Vacuum Cleaner System

Abstract

To improve convenience of autonomously travelling type cleaner.SOLUTION: A cleaner system 10 includes an autonomously travelling type cleaner 1 and a base station 50, which is a holding device for holding the autonomously travelling type cleaner 1. The autonomously travelling type cleaner 1 includes: a housing; a suction port for sucking dust around the housing; a main brush arranged in the vicinity of the suction port; a dust box for storing dust sucked from the suction port; and a first suction device for sucking dust from the suction port to the dust box. The base station 50 includes: an opening that can be connected to the suction port when the autonomously travelling type cleaner 1 is held by the base station 50; and a second suction device for sucking dust stored in the dust box through the suction port and the opening when the suction port and the opening are connected together. An opening area of the opening is smaller than an opening area of the suction port.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to vacuum cleaner systems. [Background technology]

[0002] In recent years, many patent applications have been filed for technologies related to autonomous vacuum cleaners that automatically clean rooms while the user is away. For example, Patent Document 1 describes a self-propelled robot vacuum cleaner that senses the amount of dust in the main body dust box, returns to the dust station when it is full, and sucks and moves the dust in the main body dust box to the dust station. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-196511 Summary of the Invention [Problem to be solved by the invention]

[0004] The present inventors have conceived of a technology that can further improve user convenience by improving the technology described in Patent Document 1. [Means for solving the problem]

[0005] The vacuum cleaner system of the present disclosure includes an autonomous vacuum cleaner and a holding device that holds the autonomous vacuum cleaner. The autonomous vacuum cleaner includes a housing, a suction port for sucking dust around the housing, a main brush arranged near the suction port, a dust box for storing dust sucked through the suction port, and a first suction device for sucking dust from the suction port into the dust box. The holding device includes an opening that can be connected to the suction port when the autonomous vacuum cleaner is held in the holding device, and a second suction device that sucks dust stored in the dust box through the suction port and the opening when the suction port and the opening are connected. The opening area of ​​the opening is smaller than the opening area of ​​the suction port. [Effects of the Invention]

[0006] According to the present disclosure, the convenience of an autonomous vacuum cleaner can be improved. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a perspective view of a vacuum cleaner system according to an embodiment. [Figure 2] 1 is a perspective view of an autonomously traveling vacuum cleaner according to an embodiment. [Figure 3] FIG. 2 is a bottom view of the autonomously traveling vacuum cleaner according to the embodiment. [Figure 4] 1 is a diagram showing the internal configuration of an autonomously traveling vacuum cleaner according to an embodiment; [Figure 5] 3A and 3B are diagrams illustrating the configuration of an air vent of an autonomously traveling vacuum cleaner according to an embodiment. [Figure 6] FIG. 2 is a perspective view of a base station according to an embodiment. [Figure 7] 1 is a functional block diagram of a vacuum cleaner system according to an embodiment. [Figure 8] 3 is a flowchart showing the procedure of a cleaning method according to the first embodiment. [Figure 9] 10 is a flowchart showing the steps of a cleaning method according to a second embodiment. [Figure 10]10 is a flowchart showing the steps of a cleaning method according to a third embodiment. [Figure 11] 10 is a flowchart showing the steps of a cleaning method according to a fourth embodiment. [Figure 12] 10 is a flowchart showing the steps of a cleaning method according to a fifth embodiment. [Figure 13] 10 is a flowchart showing the steps of a cleaning method according to a sixth embodiment. [Figure 14] 13 is a flowchart showing the steps of a cleaning method according to a seventh embodiment. [Figure 15] 13 is a flowchart showing the steps of a cleaning method according to an eighth embodiment. [Figure 16] FIG. 13 is a block diagram of an autonomously traveling vacuum cleaner according to a ninth embodiment. [Figure 17] FIG. 13 is a flow chart for explaining the operation of the autonomously traveling vacuum cleaner of the ninth embodiment. [Figure 18] FIG. 13 is a diagram illustrating an example of information stored in a storage unit according to a ninth embodiment. [Figure 19] FIG. 20 is a flowchart showing the operation of setting an away time in the ninth embodiment. [Figure 20] FIG. 13 is a flowchart showing the operation of the autonomously traveling vacuum cleaner after an away time period is set in Example 9. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the following description, the same or equivalent parts will be denoted by the same reference numerals, and duplicated explanations will be omitted. Furthermore, the present invention is not limited to the embodiments.

[0009] Example 1 Fig. 1 is a perspective view of a vacuum cleaner system according to an embodiment. The vacuum cleaner system 10 includes an autonomous vacuum cleaner 1 and a base station 50 that functions as a holding device for holding the autonomous vacuum cleaner 1. When the autonomous vacuum cleaner 1 is not performing cleaning, it is held in the base station 50 as shown in Fig. 1. When performing cleaning, the autonomous vacuum cleaner 1 leaves the base station 50 to start cleaning, and returns to the base station 50 when cleaning is completed.

[0010] The base station 50 charges the battery of the autonomous vacuum cleaner 1 while holding the autonomous vacuum cleaner 1. Also, while holding the autonomous vacuum cleaner 1, the base station 50 sucks up dust stored in the dust box of the autonomous vacuum cleaner 1 and moves it to the base station 50. Since the dust can be automatically moved to a container with a larger capacity than the dust box of the autonomous vacuum cleaner 1, the number of times the user needs to empty the dust from the container can be reduced. This improves user convenience.

[0011] 2 is a perspective view of an autonomous vacuum cleaner according to an embodiment. A cover 5 is disposed on the top surface of a housing 2 of the autonomous vacuum cleaner 1. A dust box is detachably stored in the space inside the cover 5. When a user presses down on the cover 5, the front or rear of the cover 5 is released, allowing the dust box to be removed from the housing 2.

[0012] A LiDAR (Light Detection and Ranging) 6 is disposed behind the cover 5. The LiDAR 6 detects obstacles and the like around the housing 2 by rotating a light emitting unit and a light receiving unit around the axis at the center of the LiDAR 6. Using the LiDAR 6, it is also possible to create a map of the interior of a room.

