TW201705892A - Method for operating equipment driven by motor capable of making different setting more compliant with actual working state of equipment to realize more comfortable operation - Google Patents
Method for operating equipment driven by motor capable of making different setting more compliant with actual working state of equipment to realize more comfortable operation Download PDFInfo
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- TW201705892A TW201705892A TW105113932A TW105113932A TW201705892A TW 201705892 A TW201705892 A TW 201705892A TW 105113932 A TW105113932 A TW 105113932A TW 105113932 A TW105113932 A TW 105113932A TW 201705892 A TW201705892 A TW 201705892A
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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
- A47L9/2836—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
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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
- A47L5/00—Structural features of suction cleaners
- A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
- A47L5/22—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
- A47L5/24—Hand-supported suction cleaners
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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
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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
- A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
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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
- A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
- A47L9/2873—Docking units or charging stations
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
Description
本發明係有關於一種由電動機驅動之設備的操作方法，其設備特別是吸塵器，其中，藉由分析感測器信號並根據設備上存在或不存在使用者的手來測定該設備之當前操作狀態，並且，根據所測定之操作狀態來設定該設備之工作狀態，而其工作狀態尤指設備之風扇及/或馬達之轉速及/或功率。 The present invention relates to a method of operating a device driven by an electric motor, in particular a vacuum cleaner, wherein the current operational state of the device is determined by analyzing the sensor signal and depending on the presence or absence of the user's hand on the device. And, the working state of the device is set according to the measured operating state, and the working state thereof is especially the speed and/or power of the fan and/or the motor of the device.
本發明另亦有關於一種由電動機驅動之設備，特別是，吸塵器，用於實施上述方法，此設備具有：用於測定此設備之操作狀態的第一感測器，以及，用於根據所測定之操作狀態來設定風扇及/或馬達之工作狀態的控制及分析裝置。 The invention further relates to an apparatus driven by an electric motor, in particular a vacuum cleaner, for carrying out the above method, the apparatus having: a first sensor for determining an operational state of the apparatus, and for determining The operating state sets the control and analysis device for the operating state of the fan and/or motor.
在本發明範圍內，由電動機驅動之設備尤指手持式或自動移行式家用器具，如，可充電吸塵器、窗戶清潔器、清潔機器人等等。為執行諸如吸、擦或刷等清潔任務，此設備具有根據所測定之操作狀態來加以控制之風扇及/或馬達。 Within the scope of the invention, devices driven by electric motors are, in particular, hand-held or self-moving household appliances, such as rechargeable vacuum cleaners, window cleaners, cleaning robots and the like. To perform cleaning tasks such as suction, wiping or brushing, the device has a fan and/or motor that is controlled according to the measured operational state.
如吾人所知，先前技術按如下方式設計此等由電動機驅動之設備，以實現舒適操作：測定其設備之當前操作狀態，並根據所測定之操作狀態，設定與之對應的設備工作狀態。設備之操作狀態例如可為使用者對設備之握持。而後，根據所測定之此操作狀態，設定其設備之工作狀態，例如，啟動風扇及/或馬達。 As is known to us, the prior art designs such motor-driven devices as follows to achieve a comfortable operation: determining the current operational state of the device and setting the corresponding device operating state based on the determined operational state. The operating state of the device can be, for example, a user's grip on the device. Then, according to the measured operating state, the operating state of the device is set, for example, starting the fan and/or the motor.
公開案DE 26 44 697 A1例如揭示一種由電動機驅動之吸塵器，其中，設置有基於觸摸而改變其開關位置之感測器開關，以啟動或關閉風扇。藉由該感測器開關，可改變風扇轉速。感測器開關之接觸板如此佈置在設備上，使得，使用者在設備工作時通常會接觸該接觸板。當觸摸接觸面時，風扇便啟動，且在使用者再度放開感測器開關或其接觸面之前，一直保持運行。 The publication DE 26 44 697 A1, for example, discloses a vacuum cleaner driven by an electric motor, in which a sensor switch that changes its switching position based on a touch is provided to activate or deactivate the fan. The fan speed can be changed by the sensor switch. The contact plate of the sensor switch is arranged on the device such that the user typically contacts the contact plate when the device is in operation. When the contact surface is touched, the fan is activated and remains operational until the user releases the sensor switch or its contact surface again.
前述方法之缺點在於：設備之工作狀態僅與唯一一個操作狀態相關。設定工作狀態時並不考慮其他參數。 A disadvantage of the aforementioned method is that the operating state of the device is only relevant to a single operating state. Other parameters are not considered when setting the working status.
有鑒於此，本發明之目的在於提供一種由電動機驅動之設備的操作方法，此方法有助於對其設備之工作狀態作出更切合實際的差異化設定(包括改變)，從而實現其設備之更舒適的操作。 In view of the above, it is an object of the present invention to provide a method of operating a device driven by an electric motor that facilitates more realistic differentiation (including changes) in the operational state of the device, thereby achieving a more Comfortable operation.
