EP3479745B1 - Method for operating an electric drive, preferably a ventilator and/or of a brush of a vacuum cleaner or a vacuum cleaning robot - Google Patents

Method for operating an electric drive, preferably a ventilator and/or of a brush of a vacuum cleaner or a vacuum cleaning robot Download PDF

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Publication number
EP3479745B1
EP3479745B1 EP18199498.9A EP18199498A EP3479745B1 EP 3479745 B1 EP3479745 B1 EP 3479745B1 EP 18199498 A EP18199498 A EP 18199498A EP 3479745 B1 EP3479745 B1 EP 3479745B1
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EP
European Patent Office
Prior art keywords
electric motor
voltage
vacuum cleaner
brush
control unit
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EP18199498.9A
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German (de)
French (fr)
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EP3479745A1 (en
Inventor
Thomas Rech
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Miele und Cie KG
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Miele und Cie KG
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Publication of EP3479745A1 publication Critical patent/EP3479745A1/en
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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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2831—Motor parameters, e.g. motor load or speed
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0405—Driving means for the brushes or agitators
    • A47L9/0411—Driving means for the brushes or agitators driven by electric motor
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2842—Suction motors or blowers
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof

Definitions

  • Method for operating an electric drive preferably a fan and/or a brush of a vacuum cleaner or a vacuum cleaner robot
  • the invention relates to a method for operating an electric drive, preferably a fan and/or a brush of a vacuum cleaner or a vacuum cleaning robot, according to patent claim 1, and a household appliance, preferably a vacuum cleaner and/or a vacuum cleaning robot, according to patent claim 11.
  • vacuum cleaners In the field of household appliances, vacuum cleaners are known which serve to clean surfaces.
  • Vacuum cleaners and methods for controlling electric motors are from the US7205737B1 , US2016/061899 and the US2003/210011 known.
  • a vacuum cleaner is a cleaning device equipped with a fan that creates a vacuum.
  • a suction opening is provided on the suction side of the vacuum cleaner, which the user can guide over the surfaces to be cleaned in a targeted manner.
  • the air sucked in by the blower usually flows through several filters; which can filter out components such as dust, mostly house dust, as well as smaller dirt particles from the air flow.
  • the air leaves the vacuum cleaner far cleaner than it entered.
  • the suction opening usually has a rotatable brush, which can whirl up the components from the surface to be cleaned into the air flow.
  • the blower has an electric blower motor and the brush has an electric brush motor.
  • a disadvantage of known vacuum cleaners is that an operator input is required by the user in order to set an operating mode for the blower and brush. This can be perceived as annoying. This can also be forgotten, so that the vacuum cleaner is very likely to be operated with a non-optimal cleaning setting.
  • Another disadvantage is that it depends on the user's choice of operating mode whether or to what extent an optimal cleaning setting is actually found for the surface to be cleaned. This can very easily lead to incorrect settings, especially in the case of changing and in particular frequently changing types of surfaces to be cleaned.
  • the invention therefore faces the problem of providing a method for operating an electric drive, preferably a blower and/or a brush of a vacuum cleaner or a vacuum cleaning robot, so that the electric drive can automatically respond to different load conditions, in particular to different surfaces to be cleaned.
  • an electric drive preferably a blower and/or a brush of a vacuum cleaner or a vacuum cleaning robot
  • the electric drive can automatically respond to different load conditions, in particular to different surfaces to be cleaned.
  • This is supposed to be better and/or simpler, preferably with fewer or even no sensors, than previously known.
  • the invention thus relates to a method for operating an electric drive, preferably a fan and/or a brush of a vacuum cleaner or vacuum cleaner according to claim 1.
  • the voltage source is preferably a DC voltage source.
  • the voltage source can be a power grid.
  • the voltage source is preferably a battery or a rechargeable accumulator.
  • the duty cycle also known as the modulation factor, specifies the ratio of the pulse duration to the period duration for a periodic sequence of pulses such as the voltage pulses here.
  • the invention is based on the finding that a load indicator of an electric motor can be determined in this way in order to be able to make a statement about the external load currently applied to the electric motor. This can also different load conditions can be distinguished from each other. Additional sensors can be dispensed with.
  • Knowledge of the current load of the electric motor determined according to the invention can be used to control or regulate the power of the electric motor. In this way, the power of the electric motor can be optimally adapted to the applied load. If the method according to the invention is applied to an electric motor or to several electric motors of a blower or a brush of a vacuum cleaner or a vacuum cleaning robot, the optimal speed or the optimal power of the floor brush and/or the optimal speed or the optimal power of the blower can be achieved according to the invention will.
  • this can have the advantage that the electric motor can be operated in an energy-efficient manner. This can keep the electric power consumption as low as possible while maintaining the performance appropriate to the applied load. In this way, e.g. when applying the method according to the invention to an electric drive of a blower and/or a brush of a vacuum cleaner or a vacuum cleaner robot, good dust pick-up can be achieved with low energy consumption at the same time. If a battery or accumulator-operated device is used, the running time can be extended. In other words, an optimal ratio of dust pickup to input power can be achieved.
  • the service life of the electric motor can be extended through load-dependent operation, since unnecessarily powerful operating states can be avoided. In the case of a battery-powered device, this can also have a positive effect on the service life of the battery. In other words, the electric motor and possibly the accumulator can be protected by the lowest possible input power of the electric motor.
  • limit values for the electrical power can be complied with, since the applied load is determined according to the invention and the maximum electrical power available for this purpose, which the battery may be taken, can be specified.
  • an overload of the electric motor can be detected via the specific load of the electric motor.
  • the electric motor can be operated with a lower and permissible power or, if necessary, switched off in order to avoid damaging the electric motor.
  • This aspect of the present invention is based on the recognition that the load indicator of the electric motor is proportional to both the torque and the current of the electric motor. This means that the load indicator can be converted into the torque or current of the electric motor by multiplying it, e.g. in order to control it directly. Likewise, the findings described above can also be applied to the specific torque or to the specific current.
  • the induced voltage of the electric motor can be determined without having to measure it using additional measures.
  • the actual pulse width modulated operation of the electric motor can be briefly interrupted, e.g. every 100 ms for approx. 0.5 ms, so that this is imperceptible to the user.
  • the voltage of the voltage source is initially recorded as long as a current flows through the freewheel. After the current has decayed, a superimposed voltage of the electric motor is then recorded. Normal operation of the electric motor can then be resumed.
  • the induced voltage of the electric motor can be determined from these two voltages by subtracting them. As described above, this can be used to determine the load indicator. Alternatively or additionally, the determined induced voltage of the electric motor can also be used for other purposes.
  • Freewheeling can be implemented as passive freewheeling using a diode. This freewheeling can be implemented very easily and inexpensively, but has a power loss that is not negligible due to the voltage drop in the forward direction.
  • Freewheeling can therefore preferably alternatively be implemented as active freewheeling, e.g. by means of an appropriately controlled MOSFET (metal-oxide-semiconductor field-effect transistor).
  • MOSFET metal-oxide-semiconductor field-effect transistor
  • This aspect of the present invention is based on the knowledge that the induced voltage of the electric motor is proportional to the speed of the electric motor.
  • the speed of the electric motor can thus be obtained from its induced voltage.
  • the speed can be used, for example, to regulate the speed of the electric motor without a separate speed sensor having to be used for this purpose.
  • the load indicator determined according to the invention or the torque obtained therefrom and/or the current of the electric motor obtained therefrom can be used when applying the method according to the invention to a fan or to a brush of a vacuum cleaner or a vacuum cleaning robot of the type of the substrate to be cleaned.
  • This can be done by specifying data for the control unit of the electric motor which correspond to different backgrounds, so that the existing background can be selected from the stored backgrounds by comparison and thereby recognized.
  • the data can be specified as reference values or as threshold values.
  • a vacuum cleaner or a vacuum cleaning robot can identify the substrate to be cleaned and automatically adjust itself to the substrate with regard to the power of its blower and/or its brush. This can therefore be done without sensors.
  • This aspect of the present invention is based on the finding that the brush contributes relatively little to the suction result on hard floors, whereas the suction power of the blower does. On carpet it is rather the other way around. Therefore, in this way, an optimal cleaning effect can be achieved with the highest possible energy efficiency at the same time. In the case of a battery or accumulator-operated device, this can extend the operating time.
  • the surface to be cleaned can also be protected by an adapted and therefore not unnecessarily high blower power or brush activity.
  • a reference value and/or a threshold value is predetermined, so that the comparison distinguishes between the absence and the presence of the brush can be.
  • the absence of the brush whose electric motor is virtually idling in this state, can lead to such a low load on the electric motor that this load state of the electric motor can be distinguished from the other load states of the electric motor and can thus be recognized.
  • the electric motor of the brush can preferably switch off to avoid damage of the electric motor itself, the vacuum cleaner or the vacuum cleaning robot and the subsurface. Furthermore, electrical energy can be saved in this way, which would not contribute to the cleaning result if there were no brush available.
  • the electric motor is operated by the control unit in a speed-controlled manner.
  • speed-controlled operation of the electric motor can be achieved, as already described above. This can be done without an additional speed sensor.
  • a comparatively high carpet is detected as the substrate (e.g. by a previously defined upper torque limit) and the electric motor is designed to drive a brush of a vacuum cleaner or a vacuum cleaning robot, the electric motor is operated on the part the control unit with a comparatively low speed.
  • This aspect of the invention is based on the knowledge that a comparatively high carpet can be strained by the brush of a vacuum cleaner or a vacuum cleaning robot. Therefore, if such a carpet is recognized according to the invention, the power of the brush of the vacuum cleaner or of the vacuum cleaning robot can be set lower than with a different surface to protect the carpet.
  • the induced voltage of the electric motor is determined and/or the superimposed voltage of the electric motor is detected via a voltage divider which is arranged in series with the electric motor and parallel to the control unit.
  • a voltage divider which is arranged in series with the electric motor and parallel to the control unit.
  • the voltage of the voltage source is detected at the first measurement time and/or at the second measurement time by means of a detection over a predetermined measurement period with subsequent averaging.
  • the electric motor is an electric motor of a fan or an electric motor of a brush of a vacuum cleaner or a vacuum cleaner robot.
  • the present invention also relates to a control unit for operating an electric drive, preferably a fan and/or a brush of a vacuum cleaner or a vacuum cleaner robot, the control unit being designed to carry out a method as described above.
  • the present invention also relates to a household appliance, preferably a vacuum cleaner and/or a vacuum cleaning robot, preferably battery-operated, with at least one electric drive, at least one voltage source, at least one electric motor and at least one control unit, the control unit being designed as a method as described above to execute.
  • a household appliance preferably a vacuum cleaner and/or a vacuum cleaning robot, preferably battery-operated, with at least one electric drive, at least one voltage source, at least one electric motor and at least one control unit, the control unit being designed as a method as described above to execute.
  • the present invention also includes the finding that due to the speed or load-controlled operation of the electric motor according to the invention, which takes into account the effectively applied voltage of the electric motor, a higher number of battery cells than previously known can be used when using a battery as the voltage source, since the The electric motor is operated independently of the voltage of the voltage source. Thus, the running time of the device, which has the electric motor operated according to the invention, can be increased by the higher number of accumulator cells.
  • the present invention also includes the knowledge that a falling voltage of the voltage source, e.g. due to a weakening battery or a weakening accumulator, can be compensated for again by adjusting the duty cycle of the pulse-width-modulated voltage.
  • a falling voltage of the voltage source e.g. due to a weakening battery or a weakening accumulator
  • the duty cycle of the pulse-width-modulated voltage can also be continued undiminished in this case.
  • figure 1 shows a circuit diagram of an electric drive A.
  • the electric drive A has a voltage source Q in the form of an accumulator Q, which provides a voltage U q or an accumulator voltage U q at 24 V.
  • There is an electric motor M to which a diode D1 is arranged in parallel, through which a diode current I D1 can flow .
  • the electric motor M and the diode D 1 are connected in series with the accumulator Q together.
  • the passive diode freewheeling shown here and described below is only to be understood as an example; the function can alternatively also be ensured by active freewheeling, for example by an appropriately controlled MOSFET.
  • control unit S with a voltage divider, which is formed by a first ohmic resistor R1 and a second ohmic resistor R2.
  • a first voltage U 1 which drops across the first ohmic resistor R1, can be detected via the voltage divider.
  • the control unit S is designed as a microcontroller S. This closes the circuit to the accumulator Q.
  • the electric drive A is used in a vacuum cleaner to drive the floor brush.
  • Various advantages of the method according to the invention are to be considered in more detail on the basis of this exemplary embodiment.
  • figure 2 shows a flow chart of a method according to the invention for operating the electric drive of FIG figure 1 .
  • a first step 100 the electric motor M is operated by the control unit S at a predetermined speed using a pulse width modulated battery voltage U q with a predetermined duty cycle, see the diagram in FIG figure 3 left before a first measurement time T 1 .
  • the accumulator voltage U q is recorded.
  • the voltage U eff effectively present at the electric motor M is determined by multiplying the duty cycle by the accumulator voltage U q .
  • a fourth step 400 the induced voltage U i of the electric motor M is determined. While immediately after If the battery voltage U q is still maintained by the diode current I D1 of the diode D 1 when the battery voltage U q is interrupted, the battery voltage U q is detected in a second partial step 420 at the first measurement time T 1 , see FIG figure 3 . When the diode current I D1 of the diode D 1 has decayed, a superimposed voltage U k of the electric motor M is detected in a third partial step 430 at a second measurement time T 2 , see also figure 3 .
  • the pulse-width-modulated battery voltage U q can then be applied to the electric motor M again, so that the operation of the electric motor M can be resumed as before.
  • the induced voltage U i of the electric motor M is determined in a fourth partial step 440 by subtracting the superimposed voltage U k of the electric motor M from the battery voltage U q , so that the induced voltage U i of the electric motor M is now available.
  • a load indicator of the electric motor M is then determined by subtracting the induced voltage U i of the electric motor M from the voltage U eff effectively present at the electric motor M. Then, in a first sixth sub-step 600a, the torque and/or the current of the electric motor M is determined by multiplying the load indicator by a predetermined factor. In parallel, in a second, sixth partial step 600b, the speed of the electric motor M is determined by multiplying the induced voltage U i of the electric motor M by a predetermined factor.
  • a seventh step 700 the load indicator and/or the torque and/or the current of the electric motor M is compared with at least one reference value and/or with at least one threshold value, which corresponds to a type of ground.
  • the electric motor M is then operated by the control unit S as a function of the detected type of ground.
  • the power of the floor brush can now be regulated.
  • the presence or absence of the floor brush can also be detected.
  • the speed of the electric motor M can be determined without sensors and used, for example, for speed control.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)

