Autonomous travel type cleaner

Abstract

To avoid performance of a behavior not desired by a user by erroneously depressing a button during stopping of an autonomous travel type cleaner.SOLUTION: A control section determines that a start / stop button is depressed (Y in step S1). The control section determines whether an autonomous travel type cleaner is being charged. When being-charged is determined (Y in step S2), the control section determines whether the autonomous travel type cleaner is being operated. When being-operated is determined (Y in step S4), the operation of the autonomous travel type cleaner is stopped. In the meantime, when being-charged is determined in the step S2, the control section does not execute a function corresponding to the start / stop button (step S3).SELECTED DRAWING: Figure 11

Description

[Technical field]

[0001] The present disclosure relates to autonomous vacuum cleaners. [Background technology]

[0002] Patent Document 1 discloses an autonomous vacuum cleaner having a main body operation unit with a power ON / OFF button, a cleaning mode selection button, a stop button, a charging button, etc., on the top surface of the vacuum cleaner body. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2022-26355 Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology described in Patent Document 1, for example, when the autonomous vacuum cleaner is stopped, such as during charging, there is a possibility that a user may accidentally press a button, causing the autonomous vacuum cleaner to perform an operation that the user does not want. [Means for solving the problem]

[0005] The autonomous vacuum cleaner of the present disclosure is an autonomous vacuum cleaner having a start / stop button, which is a button for instructing the autonomous vacuum cleaner to start operating or to stop operating, and when the autonomous vacuum cleaner is not operating, it will not start operating even if the start / stop button is pressed, and when the autonomous vacuum cleaner is operating, it will stop operating. Effect of the Invention

[0006] According to the present disclosure, even if the start / stop button is accidentally pressed while the autonomous vacuum cleaner is stopped, the autonomous vacuum cleaner will not start operating, thereby preventing the user from starting an operation that he or she does not want to operate.

[0007] In addition, since operation is stopped while the autonomous vacuum cleaner is in operation, operation can be forcibly stopped if the autonomous vacuum cleaner becomes stuck, for example. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram showing an example of a configuration of a vacuum cleaner system according to an embodiment. [Diagram 2] FIG. 2 is a perspective view of the autonomously traveling vacuum cleaner according to the embodiment, as viewed from above and in front. [Diagram 3] FIG. 3 is a top view of the autonomously traveling vacuum cleaner according to the embodiment. [Figure 4] FIG. 4 is a left side view of the autonomously traveling vacuum cleaner according to the embodiment. [Diagram 5] FIG. 5 is a front view of the autonomously traveling vacuum cleaner according to the embodiment. [Figure 6] FIG. 6 is a bottom view of the autonomously traveling vacuum cleaner according to the embodiment. [Figure 7] FIG. 7 is a perspective view of the autonomously traveling vacuum cleaner according to the embodiment, as viewed from below and in front. [Figure 8] FIG. 8 is a block diagram showing an example of a functional configuration of the autonomously traveling vacuum cleaner according to the embodiment. [Figure 9] FIG. 9 is a block diagram showing an example of a main configuration of a server according to the embodiment. [Figure 10] FIG. 10 is a block diagram illustrating an example of a functional configuration of a communication terminal according to an embodiment. [Figure 11] FIG. 11 is a flow diagram showing the operation of the autonomously traveling vacuum cleaner in the first embodiment. [Figure 12] FIG. 12 is a flow diagram showing the operation of the autonomously traveling vacuum cleaner in the second embodiment. [Figure 13] FIG. 13 is a block diagram showing an example of a functional configuration of the autonomously traveling vacuum cleaner according to the third and fourth embodiments. [Figure 14]FIG. 14 is a flow diagram showing an example of the operation of the autonomously traveling vacuum cleaner in the third embodiment. [Figure 15] FIG. 15 is a flow diagram showing an example of the operation of the autonomously traveling vacuum cleaner in the fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, the embodiments will be described in detail with reference to the drawings. Note that the embodiments described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, the arrangement and connection forms of the components, steps, and the order of steps shown in the following embodiments are merely examples and are not intended to limit the scope of the claims. Also, each figure is not necessarily a strict illustration. In each figure, substantially the same configuration is given the same reference numeral, and duplicated explanations may be omitted or simplified.

[0010] Note that each drawing is a schematic diagram and is not necessarily a precise illustration. In addition, in each drawing, the same reference numerals are used for substantially the same configurations, and duplicated explanations may be omitted or simplified.

[0011] The first embodiment is an autonomous vacuum cleaner having a start / stop button. The start / stop button is a button for instructing the autonomous vacuum cleaner to start operating or to stop operating, and when the autonomous vacuum cleaner is not operating, the autonomous vacuum cleaner will not start operating even if the start / stop button is pressed, and when the autonomous vacuum cleaner is operating, the autonomous vacuum cleaner stops operating.

[0012] According to the first embodiment, it is possible to prevent the button from being pressed accidentally to start operation when the autonomous vacuum cleaner is stopped. Since it may be necessary to make an emergency stop during operation, the operation is stopped when the button is pressed.

[0013] In the second embodiment, after the autonomous vacuum cleaner stops operating, it resumes operation when the start / stop button is pressed again.

[0014] According to the second embodiment, if the vacuum cleaner becomes stuck or becomes unable to move while automatically cleaning, such as at night, the user can easily resume operation by returning the vacuum cleaner to an operable state and pressing the button again.

[0015] In a third embodiment, after an autonomous vacuum cleaner stops operation when the start / stop button is pressed, the autonomous vacuum cleaner does not resume operation even if the start / stop button is pressed again, but can be resumed by remote control.

[0016] According to the third embodiment, it is possible to prevent the button from being pressed accidentally during an emergency stop, causing the operation to be restarted.

[0017] In a fourth embodiment, the driving is a driving for creating a map. This can prevent the user from accidentally pressing a button and starting map creation automatically.

[0018] (Embodiment) [1. Configuration] [Vacuum Cleaner System] First, a configuration of a vacuum cleaner system according to an embodiment will be described. Fig. 1 is a diagram showing an example of the configuration of a vacuum cleaner system according to an embodiment.

[0019] The vacuum cleaner system 400 can store information such as the current position of the autonomous vacuum cleaner 100, the operating state, and the amount of dirt sucked by the autonomous vacuum cleaner 100 in the server 200, and create a map based on the information stored in the server 200. The map is, for example, a map of the area cleaned by the autonomous vacuum cleaner 100, and the information contained in the map includes information on the amount of dirt in each grid cell obtained by dividing the map into multiple grid cells, information on the movement history of the autonomous vacuum cleaner 100, areas that have been cleaned, and areas that have not been cleaned. Such a map is created and presented to the user. The map described above and the information contained in the map will be referred to as the map and map information hereinafter.

[0020] Also, for example, the vacuum cleaner system 400 performs control to switch the cleaning intensity of the autonomous vacuum cleaner 100 based on the presented map and in accordance with an instruction input by the user.

[0021] The vacuum cleaner system 400 includes, for example, an autonomous vacuum cleaner 100, a server 200, and a communication terminal 300.