[0013] 3 is a bottom view of the autonomously traveling vacuum cleaner according to the embodiment. A right drive wheel 19 and a left drive wheel 20 are arranged on the bottom surface of the housing 2. The right drive wheel 19 and the left drive wheel 20 are each supported by a wheel support member 21. A rear wheel 9 is arranged behind the bottom surface of the housing 2. The autonomously traveling vacuum cleaner 1 travels autonomously by driving the right drive wheel 19 and the left drive wheel 20. A battery 18, which is a secondary battery such as a lithium-ion battery, is arranged in front of the rear wheel 9.

[0014] A suction port 22 for sucking in dust around the housing 2 is disposed at the front of the bottom surface of the housing 2. A main brush 23 is rotatably supported inside the suction port 22. Rotating the main brush 23 while vacuuming dust makes it easier to vacuum the dust, thereby improving cleaning efficiency. Furthermore, as will be described later, rotating the main brush 23 when the base station 50 vacuums dust stored in the dust box through the suction port 22 makes it easier for the dust to pass through the suction port 22, thereby preventing the suction port 22 from becoming clogged with dust.

[0015] Step sensors 24 are disposed on both the left and right sides of the bottom surface of the housing 2. The step sensors 24 are made up of a light-emitting element and a light-receiving element, and detect when the housing 2 approaches a step.

[0016] Side brushes 8 are disposed in front of the bottom surface of housing 2. Side brushes 8 are disposed with their axis at approximately the center of recess 25 provided in front of cliff sensor 24. Side brushes 8 rotate toward suction port 22. That is, the left side brush 8 rotates clockwise, and the right side brush 8 rotates counterclockwise. This allows dust on both the left and right sides of the traveling direction of autonomous vacuum cleaner 1 to be collected toward suction port 22, thereby improving cleaning efficiency.

[0017] FIG. 4 shows the internal configuration of an autonomously traveling vacuum cleaner according to an embodiment. FIG. 4(a) is a cross-sectional view of the autonomously traveling vacuum cleaner 1. FIG. 4(b) is a top view of the autonomously traveling vacuum cleaner 1 with the cover 5 and dust box 3 removed. The dust box 3 is detachably stored in a storage section 11 below the cover 5 provided at the front of the housing 2. A suction motor 43 is disposed near the center of the interior of the housing 2, functioning as a first suction device for sucking dust into the dust box 3 from the suction port 22. A suction airflow flow path and an opening 12 are provided between the dust box 3 and the suction motor 43. A suction airflow flow path and an opening 13 are provided between the dust box 3 and the suction port 22.

[0018] When the dust box 3 is stored in the housing 2, the opening 12 and the opening on the suction motor 43 side of the dust box 3 are connected. Also, the opening 13 and the opening on the suction port 22 side of the dust box 3 are connected. This allows dust to be sucked into the dust box 3 through the suction port 22 when suction air is generated by the suction motor 43. A filter 4 for capturing dust is provided to cover the opening on the suction motor 43 side of the dust box 3. The filter 4 may be provided in the opening 12.

[0019] In the vacuum cleaner system 10 of this embodiment, dust stored in the dust box 3 is sucked into the base station 50 via the suction port 22. This allows dust adhering to the suction port 22 and the main brush 23 to be moved together with the dust to the base station 50. Furthermore, since there is no need to provide a separate configuration for moving the dust to the base station 50, the structure of the autonomous vacuum cleaner 1 can be simplified and increases in manufacturing costs can be suppressed.

[0020] When dust stored in the dust box 3 is sucked into the base station 50 through the suction port 22, it is necessary to allow air to flow into the dust box 3. For this reason, the autonomous vacuum cleaner 1 of the present embodiment is provided with an air vent for allowing air to flow into the dust box 3. The air vent may be provided between the filter 4 and the suction motor 43. The air vent may also be provided inside (on the opening 12 side) a packing provided between the housing around the opening 12 and the dust box 3. In this way, when the base station 50 sucks up dust stored in the dust box 3, the flow of air flowing in from the air vent can peel off dust adhering to the filter 4 and move it to the base station 50 together with the dust stored in the dust box 3.

[0021] The vent may be provided with a valve that opens the vent when dust stored in the dust box 3 is being sucked into the base station 50 and closes the vent when dust stored in the dust box 3 is not being sucked. If the vent is provided in the flow path between the suction motor 43 and the opening 12, the valve is closed during normal cleaning operation, i.e., when the suction motor 43 is sucking dust into the dust box 3 through the suction port 22.

[0022] FIG. 5 shows the configuration of an air vent of an autonomous vacuum cleaner according to an embodiment. The air vent 70 shown in FIG. 5(a) is provided with a valve 71 and a gasket 72. The valve 71 is biased by a torsion spring 73 in a direction that closes the air vent 70. The torsion spring 73 has an elastic force such that the valve 71 does not open when negative pressure is generated by the suction motor 43 during cleaning operation, but opens when negative pressure is generated by the suction fan of the base station 50 when the base station 50 sucks dust stored in the dust box 3. Therefore, when the base station 50 is not sucking dust stored in the dust box 3, the valve 71 closes the air vent 70 as shown in FIG. 5(a). When the base station 50 sucks dust stored in the dust box 3, the valve 71 opens, opening the air vent 70 as shown in FIG. 5(b).

[0023] The vent 70 shown in FIG. 5( c) has a gasket 74 on the bottom surface of a cylindrical case 75, and a float 76 and a spring 77 inside. The float 76 is biased by the spring 77 in a direction to close the vent 70. The spring 77 has an elastic force such that the float 76 does not move when negative pressure is generated by the suction motor 43 during cleaning operation, but moves when negative pressure is generated by the suction fan of the base station 50 when the base station 50 sucks dust stored in the dust box 3. Therefore, when the base station 50 is not sucking dust stored in the dust box 3, the float 76 closes the vent 70 as shown in FIG. 5( c). When the base station 50 sucks dust stored in the dust box 3, the float 76 moves and the vent 70 opens as shown in FIG. 5( d).