為達成上述目的，本發明提出一種由電動機驅動之設備的操作方法，其中，測量其設備之加速度及/或速度及/或空間定向，而其中，將所測定之操作狀態與所測得之加速度及/或速度及/或空間定向相聯結，以便設定該設備之工作狀態。 In order to achieve the above object, the present invention provides a method of operating a device driven by an electric motor, wherein the acceleration and/or speed and/or spatial orientation of the device is measured, wherein the measured operating state and the measured acceleration are measured. And/or speed and/or spatial orientation are coupled to set the operating state of the device.
與先前技術不同，本發明不再僅基於操作狀態而測定出設備之工作狀態，而是將操作狀態與設備之其他參數、即加速度及/或速度及/或空間定向相結合。在本發明範圍內，加速度及速度亦可既包含絕對值(純量)分量，又包含方向(向量)分量(空間定向)。其中，有益地按照具有水平軸及垂直軸之三維座標系(例如，直角座標系)產生空間定向。因此，並非僅有被偵測到的使用者對設備之操作會對工作狀態之設定起決定性作用，確切而言，設備(例如，以某一速度)主動運動及/或具有某一空間定向，且該空間定向特別 是與一偏離於設備的不工作位置之空間定向相符，此對工作狀態之設定亦起決定性作用。藉此，能以較高的差異化程度作出判定，設備之風扇及/或馬達之何種工作狀態在當前情形下是有益的。舉例而言，當識別到使用者將設備持於手中並以此實施清潔運動時，方會啟動設備之風扇。可區分使用者例如僅出於維護目的而將設備持於手中，抑或還是當前正在實施或想要實施清潔程序。其風扇可有益地用於將待吸物自待清潔之面轉移至設備(吸塵器)之待吸物室。其馬達例如可理解為用於驅動擦拭滾筒、清潔刷或類似物的馬達。 Unlike the prior art, the present invention no longer determines the operational state of the device based solely on the operational state, but combines the operational state with other parameters of the device, namely acceleration and/or velocity and/or spatial orientation. Within the scope of the invention, the acceleration and velocity may also comprise both an absolute (single) component and a direction (vector) component (spatial orientation). Among other things, it is beneficial to create a spatial orientation in accordance with a three-dimensional coordinate system having a horizontal axis and a vertical axis (eg, a rectangular coordinate system). Therefore, it is not only the detected user's operation of the device that plays a decisive role in setting the working state. Specifically, the device (eg, at a certain speed) actively moves and/or has a spatial orientation. And the space orientation is special It is consistent with a spatial orientation that deviates from the inoperative position of the device, which also plays a decisive role in setting the working state. Thereby, a determination can be made with a high degree of differentiation, which operating state of the fan and/or motor of the device is beneficial in the current situation. For example, when it is recognized that the user holds the device in his hand and performs a cleaning exercise thereby, the fan of the device is activated. The user can be distinguished, for example, for holding the device only for maintenance purposes, or is currently implementing or wanting to implement a cleaning procedure. The fan can be advantageously used to transfer the object to be sucked from the surface to be cleaned to the chamber to be sucked by the device (vacuum cleaner). A motor thereof can be understood, for example, as a motor for driving a wiping cylinder, a cleaning brush or the like.
本發明提出：根據設備上存在或不存在使用者的手來測定其操作狀態。藉此，可測定操作狀態之不同狀況，即，例如「設備被握住」或「設備未被握住」。此外，設定工作狀態時亦可並非僅考慮設備上存在或不存在使用者的手，而是亦可例如考慮設備與充電站之接觸、及/或設備與待清潔之面的接觸。根據操作狀態與設備之測定加速度/速度/定向之間的邏輯聯結，可設定差異化的工作狀態，例如「風扇開」、「風扇關」或「風扇轉速/功率等於X」。 The invention proposes to determine the operational state of the user based on the presence or absence of the user's hand on the device. Thereby, it is possible to measure different conditions of the operating state, that is, for example, "the device is held" or "the device is not held". In addition, the setting of the working state may not only consider the presence or absence of the user's hand on the device, but may also consider, for example, the contact of the device with the charging station and/or the contact of the device with the surface to be cleaned. Depending on the logical connection between the operating state and the measured acceleration/speed/orientation of the device, a differentiated operating state can be set, such as "fan on", "fan off" or "fan speed/power equal to X".
