Control of a cleaner head

Abstract

A control system for controlling actuation of one or more discharge members of a vacuum cleaner head. The control system includes a processor configured to receive an input signal indicative of a size of debris located near the vacuum cleaner head and determine a debris signal characteristic based on the signal. The processor is further configured to receive another input signal indicative of a type of surface to be cleaned and set debris signal characteristic criteria according to the type of surface. If the debris signal characteristic meets the debris signal characteristic criteria, an output signal is issued that includes an instruction to open the one or more discharge members. A system including the vacuum cleaner head, a method, and computer readable instructions are also disclosed.

Description

BACKGROUND

[0001] It is known to provide a vacuum cleaner comprising a cleaner head having one or more selectively openable discharge members for allowing larger debris to enter the suction chamber. Typically, when operating the cleaner head on a hard surface, it is desirable to open the discharge members, otherwise larger debris tends to accumulate in the front of the cleaner head, large debris not being able to pass underneath the cleaner head via the relatively small gap between the bottom of the cleaner head and the floor. It is also useful to open the discharge members when operating the vacuum cleaner on a carpeted surface to collect larger debris. However, loss of suction due to the discharge members being open during operation on a carpeted surface is undesirable, as a high suction is typically required to adequately clean a carpeted surface. SUMMARY

[0002] The present invention provides a control system for controlling actuation of one or more discharge members of a cleaner head of a vacuum cleaner, the control system comprising at least one processor configured to: receive a first input signal indicative of a size of debris located in the vicinity of the cleaner head; determine a debris signal characteristic from the first input signal; receive a second input signal indicative of a type of surface to be cleaned; determine the type of surface to be cleaned from the second input signal; set a debris signal characteristic criterion in dependence on the determined type of surface; and issue an output signal comprising instructions to open the one or more discharge members if the debris signal characteristic meets the debris signal characteristic criterion.

[0003] The present invention is advantageous because the control system selectively opens the discharge members in dependence on the size of the detected debris and the type of surface being cleaned. This allows a more stringent discharge member opening criterion to be applied when operating on carpet to protect the suction head.

[0004] Optionally, the control system can be configured to: detect a change from a first surface type to a second surface type from the second input signal; and re-set the debris signal characteristic criterion in dependence on the determined second surface type upon detecting the change from the first surface type to the second surface type. This is advantageous because the criterion for opening the discharge opening is automatically changed when the mode of operation changes from hard floor to carpet or vice versa.

[0005] The debris signal characteristic criterion optionally comprises a minimum value, which if not met, results in the debris signal characteristic criterion not being met, for example a minimum size of the debris, or a maximum value, which if not met, results in the debris signal characteristic criterion not being met, for example a maximum amount of light detected. The amount of the debris signal characteristic can decrease as the size of the debris increases.

[0006] In one example, the first input signal may come from the output of a light sensor, which is a convenient and inexpensive sensor used in this application.

[0007] In another aspect, the present invention provides a system for controlling the actuation of one or more discharge components of a vacuum cleaner head, the system comprising: a control system substantially as described above; a vacuum cleaner head including a housing having one or more discharge openings, wherein the discharge openings are selectively openable by actuation of an associated discharge component; and one or more sensors for sensing the size of debris located near the vacuum cleaner head.

[0008] Optionally, one or more of the sensors include a light shutter having a light source and a light receiver, wherein the light receiver is configured to output a signal indicating the amount of light received by the light receiver from the light source, wherein a first input signal is derived from the output signal of the light receiver.

[0009] The light shutter may optionally include a first lens and a second lens, the first lens being configured to diffuse light emitted from the light source, and the second lens being configured to focus light received from the light source onto a light receiver. This is advantageous because the amount of light blocked by debris can be used as an indicator of debris size.

[0010] Light emitted from a light source can be redirected by at least one reflector or light tube before being received by a light receiver. This is advantageous because the light emitted from the light source can be guided without being limited by the size of the light emitter / sensor components.

[0011] In one example, the shutter is located on a driven member configured to follow the upper surface of the floor surface to be cleaned. This is advantageous because the shutter can be held at a height above the surface to be cleaned, helping to prevent false triggering of the light sensor on soft surfaces such as carpets.

[0012] Optionally, the light shutter is configured such that the light emitter is located near a first side of the emission opening and the light receiver is located near a second side of the emission opening to sense debris located near the emission opening.

