JP2020039454A - Vacuum cleaner - Google Patents

Vacuum cleaner Download PDF

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Publication number
JP2020039454A
JP2020039454A JP2018167481A JP2018167481A JP2020039454A JP 2020039454 A JP2020039454 A JP 2020039454A JP 2018167481 A JP2018167481 A JP 2018167481A JP 2018167481 A JP2018167481 A JP 2018167481A JP 2020039454 A JP2020039454 A JP 2020039454A
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Prior art keywords
operation mode
mode
weak
vacuum cleaner
driving
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Inventor
中村　浩之
Hiroyuki Nakamura
浩之 中村
翔太 橋本
Shota Hashimoto
翔太 橋本
伊藤　則和
Norikazu Ito
則和 伊藤
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Hitachi Global Life Solutions Inc
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Hitachi Global Life Solutions Inc
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Priority to JP2018167481A priority Critical patent/JP2020039454A/en
Priority to CN201910160071.0A priority patent/CN110881901A/en
Publication of JP2020039454A publication Critical patent/JP2020039454A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4072—Arrangement of castors or wheels
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices

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  • Electric Vacuum Cleaner (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)

Abstract

To provide a vacuum cleaner capable of selecting a mode of a sound volume and a light volume corresponding to the character and life style of a user.SOLUTION: A vacuum cleaner includes an electric blower, a motor-driven drive wheel, and a motor-driven main brush, and can execute an automatic operation mode for autonomous driving while driving the drive wheel. The vacuum cleaner can execute a weak operation mode in which generated sound volume is smaller than that in the automatic operation mode, and a silent operation mode in which generated sound volume is smaller than that in the weak operation mode. The vacuum cleaner is equipped with a mode designation unit that receives the designation from a user as to which of the automatic operation mode, the weak operation mode, and the silent operation mode is executed.SELECTED DRAWING: Figure 1

Description

本発明は、電気掃除機に関する。   The present invention relates to a vacuum cleaner.

特許文献１は、送風機を高速で回転させる通常モードまたは送風機を低速で回転させる静音モードのいずれかで自律走行し、時間帯設定手段において設定された時間帯であるときに装置本体を静音モードで動作させる掃除機を開示している。   Patent Document 1 discloses an autonomous running in one of a normal mode in which a blower is rotated at a high speed and a silent mode in which a blower is rotated at a low speed, and when the time zone set by the time zone setting means is set, the apparatus body is set in a silent mode. A vacuum cleaner for operation is disclosed.

特開２０００−１９７５９９号公報JP 2000-197599 A

自律走行する電気掃除機においては、使用者の性格やライフスタイルに応じてさまざまな場面での使用が想定される。このため、一律に時間帯でモードを決定すると一部のユーザにとって不便となる虞がある。また、静音での駆動が望まれる場面もさまざま想定されるため、使用者の好みに応じて逐一指令を受けることができると望ましい。   Autonomous vacuum cleaners are expected to be used in various situations depending on the user's character and lifestyle. For this reason, if the mode is determined uniformly in a time zone, it may be inconvenient for some users. In addition, since various situations in which silent driving is desired are conceivable, it is desirable that a command can be received one by one according to the user's preference.

上記事情に鑑みてなされた本発明は、
電動送風機、モータ駆動可能な駆動輪及びモータ駆動可能なメインブラシと、を備え、
前記駆動輪を駆動させつつ自律駆動する自動運転モードを実行可能な電気掃除機であって、
前記自動運転モードよりも発する音量の小さい弱運転モードと、
該弱運転モードよりも発する音量の小さい静音運転モードと、を実行可能であり、
前記自動運転モード、前記弱運転モード、及び前記静音運転モードのいずれを実行するかの指定をユーザから受付けるモード指定部を有することを特徴とする。 The present invention made in view of the above circumstances,
Comprising an electric blower, a motor-driven drive wheel and a motor-driven main brush,
An electric vacuum cleaner capable of executing an automatic operation mode of autonomously driving while driving the driving wheels,
A weak driving mode in which the volume emitted from the automatic driving mode is smaller,
And a quiet operation mode in which the volume emitted from the weak operation mode is smaller,
It has a mode designation part which receives designation of which of the automatic operation mode, the weak operation mode, and the silent operation mode to execute from a user.

