WO2016189915A1 - Self-propelled electronic device - Google Patents

Abstract

The present invention addresses the problem of selecting and switching a rechargeable cell so that operation can be performed safely and for long periods of time in a self-propelled electronic device provided with a plurality of rechargeable cells. A self-propelled electronic device provided with a plurality of rechargeable cells, wherein the self-propelled electronic device is characterized by being provided with a power source unit for generating the operating power-source voltage of the electronic device, a connecting/switching unit for connecting and disconnecting the power source unit and the rechargeable cells, a voltage detection unit for detecting the output voltage outputted from each of the rechargeable cells, a first communication unit for communicating with each of the rechargeable cells and acquiring prescribed information pertaining to each of the rechargeable cells, and a control unit, the control unit selecting one of the rechargeable cells for use on the basis of the information acquired from each of the rechargeable cells and the detected output voltages of each of the rechargeable cells, the connecting/switching unit connecting the power source unit and the selected rechargeable cell, the power source unit generating the operating power-source voltage by using electric power supplied from the connected rechargeable cell, and the control unit implementing a prescribed function of the self-propelled electronic device.

Description

Self-propelled electronic device

The present invention relates to a self-propelled electronic device, and more particularly to a self-propelled electronic device such as a self-propelled cleaner that includes a rechargeable battery and autonomously travels to clean a predetermined area.

Many of the conventional self-propelled vacuum cleaners are equipped with a single rechargeable battery, and are usually fixedly arranged inside the housing so that they cannot be easily detached. Further, when the remaining capacity (output voltage) of the rechargeable battery drops below a predetermined value, for example, the cleaning is stopped and stopped on the spot or returned to the charging stand.

In addition, today's portable communication devices have a plurality of batteries, and if it is determined that the voltage of the battery in use is within the warning voltage range during communication, the communication is performed by switching to another battery and performing communication. After finishing, if it is determined that the voltage of the battery that was previously used is not lower than the minimum operable voltage, switch back to the battery that was previously used to effectively use the capacity of multiple batteries. A device that can be used has been proposed (see Patent Document 1).

JP 2006-129626 A

However, in a self-propelled cleaner equipped with only one rechargeable battery, the maximum operation time that can be cleaned is determined by the capacity of the rechargeable battery, and after that time, the rechargeable battery must be charged. I must.
Further, when the rechargeable battery is fixedly arranged inside the housing, it is necessary to perform a charging operation integrally with the cleaner body itself, and there is a problem that cleaning cannot be performed during the charging.

In addition, as in the above-described conventional portable communication device, a plurality of detachable rechargeable batteries are mounted on a self-propelled cleaner and are used by alternately switching them, thereby extending the cleaning time.
However, when the rechargeable battery to be used is simply switched to the other while cleaning or automatic running is in progress, a large fluctuation occurs in the voltage applied to the cleaning motor or the running motor, affecting the driving of the motor, An unexpected operation may occur or a malfunction may occur.
In addition to a decrease in the remaining capacity (output voltage) of the rechargeable battery cell, if a defective cell or abnormal heating of the cell has occurred, the charging of such abnormal state is necessary from the viewpoint of safety. It is desirable not to switch to a battery.

Therefore, the present invention has been made in view of the above circumstances, and is provided with a plurality of rechargeable batteries, and is capable of switching control of rechargeable batteries in consideration of safety and prolonged operation time. It is an object to provide an electronic device.

The present invention is a self-propelled electronic device including a plurality of rechargeable batteries, a power supply unit that generates an operating power supply voltage of the electronic device, and a connection switching unit that connects and releases the power supply unit and each rechargeable battery. A voltage detection unit that detects an output voltage output from each rechargeable battery, a first communication unit that communicates with each rechargeable battery and acquires predetermined information of each rechargeable battery, and a control unit, Unit selects one rechargeable battery to be used based on the information acquired from each rechargeable battery and the detected output voltage of each rechargeable battery, and the connection switching unit selects the rechargeable battery selected The power supply unit is connected, the power supply unit generates an operation power supply voltage using power supplied from the connected rechargeable battery, and the control unit is a predetermined function of the self-propelled electronic device. It is intended to provide a self-propelled electronic device characterized in that

Each of the rechargeable batteries includes a rechargeable battery cell, a cell state detection unit that detects the state of the battery cell, a storage unit that stores the number of times of charging, and a second communication unit, and the second communication unit. The unit transmits cell information indicating the state of the battery cell detected by the cell state detection unit and the number of times of charging stored in the storage unit to the first communication unit, and the control unit includes a rechargeable battery. When there are a plurality of rechargeable batteries that can be operated by selecting the rechargeable battery that can be operated using the cell information acquired for each and the output voltage of each detected rechargeable battery, the rechargeable battery that can be operated One rechargeable battery to be used is selected based on the output voltage or the number of times of charging.
Each of the rechargeable batteries further includes a temperature detection unit that detects the temperature of the battery cell, and the second communication unit transmits temperature information detected by the temperature detection unit to the first communication unit, The control unit uses the received temperature information to select an operable rechargeable battery.
According to this invention, the cell information acquired for each rechargeable battery, the temperature information, and the rechargeable battery that can be operated using the output voltage are selected, and when there are a plurality of rechargeable batteries that can be operated, the output voltage Alternatively, since one rechargeable battery to be used is selected based on the number of times of charging, it is possible to prevent the use of a rechargeable battery that cannot be operated, and to select a rechargeable battery that has no abnormality and does not have a reduced output voltage. Thus, the electronic device can be used safely for as long as possible.

Further, the power switch for performing a power-on operation, further comprising, when the power switch is pressed, after connecting all the rechargeable batteries to the power supply unit by the connection switching unit, the voltage detection unit, An output voltage output from each rechargeable battery is detected, and the first communication unit receives cell information, temperature information, and the detected number of charging times transmitted from the second communication unit of each rechargeable battery, and the control Unit selects one rechargeable battery to be used using the received cell information, temperature information, number of times of charging, and output voltage, and then the rechargeable battery selected by the connection switching unit. Only the battery is connected to the power supply unit, and other rechargeable batteries are not connected to the power supply unit.
According to this, when the power switch is pressed, the rechargeable battery to be used is selected using the cell information, the temperature information, the number of times of charging, and the output voltage. An appropriate rechargeable battery can be selected in order to execute a predetermined function of the electronic device in consideration of the operable state of the battery.

In addition, when only a single rechargeable battery to be used is connected to the power supply unit and performing a predetermined function, cell information, temperature information and output voltage of the rechargeable battery are newly acquired, Either the battery cell is in an abnormal state due to the acquired cell information, the acquired temperature information is in an abnormal state, or the detected output voltage is lower than a predetermined output voltage threshold value. When it is detected that such a state has occurred, the connection switching unit connects another operable rechargeable battery to the power supply unit, and the one rechargeable battery to be used and the power supply unit It is characterized by releasing the connection.
According to this, in the case where a predetermined function is executed using one rechargeable battery to be used, the battery cell abnormal state is determined by the cell information, temperature information and output voltage newly acquired for the rechargeable battery, If it is detected that either an abnormal temperature condition or a low output voltage condition has occurred, connect another rechargeable battery to the power supply unit and release the rechargeable battery that has the abnormal condition. Therefore, before the electronic device stops functioning due to an abnormality of the rechargeable battery in use, the function can be continued by switching to another operable rechargeable battery.

