Vacuum cleaner motor control according to operating conditions detected in floor nozzle

Abstract: An electric vacuum cleaner includes a main body having an electric blower and a dust collecting chamber, a triac for controlling the electric blower, a floor nozzle coupled to the main body, an electric current sensor for sensing electric current in a rotary brush driving motor in the floor nozzle, and a microcomputer. The microcomputer detects a period of variation of the motor current and the maximum electric current value for every predetermined period on the basis of an output from the electric current sensor, performs fuzzy inference on the detected values, and determines the duty cycle of the blower control triac on the basis of a result of it. Supply of electric power to the electric blower according to using conditions of the floor nozzle and kinds of a floor surface is realized by this.

Description: BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to an electric vacuum cleaner and, more particularly, to an electric vacuum cleaner in which input to an electric blower is automatically controlled at least in accordance with using conditions of a floor nozzle. Description of the Background Art Conventionally, a technique has been proposed for improving convenience of use of an electric vacuum cleaner by changing input to an electric blower, i.e. supply power, in accordance with the magnitude of the load of suction and the amount of collected dust in a dust collecting chamber. Such a conventional technique as proposed includes an approach that a pressure detecting device is provided in an air inlet passage between an electric blower and a filter, the pressure in the dust collecting chamber is detected by the pressure detecting device, and input to the electric blower is controlled in accordance with the detected pressure value, and an electric vacuum cleaner using such a technique is disclosed, for example, in Japanese Patent Laying-Open No. 57-75623 (1982). In such a conventional technique, however, input to the electric blower is controlled merely in accordance with detection of the pressure in the dust collecting chamber, and it is difficult to perform optimum input control adapted to actual conditions of a floor nozzle performing dust collection and a floor surface subject to dust collection. For example, in the case of the surface of a floor of a floorboard, a suction port of the electric vacuum cleaner tends to cling to the floor surface, and once it clings to the floor, the pressure in an air inlet passage is lowered. In such a case, input to the electric blower is increased in accordance with decrease of a detected output of a pressure detecting device to make the suction power still greater, so that the suction port comes to cling to the floor surface still harder in the above-described conventional technique. As described above, there is a problem that, in the conventional electric vacuum cleaner, input control of the electric blower adapted to actual conditions of the floor nozzle and the floor surface is not performed, and convenience of use of it is not sufficiently improved. Another approach proposed is disclosed in Japanese Patent Laying-Open No. 64-52430 (1989), for example, in which suction power in accordance with actual conditions of a floor nozzle and a floor surface is realized by sensing a change in electric current in a driving motor of a dust collecting rotary brush provided in a floor nozzle of an electric vacuum cleaner and automatically controlling input to an electric blower on the basis of a sensed output. However, during normal cleaning, a change in the electric current in the motor driving the rotary brush is extremely small, and, particularly, little change occurs in the average electric current. Therefore, it is difficult to perform fine input control of the electric blower in accordance with actual conditions of the floor nozzle and the floor surface only by controlling input to the electric blower in proportion to the current in the driving motor of the rotary brush as in the case of the above-described conventional technique. Another electric vacuum cleaner proposed is disclosed in Japanese Patent Laying-Open No. 3-26223 (1991), for example, in which fuzzy inference is performed on the moving speed of a floor nozzle and the amount of dust in the sucked air, and suction power is controlled on the basis of a result of it. However, in this electric vacuum cleaner, the moving speed of the floor nozzle is merely detected on the basis of the member of rotation of a roller attached to the floor nozzle, and the period of a sliding operation of the floor nozzle is not considered. Therefore, there is a problem that actual using conditions of the floor nozzle are not sufficiently reflected in the control of the suction power. EP-A-0 136 357 discloses a vacuum cleaner comprising a main body having an electric blower and a dust collecting chamber. The floor nozzle is coupled to said main body and has a rotary brush. The brush is driven by a brush driving motor and an electric current detector is provided for detecting the current flowing in said brush driving motor. SUMMARY OF THE INVENTION An object of the present invention is to provide an electric vacuum cleaner capable of realizing optimum suction power in accordance with actual conditions of a floor nozzle and a floor surface. Another object of the present invention is to provide an electric vacuum cleaner capable of finely determining actual conditions of a floor nozzle and a floor surface in a determination manner close to human sense by controlling input to an electric blower using fuzzy inference to realize optimum suction power. In brief, the present invention provides an electric vacuum cleaner, comprising a main body having an electric blower and a dust collecting chamber; a floor nozzle coupled to said main body and having a rotary brush and a brush driving motor for driving said rotary brush; electric current detecting means for detecting motor current flowing in said brush driving motor; characterized by means for evaluating a period of variation of said motor current on the basis of a detected output of said electric current detecting means; and control means for performing a predetermined arithmetic operation on said evaluated period and controlling supply of electric power to said electric blower on the basis of a result of it. According to a preferred