JP2014176260A - Charging system and self-traveling equipment - Google Patents
Charging system and self-traveling equipment Download PDFInfo
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Abstract
Description
この発明は、充電ステーションと該充電ステーションにより充電される二次電池を内蔵した自走式機器とを備える充電システムおよび自走式機器に関する。 The present invention relates to a charging system and a self-propelled device including a charging station and a self-propelled device including a secondary battery charged by the charging station.
自走式掃除機と充電台からなるシステムであって、自走式掃除機が充電台へドッキングしたときに両者の端子が接続されて充電が行われる自走式掃除システムが知られている（例えば、特許文献１参照）。 A self-propelled cleaning system that includes a self-propelled vacuum cleaner and a charging stand and is charged when both terminals are connected when the self-propelled cleaner is docked to the charging stand is known ( For example, see Patent Document 1).
一般に充電システム機器は、自走して処理を行うために機器本体に二次電池を搭載しており、処理終了後に充電ステーションへドッキングして処理中に使用した電力の充電を行う。自走式機器の普及につれて充電に使用する電力量の増加が予想される。充電の状態を上手く制御すれば、自走式機器のユーザーは、安価な電力で充電を行うコスト的なメリットを享受することができると共に、電力会社は、電力需要を平準化してピーク電力に備える設備負担を軽減することができる。
この発明は、以上のような事情を考慮してなされたものであって、二次電池への充電を制御することにより電力の需給の適切な管理に資する充電システムおよび自走式機器を提供するものである。
Generally, a charging system device is equipped with a secondary battery in the device main body for self-running and processing, and after the processing is completed, it is docked to a charging station to charge the power used during the processing. With the spread of self-propelled equipment, the amount of power used for charging is expected to increase. If the state of charge is well controlled, users of self-propelled devices can enjoy the cost benefits of charging with cheap power, and power companies can level power demand and prepare for peak power Equipment burden can be reduced.
The present invention has been made in view of the above circumstances, and provides a charging system and a self-propelled device that contribute to appropriate management of power supply and demand by controlling charging to a secondary battery. Is.
この発明は、充電ステーションと、前記充電ステーションにより充電される二次電池を内蔵した自走式機器とを備える充電システムであって、前記充電ステーションは、電源から充電用電力を生成する電源回路と、前記充電用電力を前記自走式機器へ送る送電部とを備え、前記自走式機器は、前記送電部から送られた充電用電力を受ける受電部を備え、前記充電ステーション又は前記自走式機器は、前記二次電池の充電を行う充電時間帯を格納する充電時間帯格納部と、前記二次電池の充電を制御する充電制御部とを備え、前記充電制御部は、前記二次電池の残容量、および、現在の時刻が充電時間帯に属するか否かに応じて前記二次電池の充電の可否を判断することを特徴とする充電システムを提供する。
また、この発明は、外部の充電ステーションから送られる充電用電力を受ける受電部と、前記充電用電力により充電される二次電池と、前記二次電池の充電を行う充電時間帯を格納する充電時間帯格納部と、前記二次電池の充電を制御する充電制御部とを備え、前記充電制御部は、前記二次電池の残容量、および、現在の時刻が充電時間帯に属するか否かに応じて前記二次電池の充電の可否を判断することを特徴とする自走式機器を提供する。
The present invention is a charging system comprising a charging station and a self-propelled device having a built-in secondary battery charged by the charging station, wherein the charging station includes a power supply circuit that generates charging power from a power source. A power transmission unit that transmits the charging power to the self-propelled device, and the self-propelled device includes a power receiving unit that receives the charging power transmitted from the power transmission unit, and the charging station or the self-propelled device. The expression device includes a charging time zone storage unit that stores a charging time zone for charging the secondary battery, and a charging control unit that controls charging of the secondary battery, and the charging control unit includes the secondary battery A charging system is provided that determines whether or not the secondary battery can be charged depending on a remaining battery capacity and whether or not a current time belongs to a charging time zone.
The present invention also includes a power receiving unit that receives charging power transmitted from an external charging station, a secondary battery that is charged by the charging power, and a charging that stores a charging time zone for charging the secondary battery. A time zone storage unit and a charge control unit for controlling charging of the secondary battery, wherein the charge control unit determines whether the remaining capacity of the secondary battery and the current time belong to a charging time zone A self-propelled device is provided that determines whether or not the secondary battery can be charged.
この発明において、充電制御部は、前記二次電池の残容量が予め定められた閾値以上か否か、および、現在の時刻が充電時間帯に属するか否かに応じて前記二次電池の充電の可否を判断するので、二次電池への充電を制御することにより電力の需給の適切な管理に資する充電システムおよび自走式機器を実現できる。 In the present invention, the charge control unit charges the secondary battery according to whether the remaining capacity of the secondary battery is equal to or greater than a predetermined threshold and whether the current time belongs to a charging time zone. Therefore, it is possible to realize a charging system and a self-propelled device that contribute to appropriate management of power supply and demand by controlling charging of the secondary battery.
以下、図面を用いてこの発明をさらに詳述する。なお、以下の説明は、すべての点で例示であって、この発明を限定するものと解されるべきではない。
＜充電システムの構成例＞
この発明の実施の形態として、以下に充電ステーションの具体例である充電台および自走式機器の具体例である自走式掃除機からなる充電システムの例について説明する。
以下、図１〜図３に基づき、この発明の充電システムの構成を説明する。
Hereinafter, the present invention will be described in more detail with reference to the drawings. In addition, the following description is an illustration in all the points, Comprising: It should not be interpreted as limiting this invention.
<Configuration example of charging system>
As an embodiment of the present invention, an example of a charging system including a charging stand as a specific example of a charging station and a self-propelled cleaner as a specific example of a self-propelled device will be described below.
Hereinafter, based on FIGS. 1-3, the structure of the charging system of this invention is demonstrated.
図１は、この発明の充電システムの概略構成を示すブロック図である。図２は、図１と異なる構成例を示すブロック図である。図１は充電制御部５１、充電時間帯格納部５３および時刻提供部５５が自走式掃除機１０に含まれる態様であり、図２はそれらが充電台１００に含まれる態様である。
図３は、この発明に係る機器本体としての自走式掃除機の外観例を示す斜視図である。
FIG. 1 is a block diagram showing a schematic configuration of the charging system of the present invention. FIG. 2 is a block diagram showing a configuration example different from FIG. FIG. 1 shows a mode in which the charging control unit 51, the charging time zone storage unit 53 and the time providing unit 55 are included in the self-propelled cleaner 10, and FIG. 2 shows a mode in which they are included in the charging stand 100.
FIG. 3 is a perspective view showing an example of the external appearance of a self-propelled cleaner as an apparatus main body according to the present invention.
なお、以下の実施例の記載によって、この発明が限定されるものではない。また、この発明は、一般的な自走式電子機器に適用可能であり、自走式掃除機のみに限定されるものではない。例えば、自走式電子機器としては、イオン発生機を備え、室内を自走しながらイオンを放出する自走式イオン発生機や、吸込んだ空気をフィルタによって濾過する自走式空気清浄機等でもよい。 In addition, this invention is not limited by description of the following examples. Moreover, this invention is applicable to a general self-propelled electronic device, and is not limited only to a self-propelled cleaner. For example, as a self-propelled electronic device, an ion generator is provided, and a self-propelled ion generator that releases ions while self-propelled in a room or a self-propelled air cleaner that filters inhaled air through a filter, etc. Good.
以下、図１に示す自走式掃除機１０の概略構成と動作について説明する。
自走式掃除機１０は、底面に吸気口３５を有すると共に内部に集塵部３１を有する筐体２０、筐体２０を走行させる一対の駆動輪１３、並びに駆動輪１３の回転、停止及び回転方向等を制御する走行制御部１２を備え、自律的に掃除動作する。
Hereinafter, the schematic configuration and operation of the self-propelled cleaner 10 shown in FIG. 1 will be described.
The self-propelled cleaner 10 has an air inlet 35 on the bottom surface and a housing 20 having a dust collecting portion 31 inside, a pair of drive wheels 13 that travel the housing 20, and rotation, stop, and rotation of the drive wheels 13. A traveling control unit 12 that controls the direction and the like is provided, and autonomously performs a cleaning operation.
