Cleaning device

Abstract

To provide a cleaning device that can suppress use while a motor is rotating in the reverse direction.SOLUTION: A cleaning device includes a motor, a switch, a tip connection part, multiple first claws and a control part. The tip connection part can be connected with a tip attachment and rotates with drive force of the motor. The first claws are arranged in the tip connection part along the circumferential direction of a rotation axis of the tip connection part. The multiple first claws are engaged with multiple second claws of the tip attachment when the tip connection part rotates in the normal direction, and are disengaged from the multiple second claws when the tip connection part rotates in the reverse direction. The control part stops the motor when the rotation state of the connection part satisfies a first condition while the motor is rotating in the reverse direction.SELECTED DRAWING: Figure 23C

Description

[Technical field]

[0001] SUMMARY The present disclosure relates to a cleaning device having a rotating tip attachment attached thereto. [Background technology]

[0002] The scrubber described in Patent Document 1 has a motor and a motor adapter fixed to the motor shaft, and a rotary cleaning tool is attached to the motor adapter. The rotary cleaning tool has three locking flanges, and the motor adapter has three locking claws. The three locking flanges are fitted into the three locking claws, thereby attaching the rotary cleaning tool to the motor adapter. When a user rotates the motor in the reverse direction, the three locking flanges are disengaged from the three locking claws. As a result, the user can remove the rotary cleaning tool from the motor adapter without using his or her hands. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 7-327897 Summary of the Invention [Problem to be solved by the invention]

[0004] If a user uses the scrubber without realizing that the motor is rotating in the reverse direction, the rotary cleaner may come off the scrubber during operation, interrupting the operation. Furthermore, if the rotary cleaner comes off the scrubber during operation, there is a possibility that the rotary cleaner may hit a person or object.

[0005] One aspect of the present disclosure provides a cleaning device that can be inhibited from being used while the motor is rotating in the reverse direction. [Means for solving the problem]

[0006] A cleaning device according to one aspect of the present disclosure is capable of mounting a tip attachment, and includes a motor, an operation switch, a tip connection section, a plurality of first claws, and a control section. The operation switch is manually operated to switch the rotation direction of the motor between forward and reverse. The tip connection section is connectable to the tip attachment, and rotates by the driving force of the motor. The plurality of first claws are arranged on the tip connection section along the circumferential direction of the rotation shaft of the tip connection section. The plurality of first claws engage with the plurality of second claws of the tip attachment in response to the tip connection section rotating in the forward direction, and separate from the plurality of second claws in response to the tip connection section rotating in the reverse direction. The control section controls the driving of the motor. The control section stops the motor when the rotation state of the tip connection section satisfies a first condition during the rotation of the motor in the reverse direction.

[0007] A cleaning device according to one aspect of the present disclosure stops the motor when the rotation state of the tip connector satisfies a first condition while the motor is rotating in the reverse direction, thereby preventing a user from using the cleaning device without realizing that the motor is rotating in the reverse direction. [Brief description of the drawings]

[0008] [Figure 1] 1 is a diagram showing the appearance of a cleaning device according to a first embodiment. FIG. [Diagram 2] 3A and 3B are diagrams illustrating a display unit of the cleaning device according to the first embodiment. [Diagram 3] 3A and 3B are diagrams showing a tip attachment connected to the cleaning device according to the first embodiment. [Figure 4] 1A is a diagram showing the underside of a tip attachment according to a first example of the first embodiment. FIG. [Figure 5A] 4 is a diagram showing the underside of the tip connection part of the cleaning device according to the first embodiment. FIG. [Figure 5B] FIG. 2 is a perspective view of a tip connection portion of the cleaning device according to the first embodiment. [Figure 6] FIG. 2 is a diagram showing a state in which a tip attachment according to a first example is connected to a tip connection portion of the cleaning device according to the first embodiment. [Figure 7] 13 is a diagram showing the underside of a tip attachment according to a second example of the first embodiment. FIG. [Figure 8] 13 is a diagram showing a state in which a tip attachment according to a second example is connected to the tip connection portion of the cleaning device according to the first embodiment. FIG. [Figure 9] 5 is a diagram showing an engagement angle between a first prong of the cleaning device and a second prong of the brush according to the first embodiment. FIG. [Figure 10] 3 is a diagram showing a cross section taken along a radial direction of a first claw of the cleaning device according to the first embodiment. FIG. [Figure 11] 3 is a diagram showing a cross section along a radial direction of a first claw and a second claw engaged with the first claw of the cleaning device according to the first embodiment. FIG. [Figure 12] 3 is a diagram showing a cross section taken along a circumferential direction of a first claw of the cleaning device according to the first embodiment. FIG. [Figure 13] 3 is a diagram showing a cross section along a circumferential direction of a first claw and a second claw engaged with the first claw of the cleaning device according to the first embodiment. FIG. [Figure 14] 2 is a block diagram showing the electrical configuration of the cleaning device according to the first embodiment. FIG. [Figure 15] 5 is a flowchart showing a main process executed by a microcomputer of the cleaning device according to the first embodiment. [Figure 16] 5 is a flowchart showing an interrupt process executed by a microcomputer of the cleaning device according to the first embodiment. [Figure 17] 5 is a flowchart showing a switch operation detection process executed by a microcomputer of the cleaning device according to the first embodiment. [Figure 18] 5 is a flowchart showing a power management process executed by a microcomputer of the cleaning device according to the first embodiment. [Figure 19] 6 is a flowchart showing a main power supply state off determination process executed by a microcomputer of the cleaning device according to the first embodiment. [Figure 20] 6 is a flowchart showing an automatic off determination process of a main power supply state executed by a microcomputer of the cleaning device according to the first embodiment. [Figure 21]5 is a flowchart showing a motor control process executed by a microcomputer of the cleaning device according to the first embodiment. [Figure 22] 5 is a flowchart showing a speed mode setting process executed by a microcomputer of the cleaning device according to the first embodiment. [Figure 23A] 6 is a flowchart showing a first part of a rotation direction setting process executed by a microcomputer of the cleaning device according to the first embodiment. [Figure 23B] 6 is a flowchart showing a second part of the rotation direction setting process executed by the microcomputer of the cleaning device according to the first embodiment. [Figure 23C] 10 is a flowchart showing a third part of the rotation direction setting process executed by the microcomputer of the cleaning device according to the first embodiment. [Figure 24] 6 is a flowchart showing a first example of a process for obtaining a rotation angle of the tip connecting part, which is executed by a microcomputer in the cleaning device according to the first embodiment. [Diagram 25] 10 is a flowchart showing a second example of the process for obtaining the rotation angle of the tip connector executed by the microcomputer of the cleaning device according to the first embodiment. [Figure 26] 6 is a flowchart showing a first example of an automatic return to normal rotation determination process executed by a microcomputer in the cleaning device according to the first embodiment. [Figure 27] 10 is a flowchart showing a second example of the process of determining whether to automatically return to normal rotation, which is executed by the microcomputer of the cleaning device according to the first embodiment. [Figure 28] 13 is a flowchart showing a third example of the process of determining whether to automatically return to normal rotation, which is executed by the microcomputer of the cleaning device according to the first embodiment. [Figure 29] 10 is a flowchart showing an automatic return determination process based on a second rotation angle, which is executed by a microcomputer of the cleaning device according to the first embodiment. [Diagram 30] 10 is a flowchart showing an automatic return determination process based on the number of times of reverse rotation driving executed by a microcomputer of the cleaning device according to the first embodiment. [Diagram 31] 5 is a flowchart showing a state transition process executed by a microcomputer of the cleaning device according to the first embodiment. [Diagram 32] 5 is a flowchart showing a rotation angle calculation process executed by a microcomputer of the cleaning device according to the first embodiment. [Diagram 33] 5 is a flowchart showing an inverter control process executed by a microcomputer of the cleaning device according to the first embodiment. [Diagram 34] 5 is a diagram showing target rotation speeds according to speed modes of the motor of the cleaning device according to the first embodiment. FIG. [Diagram 35] 13 is a flowchart showing a third part of the rotation direction setting process executed by the microcomputer of the cleaning device according to the second embodiment. [Diagram 36] 13 is a flowchart showing a first example of a pressing determination process executed by a microcomputer of the cleaning device according to the second embodiment. [Figure 37] 13 is a flowchart showing a second example of the pressing determination process executed by the microcomputer of the cleaning device according to the second embodiment. [Figure 38] 10 is a flowchart showing a state transition process executed by a microcomputer of a cleaning device according to a second embodiment. [Figure 39] 13A and 13B are diagrams showing the output duty ratio and the rotation angle of the motor during and after a pressing determination is completed when the tip attachment is pressed against a floor surface according to the second embodiment. [Diagram 40] 13A and 13B are diagrams showing the output duty ratio and the motor rotation angle during and after a press determination is completed in a case where the tip attachment is not pressed against the floor surface according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] (Summary of the embodiment) An embodiment may provide a cleaning device to which a tip attachment can be attached, the cleaning device having at least one of the following features 1 to 7. Feature 1: With motor. Feature 2: An operating switch configured to be manually operated to switch the rotation direction of the motor between forward and reverse. Feature 3: A tip connection section to which a tip attachment can be connected and which is configured to rotate by the driving force of a motor. Feature 4: A plurality of first claws arranged on the tip connection portion along the circumferential direction of the rotation axis of the tip connection portion. Feature 5: The multiple first claws engage with the multiple second claws of the tip attachment in response to the tip connection portion rotating in the forward direction, and disengage from the multiple second claws in response to the tip connection portion rotating in the reverse direction. Feature 6: A control unit configured to control the driving of the motor. Feature 7: The control unit stops the motor when the rotation state of the tip connection part satisfies a first condition while the motor is rotating in the reverse direction.

[0010] A cleaning device having at least features 1 to 7 stops the motor when the rotation state of the tip connector satisfies the first condition while the motor is rotating in the reverse direction. This prevents a user from using the cleaning device without realizing that the motor is rotating in the reverse direction.

[0011] An embodiment may include at least one of the following features 8 and 9 in addition to or instead of at least one of the features 1 to 7 described above. Feature 8: The first condition is met when the tip connection portion rotates in the reverse direction by an angle greater than the engagement angle. Feature 9: The engagement angle corresponds to a region where one of the plurality of first claws overlaps one of the plurality of second claws and an engagement force is generated between one of the plurality of first claws and one of the plurality of second claws.

[0012] A cleaning device having at least features 1 to 9 can stop the motor when a first condition is met, allowing the tip attachment to be removed from the cleaning device and preventing the user from using the cleaning device while the motor is rotating in the reverse direction.

[0013] In one embodiment, in addition to or instead of at least one of the above-mentioned features 1 to 7, at least one of the following features 10 and 11 may be provided. Feature 10: The first condition is met when the tip connection part rotates in the reverse direction for a predetermined time according to the rotation speed and engagement angle of the motor. Feature 11: The engagement angle corresponds to a region where one of the plurality of first claws overlaps one of the plurality of second claws and an engagement force is generated between one of the plurality of first claws and one of the plurality of second claws.