embodiment of the present invention, the electric vacuum cleaner comprises means for detecting the maximum electric current value of said motor current for every first predetermined period on the basis of the detected output of said electric current detecting means; said control means performing a predetermined arithmetic operation on said detected maximum electric current value and controlling supply of electric power to said electric blower on the basis of a result of it. According to still another embodiment of the present invention, the predetermined arithmetic operation includes fuzzy inference which makes at least the evaluated period be an input variable and the electric power to be supplied to the electric blower be a conclusion part. Accordingly, a main advantage of the present invention is that a predetermined arithmetic operation is performed on a period of variation of motor current flowing in a brush driving motor, and supply of electric power to an electric blower is controlled on the basis of a result of it, so that it is possible to supply optimum electric power to the electric blower in accordance with using conditions of a floor nozzle so as to realize optimum suction power. Another advantage of the present invention is that a predetermined arithmetic operation is performed on a period of variation of the motor current flowing in the brush driving motor and the maximum electric current value of the motor current obtained for every predetermined period, and supply of electric power to the electric blower is controlled on the basis of a result of it, so that it is possible to supply optimum electric power to the electric blower in accordance with using conditions of the floor nozzle and types of a floor surface so as to realize optimum suction power. Still another advantage of the present invention is that fuzzy inference is used at least in an arithmetic operation of the detected period, so that it is possible to realize automatic input control of the electric blower adapted to human experience and intuition with a simple configuration. The foregoing and other objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a whole outside view of an electric vacuum cleaner according to an embodiment of the present invention. Fig. 2 is a plan view of a main body of an electric vacuum cleaner according to an embodiment of the present invention. Fig. 3 is a cross sectional view of a main body of an electric vacuum cleaner according to an embodiment of the present invention. Fig. 4 is a plan view of a handle part of an electric vacuum cleaner according to an embodiment of the present invention. Fig. 5 is a partial cross sectional view of a floor nozzle of an electric vacuum cleaner according to an embodiment of the present invention. Fig. 6 is a schematic block diagram illustrating a configuration of a control part of an electric vacuum cleaner according to an embodiment of the present invention. Figs. 7A to 7E are diagrams illustrating electric current waveforms of a brush driving motor for various loads according to an embodiment of the present invention. Fig. 8 is a timing chart illustrating an operation of detecting a peak current value of a brush driving motor according to an embodiment of the present invention. Figs. 9A to 9D are flow charts illustrating input control of an electric blower according to an embodiment of the present invention. Fig. 10 is a waveform diagram supplementally describing a control operation of the electric blower illustrated in Fig. 9. Fig. 11 is a diagram illustrating a look up table used in input control of an electric blower according to an embodiment of the present invention. Figs. 12 and 13 are graphs illustrating membership functions for input variables according to an embodiment of the present invention. Fig. 14 is a graph illustrating a membership function for a conclusion part according to an embodiment of the present invention. Fig. 15 is a graph illustrating a membership function of a rule 1 of an embodiment of the present invention. Fig. 16 is a graph illustrating a membership function of a rule 2 of an embodiment of the present invention. Fig. 17 is a graph illustrating a membership function of a rule 3 of an embodiment of the present invention. Fig. 18 is a graph illustrating a membership function of a rule 4 of an embodiment of the present invention. Fig. 19 is a graph illustrating a membership function of a rule 5 of an embodiment of the present invention. Fig. 20 is a graph illustrating a membership function of a rule 6 of an embodiment of the present invention. Fig. 21 is a graph illustrating a membership function of a rule 7 of an embodiment of the present invention. Fig. 22 is a graph illustrating a principle of evaluation of an inference result according to an embodiment of the present invention. DESCRIPTION OF THE PREFERRED EMBODIMENTS First, referring to Fig. 1, an electric vacuum cleaner according to an embodiment of the present invention includes, as a whole, a main body 1, a suction hose 13 having an end attached to a suction port of a lid 2 provided in a front part of main body 1, a handle part 22 provided to another end of hose 13 and having a sliding operation part 23, an extension pipe 20 connected to handle part 22, and a floor nozzle 17 connected to the tip of extension pipe 20. Next, referring to Figs. 2 and 3, the configuration of main body 1 of the electric vacuum cleaner illustrated in Fig. 1 will be described in detail. A dust collecting chamber 3 having an opening to be opened and closed by lid 2 on the upper surface is provided in a front part of main body 1 of the electric vacuum cleaner. A blower accommodating chamber 6 is provided in a rear part of main body 1, and blower accommodating chamber 6 communicates with dust collecting chamber 3 through a vent hole 4, and an exhaust port 5 is formed on its back wall. An electric blower 7 is accommodated in blower accommodating chamber 6, and a suction port 7a of electric blower 7 communicates with the above-described dust collecting chamber 3 in an airtight manner. A box type filter 8 permeable to air is accommodated in an attachable/detachable manner in dust collecting chamber 3, and a paper bag filter 9 is accommodated in an attachable/detachable manner in box type filter 8. A suction filter 10 is provided in front of (at the suction side of) electric blower 7, and an exhaust filter 11 is provided in the rear (at the