[0022] The autonomous vacuum cleaner 100 is a vacuum cleaner that autonomously travels in a cleaning target area. The autonomous vacuum cleaner 100 is connected to a server 200 and a communication terminal 300, for example, via communication. Specifically, the autonomous vacuum cleaner 100 is wirelessly connected to a router 80, for example, via short-range wireless communication such as Bluetooth (registered trademark) or Wi-Fi (registered trademark). The router 80 further connects to a communication network 90, for example, using a communication protocol such as TCP / IP (Transmission Control Protocol / Internet Protocol). In this way, the autonomous vacuum cleaner 100 may be connected to the server 200 and the communication terminal 300 via the router 80 and the communication network 90.

[0023] In addition, the autonomous vacuum cleaner 100 may have not only the function of performing short-range wireless connection, but also the function of performing long-range wireless communication such as WiMAX (Worldwide Interoperability for Microwave Access) (registered trademark), and may have the function of connecting to a communication network via a cable.

[0024] The server 200 is an information processing device that receives and stores various information transmitted from the autonomous vacuum cleaner 100 and the communication terminal 300, and transmits information requested by the communication terminal 300 to the communication terminal 300. The server 200 is connected to the autonomous vacuum cleaner 100 and the communication terminal 300 via a communication network 90, for example.

[0025] The communication terminal 300 is a portable communication terminal used by a user, and may be, for example, a communication terminal that can be operated by a touch panel such as a smartphone, a mobile phone, or a personal computer. The communication terminal 300 is connected to the server 200 and the autonomous vacuum cleaner 100, for example, via a communication network 90. ​​An application program for checking the operating status of the autonomous vacuum cleaner 100 is installed in the communication terminal 300, and the user may check the operating status of the autonomous vacuum cleaner 100 on a map by starting the application installed in the communication terminal 300. The communication terminal 300 may also transmit to the autonomous vacuum cleaner 100 an instruction input by a user.

[0026] [Autonomous vacuum cleaner] Next, the configuration of the autonomous vacuum cleaner 100 will be specifically described with reference to Figures 2 to 7. Figure 2 is a perspective view of the autonomous vacuum cleaner 100 in the embodiment as viewed from above and in the front.

[0027] As shown in Fig. 2, the housing 1 of the autonomous vacuum cleaner 100 has an upper body 2 and a lower body 3, and a bumper 4 is disposed in front of the housing 1. One or more collision detection switches (not shown in Fig. 2) are disposed on the inside of the bumper 4, and when the bumper 4 collides with an obstacle, the bumper 4 moves toward the inside of the housing 1 and the switch is turned on, detecting that the bumper 4 has collided with the obstacle.

[0028] A cover 5 is disposed on the top surface of the housing 1 and behind the bumper 4. A dust collection container (not shown in FIG. 2) is disposed inside the cover 5. When a user presses the cover 5, the front or rear of the cover 5 is released, and the dust collection container can be removed from the housing 1.

[0029] A LiDAR (Light Detection and Ranging) 6 is disposed behind the cover 5. This LiDAR 6 can detect obstacles and the like around the housing 1 by rotating a light emitting section and a light receiving section around the axis of the center of the LiDAR 6. In addition, the autonomous vacuum cleaner 100 can also create a map of the area to be cleaned (for example, a room) by using this LIDAR 6.

[0030] The creation of the map can be started by the user placing the autonomous vacuum cleaner 100 in a room and then operating a button on the autonomous vacuum cleaner 100. The user can also create a map by remotely operating the autonomous vacuum cleaner 100 via the communication terminal 300.

[0031] One method for creating a map by remote control is for a user to watch the autonomous vacuum cleaner 100 and operate the communication terminal 300 to remotely move the autonomous vacuum cleaner 100 to create a map.

[0032] Alternatively, another method of creating a map by remote operation is, for example, to mount a camera on the autonomous vacuum cleaner 100, display an image taken by this camera on the display unit of the communication terminal 300, and have the user remotely move the autonomous vacuum cleaner 100 by operating the communication terminal 300 while looking at the display unit of the communication terminal 300, thereby creating a map.

[0033] In this case, the image captured by the camera and the map being created sequentially may be simultaneously displayed on the display unit of the communication terminal 300. In this case, the user can check the current situation of the autonomous vacuum cleaner 100 by looking at the image captured by the camera, and further, the user can check how much of the map has been created by looking at the map being created sequentially.

[0034] In either case, the autonomous vacuum cleaner 100 and the communication terminal 300 may be wirelessly connected so that the communication terminal 300 can directly send remote control instructions to the autonomous vacuum cleaner 100, or the autonomous vacuum cleaner 100 and the communication terminal 300 may be connected via the Internet so that the communication terminal 300 can send remote control instructions to the autonomous vacuum cleaner 100.

[0035] A start / stop button 500 is disposed on the rear of the housing. The start / stop button 500 is used to, for example, start cleaning or map creation, or to stop or halt cleaning or map creation. This is the button.

[0036] Fig. 3 is a top view of the autonomous vacuum cleaner 100 according to the embodiment. In Fig. 3, the front side, rear side, left side, and right side of the autonomous vacuum cleaner 100 are indicated by arrows, respectively.

[0037] 3, a bumper 4 having a substantially U-shaped configuration when viewed from above is disposed in front of the housing 1, and an upper body 2 is disposed behind the housing 1. A cover 5 is disposed between the bumper 4 and the upper body 2, and a LIDAR 6 is disposed behind the cover 5.

[0038] The bumper 4 is biased toward the front of the housing 1 by a spring (not shown in FIG. 3) disposed inside, and a gap exists between the bumper 4 and the upper body 2. When the bumper 4 collides with an obstacle, the bumper 4 can move rearward by the amount of this gap against the force of the spring. A start / stop button 500 is located at the rear of the housing.

[0039] A full lamp 700 is disposed at the front of the housing. When the dust collection container is full of dust, this full lamp 700 lights up or flashes. The full lamp 700 can also change its emitted color.

[0040] Fig. 4 is a left side view of the autonomous vacuum cleaner 100 according to the embodiment. In Fig. 4, the front side, rear side, upper side, and lower side of the autonomous vacuum cleaner 100 are indicated by arrows.

[0041] 4, a bumper 4 is disposed in front of the housing 1, and an upper body 2 is disposed behind the bumper 4. Exhaust ports 7 are formed on the left and right side surfaces of the upper body 2, and a LiDAR 6 is disposed on the rear upper surface of the upper body 2. Side brushes 8 are disposed in front of the lower body 3, and rear wheels 9 are disposed behind the lower body 3.

[0042] Fig. 5 is a front view of the autonomous vacuum cleaner 100 according to the embodiment. In Fig. 5, the upper side, lower side, left side, and right side of the autonomous vacuum cleaner 100 are indicated by arrows, respectively.

[0043] 5, the front surface of the bumper 4 has two ultrasonic sensors 10, and an upper left sensor 11 and an upper right sensor 12 each consisting of a light emitting element and a light receiving element. The lower body 3 also has a lower left sensor 13 and a lower right sensor 14 each consisting of a light emitting element and a light receiving element, and side brushes 8 are disposed on both the left and right sides of the front of the lower body 3. The side brushes 8 may be disposed on either the right or left side of the front of the lower body 3.

[0044] The upper left sensor 11 and the lower left sensor 13 are located at approximately the same position (in other words, approximately on the same line) in the vertical direction of the housing 1. Similarly, the upper right sensor 12 and the lower right sensor 14 are located at approximately the same position (in other words, approximately on the same line) in the vertical direction of the housing 1.

