Vacuum cleaner

Abstract

A vacuum cleaner comprising: a vacuum motor; a first sensor configured to generate a first sensor signal based on a sensed motion and orientation of the vacuum cleaner; a cleaner head comprising an agitator; one or more diagnostic sensors configured to generate a second sensor signal based on a sensed parameter of the cleaner head; and a controller configured to: process the generated first and second sensor signals to determine whether the vacuum cleaner is being actively used by a user; and in response to determining that the vacuum cleaner is being actively used, activate the vacuum motor.

Description

Technical Field

[0001] This disclosure relates to a vacuum cleaner. Specifically, but not exclusively, this disclosure relates to measures for operating a vacuum cleaner, including methods, apparatus, and computer programs. Background Technology

[0002] Generally speaking, there are four types of vacuum cleaners: "upright" vacuum cleaners, "cylindrical" vacuum cleaners (also known as "canister" vacuum cleaners), "handheld" vacuum cleaners, and "stick" vacuum cleaners.

[0003] Upright and cylindrical vacuum cleaners are often powered by a corded power supply.

[0004] Handheld vacuum cleaners are relatively small, highly portable vacuum cleaners, particularly suitable for relatively low-load applications, such as spot cleaning floors and interiors at home, and interior cleaning of cars and boats. Unlike upright and cylindrical vacuum cleaners, they are designed to be handheld during use and are often battery powered.

[0005] Stick vacuum cleaners may include handheld vacuum cleaners combined with a rigid, slim suction stick that effectively reaches the floor, allowing the user to remain standing while cleaning floor surfaces. The floor tool is typically attached to the end of the rigid, slim suction stick, or alternatively, may be integrated with the bottom of the stick.

[0006] Stick vacuum cleaners are typically operated by pressing a physical trigger switch, which activates the vacuum motor. When the trigger switch is released, the vacuum motor usually deactivates immediately. This has the advantage that the battery isn't unnecessarily drained, as users tend to release the trigger whenever possible, such as when moving between different areas. However, the extended cleaning period requiring the user to keep the physical trigger switch pressed can cause minor discomfort for some users.

[0007] The purpose of this disclosure is to mitigate or eliminate the aforementioned disadvantages and / or to provide an improved or alternative vacuum cleaner. Summary of the Invention

[0008] According to one aspect of this disclosure, a vacuum cleaner is provided, comprising: a vacuum motor; a first sensor configured to generate a first sensor signal based on sensed motion and orientation of the vacuum cleaner; a vacuum cleaner head including an agitator; one or more diagnostic sensors configured to generate a second sensor signal based on sensed parameters of the vacuum cleaner head; and a controller configured to: process the generated first and second sensor signals to determine whether the vacuum cleaner is being actively used by a user; and activate the vacuum motor in response to determining that the vacuum cleaner is being actively used.

[0009] Advantageously, the vacuum motor is activated when the controller determines from the first sensor and one or more diagnostic sensors that the user is actively using the vacuum cleaner. In this way, the controller automatically activates the vacuum motor when the user manipulates the vacuum cleaner and places the vacuum head on a surface, without requiring the user to press a physical trigger switch. This improves user comfort and convenience.

[0010] In an embodiment, determining that the vacuum cleaner is being actively used by the user includes determining that the user is holding and / or manipulating the vacuum cleaner in a manner that embodies vacuum cleaning operation.

[0011] In one embodiment, the controller is also configured to deactivate the vacuum motor in response to determining that the vacuum cleaner is no longer being actively used by the user.

[0012] In one embodiment, determining that the vacuum cleaner is no longer actively used by the user includes determining that the user has not held and / or manipulated the vacuum cleaner in a manner consistent with vacuum cleaning operations for a predetermined period of time. In this way, the vacuum motor remains operational until the predetermined period has elapsed, during which time the controller determines that the user has not actively used the vacuum cleaner. This prevents the vacuum motor from prematurely deactivating.

[0013] In this embodiment, the predetermined time period is in the range of 0.5 seconds to 5 seconds.

[0014] In one embodiment, the controller is configured to process the first sensor signal and the second sensor signal to determine whether the vacuum cleaner is being actively used when the vacuum motor is activated and when the vacuum motor is deactivated.

[0015] In one embodiment, the sensor signal is based solely on the sensed motion of the vacuum cleaner or solely on the sensed orientation of the vacuum cleaner.

[0016] In one embodiment, the first sensor includes an inertial measurement unit (IMU).

[0017] In one embodiment, the vacuum cleaner head also includes an agitator motor arranged to rotate an agitator, and the sensed vacuum cleaner head parameters include the agitator motor current.

[0018] In this embodiment, the sensed vacuum cleaner head parameters include the pressure applied to the vacuum cleaner head.

[0019] In this embodiment, the controller is configured to process the sensor signals by performing preprocessing and classification steps.

[0020] In one embodiment, the preprocessing step includes extracting features from the temporal portion of the sensor signal.

[0021] In one embodiment, the preprocessing step includes filtering the sensor signal.