exhaust side). A suction port part 12 to which suction hose 13 (Fig. 1) is coupled in a rotatable manner is provided in lid 2 in the front part of main body 1. Described in more detail with reference to Figs. 2 and 3, suction port part 12 includes a suction port 14, a hose coupling nozzle 15 for holding suction hose 13 in a rotatable manner, and a slide-type shutter plate 16 placed in an upper part of hose coupling nozzle 15 for opening/closing suction port 14. On the other hand, a function displaying part 24 is provided in a central part of an upper surface of main body 1, and function displaying part 24 is implemented so that a display of a corresponding function is made lit on a display panel plate 25 by irradiating a display panel plate 25 from behind with a lighting light emitting diode. Described in further detail, as illustrated in Fig. 2, function displaying part 24 includes a dust amount displaying part 26, a power control displaying part 27, and a fuzzy control displaying part 28. Dust amount displaying part 26 is irradiated with lit one of three light emitting diodes D1 - D3 to display the amount of dust in paper bag filter 9 (Fig. 3). Power control displaying part 27 is irradiated with lit one of four light emitting diodes D5 - D8 to display suction power of electric blower 7, i.e. a state of supplying electric power, with notch display of four steps, i.e. (weak), (medium), (strong), and (high power). Fuzzy control displaying part 28 is irradiated with light emitting diode D4 to display that fuzzy control is performed on electric blower 7, and when electric blower 7 is manually controlled, light emitting diode D4 is turned off. Referring to Fig. 3, a control board accommodating chamber 29 is formed in an upper part of blower accommodating chamber 6 of main body 1. A control circuit board 32 on which a control circuit device 30, light emitting diodes D1 - D8, a reflecting plate 31 and so forth are provided is disposed in control board accommodating chamber 29, and accommodating chamber 29 is covered with the above-described display panel plate 25. An electric current sensor 35 and a blower control triac 37 are further attached to control circuit board 32. Electric current sensor 35 measures electric current in a brush driving motor 19 in Fig. 5 which will be described later. Blower control triac 37 further includes a radiator plate 36 arranged in a space in the vicinity of suction port 7a. Next, referring to Fig. 4, details of handle part 22 in Fig. 1 are illustrated. Handle part 22 has an operation part 21 including a sliding operation part 23 on its surface. Sliding operation part 23 is for changing control input to electric blower 7 by changing the position of a slider of a variable resistor not shown, and it has operation setting positions, "off" indicating a stop position, "fuzzy" indicating a fuzzy control position, and "weak - high power" indicating a manual control position. Referring to Fig. 5, the floor nozzle 17 includes at its inside a dust collecting rotary brush 18 and a brush driving motor 19 for driving rotary brush 18. Next, referring to Fig. 6, description will be made on the configuration of the control part of the electric vacuum cleaner of an embodiment of the present invention illustrated in Figs. 1 to 5. A microcomputer 38 includes an arithmetic operation processing part, an input/output part, a memory part and so forth made in one chip and arranged on control circuit board 32 illustrated in Fig. 3. An operation notch controlling part 39 provided in sliding operation part 23 in Fig. 4 includes a variable resistor (not shown) in which the position of a slider is changed in accordance with its operation and changes the signal voltage supplied from operation notch setting part 39 as an input to microcomputer 38 in accordance with the position of the slider ("off", "fuzzy", "weak", "medium", "strong", or "high power"). Then, microcomputer 38 changes input (the supply voltage) to electric blower 7 in accordance with the change in the signal voltage. On the other hand, a display driving part 41 controls the display operation of function displaying part 24 illustrated in Fig. 2 in response to a control signal from microcomputer 38. For example, the lighting states of four light emitting diodes D5 - D8 of power control displaying part 27 of function displaying part 24 changes to display the input control state in accordance with the signal voltage from the above-described operation notch setting part 39. Next, a blower driving part 42 controls blower control triac 37 in response to a control signal from microcomputer 38 to change the electric power supplied to electric blower 7. Blower driving part 42 and blower control triac 37 constitute a blower controlling part 47. Brush driving motor controlling part 40 controls input to brush driving motor 19 in response to a control signal from microcomputer 38. An electric current sensing part 44 includes electric current sensor 35 (Fig. 3) and a peak hold circuit 46 and senses the electric current in brush driving motor 19 illustrated in Fig. 5. Specifically, while cleaning is actually performed, floor nozzle 17 is slided back and forth, so that frictional force between the floor surface and dust collecting rotary brush 18 (Fig. 5) changes, and the electric current in brush driving motor 19 also changes in accordance with this. A load applied to rotary brush 18 changes according to types of the floor surface, for example, whether it is a thick carpet or a thin carpet, whether it is a tatami mat or a floor of a floorboard, and so forth, and the electric current in brush driving motor 19 also changes in accordance with that. Electric current sensor 35 detects such a change in the electric current in brush driving motor 19 in accordance with using conditions of the floor nozzle and types of the floor surface. An electric current value detected by electric current sensor 35 has noise removed through a filter not shown and then supplied to peak hold circuit 46 to have its peak value held. The peak value is supplied to microcomputer 38 for every half cycle or one cycle of the power supply frequency. Then, if supply of the peak value to microcomputer 38 is ended, peak hold circuit 46 is reset, and a next electric current sensing operation is performed. A commercial power supply 50 is connected through a power supply part 48 to microcomputer 38. A zero crossing signal generating part 49 