図１に示すように、この発明の自走式掃除機１０は、主として、本体制御部１１、走行制御部１２、駆動輪１３、障害検知部１４、二次電池１５、操作部１７、受電部２５、通信部２８、集塵部３１、送風機３６、排気口３４、吸気口３５及び充電制御部５１を備える。なおこの実施形態において受電部２５は接続端子としているが、これに限らず電磁誘導を用いた非接触の方式もあり得る。 As shown in FIG. 1, the self-propelled cleaner 10 of the present invention mainly includes a main body control unit 11, a travel control unit 12, a drive wheel 13, a failure detection unit 14, a secondary battery 15, an operation unit 17, and a power reception unit. 25, a communication unit 28, a dust collecting unit 31, a blower 36, an exhaust port 34, an intake port 35, and a charge control unit 51. In this embodiment, the power receiving unit 25 is a connection terminal. However, the present invention is not limited to this, and a non-contact method using electromagnetic induction may be used.
以下、図１に示す各構成要素を説明する。
この発明の自走式掃除機１０は、例えば円盤形、円柱形、あるいは直方体形等の立体形状の筐体２０を有し、その筐体２０の表面や内部に、各種構成要素が配置される。
例えば、上記した駆動輪１３、障害検知部１４、操作部１７及び受電部２５は、筐体２０の表面の外部から視認できる位置に設けられ、その他の構成要素は筐体２０の内部に設けられる。
Hereinafter, each component shown in FIG. 1 will be described.
A self-propelled cleaner 10 of the present invention has a three-dimensional housing 20 such as a disk shape, a cylinder shape, or a rectangular parallelepiped shape, and various components are arranged on the surface or inside of the housing 20. .
For example, the driving wheel 13, the failure detection unit 14, the operation unit 17, and the power reception unit 25 described above are provided at positions that can be seen from the outside of the surface of the housing 20, and other components are provided inside the housing 20. .
また、掃除を行う部屋の所定の位置に充電台１００を設置する。充電台１００の設置場所は、商用電源のコンセント近辺、部屋の壁際、机の脇などで、電源電力の供給を受けられる場所であればよい。図１に示すように、充電台１００は、電源回路１０３および送電部１０１を備える。送電部１０１は受電部２５と対応しており、具体的態様としては接続端子が挙げられるがこれに限らず電磁誘導を用いた非接触の方式もあり得る。充電台１００の送電部１０１と自走式掃除機１０の受電部２５とを電気的に接触することにより、自走式掃除機１０は充電台１００からの電力の供給を受け、自走式掃除機１０の二次電池１５が充電される。また、自走式掃除機１０は、充電台１００から離れ自走しながら掃除の処理を実行する。 Moreover, the charging stand 100 is installed in the predetermined position of the room which cleans. The charging stand 100 may be installed at any location where power supply can be received, such as near a commercial power outlet, near a wall of a room, or beside a desk. As shown in FIG. 1, the charging stand 100 includes a power supply circuit 103 and a power transmission unit 101. The power transmission unit 101 corresponds to the power reception unit 25, and a specific mode includes a connection terminal. However, the power transmission unit 101 is not limited to this, and a non-contact system using electromagnetic induction may be used. By electrically contacting the power transmission unit 101 of the charging stand 100 and the power receiving unit 25 of the self-propelled cleaner 10, the self-propelled cleaner 10 is supplied with electric power from the charging stand 100, and self-propelled cleaning. The secondary battery 15 of the machine 10 is charged. In addition, the self-propelled cleaner 10 performs a cleaning process while moving away from the charging stand 100 and self-propelled.
掃除の処理は、自走式掃除機１０が自走しながら床面上の塵埃を含む空気を吸気口３５から吸い込み、塵埃を集塵部３１に溜め、集塵部３１に配置されたエアフィルタを通過した空気を排気口３４から排気することにより行われる。掃除が終了すると、自走式掃除機１０は自律的に充電台１００に帰還する。 In the cleaning process, the self-propelled vacuum cleaner 10 sucks air containing dust on the floor surface from the air intake 35 while self-propelled, and accumulates the dust in the dust collecting portion 31, and the air filter disposed in the dust collecting portion 31. This is done by exhausting the air that has passed through the exhaust port 34. When the cleaning is completed, the self-propelled cleaner 10 autonomously returns to the charging stand 100.
さらに、自走式掃除機１０は、通信部２８を介した無線通信によって外部の図示しないサーバと通信する。無線通信はアクセスポイントを介してもよいし、アクセスポイントを介さずに直接通信を行うアドホック・モードによるものであってもよい。また、アクセスポイントを介す場合、インターネットを経由してもよいし、ＬＡＮのみでの通信網であってもよい。 Furthermore, the self-propelled cleaner 10 communicates with an external server (not shown) by wireless communication via the communication unit 28. The wireless communication may be via an access point, or may be based on an ad hoc mode in which direct communication is performed without going through an access point. Further, when going through an access point, it may be via the Internet or a communication network using only a LAN.
図３に示すように、自走式掃除機１０は、円盤形の筐体２０を備え、この筐体２０の外部及び内部に、天板２０ｂ、側板２０ｃ、蓋部２０ｄ、自走のために駆動される複数の駆動輪１３、障害検知部１４、操作部１７、従動輪（図示せず）、排気口３４、その他、図１に示した構成要素が設けられている。
図３において、障害検知部１４が配置されている部分を筐体２０の前方部、蓋部２０ｄが配置されている部分を筐体２０の中間部、前方部から中間部を挟んで反対側の部分を筐体２０の後方部とそれぞれ呼ぶ。ここで、前方とは、図３の矢符で示す自走式掃除機１０の進行方向であり、逆向きを後方とする。
As shown in FIG. 3, the self-propelled cleaner 10 includes a disk-shaped housing 20, and a top plate 20 b, a side plate 20 c, a lid 20 d, and self-propelled outside and inside the housing 20. A plurality of driving wheels 13 to be driven, a failure detection unit 14, an operation unit 17, a driven wheel (not shown), an exhaust port 34, and other components shown in FIG. 1 are provided.
In FIG. 3, the part where the failure detection unit 14 is arranged is the front part of the housing 20, the part where the lid part 20 d is arranged is the middle part of the housing 20, and the opposite part across the middle part from the front part Each part is called a rear part of the housing 20. Here, the front is the traveling direction of the self-propelled cleaner 10 indicated by the arrow in FIG. 3, and the reverse direction is the rear.
自走式掃除機１０は、例えば、掃除が終了した場合、二次電池１５の充電残量が少なくなった場合、あるいは設定された掃除タイマの設定時間が経過した場合に、充電台１００まで帰還する。ただし、障害物があれば、それを避けながら充電台１００の方向へ移動する。 The self-propelled cleaner 10 returns to the charging stand 100, for example, when cleaning is completed, when the remaining charge of the secondary battery 15 is reduced, or when the set cleaning timer has elapsed. To do. However, if there is an obstacle, it moves in the direction of the charging stand 100 while avoiding it.
図１の自走式掃除機１０についてさらに詳細を説明する。
図１の本体制御部１１は、自走式掃除機１０の各構成要素の動作を制御する部分であり、主として、ＣＰＵ、不揮発性メモリ、ＲＡＭ、Ｉ／Ｏコントローラ、リアルタイムクロック、タイマ等からなるマイクロコンピュータによって実現される。
ＣＰＵは、不揮発性メモリに予め格納された制御プログラムに基づいて、各ハードウェアを有機的に動作させて、後述するようなこの発明の検出機能、算出機能、駆動機能などを実行する。
前記不揮発性メモリは、自走式掃除機１０の各種機能を実現するために必要な情報や、プログラムを記憶する部分であり、フラッシュメモリ等の半導体メモリが用いられる。
Further details of the self-propelled cleaner 10 of FIG. 1 will be described.
1 is a part that controls the operation of each component of the self-propelled cleaner 10, and mainly includes a CPU, a nonvolatile memory, a RAM, an I / O controller, a real-time clock, a timer, and the like. Realized by a microcomputer.