[0014] A cleaning device having at least features 1 to 7, 10, and 11 can stop the motor when a first condition is met, allowing the tip attachment to be removed and preventing the user from using the cleaning device while the motor is rotating in the reverse direction.

[0015] In one embodiment, in addition to or instead of at least one of the above-mentioned features 1 to 11, the following feature 12 may be provided. Feature 12: When the driving state of the motor satisfies a second condition while the motor is rotating in the reverse direction, the control unit stops the motor and changes the rotation direction to the forward direction.

[0016] In a cleaning device having at least Features 1 to 9, 12 or Features 1 to 7, 10 to 12, the rotation direction of the motor is returned to the forward direction after the tip attachment is detached from the tip connection part, so that the next time a user uses the cleaning device, the user can use the cleaning device without worrying about the rotation direction of the motor.

[0017] In one embodiment, in addition to or instead of at least one of the features 1 to 12 described above, at least one of the following features 13 and 14 may be provided. Feature 13: The control unit further determines whether the load on the motor is equal to or greater than a load threshold. Feature 14: The second condition is satisfied when the connection portion rotates in the reverse direction by an amount equal to or greater than the engagement angle while the load received by the motor is equal to or greater than the load threshold value.

[0018] In a cleaning device having at least Features 1 to 9, 12 to 14, or Features 1 to 7, 10 to 14, the tip attachment rotates in the opposite direction while receiving resistance from the floor surface, thereby disengaging the first claw from the second claw. When the tip attachment receives resistance from the floor surface, the motor is subjected to a load. Therefore, when the second condition is established, the tip attachment can be more reliably removed from the tip connection part by stopping the motor.

[0019] In some embodiments, in addition to or instead of at least one of the features 1 to 14 described above, at least one of the following features 15 and 16 may be provided. Feature 15: The second condition is satisfied when the number of times the motor is driven in the reverse direction is equal to or greater than a predetermined number. Feature 16: One drive corresponds to the time from when the motor starts to rotate to when it stops.

[0020] In a cleaning device having at least Features 1 to 9, 12, 15, and 16, or Features 1 to 7, 10 to 12, 15, and 16, the engagement between the first claw and the second claw is more reliably released by rotating the motor in the reverse direction multiple times. Therefore, when the second condition is established, the tip attachment can be more reliably removed from the tip connection part by stopping the motor.

[0021] In one embodiment, in addition to or instead of at least one of the features 1 to 16 described above, at least one of the following features 17 and 18 may be provided. Feature 17: When the rotation direction is switched to the reverse direction via the operation switch, the control unit determines whether the tip attachment attached to the tip connection portion via the first claw is pressed against the floor surface. Feature 18: When the control unit determines that the tip attachment is not pressed against the floor surface, it immediately stops the motor.

[0022] In a cleaning device having at least features 1 to 7, 17, and 18, the tip attachment rotates in the reverse direction while being pressed against the floor surface and receiving resistance from the floor surface, causing the tip attachment to come off from the tip connection part. If the tip attachment is not pressed against the floor surface even though the rotation direction has been switched to the reverse direction, the user may mistakenly think that the rotation direction has been switched to the forward direction and start working with the cleaning device. When the rotation direction has been switched to the reverse direction and it is determined that the tip attachment is not pressed against the floor surface, the motor is immediately stopped, thereby more reliably preventing the user from using the cleaning device while the motor is rotating in the reverse direction.

[0023] In one embodiment, in addition to or instead of at least one of the features 1 to 18 described above, at least one of the following features 19 to 21 may be provided. Feature 19: A drive circuit configured to control the voltage applied to the motor. Feature 20: When the rotation direction is switched to the reverse direction via the operation switch, the control unit controls the drive circuit so that a first voltage is applied to the motor, and determines whether the tip attachment is pressed against the floor surface. Feature 21: When it is determined that the tip attachment is pressed against the floor surface, the control unit controls the drive circuit so that a second voltage greater than the first voltage is applied to the motor.

[0024] In a cleaning device having at least features 1 to 7 and 17 to 21, the torque of the motor is suppressed to a level where the motor cannot rotate against the load during the pressing determination. Then, when it is determined that the tip attachment is pressed against the floor surface, the torque of the motor is increased so that the motor can rotate against the load. Therefore, the user can safely remove the tip attachment from the tip connection part.

[0025] In one embodiment, in addition to or instead of at least one of the above-mentioned features 1 to 21, the following features 22 and 23 may be provided. Feature 22: When the rotation direction is switched to the reverse direction via the operation switch, the control unit controls the drive circuit so that a pulse width modulation signal having a first duty ratio is applied to the motor, and determines whether the tip attachment is pressed against the floor surface. Feature 23: When it is determined that the tip attachment is pressed against the floor surface, the control unit gradually increases the first duty ratio.

[0026] In a cleaning device having at least the features 1 to 7 and 17 to 23, when it is determined that the tip attachment is pressed against the floor surface, the voltage applied to the motor can be increased.

[0027] In one embodiment, in addition to or instead of at least one of the above-mentioned features 1 to 21, the following feature 24 may be provided. Feature 24: The control unit determines whether the tip attachment is pressed against the floor surface based on the rotation state of the motor.

[0028] In a cleaning device having at least features 1 to 7, 17, 18, and 24, when the tip attachment is pressed against the floor surface, the motor does not rotate due to resistance from the floor surface. When the tip attachment is not pressed against the floor surface, the motor rotates because there is no load from the floor surface. Therefore, the control unit can determine whether the tip attachment is pressed against the floor surface based on the rotation state of the motor.

[0029] (First embodiment) <1. Configuration> <1-1. Overall composition> The configuration of the cleaning device 1 will be described with reference to FIG. 1. The cleaning device 1 is used for polishing work such as removing dirt from floor surfaces and wax polishing. The cleaning device 1 according to this embodiment is a handheld type. The cleaning device 1 includes a main body 10, a rod 11, a support 6, a head 5, and a tip connection part 30. The rod 11 has a rod-like or cylindrical shape and extends vertically. The main body 10 has a cylindrical shape with a larger diameter than the rod 11 and extends vertically. The main body 10 is disposed above the rod 11 and accommodates the rod 11 therein. The main body 10 also accommodates a controller 50 (see FIG. 14) therein.

[0030] The main body 10 includes a first grip portion 12 formed in a T-shape at the upper end of the main body 10. The first grip portion 12 is gripped by a user of the cleaning device 1. The main body 10 includes a trigger 14 disposed on the rear surface of the first grip portion 12. The trigger 14 is configured so as to be pulled by the hand gripping the first grip portion 12. In response to being pulled by the user, the trigger 14 outputs a trigger signal indicating ON to a microcomputer (microcomputer) 60, which will be described later. In response to being released by the user, the trigger 14 outputs a trigger signal indicating OFF to the microcomputer 60.

[0031] The main body 10 includes a display unit 155 on the surface of the first grip portion 12. Furthermore, the main body 10 includes an operation unit 150 below the display unit 155. The display unit 155 and the operation unit 150 are electrically connected to the microcomputer 60 by lead wires that pass through the inside of the main body 10. The operation unit 150 and the display unit 155 are shown in FIG.

[0032] The operation unit 150 includes a main power supply / speed mode changeover switch 153. The main power supply / speed mode changeover switch 153 is operated by a user to (i) turn on or off the main power supply of the cleaning device 1, and (ii) select the speed mode of the motor 70. When pressed by a user, the main power supply / speed mode changeover switch 153 outputs a main power supply signal indicating ON to the microcomputer 60. When the ON state of the main power supply signal continues for a predetermined time or more, the main power supply is switched from ON to OFF or from OFF to ON. Also, when the main power supply signal is switched from ON to OFF before the ON state of the main power supply signal continues for a predetermined time or more, the speed mode is switched from the set mode to the next mode. The speed mode is switched in the order of low speed mode → medium speed mode → high speed mode → low speed mode.

[0033] That is, each time the user presses and holds the main power / speed mode changeover switch 153, the main power is switched between on and off. A long press means that the user continues to press the main power / speed mode changeover switch 153 for a predetermined period of time or longer. When the user turns on the main power and pulls the trigger 14, the motor 70 (see FIG. 14) is driven. When the user turns off the main power or releases the trigger 14, the motor 70 stops.

[0034] Furthermore, each time the user briefly presses main power / speed mode changeover switch 153, the speed mode switches in the following order: low speed mode → medium speed mode → high speed mode → low speed mode. A short press refers to the user releasing main power / speed mode changeover switch 153 before a predetermined time has elapsed since pressing it.

[0035] The operation unit 150 includes a reverse mode switch 154. When the reverse mode switch 154 is pressed by a user, it outputs a reverse mode signal indicating ON to the microcomputer 60. This switches the rotation direction of the motor 70 from the forward direction to the reverse direction. Hereinafter, the rotation of the motor 70 in the forward direction is referred to as the forward rotation, and the rotation of the motor 70 in the reverse direction is referred to as the reverse rotation.

[0036] The display unit 155 includes a speed display unit 151. The speed display unit 151 includes three light-emitting diodes (LEDs) corresponding to a high speed mode, a medium speed mode, and a low speed mode. Of the three LEDs of the speed display unit 151, an LED corresponding to a speed mode set via the main power supply / speed mode changeover switch 153 is turned on. In addition, the speed display unit 151 blinks the three LEDs while the motor 70 is rotating in the reverse direction.

[0037] The display unit 155 includes an error display unit 152. The error display unit 152 includes one LED, which lights up when the microcomputer 60 detects an error that requires protection of the cleaning device 1 or the battery pack 40.

[0038] The main body 10 includes a battery mounting section 41 on the upper surface of the main body 10 and behind the first grip section 12. A removable battery pack 40 is slidably mounted in the battery mounting section 41. The battery pack 40 mounted in the battery mounting section 41 is electrically connected to the controller 50. The battery pack 40 includes a chargeable and dischargeable secondary battery. The secondary battery is, for example, a lithium ion battery, and includes a plurality of battery cells connected in series.

[0039] The main body 10 includes a second grip portion 13 at the front and lower end of the main body 10. The second grip portion 13 is formed in a rectangular shape and protrudes forward from the front surface of the main body 10. The second grip portion 13 is gripped by the user.

[0040] The support part 6 is attached to the lower end of the rod part 11. The support part 6 has a bifurcated shape on the lower end side. The head unit 5 is disposed below the support unit 6 and supported by being sandwiched between the forked portions of the support unit 6. The head unit 5 incorporates a motor 70 and a speed reduction mechanism 75 (see FIG. 14). In this embodiment, the motor 70 is a three-phase brushless motor. The speed reduction mechanism 75 is connected to a rotating shaft 77 of the motor 70, and reduces the rotational speed of the motor 70 before outputting it. The motor 70 is electrically connected to the controller 50 by lead wires that pass through the inside of the rod unit 11 and the main body unit 10.