実施形態に係る自律走行型掃除機を左前方から見た斜視図。The perspective view which looked at the autonomous traveling vacuum cleaner concerning an embodiment from the left front. 図１のＡ−Ａ断面図。AA sectional drawing of FIG. 自律走行型掃除機のケースを透視した内部構成の斜視図。FIG. 2 is a perspective view of the internal configuration of the autonomous traveling vacuum cleaner as seen through. 自律走行型掃除機の下面図。The bottom view of an autonomous traveling type vacuum cleaner.

以下、本発明の実施形態について、適宜図面を参照しながら詳細に説明する。
図１は本実施形態の自律走行型掃除機Ｓを左前方から見た斜視図、図２は図１のＡ−Ａ断面図、図３は自律走行型掃除機Ｓのケース１を透視した内部構成の斜視図、図４は自律走行型掃除機Ｓの下面図である。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as appropriate.
1 is a perspective view of the autonomous traveling cleaner S of the present embodiment as viewed from the front left, FIG. 2 is a sectional view taken along line AA of FIG. 1, and FIG. FIG. 4 is a bottom view of the autonomous traveling cleaner S. FIG.

［自律走行型掃除機Ｓ］
自律走行型掃除機Ｓは、外殻を構成するケース１（上側ケース１ｕ、下側ケース１ｓ）を有し、その内部に各種のセンサを備えている。自律走行型掃除機Ｓは、下側ケース１ｓ側に設けられた駆動輪２，３が床面Ｙに接地し、車輪ユニット２０，３０が駆動輪２，３を回転させることで、前後方向に移動可能である。本実施形態については、自律走行型掃除機Ｓが進行する向きのうち、メインブラシ５を設けた側が後方である。自律走行型掃除機Ｓは、通常、前方に向かって走行し、障害物等に近接又は接触した際に後方に向かって走行する。障害物等は、公知の赤外線センサやカメラによって検知可能である。 [Autonomous traveling vacuum cleaner S]
The autonomous traveling type vacuum cleaner S has a case 1 (upper case 1u, lower case 1s) that forms an outer shell, and includes various sensors inside. The autonomous traveling vacuum cleaner S is configured such that the drive wheels 2 and 3 provided on the lower case 1s side are in contact with the floor Y, and the wheel units 20 and 30 rotate the drive wheels 2 and 3 in the front-rear direction. Can be moved. In the present embodiment, the side on which the main brush 5 is provided is the rear side in the direction in which the autonomous traveling cleaner S advances. The autonomous traveling cleaner S normally travels forward, and travels backward when approaching or touching an obstacle or the like. An obstacle or the like can be detected by a known infrared sensor or camera.

また、鉛直上向きを上方、駆動輪２，３が対向する方向であって駆動輪２側を左方、駆動輪３側を右方とする。すなわち図１等に示すように前後、上下、左右方向を定義する。   In addition, the vertical upward direction is the upward direction, the direction in which the drive wheels 2 and 3 face each other, and the drive wheel 2 side is the left side, and the drive wheel 3 side is the right side. That is, front and rear, up and down, and left and right directions are defined as shown in FIG.

自律走行型掃除機Ｓは、下ケース１ｓ側に、一対の駆動輪２，３の他、補助輪４、メインブラシ５、回転ブラシ７等を備えている。自律走行型掃除機Ｓは、モータにより回転力を受けて回転する駆動輪２，３の他、従動する補助輪４により自律的に移動する。自律走行型掃除機Ｓは、駆動輪２，３の回転速度を互いに異なる値にしたり、回転の向きを同じ又は逆にしたりすることで、前進、後進、左右旋回、超信地旋回等が可能である。駆動輪２，３は、左右方向について、モータ駆動するメインブラシ５の端部よりも外側に位置している。   The autonomous traveling type vacuum cleaner S includes an auxiliary wheel 4, a main brush 5, a rotating brush 7, and the like, in addition to a pair of drive wheels 2 and 3, on a lower case 1s side. The autonomous traveling type vacuum cleaner S moves autonomously by the driven auxiliary wheels 4 in addition to the driven wheels 2 and 3 which are rotated by receiving a rotational force from a motor. The autonomous traveling type vacuum cleaner S can perform forward, backward, left and right turning, super turning, etc. by setting the rotation speeds of the driving wheels 2 and 3 to different values from each other or by making the rotation directions the same or opposite. It is. The drive wheels 2 and 3 are located outside the end of the main brush 5 driven by the motor in the left-right direction.