generates a zero crossing signal on the basis of an output of power supply part 48 to supply it to microcomputer 38. As will be described later, the zero crossing signal is used for controlling blower control triac 37 and detecting the peak value of the electric current by electric current sensing part 44. Next, referring to Figs. 7 to 9, description will be made on the operation of detecting the peak value of the electric current in brush driving motor 19. Figs. 7A to 7E show waveforms of the electric current in brush driving motor 19 in a case where no load exits for floor nozzle 17 (Fig. 7A), a case where a floor of a floorboard is cleaned (Fig. 7B), a case where a thin carpet is cleaned (Fig. 7C), a case where a carpet with a medium thickness is cleaned (Fig. 7D), and a case where a thick carpet is cleaned (Fig. 7E), respectively. In each of Figs. 7A - 7E, one unit of the abscissa indicates 200 m seconds. Referring to Fig. 7E, it can be seen that, in a case where a carpet is cleaned by moving floor nozzle 17 back and forth, the electric current value of brush driving motor 19 takes the largest value when operation turns from a pulling operation (back movement) to a pushing operation (forth movement), and the second largest current flows when operation turns from a pushing operation (a forth movement) to a pulling operation (a back movement). During a period in which floor nozzle 17 is moved in one direction, the electric current value of brush driving motor 19 is almost constant regardless of the thickness of the carpet. Accordingly, in an embodiment of the present invention, in view of the above-described current waveforms illustrated in Figs. 7A to 7E, electric current sensor 35 is used as a movement sensor constituted so as to sense moving conditions of floor nozzle 17. Specifically, in an embodiment of the present invention, a peak value of the electric current value of brush driving motor 19 is detected for every period corresponding to a half cycle or one cycle of the power supply frequency, the maximal value of thus detected peak values is detected, a time interval T between adjacent maximal values is evaluated, and the moving condition of floor nozzle 17 is detected on the basis of thus evaluated time interval T. Furthermore, in an embodiment of the present invention, the maximum value of detected peak value is detected for an appropriate time period (for 0.5 seconds in this embodiment, for example) a little shorter than the average time period required by one stroke on the occasion of cleaning with floor nozzle 17 moved back and forth, and the type of the floor surface is also determined on the basis of the detected maximum value. Next, Figs. 8(a) - (e) show waveforms of electric current or voltage in each part of electric current sensing part 44 illustrated in Fig. 6, and Fig. 8(f) is an enlarged waveform diagram illustrating mutual relation among Figs. 8(c), 8(d) and 8(e). Specifically, electric current sensor 35 in electric current detecting part 44 detects the electric current (Fig. 8(a)) in brush driving motor 19 and supplies a corresponding detected voltage (Fig. 8(b)) to peak hold circuit 46. Peak hold circuit 46 supplies a peak value (Fig. 8(c)) of the detected voltage as an input to microcomputer 38 in synchronism with a zero crossing signal (Fig. 8(d)) from microcomputer 38. The zero crossing signal is a pulse signal having a constant duration centered at the zero crossing point of the supply voltage waveform (Fig. 8(f)). After the peak value is supplied as an input to microcomputer 38, the peak value held in peak hold circuit 46 is reset in synchronism with a reset signal (Fig. 8(e)) from microcomputer 38. As illustrated in Fig. 8(f), the reset signal is a pulse signal falling a constant time later than the rise of the zero crossing signal. Next, referring to Figs. 9A-9D, description will be made on a method of arithmetic operation processing performed on an output of peak hold circuit 46 by microcomputer 38. First, referring to Fig. 9A, if sliding operation part 23 of operation notch setting part 39 (Fig. 6) is operated to be set to the fuzzy control position (fuzzy), initial values corresponding to average value I ave , the maximal value I max of the electric current in brush driving motor 19, the motor current I lock in a case where brush driving motor 19 is locked, and the reference electric current value I ref , respectively, are substituted (step S1). Next, the peak value I n (represented as a detected voltage of peak hold circuit 46) for every half cycle of the electric current in brush driving motor 19 is read from peak hold circuit 46 (step S2), and an average value I aven of I n , a peak value I n-1 in the last half cycle, and a peak value I n-2 in a half cycle before the last half cycle is evaluated and substituted for the average value I ave (step S3). Next, a reference current in a case where brush driving motor 19 is stopped for some reason or floor nozzle 17 falls away from extension pipe 20 is made to be I ref0 , and the average value I aven evaluated in the above-described step S3 is compared with the reference current I ref0 (step S4). In the case of I aven ≦ I ref0 , it is determined that rotation of brush driving motor 19 is stopped, and the program jumps to 1 ○ in Fig. 9C, makes I a be 0 as will be described later, stops driving brush driving motor 19, and returns to a main routine. On the other hand, in the case of I aven > I ref0 , the electric current average value I aven at the present time is compared with the electric current average value I aven-1 at the last time (step S5). In the case of I aven ≧ I aven-1 , it is determined that the peak electric current in brush driving motor 19 is rising, and a flag of N=1 is set (step S6). Then, the program jumps to 2 ○ in Fig. 9C through step S7. In the case of I aven < I aven-1 , the program proceeds through steps S5 to S7 to step S8, and it is checked whether the above-described flag N=1 is set or not. Then, in the case of N=1, i.e. in a case where the electric current value had been increasing until the last time, it is determined that the peak electric current value is now at a turning point from rising to falling, and the program jumps to 3 ○ (a comparison routine) in Fig. 9B. In other cases, it jumps to 2 ○ in Fig. 9C. Next, referring to Fig. 9B, it is determined whether the present electric current average value I aven at the turning point from rising