Vacuum cleaner comprising floor detection member

Abstract

The present invention provides a vacuum cleaner comprising: a suction head (6) comprising a rotating brush (28) that is rotatably movable about an axis of rotation (A); a drive mechanism (29) for driving rotation configured to drive rotation of the rotating brush (28) about the rotation axis (A), the drive mechanism (29) for driving rotation comprising a brush drive motor (31) rotatably coupled to the rotating brush (28); a suction motor configured to generate an air flow through the suction port (26) and into the suction head (6); and an electronic control unit configured to calculate an intensity change parameter from the intensity value measured by the intensity measuring device, and detect a type of ground encountered by the suction head (6) from a result of comparison of the calculated intensity change parameter and a detection threshold.

Description

Technical Field

[0001] The present invention relates to the field of vacuum cleaners equipped with a suction head, also called suction connection of the vacuum cleaner, allowing the suction of dust and debris present on the surface to be cleaned. Background Art

[0002] Vacuum cleaners equipped with suction heads are well known on the market, which allow cleaning a surface by suction to expel dust and trash resting on the surface. The surface to be vacuumed can be, for example, a hard floor, such as tiles, parquet or laminate, or a soft floor, such as a carpet or a mat.

[0003] The suction head usually includes:

[0004] a head body comprising a base plate having a lower surface and a suction opening opening in the lower surface of the base plate, the lower surface of the base plate being designed to be positioned in close proximity to a surface to be vacuumed during use of the vacuum cleaner,

[0005] a rotating brush housed in a receiving recess defined by the head body and movable in rotation about a rotation axis, and

[0006] - a drive mechanism for driving rotation, which is configured to drive the rotating brush to rotate about a rotation axis, the drive mechanism for driving rotation comprising a brush drive motor rotatably coupled to the rotating brush.

[0007] In order to improve the cleaning performance of a vacuum cleaner of the above-mentioned type, it is known to equip the vacuum cleaner with a measuring device, which is configured to measure the current intensity applied to the brush drive motor, detect the type of floor surface encountered by the suction head based on the intensity value measured by the measuring device, and adapt the suction power generated by the suction motor of the vacuum cleaner based on the detected floor surface type.

[0008] In particular, the vacuum cleaner comprises an electronic control unit configured to:

[0009] - if the intensity of the current applied to the brush drive motor is below an intensity threshold, a displacement of the suction head on a hard floor is detected and the suction power is adjusted to a predetermined hard floor suction power, and

[0010] If the intensity of the current applied to the brush drive motor is above an intensity threshold, displacement of the suction head on soft ground is detected and the suction power is adjusted to a predetermined soft ground suction power which is higher than the hard ground suction power.

[0011] However, clogging of the rotating brush leads to a significant increase in the current intensity applied to the brush drive motor, including during the hard floor cleaning phase. As a result, when the rotating brush is clogged, the electronic control unit may falsely detect that the suction head is displaced on a soft floor, when in fact the suction head is displaced on a hard floor.

[0012] Similarly, when the suction head is displaced on a soft floor, a blockage of the dust separation and collection device with which the vacuum cleaner is equipped may limit the pressing of the rotating brush against the surface to be cleaned, thereby reducing the current intensity applied to the brush drive motor, including during the soft floor cleaning phase. As a result, when the dust separation and collection device is blocked, the electronic control unit may erroneously detect the displacement of the suction head on a hard floor, when in fact the suction head is displaced on a soft floor.

[0013] Likewise, when the vacuum cleaner is equipped with a rechargeable battery and the charge level of the rechargeable battery is low, it turns out that the current intensity applied to the brush drive motor may be low, including during the soft floor cleaning phase. As a result, when the charge level of the rechargeable battery is low, the electronic control unit may erroneously detect that the suction head is displaced on a hard floor, when in fact the suction head is displaced on a soft floor. Summary of the invention

[0014] The present invention aims to remedy some or all of these disadvantages.

[0015] The technical problem underlying the invention is in particular to provide a vacuum cleaner which is structurally simple and economical, while at the same time ensuring reliable detection of the type of floor surface encountered by the vacuum cleaner, thereby allowing the cleaning performance of the vacuum cleaner to be enhanced.

[0016] To this end, the present invention relates to a vacuum cleaner comprising:

[0017] - a suction head, comprising a bottom plate having a lower surface configured to face the surface to be cleaned, and a suction opening opening in the lower surface of the bottom plate, through which external air can be sucked into the vacuum cleaner, and a rotating brush rotatably movable about a rotation axis,

[0018] a drive mechanism for driving rotation, which is configured to drive the rotating brush to rotate about a rotation axis, the drive mechanism for driving rotation comprising a brush drive motor rotatably coupled to the rotating brush,

[0019] - a suction motor configured to generate an air flow through the suction opening and into the suction head,

[0020] - an intensity measuring device configured to measure the intensity of the current applied to the brush drive motor, and

[0021] - an electronic control unit configured to control the operation of the vacuum cleaner, the electronic control unit being further configured to calculate an intensity variation parameter based on the intensity value measured by the intensity measuring device, to compare the calculated intensity variation parameter with a detection threshold, and to detect the type of floor surface encountered by the suction head based on the comparison result of the calculated intensity variation parameter with the detection threshold.

[0022] The electronic control unit is further configured to adjust the detection threshold value, for example stepwise or continuously, as a function of at least one operating parameter of the vacuum cleaner, ie as a function of a parameter intrinsic to the vacuum cleaner.

[0023] This configuration of the electronic control unit allows the detection threshold to be adjusted according to, for example, operating parameters of the vacuum cleaner, which depend on the maintenance level of the vacuum cleaner, such as the clogging rate of the garbage separation and collection device equipped with the vacuum cleaner, the charge level of the rechargeable battery equipped with the vacuum cleaner and the clogging rate of the rotating brush.

[0024] These settings therefore allow taking into account the inherent parameters of the vacuum cleaner to determine the type of floor surface encountered by the suction head.

