Cleaner and operation method of cleaner
The vacuum cleaner uses gesture recognition to control operation, improving user convenience and reducing costs by eliminating physical buttons.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- LG ELECTRONICS INC
- Filing Date
- 2024-12-05
- Publication Date
- 2026-06-04
AI Technical Summary
Vacuum cleaners with button-based control methods are inconvenient for users, restrict hand movement, and increase manufacturing costs due to the need for physical buttons.
A vacuum cleaner that operates through user gesture recognition using a sensing unit with an acceleration sensor and angular velocity sensor, allowing control without physical buttons and reducing manufacturing complexity.
Enhances user convenience by enabling easy operation mode changes and reduces manufacturing costs by eliminating the need for physical buttons.
Smart Images
Figure KR2024019797_04062026_PF_FP_ABST
Abstract
Description
Vacuum cleaner and how the vacuum cleaner operates
[0001] The present disclosure relates to a vacuum cleaner and a method of operating the same. More specifically, the present disclosure relates to a vacuum cleaner that detects a user gesture and a method of operating the same.
[0002] Vacuum cleaners require suction power adjustment based on various factors, such as floor conditions, dust levels, dust volume, and battery status. Therefore, vacuum cleaners are equipped with a suction power control button, which users utilize to increase or decrease suction power according to the constantly changing surrounding environment. Additionally, vacuum cleaners may be equipped with separate buttons for power control, operation mode control, and more.
[0003] However, this button-based control method has the problem of causing user inconvenience by restricting the user's hands. Additionally, such vacuum cleaners require additional manufacturing processes to incorporate physical buttons, leading to increased material costs.
[0004] The present disclosure aims to resolve the aforementioned problem.
[0005] The present disclosure aims to provide a vacuum cleaner capable of operation control without a physical button and a method of operating the same.
[0006] The present disclosure aims to provide a vacuum cleaner capable of motion control through user gesture recognition and a method of operating the same.
[0007] The present disclosure aims to provide a vacuum cleaner and a method of operation thereof that provides an algorithm to minimize malfunction problems during operation control through user gesture recognition.
[0008] A vacuum cleaner according to an embodiment of the present disclosure comprises a main body having a handle, a dust suction unit that sucks up dust from the floor through the driving of a motor, a head connecting the dust suction unit and the main body, an acceleration sensor and an angular velocity sensor, and a sensing unit and a controller disposed on the main body, wherein the controller determines a gesture state based on the sensing value of the sensing unit and can control the operation of the vacuum cleaner based on the gesture state.
[0009] The controller can determine the gesture state at a preset first cycle and determine whether to change the operation of the vacuum cleaner at a preset second cycle.
[0010] The first cycle can be shorter than the second cycle.
[0011] The controller can set the gesture state to suction power up if the Y-axis angular velocity is detected to be less than a first value by the angular velocity sensor and then detected to be greater than a second value within a threshold time, and set the gesture state to suction power down if the Y-axis angular velocity is detected to be less than a first value by the angular velocity sensor and then detected to be less than a first value within a threshold time.
[0012] The controller determines whether a gesture state is set every second cycle, and if a gesture state is set, it can change the operation of the vacuum cleaner based on the set gesture state.
[0013] The controller can control the motor to increase the suction power compared to the current level when the gesture state is set to suction power up, and control the motor to decrease the suction power compared to the current level when the gesture state is set to suction power down.
[0014] The controller determines whether a gesture state is set every second cycle, and if a gesture state is not set, it can maintain the operation of the vacuum cleaner.
[0015] The controller can set the gesture state to power off if, after the Z-axis acceleration is detected to be less than a third value by the acceleration sensor, the Z-axis acceleration is detected to be greater than a fourth value within a threshold time.
[0016] The controller determines whether a gesture state is set every second cycle, and if the gesture state is set to power off, it can turn off the power of the vacuum cleaner.
[0017] The vacuum cleaner may further include memory that maps gesture states based on the sensing values of the acceleration sensor and the angular velocity sensor, respectively.
[0018] A method of operation of a vacuum cleaner according to an embodiment of the present disclosure may include the steps of: sucking up dust from a floor by driving a motor; acquiring a sensing value of each of an acceleration sensor and an angular velocity sensor; determining a gesture state based on the sensing values of each of the acceleration sensor and the angular velocity sensor; and controlling the operation of the vacuum cleaner based on the gesture state.
