vacuum cleaner

Abstract

To provide a vacuum cleaner capable of correctly detecting a posture of a cleaner body even when a dispersion of an individual device is large in an angle detection range of an acceleration sensor.SOLUTION: A vacuum cleaner includes: a cleaner body; an electric blower incorporated in the cleaner body; an acceleration sensor; posture detection means for defining an output of the acceleration sensor when the cleaner body stays still in a predetermined posture as a reference value, so as to detect a posture of the cleaner body from the reference value and an output of the acceleration sensor; and a control section for controlling an operation and stop of the electric blower based on the posture of the cleaner body detected by the posture detection means. The vacuum cleaner also includes output calibration means for calibrating the output of the acceleration sensor when the cleaner body stays still in the predetermined posture during the stop of the electric blower.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to vacuum cleaners. [Background technology]

[0002] The electric vacuum cleaner disclosed in Patent Document 1 below includes a vacuum cleaner body, an electric blower built into the vacuum cleaner body, an acceleration sensor for detecting the attitude of the vacuum cleaner body, and a control unit. The control unit drives or stops the electric blower based on the detection result of the acceleration sensor. That is, when the control unit detects that the vacuum cleaner body is upright while the electric blower is stopped, it drives the electric blower. On the other hand, when the control unit detects that the vacuum cleaner body is tilted in a predetermined direction while the electric blower is running, it stops the electric blower. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5603951 Summary of the Invention [Problem to be solved by the invention]

[0004] In this way, detecting the posture of the vacuum cleaner body, such as whether it is upright or tilted, can be achieved by angle detection using an acceleration sensor. Accurate angle detection is necessary to properly control the start and stop of the electric blower. However, because acceleration sensor output varies significantly from device to device, the posture of the vacuum cleaner body may not be accurately detected. The main cause of this variation is the initial sensitivity error of each device, with other factors including temperature effects, aging, and electrical noise. In particular, the relationship between the acceleration sensor output and the tilted surface may be nonlinear, causing the resolution to vary depending on a given angle within the acceleration sensor's detection range. In this case, the impact of acceleration sensor detection error on the posture detection of the vacuum cleaner body becomes significant at angles with low resolution. [Means for solving the problem]

[0005] The present disclosure has been made to solve these problems, and its purpose is to provide a vacuum cleaner that can accurately detect the orientation of the vacuum cleaner body even if there is a large individual variation in the angle detection range of the acceleration sensor.

[0006] The electric vacuum cleaner according to the present disclosure comprises a vacuum cleaner body, an electric blower built into the vacuum cleaner body, an acceleration sensor, a posture detection means that uses the output of the acceleration sensor when the vacuum cleaner body is stationary in a predetermined posture as a reference value and detects the posture of the vacuum cleaner body from the reference value and the output of the acceleration sensor, and a control unit that controls operation and stopping of the electric blower based on the posture of the vacuum cleaner body detected by the posture detection means, and further comprises output calibration means that calibrates the output of the acceleration sensor when the electric blower is stopped and the vacuum cleaner body is stationary in the predetermined posture. [Effects of the Invention]

[0007] According to the present disclosure, the output of the acceleration sensor is calibrated by an output calibration means, so that an electric vacuum cleaner can be provided that can accurately detect the posture of the vacuum cleaner body even if there is large individual variation in the angle detection range of the acceleration sensor. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a perspective view showing the electric vacuum cleaner according to embodiment 1 with the vacuum cleaner body in an inclined position. [Figure 2] FIG. 1 is a perspective view showing an electric vacuum cleaner with the vacuum cleaner body in an upright position. [Figure 3] FIG. 2 is a block diagram showing the configuration of a control system of the electric vacuum cleaner. [Figure 4] 3 is a schematic diagram showing the inclination angle of the vacuum cleaner body of the electric vacuum cleaner. FIG. [Figure 5] 10 is a diagram showing the relationship between the tilt angle of the vacuum cleaner body and the output voltage of the acceleration sensor. FIG. [Figure 6] 4 is a flowchart showing a procedure for calibrating the output of the acceleration sensor according to the first embodiment. FIG. [Figure 7] FIG. 10 is a flowchart showing a procedure for calibrating the output of the acceleration sensor according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Embodiments of a vacuum cleaner according to the present disclosure will be described with reference to the accompanying drawings. In each drawing, identical or corresponding parts are designated by the same reference numerals, and redundant description will be appropriately simplified or omitted. For convenience, the following description may express the positional relationship of each structure based on the illustrated state. Note that the present disclosure is not limited to the following embodiments, and any combination of the embodiments, any modification of any component of each embodiment, or any omission of any component of each embodiment are possible within the scope of the present disclosure.