The self-propelled electronic device is a self-propelled cleaner having a cleaning function and a traveling function for autonomously traveling, and a plurality of rechargeable batteries are detachably stored in the self-propelled cleaner. When the cleaning function and the traveling function are performed using one operable rechargeable battery among the stored rechargeable batteries, in the rechargeable battery used, the battery cell is Stops the cleaning function and the traveling function when any of the abnormal state, temperature information becomes abnormal, or the output voltage falls below a predetermined output voltage threshold. Then, the connection switching unit switches the rechargeable battery connected to the power supply unit from the rechargeable battery used to another operable rechargeable battery, and uses the other rechargeable battery operable. To resume the cleaning and running functions And wherein the Rukoto.
According to this, when performing the cleaning function and the traveling function, if the rechargeable battery used is in any of the battery cell abnormal state, the temperature abnormal state, or the output voltage drop state, After stopping the cleaning function and running function that were being executed, the rechargeable battery used is switched to another operable battery, and the cleaning function and running function are resumed. Even if a large fluctuation occurs, an unintended operation can be prevented from occurring, and a cleaning function or the like can be secured.

Further, when the cell information indicates that the battery cell of the rechargeable battery is in an abnormal state, and when the temperature information indicates that the temperature is outside a predetermined normal operating range of the rechargeable battery. When there is a rechargeable battery in which any one of the cases where the output voltage is lower than a predetermined output voltage threshold is present, the rechargeable battery is not selected as a rechargeable battery to be used. And

According to this invention, since one rechargeable battery to be used is selected based on the information acquired from each rechargeable battery and the detected output voltage of each rechargeable battery, there is a rechargeable battery that cannot operate. The rechargeable battery switching control can be performed so that the function of the electronic device is executed in a long-term and safe manner.

It is a block diagram of the configuration of an embodiment of the self-propelled cleaner of the present invention. It is explanatory drawing of the example of a connection of the main body of a self-propelled cleaner of this invention, and a rechargeable battery. It is explanatory drawing of the information memorize | stored in the self-propelled cleaner of this invention. It is explanatory drawing which shows the relationship between the reception information and selective rechargeable battery of this invention. It is switching explanatory drawing of the connection of the rechargeable battery of this invention, and a power supply part. It is a flowchart of one Example of the rechargeable battery connection selection process of this invention. It is a flowchart of one Example of the rechargeable battery connection switching process of this invention. It is a flowchart of one Example of the rechargeable battery connection switching process of this invention.

Hereinafter, the present invention will be described based on the embodiments shown in the drawings.
However, this does not limit the present invention.

<Configuration of the self-propelled cleaner of the present invention>
FIG. 1 is a block diagram showing the construction of an embodiment of the self-propelled cleaner according to the present invention.
Here, the self-propelled cleaner 100 will be described as an example of the self-propelled electronic device.
However, the self-propelled electronic device is not limited to a self-propelled cleaner as long as it has at least a rechargeable battery, performs automatic travel control, and has a function of moving in a predetermined area.
For example, a self-propelled air cleaner, a self-propelled ion generator, and a self-propelled robot that performs a function requested by a user are also included in the self-propelled electronic device.
In FIG. 1, a self-propelled cleaner 100 (hereinafter also simply referred to as a cleaner) of the present invention comprises a rechargeable battery 1 and a cleaner body 2, and the rechargeable battery 1 is composed of a plurality of rechargeable batteries. The

The rechargeable battery 1 is detachably housed inside the housing of the cleaner body 2.
It is preferable that the rechargeable battery be configured to be detachable by the user in order to remove only the rechargeable battery whose remaining capacity is reduced and output power is reduced, and to be attached to a charger (not shown) for charging. By making each rechargeable battery detachable, even when one rechargeable battery is taken out and charged, it becomes possible to perform cleaning while only the other rechargeable battery is accommodated in the main body 2. .
The rechargeable batteries that have different rated capacity, remaining capacity, life, etc. can be used as long as the rated voltage, output current capability, and interface specifications (physical specifications, electrical specifications, software specifications) are met. It may be mixed.
Furthermore, if the shape and size of the rechargeable battery are the same and the rechargeable battery can be stored in the internal space of the cleaner body, a rechargeable battery that is used for other purposes than the cleaner may be used. .
However, one or more rechargeable batteries may be fixedly arranged inside the housing.
For example, a space in which a plurality of rechargeable batteries can be installed is provided inside the housing of the vacuum cleaner main body 2, and after removing the top panel of the main body 2, a rechargeable battery with a small remaining capacity in the space is removed, What is necessary is just to attach the charged battery in the space.
The vacuum cleaner main body 2 is a part that performs a cleaning function, a traveling function that travels autonomously, and the like by using the power output from the rechargeable battery 1 as in the past.

<Configuration of rechargeable battery>
The rechargeable battery 1 (BT1) mainly includes a control unit 11, a battery cell 12, a cell state detection unit 13, a communication unit 14, a temperature detection unit 15, and a storage unit 16.
When a plurality of rechargeable batteries 1 are provided, the other rechargeable batteries (BT2 to BTn) also have the same configuration. When the rechargeable battery 1 is attached to the self-propelled cleaner 100, the rechargeable battery 1 is connected to the cleaner body 2 via the power line 4 and the communication line 5.
Alternatively, the rechargeable battery 1 and the vacuum cleaner main body 2 are each provided with a power supply terminal and a communication terminal, and when the rechargeable battery 1 is mounted in the main body, the power supply terminal and the communication terminal are in contact with each other. May be.

The power supply line 4 supplies power output from the battery cell 12 to the power supply unit 22 in the main body 2.
The communication line 5 is a line that connects the communication units (14, 26) of the rechargeable battery 1 and the main body 2, and predetermined information is bidirectionally communicated via the communication line 5.

The control unit 11 is a part that controls the operation of the rechargeable battery 1. The control unit 11 includes a microcomputer including a CPU, a ROM, a RAM, an I / O controller, a timer, and the like, and is based on a program stored in the storage unit 16. The CPU organically operates various types of hardware to execute battery cell abnormality detection processing and the like.
The battery cell 12 is a rechargeable power storage device, and specifically, a lithium ion battery, a nickel metal hydride battery, or the like is used.

The cell state detection unit 13 is a part that detects the state of the battery cell 12, and detects whether the battery cell itself is in a normal state or an abnormal state. For example, the presence / absence of an abnormality is detected based on information obtained from the battery cell, such as overcharge, overdischarge, and overload of the battery cell.
The cell state detector 13 may be built in the battery cell 12 or may be attached in the vicinity of the battery cell to detect the state of the cell. When the cell state detection unit 13 detects information indicating an abnormal state from the battery cell 12, the cell state detection unit 13 sends a signal indicating that an abnormality has occurred in the battery cell 12 to the control unit 11.
Based on the signal obtained from the cell state detection unit 13, the control unit 11 transmits cell information indicating the state of the cell to the cleaner body 2 via the communication unit 14.

The communication unit 14 is a part that performs data communication with the communication unit 26 of the main body 2 through the communication line 5 and corresponds to the above-described second communication unit. For example, in response to a request from the main body 2, information indicating the state of the rechargeable battery 1 (number of times of charging, temperature information, cell information, etc.) is transmitted to the communication unit 26 of the main body 2.
The temperature detection unit 15 is a part that detects the temperature of the battery cell 12 and corresponds to a so-called temperature sensor. The temperature information detected by the temperature detection unit 15 is transmitted to the communication unit 26 of the main body 2 via the communication line 5.