to falling as described above satisfies a relation of I m -α < I aven < I m + β for the maximum value I m detected the last time or not (step S9). Then, when this relation is satisfied, counting of the time interval which was started simultaneously with detecting of the maximal value I m at the last time is stopped (steps S10 and S11), a measured time T' is substituted for a time interval T between adjacent maximal values (step S11), and counting of a new time interval T is started (step S12). I aven at this time is substituted as the maximal value at the present time for I m until detecting of the maximal value at the next time (step S13). The program jumps to 2 ○ in Fig. 9C with the flag N made to be N=0 in order to show that the average electric current value is falling. On the other hand, in a case where it is determined that the relation of I m -α < I aven < I m +β is not satisfied in step S9, the program determines that this I aven is not the maximal value, jumps to step S14, and makes the flag N be N=0. Then, referring to Fig. 9C, if it is detected that the counted time T' exceeds 4 seconds (step S15), it is determined that cleaning is not performed now, the counter is reset (step S16), the maximum value I m is changed to the present I aven (step S17), and counting of a time interval T is started again (step S18). Then, the present electric current average value I aven is compared with a comparison reference value I ref (step S19). As illustrated in Fig. 10, this comparison reference value I ref is an initial value (0.8A, for example) of the electric current in brush driving motor 19 in a no-load state and has been stored in a memory part of microcomputer 38 in advance. The electric current in the case of no load is gradually decreased in accordance with rising of the temperature of brush driving motor 19 as indicated by a broken line in Fig. 10. Accordingly, in order to find a correct electric current value of brush driving motor 19, it is necessary to find the difference between a detected load current value and a varied actual no-load current value. In order to find the varied no-load current value, if the no-load current in brush driving motor 19 becomes I ref = 0.8A or less (0.6A, for example) the moment floor nozzle 17 is lifted, for example, the electric current value may be made to be a new comparison reference value I ref . Therefore, when the electric current value I aven is smaller than the comparison reference value I ref in step S19 in Fig. 9C, the electric current value I aven is substituted for I ref (step S20). Thus, before changing I ref , the difference I a = I aven - I ref between the load current value I aven and the initial comparison reference value I ref (0.8A) is evaluated as real load current (step S21) and, after changing I ref , the difference I a = I aven - I ref between the load current value I aven and the comparison reference value I ref after updating (0.6A) is evaluated as real load electric current (step S21). Next, thus evaluated real load electric current value I a is compared with the electric current in brush driving motor 19 in a case where the brush is locked, i.e. the electric current I lock in a case where a piece of cloth or the like clings to rotary brush 18 to stop rotation of the brush, stored in the memory part of microcomputer 38 (step S22). Then, in a case where the load electric current I a is larger than the electric current I lock , counting by a motor lock timer (not shown) contained in microcomputer 38 is started (step S23) for determining whether rotary brush 18 is actually locked or not. Then, in a case where I a is larger than I lock even when the value of the motor lock timer is a predetermined value (5 seconds, for example) or more (step S25), it is determined that rotary brush 18 is actually locked, supply of electric current to brush driving motor 19 is stopped to prevent burnouts of brush driving motor 19 (step S26), and the value of the maximum value I max is made to be 0 (step S27). On the other hand, in a case where the load electric current I a is smaller than the electric current I lock from the beginning or becomes smaller than I lock during counting by the motor lock timer, it is determined that rotary brush 18 is actually not locked, the motor lock timer is reset (step S24), and the program jumps to 4 ○ in Fig. 9D. Next, referring to Fig. 9D, I a and I max are compared in step S29 and, if I a is I max or more, I max is updated to I a (step S30). Then, every time 0.5 seconds is counted by the counter not shown (steps S31 and S32), a duty cycle of blower control triac 37 is determined on the basis of the present time interval T and the maximum value I max and a look up table as illustrated in Fig. 11 which is stored in microcomputer 38 in advance (steps S33 and S34), so that input to electric blower 7 is controlled. At the same time, 0 is substituted for the maximum value I max (step S35). Now, so-called fuzzy inference is employed in controlling input to the above-described electric blower 7, in which information with fuzzy boundary is processed as it is. More specifically, the result of performing fuzzy inference in steps S33 and S34 in Fig. 9D is shown in the look up table (Fig. 11). In the fuzzy inference, production rules shown in the following are used. [Rule 1] If the electric current I max is large and the time T is about medium, then the input is large. [Rule 2] If the electric current I max is about medium and the time T is somewhat short, then the input is somewhat large. [Rule 3] If the electric current I max is about medium and the time T is somewhat long, then the input is somewhat large. [Rule 4] If the electric current I max is somewhat small and the time T is about medium, then the input is about medium. [Rule 5] If the electric current I max is somewhat small and the time T is long, then the input is small. [Rule 6] If the electric current I max is small, then the input is small. [Rule 7] If the electric current I max is very small, then the input is about medium. In these rules, as illustrated in Figs. 12 and 13, the conditions such as "large" and "small" are defined by membership functions for an input variable of the electric current value I max of brush driving motor 19 changing in accordance with the condition of the floor surface and force pressing floor nozzle 17 against the floor surface and an input variable of the time interval T between maximal