[0022] In this embodiment, the classification step includes processing the extracted features using a machine learning classifier. Advantageously, the machine learning classifier can be pre-trained, for example, at a factory, by subjecting the vacuum cleaner to a variety of different cleaning activities / scenarios and defining how the vacuum cleaner should respond in each situation. Furthermore, the machine learning classifier can be further trained within the user's home environment.

[0023] In this embodiment, the machine learning classifier includes one or more of artificial neural networks, random forests, and support vector machines.

[0024] According to one aspect of this disclosure, a method of operating a vacuum cleaner is provided, comprising: generating a first sensor signal based on sensed motion and orientation of the vacuum cleaner; generating a second sensor signal from one or more diagnostic sensors of a vacuum cleaner head including a stirrer, the second sensor signal being based on sensed parameters of the vacuum cleaner head; processing the first sensor signal and the second sensor signal to determine whether the vacuum cleaner is being actively used by a user; and activating the vacuum motor of the vacuum cleaner in response to determining that the vacuum cleaner is being actively used.

[0025] According to one aspect of this disclosure, a computer program is provided comprising a set of instructions that, when executed by a computerized device, cause the computerized device to perform a method of operating a vacuum cleaner, the method comprising: generating a first sensor signal based on sensed motion and orientation of the vacuum cleaner; generating a second sensor signal from one or more diagnostic sensors including a vacuum cleaner head with an agitator, the second sensor signal being based on sensed parameters of the vacuum cleaner head; processing the first sensor signal and the second sensor signal to determine whether the vacuum cleaner is being actively used by a user; and activating the vacuum motor of the vacuum cleaner in response to determining that the vacuum cleaner is being actively used.

[0026] This disclosure is not limited to any particular type of vacuum cleaner. For example, aspects of this disclosure can be used with upright vacuum cleaners, canister vacuum cleaners, or handheld or "stick" vacuum cleaners.

[0027] It should be understood that features described with respect to one aspect of this disclosure may be incorporated into other aspects of this disclosure. For example, an aspect of the method may be incorporated into any feature described in the aspect of the reference device, and vice versa. Attached Figure Description

[0028] Embodiments of this disclosure will now be described by way of example with reference only to the illustrative accompanying drawings, in which:

[0029] Figure 1 This is a perspective view of a stick vacuum cleaner according to an embodiment of the present disclosure;

[0030] Figure 2 It is shown from below. Figure 1 A view of the vacuum cleaner head of a vacuum cleaner;

[0031] Figure 3 yes Figure 1 A schematic diagram of the electrical components of a vacuum cleaner;

[0032] Figure 4 yes Figure 1 A perspective view of the main body of a stick vacuum cleaner;

[0033] Figure 5a and Figure 5b According to embodiments of this disclosure, sensor signals are shown that correspond to linear acceleration and angular acceleration generated by the inertial measurement unit of a vacuum cleaner;

[0034] Figure 6 and Figure 7 According to embodiments of this disclosure, additional sensor signals are shown, corresponding to orientations generated by the inertial measurement unit of a vacuum cleaner;

[0035] Figure 8 According to embodiments of this disclosure Figure 3 A simplified schematic diagram of the electrical components of a vacuum cleaner, showing the electrical connections between sensors, human-machine interface, motor and controller;

[0036] Figure 9 This is a block diagram illustrating exemplary sensor signal processing performed by a controller according to various embodiments of the present disclosure;

[0037] Figure 10 This is a flowchart illustrating a method of operating a vacuum cleaner without a trigger according to an embodiment of the present disclosure;

[0038] Figure 11 The embodiments shown are applicable to the present disclosure. Figure 10 The method shown is an exemplary sensor signal processing performed by a controller;

[0039] Figure 12This is a flowchart illustrating a method for operating a vacuum cleaner based on a locking trigger according to an embodiment of the present disclosure;

[0040] Figure 13 This is a flowchart illustrating a method for operating a vacuum cleaner based on a time-of-flight sensor and a capacitance sensor according to an embodiment of the present disclosure;

[0041] Figure 14a and Figure 14b This illustrates an embodiment applicable to the present disclosure. Figure 13 An exemplary cleaning activity of the method shown in the figure;

[0042] Figure 15 This is a flowchart illustrating a method for operating a vacuum cleaner based on parameters from motion and orientation sensors and the vacuum cleaner head, according to embodiments of the present disclosure; and

[0043] Figure 16a and 16b This illustrates an embodiment applicable to the present disclosure. Figure 15 An exemplary cleaning activity using the methods shown in the figure. Detailed Implementation

[0044] Figures 1 to 4 A vacuum cleaner 2 according to an embodiment of the present disclosure is shown. The vacuum cleaner 2 is a "stick" vacuum cleaner, including a vacuum cleaner head 4 connected to a body 6 via a generally tubular elongated stick 8. The vacuum cleaner head 4 can also be directly attached to the body 6 to convert the vacuum cleaner 2 into a handheld vacuum cleaner. Other removable tools, such as crevice tools 3, dust brushes 7, and miniature motorized vacuum cleaner heads 5, can be directly attached to the body 6 or the end of the elongated stick 8 to suit different cleaning tasks.