[0025] This configuration of the vacuum cleaner according to the invention therefore allows a precise and reliable detection of the type of floor surface encountered by the suction head and thus gives the vacuum cleaner according to the invention an enhanced cleaning performance.

[0026] The vacuum cleaner may also have one or more of the following features, alone or in combination.

[0027] According to one embodiment of the invention, the at least one operating parameter comprises a blocking parameter representing a load loss generated in the pneumatic circuit of the vacuum cleaner on which the suction motor is arranged. More specifically, the blocking parameter represents a load loss generated in the pneumatic circuit of the vacuum cleaner upstream of the suction motor.

[0028] According to one embodiment of the invention, the blocking parameter represents the load loss occurring in the waste separation and collection device located on the pneumatic circuit.

[0029] According to one embodiment of the present invention, the blocking parameter represents the blocking rate of the garbage separation and collection device, such as the clogging rate of the filter equipped by the garbage separation and collection device or the filling rate of the garbage collection container equipped by the garbage separation and collection device. Therefore, with the detection threshold value that can be adjusted according to the blocking rate of the garbage separation and collection device, when the suction head is actually displaced on a soft ground, the electronic control unit is less likely to erroneously detect (a low value of the deviation indicator caused by the weak pressing of the rotating brush against the surface to be cleaned) the displacement of the suction head on a hard ground. Therefore, this configuration of the vacuum cleaner according to the present invention provides it with enhanced cleaning performance.

[0030] According to one embodiment of the invention, the vacuum cleaner comprises at least one exhaust aperture through which air cleaned by the vacuum cleaner can leave the vacuum cleaner, and the pneumatic circuit extends between the suction opening and the at least one exhaust aperture.

[0031] According to one embodiment of the invention, the waste separation and collection device is of cyclone type.

[0032] According to one embodiment of the present invention, the garbage separation and collection device is arranged upstream of the suction motor and is configured to be passed through by the airflow generated by the suction motor.

[0033] According to one embodiment of the invention, the vacuum cleaner comprises at least one sensor, such as a pressure sensor or a flow sensor, which is configured to determine a blockage parameter representing a load loss generated in the pneumatic circuit of the vacuum cleaner and, for example, through the garbage separation and collection device, and the electronic control unit is configured to determine the blockage rate of the garbage separation and collection device based on the blockage parameter.

[0034] According to one embodiment of the invention, the clogging parameter may be, for example, the pressure difference between the upstream and downstream parts of the waste separation and collection device, the pressure measured in the downstream part of the waste separation and collection device, or the air flow rate passing through the waste separation and collection device.

[0035] According to an embodiment of the invention, the electronic control unit is configured to reduce the detection threshold, for example stepwise or continuously, depending on an increase in the clogging rate of the waste separation and collection device.

[0036] According to one embodiment of the present invention, the electronic control unit is configured to adjust the detection threshold to a first threshold when the blockage rate of the garbage separation and collection device is lower than the blockage threshold, and to adjust the detection threshold to a second threshold lower than the first threshold when the blockage rate of the garbage separation and collection device is higher than the blockage threshold.

[0037] According to one embodiment of the invention, at least one operating parameter comprises a charge parameter representing the charge level of a rechargeable battery with which the vacuum cleaner is equipped. The charge parameter may be, for example, a battery voltage provided by the rechargeable battery. Thus, by means of a detection threshold that can be adjusted according to the charge level of the rechargeable battery, it is not possible for the electronic control unit to erroneously detect the displacement of the suction head on a hard floor (due to a low current intensity applied to the brush drive motor due to a low charge level of the rechargeable battery) when the suction head is actually displaced on a soft floor. Thus, this configuration of the vacuum cleaner according to the invention provides it with an enhanced cleaning performance.

[0038] According to one embodiment of the present invention, the vacuum cleaner comprises a voltage measuring device configured to measure a battery voltage provided by the rechargeable battery.

[0039] According to an embodiment of the invention, the electronic control unit is configured to reduce the detection threshold, for example stepwise or continuously, according to a reduction in the electrical quantity parameter.

[0040] According to one embodiment of the present invention, the electronic control unit is configured to adjust the detection threshold to a first threshold when the power parameter is higher than the power threshold, and to adjust the detection threshold to a second threshold lower than the first threshold when the power parameter is lower than the power threshold.

[0041] According to one embodiment of the present invention, the intensity variation parameter is a deviation index of the intensity value measured by the intensity measurement device, also called a deviation parameter, or a variation amplitude of the intensity value measured by the intensity measurement device.

[0042] According to one embodiment of the invention, at least one operating parameter comprises a brush clogging parameter representative of the clogging of the rotating brush. This configuration of the vacuum cleaner allows taking into account possible clogging of the rotating brush, in particular the presence of fibers or hair entangled on the rotating brush, which may lead to a reduction in the deviation indicator value of the current intensity applied to the brush drive motor, in particular during the soft floor cleaning phase. Therefore, since the detection threshold can be adjusted according to the clogging of the rotating brush, it is impossible for the electronic control unit to erroneously detect that, for example, the suction head is displaced on a hard floor when the suction head is clogged and is actually displaced on a soft floor. Therefore, this configuration of the vacuum cleaner according to the invention provides it with enhanced cleaning performance.

[0043] According to one embodiment of the present invention, the brush clogging parameter is the average value of an intensity variation parameter during the previous stage of displacement of the suction head on the hard ground, such as the average value of a deviation index, or the average value of the current intensity applied to the brush drive motor during the previous stage of displacement of the suction head on the hard ground.

[0044] According to an embodiment of the invention, the electronic control unit is configured to adjust the detection threshold value, for example stepwise or continuously, depending on the rotation speed of the suction motor.

[0045] According to an embodiment of the invention, the electronic control unit is configured to adjust the detection threshold, for example stepwise or continuously, depending on a plurality of operating parameters of the vacuum cleaner.

[0046] According to one embodiment of the present invention, the dispersion indicator represents the dispersion of the intensity value relative to the reference value.

[0047] According to one embodiment of the present invention, the dispersion indicator is the variance or standard deviation of the intensity values ​​measured by the intensity measurement device.