The memory | storage part 16 is a part which memorize | stores the information regarding the state of the rechargeable battery 1, and a program, and semiconductor memory elements, such as ROM and RAM, are used. The storage unit 16 stores, for example, information indicating the number of times that the rechargeable battery 1 has been charged (number of times of charging 17), ID information of the rechargeable battery such as a model number, and the like.
The rechargeable battery 1 is not limited to the above-described configuration, and includes, for example, a charging terminal connected to a charger for charging in addition to these configurations.

<Configuration of vacuum cleaner body>
In FIG. 1, the cleaner body 2 mainly includes a control unit 21, a power supply unit 22, a changeover switch 23, a connection switching unit 24, a voltage detection unit 25, a communication unit 26, a travel function unit 27, a cleaning function unit 28, and an input unit. 29.
The control unit 21 is a part that controls the operation of each component of the cleaner 1, and is mainly realized by a microcomputer including a CPU, a ROM, a RAM, an I / O controller, a timer, and the like. The CPU organically operates various hardware based on a program stored in advance in a ROM or the like, and executes a cleaning function, a traveling function, a rechargeable battery switching function, and the like according to the present invention. For example, the control unit 21 selects one rechargeable battery to be used based on the information acquired from each rechargeable battery and the detected output voltage of each rechargeable battery.

The power supply unit 22 is a part that uses the power supplied from the rechargeable battery 1 to generate an operating power supply voltage of the electronic device (vacuum cleaner). That is, the power supply voltage 30 for operating each hardware of the cleaner body 2 that performs cleaning and running functions using the power supplied from the rechargeable battery connected to the power supply unit 22 among the plurality of rechargeable batteries. Is a part that is generated and given to each hardware.
The change-over switch 23 is disposed between the power supply line 4 connected to the battery cell 12 of the rechargeable battery 1 and the power supply unit 22, and provides a power supply path supplied from the battery cell 12 via the power supply line 4. It is the part that connects and disconnects.
The connection switching unit 24 is a part for connecting and releasing the power supply unit 22 and each rechargeable battery. Specifically, the connection switching unit 24 is a part for controlling connection and release of the changeover switch 23.

As shown in FIG. 2 to be described later, the changeover switch 23 includes a connection point for connecting or releasing the power supply path of the power supply line 4. For example, the connection switch is closed by a connection request signal from the connection switching unit 24. Then, the power line 4 is connected to the power source unit 22 to supply the power from the rechargeable battery 1 to the cleaner body 2. Conversely, the connection point is released by the connection release request signal, the connection between the power supply unit 22 and the power supply line 4 is disconnected, and the supply of power from the rechargeable battery 1 is stopped.

The same number of changeover switches 23 as the rechargeable batteries 1 are provided in correspondence with the rechargeable batteries 1.
The connection switching unit 24 controls each changeover switch 23 to select a rechargeable battery that supplies power, and the selected rechargeable battery is connected to the power supply unit 22. During the execution of the cleaning function or the like, in principle, the changeover switch 23 is switched so that only one battery cell 12 is connected to the power supply unit 22.

The voltage detection unit 25 is a part that detects the output voltage output from each rechargeable battery, and detects the voltage output to the power line 4 connected to the battery cell 12. That is, the voltage detection unit 25 detects the voltage of the power supply line 4 between the battery cell 12 of each rechargeable battery and the changeover switch 23, as shown in FIGS. The voltage detected for each rechargeable battery is stored in the storage unit 40 as the detection output voltage 44.

The communication unit 26 is a part that communicates with the communication unit 14 of each rechargeable battery via the communication line 5 and acquires predetermined information of each rechargeable battery, and corresponds to the first communication unit described above.
For example, the number of charging times 17 of each rechargeable battery, the temperature information detected by the temperature detecting unit 15 of each rechargeable battery, and the cell information detected by the cell state detecting unit 13 of each rechargeable battery are received.
The received information is stored in the storage unit 40 for each rechargeable battery as a reception charge count 41, reception temperature information 42, reception cell information 43, and battery ID information 49, respectively.

The traveling function unit 27 is a part that controls the autonomous traveling of the self-propelled cleaner 100, and a pair of driving wheels provided on the back surface of the main body 2 using a traveling motor provided in the housing. A predetermined region is automatically run by controlling the rotation and performing operations such as advancing, retreating, rotating, and stationary, and mainly performing linear traveling and rotating operations.
In addition, a fault detection unit consisting of a micro switch provided on the side of the housing, an ultrasonic sensor that measures the distance to the object such as a wall or desk, and an infrared sensor can be used. To run automatically.

The cleaning function part 28 is a part which cleans the floor surface, and in the same way as a normal vacuum cleaner, it is used for cleaning an intake port, an exhaust port, a dust collecting unit, a rotating brush, a side brush, a blower, a cleaning motor, and the like. It is composed of necessary members.
Such operations of the traveling function unit 27 and the cleaning function unit 28 are executed by the operating power supply voltage 30 supplied from the power supply unit 22 to the hardware of each functional unit.

The input unit 29 is a part where the user inputs an instruction for the operation of the cleaner, and is provided on the surface of the housing as an operation panel or an operation button. As the input unit 29, for example, a power switch, a cleaning operation mode switch, a setting switch, a timer switch, and the like are provided.
The power switch is a switch for the user to perform power-on operation, and is connected to the power lines 4 of all rechargeable batteries. When the power switch is pressed (ON input), power is supplied from the power line 4 connected to each battery cell 12 into the main body 2, and at least the control unit 21, the connection switching unit 24, and the voltage detection unit 25. Thus, the communication unit 26 can be operated.

The storage unit 40 is a part for storing information and programs necessary for realizing various functions of the vacuum cleaner, a semiconductor storage element such as a ROM, a RAM, a flash memory, a storage device such as an HDD, an SSD, and the like. A storage medium is used.
The storage unit 40 mainly includes the number of times of reception charge 41, reception temperature information 42, reception cell information 43, detection output voltage 44, use battery information 45, voltage determination condition 46, temperature determination value 47, selected battery condition 48, battery ID. Information 49 and the like are stored.

The reception charge count 41 is the number of times the rechargeable battery is charged, and is information stored for each rechargeable battery.
The reception temperature information 42 is the temperature of the battery cell 12 of the rechargeable battery, and is information stored for each rechargeable battery.
The reception cell information 43 is information indicating the state (normal or abnormal) of the battery cell 12 of the rechargeable battery, and is information stored for each rechargeable battery.
The three pieces of information (41, 42, 43) described above are information sent from each rechargeable battery 1 via the communication line 5.
The detected output voltage 44 is information detected by the voltage detection unit 25, is a power supply voltage value of power output from the battery cell 12 of each rechargeable battery, and is stored for each rechargeable battery.

FIG. 3 is an explanatory diagram of an example of information stored in the storage unit 40.
FIG. 3A shows information acquired from each of the n rechargeable batteries. As described above, information (41 to 44, 49) is obtained from n rechargeable batteries (BT1 to BTn) and stored in the storage unit 40. Since all information changes, it is stored in a rewritable memory.

The used battery information 45 is information for specifying the rechargeable battery 1 that is supplying power during the execution of the function of the self-propelled cleaner 100. For example, when the first rechargeable battery BT1 is used. , BT1 is stored, indicating that the first rechargeable battery is currently in use.
The voltage determination condition 46 stores a threshold voltage to be compared with the detected output voltage acquired from the rechargeable battery, and is information that is fixedly set for each compatible battery model number. By comparing the detected output voltage (V) and the threshold voltage, as will be described later, processing such as selection of a rechargeable battery to be used, determination of rechargeable battery switching, and determination of whether or not cleaning is possible is performed.