[0019] According to an embodiment of the present disclosure, by changing the operation mode through gesture recognition, the user can easily change the operation mode, thereby improving user convenience.
[0020] According to an embodiment of the present disclosure, the user does not need to press a separate button to change the operation mode, and thus there is an advantage in that the disadvantage of reduced freedom of movement of the user's hand during cleaning is improved.
[0021] According to an embodiment of the present disclosure, the number of buttons provided in a vacuum cleaner can be reduced, which has the advantage of simplifying the manufacturing plant and reducing material costs.
[0022] FIG. 1 is a drawing showing an example of a vacuum cleaner according to an embodiment of the present disclosure.
[0023] FIG. 2 is a control block diagram of a vacuum cleaner according to an embodiment of the present disclosure.
[0024] FIG. 3 is an example drawing illustrating how a vacuum cleaner according to an embodiment of the present disclosure recognizes a user gesture.
[0025] FIG. 4 is an example drawing for explaining the sensing value of a sensing unit of a vacuum cleaner according to an embodiment of the present disclosure.
[0026] FIG. 5 is a flowchart illustrating the operation method of a vacuum cleaner according to an embodiment of the present disclosure.
[0027] FIG. 6 is a flowchart illustrating a first method for a vacuum cleaner to determine a gesture state according to an embodiment of the present disclosure.
[0028] FIG. 7 is a flowchart illustrating a second method for a vacuum cleaner to determine a gesture state according to an embodiment of the present disclosure.
[0029] FIG. 8 is a flowchart illustrating a method for a vacuum cleaner according to an embodiment of the present disclosure to determine whether the operation of the vacuum cleaner is changed.
[0030] FIG. 9 is a drawing illustrating various examples of user gestures that can be applied to a vacuum cleaner according to an embodiment of the present disclosure.
[0031] Preferred embodiments of the present disclosure will be described in detail below with reference to the attached drawings.
[0032] The present disclosure is capable of various modifications and may have various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. This is not intended to limit the present disclosure to specific embodiments, and should be interpreted to include all modifications, equivalents, and substitutions that fall within the spirit and scope of the present disclosure.
[0033] The terms used in this disclosure are used merely to describe specific embodiments and are not intended to limit this disclosure. Singular expressions may include plural expressions unless the context clearly indicates otherwise.
[0034] Unless otherwise defined, all terms used herein, including technical or scientific terms, may have the same meaning as generally understood by those skilled in the art to which this disclosure pertains. Terms such as those defined in commonly used dictionaries may be interpreted as having a meaning consistent with their meaning in the context of the relevant technology and, unless explicitly defined in this disclosure, may not be interpreted in an ideal or overly formal sense.
[0035] FIG. 1 is a drawing showing an example of a vacuum cleaner according to an embodiment of the present disclosure.
[0036] A vacuum cleaner (100) according to an embodiment of the present disclosure may include a main body (530), a head (550), and a dust suction part (570).
[0037] A handle (510) may be formed on the main body (530).
[0038] The head (550) can connect the main body (530) and the dust suction part (570).
[0039] The dust suction unit (570) can suck up dust from the floor by driving a motor (14, see FIG. 2).
[0040] The motor (14, see FIG. 2) may be a suction motor for sucking in air. The motor (14, see FIG. 2) may be installed in the main body (530). In addition to the motor (14, see FIG. 2), a dust filter (not shown) may also be installed in the main body (530). Dust sucked in through the dust suction part (570) by the driving of the motor (14, see FIG. 2) may be received in the filter (not shown) through the suction pipe (not shown) of the head (550).
[0041] A suction pipe (not shown) through which dust sucked in through the dust suction part (570) can be formed in the head (550).
[0042] Meanwhile, the vacuum cleaner (100) further includes a sensing unit (19, see FIG. 2) for detecting movement, and the sensing unit (19, see FIG. 2) can be installed on the main body (530).
[0043] The vacuum cleaner (100) according to an embodiment of the present disclosure is not limited to the form shown in FIG. 1. The present disclosure may be applied to any vacuum cleaner including a sensing unit (19, see FIG. 2).
[0044] FIG. 2 is a control block diagram of a vacuum cleaner according to an embodiment of the present disclosure.
[0045] A vacuum cleaner (100) according to an embodiment of the present disclosure may include at least one of a controller (11), a driving unit (13), a motor (14), a power supply unit (150), a memory (17), and a sensing unit (19).