Description

Verfahren zum Betrieb eines elektrischen Antriebs, vorzugsweise eines Gebläses und/oder einer Bürste eines Staubsaugers oder eines StaubsaugrobotersMethod for operating an electric drive, preferably a fan and/or a brush of a vacuum cleaner or a vacuum cleaner robot

Die Erfindung betrifft ein Verfahren zum Betrieb eines elektrischen Antriebs, vorzugsweise eines Gebläses und bzw. oder einer Bürste eines Staubsaugers oder eines Staubsaugroboters, nach Patentanspruch 1 sowie ein Haushaltsgerät, vorzugsweise einen Staubsauger und/oder einen Staubsaugroboter, nach Patentanspruch 11.The invention relates to a method for operating an electric drive, preferably a fan and/or a brush of a vacuum cleaner or a vacuum cleaning robot, according to patent claim 1, and a household appliance, preferably a vacuum cleaner and/or a vacuum cleaning robot, according to patent claim 11.

Auf dem Gebiet der Haushaltsgeräte sind Staubsauger bekannt, welche dem Reinigen von Flächen dienen.In the field of household appliances, vacuum cleaners are known which serve to clean surfaces.

Staubsauger sowie Verfahren zur Steuerung von elektrischen Motoren sind aus der US7205737B1 , US2016/061899 und der US2003/210011 bekannt.Vacuum cleaners and methods for controlling electric motors are from the US7205737B1 , US2016/061899 and the US2003/210011 known.

Ein Staubsauger ist ein Reinigungsgerät, das mit einem Gebläse ausgerüstet ist, welches einen Unterdruck erzeugt. An der Saugseite des Staubsaugers ist eine Ansaugöffnung vorgesehen, welche vom Anwender gezielt über die zu reinigenden Flächen geführt werden kann. Die vom Gebläse angesaugte Luft fließt üblicherweise durch mehrere Filter; welche Bestandteile wie Staub, meist Hausstaub, sowie kleinere Schmutzteilchen aus dem Luftstrom herausfiltern können. Die Luft verlässt den Staubsauger weitaus sauberer, als sie in ihn hineingeströmt ist. Um die Reinigungswirkung der zu reinigenden Flächen zu verbessern, weist die Ansaugöffnung üblicherweise eine rotierbare Bürste auf, welche die Bestandteile von der zu reinigenden Fläche in den Luftstrom hinein aufwirbeln kann. Das Gebläse weist einen elektrischen Gebläsemotor und die Bürste einen elektrischen Bürstenmotor auf. Nachteilig bei bekannten Staubsaugern ist, dass eine Bedieneingabe durch den Benutzer erforderlich ist, um eine Betriebsart von Gebläse und Bürste einzustellen. Dies kann als lästig empfunden werden. Auch kann dies vergessen werden, so dass der Staubsauger sehr wahrscheinlich mit einer nicht-optimalen Reinigungseinstellung betrieben wird.A vacuum cleaner is a cleaning device equipped with a fan that creates a vacuum. A suction opening is provided on the suction side of the vacuum cleaner, which the user can guide over the surfaces to be cleaned in a targeted manner. The air sucked in by the blower usually flows through several filters; which can filter out components such as dust, mostly house dust, as well as smaller dirt particles from the air flow. The air leaves the vacuum cleaner far cleaner than it entered. In order to improve the cleaning effect of the surfaces to be cleaned, the suction opening usually has a rotatable brush, which can whirl up the components from the surface to be cleaned into the air flow. The blower has an electric blower motor and the brush has an electric brush motor. A disadvantage of known vacuum cleaners is that an operator input is required by the user in order to set an operating mode for the blower and brush. This can be perceived as annoying. This can also be forgotten, so that the vacuum cleaner is very likely to be operated with a non-optimal cleaning setting.