[0013] The optical shutter may optionally include multiple light sources and multiple light receivers, wherein a first input signal is derived from the output signals of the multiple light receivers. This is advantageous because the number of beams blocked by debris can be used as an indicator of debris size. In one example, the optical shutter may optionally include a beam splitter configured to split a single beam from the light source into multiple beams.

[0014] In another aspect, the present invention provides a vacuum cleaner including the above-described system.

[0015] In another aspect, the present invention provides a method for controlling the actuation of one or more discharge components of a vacuum cleaner head for a vacuum cleaner, the method comprising: receiving a first input signal indicating the size of debris located near the vacuum cleaner head; determining debris signal characteristics based on the first input signal; receiving a second input signal indicating the type of surface to be cleaned; determining the surface type to be cleaned based on the second input signal; setting a debris signal characteristic criterion based on the determined surface type; and issuing an output signal including a command to open the one or more discharge components if the debris signal characteristics satisfy the debris signal characteristic criterion.

[0016] In another aspect, the present invention provides computer-readable instructions arranged to perform the above-described methods when executed by a computer. Attached Figure Description

[0017] Figure 1 A schematic isometric view of a vacuum cleaner is shown;

[0018] Figure 2 A schematic isometric view of the vacuum cleaner head is shown;

[0019] Figure 3 An alternative schematic isometric view of the vacuum cleaner head is shown;

[0020] Figure 4 A schematic partial isometric view of the interior of a vacuum cleaner head is shown;

[0021] Figures 5A to 5D The illustrative test results are shown;

[0022] Figure 6 A schematic diagram of a control system for controlling the actuation of an exhaust component located on a vacuum cleaner head is shown.

[0023] Figure 7 A flowchart is shown for a method of controlling the actuation of an exhaust component located on a vacuum cleaner head;

[0024] Figure 8 A schematic diagram of the sensor arrangement is shown;

[0025] Figure 9 A schematic diagram of an alternative sensor arrangement is shown;

[0026] Figure 10 A schematic diagram of another alternative sensor arrangement is shown; and

[0027] Figure 11 A schematic diagram of yet another alternative sensor arrangement is shown. Detailed Implementation

[0028] Figure 1A handheld vacuum cleaner 10 is shown, comprising a body 12, a lever 14, and a vacuum cleaner head 20. The body 12 includes a separation system in the form of a cyclone separator, a motor and impeller (not visible) arranged to draw air through the separation system, and a power source 13 in the form of a battery for powering the motor. The lever 14 is attached to the body 12 at one end via an adapter 17 and to the vacuum cleaner head 20 at the other end via an adapter 15. The lever 14 provides fluid communication between the vacuum cleaner head 20 and the separation system and supports the vacuum cleaner head 20 during use.

[0029] Reference Figure 2 The vacuum cleaner head 20 includes an adapter 21 that is releasably attached to an adapter 15 on the lever 14. A spring-loaded button 22 is operated to secure the vacuum cleaner head 20 to the lever 14. If it is necessary to remove the vacuum cleaner head 20 from the lever 14 (e.g., to replace the vacuum cleaner head 20 with an alternative vacuum cleaner head), the button 22 is pressed to allow the vacuum cleaner head 20 to be released from the lever 14.

[0030] The vacuum cleaner head 20 includes a housing 23 defining a suction chamber (not shown) and an outlet 24 that provides fluid communication between the suction chamber and the separation system 11 via an adapter 21 and a rod 14. An agitator element (not shown), such as a brush bar, is rotatably mounted within the suction chamber between end supports 25 and 26 (see [link to relevant documentation]). Figure 4 ).

[0031] The housing 23 includes a cover 29 and a base plate 30. For example... Figure 4 As best shown, the base plate 30 includes an opening 31 that defines a main inlet to the suction chamber. An agitator element is configured and mounted relative to the opening 31 such that, in use, at least a portion of the agitator element contacts the floor to be cleaned via the opening 31 to agitate dust and debris on the floor. The vacuum cleaner head 20 can also operate in conjunction with the fixed agitator element, allowing the suction head to independently draw dust and debris into the suction chamber.