FIG. 3B shows an explanatory diagram of one embodiment of this voltage determination condition. Here, two voltages, the operation stop voltage Va and the operation inhibition voltage Vc, are set for each battery model number used as the threshold voltage for performing voltage determination.
The operation stop voltage Va is a threshold voltage for determining whether or not the execution of the cleaning function or the like is permitted. The voltage Va1 at the time of the cleaning operation and the voltage Va2 at the time of the cleaning stop are separately set. Yes.
For example, the threshold voltage Va1 at the time of cleaning operation is set to 15.5 (V), and the threshold voltage Va2 at the time of cleaning stop is set to 16 (V).

When the detected output voltage V of the currently used rechargeable battery is smaller than the threshold voltage Va1 (V <Va1) during the cleaning operation, it is determined that the capacity of the rechargeable battery has decreased, and cleaning is performed. Stop operation or switch to another rechargeable battery.

Further, when the cleaning output is stopped when the detected output voltage V of the currently used rechargeable battery is smaller than the threshold voltage Va2 (V <Va2), it is determined that the capacity of the rechargeable battery has decreased. Switch to a rechargeable battery.
Here, in general, Va1 <Va2, but this is because the output voltage is lower when the output current is larger due to the internal impedance of the battery cell.

On the other hand, the operation prohibition voltage Vc is a so-called cut-off voltage, which is a minimum value of a discharge voltage that can be safely discharged in order to prevent deterioration of the rechargeable battery due to overdischarge.
For example, when Vc = 13 (V) is set and the detected output voltage V of the currently used rechargeable battery is smaller than the threshold voltage Vc (V <Vc), the power is shut off immediately, or Switch to another operable rechargeable battery.

The temperature determination value 47 is set in advance to determine whether the temperature information 42 detected by the temperature detection unit 15 is a normal temperature or an abnormal temperature that causes a problem in operation. Temperature. As the temperature determination value 47, an upper limit value and a lower limit value indicating a normal operating range of the rechargeable battery are mainly set. If the detected temperature is within the normal operating range, it is determined to be normal, and if it is outside the normal operating range, it is determined that the temperature is abnormal.
For example, if the temperature determination value 47 is set in advance from 0 degrees to 40 degrees (= To) and the received temperature information (T) is T ≧ To, a temperature abnormality occurs in the battery cell. The operation such as the cleaning function is stopped or switched to another operable rechargeable battery.

The selected battery condition 48 is a case where there are a plurality of mounted rechargeable batteries, and when there are a plurality of rechargeable batteries that can be operated, which rechargeable battery is used as a rechargeable battery to be used. It is a condition for deciding whether to choose.
FIG. 3 (c) shows an explanatory diagram of one embodiment of the selected battery condition 48.
Here, three selected battery conditions 48 are shown. Which of these three conditions is used is set in advance.

When the first condition is set, it indicates that the battery to be used is selected as the rechargeable battery having the smallest number 41 of reception charges.
That is, as shown in FIG. 3A, the number of times of charging (JC1 to JCn) received from a plurality of rechargeable batteries is compared, and the rechargeable battery having the smallest number of times of charging is selected as the rechargeable battery to be used. Generally, since the rechargeable battery tends to decrease the maximum battery capacity as the number of times of charging is increased, the operation time can be extended by selecting a rechargeable battery having a smaller number of times of charging.

The second condition indicates that the rechargeable battery having the maximum detected output voltage 44 is selected.
That is, as shown in FIG. 3 (a), the detected output voltages 44 (VB to VBn) of the plurality of rechargeable batteries obtained are compared, and the rechargeable battery having the highest detected output voltage 44 is used. Select the battery.
According to this, since the rechargeable battery having the largest output voltage is selected from the currently detected output voltages, the operation time can be lengthened.

The third condition indicates that when the rechargeable battery number assigned in advance to the rechargeable battery is a number, the one with the smallest value is selected.
When the rechargeable battery number is not a number but a manufacturing number including an alphabet, the rechargeable battery may be selected based on a specific order such as an alphabetical order.
Alternatively, when a number is assigned to the slot position where the rechargeable battery is mounted, the rechargeable battery mounted on the smaller number may be selected.
The selected battery condition 48 is not limited to the three conditions as shown in FIG. 3C, and other conditions may be used as necessary.
The battery ID information 49 is information unique to the rechargeable battery such as the model number and date of manufacture of the mounted rechargeable battery, and is excluded from the selected battery when the read model number is out of conformity. Here, whether or not the battery is out of conformity is determined, for example, by collating with a conforming battery model number list recorded in the cleaner body storage unit 40. Further, it is possible to set an optimum threshold value for each discharge characteristic based on the battery model number information.

In FIG. 2, the explanatory view of the example of a connection of the main body and rechargeable battery of the self-propelled electronic device of this invention is shown.
In FIG. 2, two rechargeable batteries 1 (BT1, BT2) are provided, and the changeover switches 23 (SW1, SW2) are connected to the two power supply lines 4, respectively. In FIG. 2, a part of the connection block of FIG. 1 is omitted.
In FIG. 2, the battery cell 12 of the rechargeable battery 1 has a + terminal and a − terminal, the + terminal is connected to the power supply line 4, and the − terminal is connected to a common ground point (GND) with the main body 2.

The changeover switch 23 (SW1, SW2) has a pair of connection points (C1, C2) that can be connected and released according to an instruction from the connection switching unit 24, and the power line 4 is connected to one connection point C1. Connected. The other connection point C <b> 2 of the changeover switch 23 is connected to the power supply unit 22.
The power supply line 4 is also connected to the voltage detection unit 25, and the voltage output to the power supply line 4 connected to the + terminal of the battery cell 12 is detected by the voltage detection unit 25.

The communication line 5 is connected to the communication unit 14 of the rechargeable battery 1 and the communication unit 26 of the main body 2. When a predetermined request signal is transmitted from the communication unit 26 of the main body 2, a response signal corresponding to the request is sent. A reply is sent from the communication unit 14 of the rechargeable battery 1.
For example, when a charge count request signal for acquiring the charge count is transmitted from the communication section 26 of the main body 2, the charge count 17 is read from the storage section 16 of the rechargeable battery 1, and the communication section 14 of the rechargeable battery 1. Then, the charge count 17 is transmitted.
Further, when the temperature information request signal is transmitted from the main body 2 to the rechargeable battery 1, the temperature information detected by the temperature detection unit 15 is transmitted to the communication unit 26 of the main body 2 via the communication line 5.
In addition, when a cell information request signal for acquiring the state of the battery cell is transmitted from the main body 2 to the rechargeable battery 1, the cell information indicating the state of the battery cell detected by the cell state detection unit 13 is a communication line. 5 to the communication unit 26 of the main body.

As described above, there is a power switch as one of the input units 29. However, in the released state where the power switch is not pressed, that is, in the state where the self-propelled cleaner is not operating, the changeover switch 23 (SW1, SW1, The connection point of SW2) is in a released state, and power is not supplied from the rechargeable battery 1 via the changeover switch 23 connected to the power supply line 4.
When the power switch is pressed by the user, a power supply path (not shown) is closed, and the control unit 21, voltage detection unit 25, connection switching unit 24, communication unit 26, storage unit 40, etc. are combined power from all rechargeable batteries. Is driven, and the changeover switch 23 can be switched.