[0041] The tip connection part 30 is formed in a disk or cylinder shape and is disposed at the lower end of the head part 5. The tip connection part 30 has a load shaft 80. The load shaft 80 is connected to a rotating shaft 77 of the motor 70 via a reduction mechanism 75. Therefore, the tip connection part 30 rotates by receiving the driving force of the motor 70. That is, when the motor 70 rotates in the forward direction, the tip connection part 30 rotates in the forward direction, and when the motor 70 rotates in the reverse direction, the tip connection part 30 rotates in the reverse direction. The tip attachment 20 is detachably attached to the lower surface of the tip connection part 30. Details of the tip connection part 30 will be described later.

[0042] The tip attachment 20 is a tool for polishing floor surfaces and the like, and has a disk-shaped member. The tip attachment 20 is attached to the tip connection part 30 so that the center of the disk-shaped member coincides with the load shaft 80. The tip attachment 20 is, for example, a brush in which a tuft of bristles is attached to a disk-shaped resin member, or a pad base for fixing a disk-shaped pad made of nonwoven nylon or polyester fabric. In this embodiment, the tip attachment 20 is a brush.

[0043] <1-2. Configuration of the tip connection part and tip attachment> The configuration of the tip connection part 30 and the tip attachment 20 will be described with reference to Figs. 3 to 13. Fig. 3 shows the top surface of the tip attachment 20. The tip attachment 20 includes a first annular part 21, a second annular part 28, and a third annular part 22. The first annular part 21 is the outermost annular member, and a tuft of bristles is attached to the lower surface of the first annular part 21. The second annular part 28 is an annular part adjacent to the inner side of the first annular part 21 in the radial direction, and is located lower than the first annular part 21. The second annular part 28 has ribs 235, 245, and 255. The ribs 235, 245, and 255 are arranged at equal intervals along the circumferential direction of the second annular part 28. The second annular part 28 is screwed to the first annular part 21 via the ribs 235, 245, and 255. The third annular portion 22 is an annular member adjacent to the radially inner side of the second annular portion 28, and is located above the second annular portion 28.

[0044] Second claws 23, 24, 25 that engage with first claws 33, 34, 35 described below are attached to the third annular portion 22. The second claws 23, 24, 25 are plate-like members having an arc shape, and are arranged at equal intervals along the circumferential direction of the load shaft 80, i.e., along the circumferential direction of the third annular portion 22, so as to protrude radially inward.

[0045] FIG. 4 shows a first example of the lower surface of the second annular portion 28 and the third annular portion 22. The second claws 23, 24, and 25 have the same shape. The second claw 23 includes a protrusion 231, a first region 232, and a second region 233. The protrusion 231 is disposed in the center of the second claw 23 in the circumferential direction and protrudes downward. The first region 232 is a region on the forward rotation side with respect to the protrusion 231. The second region 233 is a region on the reverse rotation side with respect to the protrusion 231. Similarly, the second claw 24 includes a protrusion 241, a first region 242, and a second region 243, and the second claw 25 includes a protrusion 251, a first region 252, and a second region 253. A gap 261 is formed between the second claw 23 and the second claw 24, a gap 262 is formed between the second claw 24 and the second claw 25, and a gap 263 is formed between the second claw 25 and the second claw 23.

[0046] 5A and 5B show the underside of the tip connecting part 30. The tip connecting part 30 includes an outer annular part 31 and an inner annular part 38. The outer annular part 31 is an annular member disposed on the outside. The inner annular part 38 is an annular member adjacent to the radially inside of the outer annular part 31, and is disposed lower than the outer annular part 31.

[0047] The first claws 33, 34, 35 are attached to the inner annular portion 38. The first claws 33, 34, 35 are plate-like members having an arc shape, and are arranged at equal intervals so as to protrude radially outward along the circumferential direction of the rotating shaft 77, i.e., along the circumferential direction of the inner annular portion 38. The first claws 33, 34, 35 have the same shape as each other. The size of the first claws 33, 34, 35 is smaller than the gaps 261, 262, 263.

[0048] The first claws 33, 34, 35 are disposed below the outer annular portion 31. The reverse rotation side ends in the circumferential direction of the first claws 33, 34, 35 are connected to the outer annular portion 31. The normal rotation side ends in the circumferential direction of the first claws 33, 34, 35 are separated from the outer annular portion 31. That is, there is a gap between the normal rotation side ends and the outer annular portion 31 in the up-down direction.

[0049] 6 shows the underside of the tip connection part 30 in a state where the second claws 23, 24, 25 are engaged with the first claws 33, 34, 35. With the tip attachment 20 placed on the floor surface, the first claws 33, 34, 35 are passed through the gaps 261, 262, 263, and the tip connection part 30 is rotated in the forward direction, whereby the second claws 23, 24, 25 engage with the first claws 33, 34, 35. In more detail, the second region 233 of the second claw 23 enters from the end of the forward rotation side of the first claw 33, and the end of the forward rotation side of the first claw 33 comes into contact with the protrusion 231 of the second claw 23, whereby the second claw 23 engages with the first claw 33. When the second claw 23 is engaged with the first claw 33, the second region 233 is sandwiched between the outer annular portion 31 and the first claw 33. Similarly, the second claw 24 is engaged with the first claw 34, and the second claw 25 is engaged with the first claw 35.

[0050] By rotating the tip connection part 30 in the opposite direction by an angle corresponding to the engagement angle Af, the first claws 33, 34, 35 move away from the second claws 23, 24, 25 and move to the positions of the gaps 261, 262, 263. As a result, the engagement between the first claws 33, 34, 35 and the second claws 23, 24, 25 is released, and the tip attachment 20 is removed from the tip connection part 30.

[0051] The engagement angle Af is smaller than the overlap angle A4. As shown in Fig. 6, the overlap angle A4 corresponds to the area where the first claws 33, 34, 35 overlap with the second claws 23, 24, 25. In other words, the overlap angle A4 corresponds to the angle of the arc-shaped area where the first claws 33, 34, 35 overlap with the second claws 23, 24, 25.

[0052] 7 shows a second example of the underside of the second annular portion 28 and the third annular portion 22. The second claws 23, 24, 25 of the second example are smaller than the second claws 23, 24, 25 of the first example. Therefore, as shown in FIG. 8, the overlap angle A4 is smaller than that of the first example. That is, the overlap angle A4 changes depending on the shape of the tip attachment 20.

[0053] With reference to FIG. 9, a method of calculating the overlap angle A4 will be described. The first angle A1 is the interval between the protrusion 231 and the protrusion 251, and is 360 / N degrees. N is the number of the first claws, and in this embodiment, the first angle A1 is 120 degrees. The second angle A2 is an angle corresponding to the circumferential width of the rib 255, and is, for example, 10 degrees. The larger the second angle A2 is, the smaller the overlap angle A4 is. The third angle A3 is an angle corresponding to the margin of the gap 263 with respect to the first claw 35, and is, for example, 10 degrees. The larger the third angle A3 is, the smaller the overlap angle A4 is. If the third angle A3 is 0 degrees, it becomes difficult to attach the tip attachment 20 to the tip connection part 30.

[0054] The overlap angle A4 is calculated by overlap angle A4=(first angle A1-second angle A2-third angle A3) / 3. By rotating the tip connection part 30 in the opposite direction by a value larger than the overlap angle A4, the engagement between the first claws 33, 34, 35 and the second claws 23, 24, 25 is released. However, in reality, the entire area corresponding to the overlap angle A4 does not generate an engagement force (or a binding force) between the first claws 33, 34, 35 and the second claws 23, 24, 25. A part of the entire area corresponding to the overlap angle A4 generates an engagement force, and the remaining part serves as an insertion guide for the second area 233, 243, 253. The engagement angle Af corresponds to the area corresponding to the overlap angle A4 where an engagement force is generated between the first claws 33, 34, 35 and the second claws 23, 24, 25. That is, the engagement angle Af corresponds to a region where the first claws 33, 34, 35 overlap with the second claws 23, 24, 25 and where an engagement force is generated between the first claws 33, 34, 35 and the second claws 23, 24, 25.

[0055] FIG. 10 shows a cross section along the radial direction of the first claw 33. The upper surface of the first claw 33 is inclined at an angle BA with respect to a plane perpendicular to the up-down direction. Therefore, the distance between the first claw 33 and the outer annular portion 31 narrows from the inside to the outside in the radial direction. As shown in FIG. 11, when the second region 233 of the second claw 23 enters between the first claw 33 and the outer annular portion 31, the first claw 33 bends downward, and the second region 233 is sandwiched between the first claw 33 and the outer annular portion 31. As a result, an engagement force is generated between the first claw 33 and the second claw 23.

[0056] FIG. 12 shows a cross section along the circumferential direction of the first claw 33. The first claw 33 has a first portion and a second portion. The first portion is inclined at an angle BB with respect to a plane perpendicular to the vertical direction and is located on the forward rotation side of the second portion. The second portion is parallel to the plane perpendicular to the vertical direction and is connected to the outer annular portion 31. The interval between the first portion and the outer annular portion 31 is wider from the boundary with the second portion toward the end of the forward rotation side. The first portion serves as an insertion guide for the second claw 23. As shown in FIG. 13, when the second region 233 of the second claw 23 enters from the end of the first portion, the second region 233 interferes with the first portion, and an engagement force is generated between the first claw 33 and the second claw 23. The engagement angle Af is an angle corresponding to the region generating this engagement force. The engagement angle Af is smaller than the overlap angle A4, and in this embodiment, it is half the overlap angle A4.

[0057] Therefore, by rotating the tip connection part 30 in the opposite direction by an engagement angle Af or more and less than 360 degrees, the engagement between the first claws 33, 34, 35 and the second claws 23, 24, 25 is released. Preferably, by rotating the tip connection part 30 in the opposite direction by an overlap angle A4 or more and less than 360 degrees, the engagement between the first claws 33, 34, 35 and the second claws 23, 24, 25 is released.

[0058] <1-3. Electrical configuration> Referring to FIG. 14, the electrical configuration of the cleaning device 1 is shown. The cleaning device 1 includes a motor 70, a speed reduction mechanism 75, a tip connector 30, and a position sensor 65. The position sensor 65 includes three Hall sensors. The three Hall sensors are arranged corresponding to the three-phase windings of the motor 70. The three Hall sensors output position signals to the microcomputer 60 in sequence each time the rotor of the motor 70 rotates by an electrical angle of 60 degrees. In another embodiment, the motor 70 may be a brushed motor. In this case, the cleaning device 1 does not need to include the position sensor 65.

[0059] The cleaning device 1 further includes a controller 50. The controller 50 includes a power supply control circuit 52, a regulator 53, a microcomputer 60, a first data communication unit 61, a second data communication unit 62, a gate circuit 55, an inverter circuit 56, a cutoff switch 59, a battery voltage detection unit 63, a current detection circuit 57, and a temperature detection circuit 58.