Nachteilig ist ferner, dass es von der Wahl der Betriebsart durch den Benutzer abhängt, ob bzw. wie sehr eine für die zu reinigende Fläche optimale Reinigungseinstellung tatsächlich gefunden wird. Dies kann sehr leicht zu Fehleinstellungen führen, gerade bei sich ändernden und insbesondere bei sich häufig ändernden Arten von zu reinigenden Flächen.Another disadvantage is that it depends on the user's choice of operating mode whether or to what extent an optimal cleaning setting is actually found for the surface to be cleaned. This can very easily lead to incorrect settings, especially in the case of changing and in particular frequently changing types of surfaces to be cleaned.

Der Erfindung stellt sich somit das Problem, ein Verfahren zum Betrieb eines elektrischen Antriebs, vorzugsweise eines Gebläses und bzw. oder einer Bürste eines Staubsaugers oder eines Staubsaugroboters, bereitzustellen, so dass der elektrische Antrieb selbsttätig auf unterschiedliche Lastzustände, insbesondere auf unterschiedliche zu reinigende Flächen, mit einem jeweils möglichst optimalen Betriebspunkt eingestellt werden kann. Dies soll besser und bzw. oder einfacher, vorzugsweise mit weniger oder sogar ganz ohne Sensoren, als bisher bekannt erfolgen. Vorzugsweise soll dies möglichst energieeffizient, d.h. mit möglichst geringer Eingangsleistung des elektrischen Gebläsemotors und bzw. oder des elektrischen Bürstenmotors, erfolgen.The invention therefore faces the problem of providing a method for operating an electric drive, preferably a blower and/or a brush of a vacuum cleaner or a vacuum cleaning robot, so that the electric drive can automatically respond to different load conditions, in particular to different surfaces to be cleaned. can be set with an operating point that is as optimal as possible in each case. This is supposed to be better and/or simpler, preferably with fewer or even no sensors, than previously known. This should preferably take place as energy-efficiently as possible, ie with the lowest possible input power of the electric blower motor and/or the electric brush motor.

Erfindungsgemäß wird dieses Problem durch ein Verfahren mit den Merkmalen des Patentanspruchs 1 sowie durch eine Steuerungseinheit mit den Merkmalen des Patentanspruchs 10 sowie ein Haushaltsgerät mit den Merkmalen des Patentanspruchs 11 gelöst. VorteilhafteAccording to the invention, this problem is solved by a method having the features of patent claim 1 and by a control unit having the features of patent claim 10 and a household appliance having the features of patent claim 11 . beneficial

Ausgestaltungen und Weiterbildungen der Erfindung ergeben sich aus den nachfolgenden Unteransprüchen.Configurations and developments of the invention result from the following dependent claims.

Die Erfindung betrifft somit ein Verfahren zum Betrieb eines elektrischen Antriebs, vorzugsweise eines Gebläses und bzw. oder einer Bürste eines Staubsaugers oder eines Staubsauggemäss Anspruch 1.The invention thus relates to a method for operating an electric drive, preferably a fan and/or a brush of a vacuum cleaner or vacuum cleaner according to claim 1.

Die Spannungsquelle ist vorzugsweise eine Gleichspannungsquelle. Die Spannungsquelle kann ein Stromversorgungsnetz sein. Vorzugsweise ist die Spannungsquelle jedoch eine Batterie oder ein wiederaufladbarer Akkumulator. Der Tastgrad, auch Aussteuergrad genannt, gibt für eine periodische Folge von Impulsen wie hier die Spannungspulse das Verhältnis der Impulsdauer zur Periodendauer an.The voltage source is preferably a DC voltage source. The voltage source can be a power grid. However, the voltage source is preferably a battery or a rechargeable accumulator. The duty cycle, also known as the modulation factor, specifies the ratio of the pulse duration to the period duration for a periodic sequence of pulses such as the voltage pulses here.

Der Erfindung liegt dabei die Erkenntnis zugrunde, dass auf diese Art und Weise ein Lastindikator eines Elektromotors bestimmt werden kann, um eine Aussage über die aktuell am Elektromotor anliegende äußere Last treffen zu können. Hierdurch können auch verschiedene Lastzustände voneinander unterschieden werden. Auf zusätzliche Sensorik kann verzichtet werden.The invention is based on the finding that a load indicator of an electric motor can be determined in this way in order to be able to make a statement about the external load currently applied to the electric motor. This can also different load conditions can be distinguished from each other. Additional sensors can be dispensed with.

Die Kenntnis der erfindungsgemäß bestimmten aktuellen Last des Elektromotors kann dazu verwendet werden, die Leistung des Elektromotors zu steuern oder zu regeln. So kann die Leistung des Elektromotors der anliegenden Last möglichst optimal angepasst werden. Wird das erfindungsgemäße Verfahren auf einen Elektromotor oder auf mehrere Elektromotoren eines Gebläses bzw. einer Bürste eines Staubsaugers bzw. eines Staubsaugroboters angewendet, kann erfindungsgemäß die optimale Drehzahl oder die optimale Leistung der Bodenbürste und bzw. oder die optimale Drehzahl oder die optimale Leistung des Gebläses erreicht werden.Knowledge of the current load of the electric motor determined according to the invention can be used to control or regulate the power of the electric motor. In this way, the power of the electric motor can be optimally adapted to the applied load. If the method according to the invention is applied to an electric motor or to several electric motors of a blower or a brush of a vacuum cleaner or a vacuum cleaning robot, the optimal speed or the optimal power of the floor brush and/or the optimal speed or the optimal power of the blower can be achieved according to the invention will.

Dies kann zum einen den Vorteil haben, dass der Elektromotor energieeffizient betrieben werden kann. Dies kann den Verbrauch elektrischer Energie so gering wie möglich bei gleichzeitig der anliegenden Last angemessener Leistung halten. Hierdurch kann z.B. bei der Anwendung des erfindungsgemäßen Verfahrens auf einen elektrischen Antrieb eines Gebläses und bzw. oder einer Bürste eines Staubsaugers oder eines Staubsaugroboters eine gute Staubaufnahme bei gleichzeitig geringem Energieverbrauch erreicht werden. Wird ein batterie- bzw. akkumulatorbetriebenes Gerät verwendet, kann die Laufzeit verlängert werden. Mit anderen Worten kann ein optimales Verhältnis der Staubaufnahme zur Eingangsleistung erreicht werden.On the one hand, this can have the advantage that the electric motor can be operated in an energy-efficient manner. This can keep the electric power consumption as low as possible while maintaining the performance appropriate to the applied load. In this way, e.g. when applying the method according to the invention to an electric drive of a blower and/or a brush of a vacuum cleaner or a vacuum cleaner robot, good dust pick-up can be achieved with low energy consumption at the same time. If a battery or accumulator-operated device is used, the running time can be extended. In other words, an optimal ratio of dust pickup to input power can be achieved.

Vorteilhaft ist auch, dass durch einen lastabhängigen Betrieb des Elektromotors dessen Lebensdauer verlängert werden kann, da unnötig leistungsstarke Betriebszustände vermieden werden können. Dies kann sich bei einem akkumulatorbetriebenen Gerät ebenso positiv auf die Lebensdauer des Akkumulators auswirken. Mit anderen Worten kann durch eine möglichst geringe Eingangsleistung des Elektromotors eine Schonung des Elektromotors und ggfs. des Akkumulators erreicht werden.It is also advantageous that the service life of the electric motor can be extended through load-dependent operation, since unnecessarily powerful operating states can be avoided. In the case of a battery-powered device, this can also have a positive effect on the service life of the battery. In other words, the electric motor and possibly the accumulator can be protected by the lowest possible input power of the electric motor.

Vorteilhaft ist auch bei der Anwendung des erfindungsgemäßen Verfahrens auf ein akkumulatorbetriebenes Gerät, dass im Falle einer zukünftigen Regulierung für akkumulatorbetriebene Geräte Grenzwerte der elektrischen Leistung eingehalten werden können, da die anliegende Last erfindungsgemäß bestimmt und die hierfür zur Verfügung stehende maximale elektrische Leistung, welche dem Akkumulator entnommen werden darf, vorgegeben werden kann.It is also advantageous when applying the method according to the invention to a battery-operated device that in the event of a future regulation for battery-operated devices, limit values for the electrical power can be complied with, since the applied load is determined according to the invention and the maximum electrical power available for this purpose, which the battery may be taken, can be specified.