[0048] According to an embodiment of the invention, the electronic control unit is configured to calculate a sliding dispersion indicator, such as a sliding variance or a sliding standard deviation, of the intensity values ​​measured by the measuring device.

[0049] According to one embodiment of the invention, each intensity variation parameter value, for example each dispersion indicator value, is calculated from a finite series of consecutive intensity values ​​measured by an intensity measuring device.

[0050] According to one embodiment of the invention, each finite series of measured consecutive intensity values ​​comprises between 10 and 30, advantageously between 15 and 25, for example 20 measured consecutive intensity values.

[0051] According to an embodiment of the invention, the time interval between two consecutive intensity values ​​measured is between 15 and 25 ms, for example approximately 20 ms.

[0052] According to one embodiment of the present invention, the reference value is an average intensity value defined for each finite series, more specifically, an average value of consecutive intensity values ​​measured for the corresponding finite series.

[0053] According to one embodiment of the invention, the electronic control unit is configured to detect a displacement of the suction head on a soft floor, for example from a hard floor to a soft floor, when the intensity variation parameter exceeds a detection threshold. This configuration of the vacuum cleaner allows the displacement of the suction head on a soft floor to be detected without the need for the presence of a dedicated floor detection device, which reduces the manufacturing costs of the vacuum cleaner according to the invention. Furthermore, this configuration of the vacuum cleaner allows the operation of the vacuum cleaner to be adapted, for example, during a soft floor cleaning phase.

[0054] According to an embodiment of the invention, the electronic control unit is configured to detect a displacement of the suction head on soft ground when a plurality of consecutive dispersion indicator values ​​(eg between 3 and 30 values) are above a detection threshold.

[0055] According to an embodiment of the present invention, the electronic control unit is configured to increase the rotation speed of the suction motor to a predetermined soft ground suction speed when the electronic control unit detects that the suction head is displaced on soft ground, for example, from hard ground to soft ground.

[0056] According to one embodiment of the invention, the electronic control unit is configured to detect a displacement of the suction head on a hard floor, for example from a soft floor to a hard floor, when the intensity variation parameter is below a detection threshold and the intensity of the current applied to the brush drive motor is below an intensity threshold. This configuration of the vacuum cleaner allows the displacement of the suction head on a hard floor to be detected without the presence of a dedicated floor detection device, which reduces the manufacturing costs of the vacuum cleaner according to the invention. Furthermore, this configuration of the vacuum cleaner allows the operation of the vacuum cleaner to be adapted, for example, during a hard floor cleaning phase.

[0057] According to one embodiment of the present invention, the electronic control unit is configured to calculate an average value of the current intensity applied to the brush drive motor during a stage of displacement of the suction head on soft ground, for example during a previous stage of displacement of the suction head on soft ground or during a most recent stage of displacement of the suction head on soft ground, and define an intensity threshold value based on the calculated average value.

[0058] According to one embodiment of the invention, the intensity threshold corresponds to the calculated average value of the current intensity applied to the brush drive motor during the phase of displacement of the suction head on soft ground minus a percentage of said calculated average value, for example between 3% and 10%.

[0059] According to one embodiment of the present invention, the percentage is predetermined.

[0060] According to another embodiment of the invention, the percentage varies depending on the type of soft ground over which the suction head is displaced.

[0061] According to an embodiment of the invention, the electronic control unit is configured to modify the intensity threshold, for example by a percentage, depending on the type of soft ground detected by the electronic control unit.

[0062] According to one embodiment of the invention, the intensity threshold is higher than an average value of the current intensity applied to the brush drive motor during previous displacement phases of the suction head on the hard floor.

[0063] According to one embodiment of the invention, the electronic control unit is configured to reduce the suction speed of the suction motor to a predetermined hard floor suction speed when the electronic control unit detects that the suction head is displaced on a hard floor, for example from a soft floor to a hard floor. This configuration of the vacuum cleaner allows the operation of the vacuum cleaner to be adapted according to the detected floor type, thereby limiting the power consumption of the vacuum cleaner during the hard floor cleaning phase.

[0064] According to one embodiment of the present invention, the predetermined hard floor suction speed is lower than the predetermined soft floor suction speed.

[0065] According to one embodiment of the present invention, the electronic control unit is configured as follows:

[0066] - the suction head is detected to be stationary on a soft floor when the intensity variation parameter is below a detection threshold and the intensity of the current applied to the brush drive motor is above an intensity threshold, and

[0067] - When the electronic control unit detects that the suction head is stationary on a soft floor, at least one vacuum cleaner cleaning parameter is modified.

[0068] This configuration of the vacuum cleaner according to the invention allows, when the vacuum cleaner is in operation, when the suction head is stationary on a soft floor, for example, to automatically reduce the suction power of the vacuum cleaner and / or the rotation speed of the rotating brush, thereby reducing the friction force exerted by the rotating brush on the soft floor. Thus, the vacuum cleaner according to the invention allows to ensure the protection of the surface to be cleaned, in particular the protection of the soft floor, and also optimizes the power consumption of the vacuum cleaner, which is advantageous if the vacuum cleaner is equipped with a rechargeable battery.

[0069] According to one embodiment of the present invention, the electronic control unit is configured to detect that the suction head is stationary on a soft ground if a plurality of consecutive deviation index values ​​(for example between 3 and 30 values) are below a detection threshold and if the current intensity applied to the brush drive motor is also above an intensity threshold.

[0070] According to one embodiment of the present invention, the electronic control unit is configured to reduce the rotation speed of the suction motor to a predetermined protection speed and / or reduce the rotation speed of the brush drive motor to a predetermined brush speed when the electronic control unit detects that the suction head is stationary on a soft ground.

[0071] According to another embodiment of the present invention, the electronic control unit may be configured to turn off the vacuum cleaner, that is, cut off the power supply of the vacuum cleaner, when the electronic control unit detects that the suction head is stationary on the soft ground.

[0072] According to one embodiment of the present invention, a vacuum cleaner includes a main body accommodating a suction motor.

[0073] According to one embodiment of the invention, the suction head is mechanically connected to the body.