[0060] The power supply control circuit 52 is connected to the positive electrode of the battery pack 40, and controls the regulator 53 based on the power supply control signal and the main power supply signal. The power supply control signal is output from the battery pack 40, and indicates on or off. The on state of the power supply control signal corresponds to the remaining capacity of the battery pack 40 being equal to or greater than a predetermined amount, and the off state of the power supply control signal corresponds to the remaining capacity of the battery pack 40 being less than the predetermined amount. When the power supply control signal is on and the main power supply is on, the power supply control circuit 52 causes the regulator 53 to generate power to be supplied to each circuit of the controller 50. When the power supply control signal is off or the main power supply is off, the power supply control circuit 52 stops the regulator 53.

[0061] The inverter circuit 56 is connected to the positive electrode of the battery pack 40 via a cutoff switch 59. The inverter circuit 56 is a full-bridge circuit having three low-side switching elements and three high-side switching elements. The switching elements are, for example, MOSFETs. The cutoff switch 59 is a switching element such as a MOSFET.

[0062] The gate circuit 55 controls the on / off of each switching element of the inverter circuit 56 based on the motor control signal input from the microcomputer 60. The inverter circuit 56 applies a voltage corresponding to the on / off of each switching element to the three-phase windings of the motor 70. The gate circuit 55 also controls the on / off of a cutoff switch 59 based on the switch control signal input from the microcomputer 60. When the cutoff switch 59 is on, the inverter circuit 56 is conductive to the battery pack 40 and receives power from the battery pack 40. When the cutoff switch 59 is off, the electrical connection between the inverter circuit 56 and the battery pack 40 is cut off.

[0063] The battery voltage detection unit 63 detects the battery voltage value, and outputs the detected battery voltage value to the microcomputer 60. The battery voltage value corresponds to the magnitude of the output voltage of the battery pack 40.

[0064] The current detection circuit 57 detects the battery current value, and outputs the detected battery current value to the microcomputer 60. The battery current value corresponds to the magnitude of the current flowing from the battery pack 40 to the motor 70.

[0065] The temperature detection circuit 58 detects the circuit temperature of the controller 50 and outputs the detected circuit temperature to the microcomputer 60 . The microcomputer 60 includes a CPU 60a and a memory 60b. The memory 60b includes, for example, semiconductor memory such as a ROM, a RAM, an NVRAM, and a flash memory. The microcomputer 60 executes programs stored in the memory 60b to realize various functions. The microcomputer 60 also stores temporary data generated according to the various functions in the memory 60b. In this embodiment, the microcomputer 60 corresponds to an example of a control unit of the present disclosure.

[0066] Some or all of the various functions realized by the microcomputer 60 may be achieved by executing a program (i.e., by software processing) or by one or more pieces of hardware. For example, instead of or in addition to a microcomputer, the microcomputer 60 may include a logic circuit including multiple electronic components, an application specific integrated circuit such as an ASIC and / or an ASSP, or a programmable logic device such as an FPGA capable of constructing any logic circuit.

[0067] The microcomputer 60 executes serial communication with the battery pack 40 via the first data communication unit 61 and receives battery information. The battery information includes identification data such as whether the battery pack 40 is in a dischargeable state and the model number of the battery pack 40. The microcomputer 60 receives a discharge permission signal or a discharge prohibition signal from the battery pack 40 via the second data communication unit 62. The discharge permission signal is transmitted from the battery pack 40 when the battery pack 40 is in a dischargeable state. The discharge prohibition signal is transmitted from the battery pack 40 when the battery pack 40 is in a dischargeable state.

[0068] The microcomputer 60 generates a motor control signal and a switch control signal based on the main power supply signal, the reverse rotation mode signal, the trigger signal, the circuit temperature, the battery voltage value, the battery current value, the position signal, the battery information, and the discharge permission signal or the discharge prohibition signal. The microcomputer 60 outputs the generated motor control signal and switch control signal to the gate circuit 55. The motor control signal is a pulse width modulation (PWM) signal. The microcomputer 60 also controls the LED of the speed display unit 151 based on the main power supply signal and the reverse rotation mode signal.

[0069] <2. Processing> <2-1. Main processing> The main processing executed by the microcomputer 60 will be described with reference to the flowchart of Fig. 15. The microcomputer 60 repeatedly executes this processing at a predetermined control period.

[0070] In S10, it is determined whether a control period has elapsed since the start of the current processing cycle. The control period is set in advance. If it is determined that the control period has elapsed (S10: YES), the process proceeds to S20, and if it is determined that the control period has not elapsed (S10: NO), the process of S10 is repeatedly executed.

[0071] In S20, a switch operation detection process is executed to detect user operations of the main power / speed mode changeover switch 153, the reverse mode switch 154, and the trigger 14. Then, the process proceeds to S30. The switch operation detection process will be described in detail later.

[0072] In S30, an AD conversion process is executed to convert the analog values ​​of the circuit temperature, the battery voltage value, and the battery current value input to the microcomputer 60 into digital values. After that, the process proceeds to S40.

[0073] In S40, an error detection process is executed. More specifically, the occurrence of an error that requires protection of the cleaning device 1 or the battery pack 40 is detected based on the battery current value, battery voltage value, circuit temperature, rotation speed of the motor 70, battery information, etc. Types of errors include an overcurrent error in which an excessive current flows through the motor 70, an overload error in which the motor 70 is subjected to an excessive load, a high temperature error in which the circuit temperature is higher than the normal range, an overspeed error in which the rotation speed of the motor 70 exceeds the upper limit, and a battery error in which the battery pack 40 is in a discharge-prohibited state. Then, the process proceeds to S50.

[0074] In S50, a motor control process is executed to control the driving of the motor 70. Then, the process proceeds to S60. The motor control process will be described in detail later. In S60, a display process is executed. More specifically, the LED of the speed display unit 151 is turned on, blinked, or turned off based on the set speed mode and rotation direction. Also, if any error is detected in the process of S40, the LED of the error display unit 152 is turned on. Then, the process proceeds to S70.

[0075] In S70, a power management process is executed to turn the main power state on or off. The power management process will be described in detail later.

[0076] <2-2. Interrupt processing> The hall sensor interrupt process executed by the microcomputer 60 will be described with reference to the flowchart of Fig. 16. When a position signal is input from any of the hall sensors included in the position sensor 65, the microcomputer 60 executes this process by interrupt.

[0077] In S80, an inverter control process is executed to turn on or off the six switching elements of the inverter circuit 56. Then, the process proceeds to S90. The inverter control process will be described in detail later.

[0078] In S90, a calculation process of the rotation angle is executed to calculate the first rotation angle θ1 and the second rotation angle θ2. The first rotation angle θ1 is the angle at which the tip connection part 30 rotates in the reverse direction. The second rotation angle θ2 is the angle at which the tip connection part 30 rotates in the reverse direction when the tip attachment 20 is pressed against the floor surface and receives a resistance from the floor surface. In other words, the second rotation angle θ2 is the angle at which the tip connection part 30 rotates in the reverse direction when the motor 70 receives a load equal to or greater than a predetermined value. Therefore, θ1≧θ2. The details of the calculation process of the rotation angle will be described later.

[0079] <2-1-1. Switch detection process> The switch operation detection process executed by the microcomputer 60 in S20 of the main process will be described with reference to the flowchart of FIG.

[0080] In S100, the states of various switches are obtained. That is, a main power signal is obtained from the main power / speed mode changeover switch 153, and a reverse mode signal is obtained from the reverse mode switch 154. Furthermore, a trigger signal is obtained from the trigger 14. After that, the process proceeds to S110.

[0081] In S110, a filter process is applied to various signals obtained from various switches, and if the on state continues for a certain period of time or more, the signal is detected as on, and if the off state continues for a certain period of time or more, the signal is detected as off. In other words, no instantaneous signal changes are detected. Then, the process proceeds to S120.

[0082] In S120, a change flag corresponding to the state change of various switches is turned on. More specifically, if the main power signal changes from on to off or off to on, the main power change flag is turned on. If the reverse mode signal changes from on to off or off to on, the reverse mode change flag is turned on. If the trigger signal changes from on to off or off to on, the trigger change flag is turned on. Then, the process proceeds to S130.

[0083] In S130, the time that each switch continues to be in the ON state or the time that each switch continues to be in the OFF state is measured.

[0084] <2-1-2. Power management processing> The power management process executed by the microcomputer 60 in S70 of the main process will be described with reference to the flowchart of FIG.

[0085] In S200, it is determined whether the current main power state is off. If it is determined that the current main power state is on (S200: NO), the process proceeds to S210, and if it is determined that the current main power state is off (S200: YES), the process proceeds to S220.

[0086] In S210, a determination is made as to whether the main power state is off, and whether the main power state is to be switched from on to off or maintained on, and then this process ends. The details of the determination as to whether the main power state is off will be described later.

[0087] In S220, a main power state ON determination is performed to determine whether the main power state is switched from OFF to ON or maintained OFF. Specifically, if the main power change flag is ON, the main power state is switched from OFF to ON. If the main power change flag is OFF, the main power state is maintained OFF. Then, this process is terminated.

[0088] <2-1-2A. Main power off determination process> The main power supply OFF state determination process executed by the microcomputer 60 in S210 of the power supply management process will be described with reference to the flowchart of FIG.

[0089] In S230, a process for determining whether the main power supply state is OFF due to a switch operation is executed. Specifically, if the main power supply change flag is ON, the main power supply state is switched from ON to OFF. If the main power supply change flag is OFF, the main power supply state is maintained ON. Then, the process proceeds to S240.

[0090] In S240, the automatic off determination process of the main power supply state is executed. Specifically, even if the main power supply change flag is off, it is determined whether to switch the main power supply state from on to off in order to save power, and this process is terminated. The details of the automatic off determination process of the main power supply state will be described later.

[0091] <2-1-2Aa. Automatic off judgment process> The automatic off-determination process of the main power supply state executed by the microcomputer 60 in S240 of the off-determination process of the main power supply state will be described with reference to the flowchart of FIG.

[0092] In S250, it is determined whether any of the switches has been operated by the user. That is, it is determined whether any of the main power supply change flag, reverse mode change flag, and trigger change flag is in the ON state. If it is determined that at least one change flag is in the ON state (S250: YES), the process proceeds to S320, and if it is determined that all change flags are in the OFF state (S250: NO), the process proceeds to S260.

[0093] In S260, the main power on timer is incremented, and the process proceeds to S270. The main power on timer corresponds to the time during which the user has not operated the cleaning device 1 and the main power has been on.

[0094] In S270, it is determined whether the rotation direction of the motor 70 is set to the forward direction. If it is determined that the rotation direction is set to the forward direction (S270: YES), the process proceeds to S280. If it is determined that the rotation direction is set to the reverse direction (S270: NO), the process proceeds to S300.

[0095] In S280, it is determined whether the value of the main power on timer is equal to or greater than a first threshold value. The first threshold value is several minutes, for example, 5 minutes. A user may interrupt work using the cleaning device 1 with the main power on to perform another task, such as watering. In this case, if the user resumes work using the cleaning device 1 and the main power is off, the user may feel annoyed. On the other hand, if the user forgets to turn off the main power and stores the cleaning device 1, power from the battery pack 40 will be wasted unless the main power is turned off.