Vorteilhaft ist ferner, dass über die bestimmte Last des Elektromotors eine Erkennung einer Überlastung des Elektromotors erfolgen kann. In diesem Fall kann der Elektromotor mit einer geringeren und zulässigen Leistung betrieben oder ggfs. ausgeschaltet werden, um eine Beschädigung des Elektromotors zu vermeiden.It is also advantageous that an overload of the electric motor can be detected via the specific load of the electric motor. In this case, the electric motor can be operated with a lower and permissible power or, if necessary, switched off in order to avoid damaging the electric motor.

Allgemein lässt sich noch anmerken, dass die Antriebe in Staubsaugern oder in Staubsaugrobotern sich im Allgemeinen nur recht aufwendig regeln lassen, da sowohl die Last als auch die Eingangsparameter wie insbesondere die Motorspannung während der Laufzeit stark variieren. Der letztendlich zur Verfügung gestellte Unterdruck und der mittelbare Volumenstrom hängen von mehreren äußeren Faktoren ab, die nur schlecht zu kombinieren sind. Ein wesentlicher Ansatz zur einfachen Regelung und insbesondere Saugleistungs-Regelung von Staubsaugerantrieben liegt erfindungsgemäß in der Kenntnis der Drehzahl des Motors sowie dessen abgegebenen Moments, welches proportional zum Strom ist. Durch den Einsatz von PMDC-Motoren (Englisch: Permanent magnet direct current electric motor; Deutsch: permanenterregter Gleichstrommotor) mit ihren elektrischen Besonderheiten eröffnen sich gegenüber normalen RSM-Maschinen (Reihenschlussmotoren) vereinfachte Sensierungsund damit Regelungsmöglichkeiten.In general, it can also be said that the drives in vacuum cleaners or in vacuum cleaning robots can generally only be controlled with great effort, since both the load and the input parameters, such as the motor voltage in particular, vary greatly during the running time. The negative pressure that is finally made available and the indirect volume flow depend on several external factors that are difficult to combine. According to the invention, an essential approach to simple regulation and in particular suction power regulation of vacuum cleaner drives lies in knowing the speed of the motor and its output torque, which is proportional to the current. The use of PMDC motors (Permanent Magnet Direct Current Electric Motor) with their special electrical features opens up simplified sensing and thus control options compared to normal RSM machines (series motors).

Gemäß einem Aspekt der Erfindung weist das Verfahren wenigstens den weiteren Schritt auf:

  • Bestimmen des Drehmoments und bzw. oder des Stroms des Elektromotors durch Multiplizieren des Lastindikators mit einem vorbestimmten Faktor.
According to one aspect of the invention, the method has at least the further step:
  • Determining the torque and/or the current of the electric motor by multiplying the load indicator by a predetermined factor.

Diesem Aspekt der vorliegenden Erfindung liegt die Erkenntnis zugrunde, dass der Lastindikator des Elektromotors sowohl proportional zum Drehmoment als auch proportional zum Strom des Elektromotors ist. Somit kann der Lastindikator durch Multiplikation in das Drehmoment bzw. in den Strom des Elektromotors umgerechnet werden, um z.B. hierauf direkt zu regeln. Ebenso können die zuvor beschriebenen Erkenntnisse auch auf das bestimmte Drehmoment bzw. auf den bestimmten Strom angewendet werden.This aspect of the present invention is based on the recognition that the load indicator of the electric motor is proportional to both the torque and the current of the electric motor. This means that the load indicator can be converted into the torque or current of the electric motor by multiplying it, e.g. in order to control it directly. Likewise, the findings described above can also be applied to the specific torque or to the specific current.

Gemäß der Erfindung weist der elektrische Antrieb ferner einen Freilauf auf, welcher parallel zum Elektromotor angeordnet ist. Ferner weist das Bestimmen der induzierten Spannung des Elektromotors wenigstens die Schritte auf:

  • Unterbrechen der pulsweitenmodulierten Spannung der Spannungsquelle am Elektromotor,
  • zu einem ersten Messzeitpunkt, während dem ein Strom durch den Freilauf fließt, Erfassen der Spannung der Spannungsquelle,
  • zu einem zweiten Messzeitpunkt, während dem kein Strom mehr durch den Freilauf fließt, Erfassen einer überlagerten Spannung des Elektromotors, und
  • Bestimmen der induzierten Spannung des Elektromotors durch Subtrahieren der überlagerten Spannung des Elektromotors von der Spannung der Spannungsquelle.
According to the invention, the electric drive also has a freewheel, which is arranged parallel to the electric motor. Furthermore, determining the induced voltage of the electric motor has at least the following steps:
  • interrupting the pulse width modulated voltage of the voltage source on the electric motor,
  • at a first measurement time, during which a current flows through the freewheel, detecting the voltage of the voltage source,
  • at a second measurement time, during which current no longer flows through the freewheel, detecting a superimposed voltage of the electric motor, and
  • determining the induced voltage of the electric motor by subtracting the superimposed voltage of the electric motor from the voltage of the voltage source.

Auf diese Art und Weise kann erfindungsgemäß die induzierte Spannung des Elektromotors bestimmt werden, ohne dass diese durch zusätzliche Maßnahmen gemessen werden muss. Hierzu kann der eigentliche pulsweitenmodulierte Betrieb des Elektromotors derart kurzzeitig unterbrochen werden, z.B. alle 100 ms für ca. 0,5 ms, dass dies für den Benutzer nicht wahrnehmbar ist. Während dieser kurzzeitigen Betriebsunterbrechung wird anfänglich, solange ein Strom durch den Freilauf fließt, die Spannung der Spannungsquelle erfasst. Nach Abklingen des Stroms wird dann eine überlagerte Spannung des Elektromotors erfasst. Anschließend kann der normale Betrieb des Elektromotors wieder aufgenommen werden.In this way, according to the invention, the induced voltage of the electric motor can be determined without having to measure it using additional measures. For this purpose, the actual pulse width modulated operation of the electric motor can be briefly interrupted, e.g. every 100 ms for approx. 0.5 ms, so that this is imperceptible to the user. During this brief interruption in operation, the voltage of the voltage source is initially recorded as long as a current flows through the freewheel. After the current has decayed, a superimposed voltage of the electric motor is then recorded. Normal operation of the electric motor can then be resumed.

Aus diesen beiden Spannungen lässt sich die induzierte Spannung des Elektromotors durch Subtrahieren bestimmen. Diese kann, wie zuvor beschrieben, zur Bestimmung des Lastindikators verwendet werden. Alternativ oder zusätzlich kann die bestimmte induzierte Spannung des Elektromotors auch für andere Zwecke verwendet werden.The induced voltage of the electric motor can be determined from these two voltages by subtracting them. As described above, this can be used to determine the load indicator. Alternatively or additionally, the determined induced voltage of the electric motor can also be used for other purposes.

Der Freilauf kann als passiver Freilauf mittels einer Diode ausgeführt werden. Dieser Freilauf kann sehr einfach und kostengünstig realisiert werden, besitzt durch den Spannungsabfall in Durchlassrichtung jedoch eine nicht zu vernachlässigende Verlustleistung.Freewheeling can be implemented as passive freewheeling using a diode. This freewheeling can be implemented very easily and inexpensively, but has a power loss that is not negligible due to the voltage drop in the forward direction.

Bevorzugt kann der Freilauf daher alternativ als aktiver Freilauf, z.B. mittels eines entsprechend angesteuerten MOSFET (Metall-Oxid-Halbleiter-Feldeffekttransistor) ausgeführt sein. Hier ist zwar die Realisierung aufwendiger, unter anderem, da eine Ansteuerung zu den passenden Zeitpunkten erforderlich ist, allerdings ist die Verlustleistung gegenüber einem Diodenfreilauf deutlich verringert.Freewheeling can therefore preferably alternatively be implemented as active freewheeling, e.g. by means of an appropriately controlled MOSFET (metal-oxide-semiconductor field-effect transistor). Although the implementation here is more complex, among other things because activation is required at the appropriate times, the power loss is significantly reduced compared to a diode freewheel.

Gemäß einem weiteren Aspekt der Erfindung weist das Verfahren wenigstens den weiteren Schritt auf:

  • Bestimmen der Drehzahl des Elektromotors durch Multiplizieren der induzierten Spannung des Elektromotors mit einem vorbestimmten Faktor.
According to a further aspect of the invention, the method has at least the further step:
  • determining the speed of the electric motor by multiplying the induced voltage of the electric motor by a predetermined factor.