[0045] The main body 6 includes a dirt separator 10, which in this case is a cyclone separator. The cyclone separator has a first cyclone stage 12 including a single cyclone and a second cyclone stage 14 including a plurality of parallelly arranged cyclones 16. The main body 6 also has a removable filter assembly 18, which is provided with a vent 20 through which air is exhausted from the vacuum cleaner 2. The main body 6 of the vacuum cleaner 2 has a pistol grip 22 positioned for user handling. At the upper end of the pistol grip 22 is a user input device in the form of a trigger switch 24, which is normally pressed to turn on the vacuum cleaner 2. However, in some embodiments, the physical trigger switch 24 is optional. Positioned below the lower end of the pistol grip 22 is a battery pack 26, which includes a plurality of rechargeable battery cells 27. A controller 50 and a vacuum motor 52 (including a fan driven by the motor) are disposed in the main body 6, behind the dirt separator 10.

[0046] exist Figure 2 The vacuum cleaner head 4 is shown from below. The vacuum cleaner head 4 has a housing 30 defining a suction chamber 32 and a base plate 34. The base plate 34 has a suction opening 36 through which air enters the suction chamber 32, and wheels 37 for engaging floor surfaces. The housing 30 defines an outlet 38 through which air enters the rod 8 from the suction chamber 32. Positioned within the suction chamber 32 is an agitator 40 in the form of a brush strip. The agitator 40 is driven by an agitator motor 54 to rotate within the suction chamber 32. In this embodiment, the agitator motor 54 is received within the agitator 40. The agitator 40 has a helical array of bristles 43 protruding from a groove 42 and is positioned within the suction chamber such that the bristles 43 protrude through the suction opening 36 to the outside of the suction chamber 34.

[0047] Figure 3 This is a schematic diagram of the electrical components of the vacuum cleaner 2. The controller 50 manages the power supply from battery cells 27 of the battery pack 26 to the vacuum motor 52. When the vacuum motor 52 is energized, this generates an airflow to create suction. Air carrying dirt is drawn into the suction chamber 32 through the suction opening 36 into the vacuum head 4 (or, when attached to one of other tools, such as a crevice tool 3, a mini electric vacuum head 5, or a dust brush 7). From there, air is drawn into the dirt separator 10 through the outlet 38 of the vacuum head 4, along the rod 8. The entrained dirt is removed by the dirt separator 10, and the relatively clean air is then drawn out of the vacuum cleaner 2 through the vacuum motor 52, through the filter assembly 18, and through the vent 20. Furthermore, the controller 50 also supplies power from the battery pack 26 to the agitator motor 54 of the vacuum head 4 via wires 56 arranged along the inside of the rod, causing the agitator 40 to rotate. When the vacuum cleaner head 4 is on a hard floor, it is supported by the wheels 37, and the base plate 34 and agitator 40 are spaced apart from the floor surface. When the vacuum cleaner head 4 rests on a carpeted surface, the wheels 37 sink into the carpet pile, and the base plate 34 (along with the rest of the vacuum cleaner head 4) is thus positioned lower. This allows carpet fibers to protrude toward (and potentially through) the suction opening 36, whereby they are agitated by the bristles 43 of the rotating agitator 40 to loosen dirt and dust.

[0048] The vacuum cleaner 2 according to an embodiment of the present disclosure includes additional components, which in Figure 3 and Figure 4As can be seen in the diagram. These include one or more of the following: a current sensor 58 for sensing the current drawn by the agitator motor 54 of the vacuum cleaner head 4; a pressure sensor 60 for sensing the pressure applied to the base plate 34 of the vacuum cleaner head 4; an inertial measurement unit (IMU) 62 sensitive to the movement and orientation of the body 6 of the vacuum cleaner 2; a human-machine interface (HCI) 64; one or more proximity sensors, typically in the form of a time-of-flight (TOF) sensor 72; a tool switching sensor 74; and a capacitive sensor 76 located in the pistol grip 22. Although the current sensor 58 is shown as being located in the vacuum cleaner head 4, it may alternatively be located in the body 6. For example, the current sensor 58 may be integrated as part of a controller 50, provided it is operable to sense the current supplied from the battery 26 to the agitator motor 54 via the wire 56. In the illustrated embodiment, a TOF sensor 72 is located at the end of the detachable lever 8, near where one of the vacuum cleaner head 4 or other tools 3, 5, 7 is attached. Additional TOF sensors 72 may be mounted on the removable tools 3, 5, 7 themselves. Each TOF sensor 72 generates a sensor signal based on the proximity of the object to the TOF sensor 72. Suitable TOF sensors 72 include radar or laser devices. A tool switching sensor 74 is located on the body 6 of the vacuum cleaner 2 and generates a signal based on whether tools 3, 4, 5, 7 or lever 8 are attached to the body 6. In an embodiment, the tool switching sensor 74 generates a signal based on the type of tools 3, 4, 5, 7 attached to the body 6 or lever 8. A capacitive sensor 76 is located in the pistol grip 22 and generates a signal based on whether the user is holding the pistol grip. In an embodiment, the vacuum cleaner 2 may include one or more additional IMUs. For example, the vacuum cleaner head 4 may include an IMU that is sensitive to the movement and orientation of the vacuum cleaner head 4 and generates additional sensor signals to supplement the sensor signals generated by the IMU 62 of the body 6. The IMU 62 may include one or more accelerometers, one or more gyroscopes, and / or one or more magnetometers.