[0010] Embodiment 1 Fig. 1 is a perspective view showing a vacuum cleaner according to embodiment 1 in an inclined position. Fig. 2 is a perspective view showing the vacuum cleaner in an upright position. Fig. 3 is a block diagram showing the configuration of a control system for the vacuum cleaner. Fig. 4 is a schematic diagram showing the inclination angle of the vacuum cleaner body.

[0011] In the following description, dust and other debris may be collectively referred to simply as "dust." Air containing dust may be referred to as "dust-laden air." Air from which dust has been removed may be referred to as "clean air."

[0012] The electric vacuum cleaner 1 is a cordless, upright electric vacuum cleaner. The electric vacuum cleaner 1 includes a vacuum cleaner main body (hereinafter abbreviated as "main body") 2, an electric blower 3, a battery 4, a cylindrical part 5, a dust collecting part 6, a handle part 7, an extension tube 8 that is long in one direction, and a suction tool 9.

[0013] In the following, in the longitudinal direction, the side where the battery 4 is located may be referred to as the upper side, and the side where the suction tool 9 is located may be referred to as the lower side. Furthermore, when the main body 2 is in an upright position, the longitudinal direction may be referred to as the Z-axis direction, the width direction of the suction tool 9 perpendicular to the Z-axis direction as the X-axis direction, and the direction perpendicular to the Z-axis and X-axis directions as the Y-axis direction, and the side where the dust collection unit 6 is located in the Y-axis direction may be referred to as the front side, and the side where the tubular unit 5 is located may be referred to as the rear side.

[0014] The main body 2 is a housing that houses the electric blower 3. The electric blower 3 generates an airflow for sucking in dust. The battery 4 is a power source for driving the electric blower 3 and the rotating brush 93 (described later), and is, for example, a rechargeable secondary battery. The battery 4 is attached to the rear side of the main body 2. The cylindrical portion 5 has a connection port 51 at its lower longitudinal end for sucking in dust. An air passage is formed inside the cylindrical portion 5 to guide the dust-laden airflow that passes through the connection port 51 to the dust collection portion 6. A gasket (not shown) is provided at the open edge of the connection port 51, and an extension tube 8 is airtightly connected to the cylindrical portion 5.

[0015] The dust collection unit 6 separates dust from the dust-laden air sucked in through the connection port 51 and collects the separated dust. The dust collection unit 6 has, for example, a cyclone separator (not shown). Instead of a cyclone separator, the dust collection unit 6 may have, for example, a dust collection bag that can collect dust by filtering the airflow. The airflow from which dust has been removed by the dust collection unit 6 is discharged to the outside through an exhaust port 21 opened in the main body 2. The grip 7 is a handle that a user holds with their hand. The grip 7 has at least one operation button 71 that the user presses, for example. The operation button 71 is used to turn the electric blower 3 on and off or to start output calibration of the acceleration sensor 12, which will be described later. The operation button 71 may include an operation switch. The grip 7 is provided with a cleaner-side electrode 72 that is electrically connected to a stand-side electrode 28, which will be described later.

[0016] The extension pipe 8 is a straight, hollow tubular member. The upper end of the extension pipe 8 is connected to the connection port 51 of the cylindrical part 5. The lower end of the extension pipe 8 is connected to the suction tool 9.

[0017] The suction tool 9 has a rectangular parallelepiped shape that is elongated in the left-right direction, which is the width direction. A connecting part 91 is attached to the upper part of the suction tool 9 at the center in the width direction via a joint part 92.