[0045] As is clear from Fig. 4, the front of the lower body 3 forms a slope 15 that slopes from the front to the rear. Two recesses 16 are formed in this slope 15, and a left lower sensor 13 and a right lower sensor 14 are disposed in each of the two recesses 16.

[0046] In addition, the lower left sensor 13 and the lower right sensor 14 each have a window 17 formed therein, which is a surface that is approximately parallel to a surface perpendicular to the floor surface when the housing 1 is placed on the floor surface, and a light emitting element and a light receiving element are disposed inside the window 17. Even if dust is blown up from the floor surface, it is possible to reduce dust accumulation in recesses 16 in which the light emitting elements and light receiving elements of lower-left sensor 13 and lower-right sensor 14 are arranged. In addition, side brushes 8 are arranged near these windows 17, and when side brushes 8 rotate, wind generated by the rotation of side brush 8 hits window portion 17, making it possible to remove dust attached to window portion 17 by the wind. This makes it possible to prevent erroneous detection by lower-left sensor 13 and lower-right sensor 14 due to dust adhering to window portion 17.

[0047] Fig. 6 is a bottom view of the autonomous vacuum cleaner 100 according to the embodiment. In Fig. 6, the front side, rear side, left side, and right side of the autonomous vacuum cleaner 100 are indicated by arrows.

[0048] As shown in Fig. 6, rear wheels 9 are disposed behind the lower body 3, and a battery 18, which is a secondary battery such as a lithium-ion battery, is disposed in front of the rear wheels 9. A right drive wheel 19 and a left drive wheel 20 are disposed substantially in the center of the lower body 3, and a wheel support member 21 is connected to each of the right drive wheel 19 and the left drive wheel 20. The wheel support member 21 can move in the vertical direction of the housing 1 about an axis A. A wheel spring (not shown in Fig. 6) is disposed between each of the two wheel support members 21 and the lower body 3, and the wheel spring urges the wheel support member 21 and the right drive wheel 19 and the left drive wheel 20 toward the floor surface.

[0049] 6, a portion of the battery 18 is located between the right driving wheel 19 and the left driving wheel 20, but the battery 18 may be located behind the right driving wheel 19 and the left driving wheel 20. In this example, the battery 18 is located behind the housing 1, so that the center of gravity of the housing 1 is designed to be located behind the housing 1. For this reason, in this example, it is preferable that at least a portion of the battery 18 is located between the axes A of the two wheel support members 21.

[0050] As shown in FIG. 6, an intake port 22 for sucking in collected dust is formed forward of the battery 18 and forward of the right driving wheel 19 and the left driving wheel 20, and a main brush 23 is rotatably supported inside this intake port 22.

[0051] A step sensor 24 is disposed on each of the left and right sides of the main brush 23. The step sensor 24 is made up of a light-emitting portion and a light-receiving portion, and detects when the housing 1 approaches a step.

[0052] The main brush 23 may be disposed at the rear of the housing. For example, the battery 18 shown in FIG.

[0053] There is a recess 25 in front of the step sensor 24, and the side brushes 8 are disposed with their axis at approximately the center of this recess 25. The side brushes 8 rotate toward the suction port 22. Therefore, in FIG. 6, the left side brush 8 rotates clockwise, and the right side brush 8 rotates counterclockwise.

[0054] As described above, in the example of FIG. 6, the center of gravity G of the housing 1 is located behind the center of the main body (so-called housing 1). Therefore, it is not necessary to provide a step sensor 24 in front of the lower body 3. To be more specific, even if the housing 1 moves forward in the direction of the step until the step sensor 24 behind the side brush 8 detects the step, the center of gravity G of the housing 1 is located behind the right drive wheel 19 and the left drive wheel 20, so the autonomous vacuum cleaner 100 will not fall over the step and can perform cleaning right up to the edge of the step. In addition, Since there is no need to provide a step sensor 24 in front of the stepper 3, manufacturing costs can be reduced.

[0055] Fig. 7 is a perspective view of the autonomous vacuum cleaner 100 according to the embodiment, seen from the lower front side. As shown in Fig. 7, the front of the lower body 3 is a slope 15, and recesses 16 are formed on the left and right sides of the slope 15. Furthermore, a left lower sensor 13 and a right lower sensor 14 are disposed in these recesses 16, respectively.

[0056] As shown in Fig. 7, recesses 25 in which side brushes 8 are disposed are formed on the left and right sides of the front of the lower body 3, and these recesses 25 are formed up to the vicinity of the recess 16. The length of the side brushes 8 is such that they protrude beyond the recesses 25 toward the outside of the housing 1, and the recesses 25 are curved toward the vicinity of the recess 16. This allows the side brushes 8 to rotate smoothly toward the suction port 22, and also allows the wind generated by the rotation of the side brushes 8 to be blown up to the window 17 inside the recess 16. This allows dust on the window 17 to be blown away by the wind.

[0057] Next, the functional configuration of the autonomous vacuum cleaner 100 will be described with reference to Fig. 8. Fig. 8 is a block diagram showing an example of the functional configuration of the autonomous vacuum cleaner 100 in the embodiment. Note that configurations that are not directly related to the technology of the present embodiment are omitted in this figure.

[0058] As shown in FIG. 8, the autonomous vacuum cleaner 100 includes, for example, a communication unit 30, an input unit 35, a control unit 40, a memory unit 50, a rotation detection unit 60, an ultrasonic sensor 10, a step sensor 24, an infrared sensor 61, a gyro sensor 62, a dirt sensor 63, a suction motor 70, a right drive unit 71, and a left drive unit 72.

[0059] The communication unit 30 is a communication circuit that enables the autonomous vacuum cleaner 100 to communicate with the server 200 and the communication terminal 300 via the communication network 90. ​​The communication unit 30 is, for example, a wireless communication circuit that performs wireless communication, and has a communication function such as Wi-Fi (registered trademark) or Bluetooth (registered trademark).

[0060] The input unit 35 has a start / stop button 500. The start / stop button 500 is a button for issuing an instruction to start cleaning or map creation, or to stop or interrupt cleaning or map creation, for example.

[0061] The input unit 35 may be equipped with a plurality of buttons, or may be a touch panel type input unit also having a display function.

[0062] The control unit 40 performs various information processing related to the autonomous vacuum cleaner 100. Specifically, the control unit 40 is realized by a processor, a microcomputer, or a dedicated circuit. The control unit 40 may also be realized by a combination of two or more of the processor, the microcomputer, or the dedicated circuit. The control unit 40 includes, for example, a map information creation unit 41, a position information calculation unit 42, a movement control unit 43, and a cleaning control unit 44.

[0063] The map information creation unit 41 creates map information including information about the area to be cleaned (e.g., information such as the layout of the room) using, for example, information about obstacles detected by the infrared sensor 61 and the ultrasonic sensor 10 (information such as the presence or absence of an obstacle and the distance to the obstacle) and information about obstacles detected by the LiDAR 6 (information such as the presence or absence of an obstacle and the distance to the obstacle).