[0032] The base plate 30 includes two discharge elements 32 and 33, each including discharge openings 34 and 35 and selectively openable discharge members 36 and 37. When the discharge members 36 and 37 are in the open position, the discharge openings 34 and 35 provide an inlet to the suction chamber through which larger debris items that are not suitable for use between the bottom of the base plate 30 and the ground can pass.

[0033] Actuator 38 is operatively attached to each of the emission members 36, 37. Actuator 38 is configured to open and / or close the emission members 36, 37 upon receiving an instruction to open and / or close the emission members 36, 37. In an alternative example, each emission member 36, 37 may be provided with its own actuator.

[0034] exist Figure 4 The example shows two exhaust elements 32 and 33. However, it should be understood that only one exhaust element or more than two exhaust elements may be provided. Alternatively or additionally, an exhaust element may be provided in the housing 23 at the opening 31. Figure 4 One or more emission elements are provided on opposite sides of the emission elements 32 and 33 shown. (Reference) Figure 2 and Figure 3 Emission components 32 and 33 are in Figure 2 It is shown in its off configuration, and in Figure 3 The configuration is shown in the middle.

[0035] Each exhaust component 32, 33 has an associated debris sensor 40. Each debris sensor 40 includes a light source 42 and a light sensor 44, positioned relative to the exhaust component 32, 33 such that light emitted from the light source 42 is guided through the exhaust openings 34, 35 to be received at the light sensor 44. When no debris obstructs the path of the light emitted by the light source 42, the passage of light is unimpeded. However, if debris is located in front of the outlets 32, 33, obstructing the path of the light emitted by the light source 42, no light is received at the associated light sensor 44. The debris sensor 40 thus detects whether debris is located in front of the exhaust components 32, 33. A control system 100 (described in more detail below) for controlling the actuation of the exhaust components 36, 37 is mounted on the housing 23, as... Figure 1 , 2 As shown in Figure 3.

[0036] The ability of the debris sensor 40 to sense debris at the locations of the discharge components 32 and 33 depends on the size of the debris. Experiments conducted by the applicant have shown that debris smaller than the size of light physically interrupted by the light emitted by the light source 42 can still be detected. Without being bound by any particular theory, it is believed that this may be due to reflections from the debris detected by the light sensor 44.

[0037] Figures 5A to 5D A schematic diagram of the above experimental results is shown. Figure 5A The voltage output of the time sensor (approximately 180mV) is shown when there is no debris. Figure 5B The voltage output of the light sensor (approximately 180mV) is shown when there is debris that is too small to be detected. Figure 5C The voltage output of the light sensor is shown when debris is present, which is too small to directly interfere with the light emitted by the light source, but is large enough to be detected (as shown by the increased voltage output of about 250 mV). Figure 5D The voltage output of the time sensor (approximately 750mV) is shown when there is debris large enough to block the light emitted by the light source.

[0038] Experiments show that a debris sensor, including a light shutter (such as the debris sensor 40 described above), can be used to detect debris that is insufficient to directly interfere with the light emitted by the light source 42. This capability can be effectively used to distinguish the size of the debris, and this information can then be used to determine when the discharge elements 32 and 33 will open and when they will remain closed.

[0039] As described above, when operating the vacuum cleaner head 20 on hard surfaces, it is generally desirable to open the exhaust ports 32 and 33, otherwise larger debris tends to accumulate at the front of the vacuum cleaner head. Opening the exhaust ports 32 and 33 is also useful when operating the vacuum cleaner on carpeted surfaces to collect larger debris. However, it is advantageous that this is balanced by the loss of suction head due to opening the exhaust ports 32 and 33.

[0040] Figure 6 A control system 100 for controlling the actuation of the discharge components 36, 37 of a vacuum cleaner head 20 is shown. The control system 100 includes one or more controllers 110. The control system 100 is configured to receive a first input signal 141 indicating the size of debris located near the vacuum cleaner head 20. In this example, signal 141 is generated by at least one debris sensor 40.