Diesem Aspekt der vorliegenden Erfindung liegt die Erkenntnis zugrunde, dass die induzierte Spannung des Elektromotors proportional zur Drehzahl des Elektromotors ist. Somit kann die Drehzahl des Elektromotors aus dessen induzierter Spannung gewonnen werden. Die Drehzahl kann z.B. für eine Drehzahlregelung des Elektromotors verwendet werden, ohne dass hierzu ein separater Drehzahlsensor verwendet werden muss.This aspect of the present invention is based on the knowledge that the induced voltage of the electric motor is proportional to the speed of the electric motor. The speed of the electric motor can thus be obtained from its induced voltage. The speed can be used, for example, to regulate the speed of the electric motor without a separate speed sensor having to be used for this purpose.

Gemäß einem weiteren Aspekt der Erfindung weist das Verfahren wenigstens die weiteren Schritte auf:

  • für den Fall, dass der Elektromotor ausgebildet ist, ein Gebläse oder eine Bürste eines Staubsaugers oder eines Staubsaugroboters anzutreiben, Vergleichen des Lastindikators und bzw. oder des Drehmoments und bzw. oder des Stroms des Elektromotors mit wenigstens einem Referenzwert und bzw. oder mit wenigstens einem Schwellenwert, welcher einer Art eines Untergrunds entspricht, und
  • Betreiben des Elektromotors seitens der Steuerungseinheit in Abhängigkeit der erkannten Art des Untergrunds.
According to a further aspect of the invention, the method has at least the following further steps:
  • in the event that the electric motor is designed to drive a fan or a brush of a vacuum cleaner or a vacuum cleaner robot, comparing the load indicator and/or the torque and/or the current of the electric motor with at least one reference value and/or with at least one threshold value which corresponds to a type of ground, and
  • Operation of the electric motor by the control unit depending on the detected type of ground.

Auf diese Art und Weise kann der erfindungsgemäß bestimmte Lastindikator bzw. das hieraus gewonnene Drehmoment und bzw. oder der hieraus gewonnene Strom des Elektromotors dazu verwendet werden, bei der Anwendung des erfindungsgemäßen Verfahrens auf ein Gebläse oder auf eine Bürste eines Staubsaugers oder eines Staubsaugroboters die Art des zu reinigenden Untergrunds zu erkennen. Dies kann dadurch erfolgen, dass der Steuerungseinheit des Elektromotors Daten vorgegeben sind, welche verschiedenen Untergründen entsprechen, so dass durch Vergleichen der vorliegende Untergrund aus den hinterlegten Untergründen ausgewählt und hierdurch erkannt werden kann. Hierzu können die Daten als Referenzwerte bzw. als Schwellwerte angegeben sein.In this way, the load indicator determined according to the invention or the torque obtained therefrom and/or the current of the electric motor obtained therefrom can be used when applying the method according to the invention to a fan or to a brush of a vacuum cleaner or a vacuum cleaning robot of the type of the substrate to be cleaned. This can be done by specifying data for the control unit of the electric motor which correspond to different backgrounds, so that the existing background can be selected from the stored backgrounds by comparison and thereby recognized. For this purpose, the data can be specified as reference values or as threshold values.

Hierdurch kann es erfindungsgemäß erreicht werden, dass ein Staubsauger bzw. ein Staubsaugroboter den zu reinigenden Untergrund identifizieren und sich hinsichtlich der Leistung seines Gebläses und bzw. oder seiner Bürste auf den Untergrund selbsttätig einstellen kann. Dies kann somit sensorlos erfolgen.In this way, it can be achieved according to the invention that a vacuum cleaner or a vacuum cleaning robot can identify the substrate to be cleaned and automatically adjust itself to the substrate with regard to the power of its blower and/or its brush. This can therefore be done without sensors.

Dieser Aspekt der vorliegenden Erfindung liegt dabei die Erkenntnis zugrunde, dass auf Hartböden die Bürste relativ wenig zum Saugergebnis beiträgt, die Saugleistung des Gebläses hingegen schon. Auf Teppich ist es eher umgekehrt. Daher kann auf diese Art und Weise eine optimale Reinigungswirkung bei gleichzeitig möglichst hoher Energieeffizienz erreicht werden. Bei einem batterie- oder akkumulatorbetriebenen Gerät kann hierdurch die Laufdauer verlängert werden. Auch kann eine Schonung des zu reinigenden Untergrunds durch eine angepasste und damit nicht unnötig starke Gebläseleistung bzw. Bürstenaktivität erreicht werden.This aspect of the present invention is based on the finding that the brush contributes relatively little to the suction result on hard floors, whereas the suction power of the blower does. On carpet it is rather the other way around. Therefore, in this way, an optimal cleaning effect can be achieved with the highest possible energy efficiency at the same time. In the case of a battery or accumulator-operated device, this can extend the operating time. The surface to be cleaned can also be protected by an adapted and therefore not unnecessarily high blower power or brush activity.

Gemäß einem weiteren Aspekt der Erfindung ist für den Fall, dass der Elektromotor ausgebildet ist, eine Bürste eines Staubsaugers oder eines Staubsaugroboters anzutreiben, ein Referenzwert und bzw. oder ein Schwellenwert vorbestimmt, so dass durch das Vergleichen zwischen der Abwesenheit und der Anwesenheit der Bürste unterschieden werden kann. Mit anderen Worten kann die Abwesenheit der Bürste, deren Elektromotor sich in diesem Zustand quasi im Leerlauf befindet, zu einer derart geringen Last des Elektromotors führen, dass dieser Lastzustand des Elektromotors von den übrigen Lastzuständen des Elektromotors unterschieden und hierdurch erkannt werden kann. In diesem Fall kann vorzugsweise der Elektromotor der Bürste abschalten, um Beschädigungen des Elektromotors selbst, des Staubsaugers bzw. des Staubsaugroboters sowie des Untergrunds zu vermeiden. Ferner kann hierdurch elektrische Energie gespart werden, welche mangels vorhandener Bürste nicht zum Reinigungsergebnis beitragen würde.According to a further aspect of the invention, if the electric motor is designed to drive a brush of a vacuum cleaner or a vacuum cleaner robot, a reference value and/or a threshold value is predetermined, so that the comparison distinguishes between the absence and the presence of the brush can be. In other words, the absence of the brush, whose electric motor is virtually idling in this state, can lead to such a low load on the electric motor that this load state of the electric motor can be distinguished from the other load states of the electric motor and can thus be recognized. In this case, the electric motor of the brush can preferably switch off to avoid damage of the electric motor itself, the vacuum cleaner or the vacuum cleaning robot and the subsurface. Furthermore, electrical energy can be saved in this way, which would not contribute to the cleaning result if there were no brush available.

Gemäß einem weiteren Aspekt der Erfindung erfolgt das Betreiben des Elektromotors seitens der Steuerungseinheit drehzahlgeregelt. Hierdurch kann ein drehzahlgeregelter Betrieb des Elektromotors erreicht werden, wie zuvor bereits beschrieben. Dies kann ohne zusätzlichen Drehzahlsensor erfolgen.According to a further aspect of the invention, the electric motor is operated by the control unit in a speed-controlled manner. As a result, speed-controlled operation of the electric motor can be achieved, as already described above. This can be done without an additional speed sensor.

Gemäß einem weiteren Aspekt der Erfindung erfolgt für den Fall, dass ein vergleichsweise hoher Teppich als Untergrund erkannt wird (etwa durch eine vorher definierte Drehmoment-Obergrenze) und der Elektromotor ausgebildet ist, eine Bürste eines Staubsaugers oder eines Staubsaugroboters anzutreiben, das Betreiben des Elektromotors seitens der Steuerungseinheit mit einer vergleichsweise geringen Drehzahl. Diesem Aspekt der Erfindung liegt die Erkenntnis zugrunde, dass ein vergleichsweise hoher Teppich durch die Bürste eines Staubsaugers oder eines Staubsaugroboters strapaziert werden kann. Daher kann, falls ein derartiger Teppich erfindungsgemäß erkannt wird, die Leistung der Bürste des Staubsaugers oder des Staubsaugroboters zur Schonung des Teppichs geringer als bei einem anderen Untergrund eingestellt werden.According to a further aspect of the invention, if a comparatively high carpet is detected as the substrate (e.g. by a previously defined upper torque limit) and the electric motor is designed to drive a brush of a vacuum cleaner or a vacuum cleaning robot, the electric motor is operated on the part the control unit with a comparatively low speed. This aspect of the invention is based on the knowledge that a comparatively high carpet can be strained by the brush of a vacuum cleaner or a vacuum cleaning robot. Therefore, if such a carpet is recognized according to the invention, the power of the brush of the vacuum cleaner or of the vacuum cleaning robot can be set lower than with a different surface to protect the carpet.

Gemäß einem weiteren Aspekt der Erfindung erfolgt das Bestimmen der induzierten Spannung des Elektromotors und bzw. oder das Erfassen der überlagerten Spannung des Elektromotors über einen Spannungsteiler, welcher in Reihe mit dem Elektromotor und parallel zu der Steuerungseinheit angeordnet ist. Hierdurch kann das Erfassen der jeweiligen Spannung einfach und zuverlässig innerhalb des Antriebs umgesetzt werden.According to a further aspect of the invention, the induced voltage of the electric motor is determined and/or the superimposed voltage of the electric motor is detected via a voltage divider which is arranged in series with the electric motor and parallel to the control unit. As a result, the respective voltage can be detected easily and reliably within the drive.