[0096] Therefore, the microcomputer 60 judges whether the state where the user is not operating the cleaning device 1 is an interruption of work, and if it is judged not to be an interruption of work, it turns off the main power. The first threshold is a threshold for judging whether the state where the cleaning device 1 is not operated is an interruption of work. If it is judged that the value of the main power on timer is equal to or greater than the first threshold (S280: YES), it proceeds to processing of S290, and if it is judged that the value of the main power on timer is less than the first threshold (S280: NO), it ends this processing.

[0097] In S290, if the state where the user has not operated the cleaning device 1 continues for more than the first threshold, it is determined that the current state is not an interruption of work, and the main power is turned off. After that, this process ends.

[0098] In S300, it is determined whether the value of the main power on timer is equal to or greater than the second threshold. The second threshold is a value smaller than the first threshold, for example, 1 minute. Normally, a user does not reverse the motor 70 except when removing the tip attachment 20. Therefore, when the rotation direction is set to reverse and the user is not operating the cleaning device 1, it is not necessary to determine whether the current state is an interruption of work, and the main power can be immediately turned off.

[0099] If it is determined that the value of the main power on timer is greater than or equal to the second threshold (S300: YES), proceed to processing at S310; if it is determined that the value of the main power on timer is less than the second threshold (S300: NO), terminate this processing.

[0100] In S310, the main power supply state is turned off, and this process ends. In S320, the main power on timer is cleared in response to the user operating the cleaning device 1. In other words, the value of the main power on timer is reset to zero. After that, this process ends.

[0101] <2-1-3. Motor control processing> The motor control process executed by the microcomputer 60 at S50 in the main process will be described with reference to the flowchart of FIG.

[0102] In S400, a speed mode setting process is executed to set the speed mode to any one of the high speed mode, the medium speed mode, and the low speed mode, and the process proceeds to S410. The speed mode setting process will be described in detail later.

[0103] In S410, a rotation direction setting process is executed to set the rotation direction of the motor 70, and the process proceeds to S420. The rotation direction setting process will be described in detail later. In S420, a state transition process is executed to set the control mode of the motor 70 to the drive mode or the stop mode, and the process ends. The state transition process will be described in detail later.

[0104] <2-1-3A. Speed ​​mode setting process> The speed mode setting process executed by the microcomputer 60 at S400 of the motor control process will be described with reference to the flowchart of FIG.

[0105] In S430, it is determined whether the main power supply state is off or on. If it is determined that the main power supply state is on (S430: YES), the process proceeds to S440. If it is determined that the main power supply state is off (S430: NO), the process proceeds to S480.

[0106] In S440, it is determined whether the main power / speed mode changeover switch 153 has changed from on to off. In other words, it is determined whether the user has released the main power / speed mode changeover switch 153. In particular, it is determined whether the main power / speed mode changeover switch 153 has just been changed from on to off. If it is determined in S440 that the main power / speed mode changeover switch 153 has just been changed from on to off (S440: YES), the process proceeds to S450. If it is determined in S440 that the main power / speed mode changeover switch 153 has not just been changed from on to off (S440: NO), this process ends.

[0107] In S450, it is determined whether the main power / speed mode changeover switch 153 has been short-pressed. Specifically, it is determined whether the main power / speed mode changeover switch 153 has been short-pressed based on the duration of the on state of the main power / speed mode changeover switch 153 measured in S130. If it is determined that the main power / speed mode changeover switch 153 has been short-pressed (S450: YES), the process proceeds to S460. If it is determined that the main power / speed mode changeover switch 153 has not been short-pressed (S450: NO), this process ends.

[0108] In S460, the currently set speed mode is changed to the next speed mode, and the process proceeds to S470. In S470, the speed mode changed in S460 is stored in the memory 60b, and this process ends.

[0109] In S480, the speed mode stored in the memory 60b is set as the speed mode to be used for controlling the motor 70, and this process ends.

[0110] <2-1-3B. Rotation direction setting process> The rotation direction setting process executed by the microcomputer 60 at S410 of the motor control process will be described with reference to the flowcharts of FIGS. 23A to 23C.

[0111] First, in the processes of S500 to S560, a process of setting a request for switching the rotation direction of the motor 70 to ON or OFF is executed. In S500, it is determined whether the main power supply state is on. If it is determined that the main power supply state is on (S500: YES), the process proceeds to S510, and if it is determined that the main power supply state is off (S500: NO), the process proceeds to S540.

[0112] In S510, it is determined based on the reverse mode change flag whether the reverse mode switch 154 has changed from off to on. If it is determined that the reverse mode switch 154 has changed from off to on (S510: YES), the process proceeds to S520, and if it is determined that the reverse mode switch 154 remains off (S510: NO), the process proceeds to S570.

[0113] In S520, it is determined whether the protection of the cleaning device 1 or the battery pack 40 is operating. That is, in S40, it is determined whether any error has been detected. If it is determined that the protection of the cleaning device 1 or the battery pack 40 is operating (S520: YES), the process proceeds to S570. If it is determined that the protection of the cleaning device 1 or the battery pack 40 is not operating (S520: NO), the process proceeds to S530.

[0114] In S530, the rotation direction switching request is turned on, and the process proceeds to S570. In S540, since the main power supply state is OFF, the request to stop the motor 70 is turned OFF, and the process proceeds to S550.

[0115] In S550, the rotation direction is set to the forward direction so that the next time the user uses cleaning device 1, operation will start in the forward direction, and the process proceeds to S560. In S560, the rotation direction switching request is turned off, and the process proceeds to S570.

[0116] Next, in S570 to S610, the rotation direction switching process is executed based on a rotation direction switching request. In S570, it is determined whether the rotation direction switching request is ON. If it is determined that the rotation direction switching request is ON (S570: YES), the process proceeds to S580, and if it is determined that the rotation direction switching request is OFF (S570: NO), the process proceeds to S620.

[0117] In S580, it is determined whether the rotation speed of the motor 70 is less than the speed threshold. For safety reasons, the rotation direction is not changed while the motor 70 is rotating. In S580, it is determined whether the motor 70 is in a state where it can be considered to be stopped. The speed threshold is small enough that the motor 70 can be considered to be stopped. If it is determined that the rotation speed is less than the speed threshold (S580: YES), the process proceeds to S590. If it is determined that the rotation speed is equal to or greater than the speed threshold (S580: NO), the rotation direction is not changed and the process proceeds to S620.

[0118] In S590, it is determined whether the trigger 14 is off. If it is determined that the trigger 14 is off (S590: YES), the process proceeds to S600, and if it is determined that the trigger 14 is on (S590: NO), the process proceeds to S620.

[0119] In S600, the rotation direction of the motor 70 is switched to a direction different from the currently set rotation direction. That is, if the current rotation direction is set to the forward direction, the rotation direction is switched to the reverse direction, and if the current rotation direction is set to the reverse direction, the rotation direction is switched to the forward direction. Then, the process proceeds to S610. In S610, since the switching of the rotation direction has been completed, the request for switching the rotation direction is turned off, and the process proceeds to S620.

[0120] Next, in S620 to S680, the process of setting the motor stop request to ON or OFF is executed. In S620, it is determined whether the motor stop request is OFF. If it is determined that the motor stop request is OFF (S620: YES), the process proceeds to S630, and if it is determined that the motor stop request is ON (S620: NO), the process proceeds to S660.

[0121] In S630, it is determined whether the rotation direction switching request is ON. If it is determined that the rotation direction switching request is ON (S630: YES), the process proceeds to S640, and if it is determined that the rotation direction switching request is OFF (S630: NO), the process proceeds to S690.

[0122] In S640, it is determined whether the rotation speed is equal to or greater than the speed threshold. If it is determined that the rotation speed is equal to or greater than the speed threshold (S640: YES), the process proceeds to S650. If it is determined that the rotation speed is less than the speed threshold (S640: NO), the process proceeds to S690.

[0123] In S650, the motor stop request is turned on. As a result, in the state transition process described below, the stop process of the motor 70 is executed, and the rotation speed becomes less than the speed threshold value. In addition, in S600, the rotation direction is switched. After that, the process proceeds to S690.

[0124] In S660, it is determined whether the rotation speed is less than the speed threshold. If it is determined that the rotation speed is less than the speed threshold (S660: YES), the process proceeds to S670, and if it is determined that the rotation speed is equal to or greater than the speed threshold (S660: NO), the process proceeds to S690.

[0125] In S670, it is determined whether the trigger 14 is off. If it is determined that the trigger 14 is off (S670: YES), the process proceeds to S680, and if it is determined that the trigger 14 is on (S670: NO), the process proceeds to S690.

[0126] In S680, since the motor 70 has stopped and the user has not requested restarting the motor 70, the motor stop request is turned off and the process proceeds to S690. Next, in S690, the rotation angle acquisition process of the tip connector 30 is executed, the first rotation angle θ1 and the second rotation angle θ2 are acquired, and the process proceeds to S700. The rotation angle acquisition process of the tip connector 30 will be described in detail later.

[0127] In S700, it is determined whether the rotation direction is set to the reverse direction. If it is determined that the rotation direction is set to the reverse direction (S700: YES), the process proceeds to S710, and if it is determined that the rotation direction is set to the forward direction (S700: NO), the process ends.

[0128] In S710, it is determined whether the control mode of the motor 70 is set to the drive mode. The control mode is set to the drive mode or the stop mode in a state transition process described later. If it is determined that the control mode is set to the drive mode (S710: YES), the process proceeds to S720, and if it is determined that the control mode is set to the stop mode (S710: NO), the process ends.

[0129] In S720, it is determined whether the first rotation angle θ1 acquired in S690 is equal to or greater than the engagement angle Af+α. α is a value between 0 and 360 degrees. Here, the microcomputer 60 does not determine whether the tip attachment 20 is detached from the cleaning device 1, but if the tip connection part 30 rotates in the reverse direction by the engagement angle Af+α or more while the tip attachment 20 is pressed against the floor, the tip attachment 20 is detached from the cleaning device 1. If the tip connection part 30 continues to rotate in the reverse direction, a malfunction may occur, so the motor 70 is stopped. In S720, it is determined whether the rotation state of the tip connection part 30 is such that the motor 70 should be stopped. If it is determined that the first rotation angle θ1 is equal to or greater than the engagement angle Af+α (S720: YES), the process proceeds to S730, and if it is determined that the first rotation angle θ1 is less than the engagement angle Af+α (S720: NO), this process ends.

[0130] In S730, the motor stop request is turned on, and the process proceeds to S740. In S740, an automatic return to normal rotation determination process is executed. Specifically, it is determined whether the tip attachment 20 has been detached from the cleaning device 1, and if it is determined that the tip attachment 20 has been detached from the cleaning device 1, the rotation direction is automatically changed to normal rotation without the user operating the reverse mode switch 154. The automatic return to normal rotation determination process will be described in detail later. After that, this process ends.

[0131] <2-1-3Ba. Connection rotation angle acquisition process> A first example of the process of acquiring the rotation angle of the connection part executed by the microcomputer 60 in S690 of the process of setting the rotation direction will be described with reference to the flowchart of FIG.