[0064] This map information mainly includes the location of walls and obstacles in the cleaning area (e.g., a room). The map information creation unit 41 may create the map information using only the information detected by the LiDAR 6. The map information may also include information on the amount of dirt detected by the dirt sensor 63 for each of the grid cells by dividing the area to be cleaned into a plurality of grid cells.

[0065] The position information calculation unit 42 calculates information on the self-position indicating the current position of the main body of the autonomous vacuum cleaner 100 from the information detected by the LiDAR 6 and the information detected by the rotation detection unit 60. The information detected by the rotation detection unit 60 is, for example, information such as the rotation angle and the movement amount of the drive wheels (specifically, the right drive wheel 19 and the left drive wheel 20). In this embodiment, the position information calculation unit 42 calculates information on the self-position from the information detected by the LiDAR 6 and the information detected by the rotation detection unit 60 from the initial position, for example, with the position of the charging base as the initial position. The self-position may be calculated by, for example, an odometry method.

[0066] The calculation of the information on the self-location by the location information calculation unit 42 is not limited to the above method, and may be performed by other methods.

[0067] For example, the position information calculation unit 42 may calculate information indicating the current location of the autonomous vacuum cleaner 100 (so-called self-position information) using information about obstacles detected by the infrared sensor 61 and the ultrasonic sensor 10 (information about the presence or absence of an obstacle and the distance to the obstacle), information about obstacles detected by the LiDAR 6 (information about the presence or absence of an obstacle and the distance to the obstacle), and information about the rotation direction, speed, and number of rotations of the drive wheels (specifically, the right drive wheel 19 and the left drive wheel 20) detected by the rotation detection unit 60.

[0068] In addition, the position information calculation unit 42 may also use information such as the traveling direction and speed of the autonomous vacuum cleaner 100 detected by the gyro sensor 62 to calculate information indicating the current location of the autonomous vacuum cleaner 100 (so-called self-position information).

[0069] The movement control unit 43 controls the right drive unit 71 and the left drive unit 72 to drive the right drive wheel 19 and the left drive wheel 20, thereby moving the autonomous vacuum cleaner 100. The right drive unit 71 is a motor for driving the right drive wheel 19, and the left drive unit 72 is a motor for driving the left drive wheel 20. When cleaning is started, the movement control unit 43 causes the autonomous vacuum cleaner 100 to leave the base station (so-called charging base). The movement control unit 43 travels within the area to be cleaned (for example, indoors) according to a predetermined travel plan or randomly, for example, while referring to a map (specifically, a map of the area to be cleaned) stored in the memory unit 50. When cleaning is completed, the movement control unit 43 causes the autonomous vacuum cleaner 100 to return to the base station, while referring to the map stored in the memory unit 50.

[0070] The cleaning control unit 44 performs cleaning according to the cleaning schedule. The cleaning control unit 44 starts the cleaning operation when the set cleaning start time arrives or when the user instructs the cleaning start. While the autonomous vacuum cleaner 100 is traveling, the cleaning control unit 44 drives the main brush 23 and the side brush 8 to clean the floor surface, and drives the suction motor 70 to suck up dirt from the suction port 22. The suction motor 70 is a motor for generating suction wind. The suction motor 70 and the suction port 22 (not shown in FIG. 8) formed on the back surface of the autonomous vacuum cleaner 100 are in communication with each other, and the suction motor 70 sucks up outside air and dirt from the suction port 22.

[0071] The storage unit 50 is made up of a non-volatile memory such as a flash memory, and stores the control programs executed by the control unit 40, various parameters, and the like.

[0072] The rotation detection unit 60 detects the rotation direction, the number of rotations, and the rotation speed of the right driving wheel 19 and the left driving wheel 20. and detects rotation speed, etc.

[0073] The LiDAR 6 has a light emitting unit (light emitting element) and a light receiving unit (light receiving element), as well as a rotation mechanism and a motor for rotating these elements.

[0074] The ultrasonic sensor 10 has, for example, an output unit that emits ultrasonic waves and an input unit that detects ultrasonic waves reflected by the surface of an obstacle, and is arranged in plurality on the side of the autonomous vacuum cleaner 100. For example, the ultrasonic sensor 10 is a so-called obstacle sensor that detects the presence or absence of an obstacle around the autonomous vacuum cleaner 100 and the distance to the obstacle.

[0075] The step sensor 24 is a sensor that is disposed on the rear surface of the autonomous vacuum cleaner 100 and detects a step on the floor surface. The step sensor 24 is, for example, an infrared sensor having a light emitting element and a light receiving element.

[0076] The infrared sensor 61 has, for example, a light emitting element and a light receiving element, and is arranged in plurality on the side surface of the autonomous vacuum cleaner 100. For example, the infrared sensor 61 is a so-called obstacle sensor that detects the presence or absence of an obstacle around the autonomous vacuum cleaner 100 and the distance to the obstacle.

[0077] The gyro sensor 62 is a sensor that detects the direction and speed of movement of the autonomous vacuum cleaner 100 .

[0078] Dust sensor 63 has a light-emitting part and a light-receiving part, and is installed, for example, in a passage connecting suction port 22 to a dust collection container. Dust sensor 63 can detect the amount of dust sucked in within a specified time or within a specified area by detecting dust passing between the light-emitting part and the light-receiving part.

[0079] [server] Next, the configuration of server 200 will be specifically described with reference to Fig. 9. Fig. 9 is a block diagram showing an example of the main configuration of server 200 in the embodiment.

[0080] As shown in FIG. 9, the server 200 includes, for example, a communication unit 210, a control unit 220, and a storage unit 230.

[0081] The communication unit 210 is a communication circuit that enables the server 200 to communicate with the autonomous vacuum cleaner 100 and the communication terminal 300 via the communication network 90. ​​The communication unit 210 connects to the communication network 90 using a communication protocol such as TCP / IP. The communication unit 210 may perform wireless communication or wired communication.

[0082] The control unit 220 performs various information processes related to the server 200. For example, the control unit 220 receives information transmitted from the autonomous vacuum cleaner 100, stores the received information in the storage unit 230, and upon receiving an information acquisition request from the communication terminal 300, reads the requested information from the storage unit 230 and transmits it to the communication terminal 300. Specifically, the control unit 220 is realized by a processor or a microcomputer.

[0083] The storage unit 230 stores the control program executed by the control unit 220, various parameters, and the like. The storage unit 230 also stores various data (e.g., map information, etc.) transmitted and received between the autonomous vacuum cleaner 100 and the communication terminal 300. Specifically, the storage unit 230 is realized by a hard disk drive (HDD), a flash memory, or the like.

[0084] [Communication terminal] Next, the configuration of the communication terminal 300 will be specifically described with reference to Fig. 10. Fig. 10 is a block diagram showing an example of a functional configuration of the communication terminal 300 in the embodiment.

[0085] 10, the communication terminal 300 includes, for example, a communication unit 310, a short-range wireless unit 312, a control unit 320, a storage unit 330, an input unit 340, and a display unit 350.

[0086] The communication unit 310 is a communication circuit that enables the communication terminal 300 to communicate with the server 200 and the autonomous vacuum cleaner 100 via the communication network 90. ​​The communication unit 210 is, for example, a wireless communication circuit that performs wireless communication. The communication unit 210 connects to the communication network 90 using a communication protocol such as TCP / IP.

