Vacuum cleaner system

Abstract

To provide a cleaner system performing cleaning according to user's preference because the cleaning intensity of an autonomous travel type cleaner can be suitably changed in response to user's intention.SOLUTION: A cleaner system 400 includes: a display part 350 separating a map of a cleaning area to a plurality of grid cells and displaying the map where respective colors of the plurality of grid cells are varied according to an amount of dust sucked by an autonomous travel type cleaner 100; and an input part 340 setting a threshold value changing the cleaning intensity of the autonomous travel type cleaner 100.SELECTED DRAWING: Figure 1

Description

[[Technical Field]]

[0001] The present disclosure relates to a cleaner system. [[Background Art]]

[0002] Patent Literature 1 discloses a self-propelled device that automatically moves indoors or outdoors to perform work such as cleaning or patrol, and a program therefor. [[Prior Art Documents]] [[Patent Documents]]

[0003] [[Patent Document 1]] Japanese Unexamined Patent Publication No. 2007-323402 [[Summary of the Invention]] [[Problem to be Solved by the Invention]]

[0004] In the technology described in Patent Literature 1, for example, a user can input a travel designation or a non-travel designation into map information to rewrite the map information in accordance with the user's intention, but the cleaning intensity of the self-propelled device cannot be changed in accordance with the user's intention.

[0005] Accordingly, the present disclosure provides a cleaner system capable of performing cleaning according to a user's preference by changing the cleaning intensity of an autonomous traveling cleaner in accordance with the user's intention. [[Means for Solving the Problem]]

[0006] A cleaner system according to an aspect of the present disclosure includes: a display unit that divides a map of a cleaning target area into a plurality of grid cells and displays the map in which a color of each of the plurality of grid cells is changed in accordance with an amount of dust sucked by an autonomous traveling cleaner; and an input unit that sets a threshold for switching the cleaning intensity of the autonomous traveling cleaner. [[Advantageous Effects of the Invention]]

[0007] According to this disclosure, the cleaning intensity of the autonomous vacuum cleaner can be changed according to the user's intentions, allowing for cleaning tailored to the user's preferences. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a block diagram showing an example of the configuration of a vacuum cleaner system according to an embodiment. [Figure 2] Figure 2 is a perspective view of the autonomous vacuum cleaner in the embodiment, seen from the front and above. [Figure 3] Figure 3 is a top view of an autonomous vacuum cleaner according to an embodiment. [Figure 4] Figure 4 is a left side view of an autonomous vacuum cleaner in an embodiment. [Figure 5] Figure 5 is a front view of an autonomous vacuum cleaner in an embodiment. [Figure 6] Figure 6 is a bottom view of the autonomous vacuum cleaner in the embodiment. [Figure 7] Figure 7 is a perspective view of the autonomous vacuum cleaner in the embodiment, seen from the front and below. [Figure 8] Figure 8 is a block diagram showing an example of the functional configuration of an autonomous vacuum cleaner in an embodiment. [Figure 9] Figure 9 is a block diagram showing an example of the main configuration of the server in the embodiment. [Figure 10] Figure 10 is a block diagram showing an example of the functional configuration of a communication terminal in an embodiment. [Figure 11] Figure 11 is a sequence diagram showing an example of the operation of a vacuum cleaner system according to an embodiment. [Figure 12] Figure 12 is a flowchart showing an example of the operation of an autonomous vacuum cleaner in an embodiment. [Figure 13] Figure 13 is a flowchart showing an example of the operation of a communication terminal in an embodiment. [Figure 14] Figure 14 shows an example of a display screen. [Figure 15] FIG. 15 is a diagram illustrating an example of a cleaning level setting screen. [Figure 16] FIG. 16 is a diagram illustrating an example of a display screen that displays real-time cleaning status. [Figure 17] FIG. 17 is a diagram illustrating another example of a display screen that displays real-time cleaning status. [Figure 18] FIG. 18 is a diagram illustrating an example of a cleaning reservation setting screen. [Figure 19] FIG. 19 is a diagram illustrating an example of an input unit of an autonomous traveling cleaner. [Figure 20] FIG. 20 is a flowchart illustrating another example of the operation of the autonomous traveling cleaner according to the embodiment. DETAILED DESCRIPTION OF EMBODIMENTS

[0009] Hereinafter, embodiments will be specifically described with reference to the drawings. All embodiments described below are provided as inclusive or specific examples. Numerical values, shapes, materials, constituent elements, arrangement positions and connection forms of constituent elements, steps, order of steps, and the like shown in the following embodiments are examples, and are not intended to limit the scope of the claims. Further, each drawing is not necessarily strictly illustrated. In each drawing, substantially identical configurations are denoted by the same reference numerals, and overlapping descriptions may be omitted or simplified.

[0010] Note that each drawing is a schematic diagram and is not necessarily strictly illustrated. Further, in each drawing, substantially identical configurations are denoted by the same reference numerals, and overlapping descriptions may be omitted or simplified.

[0011] Embodiment [1. Configuration] [Cleaner System] First, the configuration of a cleaner system according to an embodiment will be described. FIG. 1 is a diagram illustrating an example of the configuration of a cleaner system according to an embodiment.

[0012] The vacuum cleaner system 400 can store information such as the current location, operating status, and amount of dirt sucked up by the autonomous vacuum cleaner 100 in the server 200, and create a map based on the information stored in the server 200. This map is, for example, a map of the area cleaned by the autonomous vacuum cleaner 100, and the information included in the map is divided into multiple grid cells, with information on the amount of dirt in each grid cell, information on the movement history of the autonomous vacuum cleaner 100, the cleaned area, and the uncleaned area. Such a map is created and presented to the user. The map and the information included in the map described above will be referred to as the map and map information below.

[0013] Furthermore, for example, the vacuum cleaner system 400 controls the cleaning intensity of the autonomous vacuum cleaner 100 according to instructions entered by the user, based on the presented map.

[0014] The vacuum cleaner system 400 includes, for example, an autonomous vacuum cleaner 100, a server 200, and a communication terminal 300.

[0015] The autonomous vacuum cleaner 100 is a vacuum cleaner that autonomously moves around the area to be cleaned. The autonomous vacuum cleaner 100 connects to the server 200 and the communication terminal 300, for example, via communication. Specifically, the autonomous vacuum cleaner 100 wirelessly connects to the router 80, for example, via short-range wireless communication such as Bluetooth® or Wi-Fi®. The router 80 further connects to the communication network 90 using a communication protocol such as TCP / IP (Transmission Control Protocol / Internet Protocol). In this way, the autonomous vacuum cleaner 100 may connect to the server 200 and the communication terminal 300 via the router 80 and the communication network 90.

[0016] Furthermore, the autonomous vacuum cleaner 100 may have not only the function to perform short-range wireless connections, but also the function to perform long-range wireless communication such as WiMAX (Worldwide Interoperability for Microwave Access) (registered trademark), or the function to connect to a communication network via a cable.

[0017] 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. Server 200 connects to the autonomous vacuum cleaner 100 and the communication terminal 300, for example, via the communication network 90.

[0018] The communication terminal 300 is a portable communication terminal used by the 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 connects to the server 200 and the autonomous vacuum cleaner 100 via, for example, the communication network 90. ​​The communication terminal 300 has an application program installed for checking the operating status of the autonomous vacuum cleaner 100, and the user may check the operating status of the autonomous vacuum cleaner 100 on a map by launching the application installed on the communication terminal 300. The communication terminal 300 may also transmit instructions entered by the user to the autonomous vacuum cleaner 100.

[0019] [Autonomous Vacuum Cleaner] Next, the configuration of the autonomous vacuum cleaner 100 will be described in detail with reference to Figures 2 to 7. Figure 2 is a perspective view of the autonomous vacuum cleaner 100 in the embodiment, seen from the front and above.

[0020] As shown in Figure 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 positioned at the front of the housing 1. One or more collision detection switches (not shown in Figure 2) are located inside the bumper 4, and when the bumper 4 collides with an obstacle, the bumper 4 moves inward toward the housing 1 and the switches turn on, detecting that the bumper 4 has collided with an obstacle.

[0021] A cover 5 is positioned on the top surface of the housing 1, behind the bumper 4. A dust collection container (not shown in Figure 2) is located inside this cover 5, and when the user presses down on the cover 5, the front or rear of the cover 5 detaches, allowing the dust collection container to be removed from the housing 1.

[0022] A LiDAR (Light Detection and Ranging) 6 is positioned behind the cover 5. This LiDAR 6 can detect obstacles around the housing 1 by rotating its light-emitting and light-receiving parts around its center axis. The autonomous vacuum cleaner 100 can also use this LiDAR 6 to create a map of the area to be cleaned (for example, a room).

[0023] Figure 3 is a top view of the autonomous vacuum cleaner 100 in the embodiment. In Figure 3, the front, rear, left, and right sides of the autonomous vacuum cleaner 100 are indicated by arrows, respectively.

[0024] As shown in Figure 3, a bumper 4, which is roughly U-shaped when viewed from above, is positioned at the front of the housing 1, and the upper body 2 is positioned at the rear of the housing 1. A cover 5 is positioned between the bumper 4 and the upper body 2, and a LIDAR 6 is positioned behind the cover 5.

[0025] The bumper 4 is biased forward of the housing 1 by a spring (not shown in Figure 3) located 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 backward by the amount of this gap, against the force of the spring.

[0026] Figure 4 is a left side view of the autonomous vacuum cleaner 100 in the embodiment. In Figure 4, the front, rear, top, and bottom of the autonomous vacuum cleaner 100 are indicated by arrows, respectively.

[0027] As shown in Figure 4, a bumper 4 is positioned at the front of the housing 1, and the upper body 2 is positioned behind it. Exhaust ports 7 are formed on the left and right sides of the upper body 2, and a LiDAR 6 is positioned on the rear upper surface of the upper body 2. Side brushes 8 are positioned at the front of the lower body 3, and rear wheels 9 are positioned at the rear of the lower body 3.