図２等に示すように、自律走行型掃除機Ｓは、上ケース１ｕ側に操作ボタン１６、ＬＥＤ１７及び赤外線受光素子１８を備えている。操作ボタン１６を操作することにより、運転の開始及び停止やモードの切り替えを行うことができる。例えば操作ボタンを長押して本体の設定変更モードに移行することで音量、電動送風機の吸引力、段差の乗り越え可能高さ及び塵埃の吸引量に応じた走行軌跡の決定のための閾値の変更を行うことができる。ＬＥＤ１７は操作ボタン１６の下部に設置され、発光の有無、発光の色及び発光の位置で本体の状態を使用者に伝える。   As shown in FIG. 2 and the like, the autonomous traveling vacuum cleaner S includes an operation button 16, an LED 17, and an infrared light receiving element 18 on the upper case 1u side. By operating the operation button 16, the start and stop of the operation and the switching of the mode can be performed. For example, by pressing and holding the operation button to shift to the setting change mode of the main body, the threshold value for determining the traveling locus according to the volume, the suction force of the electric blower, the height over which the step can be overcome, and the amount of dust suction is changed. be able to. The LED 17 is installed below the operation button 16 and informs the user of the state of the main body by the presence or absence of light emission, the color of light emission, and the position of light emission.

自律走行型掃除機Ｓは、発音可能なスピーカを有しており、例えば、自律駆動中に走行不能な状況に陥ったなど何らかのエラーが生じた場合や、掃除が完了した場合にその旨をユーザに放置するメッセージや効果音を発することができる。後述する弱運転モードや静音運転モード時には、この発音を行わないようにしてもよい。   The autonomous traveling type vacuum cleaner S has a speaker capable of producing sound. For example, when an error occurs, for example, a situation in which the autonomous driving is incapable of traveling during autonomous driving, or when cleaning is completed, the user is notified of the fact. You can emit messages and sound effects that you leave unattended. This sound generation may not be performed in the weak operation mode or the silent operation mode described later.

図２等に示すように、自律走行型掃除機Ｓは、下ケース１ｓ側にメインブラシ５及び回転ブラシ７を備え、また、ケース１内部に充電池９、制御装置１０（制御基板）、電動送風機１１及び集塵ケース１２を備えている。   As shown in FIG. 2 and the like, the autonomous traveling vacuum cleaner S includes a main brush 5 and a rotating brush 7 on the lower case 1s side, and has a rechargeable battery 9, a control device 10 (control board), A blower 11 and a dust collecting case 12 are provided.

充電池９からの電力は、駆動輪２，３や各種ブラシ５，７を駆動するモータ、及び電動送風機１１等に供給される。   Electric power from the rechargeable battery 9 is supplied to the motors that drive the drive wheels 2 and 3 and the various brushes 5 and 7, the electric blower 11, and the like.

駆動輪２、３の内部減速機構は、例えばサイクロイドギヤを用いることで小型に構成できる。回転ブラシ７は、上下方向を回転軸として回転する１つ又は２つ以上の毛束を有するブラシであり、床面Ｙに存在する塵埃を後方に向かって弾き飛ばすことができる。回転ブラシ７は、自律走行型掃除機Ｓの左右方向外側から前方に向かう方向（図中、矢印α１方向）に回転する。これにより、自律走行型掃除機Ｓの左右寸法外側の塵埃を内側に向かって集めることができる。回転ブラシ７の回転軸は、上下方向に略平行であることが好ましい。回転ブラシ７は、少なくとも毛束の一部が回転ブラシ７の左右方向端部より外側に届くように、回転軸の位置や毛束の長さを設定できる。   The internal reduction mechanisms of the drive wheels 2 and 3 can be made compact by using, for example, a cycloid gear. The rotating brush 7 is a brush having one or two or more bristle bundles that rotate about a vertical axis as a rotation axis, and can blow dust existing on the floor surface Y backward. The rotating brush 7 rotates in a direction toward the front from the outside in the left-right direction of the autonomous traveling vacuum cleaner S (in the figure, the direction of the arrow α1). Thereby, dust outside the left and right dimensions of the autonomous traveling vacuum cleaner S can be collected toward the inside. The rotating shaft of the rotating brush 7 is preferably substantially parallel to the vertical direction. The rotating brush 7 can set the position of the rotating shaft and the length of the bristle bundle so that at least a part of the bristle bundle reaches the outer side from the left and right ends of the rotating brush 7.