[0074] According to one embodiment of the present invention, the suction head comprises a head body including a bottom plate and provided with a receiving recess which opens in a lower surface of the bottom plate via a suction port, and in which a rotating brush is accommodated.

[0075] According to one embodiment of the invention, the vacuum cleaner is a stick vacuum cleaner.

[0076] The present invention also relates to a vacuum cleaner control method, comprising the following steps:

[0077] -Provide a vacuum cleaner comprising:

[0078] o a suction head, comprising a rotating brush and a bottom plate, the rotating brush being rotatably movable about a rotation axis, and a suction port, the bottom plate having a lower surface configured to face the surface to be cleaned, the suction port opening in the lower surface of the bottom plate, through which external air can be sucked into the vacuum cleaner,

[0079] o A drive mechanism for driving rotation, which is configured to drive the rotating brush to rotate about a rotation axis, the drive mechanism for driving rotation comprising a brush drive motor rotatably coupled to the rotating brush.

[0080] o a suction motor configured to generate an airflow through the suction opening and into the suction head, and

[0081] o an electronic control unit configured to control the operation of the vacuum cleaner,

[0082] - measure the current intensity applied to the brush-driven motor,

[0083] - calculating intensity variation parameters from the measured intensity values,

[0084] - comparing the calculated intensity variation parameter to a detection threshold, and

[0085] - detecting the type of ground surface encountered by the suction head based on a comparison of the calculated intensity variation parameter with a detection threshold,

[0086] Characterized in that the method further comprises the step of adjusting the detection threshold value, for example stepwise or continuously, depending on at least one operating parameter of the vacuum cleaner.

[0087] According to one embodiment of the present invention, the method comprises the following steps: when the intensity variation parameter exceeds a detection threshold, it is detected that the suction head is displaced on the soft ground, for example, from the hard ground to the soft ground.

[0088] According to one embodiment of the present invention, the method comprises the following steps: when it is detected that the suction head is displaced on soft ground, for example, from hard ground to soft ground, the rotation speed of the suction motor is increased to a predetermined soft ground suction speed.

[0089] According to one embodiment of the present invention, the method comprises the following steps: when the intensity change parameter is lower than the detection threshold and the current intensity applied to the brush drive motor is lower than the intensity threshold, the displacement of the suction head on the hard ground, for example, from the soft ground to the hard ground, is detected.

[0090] According to one embodiment of the present invention, the method comprises the following steps: when it is detected that the suction head is displaced on a hard floor, for example, from a soft floor to a hard floor, the suction speed of the suction motor is reduced to a predetermined hard floor suction speed.

[0091] According to one embodiment of the present invention, the method comprises the following steps:

[0092] - the suction head is detected to be stationary on a soft floor when the intensity variation parameter is below a detection threshold and the intensity of the current applied to the brush drive motor is above an intensity threshold, and

[0093] - When the electronic control unit detects that the suction head is stationary on a soft floor, at least one vacuum cleaner cleaning parameter is modified.

[0094] According to one embodiment of the present invention, the method comprises the following steps: when it is detected that the suction head is stationary on the soft ground, the rotation speed of the suction motor is reduced to a predetermined protection speed and / or the rotation speed of the brush drive motor is reduced to a predetermined brush speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0095] In any case, the invention will be clearly understood with the help of the following description, made with reference to the accompanying drawings which show, by way of non-limiting example, an embodiment of such a vacuum cleaner.

[0096] Figure 1 1 is a front perspective view of a vacuum cleaner according to the present invention.

[0097] Figure 2 yes Figure 1 A partial stereoscopic view of a vacuum cleaner.

[0098] Figure 3 yes Figure 1 A partial longitudinal sectional view of a vacuum cleaner.

[0099] Figure 4 yes Figure 1 A three-dimensional view of the suction head of a vacuum cleaner.

[0100] Figure 5 yes Figure 4 Transverse cross-sectional view of the suction head.

[0101] Figure 6 yes Figure 4 Longitudinal section view of the suction head.

[0102] Figure 7 It is shown Figure 1 Illustration of the steps of a method for controlling a vacuum cleaner.

[0103] Figure 8 is shown during different cleaning stages, applied to Figure 1 Illustration of the time evolution of the current intensity of a brush drive motor of a vacuum cleaner and of the time evolution of a dispersion indicator of the current intensity values ​​applied to the brush drive motor.

[0104] Fig. 9 is a diagram showing the time evolution of the current intensity applied to the brush drive motor and of the dispersion indicator during different cleaning phases. DETAILED DESCRIPTION

[0105] Figure 1 A vacuum cleaner 2 is shown, more specifically a stick vacuum cleaner, comprising a body 3, a handle 5 mechanically connected to the body 3 and a suction head 6, which is arranged to come into contact with a floor surface to be cleaned. However, the vacuum cleaner 2 according to the invention may also be a canister vacuum cleaner, without departing from the scope of the invention.

[0106] The body 3 comprises in particular a cleaner housing 7 and a suction connection 8 which is advantageously arranged at the lower end of the cleaner housing 7 and to which the suction head 6 is fastened directly or via a suction pipe 10. The body 3 also comprises a suction duct 9 which is arranged in the cleaner housing 7 and is fluidically connected to the suction connection 8.

[0107] The vacuum cleaner 2 further comprises a garbage separation and collection device 11 which is removably mounted on the main body 3 so that it can be cleaned.

[0108] Advantageously, the waste separation and collection device 11 is of cyclonic type and comprises a waste collection container 12 and a tubular filter member 13, such as a tubular grid, which is arranged in the waste collection container 12 coaxially with the central axis of the waste collection container 12. The waste collection container 12 and the tubular filter member 13 advantageously define a cyclonic separation chamber 14.

[0109] The waste separation and collection device 11 further comprises an air inlet (not visible in the figure) which is fluidly connected to the suction duct 9 and opens in the cyclone separation chamber 14. Thus, the suction duct 9 is configured to fluidly connect the suction head 6 to the air inlet of the waste separation and collection device 11.