[0028] Figure 5 is a front view of the autonomous vacuum cleaner 100 in the embodiment. In Figure 5, the top, bottom, left, and right sides of the autonomous vacuum cleaner 100 are indicated by arrows, respectively.

[0029] As shown in Figure 5, the front of the bumper 4 has two ultrasonic sensors 10 and upper left sensor 11 and upper right sensor 12, which consist of a light-emitting element and a light-receiving element. The lower body 3 has lower left sensor 13 and lower right sensor 14, which consist of a light-emitting element and a light-receiving element, and side brushes 8 are arranged on both the front left and right sides of the lower body 3. Note that these side brushes 8 may be arranged on either the front right or left side of the lower body 3.

[0030] The upper left sensor 11 and the lower left sensor 13 are located in approximately the same position (in other words, on approximately 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 in approximately the same position (in other words, on approximately the same line) in the vertical direction of the housing 1.

[0031] As is clear from Figure 4, the front of the lower body 3 is a slope 15 that inclines from front to rear. Two recesses 16 are formed in this slope 15, and the lower left sensor 13 and the lower right sensor 14 are positioned in each of these two recesses 16.

[0032] Furthermore, the lower left sensor 13 and the lower right sensor 14 each have a window portion 17 formed on a surface that is approximately parallel to the surface perpendicular to the floor when the housing 1 is placed on the floor, and a light-emitting element and a light-receiving element are arranged inside this window portion 17. This reduces the accumulation of dust in the recess 16 where the light-emitting element and light-receiving element of the lower left sensor 13 and the lower right sensor 14 are located, even if dust is stirred up from the floor by the rotation of the side brush 8. In addition, the side brush 8 is positioned near this window portion 17, and when the side brush 8 rotates, the wind generated by the rotation of the side brush 8 hits the window portion 17, making it possible to remove dust attached to the window portion 17 by the wind. This prevents the lower left sensor 13 and the lower right sensor 14 from making false detections due to dust adhering to the window portion 17.

[0033] Figure 6 is a bottom view of the autonomous vacuum cleaner 100 in the embodiment. In Figure 6, the front, rear, left, and right sides of the autonomous vacuum cleaner 100 are indicated by arrows, respectively.

[0034] As shown in Figure 6, the rear wheels 9 are located at the rear of the lower body 3, and a battery 18, consisting of a secondary battery such as a lithium-ion battery, is located in front of the rear wheels 9. The right drive wheel 19 and the left drive wheel 20 are located approximately 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. This wheel support member 21 is movable in the vertical direction of the housing 1 around axis A. In addition, a spring for the wheel (not shown in Figure 6) is placed between each of the two wheel support members 21 and the lower body 3, and this spring biases the wheel support member 21 and the right drive wheel 19 and the left drive wheel 20 toward the floor.

[0035] In the example shown in Figure 6, a portion of the battery 18 is located between the right drive wheel 19 and the left drive wheel 20, but the battery 18 may also be positioned behind the right drive wheel 19 and the left drive wheel 20. In this example, by positioning the battery 18 at the rear of the housing 1, the center of gravity of the housing 1 is designed to be at the rear of 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 each of the two wheel support members 21.

[0036] As shown in Figure 6, a suction port 22 for collecting dust is formed in front of the battery 18 and in front of the right drive wheel 19 and the left drive wheel 20, and the main brush 23 is rotatably supported inside this suction port 22.

[0037] Step sensors 24 are positioned on both the left and right sides of the main brush 23. Each step sensor 24 consists of a light-emitting part and a light-receiving part, and detects when the housing 1 approaches a step.

[0038] The main brush 23 may also be positioned at the rear of the housing. For example, the battery 18 shown in Figure 6 may be moved to the center or front of the housing, and the main brush 23 may be positioned behind the battery 18.

[0039] In front of the step sensor 24 is a recess 25, and the side brush 8 is positioned around the approximate center of this recess 25 as its axis. The side brush 8 rotates toward the suction port 22. Therefore, in Figure 6, the left side brush 8 rotates clockwise, and the right side brush 8 rotates counterclockwise.

[0040] As described above, in the example shown in Figure 6, the center of gravity G of the housing 1 is located behind the central part of the main body (the so-called housing 1). Therefore, it is not necessary to provide a step sensor 24 in front of the lower body 3. Specifically, even if the housing 1 moves forward in the direction of a step and continues to move forward until the step sensor 24 located 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. As a result, the autonomous vacuum cleaner 100 will not fall onto the step and can clean right up to the edge of the step. Furthermore, since it is not necessary to provide a step sensor 24 in front of the lower body 3, manufacturing costs can be reduced.

[0041] Figure 7 is a perspective view of the autonomous vacuum cleaner 100 in the embodiment, viewed from the front and below. As shown in Figure 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. A lower left sensor 13 and a lower right sensor 14 are positioned in these recesses 16, respectively.

[0042] As shown in Figure 7, recesses 25 are formed on the left and right sides of the front of the lower body 3, with side brushes 8 positioned in each recess 25 that extend to the vicinity of the recess 16. The length of the side brushes 8 is such that they protrude further outward from the housing 1 than the recesses 25, and furthermore, the recesses 25 are curved toward the vicinity of the recess 16. As a result, the side brushes 8 can not only rotate smoothly toward the intake port 22, but the air generated by the rotation of the side brushes 8 can be blown to the window portion 17 inside the recess 16. This allows dust on the window portion 17 to be blown away by the airflow.

[0043] Next, the functional configuration of the autonomous vacuum cleaner 100 will be explained with reference to Figure 8. Figure 8 is a block diagram showing an example of the functional configuration of the autonomous vacuum cleaner 100 in this embodiment. Note that configurations not directly related to the technology of this embodiment are omitted from the illustration in this figure.

[0044] As shown in Figure 8, the autonomous vacuum cleaner 100 includes, for example, a communication unit 30, a control unit 40, a storage unit 50, a rotation detection unit 60, an ultrasonic sensor 10, a step sensor 24, an infrared sensor 61, a gyro sensor 62, a dust sensor 63, a suction motor 70, a right drive unit 71, and a left drive unit 72.

[0045] 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 communication functions such as Wi-Fi (registered trademark) or Bluetooth (registered trademark).

[0046] The control unit 40 performs various information processing related to the autonomous vacuum cleaner 100. Specifically, the control unit 40 is implemented by a processor, a microcomputer, or a dedicated circuit. Alternatively, the control unit 40 may be implemented by a combination of two or more of the processor, microcomputer, or 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.

[0047] The map information creation unit 41 uses, for example, information about obstacles detected by the infrared sensor 61 and the ultrasonic sensor 10 (information such as the presence or absence of obstacles and the distance to obstacles) and information about obstacles detected by the LiDAR 6 (information such as the presence or absence of obstacles and the distance to obstacles) to create map information that includes information about the area to be cleaned (for example, information such as the layout of rooms).

[0048] This map information mainly includes the locations of walls and obstacles in the area to be cleaned (e.g., a room). The map information creation unit 41 may also create the map information using only the information detected by the LiDAR 6. Furthermore, the map information may also include information on the amount of dirt detected by the dirt sensor 63 for each of the grid cells into which the area to be cleaned is divided.

[0049] The position information calculation unit 42 calculates self-position information 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 displacement 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 uses the position of the charging base as the initial position, and calculates self-position information from the information detected by the LiDAR 6 and the information detected by the rotation detection unit 60 from this initial position. As a method for calculating the self-position, for example, it may be calculated by an odometry method.

[0050] The calculation of self-position information by the position information calculation unit 42 is not limited to the method described above and may be performed by other methods. For example, the position information calculation unit 42 may use information about obstacles detected by the infrared sensor 61 and ultrasonic sensor 10 (information such as the presence or absence of obstacles and the distance to obstacles), information about obstacles detected by LiDAR 6 (information such as the presence or absence of obstacles and the distance to obstacles), and information such as the rotation direction, speed, and rotation speed of the drive wheels (specifically, the right drive wheel 19 and the left drive wheel 20) detected by the rotation detection unit 60 to calculate information indicating the current location of the autonomous vacuum cleaner 100 (so-called self-position information).

[0051] Furthermore, the position information calculation unit 42 may also use information such as the direction of travel 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).

[0052] The movement control unit 43 moves the autonomous vacuum cleaner 100 by controlling the right drive unit 71 and the left drive unit 72 to drive the right drive wheel 19 and the left drive wheel 20. 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 detaches the autonomous vacuum cleaner 100 from the base station (so-called charging stand). The movement control unit 43 travels within the cleaning area (for example, indoors) according to a predetermined travel plan or randomly, for example, by referring to a map (specifically, a map of the area to be cleaned) stored in the memory unit 50. When cleaning is finished, the movement control unit 43 returns the autonomous vacuum cleaner 100 to the base station by referring to the map stored in the memory unit 50.

[0053] The cleaning control unit 44 performs cleaning according to the cleaning plan. The cleaning control unit 44 starts the cleaning operation when the set cleaning start time arrives or when the user instructs it to start cleaning. While the autonomous vacuum cleaner 100 is moving, 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 dust from the suction port 22. The suction motor 70 is a motor that generates suction air. The suction motor 70 and the suction port 22 (not shown in Figure 8) formed on the back of the autonomous vacuum cleaner 100 are in communication, and outside air and dust are sucked in from the suction port 22 by the suction motor 70.

[0054] The memory unit 50 consists of a non-volatile memory, such as flash memory, and stores the control program executed by the control unit 40 and various parameters.

[0055] The rotation detection unit 60 detects the rotation direction, rotation speed, and rotational velocity of the right drive wheel 19 and the left drive wheel 20, respectively.

[0056] The LiDAR6 includes a light-emitting unit (light-emitting element) and a light-receiving unit (photodetector), as well as a rotation mechanism and motor for rotating these elements.