回転ブラシ７の長さは、自律走行型掃除機Ｓが例えば室内の２壁面が交わる角部に移動した際に、角部の端部まで届くよう、ケース１よりも外側に突出することが望ましいが、駆動輪２、３の回動を妨げないよう、駆動輪２，３の中心軸には届かない長さであることが望ましい。また、回転ブラシ７の一部又は全部を弾性体で覆ってもよい。こうすることで長い毛束の場合でも強度を確保できる。   It is desirable that the length of the rotating brush 7 protrude outside the case 1 so that when the autonomous traveling cleaner S moves to, for example, a corner where two wall surfaces in a room intersect, it reaches the end of the corner. However, it is desirable that the length be short of the central axes of the drive wheels 2 and 3 so as not to hinder the rotation of the drive wheels 2 and 3. Further, a part or all of the rotating brush 7 may be covered with an elastic body. By doing so, the strength can be ensured even in the case of a long hair bundle.

メインブラシ５は、左右方向に回転軸を有するブラシであり、床面Ｙに存在する塵埃を掻込み、ケース１内の集塵ケース１２に向かって送り込むことができる。メインブラシ５は、回転ブラシ７より後方に位置しており、回転ブラシ７が弾き飛ばした塵埃を掻き込みやすい。なお、メインブラシ５の回転軸は、必ずしも左右方向に限られるものではなく、その他の水平方向に設けても良い。   The main brush 5 is a brush having a rotation axis in the left-right direction, and can scrape dust existing on the floor surface Y and send the dust toward the dust collection case 12 in the case 1. The main brush 5 is located behind the rotating brush 7, and is easy to scrape in the dust that the rotating brush 7 has flipped off. Note that the rotation axis of the main brush 5 is not necessarily limited to the horizontal direction, and may be provided in other horizontal directions.

電動送風機１１は、上ケース１ｕと下ケース１ｓの間で、前後方向及び左右方向について自律走行型掃除機Ｓの中心付近に配置されている。電動送風機１１が駆動すると、床面Ｙから吸口１４ｉを介して空気を集塵ケース１２内に吸い込み、排気口１ｓ５から外部に排出する流れを生成できる。空気とともに塵埃が集塵ケース１２内に送り込まれ、塵埃は、集塵フィルタ1/2を通過できずに集塵ケース内に貯留される。空気は、吸口１４ｉから下流側に向かって順に、吸込み口１２ｉ、集塵ケース１２、集塵フィルタ1/2、電動送風機１１、図４等に例示する排気口１ｓ５を流れる。排気口１ｓ５は、前後方向について電動送風機１１の範囲内、左右方向について駆動輪２，３の内側に設けることができる。これにより、電動送風機１１から排気口１ｓ５までの流路を短くできる。なお、吸口１４ｉは、床面上の塵埃を掻き込むメインブラシ５の上方後側に設けられている。メインブラシ５は、メインブラシモータ５ｍから回転力を受ける。電動送風機１１、およびメインブラシモータ５ｍは、騒音を抑制し、回転数を制御しやすくするため、ブラシレスモータであることが望ましい。   The electric blower 11 is disposed between the upper case 1u and the lower case 1s near the center of the autonomous traveling cleaner S in the front-rear direction and the left-right direction. When the electric blower 11 is driven, it is possible to generate a flow of sucking air into the dust collecting case 12 from the floor Y via the suction port 14i and discharging the air to the outside from the exhaust port 1s5. Dust is sent into the dust collection case 12 together with the air, and the dust cannot pass through the dust collection filters 1/2 and is stored in the dust collection case. The air flows through the suction port 12i, the dust collection case 12, the dust collection filter 1/2, the electric blower 11, and the exhaust port 1s5 illustrated in FIG. 4 and the like in order from the suction port 14i toward the downstream side. The exhaust port 1s5 can be provided within the range of the electric blower 11 in the front-rear direction and inside the drive wheels 2 and 3 in the left-right direction. Thereby, the flow path from the electric blower 11 to the exhaust port 1s5 can be shortened. The suction port 14i is provided on the upper rear side of the main brush 5 that scrapes dust on the floor surface. The main brush 5 receives a rotational force from the main brush motor 5m. It is desirable that the electric blower 11 and the main brush motor 5m are brushless motors in order to suppress noise and control the number of rotations easily.