[0041] As described above, the debris sensor 40 is capable of detecting debris large enough to block the light emitted by the light source 42. Figure 5D ), and debris that is too small to directly interfere with the light emitted by light source 42 but is large enough to be detected ( Figure 5C Therefore, if the quantum of the signal 141 generated by the debris sensor 40 is at or above the first quantity (e.g., 250 mV), Figure 5C If the amount of debris generated by the debris sensor 40 is equal to or greater than a second amount (e.g., if the amount of debris is at least large enough to be detected—though not by directly blocking the light emitted by the light source 42)—then signal 141 indicates the presence of debris near the vacuum cleaner head 20. Similarly, if the amount of signal 141 generated by the debris sensor 40 is equal to or greater than a second amount (e.g., if the amount of debris is at least large enough to be detected—though not by directly blocking the light emitted by the light source 42), then signal 141 indicates the presence of debris near the vacuum cleaner head 20. Figure 5D If the value is 750mV, then signal 141 indicates that the debris is large enough to block the light emitted by light source 42, and the debris is present near vacuum cleaner head 20.

[0042] Upon receiving the first input signal 141, the control system 100 is configured to determine the debris signal characteristics based on the first input signal 141. In this example, the debris signal characteristics have three possible states. The first state indicates that there is no debris or that there is debris that is too small to be detected; the second state indicates that there is debris that is large enough to be detected (but too small to block the light emitted by the light source 42); and the third state indicates that there is debris that is large enough to block the light emitted by the light source 42.

[0043] The control system 100 is also configured to receive a second input signal 142 indicating the type of surface to be cleaned. The second input signal 142 may be automatically generated by a sensor system (not shown) configured to determine whether the vacuum cleaner 10 is used on a hard surface or a carpeted surface, or it may be generated as a result of the user manually selecting a hard floor mode or a carpet mode when operating the vacuum cleaner 10.

[0044] Upon receiving the second input signal 142, the control system 100 is configured to determine the type of surface to be cleaned based on the second input signal 142, and to set a debris signal characteristic standard based on the determined surface type. In this example, the debris signal characteristic standard includes a rule requiring the debris signal characteristics to have a second or third state so that the exhaust components 32 and 33 are opened when the vacuum cleaner is operating on a hard surface, and requiring the debris signal characteristics to have a third state so that the exhaust components 32 and 33 are opened when the vacuum cleaner is operating on a carpeted surface. This ensures that when large debris is detected, the exhaust components 33 and 34 are opened only on carpeted surfaces.

[0045] The control system 100 is configured to issue an output signal 150, including a command to open one or more discharge components 36, 37, if the debris signal characteristics meet the debris signal characteristic criteria. In this example, the output signal is received by a controller (not shown) of the actuator 38, which operates the discharge components 36, 37 according to the output signal 150.

[0046] The control system 100 can be configured to detect a change from a first surface type to a second surface type based on a second input signal 142, and, upon detecting such a change, reset the debris signal characteristic criteria according to the determined second surface type. Therefore, the control system 100 will operate to control the discharge components 36, 37 to operate in a mode best suited to the floor surface to be cleaned.

[0047] As mentioned above, the debris signal characteristic standard can be a minimum value; failure to meet this minimum value results in the criterion not being met. Alternatively, the debris signal characteristic standard can be a maximum value; exceeding this maximum value results in the criterion not being met. Therefore, the quantity of the debris signal characteristic can decrease as the size of the debris increases. The following discusses... Figure 8 An example describing the latter situation.

[0048] like Figure 6The control system 100 shown includes a controller 110; however, it should be understood that the control system 100 may include multiple controllers 100 collectively configured to implement method 50. Controller 110 includes a processing device 120 and a storage device 130. The processing device 120 may be one or more electronic processing devices 120 operably executing computer-readable instructions. The storage device 130 may be one or more memory devices 130. The memory device 130 is electrically connected to the processing device 120. The storage device 130 is configured to store instructions, and the processing device 120 is configured to access the storage device 130 and execute the instructions stored thereon.

[0049] The controller 110 includes input devices and output devices. The input devices may include electrical inputs to the controller 110, and the output devices may include electrical outputs from the controller. The input devices are arranged to receive a first input signal 141 and a second input signal 142, and the output devices are arranged to output an output signal 150.

[0050] Figure 7 A flowchart describing a method 50 for controlling the actuation of discharge components 36, 37 based on the size of debris is shown. In a first step 51, a first input signal 141 indicating the size of debris located near the vacuum cleaner head 20 is received by the processor 110. In a second step 52, debris signal characteristics are determined based on the first input signal 141.

[0051] In the third method step 53, the processor 110 receives a second input signal 142 indicating the type of surface to be cleaned, and in the fourth step 54, the type of surface to be cleaned is determined based on the second input signal 142.