The CPU organically operates each hardware based on a control program stored in advance in the nonvolatile memory, and executes a detection function, a calculation function, a drive function, and the like of the present invention described later.
The non-volatile memory is a part for storing information and programs necessary for realizing various functions of the self-propelled cleaner 10, and a semiconductor memory such as a flash memory is used.
走行制御部１２は、自走式掃除機１０の自律走行の制御を行う部分であり、後述する駆動輪１３を駆動しかつその回転を制御して筐体２０を自律的に走行させる部分である。
駆動輪１３は、例えば筐体２０の下部に配置され、独立して駆動される左右一対の車輪である。
走行制御部１２は、左右一対の駆動輪１３を駆動または停止させることにより、自走式掃除機１０の前進、後退、回転、静止などの動作を行わせる。
The traveling control unit 12 is a part that controls autonomous traveling of the self-propelled cleaner 10, and is a part that drives a driving wheel 13 to be described later and controls the rotation thereof to autonomously travel the housing 20. .
The drive wheels 13 are a pair of left and right wheels that are disposed, for example, in the lower part of the housing 20 and are driven independently.
The traveling control unit 12 drives or stops the pair of left and right driving wheels 13 to cause the self-propelled cleaner 10 to perform operations such as forward movement, backward movement, rotation, and stationary.
障害検知部１４は、自走式掃除機１０が走行中に、室内の机や椅子などの障害物に接触又は近づいたことを検知する部分であり、例えば、マイクロスイッチ等からなる接触センサ及び／又は超音波センサ、赤外線測距センサ等からなる障害物センサが用いられ、筐体２０本体の前方部に配置される。また、障害検知部１４を複数個設けてもよい。なお、バンパーとして機能する側板２０ｃの前部には接触センサが配置され、障害物等が接触したことを検知する。
本体制御部１１にかかるＣＰＵは、障害検知部１４から出力された信号に基づいて、障害物の存在する位置を認識する。認識された障害物の位置情報に基づいて、その障害物を回避して次に走行すべき方向を決定する。
The obstacle detection unit 14 is a part that detects that the self-propelled cleaner 10 is in contact with or approaching an obstacle such as a desk or chair in the room while traveling. Alternatively, an obstacle sensor composed of an ultrasonic sensor, an infrared distance measuring sensor, or the like is used, and is disposed in the front part of the housing 20 main body. A plurality of failure detection units 14 may be provided. Note that a contact sensor is disposed in front of the side plate 20c functioning as a bumper, and detects that an obstacle or the like has come into contact.
The CPU related to the main body control unit 11 recognizes the position where the obstacle exists based on the signal output from the obstacle detection unit 14. Based on the position information of the recognized obstacle, a direction to travel next is determined while avoiding the obstacle.
二次電池１５は、自走式掃除機１０の各機能要素に対して電力を供給する部分であり、主として、撮影機能及び走行制御等を行うための電力を供給する部分である。例えば、リチウムイオン電池、ニッケル水素電池、Ｎｉ−Ｃｄ電池などの二次電池が用いられる。
二次電池１５の充電は、自走式掃除機１０と充電台１００とを接続した状態で行われる。
自走式掃除機１０と充電台１００との接続は、接続部である露出した受電部２５と送電部１０１とを電気的に接触させることにより行う。
The secondary battery 15 is a part that supplies power to each functional element of the self-propelled cleaner 10, and is a part that mainly supplies power for performing a photographing function, travel control, and the like. For example, a secondary battery such as a lithium ion battery, a nickel metal hydride battery, or a Ni—Cd battery is used.
The secondary battery 15 is charged in a state where the self-propelled cleaner 10 and the charging stand 100 are connected.
The self-propelled cleaner 10 and the charging stand 100 are connected by electrically contacting the exposed power receiving unit 25 and the power transmitting unit 101 which are connection units.
操作部１７は、ユーザーが自走式掃除機１０の動作を指示入力し、前記ＣＰＵが受付けた入力に基づく設定や自走式掃除機１０の状態を表示する部分である。図２で、操作部１７は、筐体２０の後方部の上面に操作パネル又は操作ボタンとして設けられている。
操作部１７には、例えば、指示入力部としてスタート／停止ボタン、運転モード選択ボタン、充電ボタン、タイマボタン、その他の操作ボタンが設けられる。また、表示部として電池ランプ、運転モード表示ランプ、ゴミ捨てランプ、タイマ運転予約表示ランプが設けられる。
The operation unit 17 is a portion that inputs an instruction to the operation of the self-propelled cleaner 10 and displays settings based on the input received by the CPU and the state of the self-propelled cleaner 10. In FIG. 2, the operation unit 17 is provided as an operation panel or an operation button on the upper surface of the rear portion of the housing 20.
The operation unit 17 includes, for example, a start / stop button, an operation mode selection button, a charge button, a timer button, and other operation buttons as instruction input units. In addition, a battery lamp, an operation mode display lamp, a garbage disposal lamp, and a timer operation reservation display lamp are provided as display units.
通信部２８は、ネットワークを介して、外部の機器と通信する部分である。すなわち、自走式掃除機１０以外の外部機器と、種々の情報を送受信する部分である。例えば、インターネット上の情報配信サーバから計画停電に関する情報を取得し、あるいは災害に関する情報を取得する。
ネットワークとしては、ＬＡＮ、インターネットなどの広域ネットワーク（ＷＡＮ）、専用の通信回線などいずれのネットワークを利用してもよい。
その無線通信規格としては、例えば、Ｂｌｕｅｔｏｏｔｈ（登録商標）や無線ＬＡＮの標準規格であるＩＥＥＥ８０２．１１ａ、ＩＥＥＥ８０２．１１ｂ、ＩＥＥＥ８０２．１１ｇ、ＩＥＥＥ８０２．１１ｎ等が挙げられる。
The communication unit 28 is a part that communicates with an external device via a network. That is, it is a part which transmits / receives various information to / from external devices other than the self-propelled cleaner 10. For example, information on planned power outages is acquired from an information distribution server on the Internet, or information on disasters is acquired.
As the network, any network such as a wide area network (WAN) such as a LAN or the Internet, or a dedicated communication line may be used.
Examples of the wireless communication standard include Bluetooth (registered trademark) and IEEE802.11a, IEEE802.11b, IEEE802.11g, and IEEE802.11n, which are wireless LAN standards.
集塵部３１は、室内のゴミやちりを集める掃除機能を実行する部分であり、主として、図示しない集塵容器と、フィルタ部と、集塵容器及びフィルタ部を覆う開閉可能なカバー部とを備える。
排気口３４は、筐体２０の上面の位置に設けられ、集塵部３１のフィルタ部を通過して塵埃が除去された空気を外部へ放出する開口である。
The dust collection unit 31 is a part that performs a cleaning function to collect indoor garbage and dust, and mainly includes a dust collection container (not shown), a filter unit, and an openable / closable cover unit that covers the dust collection container and the filter unit. Prepare.
The exhaust port 34 is an opening that is provided at a position on the upper surface of the housing 20 and discharges air from which dust has been removed through the filter unit of the dust collecting unit 31 to the outside.
吸気口３５は、筐体２０の底面に設けられ、自走式掃除機１０は、吸気口３５を介して、床面の塵埃を空気と共に吸込む。吸気口３５には図示しない床面と平行な回転軸で回転する回転ブラシが設けられ、床面の塵埃を掻き上げる。さらに、吸気口３５の左右の側方には床面と垂直な回転軸で回転するサイドブラシが設けられ、床面の塵埃を吸気口３５へ導く。
集塵部３１は、排気口３４と連通する排出路と吸気口３５と連通する流入路とを有し、吸気口３５から吸い込まれた空気は、流入路を介して集塵容器内に導かれ、フィルタ部及び排出路を介して排気口３４から外部へ放出される。
また、空気を流通させるために送風機３６が設けられている。送風機３６は、吸気口３５より吸気を行うための送風ファンである。
The air inlet 35 is provided on the bottom surface of the housing 20, and the self-propelled cleaner 10 sucks dust on the floor together with air through the air inlet 35. The air inlet 35 is provided with a rotating brush that rotates on a rotation axis parallel to the floor surface (not shown), and scrapes off dust on the floor surface. Furthermore, side brushes that rotate on a rotation axis perpendicular to the floor surface are provided on the left and right sides of the air intake 35 to guide dust on the floor to the air intake 35.