<Embodiment for switching connection of rechargeable battery>
FIG. 5 shows a switching explanatory diagram of connection between the rechargeable battery and the power supply unit.
FIG. 5A shows a state in which the two changeover switches 23 (SW1, SW2) are both open. In this case, the operating power supply voltage 30 output from the power supply unit 22 is zero volts. .
In FIG. 5B, one of the two changeover switches 23 is connected, and the operation power supply voltage 30 is output from the power supply unit 22 by receiving power from the battery cell 12 of the rechargeable battery BT1. It shows the state. In this case, each functional block of the cleaner 1 operates using the power supplied from the rechargeable battery BT1.
FIG. 5D shows a state in which the other selector switch SW2 of the two selector switches is connected to receive power from the charging cell 12 of the rechargeable battery BT2 and the operating power supply voltage 30 is output. ing.

Normally, when the self-propelled cleaner 100 is self-propelled for cleaning, only one of the rechargeable batteries is connected to the power supply unit 22 as shown in FIG. 5B or 5D. Then, a predetermined function is executed using the power of the connected rechargeable battery.
For example, when the remaining capacity of one of the rechargeable batteries BT1 decreases and the predetermined operating power supply voltage 30 cannot be output, etc., when it becomes necessary to switch to the other rechargeable battery BT2 during cleaning, the changeover switch 23 is set. Switching from the connection state of FIG. 5B to the connection state of FIG. 5D is performed.
However, in order to avoid a state where power is not supplied from either of the two rechargeable batteries (BT1, BT2), the two battery cells 12 are once connected to the power supply unit 22 as shown in FIG. In order to achieve this, the two changeover switches 23 (SW1, SW2) need to be connected.

However, since electric power is also supplied to the cleaning motor and the traveling motor during cleaning, the battery cells 12 of both rechargeable batteries are simultaneously connected to the power supply unit 22 as shown in FIG. If this happens, the motor drive voltage will change greatly, affecting the running operation. Therefore, before changing from the connected state of FIG. 5B to the connected state of FIG. 5C, first, the cleaning function and the traveling function are stopped.
Thereafter, the changeover switch SW2 is set to the connected state, and both the changeover switches 23 are set to the connected state as shown in FIG. 5C. Then, as shown in FIG. 5D, the changeover switch SW1 is released. As described above, only the battery cell of the rechargeable battery BT2 is connected. After the connection state shown in FIG. 5D, the cleaning function and the traveling function that have been stopped are resumed.

Further, as will be described later, when the power switch is pressed, in order to determine which of the two rechargeable batteries is to be used, the connection state of FIG. As shown in (), switching is performed so that the changeover switches (SW1, SW2) are connected, and both battery cells 12 are connected to the power supply unit 22.
Then, the output voltage is determined by the voltage detection unit 25, and various types of information are received by the communication unit 26. Among the rechargeable batteries that can be operated, the rechargeable battery to be used is determined based on a predetermined selected battery condition. Decide on one. After the rechargeable battery to be used is determined, the connection of the battery cell of the rechargeable battery that is not used is released. Thereby, it will be in the connection state of either FIG.5 (b) or FIG.5 (d), and will be in the state which can perform a cleaning function.

FIG. 4 shows an explanatory diagram of one embodiment of the relationship between the reception information and the selective rechargeable battery of the present invention.
Here, as shown in FIG. 2, the case where two rechargeable batteries (BT1, BT2) are provided will be described.
In FIG. 4, cell information and temperature information indicate the result of determining whether the information is normal or abnormal based on the information received from the rechargeable battery via the communication line 5.
That is, it is determined that the battery cell is in a state in which the battery cell can be normally operated according to the received cell information 43 as “normal”, and the case where it is determined that the battery cell is in an inoperable state due to some abnormality To do.
Further, if the detected temperature of the battery cell is within the temperature range in which the normal operation is considered possible by the received temperature information 42 as compared with the temperature determination value 47, it is considered “normal” and the normal operation is not possible. In this case, “abnormal” is assumed.

The output voltage (V) shows the result of comparing the detected output voltage 44 detected by the voltage detector 25 with the voltage determination condition 46 shown in FIG.
The selected rechargeable battery indicates a rechargeable battery to be selected from the two rechargeable batteries (BT1, BT2) when a predetermined combination of cell information, temperature information, and output voltage is satisfied.
Although not shown in FIG. 4, as the combination condition, the number of times of charging may be considered in addition to the above.
Whether or not cleaning is possible indicates whether or not a cleaning operation may be performed when a predetermined combination of cell information, temperature information, and output voltage is satisfied. Here, it is assumed that the cleaning operation includes a traveling operation, the traveling operation is permitted when cleaning is permitted, and the traveling operation is also disabled when cleaning is disabled.

The switchability to another rechargeable battery indicates whether or not the rechargeable battery that is currently in use may be switched to the other rechargeable battery. In FIG. 4, switching to another rechargeable battery is permitted only when the first condition is satisfied.
That is, when the cell information and the temperature information are “normal” for both of the rechargeable batteries (BT1, BT2) and the current output voltage (V) is Va ₂ or more for both rechargeable batteries (V ≧ Va ₂ ) means that when the currently selected rechargeable battery is BT1, switching from the rechargeable battery BT1 to the rechargeable battery BT2 is permitted. Although not shown, when the selected rechargeable battery is BT2, switching from the rechargeable battery BT2 to the rechargeable battery BT1 is permitted. In the case of other conditions after the second, the cell information or temperature information of the other rechargeable battery after switching is “abnormal”, or the output voltage of the rechargeable battery is the threshold voltage of the voltage determination condition Therefore, switching to the other rechargeable battery is not possible.

In FIG. 4, from 1st to 7th shows the case where the cell information and the temperature information are normal for the two rechargeable batteries (BT1, BT2), but the output voltage (V) of the two rechargeable batteries is Or the threshold voltage (Va ₂ ), or as shown in the second to fifth conditions, the output voltage (V) of only one of the rechargeable batteries is equal to or higher than the threshold voltage (Va ₂ ). In this case, the cleaning process using the rechargeable battery showing the high output voltage (V) is permitted.

In the sixth condition, when the output voltage (V) is smaller than Va ₁ (V <Va ₁ ) during the cleaning operation, or when the cleaning is stopped, the output voltage (V) is smaller than Va ₂ (V <Va ₂ ) If the output voltage is low, the operation will become unstable, and as a selective rechargeable battery, the rechargeable battery that is currently in use will remain as it is, and the cleaning operation will be disabled and stopped. means.

In the seventh condition, both rechargeable batteries have a current output voltage (V) smaller than the operation prohibition voltage (Vc), so it is determined that they should not be operated. Turn off all without selecting.
That is, as in the open state of the power switch, the battery cell of the rechargeable battery is disconnected from the power supply unit 22 and cannot be cleaned or switched to another rechargeable battery.

Further, in the 11th to 19th conditions, when the cell information and temperature information of one rechargeable battery are “abnormal”, the output voltage (V) of the other rechargeable battery that is “normal” is at least a threshold. If it is equal to or higher than the value voltage (Va ₂ ), it means that the other rechargeable battery that is “normal” is selected and the cleaning operation is continued.
However, when the output voltage (V) of the other rechargeable battery is smaller than any of Va ₁ , Va ₂ , and Vc, the cleaning operation is also stopped without selecting the rechargeable battery.