[0046] The control components of the vacuum cleaner (100) may be installed in the main body (530). That is, the controller (11), drive unit (13), motor (14), power supply unit (150), memory (17), and sensing unit (19) may be installed in the main body (530). However, their locations are merely examples and are not limited thereto.
[0047] In addition, the vacuum cleaner (100) may include other configurations in addition to those shown in FIG. 2. For example, the vacuum cleaner (100) may further include a communication unit (not shown) for communicating with an external device such as a smartphone.
[0048] The controller (11) can control each of the driving unit (13), power unit (15), memory (17) and sensing unit (19).
[0049] The drive unit (13) can drive the motor (14). The drive unit (13) can control the driving force of the motor (14).
[0050] The power supply unit (15) can receive power from an external source or a battery and supply it to the controller (11), driving unit (13), memory (17), and sensing unit (19), etc.
[0051] The memory (17) can store data necessary for operating the vacuum cleaner (100). For example, the memory (17) can store data mapping a gesture state according to a sensing value of the sensing unit (19). The sensing value may include the sensing values of the acceleration sensor (19a) and the angular velocity sensor (19b), respectively. The data mapping the sensing value of the sensing unit (19) and the gesture state may be stored in the memory (17) in a table format, but the format is merely an example.
[0052] The sensing unit (19) may include an acceleration sensor (19a) and an angular velocity sensor (19b). The sensing unit (19) may be placed in the main body (530).
[0053] The sensing unit (19) may be a 3-axis IMU (Inertial Measurement Unit) or a 6-axis IMU (Inertial Measurement Unit), but this is merely an example and is not limited thereto.
[0054] The controller (11) can detect user motion through the sensing value detected by the sensing unit (19). The controller (11) can recognize user gestures by detecting user motion.
[0055] The controller (11) can determine the gesture state based on the sensing value of the sensing unit (19) and control the operation of the vacuum cleaner (100) based on the gesture state.
[0056] FIG. 3 is an example drawing illustrating how a vacuum cleaner according to an embodiment of the present disclosure recognizes a user gesture.
[0057] The user can move the vacuum cleaner (100) by holding the handle (510). The sensing unit (19) can sense the acceleration and angular velocity of the X-axis, Y-axis, and Z-axis, respectively, with respect to the main body (530).
[0058] User gestures may be preset. At least one sensing value each for acceleration and angular velocity for recognizing preset user gestures may be set and stored.
[0059] The user gesture may include at least one of a gesture to increase the suction power by one level, a gesture to decrease the suction power by one level, and a gesture to turn off the power of the vacuum cleaner (100).
[0060] A gesture to increase the suction power by one level may be a gesture of turning the head (550) to the right and returning it to its original position. A gesture to decrease the suction power by one level may be a gesture of turning the head (550) to the left and returning it to its original position. A gesture to turn off the power of the vacuum cleaner (100) may be a gesture of lowering the handle (510) and raising it again.
[0061] Sensing values for recognizing each gesture of turning the head (550) to the right or left and returning it to its original position, and lowering the handle (510) and raising it again, can be stored in memory (170). And, these sensing values can be set based on features derived from the sensing values of the sensing unit (19) that senses while moving the vacuum cleaner (100) multiple times.
[0062] FIG. 4 is an example drawing for explaining the sensing value of a sensing unit of a vacuum cleaner according to an embodiment of the present disclosure.
[0063] FIG. 4 shows the sensing value of the Y-axis angular velocity sensor. That is, FIG. 4 shows the sensing value of the angular velocity sensor sensed by the user while moving the vacuum cleaner (100). Referring to FIG. 4, it can be seen that when the head (550) is rotated to the right, the sensing value of the Y-axis angular velocity sensor increases rapidly and then decreases rapidly, and when the head (550) is rotated to the left, the sensing value of the Y-axis angular velocity sensor decreases rapidly and then increases rapidly.
[0064] Reference values for recognizing user gestures can be set based on these changes in sensing values. The reference values may include the first to fourth values described below.
[0065] Meanwhile, if the sensing values are controlled to an action corresponding to a user gesture immediately upon satisfying preset reference values, a malfunction contrary to the user's intention may occur. For example, even if the user did not intend to perform the gesture, the vacuum cleaner (100) may move in a way that satisfies the preset reference values. In this case, if the action mapped to the gesture is controlled immediately, it will operate regardless of the user's intention, causing user inconvenience. To improve this problem, a vacuum cleaner (100) may be provided in which the cycle for recognizing the gesture disclosed in the present disclosure and the cycle for determining the change in action according to the gesture are set differently.