[0024] The opening and closing of the valve provided in the vent 70 may be electrically controlled. In this case, the control unit of the autonomous vacuum cleaner 1 automatically opens the valve when it detects that the autonomous vacuum cleaner 1 is held by the base station 50 or that the base station 50 has started suction, and automatically closes the valve when it detects that the autonomous vacuum cleaner 1 has left the base station 50 or that the base station 50 has finished suction. The vent 70 may be opened and closed in any manner.

[0025] 6 is a perspective view of a base station according to an embodiment. A dust container (not shown) for storing dust and a suction fan (not shown) for sucking up the dust and moving it into the dust container are provided within a housing 51 of the base station 50. A charging terminal 54 and an opening 60 are provided on a base portion 52 of the base station 50. A dust removal member 61 for removing dust adhering to the main brush 23 of the autonomous vacuum cleaner 1 is provided inside the opening 60.

[0026] The suction port 22 and the opening 60 are provided so that the suction port 22 of the autonomous vacuum cleaner 1 and the opening 60 of the base station 50 are connected when the autonomous vacuum cleaner 1 is held by the base station 50. When the suction port 22 and the opening 60 are connected, the base station 50 drives the suction fan to suck dust from the dust box 3 of the autonomous vacuum cleaner 1 and move it to a dust container inside the housing 51.

[0027] The dust removal member 61 may be a brush that is rotatably supported on a shaft. In this case, the dust removal member 61 may be rotated in the direction opposite to the rotation direction of the main brush 23. This allows dust adhering to the main brush 23 to be removed more effectively.

[0028] The dust removal member 61 may have an uneven surface, and the convex portions of the uneven surface may come into contact with the surface of the main brush 23 to remove dust adhering to the surface of the main brush 23. In this case, the dust removal member 61 may be provided so as to be movable up and down. When the main brush 23 is rotating, the convex portions of the dust removal member 61 may protrude so as to come into contact with the surface of the main brush 23. This allows dust adhering to the main brush 23 to be removed more effectively.

[0029] 7 is a functional block diagram of a vacuum cleaner system 10 according to an embodiment of the present invention. Note that configurations that are not directly related to the technology of this embodiment are omitted from the drawing.

[0030] The autonomous vacuum cleaner 1 includes a control unit 40, a communication unit 41, a memory unit 42, a suction motor 43, a right drive unit 44, a left drive unit 45, a step sensor 24, a LiDAR 6, a dust amount sensor 46, a dust box 3, and a main brush 23.

[0031] The communication unit 41 can be wirelessly connected to a communication terminal, a router, etc., and has communication functions such as Wi-Fi (registered trademark) and Bluetooth (registered trademark), etc. The communication unit 41 communicates with the base station 50, a user's terminal, etc.

[0032] The storage unit 42 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.

[0033] The suction motor 43 is a motor for generating suction air. The suction motor 43 and the suction port 22 are in communication with each other, and the suction motor 43 sucks outside air and dust from the suction port 22.

[0034] The right drive unit 44 is a motor for driving the right drive wheel 19. The left drive unit 45 is a motor for driving the left drive wheel 20.

[0035] The step sensor 24 is a sensor for detecting steps on the floor surface, and includes, for example, an infrared light emitting element and an infrared light receiving element.

[0036] The LiDAR 6 has a light emitting unit, a light receiving unit, and a rotation mechanism and a motor for rotating these elements.

[0037] The dust amount sensor 46 detects the amount of dust stored in the dust box 3. The dust amount sensor 46 may be an ultrasonic sensor for detecting the amount of accumulated dust, or may be any sensor capable of detecting the amount of dust.

[0038] The control unit 40 is made up of a microcomputer such as a CPU (Central Processing Unit) and controls each circuit. The control unit 40 includes a map creation unit 31, a cleaning control unit 32, a movement control unit 33, and a main brush control unit .

[0039] The map creation unit 31 has functions such as detecting the shape of obstacles and creating map information. The map information is created based on signals input from the LiDAR 6, the step sensor 24, etc. If the created map information differs from a previously created map, the map creation unit 31 updates the map.

[0040] The cleaning control unit 32 performs cleaning according to the cleaning schedule. The cleaning control unit 32 starts cleaning operation when the set cleaning start time arrives or when the user instructs the cleaning to start. While the autonomous vacuum cleaner 1 is traveling, the cleaning control unit 32 drives the main brush 23 and side brushes 8 to clean the floor surface and drives the suction motor 43 to suck up dust.

[0041] The movement control unit 33 controls the right drive unit 44 and the left drive unit 45 to drive the right drive wheel 19 and the left drive wheel 20, thereby moving the autonomous vacuum cleaner 1. When cleaning begins, the movement control unit 33 causes the autonomous vacuum cleaner 1 to leave the base station 50. The movement control unit 33 travels around the room according to a predetermined travel plan or randomly, while referring to the map created by the map creation unit 31. When cleaning is completed, the movement control unit 33 causes the autonomous vacuum cleaner 1 to return to the base station 50, while referring to the map created by the map creation unit 31.

[0042] The main brush control unit 34 rotates the main brush 23 when the base station 50 sucks up dust stored in the dust box 3. This allows the dust to pass through the suction port 22 more easily, thereby preventing dust from clogging the suction port 22. The main brush control unit 34 may rotate the main brush 23 in the same direction as the main brush 23 rotates during cleaning operation, may rotate the main brush 23 in the opposite direction, or may rotate the main brush 23 while switching the rotation direction.

[0043] The base station 50 includes a communication unit 55 , a storage unit 56 , a charging unit 57 , a suction fan 58 , a dust removal member 61 , and a control unit 62 .

[0044] The communication unit 55 has a wireless or wired communication function and communicates with the autonomously traveling vacuum cleaner 1, a user's terminal, and the like.

[0045] The storage unit 56 is made up of a non-volatile memory such as a flash memory, and stores the control program executed by the control unit 62, various parameters, and the like.