[0057] The ultrasonic sensor 10 has, for example, an output unit that emits ultrasonic waves and an input unit that detects ultrasonic waves reflected from the surface of an obstacle, and multiple units are arranged 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 obstacles around the autonomous vacuum cleaner 100 and the distance to those obstacles.

[0058] The step sensor 24 is located on the underside of the autonomous vacuum cleaner 100 and is a sensor that detects steps in the floor surface. This step sensor 24 is, for example, an infrared sensor having a light-emitting element and a light-receiving element.

[0059] The infrared sensor 61, for example, has a light-emitting element and a light-receiving element, and multiple sensors are arranged on the side 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 obstacles around the autonomous vacuum cleaner 100 and the distance to those obstacles.

[0060] The gyro sensor 62 is a sensor that detects the direction and speed of movement of the autonomous vacuum cleaner 100.

[0061] The dust sensor 63 has a light-emitting unit and a light-receiving unit, and is installed, for example, in a passage connecting the suction port 22 to the dust collection container. By detecting dust passing between the light-emitting unit and the light-receiving unit, the dust sensor 63 can detect the amount of dust sucked up within a predetermined time or area.

[0062] [server] Next, the configuration of server 200 will be described in detail with reference to Figure 9. Figure 9 is a block diagram showing an example of the main configuration of server 200 in the embodiment.

[0063] As shown in Figure 9, the server 200 includes, for example, a communication unit 210, a control unit 220, and a storage unit 230.

[0064] The communication unit 210 is a communication circuit for 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.

[0065] The control unit 220 performs various information processing 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 when it receives an information acquisition request from the communication terminal 300, it reads the requested information from the storage unit 230 and transmits it to the communication terminal 300. Specifically, the control unit 220 is implemented by a processor or a microcomputer.

[0066] The memory unit 230 stores the control program and various parameters executed by the control unit 220. The memory unit 230 also stores various data (such as map information) transmitted and received between the autonomous vacuum cleaner 100 and the communication terminal 300. Specifically, the memory unit 230 is implemented using an HDD (Hard Disk Drive) or flash memory.

[0067] [Communication terminals] Next, the configuration of the communication terminal 300 will be described in detail with reference to Figure 10. Figure 10 is a block diagram showing an example of the functional configuration of the communication terminal 300 in the embodiment.

[0068] The communication terminal 300 is a portable communication terminal used by the user. As shown in Figure 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.

[0069] The communication unit 310 is a communication circuit for 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.

[0070] The short-range wireless unit 312 can wirelessly connect to the router 80 and has communication functions such as Wi-Fi (registered trademark) or Bluetooth (registered trademark). If the autonomous vacuum cleaner 100 is also equipped with a short-range wireless unit, the communication terminal 300 can also connect directly to the autonomous vacuum cleaner 100 using this short-range wireless unit 312.

[0071] The control unit 320 performs various information processing related to the communication terminal 300. The control unit 320 performs various calculations according to the application program 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 also include a timer unit for measuring a predetermined time. Specifically, the control unit 320 is implemented by a processor or a microcomputer.

[0072] The control unit 230 displays the map created by the map creation unit 321 on the display unit 350. The control unit 230 divides the map of the area to be cleaned into multiple grid cells and displays the display on the display unit 350, changing the color of each of the multiple grid cells according to the amount of dirt sucked up by the autonomous vacuum cleaner 100. More specifically, when the map creation unit 321 obtains map information, including the location information of the autonomous vacuum cleaner 100, from the server 200, it creates a map in which the color of each of the multiple grid cells is changed. The control unit 230 displays the created map on the display unit 350.

[0073] Each of the grid cells may be of a predetermined size, or of different sizes. For example, the size of the grid cells may be 1m x 1m, 50cm x 50cm, or 30cm x 30cm. The lower limit of the grid cell size may be determined by the size of the suction port 22. The sizes of the grid cells may be switched according to user instructions.

[0074] Furthermore, the map creation unit 321 may, upon acquiring information on the movement trajectory of the autonomous vacuum cleaner 100 on the map created by the movement trajectory creation unit 322 (described later), create a map that reflects the movement trajectory. The created map may be displayed on the display unit 350. For example, upon acquiring information on the movement trajectory of the autonomous vacuum cleaner 100 on the map from the movement trajectory creation unit 322, the map creation unit 321 may create a map that includes a line indicating the movement trajectory of the autonomous vacuum cleaner, and the control unit 320 may display the created map.

[0075] When the movement trajectory creation unit 322 obtains map information, including the location information of the autonomous vacuum cleaner 100, from the server 200, it creates information on the movement trajectory of the autonomous vacuum cleaner 100 on the map and outputs it to the map creation unit 321.

[0076] The storage unit 330 stores control programs, application programs, and various parameters executed by the control unit 320. The storage unit 330 also stores map information acquired from the server 200. Specifically, the storage unit 330 is a hard disk drive (HDD). This is achieved using a disk drive, or flash memory, etc.

[0077] The input unit 340 receives input operations from the 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, touch sensor, touchpad, or mouse. For example, the input unit 340 may be a capacitive touch panel mounted on the display unit 350.

[0078] 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.

[0079] [2. Example of operation] Next, an example of the operation of the vacuum cleaner system 400 according to the embodiment will be described. Figure 11 is a sequence diagram showing an example of the operation of the vacuum cleaner system 400 according to the embodiment. Figure 12 is a flowchart showing an example of the operation of the autonomous vacuum cleaner 100 in the embodiment.

[0080] First, refer to Figure 12. For example, the control unit 40 of the autonomous vacuum cleaner 100 determines whether or not it has received a cleaning start instruction from the user via the communication terminal 300 (S21).

[0081] If the control unit 40 determines that it has not received an instruction to start cleaning (No in S21), it repeats the process in step S21. On the other hand, if the control unit 40 determines that it has received an instruction to start cleaning (Yes in S21), it starts cleaning. In other words, as shown in Figure 11, the autonomous vacuum cleaner 100 transitions to cleaning mode (S01). Next, the autonomous vacuum cleaner 100 outputs a notification to the server indicating that it has transitioned to cleaning mode (for example, status notification (cleaning) in Figure 11) (S02).

[0082] When the server 200 receives a status notification (cleaning) from the autonomous vacuum cleaner 100, it updates the status of the autonomous vacuum cleaner 100 to cleaning (S03).

[0083] Next, the autonomous vacuum cleaner 100 stores map information, including location information, in the storage unit 50 (S04).

[0084] More specifically, as shown in Figure 12, the control unit 40 stores information such as the location of obstacles around it, its own position, and the amount of garbage in the storage unit 50 at predetermined intervals, linking it to map information (S22). The control unit 40 determines whether or not cleaning is finished (S23), and if cleaning is not finished (No in S23), it repeats step S22.

[0085] After outputting an instruction to start cleaning (not shown), the communication terminal 300 sends a signal to the server 200 requesting information indicating the status of the autonomous vacuum cleaner 100 (hereinafter referred to as a status acquisition request) (S05). When the server 200 receives the status acquisition request from the communication terminal 300, it sends information indicating the status of the autonomous vacuum cleaner 100 to the communication terminal 300 (S06).

[0086] If the control unit 40 determines in step S23 of Figure 12 that cleaning should be completed (Yes in S23), it terminates the cleaning (S07 in Figure 11). When the server 200 receives a status notification (cleaning completed) from the autonomous vacuum cleaner 100, it updates the status of the autonomous vacuum cleaner 100 to cleaning completed (S09).

[0087] Next, the autonomous vacuum cleaner 100 outputs a notification to the server indicating that cleaning is complete (for example, the status notification (cleaning complete) in Figure 11) (S08).

[0088] Next, the control unit 40 reads the information stored in the storage unit 50 (more specifically, map information including location information, etc.) from the storage unit 50 at predetermined intervals in step S22 (S10), and transmits the read map information to the server (S11 in Figure 11, S24 in Figure 12).

[0089] When the server 200 receives map information transmitted from the autonomous vacuum cleaner 100, it stores the acquired map information in the storage unit 230 (S12).

[0090] Next, the operation of the server 200 and the communication terminal 300 in the vacuum cleaner system 400 will be described in detail with reference to Figures 11 and 13. Figure 13 is a flowchart showing an example of the operation of the communication terminal 300 in the embodiment.

[0091] First, refer to Figure 13. The control unit 320 of the communication terminal 300 determines whether or not to launch the map application (S31). If it determines not to launch the map application (No in S31), it repeats step S31. On the other hand, if the control unit 320 determines to launch the map application (Yes in S31), it launches the map application (S13 in Figure 11) and sends a signal to the server 200 requesting map information including location information (hereinafter referred to as location information request) (S14 in Figure 11, S32 in Figure 13).

[0092] When the server 200 receives a request for location information from the communication terminal 300, it reads map information including the location information of the autonomous vacuum cleaner 100 from the storage unit 230 (not shown), and transmits the map information including the read location information to the communication terminal 300 (S15).

[0093] As shown in Figure 13, the control unit 320 of the communication terminal 300 determines whether or not map information has been received (S33). If it determines that map information has not been received (No in S33), it determines that an error has occurred (S34) and returns to step S31.

[0094] On the other hand, if the control unit 320 determines that it has received map information (Yes in S33, S16 in Figure 11), it stores the received map information in the storage unit 330 (S35).

[0095] Next, as shown in Figure 11, the communication terminal 300 divides the map of the area to be cleaned into multiple grid cells based on the received map information, creates a map in which the color of each of the multiple grid cells changes according to the amount of dirt sucked up by the autonomous vacuum cleaner 100 (S17), and displays the map on the display unit 350 (S17, S36 in Figure 13).

[0096] Next, as shown in Figure 13, the control unit 320 determines whether or not an input operation by the user has been accepted (S37). If it is determined that no input operation has been accepted (No in S37), step S37 is repeated.

[0097] On the other hand, if the control unit 320 determines that it has received an input operation from the user (Yes in S37), it displays a message corresponding to the operation (S38). Specific operations and display examples will be explained below with reference to the drawings.