The dust collection unit 31 has a discharge path that communicates with the exhaust port 34 and an inflow path that communicates with the intake port 35, and air sucked from the intake port 35 is guided into the dust collecting container via the inflow channel. Then, it is discharged to the outside from the exhaust port 34 through the filter part and the discharge path.
A blower 36 is provided for circulating air. The blower 36 is a blower fan for performing intake air from the intake port 35.
タイマ運転部４１は、タイマ運転予約に係る処理を行う。この実施形態で、タイマ運転部４１は、本体制御部１１と共通のハードウェア資源であるマイクロコンピュータによって実現される。タイマ運転部４１は本体制御部１１と機能が異なるために便宜上異なるブロックで示している。タイマ運転部４１は、操作部１７が受付けた入力に応答してタイマ運転モードのオンおよびオフ、タイマ運転の開始時刻の不揮発性メモリへの格納および削除等の処理を行う。さらに、前記不揮発性メモリに格納されたタイマ運転開始時刻の到来に応答して掃除動作の開始等の処理を行う。 The timer operation unit 41 performs processing related to timer operation reservation. In this embodiment, the timer operation unit 41 is realized by a microcomputer which is a hardware resource common to the main body control unit 11. Since the timer operation unit 41 has a function different from that of the main body control unit 11, the timer operation unit 41 is shown as a different block for convenience. In response to the input received by the operation unit 17, the timer operation unit 41 performs processing such as turning on and off the timer operation mode and storing and deleting the timer operation start time in the nonvolatile memory. Furthermore, processing such as the start of a cleaning operation is performed in response to the arrival of the timer operation start time stored in the nonvolatile memory.
充電制御部５１は、自走式掃除機１０にあって、二次電池１５の状態を管理して充電に係る処理を行う。そのために、充電制御部５１は、二次電池１５の端子電圧および電流を測定し、また、その履歴を不揮発性メモリに格納して参照してもよい。あるいは本体制御部１１が前記端子電圧および電流を測定し、履歴を管理し、充電制御部５１は本体制御部１１からそれらの測定値や履歴を取得してもよい。充電時間帯格納部５３は、不揮発性メモリであって二次電池１５の充電を行うべき充電時間帯を格納する。充電制御部５１は、充電時間帯格納部５３に対して充電時間帯の格納、削除、参照等の処理を行う。充電制御部５１は、操作部１７が受付けたユーザーの操作に基づいて充電時間帯の設定、更新等を行ってもよく、通信部２８を介して外部から受信した情報に基づいて充電時間帯の設定、更新等を行ってもよい。
時刻提供部５５は、マイクロコンピュータが備えるリアルタイムクロックであって、現在の時刻を提供する。
The charging control unit 51 is in the self-propelled cleaner 10 and manages the state of the secondary battery 15 to perform processing related to charging. For this purpose, the charge control unit 51 may measure the terminal voltage and current of the secondary battery 15 and store the history in a nonvolatile memory for reference. Alternatively, the main body control unit 11 may measure the terminal voltage and current and manage the history, and the charging control unit 51 may acquire the measurement values and the history from the main body control unit 11. The charging time zone storage unit 53 is a nonvolatile memory and stores a charging time zone in which the secondary battery 15 is to be charged. The charging control unit 51 performs processing such as storing, deleting, and referring to the charging time zone with respect to the charging time zone storage unit 53. The charging control unit 51 may perform setting, updating, and the like of the charging time zone based on the user's operation received by the operation unit 17, and the charging time zone based on the information received from the outside via the communication unit 28. Setting, updating, etc. may be performed.
The time providing unit 55 is a real-time clock provided in the microcomputer and provides the current time.
図１で充電制御部５１、充電時間帯格納部５３および時刻提供部５５は自走式掃除機１０の側にあって、それらの機能は、本体制御部１１と共通のハードウェア資源であるマイクロコンピュータによって実現される。
図２で、充電制御部５１、充電時間帯格納部５３および時刻提供部５５は充電台１００の側にあって、充電台１００はそのためのマイクロコンピュータを備える。図２の態様で充電制御部５１は、二次電池１５の状態を知るために、送電部１０１および受電部２５を介して本体制御部１１と通信するように構成してもよい。
In FIG. 1, the charging control unit 51, the charging time zone storage unit 53, and the time providing unit 55 are on the side of the self-propelled cleaner 10, and their functions are the same hardware resources as the main body control unit 11. Realized by computer.
In FIG. 2, the charging control unit 51, the charging time zone storage unit 53, and the time providing unit 55 are on the charging base 100 side, and the charging base 100 includes a microcomputer therefor. In the aspect of FIG. 2, the charging control unit 51 may be configured to communicate with the main body control unit 11 via the power transmission unit 101 and the power reception unit 25 in order to know the state of the secondary battery 15.
続いて、自走式掃除機１０の充電台への帰還について説明する。
自走式掃除機１０は、自走しながら、室内を移動し清掃を行う。室内には、充電台１００が置かれる。充電台１００は通常壁際に設置されてＡＣコンセントからＡＣ電源の供給を受ける。充電台１００は、図示しない発光部を有しており、その発光部からビーコン信号として赤外線を照射する。自走式掃除機１０は、充電台１００の前記発光部から出射された赤外線を検出する図示しない受光部を備えている。
Next, the return of the self-propelled cleaner 10 to the charging stand will be described.
The self-propelled cleaner 10 moves and cleans the room while self-propelled. A charging stand 100 is placed in the room. The charging stand 100 is usually installed near the wall and receives AC power from an AC outlet. The charging stand 100 has a light emitting unit (not shown), and emits infrared rays from the light emitting unit as a beacon signal. The self-propelled cleaner 10 includes a light receiving unit (not shown) that detects infrared rays emitted from the light emitting unit of the charging stand 100.
本体制御部１１は、清掃動作を開始後、予め定められた期間が経過したか、あるいは、二次電池１５の電池残量が予め定められた閾値よりも少なくなったと判断した場合、自走式掃除機１０をその場に静止させ、充電台１００を探索する処理を開始する。具体的には、自走式掃除機１０を、その静止位置で回転させ、充電台１００から照射される赤外線が検出されるかどうかをチェックする。
自走式掃除機１０がビーコン信号としての赤外線が検出可能な領域および方向にあるとき、本体制御部１１は、検出された赤外線の光源の方向に充電台１００が存在すると判断する。そして、光源の方向に向かって自走式掃除機１０を走行させる。このとき、ゴミを収集する掃除動作を実行しながら移動してもよい。
When the main body control unit 11 determines that a predetermined period has elapsed after starting the cleaning operation or the remaining battery level of the secondary battery 15 is less than a predetermined threshold value, the main body control unit 11 is self-propelled. The process of searching for the charging stand 100 is started by bringing the vacuum cleaner 10 to rest on the spot. Specifically, the self-propelled cleaner 10 is rotated at its stationary position, and it is checked whether or not infrared rays irradiated from the charging stand 100 are detected.
When the self-propelled cleaner 10 is in a region and direction in which infrared rays as a beacon signal can be detected, the main body control unit 11 determines that the charging stand 100 exists in the direction of the detected infrared light source. Then, the self-propelled cleaner 10 is caused to travel toward the light source. At this time, you may move, performing cleaning operation which collects garbage.
本体制御部１１は、ほぼ直線的に充電台１００に向かって自走式掃除機１０を移動させる。
その後、充電台１００の近傍まで近づくと、本体制御部１１は、充電台１００の送電部１０１と自走式掃除機１０の受電部２５が接触できるように自走式掃除機１０の向きを調整しながら移動させる。このようにして、自走式掃除機１０を充電台１００に帰還させる。
The main body control unit 11 moves the self-propelled cleaner 10 toward the charging stand 100 substantially linearly.