藉由邏輯聯結，能以較高的差異化程度設定設備之工作狀態。舉例而言，馬達或風扇之啟動不僅可與操作狀態相關，亦可-例如出於安全考慮-進一步與設備之實際運動或設備相對於待加工之表面的空間定向相關。當使用者僅握持設備而不實施清潔運動時，建議將設備之工作狀態設定為「關」，使得諸如風扇、清潔刷等由電動機驅動之元件繼續保持停運狀態。較之前述先前技術，由此便產生顯著優勢，因為，先前技術僅識別設備之被握持，之後卻未進一步區分使用者是否確實將設備放置於待加工之面上並實施加工程序。因此，本發明一方面能大幅降低設備使用者之受 傷風險，另一方面亦能節約用電，此點對於電池供電設備尤為有益。因此，藉由將操作狀態與設備之加速度及/或速度及/或定向相聯結，總體上可高度精確地測定出設備當前是否處於清潔程序，從而實現該設備極其舒適、安全之操作。特別是，亦不必為了操縱其設備而設置手動開關。可以僅設置唯一一個包含「開、自動、關」等操作等級之開關，其中，操作等級「自動」允許按本發明對工作狀態進行自動設定。 By logically connecting, the working state of the device can be set with a high degree of differentiation. For example, the activation of the motor or fan can be related not only to the operating state, but also, for example, for safety reasons - further related to the actual movement of the device or the spatial orientation of the device relative to the surface to be machined. When the user only holds the device without performing a cleaning exercise, it is recommended to set the operating state of the device to "OFF" so that the components driven by the motor, such as a fan, a cleaning brush, and the like continue to be in a stopped state. This represents a significant advantage over the prior art described above, since the prior art only identifies that the device is being held, but then does not further distinguish whether the user actually places the device on the surface to be machined and performs the machining process. Therefore, in one aspect of the present invention, the user of the device can be greatly reduced. The risk of injury, on the other hand, can also save electricity, which is especially beneficial for battery-powered equipment. Thus, by associating the operating state with the acceleration and/or speed and/or orientation of the device, it is generally highly accurate to determine whether the device is currently in a cleaning procedure, thereby achieving an extremely comfortable and safe operation of the device. In particular, it is not necessary to provide a manual switch for manipulating its equipment. It is possible to set only a single switch including an operation level such as "on, auto, off", wherein the operation level "automatic" allows the automatic setting of the operating state according to the present invention.
本發明進一步提出：藉由設於設備上之第一感測器，即，測量光強變化之光學感測器或壓力感測器或電容式感測器，以測量其操作狀態。使用電容式感測器時，例如可在設備之手柄(例如，設備之把手)與設備之其他表面之間設置一區域，使用者在握持著設備時將手伸入此區域。設備之手柄及其他表面在此形成電容器之對應的板體，該電容器之電容因手伸入而受到影響。作為替代方案，亦可藉由設於設備上之壓力感測器或光學感測器偵測手的存在，當設備例如係佈置於充電站中時，該等感測器偵測出作用於壓力感測器之壓力或光強之減小。無論何種感測器，前提皆為該感測器要能識別出使用者有否握持著設備之手柄。 The invention further proposes to measure the operational state of the optical sensor or the pressure sensor or the capacitive sensor by measuring the intensity of the first sensor provided on the device. When a capacitive sensor is used, for example, an area can be placed between the handle of the device (eg, the handle of the device) and other surfaces of the device, and the user can reach into the area while holding the device. The handle and other surfaces of the device form a corresponding plate of the capacitor, the capacitance of which is affected by the penetration of the hand. As an alternative, the presence of the hand can also be detected by a pressure sensor or an optical sensor provided on the device. When the device is disposed in the charging station, for example, the sensors detect the action on the pressure. The pressure or intensity of the sensor is reduced. Regardless of the sensor, the premise is that the sensor should be able to recognize whether the user has gripped the handle of the device.
若除了與設備之接觸外亦藉由測量出設備之加速度及/或速度及/或定向而識別到使用者正實施清潔程序，則可啟動此設備之馬達及/或風扇。同樣地，就關閉馬達或風扇而言，有益做法係總是在手離開設備手柄、從而不再與設備接觸時關閉馬達或風扇。此點在手持式設備中用於保護使用者。針對自動移行式設備，例如，清潔機器人，則不建議在設備運行與設備與使用者的手之間存在接觸之間建立聯結，而是例如在設備運行與設備接觸待清潔之 面之間建立聯結。 The motor and/or fan of the device can be activated by detecting that the user is performing a cleaning procedure by measuring the acceleration and/or speed and/or orientation of the device in addition to contact with the device. Similarly, in terms of turning off the motor or fan, it is beneficial to always turn off the motor or fan when the hand is away from the device handle so that it no longer contacts the device. This is used to protect the user in a handheld device. For an automatic moving device, for example a cleaning robot, it is not recommended to establish a connection between the operation of the device and the contact between the device and the user's hand, but for example, when the device is in operation and the device is in contact with the cleaning device. A connection is established between the faces.