[0098] [Example 1] In the first example, we will describe a case in which a cleaning history map is displayed on the display unit 350 of the communication terminal 300 after cleaning is completed. Figure 14 shows an example of the display screen.

[0099] When a user launches the app on the communication terminal 300, the map created in step S17 is displayed on the display unit 350 of the communication terminal 300 as a cleaning history map, for example, as shown in Figure 14.

[0100] This map divides the area to be cleaned into multiple grid cells, and changes the color of each grid cell according to the amount of dirt sucked up by the autonomous vacuum cleaner 100. The color change can be a gradient of a single color (including grayscale), or it can be a gradual change to different colors depending on the amount of dirt, for example, the more dirt there is, the closer it gets to red, and the less dirt there is, the closer it gets to blue. By looking at these colors, the user can find out how much dirt was present in each location.

[0101] The display unit 350 shows multiple bar graphs in the area below the map display area. Each bar graph shows the total amount of dirt sucked up by the autonomous vacuum cleaner 100 in one cleaning session. The horizontal axis of the bar graphs shows the date and time, with older bars displayed on the right and more recent bars displayed on the left. When the vacuum cleaner 100 performs a cleaning, a bar graph showing the total amount of dirt sucked up by the autonomous vacuum cleaner 100 is added and displayed on the left side of the screen. The vertical axis of the bar graphs shows the amount of dirt. The taller the bar graph, the greater the total amount of dirt sucked up by the autonomous vacuum cleaner 100 in one cleaning session.

[0102] The display unit 350 shows a cursor represented by a hand icon along with a map. The user can instruct the system to perform a desired action by moving this cursor. For example, if the user moves the cursor to select a bar graph displayed at the bottom of the screen, the map corresponding to the selected bar graph will be displayed at the top of the screen.

[0103] The displayed map shows the walls, obstacles, and multiple grid cells in the cleaned area. Each grid cell is color-coded according to the amount of dirt sucked up by the autonomous vacuum cleaner 100, as mentioned earlier. White cells indicate areas where no dirt was sucked up by the autonomous vacuum cleaner 100 (i.e., below the detection limit), or areas where the vacuum cleaner 100 did not travel. For example, the map could display the past travel trajectories (also called movement trajectories) of the vacuum cleaner 100 using lines, or it could display an icon for a charging station.

[0104] The display unit 350 can display not only this history map but also a cumulative waste map. The cumulative waste map displays the total amount of waste sucked up by the autonomous vacuum cleaner 100 over multiple cleaning cycles. For example, the cumulative waste map can display the sum of information on the amount of waste sucked up by the autonomous vacuum cleaner 100 in the most recent cleaning cycle and the amount of waste sucked up by the vacuum cleaner 100 in previous cleaning cycles. Therefore, the cumulative waste map will display the cumulative amount of waste sucked up by the autonomous vacuum cleaner 100 over multiple cleaning cycles in different colors for each grid cell. The display unit 350 switches between displaying the history map and the cumulative waste map, but it may also display both maps simultaneously.

[0105] When a user enables the "Add this trash distribution to the cumulative trash map" option, the trash distribution on the currently displayed map is added to the already stored cumulative trash map information.

[0106] For example, if a user touches one of the displayed bar graphs, an instruction to select the touched bar graph is input to the input unit 340, and the amount of waste indicated by that bar graph may be added to the cumulative waste map.

[0107] The method for adding the amount of waste to the cumulative waste map is not limited to the example above. For example, when a user touches one of several areas in the history map, an instruction to select the touched area is input to the input unit 340, and the amount of waste sucked up by the autonomous vacuum cleaner 100 in that area may be added to the cumulative waste map.

[0108] Additionally, to add the amount of waste to the cumulative waste map on a weekly or monthly basis, for example, you can display a calendar and select the start and end dates for the cumulative calculation, select a day of the week, or select a week or a month.

[0109] This improves convenience because users can choose whether to view short-term or long-term cumulative totals.

[0110] [Example 2] In the second example, we will describe an example in which a setting screen for setting the cleaning intensity (hereinafter also referred to as the cleaning level) of the autonomous vacuum cleaner 100 is displayed on the display unit 350 of the communication terminal 300. Figure 15 shows an example of the cleaning level setting screen. Figure 15(a) is an example of the screen for setting the cleaning level of the autonomous vacuum cleaner 100.

[0111] The cleaning intensity (cleaning level) indicates how thoroughly the cleaning is performed. The higher the cleaning level, the more thoroughly the autonomous vacuum cleaner 100 cleans. When performing a thorough cleaning, the vacuum cleaner may perform actions such as increasing suction power, decreasing travel speed, increasing brush rotation speed, or moving the vacuum cleaner back and forth over the same area. When performing a thorough cleaning, the vacuum cleaner may perform one or more of these actions.

[0112] On the other hand, the lower the cleaning level, the easier the autonomous vacuum cleaner 100 will clean. When cleaning easily, it will perform actions such as reducing the suction power, increasing the travel speed, or decreasing the brush rotation speed, compared to when cleaning at a higher level. When cleaning easily, it may perform one or more of these actions.

[0113] As shown in Figure 15(a), when the user selects "Cleaning Level" on the settings screen, a settings screen for setting the threshold for changing the cleaning level is displayed on the display unit 350. The user can set the threshold by moving the arrow on the screen to the right or left. The explanation will be given using the case where there are two cleaning levels: medium (normal) and strong (thorough).

[0114] For example, as shown in Figure 15(a), if the dust level is displayed in 6 stages, and the stages from high to low dust levels are numbered 6 to 1, then you can move the arrow between stages 4 and 3 to set the threshold between stages 4 and 3 as the threshold for switching cleaning levels.

[0115] In this case, when the autonomous vacuum cleaner 100 is cleaning, if the amount of dust detected by the dust sensor 63 corresponds to a region in each grid cell that corresponds to stages 1 to 3, the cleaning level for that region is set to "medium (normal)". In other words, the autonomous vacuum cleaner 100 performs normal cleaning without performing a thorough cleaning. For example, the suction power of the suction motor 70 is set to a normal level during normal cleaning.

[0116] On the other hand, when the autonomous vacuum cleaner 100 is cleaning, if the amount of dust detected by the dust sensor 63 corresponds to a region of stages 4 to 6 in each grid cell, it will clean that region at a "strong (thorough)" cleaning level. In other words, the autonomous vacuum cleaner 100 will clean thoroughly. In this case, for example, the suction power of the suction motor 70 will be increased to a higher level than normal to enhance the dust suction power.

[0117] For example, if the user moves the arrow on the screen in the direction of decreasing the dust level, the system will switch the cleaning level from medium to strong when there is less dust than the current setting. Conversely, if the user moves the arrow on the screen in the direction of increasing the dust level, the system will switch the cleaning level from medium to strong when there is more dust than the current setting.

[0118] In the second example, if a user wants to finish cleaning early, even if there is a slightly larger amount of dirt, they can move the cursor on the map screen to the location of a grid cell with a high dirt level. This allows the threshold to be set to the amount of dirt sucked up by the autonomous vacuum cleaner 100 in the grid cell with the high dirt level. This allows the autonomous vacuum cleaner 100 to perform normal cleaning even if there is a slightly larger amount of dirt, and finish cleaning earlier.

[0119] On the other hand, if a user wants the autonomous vacuum cleaner 100 to clean thoroughly even if there is little dirt, they can move the cursor on the map screen to a grid cell with a low dirt level, thereby setting the threshold to the amount of dirt sucked up by the autonomous vacuum cleaner 100 in the grid cell with the low dirt level. This allows the autonomous vacuum cleaner 100 to clean thoroughly at high power even if there is little dirt.

[0120] In this way, users can easily instruct the autonomous vacuum cleaner 100 to clean thoroughly or to clean simply.

[0121] Figure 15(b) is an example of a display screen that shows a list of correspondences between the amount of waste displayed on the waste map (history map and cumulative waste map) and the cleaning level.

[0122] For example, as shown in Figure 15(b), if there are three cleaning levels, 1 to 3, arrows indicating the threshold for switching between cleaning levels 1 and 2, and arrows indicating the threshold for switching between cleaning levels 2 and 3, are displayed above the dust level meter. Note that the arrows indicating the threshold for switching between cleaning levels 1 and 2, and the arrows indicating the threshold for switching between cleaning levels 2 and 3, may be displayed simultaneously above the dust level meter, or they may be displayed individually on two dust level meters arranged vertically, for example.

[0123] In this case, for example, the display in Figure 15(b) may be superimposed on the display in Figure 15(a) as a pop-up display.

[0124] This allows the user to set thresholds for switching cleaning levels while referring to the operating status of the autonomous vacuum cleaner 100 corresponding to the cleaning level (e.g., suction power, travel speed, travel motion, and brush rotation speed). Therefore, the vacuum cleaner system 400 can perform cleaning according to the user's preferences, as it becomes easier for the user to recognize the cleaning level that suits their intentions.

[0125] In this embodiment, the suction power, travel speed, and travel operation corresponding to the cleaning level are set to factory default values. However, the system may be configured to allow the user to freely set the suction power, travel speed, and travel operation corresponding to the cleaning level. Furthermore, although the example was given with two or three cleaning levels, there may be four or more cleaning levels.

[0126] Furthermore, in this embodiment, the autonomous vacuum cleaner 100 is configured to change the cleaning level according to the amount of dirt detected by the dirt sensor 63 while it is cleaning. However, it is also possible to refer to a map created in the past and change the cleaning level according to the amount of dirt in each grid cell of the map created in the past.