After that, when approaching the vicinity of the charging stand 100, the main body control unit 11 adjusts the direction of the self-propelled cleaner 10 so that the power transmission unit 101 of the charging stand 100 and the power receiving unit 25 of the self-propelled cleaner 10 can contact each other. Move while. In this way, the self-propelled cleaner 10 is returned to the charging stand 100.
（実施の形態１）
以下、充電制御部５１の処理について、フローチャートに基づいて説明を行う。
図４は、この実施形態の充電制御部５１が実行する処理の一態様を示すフローチャートである。図４で、充電制御部５１は、二次電池１５の充電状態の変化に対して十分短い間隔で反復して処理を実行する。反復処理は、例えば、タイマ割り込みやポーリング等、周知の手段で実現される。
(Embodiment 1)
Hereinafter, the process of the charging control unit 51 will be described based on a flowchart.
FIG. 4 is a flowchart showing an aspect of processing executed by the charging control unit 51 of this embodiment. In FIG. 4, the charging control unit 51 repeatedly performs the process at sufficiently short intervals with respect to the change in the charging state of the secondary battery 15. The iterative process is realized by a known means such as timer interruption or polling.
処理を開始すると、充電制御部５１は、充電台１００に帰還しているか否かを判断する（ステップＳ１１）。充電台１００に帰還していなければ（ステップＳ１１のＮｏ）、二次電池１５の充電は行われないのでその回の処理を終了する。
一方、充電台１００に帰還している場合（ステップＳ１１のＹｅｓ）、充電制御部５１は、充電時間帯格納部５３に格納された充電時間帯と現在時刻提供部５５が提供する現在時刻とを比較して現在の時刻が充電時間帯に属するか否かを判断する（ステップＳ１３）。充電時間帯内の場合（ステップＳ１３のＹｅｓ）、充電制御部５１は、二次電池１５の状態を取得して残容量を計算し、二次電池１５が充電不要の満充電状態か否かを判断する（ステップＳ１５）。満充電状態の場合（ステップＳ１５のＹｅｓ）は、充電を停止するように制御し（ステップＳ１７）、その回の処理を終了する。一方、満充電状態でなければ（ステップＳ１５のＮｏ）、充電を実行するように制御し（ステップＳ１９）、その回の処理を終了する。よって、充電時間帯内であれば、二次電池１５が満充電状態になるまで繰り返し充電処理（ステップＳ１９）が実行されて充電が継続する。
When the process is started, the charging control unit 51 determines whether or not it has returned to the charging stand 100 (step S11). If it has not returned to the charging stand 100 (No of step S11), since the secondary battery 15 will not be charged, the process of the time will be complete | finished.
On the other hand, when returning to the charging stand 100 (Yes in step S11), the charging control unit 51 determines the charging time zone stored in the charging time zone storage unit 53 and the current time provided by the current time providing unit 55. In comparison, it is determined whether or not the current time belongs to the charging time zone (step S13). If it is within the charging time zone (Yes in step S13), the charging control unit 51 obtains the state of the secondary battery 15, calculates the remaining capacity, and determines whether the secondary battery 15 is in a fully charged state that does not require charging. Judgment is made (step S15). If the battery is fully charged (Yes in step S15), control is performed to stop charging (step S17), and the process for that time is terminated. On the other hand, if it is not a full charge state (No of step S15), it will control to perform charge (step S19) and will complete | finish the process of the time. Therefore, if it is within a charge time slot | zone, until the secondary battery 15 will be in a full charge state, a charge process (step S19) will be performed repeatedly and charge will continue.
これに対して充電時間帯外の場合（ステップＳ１３のＮｏ）、充電制御部５１は、電池残量が５０％以上か否かを調べる（ステップＳ２１）。ここで、５０％は閾値の一例に過ぎない。充電時間帯が来るまでに操作部１７が次の運転の指示を受付けた場合に掃除作業を開始するのに十分なレベルが前記閾値として設定される。
図４のステップＳ２１で、電池残量が５０％以上であれば（ステップＳ２１のＹｅｓ）、充電を停止するように制御し（ステップＳ２５）、その回の処理を終了する。一方、電池残量が５０％未満であれば（ステップＳ２１のＮｏ）、充電を実行するように制御し（ステップＳ２３）、その回の処理を終了する。よって、充電時間外は、二次電池１５の残容量が５０％以上になるまで充電が継続されるが、５０％以上になると充電を停止し、充電時間帯が到来するまでそれ以上の充電を実行しない。
On the other hand, when it is outside the charging time zone (No in step S13), the charging control unit 51 checks whether the remaining battery level is 50% or more (step S21). Here, 50% is merely an example of a threshold value. When the operation unit 17 receives an instruction for the next operation before the charging time comes, a level sufficient to start the cleaning operation is set as the threshold value.
If the remaining battery level is 50% or more in step S21 of FIG. 4 (Yes in step S21), control is performed to stop charging (step S25), and the process for that time is terminated. On the other hand, if the remaining battery level is less than 50% (No in step S21), control is performed so as to execute charging (step S23), and the process for that time is terminated. Therefore, charging is continued outside the charging time until the remaining capacity of the secondary battery 15 reaches 50% or more, but when it reaches 50% or more, the charging is stopped, and charging is continued until the charging time comes. Do not execute.
図４の制御によれば、充電時間帯の到来と共に充電を開始し、充電時間帯が終了するときに二次電池１５の電池残量が５０％以上であるが満充電状態ではなかった場合、充電時間の終了と共に充電を停止し、次回の充電時間帯が到来するまで充電を停止した状態で待つ。
充電時間帯が、例えば夜間の電力が安価な時間帯に設定されていると、満充電状態に至る充電は夜間の安価な電力で行う。ただし、充電時間帯外に掃除作業を行って二次電池の残容量が５０％未満に減った場合、その日の夜の充電時間帯が到来するまでに清掃作業の指示がなされた場合に備えて残容量５０％までは充電を行っておく。これによって、常に掃除作業ができる状態が維持され、かつ、充電時間帯外は満充電状態に比べて二次電池１５のストレスが小さい状態に維持されるので、電池の長寿命化にも寄与する。
According to the control of FIG. 4, when charging starts with the arrival of the charging time zone, and when the charging time zone ends, the remaining battery level of the secondary battery 15 is 50% or more but not fully charged, The charging is stopped at the end of the charging time, and the charging is stopped until the next charging time zone comes.
When the charging time zone is set to a time zone where, for example, nighttime power is cheap, charging to reach a fully charged state is performed with cheap power at nighttime. However, if the remaining capacity of the secondary battery is reduced to less than 50% after the cleaning work is performed outside the charging time, the cleaning work is instructed before the night charging time arrives. Charging is performed until the remaining capacity reaches 50%. As a result, the state in which the cleaning operation can always be performed is maintained, and the stress of the secondary battery 15 is maintained in the state where the stress of the secondary battery 15 is smaller than in the fully charged state outside the charging time period, which contributes to the extension of the battery life. .
（実施の形態２）
実施の形態１の変形例を説明する。この実施形態によれば、充電制御部５１は、タイマ運転予約がなされているときは充電時間帯外であっても満充電状態まで二次電池１５を充電するように制御する。この態様によれば、満充電状態でタイマ運転を開始することができる。
図５は、この実施形態の充電制御部５１が実行する処理を示すフローチャートである。図４で、実施の形態１に対応する処理には同じ番号を付している。図４と同様の処理については説明を省略する。
(Embodiment 2)
A modification of the first embodiment will be described. According to this embodiment, when the timer operation reservation is made, the charging control unit 51 performs control so that the secondary battery 15 is charged to the fully charged state even outside the charging time zone. According to this aspect, the timer operation can be started in the fully charged state.
FIG. 5 is a flowchart showing processing executed by the charging control unit 51 of this embodiment. In FIG. 4, the same numbers are assigned to the processes corresponding to the first embodiment. The description of the same processing as in FIG. 4 is omitted.