[0018] The connection part 91 of the suction tool 9 is connected to the lower end of the extension tube 8. The joint part 92 can change the orientation of the extension tube 8 and therefore the main body 2 relative to the suction tool 9 in the front-to-back and left-to-right directions within a preset angular range. This allows the user of the vacuum cleaner 1 to perform cleaning with the main body 2 tilted relative to the suction tool 9 in any direction, front-to-back or left-to-right, within a preset angular range.

[0019] A suction chamber (not shown) elongated in the left-right direction is provided inside the suction tool 9, and a rotating brush 93 for sweeping up dust from the floor surface is rotatably housed inside the suction chamber. A brush motor 94 for rotating the rotating brush 93 is built into the suction tool 9. Power is supplied to the brush motor 94 from the battery 4. A suction port (not shown) that communicates with the suction chamber is opened on the bottom surface of the suction tool 9. Wheels 95 supported by support members (not shown) are provided on the bottom of the suction tool 9, outside the suction port in the left-right direction.

[0020] As shown in FIG. 2, the vacuum cleaner 1 can be placed on the stand 20 with the main body 2 in an upright position. The stand 20 corresponds to a support that supports the main body 2. With the main body 2 supported on the stand 20, the battery 4 can be charged. The charging current to the battery 4 is detected by the charging current detection unit 41. Furthermore, with the main body 2 supported, the extension tube 8 can be separated from the cylindrical portion 5, thereby removing the extension tube 8 and the suction tool 9 from the vacuum cleaner 1. This allows the vacuum cleaner 1 to be used as a handheld vacuum cleaner.

[0021] The stand 20 has a base 21. A support column 22 extending vertically is attached to the upper surface of the base 21. A first support column 23a is provided at the upper end of the support column 22 to support the gripping portion 7 from below. A second support column 23b is provided at the rear surface of the first support column 23a to support the dust collecting portion 6 from below. A third support column 23c is provided at the rear surface of the second support column 23b to support the lower end of the cylindrical portion 5 and the upper end of the extension tube 8. The base 21 is provided with a mounting portion 24 on which the suction tool 9 is placed. A rotary brush cleaning portion 25 for cleaning the rotary brush 93 is provided on the upper surface of the mounting portion 24.

[0022] As shown in FIG. 3, the stand 20 further includes a power plug 26, a voltage converter 27, and a stand-side electrode 28. The power plug 26 is connected to, for example, a commercial power outlet. The voltage converter 27 converts the AC voltage (for example, AC 100 V) of the commercial power supplied via the power plug 26 into an arbitrary DC voltage (for example, DC 30 V). The DC voltage converted by the voltage converter 27 is output from the stand-side electrode 28. The stand-side electrode 28 is provided, for example, on the first support part 23 a for supporting the grip part 7.

[0023] The electric vacuum cleaner 1 has a built-in control board 10. The control board 10 is provided with a microcomputer 11 as a control unit, an acceleration sensor 12 for detecting the attitude of the main body 2, a temperature sensor 13, and a support detection unit 14. The microcomputer 11, like the electric blower 3 and the brush motor 94, receives power from the battery 4. The microcomputer 11 is a microcomputer. The microcomputer 11 can execute control to start or stop the electric blower 3 based on the user's operation of an operation button 71. The acceleration sensor 12 can be one that can detect at least the direction of gravity, and for example, a three-axis acceleration sensor can be used. The temperature sensor 13 detects the temperature of the acceleration sensor 12 or the temperature of the control board 10 around the acceleration sensor 12. The support detection unit 14 detects that the main body 2 is supported by the stand 20 when the cleaner-side electrode 72 is electrically connected to the stand-side electrode 28.

[0024] The microcomputer 11 includes a processor 11a and a memory 11b. The processor 11a executes a program stored in the memory 11b, whereby the microcomputer 11 controls the overall operation of the vacuum cleaner 1, including the execution of a posture detection means 111 (to be described later), the driving of the electric blower 3 (to be described later), the driving of the brush motor 94, and the charging and discharging of the battery 4.