[0127] Furthermore, as a method for setting thresholds for switching cleaning levels, for example, in Figure 15(a), when the cleaning level is set to "Strong (Thorough)" for dust levels 6 to 4 out of 6 (the first three dust levels from the highest in the figure), a frame may be displayed on the bar indicating the dust levels to surround dust levels 6 to 4, and this frame may be highlighted in black. Specifically, for example, by touching the frame and swiping to the left, the user can specify the area (grid cell) to be cleaned at dust levels 6 and 5 (the second from the left end of the bar indicating the dust levels). In this case, the frame will be displayed surrounding dust levels 6 and 5 on the bar indicating the dust levels. On the other hand, for example, by touching the frame and swiping to the right, the user can specify the area (grid cell) to be cleaned at dust levels 6 to 4 (the third from the left end of the bar indicating the dust levels) At this time, the frame will be displayed enclosing the bars 6 to 4 that indicate the dust level. This allows the user to easily set which dust level grid cell the "Strong" cleaning level will be applied to by moving the frame enclosing the dust level value to the left or right. Furthermore, the user can easily recognize which dust level grid cell the "Strong" cleaning level is assigned to simply by looking at which dust level is enclosed by the frame.

[0128] Furthermore, when the dust level is set to "medium (normal)" for levels 1-3 out of 6, a frame can be displayed surrounding the three frames for dust levels 1-3, and this frame can be highlighted in black. In the same way as described earlier, the user can move the frame to the right or left to select which dust level the "medium (normal)" cleaning should be performed on. This allows the user to easily set which dust level grid cell the "medium (normal)" cleaning should be performed on, and also allows the user to easily recognize which dust level grid cell the "medium (normal)" cleaning is assigned to simply by looking at which dust level is surrounded by a frame.

[0129] Additionally, the grid cells corresponding to the dust level specified as "Strong (Thorough)" may be displayed on the map with a thicker, more prominent border, or they may be displayed brighter than other grid cells on the map, or they may be displayed with a blinking effect.

[0130] [Example 3] In the third example, we describe an example in which the current location of the autonomous vacuum cleaner 100 and the amount of dirt sucked up in the area it has passed through are displayed in real time on a history map on the display unit 350 of the communication terminal 300. Figure 16 shows an example of a display screen that shows the cleaning status in real time.

[0131] In the above example of operation, the autonomous vacuum cleaner 100, after completing the cleaning, sent information such as the location of obstacles, its own position, and the amount of dirt (so-called map information) stored in the memory unit 50 during cleaning to the server 200. However, it may also send this map information to the server 200 at predetermined intervals.

[0132] This allows the communication terminal 300 to display the location of the autonomous vacuum cleaner 100 and the amount of dirt collected on a history map at predetermined intervals, and present this information to the user.

[0133] As shown in Figure 16, for example, the communication terminal 300 displays an icon indicating the current location of the autonomous vacuum cleaner 100 on a map (a so-called history map) in which the color of the grid cells that the autonomous vacuum cleaner 100 has passed through changes according to the amount of dirt sucked up by the autonomous vacuum cleaner 100.

[0134] In this case, for example, the communication terminal 300 may display a bar graph below the history map showing the amount of dirt in each grid cell that the autonomous vacuum cleaner 100 has passed through. The bar graph with the vacuum cleaner icon shows the amount of dirt sucked up in the area that the autonomous vacuum cleaner 100 cleaned immediately before (more specifically, the area corresponding to the grid cell on the history map). The vacuum cleaner icon may or may not be displayed.

[0135] In the example in Figure 16, a vacuum cleaner icon is displayed below the bar graph on the far right. The bar graph directly above the vacuum cleaner icon represents the most recently detected amount of dust. Therefore, the amount of dust in the bar graph above the vacuum cleaner icon at the bottom of the screen corresponds to the amount of dust in the cell where the vacuum cleaner icon is located on the map, or the cell where the vacuum cleaner icon was located immediately before it.

[0136] Furthermore, the multiple bar graphs displayed on the screen, moving from right to left, show the amount of dirt detected in the past. As the autonomous vacuum cleaner 100 moves through the cleaning area, the bar graphs are created sequentially from left to right on the screen.

[0137] This allows users to check the amount of dirt sucked up by the autonomous vacuum cleaner 100 in real time. In addition, a vacuum cleaner icon is displayed on the map along with a bar graph, making it easy for users to see how much dirt is located where on the map.

[0138] Furthermore, by applying the configuration of the second example to the configuration of the third example, the user can change the threshold setting for switching cleaning levels from the settings screen if they feel that there is more dirt than usual during cleaning. Thus, the vacuum cleaner system 400 can perform cleaning according to the user's preferences.

[0139] In the third example, the communication terminal 300 displayed a bar graph showing the amount of dust on the display unit 350, but instead of displaying a bar graph, the color of the icon indicating the current location of the autonomous vacuum cleaner 100 may be changed according to the color of the dust.

[0140] Furthermore, regarding the bar graph in Figure 16, it is also possible to display the bar graph for the previous cleaning history and the bar graph for the current cleaning simultaneously. This allows for a comparison between the results of the previous cleaning and the current cleaning.

[0141] [Variation 1 of the third example] A modification of the third example, Part 1, will now be described. Figure 17 shows another example of a display screen that shows the cleaning status in real time.

[0142] In the third example, modification 1, a camera can be mounted on the front or top of the autonomous vacuum cleaner 100, making it possible to photograph the area in front of the autonomous vacuum cleaner 100.

[0143] In the third example, variation 1, a camera image showing the front of the autonomous vacuum cleaner 100 (i.e., the direction of travel) is displayed in response to user input. For example, when the user touches the "camera" button (see Figure 16), the communication terminal 300 displays the camera image of the front of the autonomous vacuum cleaner 100 at the bottom of the history map.

[0144] This allows users to more clearly understand the current location of the autonomous vacuum cleaner 100.

[0145] In Figure 17, an icon for the autonomous vacuum cleaner is displayed on the history map, and the orientation of the icon is changed according to the orientation of the autonomous vacuum cleaner 100. As a result, the user can easily find out which direction the autonomous vacuum cleaner 100 is currently facing, and what is located in the direction the autonomous vacuum cleaner 100 is facing, based on the orientation of the displayed icon and the camera image.

[0146] Furthermore, if an obstacle is displayed on the history map in Figure 17 but not in the camera image, the user can delete the obstacle displayed on the history map. For example, the user can delete the obstacle displayed on the history map by operating the input unit 340, using the eraser icon, or by drawing a circle around the obstacle with their finger.

[0147] On the other hand, if obstacles are displayed in the camera image even though no obstacles are shown on the history map in Figure 17, the user can add obstacles to the history map. For example, the user can add obstacles by operating the input unit 340 to place an obstacle icon on the history map, or by drawing a circle around an obstacle with their finger.

[0148] Furthermore, multiple icons corresponding to different types of obstacles (for example, clothes, cords, tables, chairs, chair legs, game consoles, irons, vacuum cleaners, etc.) can be pre-configured in the memory unit 330 of the communication terminal 300, allowing the user to select and place their desired icon on the history map. Since obstacles such as walls and doors cannot be moved, the icons for these obstacles can be designed to be movable by the user. Of course, the system could also be configured so that users can add obstacles such as walls and doors to the history map.

[0149] When the autonomous vacuum cleaner 100 creates a history map of a room for the first time, it might use icons for obstacles such as walls and doors. However, when adding obstacles during subsequent cleanings of the same room, it will likely use icons for obstacles that the user can move.

[0150] Furthermore, the user may operate the input unit 340 of the communication terminal 300 to forcibly manually operate the autonomous vacuum cleaner 100, which had previously been performing cleaning automatically. The user may also operate the input unit 340 to forcibly move the autonomous vacuum cleaner 100 to the area they want to clean intensively by viewing images taken with the camera, and then move the autonomous vacuum cleaner 100 to clean that area intensively. In this case, the system may also be configured to remember the point from which the forced movement of the autonomous vacuum cleaner 100 began, and once the forced movement operation is complete, move the autonomous vacuum cleaner 100 back to the remembered point and resume cleaning according to a pre-set route or pattern.

[0151] Such functionality is not limited to embodiments that display images captured by a camera, but can also be implemented in embodiments that display history maps, graphs, etc. In an embodiment that displays a history map and the current location of the autonomous vacuum cleaner 100, the user can view the history map and forcibly move the autonomous vacuum cleaner 100 from its current location, allowing it to clean while avoiding obstacles. Of course, at this time, the current location and the path taken by the autonomous vacuum cleaner 100 are displayed on the history map according to the user's operation.

[0152] In Figure 17, the system may switch to displaying only the history map, or it may switch to displaying only the images captured by the camera, based on the user's actions.

[0153] As shown in Figure 17, when the user touches the "Back" button, the screen switches to one displaying the bar graph shown in Figure 16.

[0154] This allows users to see areas with a large amount of dirt in the camera image and use that information to decide whether or not to change the threshold setting for switching cleaning levels.

[0155] Furthermore, the displayed camera image may be configured to show not only the front view of the autonomous vacuum cleaner 100, but also a 360-degree view, or it may be configured to display images taken at multiple angles, either by splitting or combining them.

[0156] [Variation 2 of the third example] In the third example and the third example modification 1, we described an example in which the cleaning status is displayed in real time, but in the third example modification 2, we describe an example in which the cleaning status is displayed after cleaning is completed.

[0157] Although not shown in the diagram, in example, in Modification 2 of the Third Example, the display unit 350 of the communication terminal 300 displays a history map of the cleaning history after completion, and when the user touches the history map, the camera image of the front of the autonomous vacuum cleaner 100 taken at the touched location is displayed.

[0158] In this case, the autonomous vacuum cleaner 100 or the communication terminal 300 may store the captured image and the location information of each grid cell in association, or the server 300 may store it. For example, by including the identification number of the captured image and the location information of where the image was taken in the map information, the communication terminal 300 may be configured to retrieve the image corresponding to a specified location on the map from the server 300 or read it from the storage unit 330 and display it when displaying the map and image on the display unit 350.

[0159] This allows users to more clearly identify areas with a high amount of trash within the cleaning area by checking the color displayed on the history map and the camera images.