［モード選択］
自律走行型掃除機Ｓは、制御装置１０によってそれぞれのモータの駆動速度や清掃時間を制御することができ、また、使用者が運転モードを指定することによりモータの駆動速度や清掃時間を選択できる。運転モードとしては例えば、自動運転モード、念入り運転モード、スポット運転モード、弱運転モード、静音運転モードを含むことができ、いずれのモードで自律駆動を開始するかを、例えば自律走行型掃除機Ｓの本体に配したボタンから受け付けることができる。 [Mode selection]
In the autonomous traveling vacuum cleaner S, the control device 10 can control the driving speed and the cleaning time of each motor, and the user can select the driving speed and the cleaning time of the motor by specifying the operation mode. . The operation mode can include, for example, an automatic operation mode, a meticulous operation mode, a spot operation mode, a weak operation mode, and a silent operation mode. In which mode the autonomous driving is started, for example, the autonomous traveling cleaner S It can be accepted from the button arranged on the main body of.

自動運転モードでは、電動送風機１１及びメインブラシ５の回転速度として「標準」及び「強」を床面の状態（メインブラシ５の抵抗によって検知）や吸込口１２ｉに設けられたごみセンサによって検知したごみの量によって切り替えを行う。また、駆動輪２，３は「速い」速度で回転する。電動送風機１１及びメインブラシ５の回転速度が「標準」か「強」かを使用者に伝えるために、ＬＥＤ１７の色を電動送風機の回転速度に応じて変化させる。後述する弱運転モードや静音運転モード時には、この発光を行わないようにしてもよい。自律駆動による運転時間（清掃時間）はセンサによって検知した清掃する空間の広さとごみセンサで検知したごみの残量によって約３０分から約６０分を自動で判断し運転する。これによって素早い動きで運転時間が短く、広い範囲に高い清掃能力を発揮できる。   In the automatic operation mode, “standard” and “strong” are detected as the rotation speeds of the electric blower 11 and the main brush 5 by the state of the floor surface (detected by the resistance of the main brush 5) and the dust sensor provided at the suction port 12i. Switch according to the amount of waste. Also, the drive wheels 2, 3 rotate at a "fast" speed. To tell the user whether the rotation speed of the electric blower 11 and the main brush 5 is “standard” or “strong”, the color of the LED 17 is changed according to the rotation speed of the electric blower. This light emission may not be performed in the weak operation mode or the silent operation mode described later. The operation time (cleaning time) by the autonomous driving is automatically determined from about 30 minutes to about 60 minutes based on the size of the space to be cleaned detected by the sensor and the remaining amount of garbage detected by the garbage sensor, and the operation is performed. As a result, the operation time is short due to quick movement, and a high cleaning ability can be exhibited in a wide range.

ここで、運転時間とは、自動運転モード、念入り運転モード、弱運転モード及び静音運転モードについては、清掃開始指令を受信してから基地局若しくは充電台への帰還動作を開始するまで又は基地局若しくは充電台への帰還動作が完了するまでの時間をいう。一方、スポット運転モードについては、スポット運転モードの実行時間をいうことができる。   Here, the operation time means the automatic operation mode, the meticulous operation mode, the weak operation mode, and the silent operation mode, from the time when the cleaning start command is received to the time when the return operation to the base station or the charging station is started or the base station. Alternatively, it refers to the time until the return operation to the charging stand is completed. On the other hand, for the spot operation mode, the execution time of the spot operation mode can be referred to.

念入り運転モードでは、電動送風機１１及びメインブラシ５の回転速度と駆動輪２、３の速度は自動運転モードと同様で、清掃時間を自動運転モードより好ましくは長い時間に固定、例えば約７０分固定である。これによって部屋の広さ等に依存せず、広い範囲により高い清掃能力を発揮できる。   In the careful operation mode, the rotation speeds of the electric blower 11 and the main brush 5 and the speeds of the drive wheels 2 and 3 are the same as those in the automatic operation mode, and the cleaning time is preferably fixed to a longer time than the automatic operation mode, for example, fixed to about 70 minutes. It is. As a result, a high cleaning ability can be exhibited over a wide area without depending on the size of the room.

スポット運転モードでは、電動送風機１１は自動運転モードの「強」よりも回転数の高い「ターボ」固定し、駆動輪２、３は「遅い」速度で回転する。メインブラシ５は「標準」で回転する。清掃時間は約１分で限られた空間を清掃する。これによって任意の狭い範囲をさらに高い吸引力で清掃することができる。   In the spot operation mode, the electric blower 11 is fixed at “turbo” having a higher rotation speed than “strong” in the automatic operation mode, and the drive wheels 2 and 3 rotate at a “slow” speed. The main brush 5 rotates at "standard". The cleaning time is about 1 minute and cleans the limited space. Thereby, any narrow area can be cleaned with a higher suction force.