Gemäß einem weiteren Aspekt der Erfindung erfolgt das Erfassen der Spannung der Spannungsquelle zu dem ersten Messzeitpunkt und bzw. oder zu dem zweiten Messzeitpunkt mittels eines Erfassens über einen vorbestimmten Messzeitraum mit anschließender Mittelwertbildung. Hierdurch können Schwankungen des Messsignals ebenso wie ein Messrauschen ausgeglichen und damit reduziert werden. Dies kann die Qualität der Messung und damit die Zuverlässigkeit der hierauf basierenden Schlussfolgerungen erhöhen.According to a further aspect of the invention, the voltage of the voltage source is detected at the first measurement time and/or at the second measurement time by means of a detection over a predetermined measurement period with subsequent averaging. As a result, fluctuations in the measurement signal as well as measurement noise can be compensated for and thus reduced. This can increase the quality of the measurement and thus the reliability of the conclusions based on it.

Gemäß einem weiteren Aspekt der Erfindung ist der Elektromotor ein Elektromotor eines Gebläses oder ein Elektromotor einer Bürste eines Staubsaugers oder eines Staubsaugroboters. Auf diese Art und Weise können die zuvor beschriebenen Eigenschaften und Vorteile bei derartigen Geräten genutzt werden, was insbesondere für den Fall von batterieoder akkumulatorbetriebenen Geräten hinsichtlich der Energieeffizienz vorteilhaft sein kann.According to a further aspect of the invention, the electric motor is an electric motor of a fan or an electric motor of a brush of a vacuum cleaner or a vacuum cleaner robot. In this way, the properties and advantages described above can be used in devices of this type, which can be advantageous in terms of energy efficiency, particularly in the case of battery-operated devices or accumulator-operated devices.

Die vorliegende Erfindung betrifft auch eine Steuerungseinheit zum Betrieb eines elektrischen Antriebs, vorzugsweise eines Gebläses und/oder einer Bürste eines Staubsaugers oder eines Staubsaugroboters, wobei die Steuerungseinheit ausgebildet ist, ein Verfahren wie vorstehend beschrieben auszuführen.The present invention also relates to a control unit for operating an electric drive, preferably a fan and/or a brush of a vacuum cleaner or a vacuum cleaner robot, the control unit being designed to carry out a method as described above.

Die vorliegende Erfindung betrifft auch ein Haushaltsgerät, vorzugsweise einen Staubsauger und bzw. oder einen Staubsaugroboter, vorzugsweise akkumulatorbetrieben, mit wenigstens einem elektrischen Antrieb, wenigstens einer Spannungsquelle, wenigstens einem Elektromotor und wenigstens einer Steuerungseinheit, wobei die Steuerungseinheit ausgebildet ist, ein Verfahren wie vorstehend beschrieben auszuführen. Auf diese Art und Weise können die zuvor beschriebenen Eigenschaften und Vorteile des erfindungsgemäßen Verfahrens bei derartigen Geräten genutzt werden, was insbesondere für den Fall von batterie- oder akkumulatorbetriebenen Geräten hinsichtlich der Energieeffizienz vorteilhaft sein kann.The present invention also relates to a household appliance, preferably a vacuum cleaner and/or a vacuum cleaning robot, preferably battery-operated, with at least one electric drive, at least one voltage source, at least one electric motor and at least one control unit, the control unit being designed as a method as described above to execute. In this way, the above-described properties and advantages of the method according to the invention can be used in devices of this type, which can be advantageous in terms of energy efficiency, particularly in the case of battery-operated or accumulator-operated devices.

Die vorliegende Erfindung umfasst auch die Erkenntnis, dass aufgrund des erfindungsgemäß drehzahl- bzw. belastungsgeregelten Betriebs des Elektromotors, welcher die effektiv anliegende Spannung des Elektromotors berücksichtigt, beim Einsatz eines Akkumulators als Spannungsquelle eine höhere Anzahl von Akkumulatorzellen als bisher bekannt verwendet werden kann, da der Betrieb des Elektromotors unabhängig von der Spannung der Spannungsquelle erfolgt. Somit kann die Laufzeit des Gerätes, welches den erfindungsgemäß betriebenen Elektromotor aufweist, durch die höhere Anzahl von Akkumulatorzellen vergrößert werden.The present invention also includes the finding that due to the speed or load-controlled operation of the electric motor according to the invention, which takes into account the effectively applied voltage of the electric motor, a higher number of battery cells than previously known can be used when using a battery as the voltage source, since the The electric motor is operated independently of the voltage of the voltage source. Thus, the running time of the device, which has the electric motor operated according to the invention, can be increased by the higher number of accumulator cells.

Die vorliegende Erfindung umfasst ferner die Erkenntnis, dass eine sinkende Spannung der Spannungsquelle, z.B. aufgrund einer schwächer werdenden Batterie bzw. eines schwächer werdenden Akkumulators, durch eine Anpassung des Tastgrads der pulsweitenmodulierten Spannung wieder ausgeglichen werden kann. Somit kann der Betrieb des elektrischen Antriebs auch in diesem Fall unvermindert fortgesetzt werden. Aus den gleichen Gründen können auch verschiedene Typen von Batterien sowie von Akkumulatoren von verschiedenen Herstellern mit ggfs. unterschiedlicher Spannung verwendet werden. Ferner besteht die Möglichkeit, einen Akkumulator mit einer größeren Anzahl von Zellen, welche zu einer höheren Spannung führen, mit längeren Laufzeiten anzubieten. Auch dies kann durch die pulsweitenmodulierte Spannung ausgeglichen werden.The present invention also includes the knowledge that a falling voltage of the voltage source, e.g. due to a weakening battery or a weakening accumulator, can be compensated for again by adjusting the duty cycle of the pulse-width-modulated voltage. Thus, the operation of the electric drive can also be continued undiminished in this case. For the same reasons, it is also possible to use different types of batteries and accumulators from different manufacturers with possibly different voltages. There is also the possibility of offering an accumulator with a larger number of cells, which lead to a higher voltage, with longer running times. This can also be compensated for by the pulse width modulated voltage.

Ein Ausführungsbeispiel der Erfindung ist in den Zeichnungen rein schematisch dargestellt und wird nachfolgend näher beschrieben. Es zeigt

Figur 1
ein Schaltbild eines elektrischen Antriebs;
Figur 2
ein Ablaufdiagramm eines erfindungsgemäßen Verfahrens zum Betrieb des elektrischen Antriebs der Figur 1;
Figur 3
ein Messdiagramm eines Betriebs des elektrischen Antriebs der Figur 1; und
Figur 4
ein Messdiagramm von verschiedenen Proportionalitäten des elektrischen Antriebs der Figur 1.
An embodiment of the invention is shown purely schematically in the drawings and is described in more detail below. It shows
figure 1
a circuit diagram of an electric drive;
figure 2
a flowchart of a method according to the invention for operating the electric drive figure 1 ;
figure 3
a measurement diagram of an operation of the electric drive figure 1 ; and
figure 4
a measurement diagram of different proportionalities of the electric drive of the figure 1 .

Figur 1 zeigt ein Schaltbild eines elektrischen Antriebs A. Der elektrische Antrieb A weist eine Spannungsquelle Q in Form eines Akkumulators Q auf, welche eine Spannung Uq bzw. eine Akkumulatorspannung Uq mit 24 V bereitstellt. Es ist ein Elektromotor M vorhanden, zu dem parallel eine Diode D1 angeordnet ist, welche von einem Diodenstrom ID1 durchflossen werden kann. Der Elektromotor M und die Diode D1 sind gemeinsam in Reihe zum Akkumulator Q geschaltet. Der hier gezeigte und im Folgenden beschriebene passive Diodenfreilauf ist lediglich beispielhaft zu verstehen, die Funktion kann alternativ auch durch einen aktiven Freilauf, etwa durch einen entsprechend angesteuerten MOSFET gewährleistet werden. figure 1 shows a circuit diagram of an electric drive A. The electric drive A has a voltage source Q in the form of an accumulator Q, which provides a voltage U q or an accumulator voltage U q at 24 V. There is an electric motor M, to which a diode D1 is arranged in parallel, through which a diode current I D1 can flow . The electric motor M and the diode D 1 are connected in series with the accumulator Q together. The passive diode freewheeling shown here and described below is only to be understood as an example; the function can alternatively also be ensured by active freewheeling, for example by an appropriately controlled MOSFET.