[0052] In the fifth step 55, the debris signal characteristic standard is set according to the determined surface type, and in the sixth step 56, if the debris signal characteristics meet the debris signal characteristic standard, an output signal 150 is issued including an instruction to open one or more discharge components 36, 37.

[0053] Method 50 can be derived from Figure 6 The control system 100 shown executes this. Specifically, the memory 130 may include computer-readable instructions that, when executed by the processor 120, perform the method 50 according to an embodiment of the invention. Although in Figure 7 In the method 50 shown, the steps are described in a specific order, but in implementations, the order in which the steps are performed can vary. For example, before the processor 110 receives the first input signal 141 (step 51) indicating the size of debris located near the vacuum cleaner head 20, the processor 110 may receive the second input signal 142 (step 53) indicating the type of surface to be cleaned. For example, step 53 may occur before steps 51 and 52.

[0054] Figure 8 A schematic diagram of a light shutter debris sensor 60 is shown. The debris sensor 60 is shown positioned across an exemplary vent opening 34. The debris sensor 60 includes a light source 62 located on a first side of the vent opening 34 and a light sensor 64 located on a second opposite side of the vent opening 34. A first lens 65 is located on the first side of the vent opening 34. The first lens 65 is configured and positioned such that light emitted from the light source 62 is diffused into a wider beam 66 than would be without the lens 65. A second lens 67 is located on the second side of the vent opening 34. The second lens 67 is configured and positioned such that the beam 66 is focused onto the light sensor 64.

[0055] The debris sensor 60, with its broadened beam 66, can be effectively used to provide a more accurate indication of debris size than the debris sensor 40 described above. As mentioned above, the debris sensor 40 can provide indications of the absence of debris or the presence of debris too small to be detected, the presence of debris large enough to be detected (but too small to block the light emitted by the light source 42), and the presence of debris large enough to block the light emitted by the light source 42. In contrast, the debris sensor 60 can provide a more accurate indication of debris size based on the degree to which the beam 66 is blocked by debris.

[0056] Smaller debris located in the path of light beam 66 will block a smaller portion of light beam 66 compared to larger debris. Therefore, more light will reach sensor 64 when smaller debris blocks a portion of light beam 66. Thus, the amount of light reaching sensor 64 can be used as an indication of debris size and provided to controller system 100 as a first input signal 141. In this example, the debris signal characteristic criterion can have a maximum value corresponding to the maximum amount of light that can be received at photosensor 64; exceeding this maximum value results in the debris signal characteristic criterion not being met. Thus, in this example, the amount of debris signal characteristic (the amount of light reaching photosensor 64) decreases as the size of the detected debris increases.

[0057] exist Figure 8 In the example, the debris signal characteristic standard includes a rule requiring that the debris signal characteristic has a quantity not exceeding a first amount so that the exhaust elements 32, 33 open when the vacuum cleaner 10 is operating on a hard surface, and not exceeding a second amount when the vacuum cleaner is operating on a carpeted surface. The first amount is greater than the second amount. This ensures that when large debris is detected, the exhaust elements 33, 34 only open on carpeted surfaces.

[0058] It is beneficial to bring the light beam from the light source close to the surface to be cleaned to maximize the amount of debris that can be detected. (As mentioned above...) Figure 5B As discussed, if the debris is very small, the debris sensor may not be able to detect it.

[0059] Figure 9 An alternative sensor arrangement is depicted, which includes a light shutter debris sensor 70 located on an exemplary discharge opening 34. The debris sensor 70 includes a light source 72 positioned at the top of a first side of the discharge opening 34 and a light sensor 74 positioned at the top of a second opposite side of the discharge opening 34. A first reflector 75 is positioned at the bottom of the first side of the discharge opening 34, and a second reflector 77 is positioned at the bottom of the second side of the discharge opening 34.

[0060] In use, the light beam 76 emitted by the light source 72 is transmitted along the first side of the exhaust opening 34 to the reflector 75, which reflects the light beam 76 to the second reflector 77. The second reflector 77 then reflects the light beam 76 along the second side of the exhaust opening 34 to the photosensor 74. In this way, the light beam 76 can be closer to the surface to be cleaned than it might be due to the size limitations of the light source 72 and / or the photosensor 77.