In the twentieth and twenty-first conditions, the cell information and temperature information of only one of the rechargeable batteries is “normal”, and the output voltage (V) is at least equal to or higher than the threshold voltage (Va ₂ ). This means that one of the rechargeable batteries is selected and cleaning operation is permitted.

The conditions from the 22nd to the 31st indicate that the cleaning operation should not be performed because either or both of the cell information and the temperature information of the two rechargeable batteries are “abnormal”, and the output voltage Regardless of the value of (V), it means that cleaning is stopped without selecting a rechargeable battery.

Note that the conditions and processing contents shown in FIG. 4 do not indicate all operations, and other conditions may exist.
When a plurality of rechargeable batteries are mounted, when the condition as shown in FIG. 4 is satisfied, one rechargeable battery is selected from among operable rechargeable batteries, and an output voltage at which processing such as cleaning is possible Is output, the selected rechargeable battery is used to execute processing such as cleaning.
Accordingly, when there are a plurality of rechargeable batteries, the rechargeable battery that can be operated is selected using the cell information and the temperature information, and only when the rechargeable battery can be switched from one to the other, Since switching to the battery is performed, more efficient and long-time cleaning and running functions can be executed.

<Rechargeable battery connection selection process>
FIG. 6 shows a flowchart of one embodiment of the connection selection process for the rechargeable battery.
Here, when the power switch for turning on the power is pressed by the user while the self-propelled vacuum cleaner is stopped, one of the plurality of rechargeable batteries is selected. The process up to will be described.

First, an operable rechargeable battery is selected using cell information acquired for each rechargeable battery, temperature information, and an output voltage for each detected rechargeable battery.
When there are a plurality of rechargeable batteries that can be operated, one rechargeable battery to be used is selected based on the output voltage of the operable rechargeable battery or the number of times of charging. Thereafter, only one selected rechargeable battery is connected to the power supply unit 22.

In addition, when the cell information indicates that the battery cell of the rechargeable battery is in an abnormal state, when the temperature information indicates that the temperature is outside the predetermined normal operating range of the rechargeable battery, the output voltage is When there is a rechargeable battery in which any one of cases where the voltage is lower than the predetermined output voltage threshold is present, the rechargeable battery is not selected as a rechargeable battery to be used.

In step S1, it is assumed that the power source of the cleaner body 2 is currently off. At this time, as shown to Fig.5 (a), all the changeover switches 23 are the open states.
In step S2, it is checked whether or not the power switch for turning on (turning on) the power is depressed by the user. If the power switch is input, the process proceeds to step S3. Otherwise, the process returns to the switch S1.
When the power switch is input, at least the control unit 21 and the connection switching unit 24 are activated.

In step S <b> 3, the control unit 21 outputs a signal to turn on the changeover switch 23 (connection state) to the connection switching unit 24, and the connection switching unit 24 turns on all the changeover switches 23. Thereby, the battery cells 12 of all the rechargeable batteries are connected to the power supply unit 22.
In step S4, the voltage detection unit 25 detects the output voltage output from each rechargeable battery, and stores it in the storage unit 40 as the detected output voltage 44 for each rechargeable battery.

In step S <b> 5, the control unit 21 acquires cell information and battery ID information of each rechargeable battery via the communication unit 26 and stores them as received cell information 43. Here, a cell information request and a battery ID information request are transmitted to each rechargeable battery 1, and the control unit 11 of the rechargeable battery acquires the cell acquired by the cell state detection unit 13 in response to the received request. The information and the battery ID information specific to the rechargeable battery are transmitted to the communication unit 26 via the communication line 5, and the control unit 21 stores the transmitted cell information and battery ID information.

In step S <b> 6, the control unit 21 acquires temperature information of each rechargeable battery via the communication unit 26 and stores it as received temperature information 42. Here, a temperature information request is transmitted to each rechargeable battery 1, and the control unit 11 of the rechargeable battery transmits the temperature information detected by the temperature detection unit 15 via the communication line 5 to the communication unit 26 of the main body. Send to.
In step S <b> 7, the control unit 21 acquires the number of charging times of each rechargeable battery via the communication unit 26 and stores it as the number of times of receiving charging 41. Here, a charge count request is transmitted to each rechargeable battery 1, and the control unit 11 of the rechargeable battery reads the charge count 17 stored in the storage unit 16, and the main unit via the communication line 5. It transmits to the communication part 26.

In step S <b> 8, the control unit 21 checks whether there is a cell abnormality and a temperature abnormality of each rechargeable battery using the acquired reception cell information 43 and reception temperature information 42.
Here, if there is information indicating abnormality in the received cell information 43, the battery cell of the corresponding rechargeable battery is determined as “abnormal”, and if there is no information indicating abnormality, the battery cell is determined as “normal”. to decide.
Further, the received temperature information 42 is compared with the temperature determination value 47 stored in advance, and if the received temperature information is within the normal temperature range indicated by the temperature determination value, the temperature is determined to be “normal”. If the temperature is not within the normal temperature range, the battery cell temperature is determined to be “abnormal”.

In step S9, it is checked whether or not the battery model number of the acquired battery ID information is a compatible product. If it is a conforming product, the process proceeds to step S11. If it is not a conforming product, the process proceeds to step S10. In step S10, the connection of the non-conforming rechargeable battery is released, and the process proceeds to step S11.

In step S11, it is checked whether there is a rechargeable battery in which either cell abnormality or temperature abnormality is detected as a result of the above check. If there is a rechargeable battery in which at least one of cell abnormality and temperature abnormality is detected, the process proceeds to step S12, and the connection of the rechargeable battery in which the abnormality is detected is released.
Here, the changeover switch 23 connected to the battery cell 12 of the rechargeable battery in which the abnormality is detected is switched to release the connection point. Thereafter, the process proceeds to step S13.

On the other hand, for the rechargeable battery in which the cell state is normal and the temperature is normal, the connection state is continued as it is, and the process proceeds to step S13.
In step S <b> 13, the output voltage of each rechargeable battery detected by the voltage detection unit 25 is determined using the voltage determination condition 46.

In the flowchart of FIG. 6, since the vacuum cleaner is still in the cleaning stop state immediately after the power is turned on, as described above, the detected output voltage (V) 44 and the threshold voltage as shown in FIG. (Va ₂ , Vc) is compared, and it is checked whether or not the detected output voltage (V) satisfies V <Va ₂ or V <Vc.
For example, when V <Va ₂ and V <Vc, the detected output voltage V of the rechargeable battery is low, so it is determined that the rechargeable battery is not operable. On the other hand, when V ≧ Va ₂ , it is determined that the rechargeable battery is operable.

In step S14, it is checked whether or not there is a rechargeable battery determined that the output voltage decreases and is not operable. When all the rechargeable batteries are operable, the process proceeds to step S16. If there is a rechargeable battery that is not operable, the process proceeds to step S15, where the voltage drops and the connection of the rechargeable battery that is not operable is released.
That is, the changeover switch 23 connected to the rechargeable battery whose voltage has dropped is released. Thereafter, the process proceeds to step S16.

In step S16, it is checked whether or not there are a plurality of rechargeable batteries that can be operated. If there are a plurality, the process proceeds to step S19, and if not, the process proceeds to step S17.
In step S17, when there is no operable rechargeable battery, the process is terminated. Or you may alert | report to a user that there is no rechargeable battery which can be operated, or a charge of a rechargeable battery is required using a display or an audio | voice.