弱運転モードでは、電動送風機１１は「弱」固定、駆動輪２、３は「遅い」速度で回転する。メインブラシ５は「標準」で回転する。清掃時間は約４５分から９０分を自動運転モードと同じように自動で判断する。このように弱運転モードでは、自動運転モード及び念入り運転モードより長い時間も短い時間も取り得る。これによって在宅中などに自律走行型掃除機Ｓを使用する場合に騒音を抑えつつ、広い範囲を十分な清掃能力で清掃することができる。清掃時間の幅が広くなっているのは使用者の好み（早期に運転を終わらせたいか弱運転なら長時間運転しても構わないか）が種々考えられるためである。弱運転モードは、電動送風機１１の回転速度が減少することで清掃性能が抑えられているため、併せて駆動輪２，３の回転速度も低減することで同じ領域を長時間清掃してその清掃性能の抑制をカバーしている。このため、清掃時間は自動運転モードより長い方が好ましい。   In the weak operation mode, the electric blower 11 is fixed at “weak” and the drive wheels 2 and 3 rotate at “slow” speed. The main brush 5 rotates at "standard". The cleaning time is automatically determined from about 45 minutes to 90 minutes as in the automatic operation mode. As described above, in the weak operation mode, a longer or shorter time can be taken than in the automatic operation mode and the careful operation mode. This makes it possible to clean a wide area with a sufficient cleaning ability while suppressing noise when the autonomous traveling cleaner S is used at home or the like. The reason why the width of the cleaning time is wide is that various considerations can be given to the user's preference (whether the driver wants to end the operation early or may perform a long operation if the operation is weak). In the weak operation mode, since the cleaning performance is suppressed by reducing the rotation speed of the electric blower 11, the rotation speed of the drive wheels 2 and 3 is also reduced to clean the same area for a long time and to perform the cleaning. Covers performance constraints. For this reason, it is preferable that the cleaning time is longer than in the automatic operation mode.

なお、使用者が清掃時間を設定できるようにしても良い。自動運転モードと弱運転モードの騒音の差が３ｄＢ以上になるような回転数に設定することにより、使用者が感じる騒音のエネルギを半分にすることができる。   The user may be allowed to set the cleaning time. By setting the rotation speed so that the difference between the noise in the automatic operation mode and the noise in the weak operation mode is 3 dB or more, the energy of the noise felt by the user can be halved.

静音運転モードでは、電動送風機１１は弱運転モードよりも少回転数の「微弱」固定、駆動輪２、３は「遅い」速度で回転する。メインブラシ５は弱運転モードよりも少回転数の「弱」で回転する。清掃時間を静音運転モードより好ましくは長い時間に固定、例えば約１２０分固定である。これによって部屋の広さ等に依存せず、広い範囲により高い清掃能力を発揮できる。駆動輪の速度は弱運転と概ね同じにして電力消費を抑えて清掃時間を長くすることで、夜中等の清掃時間に余裕がある状況の中で、繰り返し同じ場所を通ることができ、清掃能力を高めることができる。静音運転モードは、電動送風機１１及びメインブラシ５の回転速度が減少することで清掃性能が抑えられているため、併せて駆動輪２，３の回転速度も低減することで同じ領域を長時間清掃してその清掃性能の抑制をカバーしている。このため、清掃時間は自動運転モード及び弱運転モードより長い方が好ましい。静音運転モード中は、使用者の就寝中に運転させる場面を想定しており、音と光で睡眠を妨げないようスピーカ１５の発音とＬＥＤ１７の発光の一方又は両方を停止させている。周囲温度を検知するセンサを自律走行型掃除機Ｓに設けて人体が近傍に存在するか検知可能にし、人体から離れるように走行するようにしても良い。   In the silent operation mode, the electric blower 11 is fixed at "weak" at a lower rotation speed than in the weak operation mode, and the drive wheels 2, 3 rotate at a "slow" speed. The main brush 5 rotates at "weak", which is a smaller number of revolutions than in the weak operation mode. The cleaning time is preferably fixed at a longer time than the silent operation mode, for example, about 120 minutes. As a result, a high cleaning ability can be exhibited over a wide area without depending on the size of the room. The speed of the drive wheels is almost the same as that of the weak driving, and the power consumption is reduced and the cleaning time is lengthened. Can be increased. In the silent operation mode, since the cleaning performance is suppressed by reducing the rotation speed of the electric blower 11 and the main brush 5, the same area is cleaned for a long time by also reducing the rotation speed of the driving wheels 2 and 3. Then, the suppression of the cleaning performance is covered. For this reason, it is preferable that the cleaning time is longer than those in the automatic operation mode and the weak operation mode. In the silent driving mode, it is assumed that the user is driving while the user is asleep, and one or both of the sound emission of the speaker 15 and the light emission of the LED 17 are stopped so as not to disturb the sleep with sound and light. A sensor for detecting the ambient temperature may be provided in the autonomous traveling type vacuum cleaner S so that it is possible to detect whether a human body is in the vicinity or not, and to travel away from the human body.