図５で、充電時間帯外であって（ステップＳ１３のＮｏ）、電池残量が５０％以上（ステップＳ２１のＹｅｓ）の場合に、充電制御部５１は、タイマ運転予約がなされているか否かを調べる（ステップＳ３１）。タイマ運転予約がされていなければ、図４と同様に充電を停止するように制御して（ステップＳ２５）その回の処理を終了する。一方、タイマ運転予約がされている場合は（ステップＳ３１のＮｏ）、充電時間帯外であっても充電を実行する（ステップＳ２３）。
この実施形態によれば、タイマ予約運転がなされている場合については、充電時間帯であるか否かに係わらず、満充電状態まで二次電池１５の充電を行うように制御する。
In FIG. 5, when it is outside the charging time zone (No in Step S13) and the remaining battery level is 50% or more (Yes in Step S21), the charging control unit 51 determines whether or not the timer operation reservation is made. (Step S31). If the timer operation reservation is not made, the control is performed so as to stop the charging as in FIG. 4 (step S25), and the process is terminated. On the other hand, when the timer operation reservation is made (No in step S31), charging is executed even outside the charging time zone (step S23).
According to this embodiment, when the timer reservation operation is performed, control is performed so that the secondary battery 15 is charged to the fully charged state regardless of whether or not it is in the charging time zone.
（実施の形態３）
タイマ予約運転時の処理に関してさらなる変形例を説明する。
図６は、前述の実施の形態２の変形例を示すフローチャートである。図５と同様の処理には同様の符号を付しているので説明を省略する。
この実施形態によれば、充電制御部５１はタイマ運転部４１から次のタイマ運転の開始時刻を取得する。そして、充電時間帯内にのみ満充電状態まで充電を行った場合に前記開始時刻までに二次電池１５が満充電状態になるか否かを判断する。そのうえで、満充電状態にならない場合にのみ充電時間帯外に二次電池１５を充電するように制御する。
(Embodiment 3)
A further modification will be described with respect to processing during timer reservation operation.
FIG. 6 is a flowchart showing a modification of the above-described second embodiment. Processes similar to those in FIG. 5 are denoted by the same reference numerals and will not be described.
According to this embodiment, the charge control unit 51 acquires the start time of the next timer operation from the timer operation unit 41. And it is judged whether the secondary battery 15 will be in a full charge state by the said start time, when it charges to a full charge state only within a charge time slot | zone. In addition, control is performed so that the secondary battery 15 is charged outside the charging time zone only when the battery is not fully charged.
即ち、図６のステップＳ３１で、タイマ運転予約がされている場合（ステップＳ３１のＮｏ）、続いて充電制御部５１は、予約時刻までに二次電池１５が満充電状態まで充電されるか否かを調べる（ステップＳ３３）。満充電状態まで充電されない場合は（ステップＳ３３のＹｅｓ）、充電時間帯外に充電を実行するように制御する（ステップＳ２３）。しかし、予約時刻までに二次電池１５が満充電状態まで充電されると判断したときは（ステップＳ３３のＮｏ）、充電を停止するように制御する（ステップＳ２５）。
例えば、次のタイマ運転開始が翌日であり、それ以前に夜間の充電時間帯で二次電池１５が満充電状態になると判断したとき充電制御部５１は、電池残量が５０％以上であれば充電時間帯外には充電を停止し、充電時間帯の到来を待って充電を行うように制御する。なお、Ｓ３３における満充電状態まで充電されるか否かの判断は、例えば、自走式掃除機１０に格納された、二次電池１５の電池残量と満充電状態までの充電時間との関係を示す情報に基づいて行うことができる。
That is, when the timer operation reservation is made in step S31 of FIG. 6 (No in step S31), the charging control unit 51 subsequently determines whether or not the secondary battery 15 is charged to the fully charged state by the reservation time. (Step S33). If the battery is not fully charged (Yes in step S33), control is performed so that charging is performed outside the charging time zone (step S23). However, when it is determined that the secondary battery 15 is charged to the fully charged state by the reservation time (No in step S33), control is performed to stop the charging (step S25).
For example, when it is determined that the next timer operation is started on the next day and the secondary battery 15 is fully charged in the night charging time period before that, the charge control unit 51 determines that the remaining battery level is 50% or more. Control is performed such that charging is stopped outside the charging time zone, and charging is performed after the charging time zone arrives. The determination as to whether or not the battery is fully charged in S33 is, for example, the relationship between the remaining battery level of the secondary battery 15 stored in the self-propelled cleaner 10 and the charging time until the battery is fully charged. It can be performed based on information indicating.
また、上記実施例では、電池残量が５０％以上かどうかによって、充電時間帯外に充電動作を行うかどうかを判断している。５０％は一例に過ぎないが、要するに固定の値を基準として判断を行っている。これと異なる態様として、判断の基準を充電時間帯の幅に基づいて適応的に変えるようにしてもよい。例えば、満充電状態までの充電時間が４時間必要とすると、もし充電時間帯が１時間しか設定されない場合、充電時間帯外に２時間充電することにより５０％まで充電され、その後の充電時間帯の１時間では、満充電状態にならない。そこで、充電時間帯が１時間の場合、充電時間帯の幅を考慮して、あらかじめ充電時間帯外に充電しておく割合を調整して７５％まで充電しておくことによって、充電時間帯中に必ず満充電になるようにする。
つまり、充電時間帯の設定幅に基づき充電される充電量と、あらかじめ充電時間帯外に充電される充電量とを合計しても満充電にならないと推定される場合、充電時間帯外の充電によって不足分が充電できるように充電時間帯外に充電する充電割合を、調整するように制御してもよい。
Moreover, in the said Example, it is judged whether charging operation is performed outside a charging time slot | zone by whether a battery remaining charge is 50% or more. 50% is only an example, but in short, a determination is made based on a fixed value. As an aspect different from this, the criterion for determination may be adaptively changed based on the width of the charging time zone. For example, if it takes 4 hours to fully charge, if the charging time zone is set to only 1 hour, it is charged to 50% by charging for 2 hours outside the charging time zone, and then the charging time zone In 1 hour, the battery is not fully charged. Therefore, when the charging time zone is 1 hour, taking into account the width of the charging time zone, adjusting the ratio of charging outside the charging time zone in advance to charge up to 75%, the charging time zone Make sure that the battery is fully charged.
In other words, if it is estimated that the amount of charge that is charged based on the setting range of the charging time zone and the amount of charging that is charged outside the charging time zone in advance will not be fully charged, charging outside the charging time zone The charging ratio for charging outside the charging time period may be controlled so as to adjust the shortage by charging.
（実施の形態４）
この実施形態によれば、本体制御部は、充電時間帯外であるため二次電池１５の充電を行わない場合と充電時間帯内に充電を行う場合とで表示態様や機器本体の位置を異ならせてユーザーに充電の状態を知らせることができる。
図７は、充電ランプの点灯と点滅および色を変えて、充電の状態をユーザーに知らせる例を示すフローチャートである。図４と同様の処理には同様の符号を付しているので説明を省略する。図７で、操作部１７は赤、黄、緑の各色に切換え可能なＬＥＤを用いた充電ランプを有している。
(Embodiment 4)
According to this embodiment, since the main body control unit is out of the charging time zone, the display mode and the position of the device main body are different between when the secondary battery 15 is not charged and when charging is performed within the charging time zone. Can inform the user of the state of charge.
FIG. 7 is a flowchart showing an example of informing the user of the charging state by changing the lighting, blinking, and color of the charging lamp. Processes similar to those in FIG. 4 are denoted by the same reference numerals and will not be described. In FIG. 7, the operation unit 17 has a charging lamp using LEDs that can be switched to red, yellow, and green colors.
充電制御部５１は、充電時間帯内であって（ステップＳ１３のＹｅｓ）、二次電池１５が満充電状態のときは（ステップＳ１５のＹｅｓ）充電を停止する（ステップＳ１７）と共に電池ランプを緑色に点灯させて充電完了をユーザーに知らせる。一方、満充電状態でなければ（ステップＳ１５のＮｏ）、充電を実行し（ステップＳ１９）、電池ランプを赤色に点滅させて（ステップＳ４３）、充電中であることをユーザーに知らせる。 When the secondary battery 15 is fully charged (Yes in Step S15) within the charging time zone (Yes in Step S13) and the secondary battery 15 is fully charged (Yes in Step S15), the charging control unit 51 stops the charging (Step S17) and turns the battery lamp green. Turn on to inform the user that charging is complete. On the other hand, if the battery is not fully charged (No in step S15), charging is executed (step S19), the battery lamp is flashed red (step S43), and the user is informed that charging is in progress.