If there is only one rechargeable battery that can be operated in step S17, the process proceeds to step S18, the connection of that one rechargeable battery is maintained as it is, and the rechargeable battery that can be operated is indicated in the used battery information 45. The information is memorized.
In this case, one rechargeable battery is determined for the subsequent running process and cleaning process.
In step S19 to step S27, since there are a plurality of rechargeable batteries that can be operated, one rechargeable battery to be actually used is selected based on a preset selected battery condition 48.
In step S <b> 19, the selected battery condition 48 is read from the storage unit 40.

In step S20, it is checked whether or not the determination based on the output voltage is set in the condition 48. If the setting is made, the process proceeds to step S21. If not, in step S23, it is checked whether or not the determination based on the number of times of charging is set in the condition 48. If the setting is made, the process proceeds to step S24. Otherwise, the process proceeds to step S26.
In step S21, the magnitudes of output voltages of a plurality of operable rechargeable batteries are compared.
In step S22, it is determined that the rechargeable battery showing the maximum output voltage is used as a result of the comparison. Here, only the rechargeable battery with the highest output voltage is connected to the power supply unit 22 and the connection of the other rechargeable batteries is released.
Moreover, the information of the rechargeable battery decided to use is memorize | stored in the use battery information 45, and a process is complete | finished.
In addition, what is necessary is just to select arbitrary rechargeable batteries among those rechargeable batteries, when there are two or more rechargeable batteries with the same maximum output voltage.

In step S24, the number of charge times of a plurality of operable rechargeable batteries is compared.
In step S25, it is determined to use a rechargeable battery indicating the minimum number of times of charging as a result of the comparison. When there are a plurality of rechargeable batteries having the same minimum number of times of charging, an arbitrary rechargeable battery may be selected from those rechargeable batteries. Here, only the rechargeable battery with the minimum number of times of charging is connected to the power supply unit 22 and the connection of the other rechargeable batteries is released.
Moreover, the information of the rechargeable battery decided to use is memorize | stored in the use battery information 45, and a process is complete | finished.

In step S26, the numbers of rechargeable batteries that can be operated are compared.
In step S27, as a result of the comparison, it is determined that the rechargeable battery with the smallest number is used, only the rechargeable battery with the smallest number is connected to the power supply unit 22, and the other rechargeable batteries are disconnected.
Moreover, the information of the rechargeable battery decided to use is memorize | stored in the use battery information 45, and a process is complete | finished.

By the above processing, immediately after the power-on operation is performed by the user, all the rechargeable batteries are once connected to the power supply unit 22 to acquire predetermined information from each rechargeable battery, and the output voltage is detected and then acquired. Since one rechargeable battery to be used is selected using the output voltage and information, the rechargeable battery that cannot be operated is not selected, and the rechargeable battery that can be operated and used for a long time is appropriately selected. be able to.

<Rechargeable battery connection switching process>
7 and 8 show a flowchart of an embodiment of the rechargeable battery connection switching process of the present invention.
Here, a case where the rechargeable battery to be used is switched during the cleaning and running process after the power-on operation and one rechargeable battery to be used is selected by the connection selection process shown in FIG. 6 will be described. .
In this invention, when it is necessary to switch the rechargeable battery due to the occurrence of a cause such as a decrease in output of the rechargeable battery during the execution of the cleaning process and the travel process, once the cleaning process and the travel process are stopped. The rechargeable battery to be used is switched to another operable rechargeable battery.

In particular, when only a single rechargeable battery to be used is connected to the power supply unit 22 and a predetermined function is executed, cell information, temperature information and output voltage of the rechargeable battery are newly acquired and acquired. Either the battery cell is in an abnormal state due to the cell information, the acquired temperature information is in an abnormal state, or the detected output voltage is lower than the predetermined output voltage threshold In the case where it is detected that the above state has occurred, the connection switching unit 24 connects another operable rechargeable battery to the power supply unit 22 and the connection between the one rechargeable battery to be used and the power supply unit 22. Is released.

In step S51, it is assumed that the cleaner body is currently powered on and can be cleaned and traveled.
In step S52, it is checked whether or not there is an input for starting the cleaning function.
If there is a cleaning activation input, the process proceeds to step S53, and if not, the process returns to step S51. As an input for activating the cleaning function, for example, when the user presses the cleaning activation switch, an activation timer is set, and the set time of the timer has arrived.

In step S53, the traveling function unit 27 and the cleaning function unit 28 start predetermined cleaning processing and traveling processing.
In step S54, the used battery information 45 is read from the storage unit 40.
In step S55, cell information and temperature information are acquired via the communication line 5 from the rechargeable battery in use specified by the used battery information 45 among the plurality of rechargeable batteries, and further in use by the voltage detection unit 25. The output voltage output from the battery cell of the rechargeable battery is detected.
In step S56, similarly to step S8 described above, using the acquired cell information and temperature information, it is checked whether or not there is a cell abnormality and a temperature abnormality of the rechargeable battery in use.

In step S57, if the rechargeable battery in use has at least one of cell abnormality and temperature abnormality, the process proceeds to step S60, and if not, the process proceeds to step S58.
In step S58, as in step S11, it is determined whether or not the output voltage of the rechargeable battery in use has decreased. Again, the determination is made using the difference between the current detected output voltage (V) and the threshold voltage of FIG.

If it is determined in step S59 that the output voltage of the rechargeable battery in use is decreasing, the process proceeds to step S60, and if not, the process returns to step S53.
In step S60, when an abnormality occurs in the rechargeable battery in use, or when the output voltage falls below a predetermined value, the cleaning process and the traveling process currently being performed are stopped.

In step S61, as in steps S56 and S58, for other rechargeable batteries that are not currently used, it is checked whether there are cell abnormalities, temperature abnormalities, and output voltage drops.
Here, when the cell information, temperature information, and output voltage of other rechargeable batteries are acquired, and the acquired information is normal and the output voltage indicates a normal value, the other rechargeable batteries It is determined that the battery is operable.
On the other hand, when any one of cell abnormality, temperature abnormality, and output voltage is lower than a predetermined value is detected, it is determined that the rechargeable battery cannot operate.

In step S62, it is checked whether or not there are one or more operable rechargeable batteries among other rechargeable batteries. If there is no other rechargeable battery operable, the process proceeds to step S63, and if there is any other rechargeable battery operable, the process proceeds to step S64.

In step S63, since there is no other rechargeable battery that can replace the currently used rechargeable battery, the cleaning process and the traveling process are stopped, the still position is stopped, and other functions are also stopped.
Alternatively, if there is still enough power to return to the charging stand, for example, when the output power V of the rechargeable battery in use is smaller than Va _{1 and} greater than or equal to Vc (Vc ≦ V <Va ₁ ). The process of returning to a position where the charging stand is located may be executed.

In step S64, it is checked whether or not there are a plurality of operable rechargeable batteries other than the rechargeable battery in use. If there is a plurality, the process proceeds to step S71 in FIG. 8, and if only one exists, the process proceeds to step S65.
In step S <b> 65, the connection switching unit 24 switches the selector switch 23 so that one operable rechargeable battery is connected to the power supply unit 22. That is, while the rechargeable battery currently in use is connected to the power supply unit 22, another operable rechargeable battery is also connected to the power supply unit 22.

In step S66, the changeover switch 23 is switched so as to release the connection of the rechargeable battery in use.
In step S67, information on the rechargeable battery connected to the power supply unit 22 after the switching is stored in the used battery information 45.
In step S68, the cleaning process and the traveling process that have been stopped are restarted. Thereafter, the process returns to step S53, and the above-described series of processing is repeatedly executed.