[0046] When the autonomously traveling vacuum cleaner 1 is held in the base station 50, the charging unit 57 supplies power to the autonomously traveling vacuum cleaner 1 from the charging terminal 54 to charge the battery 18.

[0047] The suction fan 58 generates suction air to suck up dust stored in the dust box 3 of the autonomous vacuum cleaner 1 and move it to the dust container 66.

[0048] The dust amount sensor 65 detects the amount of dust stored in the dust container 66. The dust amount sensor 65 may be an ultrasonic sensor for detecting the amount of accumulated dust, or any other sensor capable of detecting the amount of dust.

[0049] The control unit 62 is made up of a microcomputer such as a CPU (Central Processing Unit) and controls each circuit. The control unit 62 includes a charging control unit 63 and a suction control unit 64.

[0050] When the charging terminal 54 is in contact with the charging terminal of the autonomously traveling vacuum cleaner 1, the charging control unit 63 controls the charging unit 57 to charge the battery 18.

[0051] When suction inlet 22 of autonomous vacuum cleaner 1 and opening 60 of base station 50 are connected, suction control unit 64 drives suction fan 58 to generate suction air. Suction control unit 64 may detect that suction inlet 22 and opening 60 are connected by a sensor provided in opening 60, by detecting whether charging terminal 54 is in contact with the charging terminal of autonomous vacuum cleaner 1, or by communication with autonomous vacuum cleaner 1.

[0052] The suction control unit 64 drives the dust removal member 61 to remove dust adhering to the main brush 23 while the suction fan 58 is generating suction air.

[0053] The suction control unit 64 controls the suction power or suction time of the suction air generated by the suction fan 58 according to the operating time of the autonomous vacuum cleaner 1, the amount of dust collected by the autonomous vacuum cleaner 1 during cleaning, the amount of dust stored in the dust box 3 of the autonomous vacuum cleaner 1, etc. For example, the suction power may be increased or the suction time may be increased as the operating time is longer, the amount of dust collected is greater, or the amount of dust in the dust box 3 is greater. This makes it possible to prevent dust from remaining in the dust box 3 or in the flow path from the dust box 3 to the suction port 22.

[0054] FIG. 8 is a flowchart showing the steps of the cleaning method according to the first embodiment. This diagram shows the steps when the dust removal member 61 is not provided. The cleaning control unit 32 starts cleaning at a predetermined timing (S10). The cleaning control unit 32 controls the cleaning operation until cleaning is completed (N in S12). When cleaning is completed (Y in S12), the movement control unit 33 returns the autonomous vacuum cleaner 1 to the base station 50 (S13). The movement control unit 33 controls the return operation until the autonomous vacuum cleaner 1 docks with the base station 50 (N in S14). When the autonomous vacuum cleaner 1 docks with the base station 50 (Y in S14), the main brush control unit 34 rotates the main brush 23 (S18). When the main brush 23 rotates, the suction control unit 64 generates suction air (S20). This makes it possible to prevent dust from clogging the suction port 22. The main brush 23 may be rotated after the suction wind is generated, or the main brush 23 may be rotated simultaneously with the generation of the suction wind. The suction wind may be generated by a suction pump or the like. Suction continues until the amount of dust in the dust box 3 detected by the dust amount sensor 46 falls below a predetermined value (N in S22). When the amount of dust falls below the predetermined value (Y in S22), the main brush control unit 34 stops the rotation of the main brush 23 (S23). The suction control unit 64 starts counting a predetermined time (S25) and continues generating the suction wind until the predetermined time has elapsed (N in S26). When the predetermined time has elapsed (Y in S26), the suction control unit 64 stops the suction wind (S27). This allows dust adhering to the main brush 23 to be sucked into the base station 50, preventing clogging of the suction port 22. The condition for ending suction may be determined by time instead of or in addition to the amount of dust. In this case, the dust amount sensor 46 may not be provided. In addition, the suction air may be stopped after the rotation of the main brush 23 has finished, or the rotation of the main brush 23 may be stopped simultaneously with the end of suction.

[0055] Example 2 FIG. 9 is a flowchart showing the steps of the cleaning method according to the second embodiment. This diagram shows the steps when the dust removal member 61 is provided. The cleaning control unit 32 starts cleaning at a predetermined timing (S10). The cleaning control unit 32 controls the cleaning operation until cleaning is completed (N in S12). When cleaning is completed (Y in S12), the movement control unit 33 returns the autonomous vacuum cleaner 1 to the base station 50 (S13). The movement control unit 33 controls the return operation until the autonomous vacuum cleaner 1 docks with the base station 50 (N in S14). When the autonomous vacuum cleaner 1 docks with the base station 50 (Y in S14), the main brush control unit 34 rotates the main brush 23 (S18), and the suction control unit 64 rotates the brush, which is the dust removal member 61 (S19). When the main brush 23 rotates, the suction control unit 64 generates suction air (S20). This prevents dust from clogging the suction port 22. The main brush 23 and the dust removal member 61 may be rotated after the suction air is generated, or the main brush 23 and the dust removal member 61 may be rotated simultaneously with the generation of the suction air. The suction air may be generated by a suction pump or the like. Suction continues until the amount of dust in the dust box 3 detected by the dust amount sensor 46 falls below a predetermined value (N in S22). When the amount of dust falls below the predetermined value (Y in S22), the main brush control unit 34 stops the rotation of the main brush 23 (S23), and the suction control unit 64 stops the rotation of the brush, which is the dust removal member 61 (S24). The suction control unit 64 starts counting a predetermined time (S25) and continues generating the suction air until the predetermined time has elapsed (N in S26). When the predetermined time has elapsed (Y in S26), the suction control unit 64 stops the suction air (S27). This allows dust adhering to the main brush 23 to be sucked into the base station 50, preventing clogging of the suction port 22 and the opening 60. The condition for ending suction may be determined by time instead of or in addition to the amount of dust. In this case, the dust amount sensor 46 does not need to be provided. The suction air may be stopped after the rotation of the main brush 23 and the dust removal member 61 has finished, or the rotation of the main brush 23 and the dust removal member 61 may be stopped simultaneously with the end of suction.