[0049] like Figure 4As shown in more detail, the body 6 of the vacuum cleaner 2 defines a longitudinal axis 70 extending from the front end 9 to the rear end 11 of the body 6. When attached to the front end 9 of the body 6, the lever 8 is parallel to the longitudinal axis 70 (and in this case, collinear with the longitudinal axis 70). In the illustrated embodiment, the HCI 64 includes a visual display unit 65, more specifically a flat, full-color, backlit thin-film transistor (TFT) screen. The screen 65 is controlled by a controller 50 and receives power from a battery 26. The screen displays information to the user, such as error messages, indications of the operating mode of the vacuum cleaner 2, or indications of the remaining battery life of the 26. The screen 65 is substantially rear-facing (i.e., its plane is oriented substantially perpendicular to the longitudinal axis 70). Positioned below the screen 65 (in the vertical direction defined by the pistol grip 22) is a pair of control members 66, which also form part of the HCI 64, and each of the control members 66 is positioned adjacent to the screen 65 and configured to receive control input from the user. In one embodiment, the control element is configured to change the mode of the vacuum cleaner, for example, to manually increase or decrease the power of the vacuum motor 52. In another embodiment, the HCI 64 also includes an audio output device, such as a speaker 67, which can provide sound feedback to the user.

[0050] The IMU 62 generates sensor signals based on the motion and orientation of the main body 6 of the vacuum cleaner 2 in three spatial dimensions (x, y, and z). The motion includes the linear acceleration and angular acceleration of the main body 6. Figure 5a Exemplary generated IMU 62 sensor data corresponding to the linear acceleration of body 6 before, during, and after the cleaning operation are shown. The time scale shows the sample index acquired at a sampling rate of 25 Hz. The vertical scale is in units of gravitational acceleration. Traces 91a, 91b, and 91c correspond to the linear acceleration of body 6 in the x, y, and z directions, respectively. Figure 5b Showing the corresponding subject 6 in such Figure 5a Exemplary generated IMU 62 sensor data showing angular acceleration before, during, and after the same cleaning operation. Traces 92a, 92b, and 92c correspond to angular accelerations around the x, y, and z axes, respectively. Figure 5a and Figure 5b Of the two, vacuum cleaner 2 is initially static (at rest). This is followed by a cleaning phase, which includes the cleaning stroke, causing oscillating behavior in some of the generated sensor data. Finally, vacuum cleaner 2 returns to a static state. Figure 5a and Figure 5b The data shown has been smoothed, for example, by a bandpass filter or a lowpass filter. Figure 6Exemplary generated IMU 62 sensor data corresponding to the orientation of the body 6 about the y-axis during different handheld cleaning operations are shown. Specifically, interval 93a corresponds to cleaning of low-level surfaces (e.g., baseboards), interval 93b corresponds to the period when the body 6 is resting on a table, and interval 93c corresponds to cleaning of raised surfaces (e.g., ceilings, blinds, curtains, or the top of cabinets). Figure 7 The following are other exemplary generated IMU 62 sensor data corresponding to the orientation of the main body 6 about the y-axis during different cleaning operations using the electric vacuum cleaner heads 4 and 5. Trace 94a corresponds to cleaning under furniture using the main vacuum cleaner head 4 attached to the stick 8. Trace 94b corresponds to cleaning stairs using the mini electric vacuum cleaner head 5 directly attached to the main body 6 without using the stick 8. Trace 94c corresponds to normal upright vacuum cleaning using the vacuum cleaner head 4 attached to the stick 8. It should be understood that different cleaning activities cause different characteristics in the sensor data generated by the IMU 62. In this way, it should be understood that the IMU 62 sensor data can be processed to infer information about the cleaning activity being performed by the user using the vacuum cleaner or about the environment in which the vacuum cleaner is being operated.

[0051] Figure 8 An electrical layout diagram of a vacuum cleaner 2 according to an embodiment is schematically shown. In this embodiment, a controller 50 receives and processes signals generated by one or more of a trigger 24, a current sensor 58, a pressure sensor 60, an IMU 62, one or more TOF sensors 72, a tool switching sensor 74, and a capacitance sensor 76. The controller 50 has a memory 51 storing instructions, according to which it processes the sensor signals. Based on the processing of the sensor signals, the controller 50 controls one or more of a vacuum motor 52, agitator motor 54, and HCI 64 to enhance the operation of the vacuum cleaner 2 and thereby improve the user experience. Furthermore, exemplary improvements include improved dirt pickup and improved battery life.