In Steps S71 to S79 in FIG. 8, there are a plurality of rechargeable batteries that can be operated. These steps S71 to S79 correspond to steps S17 to S27 shown in FIG.

In step S71, first, the selected battery condition 48 previously set in the storage unit 40 is read.
In step S72, when the selected battery condition 48 is set to determine the output voltage, steps S73 and S74 are executed, and as a result of comparing the output voltages of a plurality of rechargeable batteries, the highest output voltage is shown. The rechargeable battery is connected to the power supply unit 22.
In step S75, if the selected battery condition 48 is set to be determined based on the number of times of charging, steps S76 and S77 are executed, and as a result of comparing the number of times of charging a plurality of rechargeable batteries, the minimum charging The rechargeable battery indicating the number of times is connected to the power supply unit 22.

Further, when the selected battery condition 48 is set to be determined according to the order of the number of rechargeable batteries, Steps S78 and S79 are executed, and a result of comparing a plurality of rechargeable battery numbers has the smallest number. The rechargeable battery is connected to the power supply unit 22.
In addition, when there are a plurality of rechargeable batteries having the same maximum output voltage or the same minimum number of times of charging, any one rechargeable battery may be selected. Thereafter, the process proceeds to step S66 of FIG.

As described above, when switching from a rechargeable battery in use to another rechargeable battery, after checking the state of other rechargeable batteries such as cell information, the rechargeable battery after switching is selected. Switching to a rechargeable battery that can reliably operate is prevented.
In addition, when it becomes necessary to switch to another rechargeable battery during cleaning or traveling, the cleaning process and the traveling process are temporarily stopped, then the rechargeable battery switching process is performed, and then the cleaning process is resumed. During cleaning, the voltage applied to the motor does not fluctuate greatly, and an unintended traveling operation or the like can be prevented.

<Other embodiments>
(Embodiment 1)
In the said embodiment, although cell information, temperature information, and output voltage were utilized as conditions for selecting the rechargeable battery which can operate | move, it is not restricted to these. For example, as other selection conditions, the number of times of charging and a threshold value of the number of times of charging are used, and a rechargeable battery whose current number of times of charging is equal to or greater than a preset number of times of charging can be operated. May be excluded from the rechargeable battery, or the priority order to be selected may be lowered.

(Embodiment 2)
The maximum output voltage and the minimum number of times of charging were used as a condition for selecting one rechargeable battery from a plurality of operable rechargeable batteries. , The order of magnitude of the detected output voltage and the order of magnitude of the obtained number of chargings may be checked, and priority may be given to each rechargeable battery when switching the rechargeable battery. When it is necessary to switch the rechargeable battery, the rechargeable batteries to be used may be selected in descending order of priority according to the priority order given using the number of times of charging.

(Embodiment 3)
In the said embodiment, although cell abnormality and temperature abnormality were utilized as conditions for detecting abnormality of a rechargeable battery, it is not restricted to this. For example, if the date of manufacture of the rechargeable battery can be obtained as information, use this date of manufacture to determine how many years ago the attached rechargeable battery was manufactured. A product manufactured before the predetermined number of years is not abnormal, but may be excluded from an operable rechargeable battery.
In addition, as other conditions for detecting an abnormality, for example, when a dew condensation sensor installed near the rechargeable battery is used and it is detected that dew condensation exceeding a preset level has occurred, it is determined as an abnormality. do it.

(Embodiment 4)
When there are a plurality of rechargeable batteries that can be operated, the output voltage, the number of times of charging, and the number of the rechargeable battery are used to select one rechargeable battery to be used. However, the present invention is not limited to this. For example, you may utilize the number which specifies the position which installs a rechargeable battery, the rated capacity of a battery, etc. When the rated capacity of the battery is used, a large-capacity rechargeable battery may be preferentially selected so that the first operation time until battery switching is always the longest.

1 rechargeable battery, 2 vacuum cleaner body, 4 power supply line, 5 communication line, 11 control unit, 12 battery cell, 13 cell state detection unit, 14 communication unit, 15 temperature detection unit, 16 storage unit, 17 charge count, 21 control Unit, 22 power supply unit, 23 switching switch, 24 connection switching unit, 25 voltage detection unit, 26 communication unit, 27 travel function unit, 28 cleaning function unit, 29 input unit, 30 operating power supply voltage, 40 storage unit, 41 receiving charge Number of times, 42 received temperature information, 43 received cell information, 44 detected output voltage, 45 used battery information, 46 voltage judgment condition, 47 temperature judgment value, 48 selected battery condition, 48 battery ID information, 49 battery ID information, 100 self-propelled vacuum cleaner

Claims (5)

A self-propelled electronic device having a plurality of rechargeable batteries,
A power supply unit for generating an operating power supply voltage of the electronic device;
A connection switching unit for connecting and releasing the power supply unit and each rechargeable battery;
A voltage detector for detecting an output voltage output from each rechargeable battery;
A first communication unit that communicates with each rechargeable battery and obtains predetermined information of each rechargeable battery;
A control unit,
The control unit selects one rechargeable battery to be used based on the information acquired from each rechargeable battery and the detected output voltage of each rechargeable battery,
The connection switching unit connects the selected rechargeable battery and the power supply unit,
The power supply unit generates an operation power supply voltage using power supplied from the connected rechargeable battery, and the control unit executes a predetermined function of the self-propelled electronic device. Self-propelled electronic equipment. Each of the rechargeable batteries includes a rechargeable battery cell, a cell state detection unit that detects the state of the battery cell, a storage unit that stores the number of times of charging, and a second communication unit.
The second communication unit transmits cell information indicating the state of the battery cell detected by the cell state detection unit and the number of times of charging stored in the storage unit to the first communication unit,
The control unit selects an operable rechargeable battery using the cell information acquired for each rechargeable battery and the detected output voltage for each rechargeable battery, and there are a plurality of rechargeable batteries operable. The self-propelled electronic device according to claim 1, wherein one rechargeable battery to be used is selected based on the output voltage of the operable rechargeable battery or the number of times of charging. Each of the rechargeable batteries further includes a temperature detection unit that detects the temperature of the battery cell,
The second communication unit transmits temperature information detected by the temperature detection unit to the first communication unit, and the control unit uses the received temperature information to select an operable rechargeable battery. The self-propelled electronic device according to claim 2. A power switch for performing power-on operation is further provided,
When the power switch is pressed,
After connecting all the rechargeable batteries to the power supply unit by the connection switching unit, the voltage detecting unit detects an output voltage output from each rechargeable battery, and the first communication unit is configured to detect each rechargeable battery. Receive cell information, temperature information, and detected number of charging times transmitted from the second communication unit,
The control unit selects one rechargeable battery to be used by using the received cell information, temperature information, number of times of charging, and output voltage of each rechargeable battery, and then selects one rechargeable battery selected by the connection switching unit. 4. The self-propelled electronic device according to claim 3, wherein only a rechargeable battery is connected to the power supply unit, and other rechargeable batteries are not connected to the power supply unit. When the cell information indicates that the battery cell of the rechargeable battery is in an abnormal state, when the temperature information indicates that the temperature is outside a predetermined normal operating range of the rechargeable battery, and If there is a rechargeable battery that has any of the cases where the output voltage is lower than the predetermined output voltage threshold,
The self-propelled electronic device according to claim 4, wherein the rechargeable battery is not selected as a rechargeable battery to be used.

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