[0056] Example 3 Fig. 10 is a flowchart showing the steps of a cleaning method according to Example 3. This figure shows the steps in the cleaning method shown in Fig. 8 when the base station 50 uses an electric blower such as the suction fan 58 to generate suction air. Instead of S20 in the steps shown in Fig. 8, the suction control unit 64 drives the electric blower such as the suction fan 58 to start blowing air (S21). Also, instead of S27, the suction control unit 64 stops blowing air by the electric blower such as the suction fan 58 (S28). Other operations are the same as those in the steps shown in Fig. 8.

[0057] Example 4 Fig. 11 is a flowchart showing the steps of a cleaning method according to Example 4. This diagram shows the steps in the cleaning method shown in Fig. 9 when the base station 50 uses an electric blower such as the suction fan 58 to generate suction air. Instead of S20 in the steps shown in Fig. 9, the suction control unit 64 drives the electric blower such as the suction fan 58 to start blowing air (S21). Also, instead of S27, the suction control unit 64 stops blowing air by the electric blower such as the suction fan 58 (S28). The other steps and operations are the same as those in the flowchart shown in Fig. 9.

[0058] Example 5 FIG. 12 is a flowchart showing the steps of a cleaning method according to Example 5. This diagram shows the steps when a dust removal member having an uneven surface is used as the dust removal member 61 in the cleaning method shown in FIG. 10. Between S22 and S23 in the steps shown in FIG. 10, the suction control unit 64 raises the dust removal member 61 so that the convex portions abut against the surface of the main brush 23 (S30). After a predetermined time has elapsed, the suction control unit 64 lowers the dust removal member 61 (S31). The other steps and operations are the same as those in the flowchart shown in FIG. 10.

[0059] Example 6 FIG. 13 is a flowchart showing the steps of the cleaning method according to the sixth embodiment. This diagram shows the steps in which the base station 50 controls the suction force of the suction air when sucking up dust stored in the dust box 3, depending on the amount of dust collected during cleaning. The cleaning control unit 32 starts cleaning at a predetermined timing (S10). The cleaning control unit 32 starts measuring the amount of dust using the dust amount sensor 46 (S11). The cleaning control unit 32 controls the cleaning operation until cleaning is completed (N in S12). When cleaning is completed (Y in S12), the movement control unit 33 returns the autonomously traveling vacuum cleaner 1 to the base station 50 (S13). The movement control unit 33 controls the return operation until the autonomously traveling vacuum cleaner 1 docks with the base station 50 (N in S14). When the autonomous vacuum cleaner 1 docks with the base station 50 (Y in S14), the suction control unit 64 receives the amount of dust measured by the autonomous vacuum cleaner 1 from the autonomous vacuum cleaner 1 and compares the amount of dust with a predetermined amount (S40). If the amount of dust is less than the predetermined amount (N in S40), the suction control unit 64 generates suction air with normal suction force (S43). If the amount of dust is equal to or greater than the predetermined value (Y in S40), the suction control unit 64 generates suction force greater than normal (S41), and the main brush control unit 34 rotates the main brush 23 (S42). The main brush 23 may also be rotated when the amount of dust is less than the predetermined amount. The suction control unit 64 may control the suction time instead of or in addition to the suction force. The suction control unit 64 may also control the suction force or suction time according to the amount of dust stored in the dust box 3 instead of or in addition to the amount of collected dust.

[0060] Example 7 FIG. 14 is a flowchart showing the steps of the cleaning method according to Example 7. This diagram shows the steps in which the base station 50 controls the suction force of the suction air when sucking up dust stored in the dust box 3, depending on the number of cleanings performed by the autonomous vacuum cleaner 1. The cleaning control unit 32 starts cleaning at a predetermined timing (S10). The cleaning control unit 32 controls the cleaning operation until the cleaning is completed (N in S12). When the cleaning is completed (Y in S12), the movement control unit 33 returns the autonomous vacuum cleaner 1 to the base station 50 (S13). The movement control unit 33 controls the return operation until the autonomous vacuum cleaner 1 docks with the base station 50 (N in S14). When the autonomous vacuum cleaner 1 docks with the base station 50 (Y in S14), the suction control unit 64 increments the number of cleanings (S44). If the number of cleanings is less than the predetermined number (N in S45), the suction control unit 64 generates suction air with normal suction force (S43). If the number of cleanings is equal to or greater than the predetermined number (Y in S45), the suction control unit 64 generates a suction force greater than normal (S41), and the main brush control unit 34 rotates the main brush 23 (S42). The main brush 23 may also be rotated when the amount of dust is less than the predetermined amount. The suction control unit 64 may control the suction time instead of or in addition to the suction force. Furthermore, the suction control unit 64 may control the suction force or the suction time in accordance with the cleaning time instead of or in addition to the number of cleanings.

[0061] Example 8 FIG. 15 is a flowchart showing the steps of the cleaning method according to the eighth embodiment. This diagram shows the steps in which the base station 50 controls the suction force of the suction air when sucking up dust stored in the dust box 3, depending on the amount of dust collected during cleaning and the number of cleanings. The cleaning control unit 32 starts cleaning at a predetermined timing (S10). The cleaning control unit 32 starts measuring the amount of dust using the dust amount sensor 46 (S11). The cleaning control unit 32 controls the cleaning operation until cleaning is completed (N in S12). When cleaning is completed (Y in S12), the movement control unit 33 returns the autonomous vacuum cleaner 1 to the base station 50 (S13). The movement control unit 33 controls the return operation until the autonomous vacuum cleaner 1 docks with the base station 50 (N in S14). When the autonomous vacuum cleaner 1 docks with the base station 50 (Y in S14), the suction control unit 64 increments the number of cleanings (S44). The suction control unit 64 receives the amount of dust measured by the autonomously traveling vacuum cleaner 1 from the autonomously traveling vacuum cleaner 1 and compares the amount of dust with a predetermined amount (S40). If the amount of dust is less than the predetermined amount (N in S40), the suction control unit 64 compares the number of cleanings with a predetermined number (S45). If the number of cleanings is less than the predetermined number (N in S45), the suction control unit 64 generates suction air with normal suction force (S43). If the amount of dust is equal to or greater than a predetermined value (Y in S40) or if the number of cleanings is equal to or greater than the predetermined number (Y in S45), the suction control unit 64 generates suction force greater than normal (S41), and the main brush control unit 34 rotates the main brush 23 (S42). The main brush 23 may also be rotated when the amount of dust is less than the predetermined amount. The suction control unit 64 may control the suction time instead of or in addition to the suction force. The suction control unit 64 may also control the suction power or suction time in accordance with the amount of dust stored in the dust box 3, instead of or in addition to the amount of collected dust. The suction control unit 64 may also control the suction power or suction time in accordance with the cleaning time, instead of or in addition to the number of cleanings.