[0052] Figure 9 This is a block diagram illustrating exemplary sensor signal processing performed by a controller 50 according to various embodiments of the present disclosure; unfiltered sensor signals 88 from one or more available sensors are received at the controller 50. Different embodiments utilize sensor signals from different sensors. Some embodiments utilize sensor signals from only one sensor (e.g., IMU 62). A bandpass filter or lowpass filter 82 filters the raw sensor signal 88 to generate a smoothed sensor signal 90 more suitable for further processing. At block 84, predetermined features F1, F2…F are extracted from the smoothed sensor signal. nThe features are then analyzed by classifier 86. In one embodiment, classifier 86 determines from the extracted features a specific cleaning activity performed by a user using vacuum cleaner 2. In other embodiments, classifier 86 determines from the extracted features a specific surface type on which vacuum cleaner 2 is operating. In other embodiments, classifier 86 determines from the extracted features whether vacuum cleaner 2 is being actively used to assist in providing triggerless vacuum cleaner 2. After determining the above, controller 50 causes actions involving one or more of vacuum motor 52, agitator motor 54, and HCI 64 to be performed, these actions being configured to depend on the output of classifier 86 and optionally on the state of trigger 24. It should be understood that filter 82, feature extraction block 84, and classifier 86 are typically implemented as software modules that execute on or under the control of controller 50. Controller memory 51 stores a set of instructions defining the operation of filter 82, feature extraction block 84, and classifier 86, and the resulting actions. In this embodiment, the classifier is based on a machine learning classifier, such as an artificial neural network, random forest, support vector machine, or any other suitable trained model. This model can be pre-trained, for example, in a factory using supervised learning methods. A sliding window method is typically used to span filtered sensor signals and extract features corresponding to specific time portions of the signal. Successive frames often overlap to some extent but are typically processed separately. It should be understood that it is not always necessary to receive and process sensor data from all available sensors. For example, in this embodiment, controller 50 may process only IMU 62 sensor data to obtain the classifier output. Furthermore, in the case of IMU 62 sensor data, controller 50 may, for example, consider only IMU 62 sensor data related to the orientation of the vacuum cleaner 2, or only IMU 62 sensor data related to the acceleration of the vacuum cleaner 2.

[0053] Although Figures 1 to 4 The vacuum cleaner 2 shown includes a physical trigger 24, which is typically used to activate the vacuum motor 52 when the trigger 24 is pressed. However, it is understood that for user comfort, it is desirable to relax the requirement of keeping the trigger 24 pressed during vacuum cleaning operations. In fact, some embodiments described below can operate the vacuum cleaner 2 without pressing the trigger 24 at all. Therefore, in embodiments, the provision of the physical trigger 24 may be optional, so that it can be completely omitted from the vacuum cleaner 2.

[0054] Figure 10This is a flowchart illustrating a method 230 for operating a vacuum cleaner 2 according to an embodiment. In step 232, sensor signals are generated by multiple different sensors of the vacuum cleaner. These may include any combination of an IMU 62, a TOF sensor 72, a current sensor 58, a pressure sensor 60, a capacitance sensor 76, and a tool switching sensor 74. In step 234, a first module of the controller 50 processes the generated sensor signals to generate multiple control signals. In step 236, a second module of the controller 50 processes the multiple control signals to generate an output signal indicating the current use of the vacuum cleaner 2. In step 238, the vacuum motor 52 is activated or deactivated according to the output signal.

[0055] refer to Figure 11 The first module 100 receives sensor signals generated by various sensors available on the vacuum cleaner 2. It should be understood that not all sensors are always necessary to be present, i.e., mounted on the device. For example, in embodiments where the current sensor 58 and pressure sensor 60 are located on or within the removable vacuum cleaner head 4, but the vacuum cleaner 2 is operating with the crevice tool 7 rather than with the vacuum cleaner head 4, the current sensor 58 and pressure sensor 60 are not present in this case. However, regarding the addition or removal of sensors that provide signals to the first module 100, Figure 11 The general architecture listed is flexible. The first module 100 periodically generates multiple control signals 101 (e.g., once per second) based on the processing of the generated sensor signals. For example, the control signal “ctrl_detectedHAND” indicates whether the user is holding the handle (pistol grip 22) of the vacuum cleaner 2, as sensed by the capacitive sensor 76. The control signal “ctrl_toolType” indicates the type of tool 3, 4, 5, 7 attached to the body 6 or the handle 8, as sensed by the tool switching sensor 74. The control signal “ctrl_cleaningShortTool” indicates whether the user is operating the vacuum cleaner 2 in a manner that reflects a cleaning operation using a tool directly attached to the body 6. The control signal “ctrl_cleaningLongTool” indicates whether the user is operating the vacuum cleaner in a manner that reflects a cleaning operation using a tool attached to the handle 8. In this embodiment, the processing of the generated sensor signals performed by the first module 100 is based on the above reference. Figure 9 The method described. Specifically, in an embodiment, the first module 100 is configured to process the generated sensor signal by performing a preprocessing step (filtering and feature extraction) and a classification step (based on a machine learning classifier). In this regard, the classifier 86 is configured to provide a plurality of control signals 101.

[0056] Multiple control signals are analyzed by a second module 102, which generates an output signal 103 based on the control signal 101. The vacuum motor 52 is activated or deactivated based on the value of the output signal 103. In one embodiment, the output signal is a binary signal that turns the vacuum motor 52 on and off at an initial default power level. In other embodiments, the output signal may take one of several values, allowing the vacuum motor 52 to be turned on at different initial power levels (e.g., low, medium, and high) based on multiple control signals 101. A suitable architecture for the second module 102 is a finite state machine, where different states correspond to the states of the vacuum motor 52 (power level or on / off state). It should be understood that the first module 100 and the second module 102 can be implemented as a single software module executed by a single controller 50 or as separate software modules. Figure 11 The different stages of the signal processing chain listed provide a first module 100 and a second module 102, enabling the independent development of the two modules. For example, if the output control signal 101 uses a consistent format, changing the operation of the classifier in the first module 100 does not necessarily affect the operation of the second module 102. It should be understood that, in reference... Figure 10 and Figure 11 The general architecture described herein forms the basis of a triggerless vacuum cleaner 2 according to embodiments of this disclosure.