[0087] The short-range wireless unit 312 can be wirelessly connected to the router 80, and has a communication function such as Wi-Fi (registered trademark) or Bluetooth (registered trademark). If the autonomous vacuum cleaner 100 also has a short-range wireless unit, the communication terminal 300 can also directly connect to the autonomous vacuum cleaner 100 using the short-range wireless unit 312.

[0088] The control unit 320 performs various information processes related to the communication terminal 300. The control unit 320 performs various calculations according to application programs stored in the storage unit 330. The control unit 320 includes, for example, a map creation unit 321 and a movement trajectory creation unit 322. Although not shown, the control unit 320 may include a timer unit that measures a predetermined time. Specifically, the control unit 320 is realized by a processor or a microcomputer.

[0089] The control unit 220 causes the display unit 350 to display the map created by the map creation unit 321. The control unit 220 divides the map of the area to be cleaned into a plurality of grid cells, changes the color of each of the plurality of grid cells according to the amount of dirt sucked by the autonomous vacuum cleaner 100, and causes the display unit 350 to display the map. More specifically, when the map creation unit 321 acquires map information including the position information of the autonomous vacuum cleaner 100 acquired from the server 200, the map creation unit 321 creates a map in which the color of each of the plurality of grid cells is changed. The control unit 220 causes the display unit 350 to display the created map.

[0090] Each of the multiple grid cells may be, for example, a predetermined size or different sizes. For example, the size of the multiple grid cells may be 1 m×1 m, 50 cm×50 cm, or 30 cm×30 cm. The lower limit of the size of the grid cells may be determined by the size of the air inlet 22. The sizes of the multiple grid cells may be switched by a user instruction.

[0091] Note that, when the map creation unit 321 acquires information on the movement trajectory of the autonomous vacuum cleaner 100 on the map created by the movement trajectory creation unit 322 described later, it may create a map reflecting the movement trajectory. The created map may be displayed on the display unit 350. For example, when the map creation unit 321 acquires information on the movement trajectory of the autonomous vacuum cleaner 100 on the map from the movement trajectory creation unit 322, it may create a map including a line indicating the movement trajectory of the autonomous vacuum cleaner on the map, and the control unit 320 may display the created map.

[0092] When the movement trajectory creation unit 322 acquires map information including the position information of the autonomous vacuum cleaner 100 acquired from the server 200, the movement trajectory creation unit 322 creates information on the movement trajectory of the autonomous vacuum cleaner 100 on the map and outputs it to the map creation unit 321.

[0093] The storage unit 330 stores the control program executed by the control unit 320, application programs, various parameters, and the like. The storage unit 330 also stores map information acquired from the server 200. Specifically, the storage unit 330 is a hard disk drive (HDD). The memory can be realized by a hard disk drive, a flash memory, or the like.

[0094] The input unit 340 accepts an input operation by a user and outputs an input signal corresponding to the input operation to the server 200 or the autonomous vacuum cleaner 100. For example, the input unit 340 may be configured as a keyboard, a touch sensor, a touch pad, a mouse, or the like. For example, the input unit 340 may be an electrostatic touch panel mounted on the display unit 350.

[0095] The display unit 350 acquires an image of the map created by the map creation unit 321 and displays the image. Such a display unit 350 is, for example, a liquid crystal display or an organic EL (Electro Luminescence) display, but is not limited to these.

[0096] [First embodiment] A first embodiment implemented with the above-described configuration will be described below. In the first embodiment, when the autonomous vacuum cleaner 100 is not in operation (for example, when connected to a charging base), pressing the start / stop button 500 has no effect, whereas when the autonomous vacuum cleaner 100 is not in connection with a charging base (for example, when traveling), pressing the start / stop button 500 will perform an operation corresponding to the pressed button (for example, to stop operation).

[0097] 11 is a flow diagram showing the operation of the first embodiment. The first embodiment will be described below with reference to FIG.

[0098] In step S1, if the control unit 40 determines that the start / stop button 500 has been pressed, the process proceeds to step S2.

[0099] In step S2, the control unit 40 determines whether or not the autonomous vacuum cleaner 100 is being charged. If it is determined that the autonomous vacuum cleaner 100 is being charged, the control unit 40 proceeds to step S3. If not, the control unit 40 proceeds to step S4.

[0100] In step S2, the control unit 40 determines whether the autonomous vacuum cleaner 100 is charging or not, but it may also determine whether the autonomous vacuum cleaner 100 is placed on a charging stand or is physically or electrically connected to the charging stand.

[0101] In step S3, the control unit 40 performs control not to execute the function corresponding to the start / stop button 500. Specifically, the control unit 40 performs processing not to cause the autonomous vacuum cleaner 100 to start operation.

[0102] In this embodiment, the function corresponding to the start / stop button 500 is described as operation, and operation is, for example, an operation of cleaning or an operation of creating a map.

[0103] In step S4, if the control unit 40 determines that the autonomous vacuum cleaner is in operation, the process proceeds to step S5; otherwise, the process proceeds to step S3.

[0104] In step S5, the control unit 40 stops the currently running operation. For example, if cleaning is currently in progress, cleaning is stopped. In step S5, the control unit 40 stops the operation. Alternatively, the operation may be stopped once and then resumed when the start / stop button 500 is pressed or when an instruction is received from the communication terminal 300.

[0105] Thus, in the first embodiment, when the autonomous vacuum cleaner 100 is not in operation (for example, when connected to the charging base), pressing the start / stop button 500 has no effect, whereas when the autonomous vacuum cleaner 100 is not connected to the charging base (for example, when traveling), pressing the start / stop button 500 performs an operation corresponding to the pressed button (for example, stopping operation).

[0106] Therefore, even if the start / stop button 500 is pressed by mistake when the autonomous vacuum cleaner 100 is not operating, the autonomous vacuum cleaner 100 will not start operating, thereby preventing the user from starting an operation that he or she does not want as much as possible.

[0107] On the other hand, since the operation of the autonomous vacuum cleaner 100 is stopped while the autonomous vacuum cleaner 100 is in operation, the operation can be forcibly stopped when the autonomous vacuum cleaner 100 is stuck, for example.

[0108] In a household autonomous vacuum cleaner 100, it is conceivable that a baby, child, or the like may press the start / stop button 500 out of curiosity, but even in such cases, it is possible to prevent the autonomous vacuum cleaner 100 from automatically starting operation as much as possible.

[0109] In the first embodiment, a state in which the autonomous vacuum cleaner 100 is not in operation is described. A state in which the autonomous vacuum cleaner 100 is not in operation is, for example, a state in which the autonomous vacuum cleaner 100 is charging, a state in which the autonomous vacuum cleaner 100 is left unattended, or the like.

[0110] In addition, in step S2, the control unit 40 may be configured to determine whether or not the autonomous vacuum cleaner 100 is stopped. In that case, the process in step S4 does not need to be executed.

[0111] [Second embodiment] In the first embodiment, when the autonomous vacuum cleaner 100 is not in operation (for example, when connected to a charging base), pressing the start / stop button 500 has no effect. On the other hand, when the autonomous vacuum cleaner 100 is in operation (for example, when traveling), pressing the start / stop button 500 performs an operation corresponding to the pressed button (for example, stopping operation). In the second embodiment, the autonomous vacuum cleaner can be controlled to start or stop operation based on instructions from the communication terminal 300, whether the autonomous vacuum cleaner 100 is in operation or not.