[0160] In all of the above display examples, the size of the multiple grid cells displayed on the history map may be changed as appropriate according to the user's instructions. For example, the size of each of the multiple grid cells may be a predetermined size or different sizes. For example, if the user wants to check the distribution of the amount of garbage in detail, they may input an instruction to change the size of the multiple grid cells from 1m x 1m to 50cm x 50cm. In this case, the communication terminal 300 may change the size of the multiple grid cells displayed on the history map according to the user's instructions and display them on the display unit 350. Also, for example, if the user wants to check the distribution of the amount of garbage in particular detail in a specific area within the cleaning area, they may specify that location and input an instruction to make the size of the grid cells smaller than in other locations. In this case, the communication terminal 300 may reduce the size of the grid cells located at the location specified by the user and display them on the display unit 350.

[0161] This allows the display to be changed according to the level of understanding the user wants regarding the distribution of the amount of dirt, making it easier for the user to decide which areas need thorough cleaning and which do not. Therefore, the vacuum cleaner system 400 can perform cleaning according to the user's preferences.

[0162] [Modification 3 of the third example] Modification 3 involves detecting a moving object or person, etc., from an image captured by the camera of the autonomous vacuum cleaner 100, and then notifying the communication terminal 300 of this fact.

[0163] The control unit 40 of the autonomous vacuum cleaner 100 detects a moving object or person from an image captured by the camera through image analysis, etc., and controls the communication unit 30 to notify the communication terminal 300 via the server 200 that a moving object or person has been detected. When the control unit 320 of the communication terminal 300 determines that it has received the notification from the communication unit 310, it displays text data such as "Intruder detected" on the display unit.

[0164] If the communication terminal 300 is, for example, a smartphone, then when it receives such a notification while in standby mode, it automatically displays the text data on the display unit 350. In addition to notifications via text data display, notifications may also be made via voice or vibration of the device via a vibrator.

[0165] Furthermore, if a call is in progress, the control unit 320 may automatically display text data on the display unit 350 when it determines that the call has ended, or the system may be configured to notify the user by vibrating the housing with a vibrator during or after a call.

[0166] Furthermore, the image captured by the camera may be displayed on the display unit 350 along with such a notification, or the image captured by the camera may be displayed on the display unit 350 based on user operation after the notification.

[0167] The detection of moving objects or people is not limited to detection using camera images; other sensors such as LiDAR may also be used.

[0168] [Example 4] In the fourth example, a setting screen for setting the time when the autonomous vacuum cleaner 100 will automatically start cleaning is displayed on the display unit 350 of the communication terminal 300, and an example in which the user sets a cleaning schedule (so-called cleaning reservation) on the setting screen will be described. Figure 18 shows an example of the cleaning reservation setting screen.

[0169] The user can set the time at which the autonomous vacuum cleaner 100 will automatically start cleaning by touching the setting items displayed on the display screen (display unit 350) of the information terminal 300.

[0170] First, the user sets a map of the area to be cleaned, and then sets a cleaning schedule, for example, as shown in Figure 18.

[0171] In setting the map of the area to be cleaned, the user may set the map of the area to be cleaned by selecting a map of the area to be cleaned and specifying on that map the areas that the autonomous vacuum cleaner 100 will clean and the areas that the autonomous vacuum cleaner 100 will not clean. Alternatively, for example, the user may set the map of the area to be cleaned by reading and selecting a map of the area to be cleaned, or a map of the area to be cleaned with areas to be cleaned and areas not to be cleaned, from the storage unit 50.

[0172] When setting up a cleaning schedule, the user first selects the type of cleaning schedule. For example, as shown in Figure 18, the types of cleaning schedules are "one-time setting," which performs cleaning of the target area only once at the set time, and "repeated setting," which performs cleaning of the target area repeatedly on the set days and times. The user can set the type of cleaning schedule by touching and sliding the arrow displayed on the screen, or by touching the item that indicates the desired type of cleaning schedule. In the example in Figure 18, the user selects "one-time setting" as the type of cleaning schedule.

[0173] Next, the user sets the time at which the autonomous vacuum cleaner 100 will automatically start cleaning (hereinafter also referred to as the cleaning start time). The start time shown in the diagram corresponds to the cleaning start time. For example, as shown in Figure 18, the user sets the desired time (here, 14:00) using the pull-down menu for the start time displayed on the display screen (display unit 350).

[0174] In this way, when the user selects a one-time setting as the type of cleaning reservation and sets the cleaning start time, the autonomous vacuum cleaner 100 stores the settings set by the user, such as the map of the area to be cleaned, the type of cleaning reservation, and the cleaning start time, in the storage unit 50.

[0175] The autonomous vacuum cleaner 100 automatically starts cleaning the target area at the set cleaning start time (in this case, 14:00). Once the autonomous vacuum cleaner 100 has finished cleaning the target area, it resets its settings. In other words, the setting for the autonomous vacuum cleaner 100 to start cleaning the target area at 14:00 is reset, and that setting is automatically canceled. Therefore, with a one-time setting, the autonomous vacuum cleaner 100 can automatically clean only once at the time set by the user.

[0176] Furthermore, with the "One-Time Setting," in addition to the cleaning start time, the date may also be set. This improves convenience by allowing users to schedule cleaning well in advance of the actual cleaning day.

[0177] Next, we will explain the "repeatable setting." After setting the map of the area to be cleaned, the user selects "repeatable setting" as the type of cleaning reservation, and sets the day and time on which the autonomous vacuum cleaner 100 will clean. The day on which the autonomous vacuum cleaner 100 will clean may be a specific date, but it may also be specified in broad categories such as weekdays (e.g., Monday to Friday) and holidays (e.g., Saturdays, Sundays, and public holidays), or weekdays, Saturdays, Sundays, and public holidays, or by day of the week. For example, as shown in Figure 18, the user may select "repeatable setting" and set the autonomous vacuum cleaner 100 to automatically clean the area to be cleaned at a predetermined time on a weekday (e.g., 15:00) using the "repeatable setting." In Figure 18, the settings for one "repeatable setting" are displayed on the display screen (display unit 350), but the settings for multiple "repeatable settings" may be displayed. In other words, users can set different cleaning schedules for weekdays and holidays, or even for each day of the week. In this case, the individual settings may be distinguished by adding numbers, such as "Repeat Setting 1" and "Repeat Setting 2".

[0178] In the fourth example, the user sets the cleaning start time, but this is not the only example. For example, the user may set the time until the autonomous vacuum cleaner 100 starts cleaning (hereinafter also referred to as the cleaning start time). For example, if the user sets the cleaning start time to one hour later, the autonomous vacuum cleaner 100 will automatically start cleaning one hour after that time has been set.

[0179] As described above, when a user uses the communication terminal 300 to set the type of cleaning reservation, the cleaning start time (or cleaning start date), and the day on which cleaning will be performed, the control unit 320 of the communication terminal 300 transmits the settings set by the setting operation to the autonomous vacuum cleaner 100 via the communication unit 310. The control unit 40 of the autonomous vacuum cleaner 100 acquires the settings transmitted from the communication terminal 300 via the communication unit 30 and stores the acquired settings in the storage unit 50. Based on the settings stored in the storage unit 50, the control unit 40 of the autonomous vacuum cleaner 100 controls the operation of the autonomous vacuum cleaner 100 so that it starts cleaning at the set time.

[0180] [Variation 1 of Example 4] In the fourth example, an example was described in which the user sets a map of the area to be cleaned before setting a cleaning reservation. However, the user may set a cleaning reservation without setting a map of the area to be cleaned. For example, if the map of the area to be cleaned and the information contained in the map (so-called map information) are not stored in the memory unit 30 of the autonomous vacuum cleaner 100, the autonomous vacuum cleaner 100 may, at the set time, detach from the charging station, clean while moving along the walls and obstacles of the area to be cleaned, and then finish cleaning when it returns to the charging station.

[0181] [Variation 2 of Example 4] In the fourth example and modification 1 of the fourth example, an example was described in which the user sets a cleaning reservation using a communication terminal 300. However, the user may also set a cleaning reservation using an input unit 35 mounted on the main body 1 of the autonomous vacuum cleaner 100. The input unit 35 is, for example, a touch panel type liquid crystal display device mounted on the main body 1 of the autonomous vacuum cleaner 100, and may have the same configuration as the display unit 350 of the communication terminal 300, as shown in Figure 18. Also, for example, if there is no space to place a liquid crystal display device on the main body 1 of the autonomous vacuum cleaner 100, the input unit 35 may be a remote control mounted on the main body 1, or a collection of multiple keys (so-called physical buttons) located on the main body 1. In this case, the input unit 35 accepts input operations such as the user pressing one of the multiple keys.

[0182] Next, the configuration of the input unit 35 will be explained with reference to Figure 19. Figure 19 is a diagram showing an example of the configuration of the input unit 35 of the autonomous vacuum cleaner 100.

[0183] The reservation key is used to set the cleaning start time or cleaning start duration so that the autonomous vacuum cleaner 100 automatically starts cleaning at a predetermined time or after a predetermined period of time. For example, if the user presses and holds the reservation key for 3 seconds or more, the setting of the cleaning start time or cleaning start duration will begin.

[0184] The Daily Key is used to set the autonomous vacuum cleaner 100 to clean at a predetermined time every day. For example, if a user presses and holds the Reservation Key for 3 seconds or more, enters the cleaning start time or cleaning start date, and then presses the Daily Key, a cleaning reservation will be set to clean at the entered time every day.

[0185] Multiple (for example, three) 7-segment LEDs (Light Emitting Diodes) display the set cleaning start time or cleaning start time when the autonomous vacuum cleaner 100 is set to automatically start cleaning (the so-called cleaning start time) or the time until cleaning begins (the so-called cleaning start time). In the example in Figure 19, the input unit 35 is equipped with three 7-segment LEDs, but it may be equipped with four or more, or a liquid crystal display may be provided instead of 7-segment LEDs. When displaying the set cleaning start time or cleaning start time with 7-segment LEDs, it is easier to represent the time with four 7-segment LEDs than with three.