[0057] Figure 12 This is a flowchart illustrating a method 240 for operating a vacuum cleaner 2 according to an embodiment. In step 242, the vacuum motor 52 is activated (i.e., turned on) in response to user activation of a user input device. In step 244, a sensor signal is generated based on the sensed movement and orientation of the vacuum cleaner. In step 246, the generated sensor signal is processed by the controller 50 to determine whether the vacuum cleaner 2 is being actively used by the user. In step 248, in response to determining that the vacuum cleaner 2 is being actively used, the vacuum motor 52 remains in the active state. The user input device is typically a trigger 24, such that activation of the user input device involves pressing the trigger 24. However, unlike conventionally triggered devices, the user does not necessarily need to keep the trigger 24 continuously pressed during the vacuum cleaning period. This is because the vacuum motor 52 remains in the active state as long as the controller 50 determines that the vacuum cleaner 2 is being actively used by the user. Therefore, the vacuum cleaner 2 can be turned on by briefly pressing the trigger 24 (e.g., for a duration of less than half a second). Once turned on, the trigger 24 can be released, which improves user comfort. Thus, the trigger is effectively "locked" (in a non-mechanical sense). The capacitive sensor 76 located in the pistol grip 22 can form part or all of the user input device. For example, instead of the physical trigger 24, the action of the capacitive sensor 76, which detects the user's hand, can cause the activation of the vacuum motor 52.

[0058] In an embodiment, determining that the vacuum cleaner is being actively used by the user includes determining that the user is holding and / or manipulating the vacuum cleaner in a manner that embodies vacuum cleaning operation. In this regard, the controller 50 refers to the above. Figure 9 The described method processes sensor signals, such as those generated by IMU 62. If controller 50 determines that the vacuum cleaner is no longer actively used, for example when the vacuum cleaner is placed on a table, controller 50 deactivates vacuum motor 52 to conserve battery power. Controller 50 will typically wait a predetermined period of time (e.g., 0.5 to 5 seconds) before deactivating vacuum motor 52 to prevent vacuum motor 52 from turning off when the device is only temporarily stationary. If no movement is detected during this predetermined period, then vacuum motor 52 is deactivated. Once deactivated, the user is typically required to “relock” vacuum cleaner 2 before vacuum motor 52 can be reactivated, for example by briefly pressing trigger 24. In other words, in the embodiment, simply moving vacuum cleaner 2 around once it has been deactivated after a period of inactivity will not cause vacuum motor 52 to reactivate. Additional sensor readings may be used to determine whether the user is actively using the vacuum cleaner. Examples include readings from current sensor 58 and pressure sensor 60, which sense parameters of vacuum cleaner head 4.

[0059] Figure 13 This is a flowchart illustrating a method 250 for operating a vacuum cleaner 2 according to an embodiment. In step 252, a first sensor signal is generated by one or more Time-of-Flight (TOF) sensors 72. The first sensor signal depends on the proximity of an object to the one or more TOF sensors 72. In step 254, a second sensor signal is generated by a capacitive sensor 76, which depends on whether the user is holding the handle 22 of the vacuum cleaner. In step 256, the first and second sensor signals are processed by a controller 50 to determine whether the vacuum cleaner 2 is being actively used by the user. In step 258, in response to determining that the vacuum cleaner 2 is being actively used, the vacuum motor 52 is activated. The controller 50 is referenced above. Figure 9 The described method for processing sensor signals.

[0060] Figure 14a and Figure 14b This illustrates an exemplary scenario where a TOF sensor 72 and a capacitive sensor 76 are used to trigger a vacuum cleaner 2. In this example, a crevice tool 3, including the TOF sensor 72, is directly attached to the body 6. The user wishes to clean some dirt 96 from a crevice 97b formed between the floor 98a and the wall 98c. Figure 14aIn this configuration, the user's hand (not shown) grips the pistol-style grip 22 of the main body 6, which is detected by a capacitive sensor 76 located in the grip 22. The TOF sensor 72 may be a radar or laser device that emits and receives electromagnetic or acoustic radiation 73 to determine the proximity of objects and surfaces. Figure 14a In this case, the TOF sensor 72 detects that the object (in this case, the slit 97b) is far from a predetermined threshold distance. Therefore, the vacuum motor 52 is not activated and remains off, thus conserving battery power. Figure 14b In this scenario, the user has moved the vacuum cleaner 2 closer to the crevice 97b, bringing it within a predetermined threshold distance from the TOF sensor 72. Therefore, the controller 50 determines that the vacuum cleaner 2 is being actively used and promptly activates the vacuum motor 52 to effectively remove dirt 96. When the user moves the vacuum cleaner 2 away from the crevice 97b, the TOF sensor 72 detects this, and the vacuum motor 52 is deactivated. Thus, the vacuum cleaner 2 can be activated and deactivated as needed without pressing the physical trigger 24. When storing the vacuum cleaner 2, the user's hand will not be holding the handle 22, and therefore the vacuum motor 52 will not be activated even if the object is within the predetermined distance of the TOF sensor 72. In this embodiment, the predetermined threshold distance depends on the type of detachable tool attached to the vacuum cleaner 2. This is likely desirable to allow the vacuum cleaner 2's response to adapt to different cleaning scenarios. For example, when using the dust brush 7, the predetermined threshold distance can be smaller than when using the crevice tool 3, because the vacuum motor 52 only needs to be activated when the dust brush 7 is actually resting on the surface being cleaned.