例えば本実施形態における電動送風機１１の制御は、「微弱」約７５００回転、「弱」約１２０００回転、「標準」約１７５００回転、「強」約２４５００回転、「ターボ」約３７０００回転としており、駆動輪２、３の制御は、障害物回避動作中でない状態の前進時における本体走行速度を「速い」３３０ｍｍ／ｓ、「遅い」２００ｍｍ／ｓに制御している。   For example, the control of the electric blower 11 in the present embodiment is performed by setting the “weak” to about 7500 rotations, the “weak” to about 12000 rotations, the “standard” to about 17500 rotations, the “strong” to about 24500 rotations, and the “turbo” to about 37000 rotations. In the control of the wheels 2 and 3, the main body traveling speed when the vehicle is moving forward without the obstacle avoiding operation is controlled to “fast” 330 mm / s and “slow” 200 mm / s.

電動送風機１１の「標準」「強」は充電池９の容量と清掃時間から、最大の回転数としている。駆動輪２，３の制御は本体の大きさより、センサが反応してから本体が停止するまでの制動距離に基づいた最大速度から「速い」３３０ｍｍ／ｓを、内部ギヤが動作可能な最低速度として「遅い」２００ｍｍ／ｓを設定している。その際、駆動輪２、３の「速い」と「遅い」の騒音差が約２．５ｄＢであり、自動運転モードと弱運転モードの差を３ｄＢ設けるために約９ｄＢの差をつける必要があることから、電動送風機の「弱」は「標準」から約３０％減の１２０００回転とした。電動送風機１１の「微弱」は、電動送風機１１の回転による共振点を避けながら、自動運転モードと静音運転モードの差を５ｄＢ設けるために約４０％減の７５００回転とした。メインブラシ５の「弱」は、自動運転モードと静音運転モードの差を５ｄＢ設けながら、最低限の清掃性能を維持するために、「標準」から約２５％減とした。メインブラシ５の回転数Ｎ「強」「標準」「弱」は、電動送風機１１の回転数÷６０で表される電動送風機１１の周波数をf、メインブラシ５の回転数Ｎとメインブラシ５の軸から垂直方向に植設されている刷毛面の数ｈを乗した値をＮｈとしたときにｆ÷Ｎｈの余りが０となるようにメインブラシ５の回転数Ｎを設定している。   The “standard” and “strong” of the electric blower 11 are set to the maximum number of rotations based on the capacity of the rechargeable battery 9 and the cleaning time. The control of the driving wheels 2 and 3 is based on the size of the main body, and 330 mm / s from the maximum speed based on the braking distance from when the sensor responds to when the main body stops is set as 330 mm / s as the minimum speed at which the internal gear can operate. "Slow" 200 mm / s is set. At this time, the noise difference between the “fast” and “slow” driving wheels 2 and 3 is about 2.5 dB, and it is necessary to make a difference of about 9 dB in order to provide a 3 dB difference between the automatic driving mode and the weak driving mode. Therefore, the "weak" of the electric blower was set to 12,000 revolutions, which is about 30% less than the "standard". The "weakness" of the electric blower 11 was set to 7,500 rotations, which was reduced by about 40% to avoid the resonance point due to the rotation of the electric blower 11 and provided a difference of 5 dB between the automatic operation mode and the silent operation mode. The "weak" of the main brush 5 was reduced by about 25% from the "standard" in order to maintain the minimum cleaning performance while providing a difference of 5 dB between the automatic operation mode and the silent operation mode. The number N of rotations of the main brush 5 is “strong” “standard” “weak”, the frequency of the electric fan 11 represented by the number of rotations of the electric fan 11 divided by 60 is f, the number N of rotations of the main brush 5 and the number of rotations of the main brush 5 The rotation speed N of the main brush 5 is set so that the remainder of f ÷ Nh becomes 0 when Nh is a value obtained by multiplying the number h of the brush surfaces implanted in the vertical direction from the axis.