[0025] Next, the operation of the vacuum cleaner 1 will be described. When the user presses the operation button 71, the microcomputer 11 drives the electric blower 3, which generates a suction force inside the dust collection unit 6, the tubular unit 5, and the extension tube 8, causing dust-laden air to be sucked in through the suction tool 9. That is, the electric blower 3 generates an airflow that is sucked in through the suction port of the suction tool 9. At this time, the rotating brush 93 may be rotated to suck in the dust that has been stirred up. The dust-laden air sucked in through the suction tool 9 passes through the extension tube 8 and the tubular unit 5 and is taken into the dust collection unit 6. In the dust collection unit 6, dust is separated from the dust-laden air. The clean air discharged from the dust collection unit 6 passes through the electric blower 3 and is then discharged to the outside of the main body 2 through the exhaust port 2a.

[0026] Furthermore, attitude detection means 111 detects the attitude of main body 2 based on the detection signal of acceleration sensor 12. Microcomputer 11 drives or stops electric blower 3 based on the attitude of main body 2.

[0027] Here, if the angle θ when main body 2 is tilted in at least one direction (the Y-axis direction in FIG. 4) from the upright posture of main body 2 shown in FIG. 2 is defined as the tilt angle, the tilt angle θ can be found from the output of acceleration sensor 12. FIG. 5 is a diagram showing the relationship between the tilt angle θ of main body 2 and the output voltage of acceleration sensor 12. The output voltage of acceleration sensor 12 when main body 2 is stationary at tilt angle θ is known, and if the known output voltage is used as a reference value, the tilt angle θ of main body 2, and therefore the posture, can be detected from the reference value and acceleration sensor 12.

[0028] As mentioned above, the output voltage of acceleration sensor 12 varies greatly from one sensor to another (see FIG. 5). This may prevent accurate detection of the attitude of main body 2. In this case, the detection error of the tilt angle θ of main body 2 will be larger at angles with low resolution, indicated by thick line L1 in FIG. 5, than at angles with high resolution, indicated by thick line L2. As a result, the detection error of acceleration sensor 12 will have a greater impact on the attitude detection of main body 2.

[0029] Therefore, in this embodiment, an output calibration means 112 is further provided which calibrates the output of the acceleration sensor 12 when the main body 2 is stationary in a predetermined posture, that is, when the output of the acceleration sensor 12 is constant. The output calibration means 112 can be realized by the processor 11a executing a program stored in the memory 11b of the microcomputer 11.

[0030] Fig. 6 is a flow diagram showing the procedure for calibrating the output of acceleration sensor 12 in embodiment 1. According to the routine shown in Fig. 6, first, it is determined whether or not a preset start condition is met (step S1).

[0031] Examples of start conditions include that the electric blower 3 and the motor 94 are stopped and that the main body 2 is stationary in a predetermined position. If the predetermined position is an upright position, the start conditions can also include that the vacuum cleaner 1 is placed on the stand 20, i.e., that the support detection unit 14 detects that the main body 2 is supported. Furthermore, because the vacuum cleaner 1 is configured to be able to maintain a self-standing state in an upright position, the start conditions can also include that the vacuum cleaner 1 is in a self-standing state instead of being detected by the support detection unit 14. Furthermore, because the secondary battery 4 is charged when the vacuum cleaner 1 is placed on the stand 20, the start conditions can also include that the charging current detection unit 41 detects that the charging current to the secondary battery 4 is being detected. Furthermore, if the temperature of the acceleration sensor 12 or the temperature around it is high, the output of the acceleration sensor 12 fluctuates, making it unsuitable for output calibration of the acceleration sensor 12. Therefore, the start conditions can also include that the temperature of the acceleration sensor 12 is below a predetermined threshold.

[0032] If it is determined in step S1 that the start condition is met, the difference calculation process defined in steps S2 to S6 is executed, and then the correction reference value calculation process defined in step S7 is executed.