[0110] like Figure 3 As shown, the vacuum cleaner 2 further comprises a suction motor 16, also referred to as a motorized fan, which is configured to generate an airflow through the suction head 6, the suction duct 9 and the garbage separation and collection device 11. More specifically, the suction motor 16 is arranged in the vacuum cleaner housing 7. In a known manner, the suction motor 16 comprises a fan and an electric motor configured to drive the fan in rotation.

[0111] like Figures 4 to 6 As shown, the suction head 6 comprises a head body 23, which is configured to be displaced on the surface to be cleaned. According to the embodiment shown in the figures, the head body 23 has a generally rectangular shape.

[0112] The head body 23 comprises a bottom plate 24 made of plastic, for example, with a lower surface 25 of the bottom plate 24 being arranged to face the surface to be cleaned.

[0113] The head body 23 also includes a suction port 26 opened in the lower surface 25 of the bottom plate 24, through which external air can be sucked into the cleaner 2. Advantageously, the suction port 26 has an elongated shape and extends along an extension direction D1, which extends perpendicularly to the displacement direction D2 of the suction head 6.

[0114] The head body 23 also comprises a receiving recess 27 which opens in the lower surface 25 of the bottom plate 24 via the suction opening 6. Thus, according to the embodiment shown in the figures, the receiving recess 27 forms a suction chamber.

[0115] The suction head 6 further comprises a rotating brush 28 mounted so as to be rotatably movable in the receiving recess 27 along an axis of rotation A which substantially coincides with the central axis of the rotating brush 28. Advantageously, the rotating brush 28 is removably mounted in the receiving recess 27 and is configured to be introduced into and removed from the receiving recess 27 along a mounting direction which may extend, for example, transversely to, preferably perpendicularly to, the displacement direction D2 of the suction head 6.

[0116] According to the embodiment shown in the figures, the rotating brush 28 comprises a brush body 28.1, for example tubular, and bristles (not visible in the figures) arranged on the outer surface of the brush body 28.1. Advantageously, the brush body 28.1 is cylindrical with a circular cross section, and the rotating brush 28 comprises one or more rows of bristles, which extend, for example, helically around the central axis of the rotating brush 28. According to an alternative embodiment not shown in the figures, the rows of bristles can be replaced by elastically deformable sheets or foam cleaning sleeves.

[0117] The suction head 6 further comprises a drive mechanism 29 for driving rotation, which is configured to drive the rotating brush 28 to rotate about the rotation axis A. According to the embodiment shown in the figures, the drive mechanism 29 for driving rotation is accommodated in the head body 23 and comprises a brush drive motor 31 provided with an output shaft mechanically coupled to the rotating brush 28.

[0118] Advantageously, the vacuum cleaner 2 comprises an intensity measuring device 32 configured to measure the intensity I of the current applied to the brush drive motor 31. The measuring device 32 may be arranged in the suction head 6, in the body 3 or in the handle 5, for example.

[0119] The suction head 6 also comprises a connecting sleeve 33, which is fluidically connected to the receiving recess 27 and therefore to the suction opening 26, to which the suction connection 8 of the vacuum cleaner 2 is designed to be connected, more specifically, to which the lower part of the suction pipe 10 is designed to be fixed. Advantageously, the suction head 6 comprises an articulation device 34, which mechanically connects the connecting sleeve 33 to the head body 23, so as to allow the head body 23 to pivot forwards and backwards when the suction head 6 is displaced along the displacement direction D2.

[0120] The vacuum cleaner 2 further comprises an electronic control unit 35 configured to control the operation of the vacuum cleaner 2, in particular to adapt the operation of the vacuum cleaner 2 according to the type of floor surface displaced by the suction head 6. The electronic control unit 35 may be housed in the vacuum cleaner housing 7 or in the handle 5, for example.

[0121] The electronic control unit 35 is particularly configured to calculate an intensity change parameter based on the intensity value measured by the intensity measuring device 32, compare the calculated intensity change parameter with the detection threshold Vsd, and detect the type of ground encountered by the suction head 6 based on the comparison result of the calculated intensity change parameter and the detection threshold Vsd.

[0122] According to one embodiment of the present invention, the intensity variation parameter is a dispersion indicator ID, such as a variance or a standard deviation, of the intensity values ​​measured by the intensity measurement device 32, and each dispersion indicator value is calculated based on a finite series of consecutive intensity values ​​measured by the intensity measurement device 32. Each finite series of measured consecutive intensity values ​​may include between 10 and 30, advantageously between 15 and 25, for example 20 measured consecutive intensity values, and the time interval between two measured consecutive intensity values ​​may be between 15 ms and 25 ms, for example about 20 ms.

[0123] According to this embodiment of the invention, the electronic control unit 35 is configured to:

[0124] - when the deviation indicator ID exceeds the detection threshold Vsd, it is detected that the suction head 6 is displaced on the soft ground, for example from the hard ground to the soft ground, and

[0125] When the electronic control unit 35 detects that the suction head 6 is displaced on soft ground, for example from hard ground to soft ground, the rotation speed of the suction motor 16 is increased to a predetermined soft ground suction speed.

[0126] This configuration of the vacuum cleaner 2 allows the displacement of the suction head 6 on a soft floor to be detected without the presence of a dedicated floor detection device, while improving the suction performance of the vacuum cleaner 2 during the soft floor cleaning phase.

[0127] According to an embodiment of the invention, the electronic control unit 35 may be configured to detect displacement of the suction head 6 on soft ground only when a plurality of consecutive deviation index values ​​(eg between 3 and 30 values) are above the detection threshold Vsd.

[0128] The electronic control unit 35 is also configured to:

[0129] - when the deviation indicator ID is lower than the detection threshold Vsd and the current intensity I applied to the brush drive motor 31 is lower than the intensity threshold Vsi, a displacement of the suction head 6 on a hard floor, for example from a soft floor to a hard floor, is detected, and

[0130] When the electronic control unit 35 detects displacement of the suction head 6 on a hard floor, for example from a soft floor to a hard floor, it reduces the suction speed of the suction motor 16 to a predetermined hard floor suction speed which is lower than a predetermined soft floor suction speed.