本發明進一步提出：將所測定之操作狀態及所測得之加速度、速度及/或定向與所儲存之參考參數進行比較，並且，根據比較結果自動設定其設備之工作狀態。所儲存之參考參數包含設備之常規反覆性運動模式，此等運動模式一方面包含操作狀態，另一方面亦包含設備之加速度及/或速度及/或定向。其中，每個所儲存之參考參數皆對應於設備之一個對應的工作狀態，從而在將操作狀態與加速度及/或速度及/或定向相聯結時，觸發適當的動作。簡單而言，運動模式例如包含操作狀態「設備被握持」以及加速度與速度「零」。將此運動模式與所儲存之參考參數進行比較，其中，例如對上述聯結設置工作狀態「使風扇關閉」。由此，設備保持關閉直至當前的運動模式之參數發生變化，使得，比較結果例如觸發了工作狀態「啟動風扇」。而後，風扇例如被設備之分析及控制裝置自動啟動。 The invention further provides that the measured operational state and the measured acceleration, velocity and/or orientation are compared to the stored reference parameters, and the operational state of the device is automatically set based on the comparison. The stored reference parameters include the conventional repetitive motion patterns of the device, which on the one hand contain operational status and, on the other hand, the acceleration and/or speed and/or orientation of the device. Each of the stored reference parameters corresponds to a corresponding operational state of the device, thereby triggering an appropriate action when the operational state is coupled to the acceleration and/or velocity and/or orientation. In simple terms, the sport mode includes, for example, the operating state "device is held" and acceleration and speed "zero." This sport mode is compared with the stored reference parameters, for example, the operating state "turns the fan off" is set for the above-mentioned junction. Thereby, the device remains closed until the parameters of the current sport mode change, so that the comparison result, for example, triggers the working state "starting fan". The fan is then automatically activated, for example, by the analysis and control device of the device.
本發明提出：當出現以相反方向進行之連續性忽動忽停的運動時，將風扇及/或馬達之轉速及/或功率設定為風扇及/或馬達之最大轉速及/或最大功率。因此，參考參數包含一運動模式，此運動模式將設備在實施清潔程序期間之典型運動考慮在內。當使用者想要清潔待清潔之面上一個特別髒的分區時，使用者一般會操控其設備做短促而快速的往復運動。可為此運動規定特定的速度或加速度，或者，亦可規定表徵此運動模式之速度範圍或加速度範圍。一旦在將當前參數與參考參數比較時發現正在實施此類忽動忽停的運動，遂將風扇及/或馬達之轉速及/或功率設定為為此而設置之最大值，從而以最佳效果如願實現該分區之深度清潔。 The present invention proposes to set the speed and/or power of the fan and/or motor to the maximum speed and/or maximum power of the fan and/or motor when there is a continuous movement in the opposite direction. Thus, the reference parameter includes a motion mode that takes into account the typical motion of the device during the implementation of the cleaning procedure. When the user wants to clean a particularly dirty section on the surface to be cleaned, the user typically manipulates the device to make a short and rapid reciprocating motion. A specific speed or acceleration can be specified for this motion, or a range of speeds or accelerations that characterize the motion pattern can be specified. Once the current parameter is compared with the reference parameter and it is found that such a flickering movement is being carried out, the speed and/or power of the fan and/or motor are set to the maximum value set for this purpose, so as to achieve the best effect. Desirably clean the partition.
本發明進一步提出：當未發現設備上存在使用者的手時，將風扇及/或馬達之轉速及/或功率設為零或使其保持零，以及/或者，當發現設備上存在使用者的手時，將該設備之風扇及/或馬達的轉速及/或功率設定為大於零之值，或使其保持大於零之值。若未能發現存在使用者的手，則設備之風扇或馬達原則上保持關閉，意即，風扇或馬達之轉速及/或功率等於零。若能偵測到存在使用者的手，則啟動設備之風扇或馬達，且設定為以設備之當前的加速度、速度及/或定向所設置的轉速及/或功率。若例如識別到設備係以清潔程序所常用之速度在待清潔之面上移行，則設定風扇之轉速及/或功率成為使其與相應的用於此等速度之常規參考參數相符。其中亦可考慮設備之當前的空間定向。例如，可透過如下方式識別出設備之定向，即，地板吸嘴相對於設備之殼體成一定的角度。地板吸嘴通常係可動地設於設備殼體上，其中，吸嘴與設備殼體之間的角度在閒置不用時具有明確的度數。但，當設備被用於清潔程序時，地板吸嘴與設備殼體之間產生其他的角度，從而可認為設備當前正在運動，且需要啟動風扇或馬達。為了識別出設備之定向，例如可在吸嘴與設備殼體之間使用具傳導能力之可動元件，此元件係根據設備之定向而將不同的電接點連接起來。當然，亦可使用以其他方式起作用的方位感測器。 The present invention further provides that when the user's hand is not found on the device, the speed and/or power of the fan and/or motor is set to zero or zero, and/or when a user is found on the device At hand, the speed and/or power of the fan and/or motor of the device is set to a value greater than zero, or to maintain a value greater than zero. If the user's hand is not found, the fan or motor of the device remains closed in principle, meaning that the speed and/or power of the fan or motor is equal to zero. If it is detected that the user's hand is present, the device's fan or motor is activated and set to the speed and/or power set by the device's current acceleration, speed, and/or orientation. If, for example, it is recognized that the device is moving on the surface to be cleaned at the speed typically used for the cleaning procedure, then the speed and/or power of the fan is set to match the corresponding conventional reference parameters for such speeds. The current spatial orientation of the device can also be considered. For example, the orientation of the device can be identified by the fact that the floor nozzle is at an angle relative to the housing of the device. The floor nozzle is typically movably disposed on the device housing, wherein the angle between the nozzle and the device housing has a definite degree of discomfort when not in use. However, when the device is used in a cleaning procedure, other angles are created between the floor nozzle and the device housing so that the device is currently considered to be moving and a fan or motor needs to be activated. In order to identify the orientation of the device, for example, a conductive element can be used between the nozzle and the device housing, which connects the different electrical contacts depending on the orientation of the device. Of course, orientation sensors that function in other ways can also be used.