[0061] Figure 15 This is a flowchart illustrating a method 260 for operating a vacuum cleaner 2 having a vacuum cleaner head 4 according to an embodiment. In step 262, a first sensor signal is generated based on the sensed movement and orientation of the vacuum cleaner. For example, the first sensor signal may be generated by an IMU 62. In step 264, a second sensor signal is generated based on the sensed parameters of the vacuum cleaner head 4. The second sensor signal may be generated by a current sensor 58 and / or a pressure sensor 60. In step 266, the first and second sensor signals are processed by a controller 50 to determine whether the vacuum cleaner 2 is being actively used by a user. In step 268, in response to determining that the vacuum cleaner 2 is being actively used, the vacuum motor 52 is activated. The controller 50 is referenced above. Figure 9 The described method for processing sensor signals.

[0062] Figure 16a and Figure 16b An exemplary scenario is shown where the operation of the vacuum cleaner 2 is triggered using signals from a first sensor and a second sensor. Figure 16aIn this configuration, the vacuum cleaner 2 remains stationary within the docking portion 99, which is mounted to the wall 98c. The vacuum cleaner head 4 is attached to the rod 8, which in turn is attached to the body 6. When the vacuum cleaner 2 is suspended in the docking portion 99 in this manner, the pressure applied to the vacuum cleaner head 4 is minimal or zero. Furthermore, the IMU 62 will sense that the vacuum cleaner 2 is not undergoing any movement and remains in a fixed orientation. Figure 16b In the middle, the vacuum cleaner 2 has been removed by the user from the docking part 99. The vacuum cleaner head 4 is placed on the floor 98a, and the user begins to move the vacuum cleaner 2 forward to begin cleaning the floor. The controller 50 is referenced above. Figure 9 The described method processes sensor signals from IMU 62 and diagnostic sensors 58, 60 associated with vacuum cleaner head 4. This allows controller 50 to determine that the user is now actively using vacuum cleaner 2. Therefore, controller 50 activates vacuum motor 52 without requiring the user to press trigger 24.

[0063] It should be understood that any feature described with respect to any embodiment and / or aspect may be used alone or in combination with other features described, and may also be used in combination with one or more features of any other embodiment and / or aspect or any combination of other embodiments and / or aspects. For example, it should be understood that features and / or steps described with respect to a given one of methods 230, 240, 250, 260 may be included to replace or supplement features and / or steps described with respect to another one of methods 230, 240, 250, 260.

[0064] In embodiments of this disclosure, the vacuum cleaner 2 includes a controller 50. The controller 50 is configured to perform the various methods described herein. In embodiments, the controller includes a processing system. Such a processing system may include one or more processors and / or memory. Each device, component, or function described with respect to any example described herein (e.g., IMU 62 and / or HCI 64) may similarly include a processor or may be included in a device including a processor. One or more aspects of the embodiments described herein include processes performed by the device. In some examples, the device includes one or more processors configured to perform these processes. In this respect, embodiments may be implemented at least in part by computer software stored in (non-transitory) memory and executable by a processor, or by hardware, or by a combination of software and hardware (and firmware) in tangible storage. Embodiments also extend to computer programs, particularly those suitable for putting the above embodiments into practice on or in a carrier. The carrier may be any entity or device capable of carrying a program, such as RAM, ROM, or optical memory devices.

[0065] One or more processors in the processing system may include a central processing unit (CPU). One or more processors may include a graphics processing unit (GPU). One or more processors may include one or more of a field-programmable gate array (FPGA), a programmable logic device (PLD), or a complex programmable logic device (CPLD). One or more processors may include an application-specific integrated circuit (ASIC). Those skilled in the art will understand that many other types of devices besides the examples provided can be used to provide one or more processors. One or more processors may include multiple processors located in the same location or multiple processors located in different locations. Operations performed by one or more processors may be performed by one or more of hardware, firmware, and software. It should be understood that the processing system may include more, fewer, and / or different components than those described.

[0066] The techniques described herein can be implemented in software or hardware, or using a combination of software and hardware. They may include configuring devices to perform and / or support any or all of the techniques described herein. Although at least some aspects of the examples described herein with reference to the accompanying drawings include computer processes executed in a processing system or processor, the examples described herein are also extended to computer programs suitable for putting the examples into practice, such as computer programs on or within a carrier. A carrier can be any entity or device capable of carrying a program. A carrier may include computer-readable storage media. Examples of tangible computer-readable storage media include, but are not limited to, optical media (e.g., CD-ROM, DVD-ROM, or Blu-ray), flash memory cards, floppy disks, or hard disks, or any other medium capable of storing computer-readable instructions such as firmware or microcode in at least one ROM or RAM or programmable ROM (PROM) chip.