[0186] The up and down keys are used by the user to set the cleaning start time or cleaning start date. When the 7-segment LED displays the map type (e.g., M1-M3), the up and down keys are used to select the map for the area to be cleaned, and the user selects the map for the area to be cleaned by operating the up and down keys.

[0187] The map creation key is used by the user to instruct the autonomous vacuum cleaner 100 to create a map of the area to be cleaned.

[0188] The remote control key is used to enable remote control of the autonomous vacuum cleaner 100 from a communication terminal 300 such as a smartphone via wireless communication.

[0189] The reset key is used to reset settings that have been configured by pressing other keys. These settings may include, for example, information that allows the autonomous vacuum cleaner 100 to automatically clean at a predetermined time, but they may also include other configured items.

[0190] The shutdown key is used to turn off the power to the autonomous vacuum cleaner 100. While there is a separate key for turning on the autonomous vacuum cleaner 100, it is also possible to configure the system so that a single key controls both the power on and off of the autonomous vacuum cleaner 100.

[0191] The start / stop key is used by the user to input commands to start and stop cleaning on the autonomous vacuum cleaner 100. For example, when the user presses the start / stop key once, a command to start cleaning is input to the autonomous vacuum cleaner 100, and when the user presses the start / stop key again, a command to stop cleaning is input to the autonomous vacuum cleaner 100.

[0192] Next, we will explain the user's operation when setting a cleaning reservation using the input unit 35 shown in Figure 19.

[0193] First, when the user presses and holds the reservation key for, for example, 3 seconds or more, the autonomous vacuum cleaner 100 begins the process of setting a cleaning reservation.

[0194] Next, the user operates the up and down keys located to the right of the 7-segment LED to set the time when the autonomous vacuum cleaner 100 will start cleaning (the so-called cleaning start time).

[0195] Next, if the user wants to clean the target area every day at the above cleaning start time, they press the "Daily" key. On the other hand, if the user wants to clean the target area only once at the above cleaning start time, they do not press the "Daily" key, but instead press the "Reservation" key. This completes the setting of the cleaning reservation.

[0196] Furthermore, if a user wishes to cancel the cleaning reservation setting, they can do so by pressing the reset button.

[0197] As described above, by operating the input unit 35 mounted on the main body 1 of the autonomous vacuum cleaner 100, the user can set the time at which the autonomous vacuum cleaner 100 will start cleaning the target area (so-called cleaning start time) or the time until cleaning begins (so-called cleaning start time), and the cleaning frequency (for example, daily or once only).

[0198] Furthermore, the user may set the time when the autonomous vacuum cleaner 100 will finish cleaning, or set the days on which the autonomous vacuum cleaner 100 will perform cleaning, by operating the input unit 35. The days on which the autonomous vacuum cleaner 100 will perform cleaning may be set as weekdays (Monday to Friday), holidays (Saturday, Sunday, and public holidays), Saturdays, Sundays, public holidays, days of the week, or dates.

[0199] Furthermore, after the cleaning reservation is set, the autonomous vacuum cleaner 100 may start cleaning regardless of the cleaning reservation setting by pressing the start / stop key, or it may start cleaning via remote control from the communication terminal 300. On the other hand, in places where the hours of activity for people are generally fixed, such as offices and factories, the cleaning start time is often set so that the autonomous vacuum cleaner 100 automatically starts cleaning in the middle of the night. In such places, if the autonomous vacuum cleaner 100 starts cleaning due to user error or other reasons at a time other than the time set in the cleaning reservation (for example, at night), the autonomous vacuum cleaner 100 may obstruct people's movement. For this reason, after the cleaning reservation is set, the autonomous vacuum cleaner 100 may be prohibited from accepting cleaning start commands by operating the start / stop key, accepting remote control from the communication terminal 300, and creating maps of the area to be cleaned. By configuring the autonomous vacuum cleaner 100 in this way, the autonomous vacuum cleaner 100 will perform cleaning during times when people are active, thus minimizing situations where the autonomous vacuum cleaner 100 interferes with people's activities.

[0200] Next, the operation of the autonomous vacuum cleaner 100 will be described. Figure 20 is a flowchart showing another example of the operation of the autonomous vacuum cleaner in the embodiment.

[0201] In step S41, the control unit 40 of the autonomous vacuum cleaner 100 determines whether or not it has received an instruction to set a cleaning reservation. If it determines that it has not received an instruction to set a cleaning reservation (No in step S41), it returns to the process of step S41. On the other hand, if the control unit 40 determines that it has received an instruction to set a cleaning reservation (Yes in step S41), it stores the setting contents obtained along with the setting instruction in the storage unit 30 (step S42). The setting contents include, for example, the type of cleaning reservation, a map of the target cleaning area in which the autonomous vacuum cleaner 100 will clean and the areas it will not clean, the day on which the autonomous vacuum cleaner 100 will clean the target cleaning area, and the cleaning start time (or cleaning start time). The instruction to set a cleaning reservation and the setting contents may be obtained from the communication terminal 300 via the communication unit 30, or they may be obtained by inputting them into the input unit 35 mounted on the main body 1 of the autonomous vacuum cleaner 100.

[0202] In step S42, the control unit 40 of the autonomous vacuum cleaner 100 stores the settings acquired in step S41 in the storage unit 50. For example, the control unit 40 of the autonomous vacuum cleaner 100 stores information such as the time to start cleaning (so-called settings) received from the communication terminal 300 via the communication unit 30 in the storage unit 50, and also turns on a flag in the storage unit 50 indicating whether or not settings have been made.

[0203] In step S43, the control unit 40 of the autonomous vacuum cleaner 100 enters a standby state. In this state, the control unit 40 of the autonomous vacuum cleaner 100 is waiting for input operations to the input unit 35 and wireless reception, and sensors such as LIDAR 6 and drive units 71, 72, etc. are stopped. This allows the autonomous vacuum cleaner 100 to minimize battery power consumption.

[0204] In step S44, the control unit 40 of the autonomous vacuum cleaner 100 will start cleaning the target area in step S45 if the time being measured by the timer unit of the control unit 40 reaches the cleaning start time acquired by the control unit 40 in step S41 and stored in the storage unit 30 in step S42 (Yes in step S44), otherwise proceed to the process in step S47.

[0205] In step S45, the control unit 40 of the autonomous vacuum cleaner 100 starts cleaning based on the settings. For example, the control unit 40 of the autonomous vacuum cleaner 100 starts driving the suction motor 70, starts detecting obstacles using various sensors such as the LIDAR 6, and controls the drive units 71 and 72 to start the autonomous vacuum cleaner 100 moving. At this time, the autonomous vacuum cleaner 100 cleans according to a map of the area to be cleaned, which is stored in the memory unit 50 in advance.

[0206] In step S46, the control unit 40 of the autonomous vacuum cleaner 100 determines that cleaning of the target area is complete (Yes in step S46), and returns to the process in step S43. More specifically, for example, the control unit 40 of the autonomous vacuum cleaner 100 determines that cleaning of the target area is complete when it determines that all of the areas to be cleaned by the autonomous vacuum cleaner 100 (areas to be cleaned), which are pre-set on the map of the target area, have been cleaned.

[0207] In step S47, if the control unit 40 of the autonomous vacuum cleaner 100 determines that it has received an instruction to cancel the settings acquired in step S41 and stored in the storage unit 30 in step 42 (Yes in step S47), then in step S48, it turns off the flag for the setting stored in the storage unit 50 and cancels the setting. On the other hand, in step S47, if the control unit 40 of the autonomous vacuum cleaner 100 determines that it has not received an instruction to cancel the settings acquired in step S41 and stored in the storage unit 30 in step 42 (No in step S47), it returns to the process in step S44.

[0208] Furthermore, the autonomous vacuum cleaner 100 may release from standby mode and start operating sensors such as LIDAR6 a predetermined time before the cleaning start time (for example, 5 minutes before). This is because it may be necessary to use sensors such as LIDAR6 to obtain information about surrounding obstacles in order to determine the current location of the autonomous vacuum cleaner 100 before starting to clean.

[0209] Furthermore, the autonomous vacuum cleaner 100 may enter a standby state after a predetermined time (for example, 5 minutes) has finished cleaning.

[0210] The autonomous vacuum cleaner 100 automatically starts cleaning at a time predetermined by the user, allowing the user to clean the target area at their desired time, thus improving convenience. Furthermore, in the standby state until the predetermined time, sensors such as LIDAR6 and drive units 71, 72, etc., are stopped, so the autonomous vacuum cleaner 100 can minimize battery power consumption.

[0211] Furthermore, even if the autonomous vacuum cleaner 100 is turned off while in the standby state described above, it will automatically turn on at a predetermined time, allowing it to start cleaning at the set time. In addition, the autonomous vacuum cleaner 100 will automatically return to standby mode after cleaning is complete.

[0212] Furthermore, if the scheduled cleaning time falls between nighttime and early morning (for example, 10:00 PM to 6:00 AM), the user may reduce the volume output from the speaker of the autonomous vacuum cleaner 100 or disable the speaker altogether. This allows the autonomous vacuum cleaner 100 to minimize disruption to the user's sleep due to noise emitted from its speaker when operating within the home at night.

[0213] Specifically, for example, if the control unit 40 of the autonomous vacuum cleaner 100 determines that a mode that prevents sound output at night or in the early morning (silent mode) has been set via remote control from the input unit 35 or communication terminal 300 mounted on the autonomous vacuum cleaner 100, it stores this setting in the storage unit 50. If the timer unit of the control unit 40 is measuring a time when cleaning is to be performed at night or in the early morning (for example, 22:00-6:00), the control unit 40 prohibits sound output from the speaker.

[0214] [Example 5] In the fifth example, the autonomous vacuum cleaner 100 sets a start time and an end time for cleaning the target area. When the cleaning end time arrives, the autonomous vacuum cleaner 100 stops cleaning even if it has not yet returned to its charging station, and drives towards the charging station. In this case, the next time the autonomous vacuum cleaner 100 arrives at the predetermined time, it may head towards the area that it was unable to clean last time and resume cleaning from that area. This allows the autonomous vacuum cleaner 100 to clean every corner of the target area (for example, a room).