本發明進一步提出：在測定其操作狀態之後，延時地及/或連續地改變風扇及/或馬達之工作狀態。根據設備此前之運動狀態，可延時啟動或關閉風扇或馬達，以免例如在實施清潔程序期間運動短暫停歇時發生關閉操作。對於使用者而言，藉此，總體上可提高由電動機驅動之設備的操作舒適度。 The invention further proposes to change the operating state of the fan and/or the motor in a delayed and/or continuous manner after determining its operating state. Depending on the previous state of motion of the device, the fan or motor can be turned on or off in a delayed manner to avoid a closing operation, for example, when a short pause is exercised during the cleaning procedure. For the user, as a result, the operational comfort of the device driven by the electric motor can be improved overall.
此外，亦可設置如下：若非由使用者手動啟動或關閉其設備，則是設置備用模式(Stand-by)。例如，可設置三級開關(關、開、自動)，其中，在實現某一運動模式時，例如，當使用者將設備持於手中並藉由方位感測器識別到設備例如與基座相分離(此係對應於使用者提起設備之操作)，風扇/馬達便會在開關位置「自動」上被啟動。 In addition, it can also be set as follows: If the device is not manually activated or turned off by the user, the standby mode (Stand-by) is set. For example, a three-stage switch (off, on, automatic) can be provided, wherein when a certain sport mode is implemented, for example, when the user holds the device in the hand and the device is recognized by the position sensor, for example, with the base Separation (this corresponds to the user's operation of lifting the device), and the fan/motor is activated at the switch position "automatically".
除前述方法外，本發明亦提出一種由電動機驅動之設備，特別是，吸塵器，用於實施前述方法，其中，此一由電動機驅動之設備具有：用於測定此設備之操作狀態的第一感測器、用於根據所測定之操作狀態來設定風扇及/或馬達之工作狀態的控制及分析裝置、以及加速度感測器及/或方位感測器，其中，用於測定此設備之操作狀態的第一感測器為光學感測器或壓力感測器或電容式感測器。 In addition to the foregoing methods, the present invention also provides an apparatus driven by an electric motor, in particular, a vacuum cleaner for carrying out the aforementioned method, wherein the apparatus driven by the electric motor has a first sense for determining the operational state of the apparatus. a measuring device, a control and analyzing device for setting an operating state of the fan and/or the motor according to the measured operating state, and an acceleration sensor and/or an orientation sensor, wherein the operating state of the device is determined The first sensor is an optical sensor or a pressure sensor or a capacitive sensor.
因此，此一由電動機驅動之設備既具有用於測定出設備之操作狀態的感測器，亦具有用於測定出設備之運動參數如加速度、速度及/或空間定向的感測器。由此，可將所測定之參數考慮在內，使得，藉由保存在控制及分析裝置內之參考參數可設定風扇或馬達之最佳工作狀態，從而使得，此一由電動機驅動之設備能以最佳效果適應當前之清潔情形/加工情形。加速度感測器可有益地為將動態壓力波動轉換為電信號之壓電陶瓷感測板，或者為包含彈簧質量系統之微電機械系統(MEMS)，加速度致使其彈簧發生偏轉並改變電容。此外，亦可使用其他的習知加速度感測器，例如，應變片(strain foil/gauge)或基於磁感應之感測器。方位感測器例如可包含具傳導能力之可動元件，此元件根據設備之運動而將不同的電接點 連接起來，據此，可推斷設備之當前的方位。舉例而言，該可動元件可為設於包含數個電接點之殼體中的金屬球。 Thus, the motor-driven device has both a sensor for determining the operational state of the device and a sensor for determining the motion parameters of the device, such as acceleration, velocity and/or spatial orientation. Thereby, the measured parameters can be taken into account, so that the optimal operating state of the fan or the motor can be set by the reference parameters stored in the control and analysis device, so that the device driven by the motor can The best results adapt to the current cleaning situation/processing situation. The acceleration sensor can advantageously be a piezoceramic sensing plate that converts dynamic pressure fluctuations into electrical signals, or a microelectromechanical system (MEMS) that includes a spring mass system that causes its spring to deflect and change capacitance. In addition, other conventional acceleration sensors can be used, such as strain foil/gauge or magnetic induction based sensors. The orientation sensor may, for example, comprise a transmissive movable element that will have different electrical contacts depending on the motion of the device Connected, according to which the current orientation of the device can be inferred. For example, the movable element can be a metal ball disposed in a housing containing a plurality of electrical contacts.