[0131] This configuration of the vacuum cleaner 2 allows the displacement of the suction head 6 on a hard floor to be detected without the presence of a dedicated floor detection device, while limiting the power consumption of the vacuum cleaner 2 during the hard floor cleaning phase.

[0132] Advantageously, the intensity threshold Vsi is higher than the average value of the current intensity I applied to the brush drive motor 31 during the preceding phase of displacement of the suction head 6 on the hard floor.

[0133] According to one embodiment of the present invention, the electronic control unit 35 can be configured to detect the displacement of the suction head 6 on the hard ground only when multiple consecutive deviation index values ​​(for example, between 3 and 30 values) are lower than the detection threshold Vsd and the current intensity I applied to the brush drive motor 31 is also lower than the intensity threshold Vsi.

[0134] When the calculated dispersion indicator ID is the standard deviation, the electronic control unit 35 is configured to:

[0135] - for each finite series, calculating the mean value of the consecutive intensity values ​​belonging to said finite series of measurements,

[0136] - for each finite series, calculating the deviations of the consecutive intensity values ​​belonging to said finite series of measurements relative to the corresponding calculated mean value, and

[0137] - For each finite series, calculate the root mean square of the deviations calculated for said finite series.

[0138] The root mean square calculated for each finite series corresponds to the standard deviation value calculated for said finite series.

[0139] When the calculated deviation indicator ID is the variance, the variance value calculated for each finite series corresponds to the square of the root mean square calculated for the finite series. In other words, when the calculated deviation indicator ID is the variance, the electronic control unit 35 is configured to calculate, for each finite series, the average of the squares of the deviations from the average of the finite series.

[0140] The electronic control unit 35 is in particular configured to adjust the detection threshold Vsd, for example stepwise or continuously, depending on one or more operating parameters of the vacuum cleaner 2 .

[0141] According to one embodiment of the invention, the electronic control unit 35 is configured to adjust the detection threshold Vsd, for example stepwise or continuously, according to a blockage parameter representing a load loss in the waste separation and collection device 11. The blockage parameter advantageously represents a blockage rate of the waste separation and collection device 11, for example a filling rate of the waste collection container 12 or a silting rate of the tubular filter element 13.

[0142] The electronic control unit 35 may be configured, for example, to reduce the detection threshold value Vsd, for example, stepwise or continuously, according to an increase in the blockage rate of the garbage separation and collection device 11. The electronic control unit 35 may also be configured to adjust the detection threshold value Vsd to a first threshold value when the blockage rate of the garbage separation and collection device 11 is lower than the blockage threshold value, and to adjust the detection threshold value Vsd to a second threshold value lower than the first threshold value when the blockage rate of the garbage separation and collection device 11 is higher than the blockage threshold value.

[0143] According to one embodiment of the present invention, the vacuum cleaner 2 comprises at least one sensor 37, such as a pressure sensor or a flow sensor, which is configured to determine a blockage parameter, and the electronic control unit 35 is configured to determine the blockage rate of the garbage separation and collection device 11 according to the blockage parameter. The blockage parameter can be, for example, a pressure difference between an upstream part and a downstream part of the garbage separation and collection device 11, a pressure measured at a downstream part of the garbage separation and collection device, or an air flow rate through the garbage separation and collection device 11.

[0144] According to another embodiment of the present invention, the electronic control unit 35 can be configured to adjust the detection threshold Vsd, for example stepwise or continuously, according to a power parameter representing the power level of the rechargeable battery 36 equipped with the vacuum cleaner 2. The power parameter can be, for example, the battery voltage provided by the rechargeable battery 36. To this end, the vacuum cleaner 2 advantageously includes a voltage measuring device configured to measure the battery voltage provided by the rechargeable battery 36.

[0145] The electronic control unit 35 may be configured, for example, to reduce the detection threshold Vsd, for example, stepwise or continuously, according to the power parameter and the reduction of the battery voltage, for example, provided by the rechargeable battery 36. The electronic control unit 35 may also be configured to adjust the detection threshold Vsd to a first threshold when the power parameter is above the power threshold, and to adjust the detection threshold Vsd to a second threshold lower than the first threshold when the power parameter is below the power threshold.

[0146] According to another embodiment of the present invention, the electronic control unit 35 may be configured to adjust the detection threshold Vsd, for example, stepwise or continuously, according to a brush blockage parameter representing blockage of the rotating brush 28. The brush blockage parameter may be, for example, an average value of an intensity variation parameter during the previous stage of displacement of the suction head 6 on the hard floor, such as an average value of a deviation index ID, or an average value of the current intensity I applied to the brush drive motor 31 during the previous stage of displacement of the suction head 6 on the hard floor. The electronic control unit 35 may also be configured to adjust the detection threshold Vsd to a first threshold when the brush blockage parameter is below the blockage threshold, and to adjust the detection threshold Vsd to a second threshold lower than the first threshold when the brush blockage parameter is above the blockage threshold.

[0147] According to another embodiment of the present invention, the electronic control unit 35 can be configured to adjust the detection threshold Vsd, for example stepwise or continuously, according to multiple operating parameters of the vacuum cleaner 2, wherein the operating parameters particularly include the clogging rate of the garbage separation and collection device 11, the battery voltage provided by the rechargeable battery 36, and the brush clogging parameters.

[0148] The electronic control unit 35 is also configured to:

[0149] - when the dispersion index ID is lower than the detection threshold Vsd and the current intensity I applied to the brush drive motor 31 is higher than the intensity threshold Vsi, it is detected that the suction head 6 is stationary on the soft ground, and

[0150] - modify at least one cleaning parameter of the vacuum cleaner 2 and, for example, when the electronic control unit 35 detects that the suction head 6 is stationary on a soft floor, reduce the rotation speed of the suction motor 16 to a predetermined protection speed, which is, for example, between the soft floor suction speed and the hard floor suction speed.