[0061] In another example (not shown), beam 76 can be guided from light source 72 to near the bottom of exhaust opening 34 via one or more flexible and / or angled fiber optic tubes, and to photosensor 74 via one or more additional flexible and / or angled fiber optic tubes. In either case, in order to benefit from the above regarding Figure 8 The example of beam broadening discussed could be achieved using a lens to broaden / focus beam 76 as it passes through exhaust opening 34. Such a lens could be positioned near the light source / light sensor, near the bottom of exhaust opening 34, or at any other suitable location.

[0062] Figure 10 Another alternative sensor arrangement is shown, which includes a light shutter debris sensor 80 located on an exemplary exhaust opening 34. The debris sensor 80 includes a first light source 82a and a second light source 82b located on a first side of the exhaust opening 34, and a first light sensor 84a and a second light sensor 84b located on a second opposite side of the exhaust opening 34. The second light source 82b is located above the first light source 82a (relative to...). Figure 10 ), and the second optical sensor 84b is located above the first optical sensor 84a (relative to) Figure 10 The first light source 82a emits a beam 86a toward the first light sensor 84a, and the second light source 82b emits a beam 86b toward the second light source 84b, such that beam 86a is lower than beam 86b.

[0063] The debris sensor 80, with an upper beam 86a and a lower beam 86b, can be effectively used to provide an indication of debris size based on whether one or both of the beams 86a and 86b are blocked by debris. Smaller debris in the path of the debris sensor 80 will only block the lower beam 86a, while larger debris will block both the upper beam 86a and the lower beam 86b. Therefore, the count of beams 86a and 86b reaching their associated optical sensors 84a and 84b can be used as an indication of debris size and provided to the controller system 100 as a first input signal 141.

[0064] In this example, the debris signal characteristic criterion can have a maximum value corresponding to the maximum count of beams 86a, 86b arriving at their associated optical sensors 84a, 84b. Exceeding this maximum value results in the debris signal characteristic criterion not being met. Thus, in this example, the amount of the debris signal characteristic (the number of beams 86a, 86b arriving at their associated optical sensors 84a, 84b) decreases as the size of the debris increases.

[0065] exist Figure 10 In the example, the debris signal characteristic standard includes a rule requiring that the debris signal characteristic has a quantity less than a first amount (2 in this example) so that the exhaust elements 32, 33 open when the vacuum cleaner 10 operates on a hard surface, and that the debris signal characteristic has a quantity less than a second amount (1 in this example) when the vacuum cleaner operates on a carpeted surface. This ensures that when large debris is detected, the exhaust elements 33, 34 only open on carpeted surfaces.

[0066] It should be understood that any suitable number of light source / emitter pairs 82, 84 can be used in the aforementioned sensor 80, and the more light source / emitter pairs 82, 84 used, the more accurate the debris size sensing level can be achieved. Alternatively or additionally, a beam splitter can be used to separate the individual beams 86a, 86b from one or both of the light sources 82a, 82b.

[0067] In another example (not shown), Figure 9 The reflector arrangement can be used with one or more of the light source / emitter pairs 82, 84 in the debris sensor 80 to place the beam 86 at a desired location (e.g., the lowermost light source / emitter pair 82, 84).

[0068] Figure 11 This demonstrates yet another alternative sensor arrangement. Figure 11 The sensor arrangement shown is consistent with in all aspects Figure 10 The sensor arrangement shown is the same as 80, and can be as described above regarding Figure 10 All the same modifications were made as described in the layout. However,Figure 11 The sensor arrangement shown is similar to Figure 10 The difference is that a pair of wheels 90 are located at the bottom of the exhaust opening 34, and the exhaust opening surround 91 is vertically positioned relative to the housing 23 (relative to...). Figure 11 Move on.

[0069] When operating the vacuum cleaner 10 on a carpeted surface, Figure 11 This arrangement is particularly useful because the discharge opening surround 91 can be raised relative to the housing 23 as the wheel 90 follows the surface of the carpet. This helps ensure that the beams 86a, 86b do not mistakenly detect carpet fibers and interpret them as debris. The discharge opening surround 91 includes a driven member configured to follow the upper surface of the floor surface to be cleaned. The wheel 90 is not required and can be omitted. In an example not shown, the lower surface of the discharge opening surround 91 may be provided with a low-friction material, or the discharge opening surround 91 may include a low-friction material.

