the amount of dust collected in the dust collecting portion, and a dust collecting amount detecting means.
A traveling control means for controlling the driving of the driving unit to autonomously drive the vacuum cleaner is provided.
The base device is
Dust storage area and
A transfer means for driving the dust collected in the dust collecting section to be transferred to the dust accommodating section while the vacuum cleaner is connected to the base device is provided.
When the amount of dust in the dust collecting portion becomes a predetermined amount or more during cleaning, the traveling control means controls to interrupt the cleaning and travel to the base device, and after driving the transfer means, the traveling control means collects the dust. If it is determined that the dust in the dust collecting section has been transferred based on the detection result of the dust amount detecting means, the dust collecting section is separated from the base device and cleaning is restarted, and it is determined that the dust in the dust collecting section has not been transferred. If it is done, it is controlled to stand by at the base device without restarting cleaning.
The transfer means is driven when the amount of dust detected by the dust collection amount detecting means before starting cleaning is a predetermined amount or more.
An electric cleaning device featuring that. The electric cleaning device according to claim 1 , wherein at least one of the counter and the display means is configured, and application software that operates on an external device is provided. The electric cleaning device according to claim 1 or 3 , wherein the transfer means is driven when the amount of dust detected by the dust collection amount detecting means is a predetermined amount or more before starting cleaning. The base device includes a base detecting means for detecting the amount of dust accumulated in the dust accommodating portion.
The claim is characterized in that the transfer means is driven when the amount of dust detected by the base detecting means is less than a predetermined amount and the amount of dust detected by the dust collecting amount detecting means is equal to or more than a predetermined amount. Item 3. The electric cleaning device according to item 1. The electric cleaning device according to any one of claims 1 to 5 , further comprising a notifying means for notifying when the amount of dust detected by the dust collecting amount detecting means is a predetermined amount or more. The sixth aspect of claim 6 , wherein the notification means performs a notification different from the notification when the amount of dust detected by the dust collection amount detection means is not equal to or more than a predetermined amount after the transfer means of the base device is driven. Electric cleaning device.

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