[0151] According to one embodiment of the present invention, the electronic control unit 35 is configured to modify at least one cleaning parameter of the vacuum cleaner 2 and, for example, reduce the rotation speed of the suction motor 16 to a predetermined protection speed only after a predetermined time has passed since the electronic control unit 35 has detected that the suction head 6 is stationary on the soft floor, and under the condition that the deviation index ID is still below the detection threshold Vsd when the predetermined time has expired. The predetermined time may be, for example, between 2 seconds and 5 seconds.

[0152] According to one embodiment of the present invention, the electronic control unit 35 can be configured to detect that the suction head 6 is stationary on the soft ground only when a plurality of consecutive deviation index values ​​(for example, between 3 and 30 values) are lower than the detection threshold Vsd and the current intensity I applied to the brush drive motor 31 is also higher than the intensity threshold Vsi.

[0153] Therefore, the electronic control unit 35 is configured to control the operation of the vacuum cleaner 2 according to the first operation mode (referred to as the hard floor operation mode) when the deviation index ID is lower than the detection threshold value Vsd and the current intensity I applied to the brush drive motor 31 is lower than the intensity threshold value Vsi, to control the operation of the vacuum cleaner 2 according to the second operation mode (referred to as the soft floor operation mode) when the deviation index ID exceeds, i.e. becomes higher than, the detection threshold value Vsd, and to control the operation of the vacuum cleaner 2 according to the third operation mode (referred to as the protection mode) when the deviation index ID is lower than the detection threshold value Vsd and the current intensity I applied to the brush drive motor 31 is higher than the intensity threshold value Vsi. The electronic control unit 35 is configured to minimize the rotation speed of the suction motor 16 when the vacuum cleaner 2 is operated according to the first operation mode, maximize the rotation speed of the suction motor 16 when the vacuum cleaner 2 is operated according to the second operation mode, and make the rotation speed of the suction motor 16 between the minimum speed and the maximum speed when the vacuum cleaner 2 is operated according to the third operation mode.

[0154] According to one embodiment of the invention, the electronic control unit 35 is configured to calculate the average value of the current intensity I applied to the brush drive motor 31 during each stage of displacement of the suction head 6 on the soft ground, and define the intensity threshold value Vsi according to the calculated average value for each stage of displacement of the suction head 6 on the soft ground. The intensity threshold value Vsi defined for each stage of displacement of the suction head 6 on the soft ground may, for example, correspond to the calculated average value of the current intensity I applied to the brush drive motor 31 during the displacement stage of the suction head 6 on the soft ground minus a percentage of the calculated average value, for example between 3% and 10%.

[0155] According to another embodiment of the present invention, the intensity threshold Vsi may be predetermined and, for example, between 400 mA and 600 mA.

[0156] The control method of the vacuum cleaner 2 according to the present invention may for example particularly include:

[0157] - a measurement step S1 of measuring the current intensity I applied to the brush drive motor 31,

[0158] - a calculation step S2 of calculating a dispersion indicator ID of the measured intensity values, such as a variance or a standard deviation, each dispersion indicator value being calculated from a finite series of measured consecutive intensity values,

[0159] If the deviation indicator ID exceeds the detection threshold Vsd, a control step S3 is performed, which is to detect that the suction head 6 is displaced on the soft ground, for example, from the hard ground to the soft ground, and to increase the rotation speed of the suction motor 16 to a predetermined soft ground suction speed,

[0160] - if the deviation indicator ID is lower than the detection threshold Vsd and the current intensity I applied to the brush drive motor 31 is higher than the intensity threshold Vsi, a control step S4 is performed, which is to detect that the suction head 6 is stationary on the soft ground and reduce the rotation speed of the suction motor 16 to a predetermined protection speed, and

[0161] -If the deviation index ID is lower than the detection threshold Vsd, and the current intensity I applied to the brush drive motor 31 is lower than the intensity threshold Vsi, then it is a control step S5, which detects the displacement of the suction head 6 on the hard ground, for example, from the soft ground to the hard ground, and reduces the suction speed of the suction motor 16 to the predetermined hard ground suction speed.

[0162] The control method of the vacuum cleaner 2 according to the present invention also includes an adjustment step S6, which is to adjust the detection threshold Vsd according to at least one operating parameter of the vacuum cleaner 2, such as the clogging rate of the garbage separation and collection device 11, the battery voltage provided by the rechargeable battery 36, and the brush clogging parameter.

[0163] According to another embodiment of the present invention, the intensity change parameter may be a variation amplitude of the intensity value measured by the intensity measuring device 32 (rather than a deviation indicator of the intensity value measured by the intensity measuring device 32), such as the deviation of the maximum and minimum values ​​of the measured intensity values ​​belonging to a finite series relative to a reference value (such as the average value of the measured intensity values ​​belonging to the finite series).

[0164] According to another embodiment of the present invention, the electronic control unit 35 can be configured to increase the rotation speed of the brush drive motor 31 to a first predetermined brush speed when the electronic control unit 35 detects that the suction head 6 is displaced on the soft ground, and to reduce the rotation speed of the brush drive motor 31 to a second predetermined brush speed when the electronic control unit 35 detects that the suction head 6 is stationary on the soft ground.

[0165] According to yet another embodiment of the present invention, the electronic control unit 35 may be configured to turn off the vacuum cleaner 2 , that is, cut off the power supply of the vacuum cleaner 2 , when the electronic control unit 35 detects that the suction head 6 is stationary on the soft ground.

[0166] According to a further embodiment of the invention, the electronic control unit 35 may be configured to detect different types of soft ground that the suction head 6 is designed to encounter, and to modify the intensity threshold value Vsi, for example by a percentage, according to the type of soft ground detected by the electronic control unit 35. The electronic control unit 35 may also be configured to define a corresponding predetermined soft ground suction speed for each type of soft ground detected, and, when displacement of the suction head 6 on one type of soft ground has been detected, to increase the rotation speed of the suction motor 16 to the predetermined soft ground suction speed corresponding to the type of soft ground detected.

[0167] Of course, the present invention is by no means limited to the described and illustrated embodiments, which are provided as examples only. In particular, some modifications may be made in the composition of various elements or by replacement of equivalent technologies, without departing from the scope of protection of the present invention.