充電時間帯外の場合（ステップＳ１３のＮｏ）、充電制御部５１は、電池残量が５０％未満であれば（ステップＳ２１のＮｏ）、充電を実行し（ステップＳ２３）、電池ランプを赤色に点滅させて（ステップＳ４５）、充電中であることをユーザーに知らせる。
一方、電池残量が５０％以上であれば、充電を停止し（ステップＳ２５）、電池ランプを黄色に点灯させて（ステップＳ４７）、充電時間帯外であるために充電を行わないことをユーザーに知らせる。勿論、表示態様はこの例に限られるものでない。
なお、特に図２で説明したように充電台１００が充電制御部５１を備えてなる場合には、充電ランプは、充電台１００に設けられてもよい。
If it is outside the charging time zone (No in step S13), the charging control unit 51 performs charging (step S23) and turns the battery lamp red if the remaining battery level is less than 50% (No in step S21). Blink (step S45) to inform the user that charging is in progress.
On the other hand, if the remaining battery level is 50% or more, the charging is stopped (step S25), the battery lamp is lit in yellow (step S47), and the user is advised not to charge because it is out of the charging time zone. To inform. Of course, the display mode is not limited to this example.
In particular, as described with reference to FIG. 2, when the charging stand 100 includes the charging control unit 51, the charging lamp may be provided on the charging stand 100.
また、表示に加えて、または表示に代えて自走式掃除機１０と充電台１００との位置を換えてもよい。即ち、充電時間帯内は自走式掃除機１０を充電台１００にドッキングさせて充電を行い、満充電状態になってもドッキングの状態を維持する。一方、充電時間帯内で電池残量が５０％未満の場合、充電を行うときは自走式掃除機１０を充電台１００にドッキングさせる。しかし、電池残量が５０％以上の場合は、自走式掃除機１０を充電台１００から離れた位置へ移動させる。これによって、充電時間帯外であるために充電を行わないことをユーザーに知らせる。 In addition to the display or in place of the display, the positions of the self-propelled cleaner 10 and the charging stand 100 may be changed. That is, during the charging time period, the self-propelled cleaner 10 is charged by being docked on the charging stand 100, and the docking state is maintained even when the battery is fully charged. On the other hand, when the remaining battery level is less than 50% within the charging time zone, the self-propelled cleaner 10 is docked to the charging stand 100 when charging. However, when the remaining battery level is 50% or more, the self-propelled cleaner 10 is moved to a position away from the charging stand 100. This informs the user that charging will not be performed because it is outside the charging time zone.
（実施の形態５）
この実施形態によれば、商用電源の電力需給に関する情報を充電制御部５１が取得して、充電時間帯外に二次電池１５の充電を行うか否かを判断する。
図８は、この実施形態の処理を示すフローチャートである。図４と同様の処理には同様の符号を付しているので説明を省略する。図８で、商用電源の電力需給に関する情報の具体例は計画停電の情報である。停電が充電時間帯と重複する場合は、充電時間帯外であっても充電を行うように制御する。
ただし、計画停電に限らず、例えば台風の接近など停電発生の可能性に関するものはこの情報に含まれる。停電発生の場合に備えて二次電池１５を充電して、停電発生時に予備電源として使用可能な状態にしておくのである。
情報は、通信部２８を介して外部の通信機器、例えば情報を提供する配信サーバから取得する。配信サーバは、例えば、自走式掃除機１０の製造者が設置運営するものであってもよく、それ以外の第三者が設置や運営をしてもよい。
(Embodiment 5)
According to this embodiment, the charging control unit 51 acquires information related to power supply and demand of the commercial power source, and determines whether to charge the secondary battery 15 outside the charging time period.
FIG. 8 is a flowchart showing the processing of this embodiment. Processes similar to those in FIG. 4 are denoted by the same reference numerals and will not be described. In FIG. 8, a specific example of information relating to the power supply and demand of the commercial power supply is planned power outage information. When a power failure overlaps with a charging time zone, control is performed so that charging is performed even outside the charging time zone.
However, this information includes not only planned power outages but also information on the possibility of power outages such as the approach of a typhoon. In preparation for the occurrence of a power failure, the secondary battery 15 is charged so that it can be used as a backup power source when a power failure occurs.
Information is acquired from an external communication device, for example, a distribution server that provides information, via the communication unit 28. For example, the distribution server may be installed and operated by the manufacturer of the self-propelled cleaner 10, or other third parties may be installed and operated.
図８で、充電制御部５１は、現在の時刻が充電時間帯外であれば（ステップＳ１３のＮｏ）、通信部２８を介して配信サーバにアクセスし、計画停電の情報を参照する（ステップＳ５１）。計画停電の予定がある場合、停電になる時までに充電時間帯が到来して二次電池１５が満充電状態になるか否かを判断する（ステップＳ５３）。満充電になる場合（ステップＳ５３のＹｅｓ）は、図４と同様に電池残量が５０％以上か否かに応じて充電を実行するか否かを判断する。
一方、停電までに充電時間帯が到来しなかったり充電時間帯が短かったりするために二次電池１５が満充電状態にならないと判断した場合は（ステップＳ５３のＮｏ）、充電時間帯外であっても充電を実行する（ステップＳ２３）。
In FIG. 8, if the current time is outside the charging time zone (No in step S13), the charging control unit 51 accesses the distribution server via the communication unit 28 and refers to the information on the planned power outage (step S51). ). If there is a planned power outage, it is determined whether or not the secondary battery 15 is in a fully charged state due to the arrival of the charging time zone by the time of the power outage (step S53). If the battery is fully charged (Yes in step S53), it is determined whether or not to perform charging according to whether or not the remaining battery level is 50% or more, as in FIG.
On the other hand, if it is determined that the secondary battery 15 is not fully charged because the charging time zone does not arrive before the power failure or the charging time zone is short (No in step S53), it is out of the charging time zone. Even in this case, charging is performed (step S23).
以上に述べたように、
（i）この発明による充電システムは、充電ステーションと、前記充電ステーションにより充電される二次電池を内蔵した自走式機器とを備える充電システムであって、前記充電ステーションは、電源から充電用電力を生成する電源回路と、前記充電用電力を前記自走式機器へ送る送電部とを備え、前記自走式機器は、前記送電部から送られた充電用電力を受ける受電部を備え、前記充電ステーション又は前記自走式機器は、前記二次電池の充電を行う充電時間帯を格納する充電時間帯格納部と、前記二次電池の充電を制御する充電制御部とを備え、前記充電制御部は、前記二次電池の残容量、および、現在の時刻が充電時間帯に属するか否かに応じて前記二次電池の充電の可否を判断することを特徴とする。
この発明において、充電システムは、二次電池を電源として自律的に走行し、掃除やイオン発生、空気清浄等、所定の処理を実行する機器本体と前記二次電池を充電する充電ステーションを備えるものである。前述の実施形態において、自走式掃除機が機器本体に相当し、充電台が充電ステーションに相当する。
As mentioned above,
(I) A charging system according to the present invention is a charging system comprising a charging station and a self-propelled device incorporating a secondary battery charged by the charging station, wherein the charging station receives power for charging from a power source. And a power transmission unit that transmits the charging power to the self-propelled device, and the self-propelled device includes a power reception unit that receives the charging power transmitted from the power transmission unit, The charging station or the self-propelled device includes a charging time zone storage unit that stores a charging time zone for charging the secondary battery, and a charging control unit that controls charging of the secondary battery, and the charging control The unit determines whether the secondary battery can be charged according to the remaining capacity of the secondary battery and whether the current time belongs to a charging time zone.
In the present invention, the charging system includes an apparatus main body that autonomously travels using the secondary battery as a power source and performs predetermined processing such as cleaning, ion generation, and air cleaning, and a charging station that charges the secondary battery. It is. In the above-described embodiment, the self-propelled cleaner corresponds to the device main body, and the charging stand corresponds to the charging station.