[0215] Next, the operation of the autonomous vacuum cleaner 100 will be explained with reference to Figure 20.

[0216] In step S41, the control unit 40 of the autonomous vacuum cleaner 100 determines whether or not it has received an instruction to set a cleaning reservation. If it determines that it has not received an instruction to set a cleaning reservation (No in step S41), it returns to the process of step S41. On the other hand, if the control unit 40 determines that it has received an instruction to set a cleaning reservation (Yes in step S41), it stores the setting contents obtained along with the setting instruction in the storage unit 30 (step S42). The setting contents include, for example, the type of cleaning reservation, a map of the target cleaning area in which the autonomous vacuum cleaner 100 will clean and the areas it will not clean, the day on which the autonomous vacuum cleaner 100 will clean the target cleaning area, and the cleaning start time (or cleaning start time). The instruction to set a cleaning reservation and the setting contents may be obtained from the communication terminal 300 via the communication unit 30, or they may be obtained by inputting them into the input unit 35 mounted on the main body 1 of the autonomous vacuum cleaner 100.

[0217] In step S42, the control unit 40 of the autonomous vacuum cleaner 100 stores the settings acquired in step S41 in the storage unit 50. For example, the control unit 40 of the autonomous vacuum cleaner 100 stores information such as the time to start cleaning (so-called settings) received from the communication terminal 300 via the communication unit 30 in the storage unit 50, and also turns on a flag in the storage unit 50 indicating whether or not settings have been made.

[0218] In step S43, the control unit 40 of the autonomous vacuum cleaner 100 enters a standby state. In this state, the control unit 40 of the autonomous vacuum cleaner 100 is waiting for input operations to the input unit 35 and wireless reception, and sensors such as LIDAR 6 and drive units 71, 72, etc. are stopped. This allows the autonomous vacuum cleaner 100 to minimize battery power consumption.

[0219] In step S44, the control unit 40 of the autonomous vacuum cleaner 100 will start cleaning the target area in step S45 if the time being measured by the timer unit of the control unit 40 reaches the cleaning start time acquired by the control unit 40 in step S41 and stored in the storage unit 30 in step S42 (Yes in step S44), otherwise proceed to the process in step S47.

[0220] In step S45, the control unit 40 of the autonomous vacuum cleaner 100 starts cleaning based on the settings. For example, the control unit 40 of the autonomous vacuum cleaner 100 starts driving the suction motor 70, starts detecting obstacles using various sensors such as the LIDAR 6, and controls the drive units 71 and 72 to start the autonomous vacuum cleaner 100 moving. At this time, the autonomous vacuum cleaner 100 cleans according to a map of the area to be cleaned, which is stored in the memory unit 50 in advance.

[0221] In step S46, if the control unit 40 of the autonomous vacuum cleaner 100 determines that cleaning of the target area is complete (Yes in step S46), it terminates the cleaning and returns to the process in step S43. More specifically, for example, if the control unit 40 of the autonomous vacuum cleaner 100 determines that the time measured by the timer unit has reached the time stored in the memory unit 50 for cleaning to be completed, it determines that cleaning of the target area is complete and returns to the charging station.

[0222] In step S47, if the control unit 40 of the autonomous vacuum cleaner 100 determines that it has received an instruction to cancel the settings acquired in step S41 and stored in the storage unit 30 in step 42 (Yes in step S47), then in step S48, it turns off the flag for the setting stored in the storage unit 50 and cancels the setting. On the other hand, in step S47, if the control unit 40 of the autonomous vacuum cleaner 100 determines that it has not received an instruction to cancel the settings acquired in step S41 and stored in the storage unit 30 in step 42 (No in step S47), it returns to the process in step S44.

[0223] Furthermore, the autonomous vacuum cleaner 100 may release from standby mode and start operating sensors such as LIDAR6 a predetermined time before the cleaning start time (for example, 5 minutes before). This is because it may be necessary to use sensors such as LIDAR6 to obtain information about surrounding obstacles in order to determine the current location of the autonomous vacuum cleaner 100 before starting to clean.

[0224] Furthermore, the autonomous vacuum cleaner 100 may enter a standby state after a predetermined time (for example, 5 minutes) has finished cleaning.

[0225] Thus, in the fifth example, the autonomous vacuum cleaner 100 has the following effect by setting the start and end times for cleaning the target area. For example, if the autonomous vacuum cleaner 100 is allowed to clean the target area while the user is out, and the user returns home, the cleaning may interfere with the user's activities. Therefore, by setting the time period during which the autonomous vacuum cleaner 100 will clean, the autonomous vacuum cleaner 100 will already be stopped when the user returns home, thus minimizing interference with the user's activities.

[0226] [3. Effects, etc.] As described above, the vacuum cleaner system 400 according to the embodiment includes a display unit 350 that divides a map of the area to be cleaned into a plurality of grid cells and displays a map in which the color of each of the plurality of grid cells changes according to the amount of dirt sucked up by the autonomous vacuum cleaner 100, and an input unit 340 that receives an input operation to set a threshold for switching the cleaning intensity of the autonomous vacuum cleaner 100.

[0227] This allows the vacuum cleaner system 400 to change the cleaning intensity of the autonomous vacuum cleaner 100 according to the user's intentions, enabling cleaning tailored to the user's preferences.

[0228] In the vacuum cleaner system 400 according to this embodiment, the display unit 350 displays multiple colors corresponding to the amount of dirt, arranged in order of quantity, and the input unit 340 may set the interval between any two adjacent colors among the multiple colors as a threshold for switching the cleaning intensity.

[0229] This allows the vacuum cleaner system 400 to set the cleaning intensity by comparing the color of cells corresponding to the amount of dirt with the colors of multiple grid maps on the map, making it easier for the user to set the cleaning intensity.

[0230] (Other embodiments) Although a vacuum cleaner system relating to one or more embodiments of this disclosure has been described above based on the embodiments described, this disclosure is not limited to these embodiments. Without departing from the spirit of this disclosure, various modifications to the embodiments that a person skilled in the art could conceive, or forms that are constructed by combining components from different embodiments, may also be included within the scope of one or more embodiments of this disclosure.

[0231] For example, in this embodiment, the autonomous vacuum cleaner 100 may be equipped with a short-range wireless unit. In this case, the autonomous vacuum cleaner 100 can communicate wirelessly directly with the communication terminal 300, and can switch the network to be used depending on the communication status of the communication network 90.

[0232] Furthermore, each processing unit included in the vacuum cleaner system according to the above embodiment is typically implemented as an LSI, which is an integrated circuit. These may be individually integrated into a single chip, or some or all of them may be integrated into a single chip.

[0233] Furthermore, integrated circuit implementation is not limited to LSIs; it can also be achieved with dedicated circuits or general-purpose processors. Field Programmable Gate Arrays (FPGAs), which can be programmed after LSI manufacturing, or reconfigurable processors, which allow for the reconfiguration of the connections and settings of circuit cells within the LSI, may also be used.

[0234] In the above embodiment, each component may be implemented by dedicated hardware or by executing a software program suitable for each component. Each component may also be implemented by a program execution unit such as a CPU or processor reading and executing a software program recorded on a storage medium such as a hard disk or semiconductor memory.

[0235] Furthermore, all figures used above are illustrative to illustrate the present disclosure, and the embodiments of this disclosure are not limited to the figures exemplified.

[0236] Furthermore, the division of functional blocks in the block diagram is just one example; multiple functional blocks can be implemented as a single functional block, a single functional block can be divided into multiple parts, or some functions can be moved to other functional blocks. In addition, the functions of multiple functional blocks with similar functions can be processed in parallel or time-sharing by a single piece of hardware or software.

[0237] Furthermore, the order in which each step in the flowchart is performed is illustrative for the purpose of specifically illustrating this disclosure, and may be in a different order. Also, some of the above steps may be performed simultaneously (in parallel) with other steps. [Industrial applicability]

[0238] This disclosure is broadly applicable to vacuum cleaner systems that include autonomous vacuum cleaners. [Explanation of Symbols]

[0239] 1 cabinet 2 Upper body 3 Lower body 4 Bumper 5 Cover 6 LiDAR 7 Exhaust vent 8 Side Brushes 9 Rear wheels 10 Ultrasonic Sensors 11. Upper left sensor 12 Upper right sensor 13. Lower left sensor 14. Bottom right sensor 15. Slope 16 recesses 17 Window section 18 batteries 19 Right drive wheel 20 Left drive wheel 21 Wheel support member 22 Inlet 23 Main Brush 24 Step Sensor 25 indentations 30 Communications Department 35 Input section 40 Control Unit 41 Map Information Creation Department 42 Location information calculation unit 43 Movement Control Unit 44 Cleaning Control Unit 50 Storage section 60 Rotation detection unit 61 Infrared Sensor 62 Gyroscope Sensor 63. Dust Sensor 70 Suction motor 71 Right drive unit 72 Left drive unit 80 Routers 90 Communication Networks 100 Autonomous Vacuum Cleaners 200 servers 210 Communications Department 220 Control Unit 230 Storage section 300 communication terminals 310 Communications Department 312 Short-Range Radio Section 320 Control Unit 321 Mapmaking Department 322 Movement Trajectory Creation Unit 330 Storage section 340 Input section 350 Display section 400 Vacuum Cleaner System

Claims

[Claim 1] A display unit that divides the area to be cleaned into multiple grid cells and displays the map, changing the color of each of the multiple grid cells according to the amount of dirt sucked up by the autonomous vacuum cleaner, The system includes an input unit that receives an input operation to set a threshold for switching the cleaning intensity of the autonomous vacuum cleaner, The display unit displays multiple colors corresponding to the amount of waste, arranged in order of the amount of waste. The input unit sets the interval between any two adjacent colors among the multiple colors as a threshold for switching the cleaning intensity. Vacuum cleaner system.

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