[0062] Example 9 Next, a ninth embodiment will be described. In recent years, a technology relating to a self-propelled vacuum cleaner that issues an alert when an intruder enters a room has been disclosed, for example, in Japanese Patent Application Laid-Open No. 2006-48308. If the vacuum cleaner is equipped with a camera or the like and has a function for taking pictures of the intruder, there is a possibility that the vacuum cleaner may also take pictures that involve the privacy of the resident in the room.

[0063] Example 9 is a technology for solving such problems, which automatically determines the time periods when the residents are away from home and prioritizes activating the security functions of the autonomous vacuum cleaner during those times.

[0064] Fig. 16 is a block diagram of an autonomous vacuum cleaner according to Example 9. It is basically the same as the block diagram of Fig. 7 described in Example 1, but in addition to the functions described using Fig. 7, the control unit 40 includes an away time zone setting unit 81, a voice recognition unit 82, an image recognition unit 83, an imaging control unit 86, and a function for measuring the current time, as well as a microphone 84 and an operation unit 85.

[0065] The away time period setting unit 81 has a function of automatically setting a time period when the user is expected to be away, and a function of setting an away time period based on an input operation by the user.

[0066] The voice recognition unit 82 recognizes sounds input from the microphone 84 (for example, the voice uttered by the user, the sound generated when glass breaks, etc.).

[0067] The image recognition unit 83 recognizes people and obstacles from images captured by the LiDAR 6. Images of the user, their family, etc. may be stored in advance in the storage unit 42, and the image recognition unit 83 may compare the images captured by the LiDAR 6 with the images stored in the storage unit 42 to determine whether they are the user, the user's family, or other people.

[0068] The operation unit 85 includes a button for turning the power on and off, a group of buttons for inputting information about the time period when the user will be away, and various settings, etc. A touch panel or the like may be used as the operation unit 85.

[0069] Furthermore, the LiDAR 6 is equipped with a camera including a CCD (Charge Coupled Device) image sensor, a CMOS (Complementary Metal Oxide Semiconductor) image sensor, or the like. For ease of explanation, the following description will be given of the part equipped with the camera as the LiDAR 6. The images captured by the LiDAR 6 are still images, or preferably videos.

[0070] The imaging control unit 86 controls the capturing of images of the surroundings by the LiDAR 6. When the autonomous vacuum cleaner is operating during an absence time period, the imaging control unit 86 captures images of the surroundings by the LiDAR 6, and restricts the LiDAR 6 from capturing images at times other than the absence time period. The imaging control unit 86 may prohibit the LiDAR 6 from capturing images at times other than the absence time period, or may restrict the imaging direction or timing so that the resident is not captured. For example, the imaging control unit 86 may recognize the direction in which the resident is located based on the sound input from the microphone 84 and restrict the capturing of images in that direction. Furthermore, if a resident is captured in an image captured by the LiDAR 6, the imaging control unit 86 may restrict the image from being recorded in the memory unit 42. Furthermore, images containing the resident that are stored in the memory unit 42 may be deleted.

[0071] Fig. 17 is a flow diagram for explaining the operation of the autonomously traveling vacuum cleaner of Example 9. In Fig. 17, in step S50, when the control unit 40 determines that the communication unit 41 has performed short-range wireless communication with a communication terminal such as a smartphone, in step S51, the control unit 40 stores information about the time the communication started and ended, the communication duration, the date and time (day of the week), etc. in the storage unit 42.

[0072] In step S52, when the control unit 40 determines that the voice recognition unit 82 has recognized the voice uttered by the user from the microphone 84, in step S53, the control unit 40 stores information regarding the time when the voice recognition started and ended, the recognition time, the date and time (day of the week), etc. in the memory unit 42.

[0073] In step S54, if the control unit 40 determines that an operation to turn off the power has been performed from the operation unit 85, it ends the process; otherwise, it returns the process to step S50.

[0074] Fig. 18 shows an example of information stored in the storage unit 42 in the ninth embodiment. As explained using the flow diagram in Fig. 17, the storage unit 42 stores information such as the date and time of short-range wireless communication, and the duration of communication. By accumulating this information, information indicating the date (or day of the week) and the time from what hour to what minute the communication was performed can be obtained.

[0075] In the ninth embodiment, the absence time period setting unit 81 of the control unit 40 can set the time period during which the user is absent based on this accumulated communication history information.

[0076] Similarly, for voice, information such as the date and time (day of the week) when the voice recognition unit 82 recognized the voice uttered by the user, the start time, the end time, and the time of recognition is stored in the storage unit 42. In addition, by accumulating this information, information indicating the date (or day of the week) and the time from what hour to what hour is recognized by the user's voice can be obtained.

[0077] In the ninth embodiment, the absence time period setting unit 81 of the control unit 40 can set the time period during which the user is absent based on this accumulated voice detection history information.

[0078] This away time period is set automatically, and may be configured to be set automatically after a predetermined period of time (e.g., one month) has elapsed, or may be configured to be set automatically when the number of wireless communications or the number of times the user's voice has been recognized reaches a predetermined number of times (e.g., 100 times). Note that if the away time period is set automatically after a predetermined period of time has elapsed, it may not be possible to set the away time period automatically if the number of samples obtained (number of wireless connections or number of times voice recognition has been performed) is small, so it is preferable to adopt a configuration that sets the away time period automatically when a predetermined number of times is reached.