[0112] 12 is a flow diagram showing the operation of the third embodiment. The operation of the third embodiment will be described below with reference to FIG.

[0113] In step S10, if the control unit 40 determines that the start / stop button 500 has been pressed, the process proceeds to step S11.

[0114] In step S11, the control unit 40 determines whether or not the autonomous vacuum cleaner 100 is being charged. If it is determined that the autonomous vacuum cleaner 100 is being charged, the control unit 40 proceeds to step S14; otherwise, the control unit 40 proceeds to step S12.

[0115] In step S11, the control unit 40 determines whether the autonomous vacuum cleaner 100 is charging or not, but it may also determine whether the autonomous vacuum cleaner 100 is placed on a charging stand or is physically or electrically connected.

[0116] In step S12, if the control unit 40 determines that the autonomous vacuum cleaner 100 is in operation, the process proceeds to step S13, otherwise the process proceeds to step S14.

[0117] In step S13, the control unit 40 stops the currently running operation. For example, if cleaning is currently in progress, cleaning is stopped.

[0118] In step S14, the control unit 40 performs control not to execute the function corresponding to the start / stop button 500. Specifically, the control unit 40 performs processing not to cause the autonomous vacuum cleaner 100 to start operation.

[0119] In this embodiment, operation is described as the function corresponding to the start / stop button 500, and operation includes an operation of starting cleaning, an operation of creating a map, and the like.

[0120] In step S15, if the control unit 40 determines that the communication unit 30 has received an instruction to start driving from the communication terminal 300 via the network, the control unit 40 proceeds to step S16 and starts driving; otherwise, the control unit 40 returns to step S10.

[0121] In step S16, the control unit 40 performs control to start an operation (for example, cleaning), and the process proceeds to step S17.

[0122] In step S17, if the control unit 40 determines that the communication unit 30 has received an instruction to stop driving from the communication terminal 300 via the network, the control unit 40 proceeds to step S13 and stops driving, otherwise the control unit 40 proceeds to step S18.

[0123] In step S18, if the control unit 40 determines that the start / stop button 500 has been pressed, the process proceeds to step S13; otherwise, the process returns to step S17.

[0124] Steps S17 and S18 are executed until the autonomous vacuum cleaner 100 completes its operation or is forcibly terminated.

[0125] Thus, in the second embodiment, even if the start / stop button 500 is pressed accidentally when the autonomous vacuum cleaner 100 is not operating (for example, when connected to the charging base), the autonomous vacuum cleaner 100 will not start operating, thereby preventing the user from starting an operation that is not desired by the user as much as possible.

[0126] Since the operation of the autonomous vacuum cleaner 100 is stopped while the autonomous vacuum cleaner 100 is in operation, the operation can be forcibly stopped when the autonomous vacuum cleaner 100 is stuck, for example.

[0127] In a household autonomous vacuum cleaner 100, it is conceivable that a baby, child, or the like may press the start / stop button 500 out of curiosity, but even in such cases, it is possible to prevent the autonomous vacuum cleaner 100 from automatically starting operation as much as possible.

[0128] Furthermore, in the second embodiment, the autonomous vacuum cleaner 100 can start or stop operation by remote control from the communication terminal 300, whether the autonomous vacuum cleaner 100 is in operation or not.

[0129] Since it is considered that the possibility of a baby or a child remotely operating the autonomous vacuum cleaner 100 by operating the communication terminal 300 is low compared to a button, it is possible to avoid operation that is not desired by the user as much as possible. Furthermore, when the user wants to start driving, the user can start driving as soon as possible. [Additional Notes on the First and Second Embodiments] The first and second embodiments can also be implemented as follows.

[0130] When the start / stop button 500 is pressed, the autonomous vacuum cleaner 100 may emit a sound (eg, a beep, a voice, music, etc.).

[0131] The sound emitted from the autonomous vacuum cleaner 100 may be different depending on whether the autonomous vacuum cleaner 100 is connected to the charging stand or not.

[0132] The sound emitted from the autonomous vacuum cleaner 100 may be downloaded from the server 200 or the communication terminal 300 to the autonomous vacuum cleaner 100 in response to an instruction from the communication terminal 300, and the downloaded sound may be emitted.

[0133] The sound may be downloaded when the communication terminal 300 issues an operation instruction to the autonomous vacuum cleaner 100, or when the autonomous vacuum cleaner 100 is in a standby state. Furthermore, the download may be performed automatically.

[0134] In this embodiment, the autonomous vacuum cleaner 100 equipped with the start / stop button 500 has been described as an example, but the start function may be omitted from the start / stop button 500, and only the stop function may be provided.

[0135] In this case, for example, in the first embodiment, if the autonomous vacuum cleaner 100 is charging even if the start / stop button 500 is pressed in step S1, the autonomous vacuum cleaner 100 does not start operation. Also, in the second embodiment, if the autonomous vacuum cleaner 100 is charging even if the start / stop button 500 is pressed in step S10, the autonomous vacuum cleaner 100 does not start operation, and if the start / stop button 500 is pressed in step S18, the operation is stopped.

[0136] By giving the start / stop button 500 only the stop function, it is possible to better avoid the start of an operation that the user does not want to start, and it is possible to stop the operation of the autonomous vacuum cleaner 100 in an emergency.

[0137] In step S11, the control unit 40 may be configured to determine whether or not the autonomous vacuum cleaner 100 is stopped. In this case, the process of step S12 does not need to be executed.

[0138] In step S13, the control unit 40 may stop the operation, or may be configured to temporarily stop the operation and resume the operation when the start / stop button 500 is pressed or when an instruction is received from the communication terminal 300.

[0139] For example, the control unit 40 may return the process to step S10 after the process of step S13.

[0140] When the control unit 40 determines in step S11 that charging is in progress, it starts operation by remote control from the communication terminal 300 in step S15. However, the control unit 40 may also be equipped with a timekeeping function so that it automatically starts operation when a predetermined time is reached.

[0141] For example, the control unit 40 may be configured to determine whether a predetermined time has been measured in steps S10 to S15, and when the predetermined time has been measured, to start operation in step S16. is also good.

[0142] [Third embodiment] In the third embodiment, a dust sensor (container dust sensor 600) is provided in the dust container of the autonomous vacuum cleaner 100, and cleaning can be continued even when the container dust sensor 600 detects that the dust container is full of dust.

[0143] For example, Japanese Patent Application Laid-Open No. 6-22889 describes an autonomous vacuum cleaner having a dirt amount determining means 12 (dirt sensor) that determines the amount of dirt in a dirt bag.

[0144] However, after the dust sensor detects that the dust collection container is full of dust, it is possible that the dust sensor will continue to detect that the dust collection container is full of dust even after the user has thrown away the dust due to dust adhering to the dust sensor, etc.

[0145] In such a case, the user needs to perform maintenance such as wiping off the dust sensor, but may not want to spend time wiping off the dust sensor if the user is about to go out, etc. However, there are also cases where the user wants the autonomous vacuum cleaner to clean while the user is away.