最後提出：用於測定此設備之操作狀態的第一感測器為光學感測器或壓力感測器或電容式感測器。前文已聯繫相關方法而詳細闡述過該第一感測器之工作方式。其間所提出之實施方案亦適用於本發明的由電動機驅動之設備。 Finally, it is proposed that the first sensor for determining the operational state of the device is an optical sensor or a pressure sensor or a capacitive sensor. The manner in which the first sensor works has been described in detail in connection with the related methods. The embodiments proposed therebetween are also applicable to the motor-driven apparatus of the present invention.
以下結合實施例詳細闡述本發明。 The invention is explained in detail below in connection with the examples.
1‧‧‧(電動機驅動)設備 1‧‧‧ (motor drive) equipment
2‧‧‧風扇 2‧‧‧fan
3‧‧‧(第一)感測器 3‧‧‧(first) sensor
4‧‧‧控制及分析裝置 4‧‧‧Control and analysis device
5‧‧‧(第二)感測器 5‧‧‧(second) sensor
6‧‧‧吸嘴 6‧‧‧ nozzle
7‧‧‧旋轉軸 7‧‧‧Rotary axis
8‧‧‧殼體 8‧‧‧shell
9‧‧‧基座 9‧‧‧Base
10‧‧‧把手 10‧‧‧Hands
x‧‧‧(第一)運動方向 X‧‧‧(first) direction of movement
y‧‧‧(第二)運動方向 Y‧‧‧(second) direction of movement
A‧‧‧(第一)處理步驟 A‧‧‧(first) processing steps
B‧‧‧(第二)處理步驟 B‧‧‧(second) processing steps
C‧‧‧(第三)處理步驟 C‧‧‧ (third) processing steps
O‧‧‧(風扇)關閉 O‧‧‧ (fan) off
I‧‧‧(風扇)啟動 I‧‧‧(fan) start
圖1為位於基座上之本發明設備之示意圖；圖2為實施清潔程序期間之此設備之示意圖；圖3為本發明方法之流程圖。 BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a schematic illustration of the apparatus of the present invention on a susceptor; Figure 2 is a schematic illustration of the apparatus during a cleaning procedure; Figure 3 is a flow diagram of the method of the present invention.
圖1示出由電動機驅動之設備1，在此為手持式電池供電吸塵器，其係處於基座9上之不工作位置。基座9例如可具有用於為設備1之蓄電池充電的電接頭。此外，在最簡單之情況下，基座9亦可僅作為設備1之固持裝置。 Figure 1 shows a device 1 driven by an electric motor, here a hand-held battery powered vacuum cleaner, which is in an inoperative position on the base 9. The base 9 may, for example, have an electrical connector for charging the battery of the device 1. Furthermore, in the simplest case, the base 9 can also only serve as a holding device for the device 1.
設備1具有可在實施清潔程序期間在待清潔之面上移行的吸嘴6及殼體8，其殼體8例如具有用於所收集之待吸物的過濾腔、風扇2、流道等等。在殼體8上設有可供設備1之使用者握持此設備1之把手10，在此為殼體8之漸細部。此把手10對應於第一感測器3，此感測器3在此被建構為壓力感測器。此壓力感測器具有平面構造，其平面構造在使用者握持把手10時通常會被接觸到。 The device 1 has a suction nozzle 6 and a housing 8 which can be moved over the surface to be cleaned during the execution of the cleaning procedure, the housing 8 having, for example, a filter chamber for the collected objects to be sucked, a fan 2, a flow channel or the like. A handle 10 is provided on the housing 8 for the user of the device 1 to hold the device 1, here a tapered portion of the housing 8. This handle 10 corresponds to the first sensor 3, which is here constructed as a pressure sensor. This pressure sensor has a planar configuration with a planar configuration that is typically accessed when the user holds the handle 10.
此外，設備1具有兩個第二感測器5，即，位於設備1之殼體8內部的加速度感測器，以及，對應於吸嘴6之在殼體8上的旋轉軸7的方位感測器。 Furthermore, the device 1 has two second sensors 5, namely an acceleration sensor located inside the housing 8 of the device 1, and a sense of orientation corresponding to the axis of rotation 7 of the nozzle 6 on the housing 8. Detector.