[0033] In the difference calculation process, first, the reference values ​​of each axis (X, Y, Z axes) of the acceleration sensor 12 are acquired as reference data, and the acquired reference data is stored (step S2). In step S2, reference data obtained in advance may be acquired. Next, the detected values ​​of each axis (X, Y, Z axes) of the acceleration sensor 12 are acquired as comparison data (step S3). Next, it is determined whether the reference data and the comparison data match for all axes (X, Y, Z axes) (step S4). If there is a mismatch for at least one axis, the detected value of the comparison data for that mismatched axis is updated as the reference data (step S5), and the process returns to step S3. On the other hand, if it is determined in step S4 that there is a match for all axes, it is determined whether there has been a predetermined number of matches (step S6). If the predetermined number of matches has not been reached, the process returns to step S3. If there is a match for the predetermined number of times, the process proceeds to step S7.

[0034] In the correction reference value calculation process, the detected value of the reference data is updated as the correction reference value (step S7), thereby correcting the reference value and calibrating the output of the acceleration sensor 12.

[0035] As described above, according to this embodiment, the output of acceleration sensor 12 is calibrated by output calibration means 112, so even if there is a large variation in the angle detection range of acceleration sensor 12, the attitude of main body 2 can be accurately detected by attitude detection means 111. Therefore, the driving and stopping of electric blower 3 can be appropriately controlled.

[0036] Furthermore, because the output calibration of acceleration sensor 12 is performed each time vacuum cleaner 1 is placed on stand 20, output calibration can be performed at a frequency that corresponds to the frequency of use of vacuum cleaner 1. Moreover, it is also possible to address individual variations in the output of acceleration sensor 12 that occur due to changes over time. Furthermore, output calibration of acceleration sensor 12 can be performed without the user of vacuum cleaner 1 knowing.

[0037] Embodiment 2 The second embodiment differs from the first embodiment in that an end condition is set when calibrating the output of the acceleration sensor 12. The following mainly describes the differences.

[0038] 7 is a flow chart showing the procedure for calibrating the output of acceleration sensor 12 in embodiment 2. According to the routine shown in FIG. 7, the processes of steps S1 and S2 are executed in the same manner as in embodiment 1 above.

[0039] Here, after the above start conditions are satisfied, there are cases where the electric blower 3 and the electric motor 94 are driven, or the attitude of the main body 2 deviates from the predetermined attitude. In such cases, it is preferable to end the output calibration of the acceleration sensor 12.

[0040] After step S2 is completed, it is determined whether or not a preset termination condition is met (step S20), and if the termination condition is met, the processes from step S3 onwards are executed in the same manner as in the first embodiment.

[0041] The termination conditions, like the start conditions, include that the electric blower 3 and the electric motor 94 are stopped and that the main body 2 is stationary in a predetermined position. If necessary, the termination conditions may include that the support detection unit 14 detects that the main body 2 is being supported, that the main body 2 is in a self-supporting state, that the charging current detection unit 41 detects the charging current to the secondary battery 4, and that the temperature of the acceleration sensor 12 is below a predetermined threshold. Although not included in the termination conditions, if the detection value of the acceleration sensor 12 is not acquired for a predetermined time in the difference calculation process, this routine is terminated without performing the correction reference value calculation process.

[0042] According to this embodiment, by providing an end condition in addition to a start condition, it is possible to perform output calibration of acceleration sensor 12 under more appropriate conditions.

[0043] Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments and can be practiced in various modifications without departing from the spirit of the present invention. For example, the above embodiments have been described using the vacuum cleaner 1 equipped with a detachable suction tool 9 as an example, but the present invention can also be applied to handheld vacuum cleaners that do not have a suction tool.

[0044] In the above embodiment, the case where the predetermined attitude of the main body 2 is one attitude has been described as an example, but the present invention can also be applied to cases where there are multiple different attitudes. In this way, the output of the acceleration sensor 12 is composed of multiple points, so that the attitude of the main body 2 can be detected more accurately.