[0146] The third embodiment is intended to solve these problems, and provides a dust sensor (container dust sensor 600) in the dust container of the autonomous vacuum cleaner 100, allowing cleaning to continue even when the container dust sensor 600 detects that the dust container is full of dust.

[0147] Fig. 13 is a block diagram of the third embodiment. In Fig. 13, the configuration except for the container dirt sensor 600 and the full lamp 700 is the same as the configuration in Fig. 8, so the description will be omitted.

[0148] In the third embodiment, in order to easily distinguish the dust sensor from the dust sensor 63, the dust sensor provided inside the dust container is referred to as the container dust sensor 600. The container dust sensor 600 is a sensor having a light emitting element and a light receiving element, and is disposed on both the left and right side surfaces near the ceiling of the dust container.

[0149] When dust accumulates in the dust container, the light from the light emitting element is blocked and the light cannot reach the light receiving element. This is detected by the container dust sensor 600, and the control unit 40 determines that the dust container is full of dust.

[0150] 3, the full lamp 700 is provided on the front side of the housing, and when the dust collection container is full of dust, the full lamp 700 lights up or blinks. The full lamp may be configured to be able to change the color of light emitted, or the light emission pattern may be changeable.

[0151] FIG. 14 is a flow diagram showing the operation of the third embodiment.

[0152] The operation of the third embodiment will be described below with reference to FIG.

[0153] In step S21, if the control unit 40 detects a signal from the sensor indicating that the trash container is full, the process proceeds to step S23, and if not, the process proceeds to step S22.

[0154] In step S22, the control unit 40 stops the notification that the trash container is full from the full-stuffed lamp 700. If the full-stuffed lamp 700 was not providing any notification to begin with, that state continues.

[0155] In step S23, the control unit 40 notifies the full trash container 700 that the trash container 700 is full.

[0156] In step S24, if the control unit 40 determines that an instruction to start operation has been received from the input unit 35 or from the communication terminal 300 via the communication unit 30, the control unit 40 proceeds to step S25, otherwise, the control unit 40 returns to step S21. Note that in step S24, the control unit 40 may be configured to automatically start operation at a predetermined time.

[0157] In step S25, the control unit 40 starts operation. Specifically, the control unit 40 controls the right drive unit 71 and the left drive unit 72 to move the autonomous vacuum cleaner 100, and performs cleaning by driving the suction motor 70, etc. This operation is continued until the operation is completed or a stop command is received from the user.

[0158] Thus, in the third embodiment, even if the control unit 40 determines that the dust collection container is full of dirt, operation will begin when there is an instruction from the user to operate the device or when it is time to start operation, so operation can be started even if dirt is attached to the container dirt sensor 600 after the user has disposed of the dirt in the dust collection container. [Additional Notes Regarding the Third Embodiment] The third embodiment can be modified to the following configuration.

[0159] In the third embodiment, the full-state notification is continued even when operation is started after the full-state notification in step S23, but the full-state notification may be stopped when an operation instruction is given in step S25. In this case, the full-state notification may be stopped until the autonomous vacuum cleaner 100 returns to the charging base, or from the start of operation in step S25 until operation is stopped and operation is started again.

[0160] Whether or not the dust collection container is full of dust may be detected when the autonomous vacuum cleaner 100 is started, when an error is cleared, when operation starts, etc.

[0161] During operation, the autonomous vacuum cleaner 100 may be configured to detect whether the dust container is full or not, and to prohibit the autonomous vacuum cleaner 100 from detecting that the dust container is no longer full.

[0162] While the autonomous vacuum cleaner 100 is stopped or charging, the autonomous vacuum cleaner 100 may be configured to prohibit detection of whether the dust container is full or not, and to detect when the dust container is no longer full.

[0163] A sensor for detecting attachment / detachment of the dust container may be provided, and the control unit 40 of the autonomous vacuum cleaner 100 may detect that the dust container has been removed from the detection result of this sensor, and then, even if it is determined that the dust container is full of dirt from the detection result of the container dirt sensor 600, the control unit 40 may not notify the user that the dust container is full of dirt. This is because when the dust container is removed, it is highly likely that the user has seen the dirt in the dust container, found it to be full, and discarded the dirt.

[0164] In this case, even if dust is attached to the container dust sensor 600, it is possible to prevent the user from being notified that the dust collection container is full of dust.

[0165] A configuration may be provided in which a notification is given to require maintenance of the container dust sensor 600 of the dust collection container. The notification may be given by light emission, sound, display, or the like.

[0166] For example, a configuration may be adopted in which a full-state notification is issued in step S23 and a notification is given to request maintenance of the container dirt sensor 600, or a configuration may be adopted in which, after an operation instruction is given in step S25, the notification form is switched from a full-state notification to a notification to request maintenance of the container dirt sensor 600. In this case, the notification to request maintenance of the container dirt sensor 600 may be stopped in step S22.

[0167] [Fourth embodiment] The fourth embodiment is implemented by the system configuration described in the third embodiment.

[0168] FIG. 15 is a flow diagram showing the operation of the fourth embodiment.

[0169] In the operation shown in FIG. 15, the number of times the user commands operation after the container dirt sensor 600 detects that the dust collection container is full of dirt, or the number of times the vacuum cleaner automatically starts operation at a specified time, is counted, and when a specified number of times (e.g., 2 times) is counted, operation is stopped.

[0170] The operation of the fourth embodiment will be described below with reference to Fig. 15. In step S30, the control unit 40 sets Count to 0.

[0171] This Count is stored in the memory unit 50, and when the container debris sensor 600 detects that the container is full of debris and receives an instruction to start operation, it is incremented by 1, and operation is stopped when the Count reaches, for example, 2. The Count value at which operation is stopped is not limited to 2, and may be another value.

[0172] In step S31, if the control unit 40 determines from the detection result of the container dirt sensor 600 that the container is full of dirt, the process proceeds to step S34, and if not, the process proceeds to step S32.

[0173] In step S32, the control unit 40 stops the notification that the dust collection container is full of dust from the full lamp 700. If the dust collection container is not full of dust to begin with, the notification that the dust collection container is full of dust from the full lamp 700 remains stopped.

[0174] In step S33, the control unit 40 sets the Count stored in the storage unit 50 to zero.

[0175] In step S34, the control unit 40 notifies the user by the full lamp 700 that the trash container is full.

[0176] In step S35, if the control unit 40 determines that an instruction to start driving has been received from the input unit 35 or from the communication terminal 300 via the communication unit 30, the control unit 40 proceeds to step S36; otherwise, the control unit 40 returns to step S31.

[0177] In step S36, the control unit 40 increments the Count stored in the storage unit 50 by one.

[0178] In step S37, if the control unit 40 determines that the Count stored in the storage unit 50 is 2, the process proceeds to step S39; otherwise, the process proceeds to step S .

[0179] In step S38, the control unit 40 starts operation. The drive unit 72 is controlled to move the autonomous vacuum cleaner 100, and cleaning is performed by driving the suction motor 70, etc. This operation continues until the operation is completed or until a stop command is received from the user.

[0180] In step S39, the control unit 40 stops the operation.

[0181] Thus, in the fourth embodiment, even if the control unit 40 determines that the dust collection container is full of dirt, operation will begin when there is an instruction from the user to operate the device or when it is time to start operation. Therefore, operation can be started even if dirt is attached to the container dirt sensor 600 after the user has disposed of the dirt in the dust collection container.