[0067] In the foregoing description, where references are made to an entirety or element having a known, obvious, or foreseeable equivalent, such equivalents are incorporated herein as if separately stated. The true scope of this disclosure should be determined with reference to the claims, which should be interpreted to include any such equivalents. The reader will also understand that entireties or features of this disclosure described as preferred, advantageous, convenient, etc., are optional and do not limit the scope of the independent claims. Furthermore, it should be understood that such optional entireties or features, while potentially beneficial in some embodiments of this disclosure, may be undesirable in others and therefore may be absent.

Claims

1. A vacuum cleaner, comprising: Vacuum motor; A first sensor is configured to generate a first sensor signal based on the sensed motion and orientation of the body of the vacuum cleaner in three spatial dimensions, the first sensor including an inertial measurement unit (IMU); Vacuum cleaner head, including agitator; One or more diagnostic sensors are configured to generate a second sensor signal based on parameters sensed from the vacuum cleaner head; as well as The controller is configured as follows: Processing the generated first and second sensor signals to determine whether the vacuum cleaner is being actively used by the user; and In response to determining that the vacuum cleaner is being actively used, the vacuum motor is activated. The parameters sensed by the vacuum cleaner head include the pressure applied to the vacuum cleaner head.

2. The vacuum cleaner according to claim 1, wherein, Determining that the vacuum cleaner is being actively used by the user includes determining that the user is holding and / or manipulating the vacuum cleaner in a manner that embodies vacuum cleaning operation.

3. The vacuum cleaner according to claim 1, wherein, The controller is also configured to deactivate the vacuum motor in response to determining that the vacuum cleaner is no longer being actively used by the user.

4. The vacuum cleaner according to claim 3, wherein, Determining that the vacuum cleaner is no longer being actively used by the user includes determining that the user has not held and / or manipulated the vacuum cleaner in a manner consistent with vacuum cleaning operations for a predetermined period of time.

5. The vacuum cleaner according to claim 4, wherein, The predetermined time period is in the range of 0.5 seconds to 5 seconds.

6. The vacuum cleaner according to any one of the preceding claims, wherein, The controller is configured to process the first sensor signal and the second sensor signal to determine whether the vacuum cleaner is being actively used when the vacuum motor is activated and when the vacuum motor is deactivated.

7. The vacuum cleaner according to any one of claims 1 to 5, wherein, The sensor signals are based solely on the sensed motion of the vacuum cleaner or solely on the sensed orientation of the vacuum cleaner.

8. The vacuum cleaner according to any one of claims 1 to 5, in, The vacuum cleaner head also includes an agitator motor, which is arranged to rotate the agitator. Among the parameters sensed by the vacuum cleaner head is the agitator motor current.

9. The vacuum cleaner according to any one of claims 1 to 5, wherein, The controller is configured to process the sensor signals by performing preprocessing and classification steps.

10. The vacuum cleaner according to claim 9, wherein, The preprocessing step includes extracting features from the temporal portion of the sensor signal.

11. The vacuum cleaner according to claim 9, wherein, The preprocessing step includes filtering the sensor signal.

12. The vacuum cleaner according to claim 10, wherein, The classification step includes processing the extracted features using a machine learning classifier.

13. The vacuum cleaner according to claim 12, wherein, The machine learning classifier includes one or more of artificial neural networks, random forests, and support vector machines.

14. A method of operating a vacuum cleaner, comprising: The first sensor signal is generated based on the sensed motion and orientation of the body of the vacuum cleaner in three spatial dimensions using a first sensor, which includes an inertial measurement unit (IMU). A second sensor signal is generated by one or more diagnostic sensors of a vacuum cleaner head including a stirrer, the second sensor signal being based on parameters of the sensed vacuum cleaner head; Process the first sensor signal and the second sensor signal to determine whether the vacuum cleaner is being actively used by the user; and In response to determining that the vacuum cleaner is being actively used, the vacuum motor of the vacuum cleaner is activated. The parameters sensed by the vacuum cleaner head include the pressure applied to the vacuum cleaner head.

15. A computer-readable medium including a computer program, the computer program comprising a set of instructions, which, when executed by a computerized device, cause the computerized device to perform a method of operating a vacuum cleaner, the method comprising: The first sensor signal is generated based on the sensed motion and orientation of the body of the vacuum cleaner in three spatial dimensions using a first sensor, which includes an inertial measurement unit (IMU). A second sensor signal is generated by one or more diagnostic sensors in a vacuum cleaner head, including a stirrer, the second sensor signal being based on parameters sensed from the vacuum cleaner head; Process the first sensor signal and the second sensor signal to determine whether the vacuum cleaner is being actively used by the user; and In response to determining that the vacuum cleaner is being actively used, the vacuum motor of the vacuum cleaner is activated. The parameters sensed by the vacuum cleaner head include the pressure applied to the vacuum cleaner head.

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