第一感測器3及兩個第二感測器5皆連接於設備1之控制及分析裝置4。控制及分析裝置4以常規方式具有處理器，以及，用於儲存關於設備1之常規運動模式之參考參數的資料記憶體。 The first sensor 3 and the two second sensors 5 are both connected to the control and analysis device 4 of the device 1. The control and analysis device 4 has a processor in a conventional manner, and a data memory for storing reference parameters regarding the normal motion pattern of the device 1.
圖2示出實施清潔程序期間之設備1，其中，設備1沿相對運動方向x、y而移動，意即，一方面沿第一運動方向x而另一方面沿相反的第二運動方向y移動，總體上，相當於吸嘴6在待清潔之面上做往復運動。與設備1之如圖1所示之不工作位置不同，設備1之吸嘴6與殼體8之間的角度不再為180度，而是明顯小於180度，在此大約為135度。藉由第二感測器5(即，方位感測器)識別吸嘴6與殼體8之間的變化角度，以便控制及分析裝置4經與參考參數比較後可推斷出設備1此時不再處於基座9上之不工作位置。結合設備1之殼體8中之加速度感測器的信號，識別出設備1在時間上相繼沿相反運動方向x、y運動。控制及分析裝置4根據此運動模式得出當前正在實施清潔程序之結論。 Figure 2 shows the device 1 during the implementation of the cleaning procedure, wherein the device 1 is moved in the relative direction of movement x, y, that is to say, on the one hand in the first direction of movement x and on the other hand in the opposite second direction of movement y In general, it is equivalent to the suction nozzle 6 reciprocating on the surface to be cleaned. Unlike the inoperative position of the device 1 as shown in Figure 1, the angle between the nozzle 6 of the device 1 and the housing 8 is no longer 180 degrees, but is significantly less than 180 degrees, here approximately 135 degrees. The angle of change between the nozzle 6 and the housing 8 is identified by the second sensor 5 (ie, the orientation sensor), so that the control and analysis device 4 can infer that the device 1 is not present at this time after comparison with the reference parameter. It is then in the inoperative position on the base 9. In conjunction with the signals of the acceleration sensors in the housing 8 of the device 1, it is recognized that the devices 1 are successively moving in opposite directions of motion x, y in time. Based on this mode of motion, the control and analysis device 4 concludes that the cleaning procedure is currently being implemented.
圖3示出一流程示意圖，控制及分析裝置4可根據該流程圖識別出設備1之當前運動模式，並相應地對設備1之工作狀態(在此指風扇2之工作狀態)進行控制。 3 shows a schematic flow diagram in which the control and analysis device 4 can identify the current mode of motion of the device 1 and control the operating state of the device 1 (here, the operating state of the fan 2).
在處理步驟A中，藉由第一感測器3(在此指壓力感測器)測定當前是否有使用者緊握把手10。若如此，意即，若第一感測器3發現接觸(+)，則接著在處理步驟B中測定出設備1之當前的定向與運動。若第一感測器3未發現把手10上存在使用者的 手(-)，則關閉設備1或使其保持關閉(O)。 In process step A, it is determined by the first sensor 3 (here referred to as a pressure sensor) whether there is currently a user gripping the handle 10. If so, that is, if the first sensor 3 finds a contact (+), then the current orientation and motion of the device 1 is determined in process step B. If the first sensor 3 does not find the user on the handle 10 Hand (-), turn off device 1 or keep it off (O).
接著，在處理步驟B中測定出設備1之當前的空間定向及運動。在此期間，第二感測器5測量當前的參數「加速度」及「定向」。其中，對應於旋轉軸7的方位感測器測量出設備1之吸嘴6與殼體8之間的角度，其中，確定了設備1係處於基座9上之不工作位置(180度)，抑或還是被放置在待清潔之面上(角度小於180度)。另外，加速度感測器測量出設備1之當前的加速度，該當前的加速度當前係指向第一運動方向x或第二運動方向y。特別是，其間亦可測定出運動方向x、y之以較短時間間隔所發生的變換，據此，可得出吸嘴6在待清潔之面上進行往復運動之結論。若依舊偵測到設備1之吸嘴6係與殼體8平行定向(圖中之朝下箭頭)，則設備1之風扇2保持關閉(O)，視情況，在經過一段明確的延遲時間之後。若偵測到設備1旋轉180度後所形成之定向，意即，吸嘴6沿豎向位於殼體8上方(圖中之朝上箭頭)，則啟動設備1之風扇2(I)，因為，得出了例如在天花板區域實施清潔程序之結論。若識別到設備1之對角定向(圖中之朝下的對角箭頭)，則控制及分析裝置4得出打算實施清潔程序之結論(之後便實施處理步驟C)。 Next, the current spatial orientation and motion of the device 1 is determined in process step B. During this time, the second sensor 5 measures the current parameters "acceleration" and "orientation". Wherein, the orientation sensor corresponding to the rotating shaft 7 measures the angle between the nozzle 6 of the device 1 and the housing 8, wherein it is determined that the device 1 is in an inoperative position (180 degrees) on the base 9, Or is it still placed on the surface to be cleaned (angle less than 180 degrees). In addition, the acceleration sensor measures the current acceleration of the device 1, which is currently pointing in the first direction of motion x or the second direction of motion y. In particular, it is also possible to determine the change in the direction of motion x, y at a short time interval, from which it can be concluded that the nozzle 6 reciprocates on the surface to be cleaned. If it is still detected that the nozzle 6 of the device 1 is oriented parallel to the housing 8 (the downward arrow in the figure), the fan 2 of the device 1 remains closed (O), as the case may be after a certain delay time . If the orientation formed after the device 1 is rotated 180 degrees is detected, that is, the nozzle 6 is vertically above the housing 8 (upward arrow in the figure), the fan 2 (I) of the device 1 is activated because The conclusion is drawn, for example, that the cleaning procedure is carried out in the ceiling area. If the diagonal orientation of the device 1 is identified (the diagonal arrow pointing downwards in the figure), the control and analysis device 4 concludes that it is intended to carry out the cleaning procedure (after which step C is carried out).