[0079] Fig. 19 is a flow diagram showing the operation of setting an away time in Example 9. In Fig. 19, if the user performs an operation to set an away time period, the away time period set by the user is given priority over the away time period set based on the wireless communication history and the away time period set based on the voice detection history. Also, the away time period set based on the wireless communication history is given priority over the away time period set based on the voice detection history.

[0080] In step S61 of FIG. 19, if the control unit 40 determines that an operation to set the away time period has been performed from the operation unit 85, then in step S62, the control unit 40 stores information regarding the set away time period in the memory unit 42; otherwise, the process proceeds to step S63.

[0081] Specifically, the control unit 40 stores information indicating the time period from what time of day to what time of day the user will be away in the storage unit 42. For example, information indicating that the time period from 9:00 to 17:00 from Monday to Friday is the time period the user will be away is stored in the storage unit 42.

[0082] In step S63, if the control unit 40 determines that the number of wirelessly communicated samples that can set the away time zone is stored in the memory unit 42, the control unit 40 proceeds to step S64; otherwise, the control unit 40 proceeds to step S65.

[0083] In step S64, the control unit 40 automatically sets the away time zone based on the wireless communication history stored in the memory unit 42. For example, if the control unit 40 determines that the memory unit 42 contains wireless connection history for the periods from 6:00 to 9:00 from Monday to Friday and from 17:00 to 23:00, the control unit 40 stores information indicating that the away time zone is from 9:00 to 17:00 from Monday to Friday in the memory unit 42. Note that the period from 23:00 to 6:00 is set as the sleeping time zone, and this time zone is automatically excluded from the away time zone. Alternatively, the sleeping time zone may also be set as the away time zone. With this configuration, even if an intruder breaks into the house while the user (and his / her family) are asleep, the autonomous vacuum cleaner can still perform its security function in the same way as it does during the away time zone.

[0084] In step S65, if the control unit 40 determines that the number of voice-recognized samples that can set an away time period is stored in the storage unit 42, the control unit 40 proceeds to step S66.

[0085] In step S66, the control unit 40 automatically sets the absence time period based on the voice recognition history stored in the storage unit .

[0086] In FIG. 19, setting the away time zone based on the wireless communication history is given priority over setting the away time zone based on the voice recognition history, but setting the away time zone based on the voice recognition history may also be given priority over setting the away time zone based on the wireless communication history.

[0087] Fig. 20 is a flow diagram showing the operation of the autonomous vacuum cleaner after the away-from-home time period has been set in Example 9. In Fig. 20, in step S70, the cleaning control unit 32 of the control unit 40 starts cleaning. In step S71, the cleaning control unit 32 drives the suction motor 43 to perform a cleaning operation. Next, in step S72, if the imaging control unit 86 of the control unit 40 determines that the currently measured time is within the away-from-home time period set in the memory unit 42, the process proceeds to step S73. If the imaging control unit 86 determines that it is not within the away-from-home time period, the process proceeds to step S78.

[0088] In step S73, the imaging control unit 86 stores the image captured by the LiDAR 6 in the storage unit 42. Note that the image captured by the LiDAR 6 may be transmitted via the communication unit 41 to a communication device such as a smartphone, a server, or the like.

[0089] In step S74, if the image recognition unit 83 determines that a human has been recognized from the image captured by the LiDAR 6, the process proceeds to step S75. If it determines that a human has not been recognized, step S75 is skipped and the process proceeds to step S76. Note that an alternative configuration is possible in which images of the user, their family, etc. are stored in advance in the storage unit 42, and the image recognition unit 83 compares the image captured by the LiDAR 6 with the image stored in the storage unit 42 to determine whether or not the person is a resident such as the user or the user's family, or whether the person is someone else.

[0090] In step S75, the control unit 40 determines that an intruder is present and notifies a smartphone or the like of the presence of an intruder using the communication unit 41. At this time, the autonomous vacuum cleaner may be configured to emit a warning sound from its speaker, or the communication unit 41 may be used to transmit information indicating the presence of an intruder and an image captured by the LiDAR 6 to an internet-connected security company, a smartphone, or the like. Thereafter, the control unit 40 proceeds to step S76.

[0091] In step S76, if the voice recognition unit 82 of the control unit 40 determines that it has detected a voice from the microphone 84 (for example, the sound of glass breaking or a voice other than that of the user or his / her family), the process proceeds to step S77. If it determines that it has not detected a voice, the process skips step S77 and proceeds to step S78.

[0092] In step S76, control unit 40 controls right drive unit 44 and left drive unit 45 to move the autonomous vacuum cleaner in the direction from which the sound is coming. One method for control unit 40 to determine the direction from which the sound is coming is to mount multiple microphones 84 on the autonomous vacuum cleaner and control the vacuum cleaner to move in the direction of the microphone that detects the loudest sound. Control unit 40 then proceeds to step S78.

[0093] In step S78, cleaning control unit 32 determines whether or not cleaning is to be ended. If cleaning is not to be ended, the process returns to step S71. If cleaning is to be ended, the process ends.

[0094] In this flow, an example has been described in which the autonomous vacuum cleaner detects intruders and sounds while cleaning, but the autonomous vacuum cleaner may also detect intruders and sounds when not cleaning, for example, when it is held at the base station. In this case, too, the autonomous vacuum cleaner may detect intruders and sounds when occupants such as the user or their family are absent, and may restrict image recording if occupants are present.

[0095] In Example 9, the away time period is set to the time period when the occupants, including the user or his / her family, are away from home, but the away time period may also be set to the time period when the occupants, including the user or his / her family, are asleep (sleeping time period), or both the away time period and the sleeping time period may be set.

[0096] In this way, in Example 9, the time period when the user will be away from home can be automatically set based on information such as the date and time when the user performed short-range wireless communication, or the time period when the user will be away from home can be automatically set based on information such as the date and time when the voice recognition unit 82 recognized the voice uttered by the user (or his / her family).Therefore, even if the user forgets to set the time period when the user will be away from home, it can be easily set, thereby improving convenience.