[0070] The aforementioned vacuum cleaner 10, vacuum cleaner head 20, and control system 100 include and receive data from light sensors 40, 60, 70, and 80. In another example (not shown), the vacuum cleaner 10, vacuum cleaner head 20, and control system 100 may include and receive data from any other suitable sensor of any other type, capable of providing a first input signal 141 indicating the size of debris located near the vacuum cleaner head 20. Example sensors include touch sensors, capacitive sensors, cameras, lidar, and microwave radar. In the case of cameras, lidar, and microwave radar, one or more sensors do not need to be located on the vacuum cleaner head 20 because they do not need to make physical contact or have beam interference in order to detect and provide an indication of debris size. In these examples, one or more sensors may be located on the handle 14 or the body 12. Any type of sensor can be used with any other type of sensor as needed.

Claims

1. A control system for controlling actuation of one or more discharge members of a cleaner head of a vacuum cleaner, the control system comprising at least one processor configured to: receive a first input signal indicative of a size of a debris located in a vicinity of the cleaner head; determine a debris signal characteristic from the first input signal; receive a second input signal indicative of a type of surface to be cleaned; determine the type of surface to be cleaned from the second input signal; set a debris signal characteristic criterion in dependence on the determined type of surface; and emit an output signal comprising instructions to open the one or more discharge members if the debris signal characteristic meets the debris signal characteristic criterion.

2. The control system of claim 1, configured to: detect a change from a first type of surface to a second type of surface from the second input signal; and re-set the debris signal characteristic criterion in dependence on the determined second type of surface upon detecting the change from the first type of surface to the second type of surface.

3. The control system of claim 1 or 2, wherein, the debris signal characteristic criterion comprises: a minimum value, failure to meet which results in failure to meet the debris signal characteristic criterion; or a maximum value, failure to meet which results in failure to meet the debris signal characteristic criterion.

4. The control system of any preceding claim, wherein, the amount of the debris signal characteristic decreases as the size of the debris increases.

5. The control system of any of the preceding claims, wherein, the first input signal is derived from an output of a light sensor.

6. A system for controlling actuation of one or more discharge members of a cleaner head of a vacuum cleaner, the system comprising: a control system according to any one of the preceding claims; a cleaner head comprising a housing having one or more discharge openings, wherein the discharge openings are selectively openable by actuation of associated discharge members; and one or more sensors for sensing a size of a debris located in a vicinity of the cleaner head.

7. The system of claim 6, wherein, one or more of the sensors comprises a light gate having a light source and a light receiver, wherein the light receiver is configured to output a signal indicative of an amount of light received by the light receiver from the light source, wherein the first input signal is derived from the output signal of the light receiver.

8. The system of claim 7, wherein, the light gate comprises a first lens configured to diffuse light emitted from the light source and a second lens configured to focus light received from the light source onto the light receiver.

9. The system of claim 7 or 8, wherein, light emitted from the light source is redirected by at least one reflector or light pipe before being received by the light receiver.

10. The system of any one of claims 7 to 9, wherein, the light gate is located on a driven member configured to follow an upper surface of a floor surface to be cleaned.

11. The system of any one of claims 7 to 10, wherein, the light gate is configured such that the light emitter is located in a vicinity of a first side of a discharge opening and the light receiver is located in a vicinity of a second side of the discharge opening.

12. The system of any one of claims 7 to 11, wherein, the light gate comprises a plurality of light sources and a plurality of light receivers, wherein the first input signal is derived from output signals of the plurality of light receivers.

13. A vacuum cleaner comprising the system of any one of claims 6 to 12.

14. A method of controlling actuation of one or more discharge members of a cleaner head of a vacuum cleaner, the method comprising: receiving a first input signal indicative of a size of a piece of debris located in the vicinity of the cleaner head; determining a debris signal characteristic from the first input signal; receiving a second input signal indicative of a type of surface to be cleaned; determining the type of surface to be cleaned from the second input signal; setting a debris signal characteristic criterion in dependence on the determined type of surface; and if the debris signal characteristic meets the debris signal characteristic criterion, emitting an output signal comprising instructions to open one or more discharge members.

15. Computer readable instructions arranged to perform the method of claim 14 when executed by a computer.

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