values of the electric current changing in accordance with the speed of movement of floor nozzle 17 on the floor surface. The conclusion part is the input value of electric blower 7, i.e. the duty cycle of blower control triac 43 and is defined by the membership function illustrated in Fig. 14. The inference is performed using a MAX-MIN synthesis method, and the conclusion is determined by a centroid method (defuzzy fire processing). Now, each of the above-described rules will be described. [Rule 1] is defined by such membership functions as shown in Figs. 15(a), (b) and (c). Fig. 15(a) is a graph for finding a membership value indicating the degree of satisfaction of the first condition, "the electric current I max is large", of Rule 1, which indicates a membership function for the electric current value I max as an input variable. A membership value (0, for example) is found by substituting the electric current value I max in this membership function as illustrated in Fig. 12. Fig. 15(b) is a graph for finding a membership value indicating the degree of satisfaction of the second condition, "the time T is about medium", of Rule 1, which indicates a membership function for the time T as an input variable. A membership value (0, for example) is found by substituting the time T in this membership function as illustrated in Fig. 13. Fig. 15(c) is a graph showing the conclusion, "the input is made large", which indicates a membership function for the duty cycle of the blower control triac as the conclusion part of Rule 1. The smaller value (0) of the membership values of the first and second conditions of Rule 1 is specified on the ordinate indicating the membership value of Fig. 15(c). A region indicated by the membership function of Fig. 15(c) is divided into two areas by a line corresponding the specified membership value (0), and a region which does not exceed the membership value corresponds to an inference result obtained by applying each of actually detected values to Rule 1. [Rule 2] is defined by such membership functions as shown in Figs. 16(a), (b) and (c). Fig. 16(a) is a graph for finding a membership value indicating the degree of satisfaction of the first condition, "the electric current I max is about medium", of Rule 2, which indicates a membership function for the electric current value I max as an input variable. A membership value (0.6, for example) is found by substituting the electric current value I max in this membership function. Fig. 16(b) is a graph for finding a membership value indicating the degree of satisfaction of the second condition, "the time T is somewhat short", of Rule 2, which indicates a membership function for the time T as an input variable. A membership value (0.7, for example) is found by substituting the time T in this membership function. Fig. 16(c) is a graph showing the conclusion, "the input is made somewhat large", which indicates a membership function for the duty cycle of the blower control triac as the conclusion part of Rule 2. The smaller value (0.6) of the membership values of the first and second conditions of Rule 2 is specified on the ordinate indicating the membership value of Fig. 16(c). A region indicated by the membership function of Fig. 16(c) is divided into two areas by a line corresponding to the specified membership value (0.6), and a region indicated by oblique lines which does not exceed the membership value corresponds to an inference result obtained by applying each of actually detected values to Rule 2. [Rule 3] is defined by such membership functions as illustrated in Figs. 17(a), (b) and (c). Fig. 17(a) is a graph for finding a membership value indicating the degree of satisfaction of the first condition, "the electric current I max is about medium", of Rule 3, which indicates a membership function for the electric current value I max as an input variable. A membership value (0.6, for example) is found by substituting the electric current value I max in this membership function. Fig. 17(b) is a graph for finding a membership value indicating the degree of satisfaction of the second condition, "the time T is somewhat long", of Rule 3, which indicates a membership function for the time T as an input variable. A membership value (0, for example) is found by substituting the time T in this membership function. Fig. 17(c) is a graph showing the conclusion, "the input is made somewhat large", which indicates a membership function for the duty cycle of the blower control triac as the conclusion part of Rule 3. The smaller value (0) of the membership values of the first and second conditions of Rule 3 is specified on the ordinate indicating the membership value of Fig. 17(c). A region indicated by the membership function of Fig. 17(c) is divided into two areas by a line corresponding to the specified membership value (0), and a region which does not exceed the membership value corresponds to an inference result obtained by applying each of actually detected values to Rule 3. [Rule 4] is defined by such membership functions as shown in Figs. 18(a), (b) and (c). Fig. 18(a) is a graph for finding a membership value indicating the degree of satisfaction of the first condition, "the electric current value I max is somewhat small", of Rule 4, which indicates a membership function for the electric current value I max as an input variable. A membership value (0.4, for example) is found by substituting the electric current value I max in this membership function. Fig. 18(b) is a graph for finding a membership value indicating the degree of satisfaction of the second condition, "the time T is about medium", of Rule 4, which indicates a membership function for the time T as an input variable. A membership value (0, for example) is found by substituting the time T in this membership function. Fig. 18(c) is a graph showing the conclusion, "the input is made about medium", which indicates a membership function for the duty cycle of the blower control triac as the conclusion part of Rule 4. The smaller value (0) of the membership values of the first and second conditions of Rule 4 is specified on the ordinate indicating the membership value of Fig. 18(c). A region indicated by the membership function of Fig. 18(c) is divided into two areas by a line corresponding to the specified membership value (0), and a region which does not exceed the membership value corresponds to an inference result obtained