[0132] In S800, it is determined whether the rotation direction is set to the reverse direction. If it is determined that the rotation direction is set to the reverse direction (S800: YES), the process proceeds to S810, and if it is determined that the rotation direction is set to the forward direction (S800: NO), the process proceeds to S830.

[0133] In S810, the request to acquire the first rotation angle θ1 is turned on. This causes the first rotation angle θ1 to be calculated in the rotation angle calculation process described later. Then, the process proceeds to S820. In S820, the first rotation angle θ1 calculated in the rotation angle calculation process is acquired, and the process proceeds to S850.

[0134] In S830, the request to obtain the first rotation angle θ1 is turned off, and the process proceeds to S840. In S840, the first rotation angle θ1 is set to 0 degrees, and the process proceeds to S880.

[0135] In S850, it is determined whether the motor load is equal to or greater than the load threshold. The motor load is the load received by the motor 70. When the end attachment 20 is pressed against the floor surface, the end attachment 20 receives a resistance force from the floor surface, and the motor 70 receives the load via the end attachment 20.

[0136] The motor load corresponds to the rotation speed, the battery current value, or the motor current value. Therefore, it is only necessary to determine whether the motor load is equal to or greater than the load threshold value based on the rotation speed, the battery current value, or the motor current value. The motor current value corresponds to the magnitude of the current flowing through the motor 70, and is estimated by motor current value=battery current value÷output duty ratio×100. The output duty ratio is the duty ratio of the PWM signal output by the microcomputer 60 to the gate circuit 55.

[0137] When the determination in S850 is performed based on the battery current value or the motor current value, the load threshold is set to, for example, 10A. When the determination in S850 is performed based on the rotation speed, the motor load is set to the difference between the expected rotation speed and the actual rotation speed, and the load threshold is set to, for example, 1000 rpm. The expected rotation speed is a rotation speed corresponding to the applied voltage value when the motor 70 is not loaded. The applied voltage value corresponds to the magnitude of the voltage applied to the windings of the motor 70, and is estimated by the applied voltage value=the output voltage value of the battery pack 40×the output duty ratio÷100. For example, when the applied voltage value is 32V, the expected rotation speed is 20000 rpm, while the actual rotation speed is 18000 rpm, it is determined that the motor load is equal to or greater than the load threshold. Furthermore, when the motor 70 is controlled to rotate at a constant speed, the rotation speed is maintained even if the motor load increases, but the applied voltage value increases. For example, if the applied voltage value required to maintain a rotational speed of 2000 rpm is 36 V, and the rotational speed when a voltage of 36 V is applied to an unloaded motor 70 is 22,500 rpm, the motor load is determined to be equal to or greater than the load threshold.

[0138] If it is determined that the motor load is equal to or greater than the load threshold (S850: YES), the process proceeds to S860. If it is determined that the motor load is less than the load threshold (S850: NO), the process proceeds to S880.

[0139] In S860, the request to acquire the second rotation angle θ2 is turned on. This causes the second rotation angle θ2 to be calculated in the rotation angle calculation process. Then, the process proceeds to S870. In S870, the second rotation angle θ2 calculated in the rotation angle calculation process is acquired, and this process ends.

[0140] In S880, the request to obtain the second rotation angle θ2 is turned off, and the process proceeds to S890. In S890, the second rotation angle θ2 is set to 0 degrees, and this process ends.

[0141] Next, a second example of the process of acquiring the rotation angle of the connection part executed by the microcomputer 60 in S690 of the process of setting the rotation direction will be described with reference to the flowchart of Fig. 25. In the second example, it is assumed that the motor 70 is a brushed motor. If the motor 70 is a brushed motor, the microcomputer 60 does not execute the process of calculating the rotation angle in S90 of the hall sensor interrupt process.

[0142] In S105, it is determined whether the rotation direction is set to the reverse direction. If it is determined that the rotation direction is set to the reverse direction (S105: YES), the process proceeds to S115, and if it is determined that the rotation direction is set to the forward direction (S105: NO), the process proceeds to S175.

[0143] In S115, the rotation speed of the motor 70 is calculated or estimated. More specifically, the rotation speed of the motor 70 is calculated or estimated from the applied voltage value and the output duty ratio. After that, the process proceeds to S125.

[0144] In S125, the rotation speed of the tip connection part 30 is calculated or estimated based on the rotation speed of the motor 70 estimated or calculated in S115. Specifically, the rotation speed of the tip connection part 30 is calculated or estimated from the rotation speed of the motor 70 and the gear ratio of the reduction mechanism 75. Then, the process proceeds to S135.

[0145] In S135, the first displacement angle Δθ1 is calculated based on the rotation speed of the tip connector 30. The first displacement angle Δθ1 corresponds to the rotation angle of the tip connector 30 per control cycle. For example, when the rotation speed of the tip connector 30 is 300 rpm and the control cycle is 1 ms, the first displacement angle Δθ1 = 360 degrees × 300 ÷ 60000 = 1.8 degrees. Then, proceed to the process of S135.

[0146] In S145, the first displacement angle Δθ1 is added to the first rotation angle θ1, and the process proceeds to S155. In S155, similarly to the process of S850, it is determined whether the motor load is equal to or greater than the load threshold. If it is determined that the motor load is equal to or greater than the load threshold (S155: YES), the process proceeds to S165, and if it is determined that the motor load is less than the load threshold (S155: NO), the process proceeds to S185.

[0147] In S165, the first displacement angle Δθ1 is added to the second rotation angle θ2, and this process ends. In S175, the first rotation angle θ1 is set to 0 degrees, and the process proceeds to S185. In S185, the second rotation angle θ2 is set to 0 degrees, and this process ends.

[0148] <2-1-3Bb. Automatic return to normal rotation judgment process> A first example of the process of determining whether to automatically return to normal rotation, which is executed by the microcomputer 60 in S740 of the process of setting the rotation direction, will be described with reference to the flowchart of FIG.

[0149] In S205, automatic return determination processing based on the second rotation angle θ2 is executed, and this processing ends. The automatic return determination processing based on the second rotation angle θ2 will be described in detail later.

[0150] Next, a second example of the automatic return to normal rotation determination process executed by the microcomputer 60 in S740 of the rotation direction setting process will be described with reference to the flowchart of FIG. In S215, an automatic return determination process based on the number of times the motor is driven in the reverse direction is executed, and the process ends. The automatic return determination process based on the number of times the motor is driven in the reverse direction will be described in detail later.

[0151] Next, a third example of the automatic return to normal rotation determination process executed by the microcomputer 60 in S740 of the rotation direction setting process will be described with reference to the flowchart of FIG. In S225, similarly to S205, the automatic return determination process based on the second rotation angle θ2 is executed, and the process proceeds to S235.

[0152] In S235, similar to S215, the automatic return determination process based on the number of times the motor is driven in the reverse direction is executed, and the process ends. That is, in the third example, both the determination process of the first example and the determination process of the second example are executed.

[0153] <2-1-3Bba. Automatic return judgment process based on the second rotation angle> Next, the automatic return determination process based on the second rotation angle executed by the microcomputer 60 in S205 or S225 of the automatic return to normal rotation determination process will be described with reference to the flowchart of FIG.

[0154] In S245, it is determined whether the second rotation angle θ2 is equal to or greater than the engagement angle Af+β. β≦α. Here, it is determined whether the tip attachment 20 has been released from the tip connection part 30. When the tip connection part 30 rotates reversely by the engagement angle Af+β or more while the tip attachment 20 is pressed against the floor surface, it can be estimated that the engagement between the first claws 33, 34, 35 and the second claws 23, 24, 24 is released and the tip attachment 20 has been released from the tip connection part 30. If it is determined that the second rotation angle θ2 is equal to or greater than the engagement angle Af+β (S245: YES), the process proceeds to S255, and if it is determined that the second rotation angle θ2 is less than the engagement angle Af+β (S245: NO), the process ends.

[0155] In S255, since it can be assumed that the tip attachment 20 has been detached from the tip connection part 30, a request to switch the rotation direction is turned on in order to return the rotation direction to the forward direction. After that, this process ends.

[0156] <2-1-3Bbb. Automatic return judgment process based on the number of times of driving in reverse> Next, the automatic return to normal rotation determination process based on the number of times of driving in reverse rotation executed by the microcomputer 60 in S215 or S235 of the automatic return to normal rotation determination process will be described with reference to the flowchart of Fig. 30. One drive corresponds to the time from when the motor 70 starts to rotate until it stops.

[0157] In S265, it is determined whether the rotation direction was set to forward rotation in the previous drive of the motor 70. If it is determined that the rotation direction was set to forward rotation (S265: YES), the process proceeds to S275, and if it is determined that the rotation direction was set to reverse rotation (S265: NO), the process proceeds to S285.

[0158] In S275, the number of reverse rotation drives is set to 1, and the process proceeds to S295. In S285, the number of times the rotation is reversed is incremented by "1", and the process proceeds to S295. In S295, it is determined whether the number of reverse rotations is equal to or greater than a predetermined number. Here, it is determined whether the tip attachment 20 has been detached from the tip connection part 30. When the number of reverse rotations reaches a predetermined number while the tip attachment 20 is pressed against the floor surface, it can be estimated that the engagement between the first claws 33, 34, 35 and the second claws 23, 24, 25 is released and the tip attachment 20 has been detached from the tip connection part 30. The rotation speed of the motor 70 x the control period x the predetermined number of times corresponds to the engagement angle Af + β. If it is determined that the number of reverse rotations is equal to or greater than the predetermined number (S295: YES), the process proceeds to S305, and if it is determined that the number of reverse rotations is less than the predetermined number (S295: NO), this process ends.

[0159] In S305, the rotation direction switching request is turned on to return the rotation direction to the forward direction, and then this process is terminated.

[0160] <2-1-3C. State transition processing> The state transition process executed by the microcomputer 60 at S420 of the motor control process will be described with reference to the flowchart of FIG.

[0161] In S405, it is determined whether the main power supply state is ON. If it is determined that the main power supply state is ON (S405: YES), the process proceeds to S415, and if it is determined that the main power supply state is OFF (S405: NO), the process proceeds to S475.

[0162] In S415, it is determined whether the protection of the cleaning device 1 or the battery pack 40 is operating. If it is determined that the protection of the cleaning device 1 or the battery pack 40 is operating (S415: YES), the process proceeds to S475. If it is determined that the protection of the cleaning device 1 or the battery pack 40 is not operating (S415: NO), the process proceeds to S425.

[0163] In S425, it is determined whether the trigger 14 is on. If it is determined that the trigger 14 is on (S425: YES), the process proceeds to S435, and if it is determined that the trigger 14 is off (S425: NO), the process proceeds to S475.

[0164] In S435, it is determined whether the motor stop request is OFF. If it is determined that the motor stop request is OFF (S435: YES), the process proceeds to S445, and if it is determined that the motor stop request is ON (S435: NO), the process proceeds to S475.