隨後，實施處理步驟C，此處理步驟C包含對加速度感測器之測量信號進行差異化分析。 Subsequently, a processing step C is carried out, which comprises performing a differential analysis of the measurement signals of the acceleration sensor.
在處理步驟C中，將設備1之測得的加速度(及/或速度)與儲存於資料記憶體內之參考參數進行比較。若加速度感測器例如在大約一至數秒之較短時間間隔內偵測到第一運動方向x變換成第二運動方向y，以及，第二運動方向變換成第一運動方向，則所偵測到之參數相當於用於所謂的「污點清潔」之已知運動模式 (+)，遂立即啟動設備之風扇2(I)。若加速度感測器未發現加速度或者所測定之加速度與關於典型清潔程序之參考參數不符(-)，則設備1之風扇2保持關閉(O)。若風扇此前處於運行狀態，則視情況延時關閉風扇2。此外，不僅可設置風扇2之啟動與關閉，亦可設定特定之風扇轉速或風扇功率。 In process step C, the measured acceleration (and/or speed) of device 1 is compared to a reference parameter stored in the data memory. If the acceleration sensor detects the first motion direction x to be converted into the second motion direction y, for example, in a short time interval of about one to several seconds, and the second motion direction is converted into the first motion direction, the detected The parameters are equivalent to the known motion patterns for so-called "stain cleaning" (+), 启动 Start the fan 2 (I) of the device immediately. If the acceleration sensor does not find acceleration or the measured acceleration does not match (-) the reference parameter for a typical cleaning procedure, the fan 2 of device 1 remains off (O). If the fan was previously running, turn off fan 2 as appropriate. In addition, not only can the fan 2 be turned on and off, but also a specific fan speed or fan power can be set.
綜上，藉此，在接續實施之處理步驟A、B及C中測定並分析操作狀態，而後，測定並分析出設備1之空間定向，最後，偵測並分析出設備1在一明確時間段內之加速度，從而根據圖示流程圖來決定風扇2之啟動或關閉(或者，轉速/功率)。 In summary, the operation state is measured and analyzed in the subsequent processing steps A, B and C, and then the spatial orientation of the device 1 is measured and analyzed. Finally, the device 1 is detected and analyzed in a clear time period. The internal acceleration determines the start or shut down (or speed/power) of the fan 2 according to the illustrated flow chart.
1‧‧‧(電動機驅動)設備 1‧‧‧ (motor drive) equipment
2‧‧‧風扇 2‧‧‧fan
3‧‧‧(第一)感測器 3‧‧‧(first) sensor
4‧‧‧控制及分析裝置 4‧‧‧Control and analysis device
5‧‧‧(第二)感測器 5‧‧‧(second) sensor
6‧‧‧吸嘴 6‧‧‧ nozzle
7‧‧‧旋轉軸 7‧‧‧Rotary axis
8‧‧‧殼體 8‧‧‧shell
9‧‧‧基座 9‧‧‧Base
10‧‧‧把手 10‧‧‧Hands
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| DE102015108464.3A DE102015108464A1 (en) | 2015-05-28 | 2015-05-28 | Method for operating an electric motor driven device |
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| TWI700071B TWI700071B (en) | 2020-08-01 |
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| TWI794700B (en) * | 2019-12-20 | 2023-03-01 | 南韓商Ｌｇ電子股份有限公司 | Mobile robot |
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| TWI794700B (en) * | 2019-12-20 | 2023-03-01 | 南韓商Ｌｇ電子股份有限公司 | Mobile robot |
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| DE102015108464A1 (en) | 2016-12-01 |
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| ITUA20163724A1 (en) | 2017-11-24 |
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