by applying each of actually detected values to Rule 4. [Rule 5] is defined by such membership functions as shown in Figs. 19(a), (b) and (c). Fig. 19(a) is a graph for finding a membership value indicating the degree of satisfaction of the first condition, "the electric current value I max is somewhat small", of Rule 5, which indicates a membership function for the electric current value I max as an input variable. A membership value (0.4, for example) is found by substituting the electric current value I max in this membership function. Fig. 19(b) is a graph for finding a membership value indicating the degree of satisfaction of the second condition, "the time T is long", of Rule 5, which indicates a membership function for the time T as an input variable. A membership value (0, for example) is found by substituting the time T in this membership function. Fig. 19(c) is a graph showing the conclusion, "the input is made small", which indicates a membership function for the duty cycle of the blower control triac as the conclusion part of Rule 5. The smaller value (0) of the membership values of the first and second conditions of Rule 5 is specified on the ordinate indicating the membership value of Fig. 19(c). A region indicated by the membership function of Fig. 19(c) is divided into two areas by a line corresponding to the specified membership value (0), and a region which does not exceed the membership value corresponds to an inference result obtained by applying each of actually detected values to Rule 5. [Rule 6] is defined by such membership functions as shown by Figs. 20(a) and (b). Fig. 20(a) is a graph for finding a membership value indicating the degree of satisfaction of the condition, "the electric current value I max is small", of Rule 6, which indicates a membership function for the electric current value I max as an input variable. A membership value 0 is found by substituting the electric current value I max in this membership function. Fig. 20(b) is a membership function showing the conclusion, "the input is made small", and the membership value of 0 of the condition is specified on its ordinate. Then, a region which does not exceed the membership value 0 corresponds to an inference result obtained by applying an actually detected value to Rule 6. [Rule 7] is defined by such membership functions as shown in Figs. 21(a) and (b). Fig. 21(a) is a graph for finding a membership value indicating the degree of satisfaction of the condition, "the electric current value I max is very small", of Rule 7, which indicates a membership function for the electric current value I max as an input variable. A membership value of 0 is found by substituting the electric current value I max in this membership function. Fig. 21(b) is a membership function showing the conclusion, "the input is made about medium", and the membership value of 0 of the condition is specified on its ordinate. Then, a region which does not exceed the membership value of 0 corresponds to an inference result obtained by applying an actually detected value to Rule 7. Now, in consideration of the inference results for respective rules, a method of determining the duty cycle of the blower control triac will be described with reference to Fig. 22. Specifically, the quadrangle indicated by oblique lines in Fig. 16(c) is superimposed on a coordinate system in Fig. 14, and a function of Fig. 22 obtained as a result of this corresponds to a membership function showing the final inference result. Then, the position of the center point of the region indicated by oblique lines which is designated by this function is settled as the duty cycle of the blower control triac determined in consideration of all the conditions of Rules 1 to 7. A result obtained by performing the fuzzy inference as described above on all possible electric current values I max and time T is represented in the look up table in Fig. 11. Next, effects of the above-described respective rules on the input control operation of the electric blower will be described. According to [Rule 1], in a case where "the electric current I max is large" and "the time T is about medium", it is considered that a carpet (a shaggy carpet, for example) which is thick (more than 2 cm or more) is being cleaned with floor nozzle 17 being slided at an ordinary speed, so that the input to the electric blower is controlled to be large for the purpose of sucking dust collected deep in the carpet. According to [Rule 2], in a case where "the electric current I max is about medium" and "the time T is somewhat short", it is considered that a carpet with a medium thickness or a loop carpet is being cleaned with floor nozzle 17 being slided at a somewhat high speed, so that the input to the electric blower is controlled to be somewhat large in order not to leave any dust in consideration of the thickness of the carpet. According to [Rule 3], in a case where "the electric current I max is about medium" and "the time T is somewhat long", it is considered that a carpet with a medium thickness or a loop carpet is being cleaned with floor nozzle 17 being slided at a somewhat low speed, so that the input to the electric blower is controlled to be somewhat large in order not to leave any dust in consideration of the thickness of the carpet. According to [Rule 4], in a case where "the electric current I max is somewhat small" and "the time T is about medium", it is considered that a thin carpet (a punch carpet, for example) is being cleaned with floor nozzle 17 being slided at an ordinary speed and not so large suction power is needed, so that the input to the electric blower is somewhat suppressed. According to [Rule 5], in a case where "the electric current I max is somewhat small" and "the time T is long", it is considered that a thin carpet (a punch carpet, for example) is being cleaned with floor nozzle 17 being slided at a low speed and it is possible to suck dust even if the suction power is considerably reduced, so that the input to the electric blower is considerably suppressed. According to [Rule 6], in a case where "the electric current I max is small", it is considered that a surface of a floor such as a tatami mat or a floor of a floorboard where dust is liable to be absorbed is being cleaned, so that the input to the electric blower is considerably suppressed. According to [Rule 7], in a case where "the electric current I max is very small", it