Weiter in Reihe geschaltet ist auch eine Steuerungseinheit S mit einem Spannungsteiler, welcher durch einen ersten ohmschen Widerstand R1 und durch einen zweiten ohmschen Widerstand R2 gebildet wird. Über den Spannungsteiler kann eine erste Spannung U1, welche über den ersten ohmschen Widerstand R1 abfällt, erfasst werden. Die Steuerungseinheit S ist als Mikrocontroller S ausgeführt. Hierüber schließt sich der Stromkreis zum Akkumulator Q hin.Also connected in series is a control unit S with a voltage divider, which is formed by a first ohmic resistor R1 and a second ohmic resistor R2. A first voltage U 1 , which drops across the first ohmic resistor R1, can be detected via the voltage divider. The control unit S is designed as a microcontroller S. This closes the circuit to the accumulator Q.

Gemäß dem vorliegenden Ausführungsbeispiel wird der elektrische Antrieb A bei einem Staubsauger zum Antreiben der Bodenbürste eingesetzt. Anhand dieses Ausführungsbeispiels sollen verschiedene Vorteile des erfindungsgemäßen Verfahrens näher betrachtet werden.According to the present embodiment, the electric drive A is used in a vacuum cleaner to drive the floor brush. Various advantages of the method according to the invention are to be considered in more detail on the basis of this exemplary embodiment.

Figur 2 zeigt ein Ablaufdiagramm eines erfindungsgemäßen Verfahrens zum Betrieb des elektrischen Antriebs der Figur 1. figure 2 shows a flow chart of a method according to the invention for operating the electric drive of FIG figure 1 .

In einem ersten Schritt 100 wird der Elektromotor M seitens der Steuerungseinheit S mit einer vorbestimmten Drehzahl mittels einer pulsweitenmodulierten Akkumulatorspannung Uq mit einem vorbestimmten Tastgrad betrieben, siehe im Diagramm der Figur 3 links vor einem ersten Messzeitpunkt T1. In dieser Zeit wird in einem zweiten Schritt 200 die Akkumulatorspannung Uq erfasst. Ferner wird in dieser Zeit in einem dritten Schritt 300 die effektiv am Elektromotor M anliegende Spannung Ueff durch Multiplizieren des Tastgrads mit der Akkumulatorspannung Uq bestimmt.In a first step 100, the electric motor M is operated by the control unit S at a predetermined speed using a pulse width modulated battery voltage U q with a predetermined duty cycle, see the diagram in FIG figure 3 left before a first measurement time T 1 . During this time, in a second step 200, the accumulator voltage U q is recorded. Furthermore, during this time, in a third step 300, the voltage U eff effectively present at the electric motor M is determined by multiplying the duty cycle by the accumulator voltage U q .

Anschließend erfolgt in einem vierten Schritt 400 ein Bestimmen der induzierten Spannung Ui des Elektromotors M. Hierzu wird in einem ersten Teilschritt 410 die pulsweitenmodulierte Akkumulatorspannung Uq am Elektromotor M unterbrochen. Während unmittelbar nach dem Unterbrechen die Akkumulatorspannung Uq durch den Diodenstrom ID1 der Diode D1 noch aufrechterhalten wird, erfolgt zu dem ersten Messzeitpunkt T1 in einem zweiten Teilschritt 420 ein Erfassen der Akkumulatorspannung Uq, siehe Figur 3. Ist der Diodenstrom ID1 der Diode D1 abgeklungen, so erfolgt zu einem zweiten Messzeitpunkt T2 in einem dritten Teilschritt 430 ein Erfassen einer überlagerten Spannung Uk des Elektromotors M, siehe ebenfalls Figur 3. Anschließend kann die pulsweitenmodulierte Akkumulatorspannung Uq am Elektromotor M wieder anliegen, so dass das Betreiben des Elektromotors M wie zuvor wieder aufgenommen werden kann. Unabhängig hiervon erfolgt in einem vierten Teilschritt 440 das Bestimmen der induzierten Spannung Ui des Elektromotors M durch Subtrahieren der überlagerten Spannung Uk des Elektromotors M von der Akkumulatorspannung Uq, so dass nun die induzierte Spannung Ui des Elektromotors M zur Verfügung steht.Then, in a fourth step 400, the induced voltage U i of the electric motor M is determined. While immediately after If the battery voltage U q is still maintained by the diode current I D1 of the diode D 1 when the battery voltage U q is interrupted, the battery voltage U q is detected in a second partial step 420 at the first measurement time T 1 , see FIG figure 3 . When the diode current I D1 of the diode D 1 has decayed, a superimposed voltage U k of the electric motor M is detected in a third partial step 430 at a second measurement time T 2 , see also figure 3 . The pulse-width-modulated battery voltage U q can then be applied to the electric motor M again, so that the operation of the electric motor M can be resumed as before. Irrespective of this, the induced voltage U i of the electric motor M is determined in a fourth partial step 440 by subtracting the superimposed voltage U k of the electric motor M from the battery voltage U q , so that the induced voltage U i of the electric motor M is now available.

In einem fünften Schritt 500 erfolgt dann ein Bestimmen eines Lastindikators des Elektromotors M durch Subtrahieren der induzierten Spannung Ui des Elektromotors M von der effektiv am Elektromotor M anliegenden Spannung Ueff. Anschließend wird in einem ersten sechsten Teilschritt 600a das Drehmoment und bzw. oder der Strom des Elektromotors M durch Multiplizieren des Lastindikators mit einem vorbestimmten Faktor bestimmt. Parallel wird in einem zweiten sechsten Teilschritt 600b die Drehzahl des Elektromotors M durch Multiplizieren der induzierten Spannung Ui des Elektromotors M mit einem vorbestimmten Faktor bestimmt.In a fifth step 500, a load indicator of the electric motor M is then determined by subtracting the induced voltage U i of the electric motor M from the voltage U eff effectively present at the electric motor M. Then, in a first sixth sub-step 600a, the torque and/or the current of the electric motor M is determined by multiplying the load indicator by a predetermined factor. In parallel, in a second, sixth partial step 600b, the speed of the electric motor M is determined by multiplying the induced voltage U i of the electric motor M by a predetermined factor.

Anschließend erfolgt in einem siebten Schritt 700 ein Vergleichen des Lastindikators und bzw. oder des Drehmoments und bzw. oder des Stroms des Elektromotors M mit wenigstens einem Referenzwert und bzw. oder mit wenigstens einem Schwellenwert, welcher einer Art eines Untergrunds entspricht. In einem achten Schritt 800 erfolgt dann ein Betreiben des Elektromotors M seitens der Steuerungseinheit S in Abhängigkeit der erkannten Art des Untergrunds.Subsequently, in a seventh step 700, the load indicator and/or the torque and/or the current of the electric motor M is compared with at least one reference value and/or with at least one threshold value, which corresponds to a type of ground. In an eighth step 800, the electric motor M is then operated by the control unit S as a function of the detected type of ground.

Hierauf basierend kann nun die Leistung der Bodenbürste geregelt werden. Neben der Erkennung des Untergrunds kann auch die Anwesenheit oder Abwesenheit der Bodenbürste erkannt werden. Ferner kann die Drehzahl des Elektromotors M sensorlos bestimmt und z.B. für eine Drehzahlregelung genutzt werden.Based on this, the power of the floor brush can now be regulated. In addition to detecting the ground, the presence or absence of the floor brush can also be detected. Furthermore, the speed of the electric motor M can be determined without sensors and used, for example, for speed control.

Diese jeweiligen Proportionalitäten, welche die vorbestimmten Faktoren zur Bestimmung des Drehmoments bzw. des Stroms bzw. der Drehzahl des Elektromotors M verwendet werden können, sind beispielhaft der Figur 4 zu entnehmen.These respective proportionalities, which the predetermined factors can be used to determine the torque or the current or the speed of the electric motor M, are exemplary figure 4 refer to.

Bezugszeichenliste (Bestandteil der Beschreibung)List of reference symbols (part of the description)