[0165] In S445, the control mode of the motor 70 is set to the drive mode, and the process proceeds to S455. In S455, since the control mode is the drive mode, a target rotation speed is set according to the set speed mode. As shown in Fig. 34, the target rotation speed for each speed mode is preset and stored in the memory 60b. Then, the process proceeds to S465.

[0166] In S465, the output duty ratio of the PWM signal is calculated based on the target rotation speed set in S455. Specifically, the output duty ratio is calculated by proportional-integral control based on the speed difference between the target rotation speed and the actual rotation speed. Then, this process ends.

[0167] In S475, the control mode of the motor 70 is set to the stop mode, and the process proceeds to S485. In S485, since the control mode is the stop mode, a process for stopping the motor 70 is executed, and the process proceeds to S495. In S495, the output duty ratio is initialized, and this process ends.

[0168] <2-2-1. Calculation of rotation angle> The rotation angle calculation process executed by the microcomputer 60 in S90 of the Hall sensor interrupt process will be described with reference to the flowchart of FIG.

[0169] In S900, it is determined whether the request to obtain the first rotation angle θ1 is ON. If the request to obtain the first rotation angle θ1 is ON (S900: YES), the process proceeds to S910. If the request to obtain the first rotation angle θ1 is OFF (S900: NO), the process proceeds to S940.

[0170] In S910, it is determined whether the position signal output from the position sensor 65 is as expected. Specifically, it is determined whether the position signals are being output from the three Hall sensors in the expected order based on the rotation direction of the motor 70. If it is determined that the position signal is as expected (S910: YES), the process proceeds to S920, and if it is determined that the position signal is not as expected (S910: NO), the process proceeds to S930.

[0171] In S920, the second displacement angle Δθ2 is added to the first rotation angle θ1. The second displacement angle Δθ2 corresponds to the angle by which the tip connection part 30 rotates between the outputs of two consecutive position signals. For example, if the motor 70 is a four-pole motor, a mechanical angle of 360 degrees corresponds to an electrical angle of 360 degrees × 2. Furthermore, if the gear ratio of the reduction mechanism 75 is 20, one rotation of the tip connection part 30 corresponds to 20 rotations of the rotor. In this case, since the second displacement angle Δθ2 corresponds to an electrical angle of 60 degrees (i.e., between the outputs of the position signal), the motor displaces 30 degrees in mechanical angle while the tip connection part 30 displaces by the second displacement angle θ2. When the motor displaces 30 degrees, the tip connection part 30 displaces by 30 degrees ÷ 20 (gear ratio). Therefore, the second displacement angle Δθ2 becomes 1.5 degrees. Then, the process proceeds to S940.

[0172] In S930, the second displacement angle Δθ2 is subtracted from the first rotation angle θ1. If the position signal is not as expected, it is assumed that the rotor is rotating in the opposite direction. Therefore, the second displacement angle Δθ2 is subtracted from the first rotation angle θ1. Then, the process proceeds to S940.

[0173] In S940, it is determined whether the request to obtain the second rotation angle θ2 is ON. If it is determined that the request to obtain the second rotation angle θ2 is ON (S940: YES), the process proceeds to S950. If it is determined that the request to obtain the second rotation angle θ2 is OFF (S940: NO), the process ends.

[0174] In S950, it is determined whether the position signal output from the position sensor 65 is as expected. If it is determined that the position signal is as expected (S950: YES), the process proceeds to S960, and if it is determined that the position signal is not as expected (S960: NO), the process proceeds to S970.

[0175] In S960, the second displacement angle Δθ2 is added to the second rotation angle θ2, and this process ends. In S970, the second displacement angle Δθ2 is subtracted from the second rotation angle θ2, and this process ends.

[0176] <2-2-2. Inverter control processing> The inverter control process executed by the microcomputer 60 in S80 of the Hall sensor interrupt process will be described with reference to the flowchart of FIG.

[0177] In S505, the set control mode is obtained, and the process proceeds to S515. In S515, the set rotation direction is obtained, and the process proceeds to S525. In S525, the calculated output duty ratio is obtained, and the process proceeds to S535.

[0178] In S535, the rotor position is obtained based on the position signal output from the position sensor 65, and the process proceeds to S545. In S545, the inverter circuit 56 is controlled via the gate circuit 55 to drive the motor 70. More specifically, a PWM signal is generated based on the acquired control mode, rotation direction, output duty ratio, and position signal, and the PWM signal is output to the gate circuit 55. After that, this process ends.

[0179] <3.Effects> According to the first embodiment described above in detail, the following effects are achieved. (1) When the first rotation angle θ1 becomes equal to or greater than the engagement angle Af+α, the microcomputer 60 stops the motor 70. This prevents the user from using the cleaning device 1 without realizing that the motor 70 is rotating in the reverse direction.

[0180] (2) When the second rotation angle θ2 becomes equal to or greater than the engagement angle Af+β, the microcomputer 60 stops the motor 70 and returns the rotation direction to the positive direction. This makes it possible to more reliably detach the tip attachment 20 from the tip connection part 30, and also allows the user to use the cleaning device 1 next time without having to worry about the rotation direction of the motor 70.

[0181] (3) When the number of times that the motor 70 has been driven in the reverse direction reaches or exceeds a predetermined number, the microcomputer 60 stops the motor 70 and returns the rotation direction to the forward direction. This makes it possible to more reliably detach the tip attachment 20 from the tip connector 30, and also allows the user to use the cleaning device 1 next time without having to worry about the rotation direction of the motor 70.

[0182] Second embodiment <1. Differences from the first embodiment> The second embodiment has a basic configuration similar to that of the first embodiment, and therefore differences will be described below. Note that the same reference numerals as those in the first embodiment indicate the same configuration, and the preceding description will be referred to.

[0183] In the second embodiment, the rotation direction setting process and the state transition process are different from those in the first embodiment. The rotation direction setting process in the second embodiment is different from that in the first embodiment in that a pressing determination is added to determine whether the tip attachment 20 is pressed against the floor surface.

[0184] <2. Processing> <2-1. Rotation direction setting process> A third part of the rotation direction setting process that the microcomputer 60 executes instead of the third part of the rotation direction setting process shown in Fig. 23C will be described with reference to the flowchart of Fig. 35. Note that in this embodiment, the microcomputer 60 executes the third part of the rotation direction setting process shown in the flowchart of Fig. 35 after executing the first and second parts of the rotation direction setting process shown in the flowcharts of Fig. 23A and 23B.

[0185] In S605, the same processing as in S690 is executed, and the process proceeds to S615. In S615, a pressing determination process is executed to determine whether or not the tip attachment 20 is pressed against the floor surface, and the process proceeds to S625. The pressing determination process will be described in detail later.

[0186] In S625, the result of the pressing determination process is checked. If the result is set to "Yes", the process proceeds to S635. If the result is set to "No", the process proceeds to S685. If the result is set to "Incomplete", the process ends.

[0187] In S635 to S675, the same processes as in S700 to S740 are executed, and then this process ends. In S685, the motor stop request is turned on, and this process ends.

[0188] <2-1-1. Pressing judgment process> A first example of the pressing determination process executed by the microcomputer 60 in S615 of the rotation direction setting process will be described with reference to the flowchart of Fig. 36. In the first example, the pressing determination process is executed based on the rotation state of the tip connection part 30.

[0189] In the state transition processing described below, when the rotation direction is set to the reverse direction and the press-contact determination is incomplete, an output duty ratio is calculated so that a voltage of a predetermined voltage value is applied to the motor 70, and when the press-contact determination is completed, an output duty ratio is calculated so that a voltage of an application voltage value corresponding to the target rotation speed is applied to the motor 70.

[0190] The predetermined voltage value is smaller than the applied voltage value corresponding to the target rotation speed. The predetermined voltage value is a very small voltage value for performing the pressing judgment. In detail, when a voltage of the predetermined voltage value is applied to the motor 70, (i) the motor 70 and the tip connection part 30 do not rotate in response to the tip attachment 20 being pressed against the floor surface, and (ii) the motor 70 and the tip connection part 30 rotate in response to the tip attachment 20 not being pressed against the floor surface. That is, when a voltage of the predetermined voltage value is applied to the motor 70, (i) the torque of the motor 70 becomes smaller than the external force (i.e., the resistance from the floor surface) in response to the tip attachment 20 being pressed against the floor surface, and (ii) the torque of the motor 70 becomes larger than the external force in response to the tip attachment 20 not being pressed against the floor surface.

[0191] In S705, it is determined whether the control mode of the motor 70 is set to the drive mode. If it is determined that the control mode is set to the drive mode (S705: YES), the process proceeds to S715, and if it is determined that the control mode is not set to the drive mode (S705: NO), the process proceeds to S775.

[0192] In S715, it is determined whether the mask time has elapsed since the drive of the motor 70 started. The mask time is the time required for the drive force of the motor 70 to be transmitted to the tip connection part 30 via the speed reducing mechanism 75. The mask time is a very short time, for example, 0.05 seconds. If it is determined that the mask time has elapsed (S715: YES), the process proceeds to S725, and if it is determined that the mask time has not elapsed (S715: NO), the process proceeds to S775.

[0193] In S725, it is determined whether the judgment result of the pressing judgment is set to "incomplete." If it is determined that the judgment result is set to "incomplete," the process proceeds to S735, and if it is determined that the judgment result is set to "yes" or "no," this process ends.

[0194] In S735, it is determined whether a predetermined time has elapsed since the motor 70 started to be driven. The predetermined time is longer than the mask time, and corresponds to a time for confirming that the motor 70 is not rotating even after the motor 70 has been driven for a while. If it is determined that the predetermined time has elapsed (S735: YES), the process proceeds to S745, and if it is determined that the predetermined time has not elapsed (S735: NO), the process proceeds to S755.

[0195] In S745, the determination result is set to "Yes", and the process proceeds to S755. In S755, it is determined whether the first rotation angle θ1 is equal to or greater than the angle threshold. The angle threshold may be a very small value that allows determination of whether the tip connection portion 30 has moved. For example, the angle threshold is 3 degrees. If it is determined that the first rotation angle θ1 is equal to or greater than the angle threshold (S755: YES), the process proceeds to S765. If it is determined that the first rotation angle θ1 is less than the angle threshold (S755: NO), this process ends.

[0196] In S765, the determination result is set to "None" and the process ends. In S775, the determination result is set to "incomplete", and this process ends.

[0197] A second example of the pressing determination process executed by the microcomputer 60 in S615 of the rotation direction setting process will be described with reference to the flowchart of FIG. 37. In the second example, the pressing determination process is executed based on the battery current value. The battery current is generated according to the voltage difference between the applied voltage value and the induced voltage value. The induced voltage value corresponds to the magnitude of the voltage induced in the windings by the rotation of the motor 70, and corresponds to the rotation speed of the motor 70. Therefore, when the tip attachment 20 is pressed against the floor surface, the battery current value increases as the voltage difference increases. When the tip attachment 20 is not pressed against the floor surface, the battery current value decreases as the voltage difference decreases.