is considered that a corner of a room or the like is being cleaned with floor nozzle 17 being rather suspended, so that the input to the electric blower is made somewhat large for the purpose of sucking dust from the corner of the room. On the other hand, if sliding operation part 23 of operation notch control part 39 is operated to be switched from the fuzzy control position to any of the manual control positions "weak" to "high power", a signal corresponding to that control position is applied to microcomputer 38, blower control triac 37 is controlled on the basis of the signal, and electric power corresponding to the selected manual control position is supplied to electric blower 7. As described above, in an embodiment of the present invention, a method of controlling the input to electric blower 7 to be an optimum value in accordance with using conditions of floor nozzle 17 and types of a floor surface by performing the fuzzy inference on the electric current value I max of brush driving motor 19 and the time interval T of adjacent maximal values of its electric current waveform has been described. However, it is also possible to perform input control of the electric blower in accordance with using conditions of floor nozzle 17 by measuring only the time interval T and controlling the duty cycle of blower control triac 37 on the basis of the time T without using combination of the electric current value I max and the time interval T. Specifically, when the detected time T is short, it is determined that the load is small for a user so that the user is quickly sliding the floor nozzle back and forth, and the duty cycle of blower control triac 37 is controlled to be large in order to increase the load, while, when the time T is long, it may be determined that the load is large for the user so that it is hard to slide the floor nozzle back and forth, and the duty cycle of blower control triac 37 may be controlled to be small to make the load small. Such a control method can be carried out by using the control circuitry illustrated in Fig. 6, and processing inside microcomputer 38 is more simplified than the one in the case of the above-described embodiment. In addition, it is also possible to obtain similar effects by storing all combinations of electric current values I max and time T, for example, and controlling the input to electric blower 7 on the basis of an actually detected combination of the electric current value I max and the time T without using the fuzzy inference as in the case of the above-described embodiment. As described above, according to an embodiment of the present invention, the electric current value I max of the brush driving motor and the time interval T of adjacent maximal values of its electric current waveform are detected, and the input to the electric blower is controlled on the basis of an arithmetic operation result of those detected values, so that it is possible to supply optimum electric power to the electric blower in accordance with using conditions of the floor nozzle and types of the floor surface so as to realize optimum sucking power. Furthermore, it is possible to readily perform automatic control of the input to the electric blower adapted to human experience and intuition with a simple arithmetic operation of a membership function without using a complicated control formula or an enormous memory by performing an arithmetic operation of such detected values using the fuzzy inference.

Claims: An electric vacuum cleaner, comprising: a main body (1) having an electric blower (7) and a dust collecting chamber (3); a floor nozzle (17) coupled to said main body (1) and having a rotary brush (18) and a brush driving motor (19) for driving said rotary brush; electric current detecting means (44) for detecting motor current flowing in said brush driving motor (19); characterized by means (38) for evaluating a period (T) of variation of said brush driving motor current (I) on the basis of a detected output of said electric current detecting means (44); and control means (38) for performing a predetermined arithmetic operation on said evaluated period (T) and controlling supply of electric power to said electric blower (7) on the basis of a result of it. The electric vacuum cleaner according to claim 1, wherein said predetermined arithmetic operation includes fuzzy inference in which said evaluated period (T) is made to be an input variable and the electric power to be supplied to said electric blower (7) is made to be a conclusion part. The electric vacuum cleaner according to claim 1, wherein said electric current detecting means (44) includes a peak hold circuit (46) for holding a peak value (I max ) of said brush driving motor current for every predetermined period (T) to supply it as a detected output. The electric vacuum cleaner according to claim 3, wherein said predetermined period (T) is a period corresponding to a half or one cycle of a power supply frequency. The electric vacuum cleaner according to any of claims 1,2,3 or 4, further comprising: means for detecting the maximum electric current value of said motor current for every first predetermined period on the basis of the detected output of said electric current detecting means (44); and wherein said control means (38) performing a predetermined arithmetic operation on said detected maximum electric current value (I max ) and controlling supply of electric power to said electric blower on the basis of a result of it. The electric vacuum cleaner according to claim 5, wherein said predetermined arithmetic operation includes fuzzy inference in which said evaluated period (T) and said detected maximum electric current value (I max ) are made to be input variables and the electric power to be supplied to said electric blower (7) is made to be a conclusion part. The electric vacuum cleaner according to claim 5, wherein said electric current detecting means (44) includes a peak hold circuit (46) for holding a peak value (I max ) of said motor current for every second predetermined period to supply it as a detected output. The electric vacuum cleaner according to claim 7, wherein said second predetermined period is a period corresponding to a half or one cycle of a power supply frequency.

Inventors: UENISHI TOMOAKI, UENISHI, TOMOAKI
Applicants: SANYO ELECTRIC CO, SANYO ELECTRIC CO., LTD.
Application year: 1992
Main classification: A47L9
IPC codes: A47L9