AA
elektrischer Antriebelectric drive
D1D1
Diodediode
ID1ID1
Diodenstromdiode current
MM
Elektromotorelectric motor
QQ
Spannungsquelle; Akkumulatorvoltage source; accumulator
R1R1
erster ohmscher Widerstandfirst ohmic resistance
R2R2
zweiter ohmscher Widerstandsecond ohmic resistance
SS
Steuerungseinheit; Mikrocontrollercontrol unit; microcontroller
tt
Zeittime
T1T1
erster Messzeitpunkt bzw. Messzeitraumfirst measurement time or measurement period
T2T2
zweiter Messzeitpunkt bzw. Messzeitraumsecond measurement time or measurement period
U1U1
elektrische Spannung über ersten ohmschen Widerstand R1 electrical voltage across the first ohmic resistor R 1
UeffUeff
effektive Spannung des Elektromotors Meffective voltage of the electric motor M
Uiwow
induzierte Spannung des Elektromotors Minduced voltage of the electric motor M
UkUK
überlagerte Spannung des Elektromotors Msuperimposed voltage of the electric motor M
UqUq
Spannung der Spannungsquelle Q; Quellenspannung; Akkumulatorspannungvoltage of voltage source Q; source voltage; battery voltage
VV
Messsignalmeasurement signal
100100
Betreiben des Elektromotors M mit pulsweitenmodulierter Spannung Uq Operating the electric motor M with pulse width modulated voltage U q
200200
Erfassen der Spannung Uq der Spannungsquelle QRecording the voltage U q of the voltage source Q
300300
Bestimmen der effektiv am Elektromotor M anliegenden Spannung Ueff Determination of the voltage U eff effectively applied to the electric motor M
400400
Bestimmen der induzierten Spannung Ui des Elektromotors MDetermining the induced voltage U i of the electric motor M
410410
Unterbrechen der pulsweitenmodulierten Spannung Uq am Elektromotor MInterruption of the pulse width modulated voltage U q at the electric motor M
420420
Erfassen der Spannung Uq zu einem ersten Messzeitpunkt T1 Detection of the voltage U q at a first measurement time T 1
430430
Erfassen einer überlagerten Spannung Uk des Elektromotors M zu einem zweiten Messzeitpunkt T2 Detection of a superimposed voltage U k of the electric motor M at a second measurement time T 2
440440
Bestimmen der induzierten Spannung Ui des Elektromotors M durch SubtrahierenDetermination of the induced voltage U i of the electric motor M by subtraction
500500
Bestimmen eines Lastindikators des Elektromotors M durch SubtrahierenDetermining a load indicator of the electric motor M by subtracting
600a600a
Bestimmen des Drehmoments und/oder des Stroms des Elektromotors MDetermining the torque and/or the current of the electric motor M
600b600b
Bestimmen der Drehzahl des Elektromotors M durch MultiplizierenDetermining the speed of the electric motor M by multiplying
700700
Vergleichen des Lastindikators und/oder des Drehmoments und/oder des Stroms des Elektromotors MComparing the load indicator and/or the torque and/or the current of the electric motor M
800800
Betreiben des Elektromotors M in Abhängigkeit der erkannten Art des UntergrundsOperating the electric motor M depending on the detected type of ground

Claims (11)

  1. Method for operating an electric drive (A) of a fan and/or a brush of a vacuum cleaner or a vacuum cleaner robot,
    wherein the electric drive (A) has a voltage source (Q), an electric motor (M) and a control unit (S),
    the method comprising at least the following steps:
    operating (100) the electric motor (M) by means of the control unit (S) at a predetermined speed by means of a pulse-width modulated voltage (Uq) of the voltage source (Q) with a predetermined duty cycle,
    detecting (200) the voltage (Uq) of the voltage source (Q),
    determining (300) the voltage (Ueff) effectively applied to the electric motor (M) by multiplying the duty cycle by the voltage (Uq) of the voltage source (Q),
    determining (400) the induced voltage (Ui) of the electric motor (M), and
    determining (500) a load indicator of the electric motor (M) by subtracting the induced voltage (Ui) of the electric motor (M) from the voltage (Ueff) effectively applied to the electric motor (M),
    wherein the electric drive (A) also has a freewheel (D1), which is arranged in parallel with the electric motor (M),
    wherein the determination (400) of the induced voltage (Ui) of the electric motor (M) comprises at least the following steps:
    interrupting (410) the pulse-width modulated voltage (Uq) of the voltage source (Q) at the electric motor (M),
    at a first measuring time (T1), during which a current (ID1) flows through the freewheel (D1), detecting (420) the voltage (Uq) of the voltage source (Q),
    at a second measuring time (T2), during which current (ID1) no longer flows through the freewheel (D1), detecting (430) a superimposed voltage (Uk) of the electric motor (M), and
    determining (440) the induced voltage (Ui) of the electric motor (M) by subtracting the superimposed voltage (Uk) of the electric motor (M) from the voltage (Uq) of the voltage source (Q), and
    using the determined load indicator to control the power of the electric motor (M) in an open-loop or closed-loop manner.
  2. Method according to claim 1, comprising at least the additional step of:
    determining (600a) the torque and/or the current of the electric motor (M) by multiplying the load indicator by a predetermined factor.
  3. Method according to claim 1, comprising at least the additional step of:
    determining (600b) the speed of the electric motor (M) by multiplying the induced voltage (Ui) of the electric motor (M) by a predetermined factor.
  4. Method according to any of the preceding claims, comprising at least the further steps of:
    in the case that the electric motor (M) is designed to drive a fan or a brush of a vacuum cleaner or a vacuum cleaner robot, comparing (700) the load indicator and/or the torque and/or the current of the electric motor (M) with at least one reference value and/or with at least one threshold corresponding to a type of surface, and
    operating (800) the electric motor (M) by means of the control unit (S) depending on the detected type of surface.
  5. Method according to claim 4, characterised in that,
    in the case that the electric motor (M) is designed to drive a brush of a vacuum cleaner or a vacuum cleaner robot, a reference value and/or a threshold value is predetermined, such that it is possible to distinguish between the absence and the presence of the brush by means of the comparison (700).
  6. Method according to either claim 4 or claim 5, characterised in that the operation (800) of the electric motor (M) by the control unit (S) is speed-controlled.
  7. Method according to any of the preceding claims, characterised in that the determination (400) of the induced voltage (Ui) of the electric motor (M) and/or the detection (430) of the superimposed voltage (Uk) of the electric motor (M) takes place by means of a voltage divider (R1, R2) which is arranged in series with the electric motor (M) and in parallel with the control unit (S).
  8. Method according to any of claims 3 to 7, characterised in that the detection (430; 440) of the voltage (Uq) of the voltage source (Q) at the first measuring time (T1) and/or at the second measuring time (T2) takes place by means of a detection (430; 440) over a predetermined measuring period (T1; T2) with subsequent averaging.
  9. Method according to any of the preceding claims, characterised in that the electric motor (M) is an electric motor (M) of a fan or an electric motor (M) of a brush of a vacuum cleaner or a vacuum cleaner robot.
  10. Control unit (S) for operating an electric drive (A), preferably a fan and/or a brush of a vacuum cleaner or a vacuum cleaner robot, wherein the control unit (S) is designed to carry out a method according to any of claims 1 to 9.
  11. Domestic appliance, preferably a vacuum cleaner and/or a vacuum cleaner robot, which is preferably battery-operated, comprising
    at least one electric drive (A),
    at least one voltage source (Q),
    at least one electric motor (M) and
    at least one control unit (S) according to claim 10.
EP18199498.9A 2017-11-07 2018-10-10 Method for operating an electric drive, preferably a ventilator and/or of a brush of a vacuum cleaner or a vacuum cleaning robot Active EP3479745B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017125956.2A DE102017125956A1 (en) 2017-11-07 2017-11-07 Method for operating an electric drive, preferably a blower and / or a brush of a vacuum cleaner or a vacuum cleaner

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EP3479745A1 EP3479745A1 (en) 2019-05-08
EP3479745B1 true EP3479745B1 (en) 2022-10-26

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Publication number Priority date Publication date Assignee Title
DE102019211014A1 (en) * 2019-07-25 2021-01-28 Vorwerk & Co. Interholding Gmbh Household cleaning device with battery drive
CN112994533B (en) * 2019-12-18 2023-05-26 珠海格力电器股份有限公司 Brushless direct current motor control method and device, brushless direct current motor and electric appliance
CN113014151B (en) * 2019-12-18 2023-12-19 珠海格力电器股份有限公司 Brushless direct current motor control method and device, brushless direct current motor and electric appliance
EP4238469A1 (en) * 2022-03-04 2023-09-06 Vorwerk & Co. Interholding GmbH Cleaning device with condition detecting apparatus and method
EP4238470A1 (en) * 2022-03-04 2023-09-06 Vorwerk & Co. Interholding GmbH Floor cleaning apparatus with fluid supply control and method

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Publication number Priority date Publication date Assignee Title
EP0479609A3 (en) * 1990-10-05 1993-01-20 Hitachi, Ltd. Vacuum cleaner and control method thereof
US5811946A (en) * 1992-03-16 1998-09-22 Lockheed Martin Corporation System and method for velocity control of a D.C. Motor
GB2303719B (en) * 1995-07-26 2000-01-26 Black & Decker Inc An energy management system for a cordless vegetation cutter
JP3658310B2 (en) * 2000-11-16 2005-06-08 東芝テック株式会社 PWM control circuit, electric blower and vacuum cleaner
US6838847B2 (en) * 2002-05-09 2005-01-04 Siemens Vdo Automotive Inc. Stall protection based on back EMF detection
US7106021B2 (en) * 2004-05-04 2006-09-12 International Business Machines Corporation Method, system, and program product for feedback control of a target system utilizing imposition of a periodic modulating signal onto a command signal
US7205737B1 (en) * 2006-01-04 2007-04-17 Robert Bosch Gmbh Systems and methods of monitoring a motor load
US9383414B2 (en) * 2014-08-29 2016-07-05 Atieva, Inc Method of diagnosing a blocked heat exchanger

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EP3479745A1 (en) 2019-05-08
PL3479745T3 (en) 2023-01-30

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