Claims

1. A vacuum cleaner (2), comprising: - a suction head (6) comprising a bottom plate (24) and a suction opening (26), the bottom plate having a lower surface (25) arranged to face the surface to be cleaned, the suction opening opening opening in the lower surface (25) of the bottom plate (24) and through which external air can be sucked into the cleaner (2), the suction head (6) further comprising a rotating brush (28) rotatably movable about a rotation axis (A), a drive mechanism (29) for driving rotation, which is configured to drive the rotating brush (28) to rotate about the rotation axis (A), the drive mechanism (29) for driving rotation comprising a brush drive motor (31) rotatably coupled to the rotating brush (28), - a suction motor (16) configured to generate an air flow through the suction opening (26) and into the suction head (6), - intensity measuring means (32) configured to measure the intensity (I) of the current applied to the brush drive motor (31), and - an electronic control unit (35) configured to control the operation of the vacuum cleaner (2), the electronic control unit (35) being further configured to: o calculating the intensity variation parameter based on the intensity value measured by the intensity measuring device (32), o comparing said calculated intensity variation parameter to a detection threshold (Vsd), and o detecting the type of ground surface encountered by the suction head (6) based on a comparison result of the calculated intensity variation parameter with the detection threshold (Vsd), Characterized in that the electronic control unit (35) is configured to adjust the detection threshold (Vsd) according to at least one operating parameter of the vacuum cleaner (2).

2. The vacuum cleaner (2) according to claim 1, wherein: The at least one operating parameter comprises a blocking parameter representative of the load loss generated in the pneumatic circuit of the vacuum cleaner (2), on which the suction motor is arranged.

3. The vacuum cleaner (2) according to claim 2, wherein: The blocking parameter represents the load loss generated in the waste separation and collection device (11) located on the pneumatic circuit.

4. The vacuum cleaner (2) according to claim 3, wherein: The blocking parameter represents the blocking rate of the garbage separation and collection device (11).

5. The vacuum cleaner (2) according to claim 4, wherein: The electronic control unit (35) is configured to reduce the detection threshold (Vsd) according to an increase in the clogging rate of the garbage separation and collection device (11).

6. The vacuum cleaner (2) according to any one of claims 1 to 5, wherein: The at least one operating parameter comprises a power parameter, wherein the power parameter represents the power level of a rechargeable battery (36) equipped with the vacuum cleaner (2).

7. The vacuum cleaner (2) according to claim 6, wherein: The electronic control unit (35) is configured to reduce the detection threshold (Vsd) according to the reduction of the electrical quantity parameter.

8. The vacuum cleaner (2) according to any one of claims 1 to 7, wherein: The at least one operating parameter includes a brush clogging parameter representing clogging of the rotating brush (28).

9. The vacuum cleaner (2) according to any one of claims 1 to 8, wherein: The intensity variation parameter is a dispersion index (ID) of the intensity value measured by the intensity measurement device (32), or a variation range of the intensity value measured by the intensity measurement device (32).

10. The vacuum cleaner (2) according to any one of claims 1 to 9, wherein: The electronic control unit (35) is configured to detect displacement of the suction head (6) on soft ground when the intensity variation parameter exceeds the detection threshold (Vsd).

11. The vacuum cleaner (2) according to claim 10, wherein: The electronic control unit (35) is configured to increase the rotation speed of the suction motor (16) to a predetermined soft ground suction speed when the electronic control unit (35) detects that the suction head (6) is displaced on a soft ground.

12. The vacuum cleaner (2) according to claim 10 or 11, wherein: The electronic control unit (35) is configured to detect displacement of the suction head (6) on a hard floor when the intensity change parameter is lower than the detection threshold (Vsd) and the current intensity (I) applied to the brush drive motor (31) is lower than an intensity threshold (Vsi).

13. The vacuum cleaner (2) according to claim 11, wherein: The electronic control unit (35) is configured to reduce the suction speed of the suction motor (16) to a predetermined hard floor suction speed when the electronic control unit (35) detects that the suction head (6) is displaced on a hard floor.

14. The vacuum cleaner (2) according to claim 12 or 13, wherein: The electronic control unit (35) is configured to: - when the intensity variation parameter is below the detection threshold (Vsd) and the current intensity (I) applied to the brush drive motor (31) is above the intensity threshold (Vsi), it is detected that the suction head (6) is stationary on a soft ground, and - when the electronic control unit (35) detects that the suction head (6) is stationary on a soft floor, at least one cleaning parameter of the vacuum cleaner (2) is modified.

15. A method for controlling a vacuum cleaner (2), comprising the following steps: - A vacuum cleaner (2) is provided, comprising: o a suction head (6), comprising a rotating brush (28) and a bottom plate (24) and a suction port (26), wherein the rotating brush can rotate and move around a rotation axis (A), the bottom plate has a lower surface (25) configured to face the surface to be cleaned, and the suction port (26) opens in the lower surface (25) of the bottom plate (24), and external air can be sucked into the vacuum cleaner (2) through the suction port, o a driving mechanism (29) for driving rotation, which is configured to drive the rotating brush (28) to rotate around the rotation axis (A), the driving mechanism (29) for driving rotation comprising a brush driving motor (31) rotatably coupled to the rotating brush (28), o a suction motor (16) configured to generate an air flow through the suction opening (26) and into the suction head (6), o an intensity measuring device (32) configured to measure the intensity (I) of the current applied to the brush drive motor (31), and o an electronic control unit (35) configured to control the operation of the vacuum cleaner (2), - measuring the current intensity (I) applied to the brush drive motor, - calculating an intensity variation parameter from said measured intensity values, - comparing said calculated intensity variation parameter with a detection threshold (Vsd), and - detecting the type of ground surface encountered by the suction head (6) based on the comparison of the calculated intensity variation parameter with the detection threshold (Vsd), Characterized in that the method further comprises the step of adjusting the detection threshold (Vsd) according to at least one operating parameter of the vacuum cleaner (2).

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