[0097] When the user has completed the operation to set the absence time period, the absence time period set by the user takes priority, and this function improves convenience.

[0098] In addition, since it is possible to prevent the camera from capturing images of the inside of the room as much as possible during the hours when the user (or his / her family) is in the room, the privacy of the user (or his / her family) can be protected as much as possible.

[0099] In this way, in Example 9, convenience for the user is improved while taking into consideration the user's privacy, and when an intruder or the like enters the house, an alarm sound is emitted while notifying the security company and the user, thereby discouraging the intruder from entering the house and helping to prevent crime.

[0100] The autonomous vacuum cleaner according to Example 9 has the following features. [Aspect 1] An autonomous vacuum cleaner, The housing and a moving unit for moving the housing; a suction unit for sucking dust around the housing; an imaging unit for imaging the surroundings of the housing; a control unit that controls the moving unit, the suction unit, and the imaging unit; Equipped with The control unit a setting unit that sets a time period during which it is assumed that no resident is present in the room to be cleaned by the autonomous vacuum cleaner; an imaging control unit that captures an image of the surroundings using the imaging unit when the autonomous vacuum cleaner operates during the time period, and restricts imaging by the imaging unit at times other than the time period; An autonomous vacuum cleaner equipped with [Aspect 2] a communication unit for communicating with a device used by the resident; a storage unit for storing history information including the time when communication was performed by the communication unit; Further provided with 2. The autonomously traveling vacuum cleaner according to claim 1, wherein the setting unit sets the time period based on history information stored in the storage unit. [Aspect 3] an input unit for inputting voice; a voice recognition unit that detects a voice uttered by the resident from the voice input by the input unit; a storage unit that stores history information including a time when the voice uttered by the resident was detected; Further provided with 3. The autonomously traveling vacuum cleaner according to aspect 1 or 2, wherein the setting unit sets the time period based on history information stored in the storage unit. [Aspect 4] The autonomous vacuum cleaner according to aspect 2 or 3, wherein when the setting unit receives the time period setting from the user, the time period set by the user takes priority over the time period set based on the history information. [Aspect 5] an image recognition unit that detects a person from the image captured by the imaging unit; a notification unit that notifies the user when a human is detected by the image recognition unit during the time period; 5. The autonomous vacuum cleaner according to any one of aspects 1 to 4, further comprising: [Aspect 6] 6. The autonomous vacuum cleaner according to any one of aspects 1 to 5, wherein, when a voice is input by the input unit during the time period, the autonomous vacuum cleaner controls the moving unit to move the housing toward the voice. [Aspect 7] A control device for controlling an autonomous vacuum cleaner, a setting unit that sets a time period during which it is assumed that no resident is present in the room to be cleaned by the autonomous vacuum cleaner; an imaging control unit that captures an image of the surroundings using an imaging unit provided in the autonomous vacuum cleaner when the autonomous vacuum cleaner operates during the time period, and restricts imaging by the imaging unit at times other than the time period; A control device comprising:

[0101] The present disclosure has been described above based on examples. These examples are merely illustrative, and it will be understood by those skilled in the art that various modifications are possible in the combination of the respective components and treatment processes, and that such modifications are also within the scope of the present disclosure.

[0102] The technology of the present embodiment can be applied to various types of self-propelled mobile objects other than autonomous vacuum cleaners, such as self-driving cars, unmanned aerial vehicles, self-propelled robots, etc. Furthermore, any combination of two or more of the technologies of the above-described embodiments can be applied. [Industrial Applicability]

[0103] The present invention can be used in an autonomous vacuum cleaner. [Explanation of symbols]

[0104] 1 autonomous vacuum cleaner, 2 housing, 3 dust box, 4 filter, 5 cover, 6 LiDAR, 8 side brush, 9 rear wheel, 10 vacuum cleaner system, 11 storage section, 12 opening, 13 opening, 18 battery, 19 right drive wheel, 20 left drive wheel, 21 wheel support member, 22 suction port, 23 main brush, 24 cliff sensor, 31 map creation section, 32 cleaning control section, 33 movement control section, 34 main brush control section, 40 control section, 41 communication section, 42 memory section, 43 suction motor, 44 right drive section, 45 left drive section, 46 dust amount sensor, 50 base station, 51 housing, 52 base section, 54 charging terminal, 55 communication section, 56 memory section, 57 charging section, 58 suction fan, 60 opening, 61 dust removal member, 62 Control unit, 63 charging control unit, 64 suction control unit, 65 dust amount sensor, 66 dust container, 70 ventilation hole, 71 valve, 72 gasket, 73 torsion spring, 74 gasket, 75 case, 76 float, 77 spring, 81 away time setting unit, 82 voice recognition unit, 83 image recognition unit, 84 microphone, 85 operation unit, 86 imaging control unit.

Claims

1. An autonomous vacuum cleaner, a holding device for holding the autonomously traveling vacuum cleaner; Equipped with The autonomous vacuum cleaner comprises: The housing and a suction port for sucking dust around the housing; a main brush disposed near the suction port; a dust box for storing dust sucked through the suction port; a first suction device for sucking dust from the suction port into the dust box; Equipped with The holding device an opening that can be connected to the suction port when the autonomous vacuum cleaner is held by the holding device; a second suction device for sucking dust stored in the dust box through the suction port and the opening when the suction port and the opening are connected; Equipped with The opening area of ​​the opening is smaller than the opening area of ​​the suction port, The holding device controls the suction force of the suction air generated by the second suction device according to the cleaning time of the autonomous vacuum cleaner, the number of cleanings, the amount of dust collected during cleaning, or the amount of dust stored in the dust box. Vacuum cleaner system.

2. The suction port extends in a direction perpendicular to a direction of travel of the housing, When the holding device holds the autonomous vacuum cleaner, the opening overlaps with the approximate center of the suction port. The vacuum cleaner system of claim 1 .

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