[0182] Furthermore, the control unit 40 counts the number of times the device has operated after reporting that the dust container is full of dirt, and will start operation even if, for example, the user has disposed of the dirt in the dust container and there is still dirt attached to the container dirt sensor 600, and will automatically stop operation after the autonomous vacuum cleaner 100 has operated a predetermined number of times.

[0183] With this configuration, the autonomous vacuum cleaner 100 can be operated a predetermined number of times (for example, twice) after the user has disposed of the dirt, during which the user can see the full lamp 700 and dispose of the dirt, as well as perform maintenance such as wiping the container dirt sensor 600, thereby returning the autonomous vacuum cleaner 100 to a normal state when the user has time. Also, the user can go out immediately after disposing of the dirt in the dust collection container, and can even have the autonomous vacuum cleaner 100 perform cleaning while the user is away. [Additional Notes Regarding the Fourth Embodiment] The fourth embodiment can be modified as follows.

[0184] In the fourth embodiment, the full-state notification is continued even if operation is started after the full-state notification in step S34, but the full-state notification may be stopped when an operation instruction is given in step S35. In this case, the full-state notification may be stopped until the autonomous vacuum cleaner 100 returns to the charging base, or from the start of operation in step S38 until operation is stopped and operation is started again.

[0185] Whether or not the dust collection container is full of dust may be detected when the autonomous vacuum cleaner 100 is started, when an error is cleared, when operation starts, etc.

[0186] The autonomous vacuum cleaner 100 may be configured to detect a change in the dust collection container from empty to full only while the autonomous vacuum cleaner 100 is in operation.

[0187] The autonomous vacuum cleaner 100 may be configured to detect a change in the dust collection container from full to empty only while the autonomous vacuum cleaner 100 is charging or stopped.

[0188] A sensor (container sensor) for detecting attachment / detachment of the dust container may be provided, and the control unit 40 may detect that the dust container has been removed from the detection result of this sensor, and even if it subsequently (for example, within a predetermined time) determines that the dust container is full of dust from the detection result of the container dust sensor 600, it may not notify the user that the dust container is full of dust. This is because if the dust container has been removed, it is highly likely that the user has seen the dust in the dust container, determined that it is full, and discarded the dust.

[0189] A configuration may be provided in which a notification is given to require maintenance of the container dust sensor 600 of the dust collection container. The notification may be given by light emission, sound, display, or the like.

[0190] For example, a configuration may be adopted in which a full-state notification is issued in step S34 and a notification is given to request maintenance of the container dirt sensor 600, or a configuration may be adopted in which, after an operation instruction is given in step S38, the form of notification is switched from a full-state notification to a notification to request maintenance of the container dirt sensor 600. In this case, the notification to request maintenance of the container dirt sensor 600 may be stopped in step S32.

[0191] (Other embodiments) Although the vacuum cleaner system according to one or more aspects of the present disclosure has been described based on the above-mentioned embodiments, the present disclosure is not limited to these embodiments. As long as it does not deviate from the gist of the present disclosure, various modifications conceived by a person skilled in the art to the embodiments and forms formed by combining components of different embodiments may also be included within the scope of one or more aspects of the present disclosure.

[0192] For example, in the embodiment, the autonomous vacuum cleaner 100 may include a short-range wireless unit. In this case, the autonomous vacuum cleaner 100 can directly wirelessly communicate with the communication terminal 300, and therefore can switch the network to be used depending on the communication state of the communication network 90.

[0193] Furthermore, each of the processing units included in the vacuum cleaner system according to the above embodiment is typically realized as an LSI, which is an integrated circuit. These may be implemented individually as single chips, or may be implemented in a single chip so as to include some or all of them.

[0194] The integrated circuit is not limited to LSI, but may be realized by a dedicated circuit or a general-purpose processor. A field programmable gate array (FPGA) that can be programmed after LSI manufacturing, or a reconfigurable processor that can reconfigure the connections and settings of circuit cells inside the LSI may also be used.

[0195] In the above embodiment, each component may be realized by a dedicated hardware or by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a storage medium such as a hard disk or a semiconductor memory.

[0196] Furthermore, all the numbers used above are merely examples for the purpose of specifically explaining the present disclosure, and the embodiments of the present disclosure are not limited to the numbers exemplified.

[0197] In addition, the division of functional blocks in the block diagram is an example, and multiple functional blocks may be realized as one functional block, one functional block may be divided into multiple blocks, some functions may be transferred to other functional blocks, and the functions of multiple functional blocks having similar functions may be processed in parallel or in a time-sharing manner by a single piece of hardware or software.

[0198] In addition, the order in which the steps in the flowchart are executed is merely for illustrative purposes and may be other than the above. In addition, some of the steps may be executed simultaneously (in parallel) with other steps. [Industrial Applicability]

[0199] The present disclosure is widely applicable to autonomous vacuum cleaners for homes, offices, factories, etc., and to vacuum cleaner systems equipped with autonomous vacuum cleaners. [Explanation of symbols]

[0200] 1 Case 2 Upper body 3 Lower body 4 Bumper 5 Cover 6. LiDAR 7. Exhaust port 8 Side Brush 9 Rear wheel 10 Ultrasonic Sensor 11 Top left sensor 12 Top Right Sensor 13 Bottom Left Sensor 14 Bottom Right Sensor 15 Slope 16 Recess 17 Window section 18 Battery 19 Right drive wheel 20 Left driving wheel 21 Wheel support member 22 Intake port 23 Main Brush 24 Cliff Sensor 25. Depression 30 Communications Department 35 Input section 40 Control section 41 Map Information Creation Department 42 Location information calculation unit 43 Movement control section 44 Cleaning control section 50 Storage section 60 Rotation detector 61 Infrared Sensor 62 Gyro sensor 63 Dust Sensor 70 Suction motor 71 Right drive unit 72 Left drive unit 80 Router 90 Communication Network 100 Autonomous Vacuum Cleaner 200 Servers 210 Communications Department 220 Control section 230 Storage section 300 Communication terminal 310 Communications Department 312 Short-range Radio Division 320 Control Unit 321 Cartography Department 322 Movement trajectory creation unit 330 Storage section 340 Input section 350 Display section 400 Vacuum Cleaner System 500 Start / Stop Button 600 Container trash sensor 700 Full Lamp

Claims

1. An autonomous vacuum cleaner having a start / stop button, The start / stop button is a button for instructing the start of operation or the stop of operation, When the autonomous vacuum cleaner is not in operation, the autonomous vacuum cleaner will not start operation even if the start / stop button is pressed, and when the autonomous vacuum cleaner is in operation and the start / stop button is pressed, the autonomous vacuum cleaner stops operation.

2. The autonomous vacuum cleaner according to claim 1 , wherein after the autonomous vacuum cleaner stops operating, when the start / stop button is pressed again, the autonomous vacuum cleaner resumes operating.

3. The autonomous vacuum cleaner according to claim 1, wherein after the start / stop button is pressed to stop operation, the autonomous vacuum cleaner does not resume operation even if the start / stop button is pressed again, but can resume operation by remote control.

4. The autonomous vacuum cleaner according to any one of claims 1 to 3, wherein the driving is a driving for creating a map.

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