さらに、この発明の好ましい態様について説明する。
（ii）前記自走式機器は、所定の処理の開始時刻の設定を受付け、受付けた開始時刻が到来すると自走して前記処理を行うように制御するタイマ運転部をさらに含み、前記充電制御部は、設定された前記開始時刻に応じて前記充電時間帯外に前記二次電池の充電を実行すべきか否かを決定してもよい。
このようにすれば、タイマ運転予約がなされているときは、タイマ運転の開始時刻までに充電時間帯が到来しない場合にも、開始時刻までに二次電池の充電を行って処理を開始することができる。
Furthermore, the preferable aspect of this invention is demonstrated.
(Ii) The self-propelled device further includes a timer operation unit that receives a setting of a start time of a predetermined process, and controls to perform the process by self-running when the accepted start time arrives, the charge control The unit may determine whether or not to charge the secondary battery outside the charging time period according to the set start time.
In this way, when the timer operation reservation is made, even if the charging time zone does not arrive by the start time of the timer operation, the secondary battery is charged by the start time and the process is started. Can do.
（iii）前記充電制御部は、充電時間帯に前記二次電池が満充電にならない場合は充電時間帯が終わると充電を終了するように制御してもよい。
このようにすれば、予め定められた充電時間帯に属する期間のみ充電を行うことができるので、例えば、電力料金の安価な時間帯に充電を行うことができ、また、電力需給の厳しい時間帯を避けて充電することができる。
(Iii) If the secondary battery is not fully charged during the charging time period, the charging control unit may control the charging to end when the charging time period ends.
In this way, since charging can be performed only during a period belonging to a predetermined charging time zone, for example, charging can be performed during a time zone where the power rate is inexpensive, and a time zone where power supply and demand is severe. Can be charged to avoid.
（iv）充電時間帯外であるために前記充電制御部が前記二次電池の充電を行わない充電抑制状態において充電抑制状態を知らせる表示を行う表示部をさらに備えるか、または、機器本体の充電ステーションに対する位置を充電中と前記充電抑制状態とで異ならせるように制御する走行制御部をさらに備えていてもよい。
このようにすれば、充電時間帯外であるため二次電池の充電を行わない場合と充電時間帯内に充電を行う場合とで表示態様や機器本体の位置を異ならせてユーザーに充電の状態を知らせることができる。
(Iv) The charging control unit further includes a display unit for displaying a charging suppression state in a charging suppression state in which the secondary battery is not charged because it is out of a charging time period, or charging of the device body You may further provide the travel control part which controls so that the position with respect to a station may differ between charging and the said charge suppression state.
In this way, the charging state is changed for the user by changing the display mode and the position of the device body between when the secondary battery is not charged because it is outside the charging time zone and when charging within the charging time zone. Can be informed.
（v）前記電源の電力需給に係る情報を外部から取得する通信部をさらに備え、前記充電制御部は、取得した情報の内容に応じて、充電時間帯外に前記二次電池の充電を実行するか否かを判断してもよい。
このようにすれば、例えば、設定された充電時間帯と計画停電が重複する場合に計画停電のために二次電池の充電がされないといった不具合を避けることができる。
この発明の好ましい態様には、上述した複数の態様のうちの何れかを組み合わせたものも含まれる。
前述した実施の形態の他にも、この発明について種々の変形例があり得る。それらの変形例は、この発明の範囲に属さないと解されるべきものではない。この発明には、請求の範囲と均等の意味および前記範囲内でのすべての変形とが含まれるべきである。
(V) further comprising a communication unit for acquiring information relating to power supply and demand of the power supply from the outside, wherein the charging control unit performs charging of the secondary battery outside a charging time period according to the content of the acquired information It may be determined whether or not to do so.
In this way, for example, when the set charging time zone and the planned power failure overlap, it is possible to avoid a problem that the secondary battery is not charged due to the planned power failure.
Preferred embodiments of the present invention include combinations of any of the plurality of embodiments described above.
In addition to the embodiments described above, there can be various modifications of the present invention. These modifications should not be construed as not belonging to the scope of the present invention. The present invention should include the meaning equivalent to the scope of the claims and all modifications within the scope.
１０：自走式掃除機、 １１：本体制御部、 １２：走行制御部、 １３：駆動輪、 １４：障害検知部、 １５：二次電池、 １７：操作部、 ２０：筐体、 ２０ｂ：天板、 ２０ｃ：側板、 ２０ｄ：蓋部、 ２５：受電部、 ２８：通信部、 ３１：集塵部、 ３４：排気口、 ３５：吸気口、 ３６：送風機、 ４１：タイマ運転部、 ５１：充電制御部、 ５３：充電時間帯格納部、 ５５：時刻提供部、 １００：充電台、 １０１：送電部、 １０３：電源回路 DESCRIPTION OF SYMBOLS 10: Self-propelled cleaner, 11: Main body control part, 12: Traveling control part, 13: Drive wheel, 14: Fault detection part, 15: Secondary battery, 17: Operation part, 20: Case, 20b: Sky Plate: 20c: side plate, 20d: lid, 25: power receiving unit, 28: communication unit, 31: dust collecting unit, 34: exhaust port, 35: air intake port, 36: blower, 41: timer operation unit, 51: charging Control unit 53: Charging time zone storage unit 55: Time providing unit 100: Charging stand 101: Power transmission unit 103: Power supply circuit
Claims (5)
前記充電ステーションは、電源から充電用電力を生成する電源回路と、前記充電用電力を前記自走式機器へ送る送電部とを備え、
前記自走式機器は、前記送電部から送られた充電用電力を受ける受電部を備え、
前記充電ステーション又は前記自走式機器は、前記二次電池の充電を行う充電時間帯を格納する充電時間帯格納部と、前記二次電池の充電を制御する充電制御部とを備え、
前記充電制御部は、前記二次電池の残容量、および、現在の時刻が充電時間帯に属するか否かに応じて前記二次電池の充電の可否を判断することを特徴とする充電システム。 A charging system comprising a charging station and a self-propelled device incorporating a secondary battery to be charged by the charging station,
The charging station includes a power supply circuit that generates charging power from a power source, and a power transmission unit that sends the charging power to the self-propelled device,
The self-propelled device includes a power receiving unit that receives charging power transmitted from the power transmitting unit,
The charging station or the self-propelled device includes a charging time zone storage unit that stores a charging time zone for charging the secondary battery, and a charging control unit that controls charging of the secondary battery,
The charging system is characterized in that the charging control unit determines whether or not the secondary battery can be charged according to the remaining capacity of the secondary battery and whether or not the current time belongs to a charging time zone.
前記充電制御部は、設定された前記開始時刻に応じて前記充電時間帯外に前記二次電池の充電を実行すべきか否かを決定する請求項１に記載の充電システム。 The self-propelled device further includes a timer operation unit that receives a setting of a start time of a predetermined process, and controls to perform the process by self-running when the accepted start time arrives,
The charging system according to claim 1, wherein the charging control unit determines whether or not to charge the secondary battery outside the charging time period according to the set start time.
前記充電制御部は、取得した情報の内容に応じて、充電時間帯外に前記二次電池の充電を実行するか否かを判断する請求項１〜３の何れか一つに記載の充電システム。 A communication unit that obtains information on the power supply and demand of the power source from the outside;
The charging system according to any one of claims 1 to 3, wherein the charging control unit determines whether or not to charge the secondary battery outside a charging time period according to the content of the acquired information. .
前記充電用電力により充電される二次電池と、
前記二次電池の充電を行う充電時間帯を格納する充電時間帯格納部と、前記二次電池の充電を制御する充電制御部とを備え、
前記充電制御部は、前記二次電池の残容量、および、現在の時刻が充電時間帯に属するか否かに応じて前記二次電池の充電の可否を判断することを特徴とする自走式機器。 A power receiving unit that receives charging power sent from an external charging station;
A secondary battery charged with the charging power;
A charging time zone storage unit that stores a charging time zone for charging the secondary battery; and a charge control unit that controls charging of the secondary battery;
The charge control unit determines whether or not the secondary battery can be charged according to the remaining capacity of the secondary battery and whether or not the current time belongs to a charging time zone. machine.
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