[0045] In the above embodiment, the output calibration of acceleration sensor 12 is performed while vacuum cleaner 1 is placed on stand 20. However, it is also possible to perform output calibration of acceleration sensor 12 based on the user pressing operation button 71. In this case, an LED provided on grip portion 7 may be configured to notify the user that calibration has been completed. Furthermore, if calibration is performed infrequently, an LED may be configured to prompt the user to perform output calibration.

[0046] Furthermore, in the above embodiment, the reference value is updated in step S7 each time the routine shown in FIG. 6 or 7 is repeated, but the correction reference value calculated in the correction reference value calculation process executed the first time may be used as the reference value in step S2 of the difference calculation process executed the second time or later. [Explanation of symbols]

[0047] 1...electric vacuum cleaner, 2...vacuum cleaner body, 3...electric blower, 4...battery (secondary battery), 71...operation button, 9...suction tool, 11...microcomputer (control unit), 111...posture detection means, 112...output calibration means, 12...acceleration sensor, 13...temperature sensor, 14...support detection unit, 20...stand (support body), 41...charging current detection unit, 93...rotating brush, 94...electric motor

Claims

1. The vacuum cleaner body and an electric blower built into the vacuum cleaner body; An acceleration sensor; an attitude detection means for detecting the attitude of the vacuum cleaner body from the reference value and the output of the acceleration sensor when the vacuum cleaner body is stationary in a predetermined attitude, using the output of the acceleration sensor as a reference value; a control unit that controls operation and stop of the electric blower based on the attitude of the vacuum cleaner body detected by the attitude detection means; In an electric vacuum cleaner comprising: The electric vacuum cleaner further comprises an output calibration means for calibrating the output of the acceleration sensor when the electric blower is stopped and the vacuum cleaner body is stationary in the predetermined attitude.

2. 2. The vacuum cleaner according to claim 1, A vacuum cleaner further comprising a suction tool connected to the vacuum cleaner body, the suction tool having a rotating brush and an electric motor for driving the rotating brush, The control unit further controls operation and stopping of the electric motor, The output calibration means calibrates the output of the acceleration sensor when the electric blower and the electric motor are stopped and the vacuum cleaner body is stationary in the predetermined attitude.

3. 2. The electric vacuum cleaner according to claim 1, wherein the output calibration means calibrates the output of the acceleration sensor with the vacuum cleaner body in a plurality of different positions.

4. 2. The vacuum cleaner according to claim 1, wherein the acceleration sensor is a three-axis acceleration sensor.

5. 2. The electric vacuum cleaner according to claim 1, wherein the output calibration means executes a difference calculation process to calculate a difference between the output of the acceleration sensor when the vacuum cleaner body is stationary in the predetermined attitude and the reference value, and a correction reference value calculation process to regard the difference calculated in the difference calculation process as a detection error and calculate it as a correction reference value, and corrects the reference value based on the correction reference value.

6. The vacuum cleaner body is configured to be able to maintain a self-standing state at a predetermined tilt angle, The electric vacuum cleaner according to any one of claims 1 to 5, wherein the vacuum cleaner body is stationary in the predetermined posture when in the self-standing state.

7. Further provided is a support for supporting the vacuum cleaner body, The electric vacuum cleaner according to any one of claims 1 to 5, wherein the vacuum cleaner body is stationary in the predetermined position when supported by the support body.

8. 8. The electric vacuum cleaner according to claim 7, further comprising a secondary battery that supplies power to the electric blower, wherein the secondary battery is charged while the vacuum cleaner body is supported by the support, further comprising a charging current detection unit that detects a charging current to the secondary battery; The output calibration means calibrates the output of the acceleration sensor when the charging current detection unit detects the charging current.

9. a temperature sensor for detecting the temperature of the acceleration sensor or the temperature around the acceleration sensor; 5. The electric vacuum cleaner according to claim 1, wherein the output of the acceleration sensor is calibrated when the temperature detected by the temperature sensor exceeds a predetermined threshold value.

10. 6. The electric vacuum cleaner according to claim 5, wherein the output calibration means uses the correction reference value calculated in the correction reference value calculation process executed a first time as the reference value in the difference calculation process executed a second time or later.

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