[0198] In S805 to S825, the same processing as in S705 to S725 is executed, and the process proceeds to S835, or to S865, or this process ends. In S835, it is determined whether the battery current value is equal to or greater than the current threshold. The current threshold may be a very small value that allows determination of whether the tip connection portion 30 has moved. For example, the current threshold is 1 A. If it is determined that the battery current value is equal to or greater than the current threshold (S835: YES), the process proceeds to S845, and if it is determined that the battery current value is less than the current threshold (S835: NO), the process proceeds to S855.

[0199] In S845, the determination result is set to "Yes" and the process ends. In S855, the determination result is set to "None" and the process ends. In S865, the determination result is set to "incomplete" and this process ends.

[0200] <2-2. State transition processing> With reference to the flowchart of FIG. 38, a state transition process that the microcomputer 60 executes in place of the state transition process shown in FIG. 31 will be described.

[0201] In S905 to S945, the same processing as in S405 to S445 is executed, and the process proceeds to S948 or S995. In S948, it is determined whether the rotation direction is set to the reverse direction. If it is determined that the rotation direction is set to the reverse direction (S948: YES), the process proceeds to S955, and if it is determined that the rotation direction is set to the forward direction (S948: NO), the process proceeds to S975.

[0202] In S955, it is determined whether the determination result of the pressing determination is set to "Incomplete." If it is determined that the determination result is set to "Incomplete" (S955: YES), the process proceeds to S965. If it is determined that the determination result of the pressing determination is set to "Present" or "Not Present" (S955: NO), the process proceeds to S975.

[0203] In S965, the output duty ratio is calculated so that the voltage value applied to the motor 70 becomes a predetermined voltage value. In S975 and S985, the same processes as in S455 and S465 are executed, and this process ends. In S995 to S1015, the same processes as in S475 to S495 are executed, and this process ends.

[0204] 39 and 40 show the results of executing the transition process. As shown in FIG. 39, when the tip attachment 20 is pressed against the floor surface, the output duty ratio is constant and the first rotation angle θ1 is 0 degrees from time t0 when the motor 70 starts to be driven to time t1 when the pressing determination is completed. From time t0 to time t1, the output duty ratio is a value calculated so that a voltage of a predetermined voltage value is applied to the motor 70. From time t1, the output duty ratio and the first rotation angle θ1 gradually increase. Then, at time t2, the first rotation angle θ1 becomes equal to or greater than the engagement angle Af+α, and the rotation of the motor 70 automatically stops.

[0205] 40, when the tip attachment 20 is not pressed against the floor surface, the motor 70 rotates, and the first rotation angle θ1 gradually increases from time t10 when the driving of the motor 70 starts. Then, at time t11, when the first rotation angle θ1 becomes equal to or greater than the engagement angle Af+α, the rotation of the motor 70 automatically stops.

[0206] <3.Effects> According to the second embodiment described above in detail, in addition to the effects (1) to (3) of the first embodiment described above, the following effect is also obtained.

[0207] (4) In the cleaning device 1, the tip attachment 20 is pressed against the floor surface and the motor 70 is receiving a load from the floor surface, and the motor 70 rotates in the reverse direction, whereby the tip attachment 20 is disengaged from the tip connection part 30. If the tip attachment 20 is not pressed against the floor surface even though the rotation direction has been switched to the reverse direction, the user may mistakenly think that the rotation direction has been switched to forward rotation and start working with the cleaning device 1. When the rotation direction has been switched to the reverse direction and it is determined that the tip attachment 20 is not pressed against the floor surface, the motor 70 is immediately stopped, which more reliably prevents the user from using the cleaning device 1 while the motor 70 is rotating in the reverse direction.

[0208] (5) In the cleaning device 1, during the pressing determination, the voltage applied to the motor 70 is suppressed, and the torque of the motor 70 is suppressed to an extent that the motor 70 cannot rotate against the load received from the floor surface. Then, when it is determined that the tip attachment is pressed against the floor surface, the voltage applied to the motor 70 is increased, and the torque of the motor is increased so that the motor can rotate against the load received from the floor surface. Therefore, the user can safely remove the tip attachment 20 from the tip connection part 30.

[0209] (6) The microcomputer 60 can determine whether the end attachment 20 is pressed against the floor surface based on the rotation state of the motor 70.

[0210] (Other embodiments) Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments and can be implemented in various modified forms.

[0211] (a) In each of the above embodiments, the microcomputer 60 determines whether the first rotation angle θ1 is equal to or greater than the engagement angle Af+α in the processes of S720 and S655. Alternatively, the microcomputer 60 may determine whether the tip connector 30 has rotated in the reverse direction for a first time. The first time is a time according to the rotation speed and the engagement angle Af, and is calculated based on (engagement angle Af+α) / rotation speed of the tip connector 30. In addition, in the process of S245, the microcomputer 60 determines whether the second rotation angle θ2 is equal to or greater than the engagement angle Af+β. Alternatively, the microcomputer 60 may determine whether the tip connector 30 has rotated in the reverse direction for a second time in a state in which the motor 70 is receiving a load equal to or greater than the load threshold. The second time is a time according to the rotation speed and the engagement angle Af, and is calculated based on (engagement angle Af+β) / rotation speed of the tip connector 30.

[0212] (b) In the processes of S720 and S245 in the first embodiment and S655 in the second embodiment, the microcomputer 60 performs the determination using the engagement angle Af, but the determination may be performed using the overlap angle A4 instead of the engagement angle Af. Since the overlap angle A4 is larger than the engagement angle Af, the tip attachment 20 is more reliably detached from the tip connection part 30. Alternatively, the microcomputer 60 may determine whether the tip connection part 30 has rotated in the reverse direction for a third time in the processes of S720 and S655. The third time is a time according to the rotation speed and the overlap angle A4, and is calculated based on (overlap angle A4+α) / rotation speed of the tip connection part 30. In addition, the microcomputer 60 may determine whether the tip connection part 30 has rotated in the reverse direction for a fourth time in the process of S245. The fourth time is a time according to the rotation speed and overlap angle A4, and is calculated based on (overlapping angle A4+β) / rotation speed of the tip connecting portion 30.

[0213] (c) In the above second embodiment, the output duty ratio is lowered to suppress the voltage applied to the motor 70 during the press determination, and after the press determination is completed, the output duty ratio is gradually increased to increase the voltage applied to the motor 70, but the present disclosure is not limited to this. When controlling the motor 70 to a constant rotation speed, the motor 70 may be controlled to have a first rotation speed during the press determination, and after the press determination is completed, the motor 70 may be controlled to have a second rotation speed higher than the first rotation speed.

[0214] (d) In each of the above embodiments, the cleaning device 1 is a handheld type, but the cleaning device 1 is not limited to being a handheld type, and may be a push type having at least one wheel. (e) In each of the above embodiments, the cleaning device 1 includes the battery mounting unit 41, but it may include a power cord instead of or in addition to the battery mounting unit 41. That is, the cleaning device 1 may receive power from an external power source such as a commercial power source by connecting the power cord to the external power source.

[0215] (f) In each of the above embodiments, the cleaning device 1 has three first claws, but may have two or four or more first claws. The tip attachment 20 has three second claws, but may have two or four or more second claws. [Explanation of symbols]

[0216] 1...cleaning device, 14...trigger, 20...tip attachment, 23,24,25...second claw, 28...second ring portion, 30...tip connection portion, 33,34,35...first claw, 40...battery pack, 41...battery mounting portion, 50...controller, 56...inverter circuit, 60...microcomputer, 65...position sensor, 70...motor, 75...reduction mechanism, 77...rotating shaft, 80...load shaft, 120...control circuit, 150...operation portion, 155...display portion, 231,241,251...protrusion portion, 232,242,252...first region, 233,243,253...second region.

Claims

1. A cleaning device to which a tip attachment can be attached, A motor; an operating switch configured to be manually operated to switch the rotation direction of the motor between a forward direction and a reverse direction; a tip connection portion to which the tip attachment can be connected and configured to rotate by the driving force of the motor; a plurality of first claws arranged on the tip connection part along a circumferential direction of a rotation axis of the tip connection part, the plurality of first claws being configured to engage with a plurality of second claws of the tip attachment in response to the tip connection part rotating in the forward direction and to separate from the plurality of second claws in response to the tip connection part rotating in the reverse direction; a control unit configured to control the driving of the motor, the control unit being configured to stop the motor when a rotation state of the tip connection part satisfies a first condition during rotation of the motor in the reverse direction; Cleaning equipment.

2. The first condition is met when the tip connection portion rotates in the reverse direction by an angle equal to or greater than the engagement angle, the engagement angle corresponds to an area where one of the plurality of first claws overlaps one of the plurality of second claws and an engagement force is generated between one of the plurality of first claws and one of the plurality of second claws; 2. The cleaning device of claim 1.

3. the first condition is met when the tip connection portion rotates in the reverse direction for a predetermined time period corresponding to a rotation speed of the motor and an engagement angle, the engagement angle corresponds to an area where one of the plurality of first claws overlaps one of the plurality of second claws and an engagement force is generated between one of the plurality of first claws and one of the plurality of second claws; 2. The cleaning device of claim 1.

4. the control unit is configured to change the rotation direction to the forward direction when a driving state of the motor satisfies a second condition while the motor is rotating in the reverse direction.

4. A cleaning device according to claim 2 or 3.

5. The control unit is further configured to determine whether a load applied to the motor is equal to or greater than a load threshold; the second condition is satisfied when the tip connection portion rotates in the reverse direction by an angle equal to or greater than the engagement angle when the load received by the motor is equal to or greater than the load threshold value; 5. The cleaning device of claim 4.

6. the second condition is satisfied when the number of times the motor is driven in the reverse direction is equal to or greater than a predetermined number of times; One drive corresponds to the start and stop of the rotation of the motor.

6. A cleaning device according to claim 4 or 5.

7. The control unit is When the rotation direction is switched to the reverse direction via the operation switch, it is determined whether the tip attachment attached to the tip connection portion via the first claw is pressed against a floor surface; and immediately stopping the motor when it is determined that the tip attachment is not pressed against the floor surface. A cleaning device according to any one of claims 1 to 6.

8. a drive circuit configured to control a voltage applied to the motor; The control unit is When the rotation direction is switched to the reverse direction via the operation switch, the drive circuit is controlled so that a first voltage is applied to the motor, and it is determined whether the tip attachment is pressed against the floor surface; and controlling the drive circuit so that a second voltage greater than the first voltage is applied to the motor when it is determined that the tip attachment is pressed against the floor surface.

8. The cleaning device of claim 7.

9. The control unit is when the rotation direction is switched to the reverse direction via the operation switch, the drive circuit is controlled so that a pulse width modulation signal having a first duty ratio is applied to the motor, and it is determined whether the tip attachment is pressed against the floor surface; The control device is configured to gradually increase the first duty ratio when it is determined that the tip attachment is pressed against the floor surface.

9. The cleaning device of claim 8.

10. The control unit is configured to determine whether the tip attachment is pressed against the floor surface based on a rotation state of the motor. A cleaning device according to any one of claims 7 to 9.

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