２，３ 駆動輪（車輪）
５ メインブラシ
６ 塵埃誘導部材
７ 回転ブラシ
８ センサ（障害物検知手段）
９ 充電池
１１ 電動送風機
１２ 集塵ケース
１４ 吸込部
１５ スピーカー（発音部）
１６ 操作ボタン
１７ ＬＥＤ（発光部）
Ｓ 自律走行型掃除機 2,3 drive wheels (wheels)
Reference Signs List 5 Main brush 6 Dust guide member 7 Rotary brush 8 Sensor (obstacle detection means)
9 Rechargeable battery 11 Electric blower 12 Dust collecting case 14 Suction unit 15 Speaker (sounding unit)
16 operation buttons 17 LED (light emitting unit)
S Autonomous traveling vacuum cleaner

Claims (5)

電動送風機、モータ駆動可能な駆動輪及びモータ駆動可能なメインブラシと、を備え、
前記駆動輪を駆動させつつ自律駆動する自動運転モードを実行可能な電気掃除機であって、
前記自動運転モードよりも発する音量の小さい弱運転モードと、
該弱運転モードよりも発する音量の小さい静音運転モードと、を実行可能であり、
前記自動運転モード、前記弱運転モード、及び前記静音運転モードのいずれを実行するかの指定をユーザから受付けるモード指定部を有することを特徴とする電気掃除機。 Comprising an electric blower, a motor-driven drive wheel and a motor-driven main brush,
An electric vacuum cleaner capable of executing an automatic operation mode of autonomously driving while driving the driving wheels,
A weak driving mode in which the volume emitted from the automatic driving mode is smaller,
And a quiet operation mode in which the volume emitted from the weak operation mode is smaller,
An electric vacuum cleaner comprising: a mode specifying unit that receives, from a user, a specification of which of the automatic operation mode, the weak operation mode, and the silent operation mode to execute. 発音部及び／又は発光部を備え、
前記静音運転モードでは、前記発音部からの音の出力及び／又は前記発光部からの光を、前記通常モード若しくは前記弱運転モードよりも弱めた出力にする、又は、無出力に制御することを特徴とする請求項１に記載の電気掃除機。 A sound emitting unit and / or a light emitting unit,
In the silent operation mode, the output of the sound from the sound generator and / or the light from the light emitting unit may be set to an output weaker than the normal mode or the weak operation mode, or may be controlled to no output. The vacuum cleaner according to claim 1, characterized in that: 前記弱運転モードでは、前記自動運転モードに比して、前記電動送風機及び前記メインブラシの回転数が低く、
前記静音運転モードでは、前記弱運転モードに比して、前記電動送風機及び前記メインブラシの回転数が低く、
前記弱運転モードと前記静音運転モードとでは、障害物回避動作中でない状態での前進時における前記駆動輪の回転数が略同一であることを特徴とする請求項１又は２に記載の電気掃除機。 In the weak operation mode, the number of rotations of the electric blower and the main brush is lower than in the automatic operation mode,
In the silent operation mode, the number of rotations of the electric blower and the main brush is lower than in the weak operation mode,
3. The electric cleaning according to claim 1, wherein in the weak driving mode and the silent driving mode, the number of rotations of the drive wheels during forward movement in a state where the obstacle avoidance operation is not performed is substantially the same. 4. Machine. 前記静音運転モードでは、前記電動送風機の周波数をf、前記メインブラシの回転数Ｎと前記メインブラシの刷毛面の数ｈを乗した値をＮｈとしたときにｆ÷Ｎｈの余りが０となることを特徴とする請求項１乃至３何れか一項に記載の電気掃除機。   In the silent operation mode, when the frequency of the electric blower is f and the value obtained by multiplying the number of rotations N of the main brush by the number h of the brush surface of the main brush is Nh, the remainder of f ÷ Nh becomes 0. The vacuum cleaner according to any one of claims 1 to 3, wherein: 周囲の人体の存在を検知可能なセンサを有し、
前記静音運転モードでは、前記センサが人体を検知すると、該人体から離れる方向に走行可能なことを特徴とする請求項１乃至４何れか一項に記載の電気掃除機。 It has a sensor that can detect the presence of the surrounding human body,
The vacuum cleaner according to any one of claims 1 to 4, wherein in the silent operation mode, when the sensor detects a human body, the vehicle can travel in a direction away from the human body.
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