[0066] Next, with reference to FIG. 5, a method of operating a vacuum cleaner according to an embodiment of the present disclosure will be described.
[0067] FIG. 5 is a flowchart illustrating the operation method of a vacuum cleaner according to an embodiment of the present disclosure.
[0068] The controller (11) can determine the gesture state at each preset first cycle (S10).
[0069] Determining the gesture state may mean that the controller (11) recognizes the gesture based on the sensing value of the sensing unit (19).
[0070] And, the controller (11) can determine whether to change the operation at each preset second cycle (S20).
[0071] The controller (11) can determine whether to change the operation of the vacuum cleaner to an operation according to the gesture state every second cycle.
[0072] The first cycle is a cycle for determining the gesture state, and the second cycle may be a cycle for determining whether to change the operation of the vacuum cleaner. That is, the controller (11) may determine the gesture state at every preset first cycle and determine whether to operate the vacuum cleaner at every preset second cycle. The first cycle may be shorter than the second cycle. For example, the first cycle may be 20ms and the second cycle may be 60ms, but this is merely an example.
[0073] Next, with reference to FIGS. 6 and FIGS. 7, a method for determining the gesture state and a method for determining whether the vacuum cleaner operation has changed will be explained.
[0074] FIG. 6 is a flowchart illustrating a first method for a vacuum cleaner to determine a gesture state according to an embodiment of the present disclosure. FIG. 6 is a flowchart illustrating a first method for performing step S10 of FIG. 5.
[0075] The controller (11) can perform the method of determining the gesture state illustrated in FIG. 6 at each first cycle.
[0076] The controller (11) can determine whether the gesture state is not set (S101).
[0077] The controller (11) can set a gesture state based on the sensing value of the sensing unit (19). If the gesture state is initialized, the controller (11) can determine that the gesture state is not set.
[0078] The controller (11) can perform step S101 again if the gesture state is set.
[0079] If the gesture state is not set, the controller (11) can determine whether the Y-axis angular velocity is less than the first value (S103).
[0080] The Y-axis angular velocity can be the Y-axis sensing value of the angular velocity sensor.
[0081] The first value could be -25000, or -95 deg / sec, but this is merely an example.
[0082] The controller (11) can determine whether the Y-axis angular velocity exceeds the second value within a threshold time if the Y-axis angular velocity is less than the first value (S105).
[0083] The second value may be a value that differs from the first value only in sign. The second value may be 25000 or 95 deg / sec, but this is also merely an example.
[0084] The controller (11) can improve the accuracy of gesture recognition by determining the change in Y-axis angular velocity within a threshold time. The threshold time may be 0.1 seconds, but this is merely an example.
[0085] The controller (11) can set the gesture state to suction power up (S107) if the Y-axis angular velocity is detected to be less than the first value and then exceeds the second value within the threshold time.
[0086] Meanwhile, the controller (11) can determine whether the Y-axis angular velocity is greater than or equal to the first value when the gesture state is not set (S109).
[0087] The controller (11) can determine whether the Y-axis angular velocity is less than the first value within a threshold time if the Y-axis angular velocity is greater than the second value (S111).
[0088] The controller (11) can set the gesture state to suction power down (S113) if the Y-axis angular velocity is detected to be less than the first value within a threshold time after being detected to be greater than the second value.
[0089] FIG. 7 is a flowchart illustrating a second method for a vacuum cleaner to determine a gesture state according to an embodiment of the present disclosure. FIG. 7 is a flowchart illustrating a second method for performing step S10 of FIG. 5.
[0090] The controller (11) can perform the method of determining the gesture state illustrated in FIG. 7 every first cycle.
[0091] That is, the controller (11) can perform each of the first method and the second method illustrated in FIG. 6 at each first cycle.
[0092] The controller (11) can determine whether the gesture state is not set (S121).
[0093] Step S121 may be the same as Step S101 of Fig. 6.
[0094] The controller (11) can determine whether the Z-axis acceleration is less than the third value (S123).
[0095] Z-axis acceleration can be the Z-axis sensing value of the acceleration sensor.
[0096] The third value could be -0.3 m / s², but this is merely an example.
[0097] The controller (11) can determine whether the Z-axis acceleration is greater than the fourth value within a threshold time if the Z-axis acceleration is less than the third value (S125).
[0098] The fourth value may be a value that differs from the third value only in sign. The fourth value may be 0.3 m / s², but this is also merely an example.
[0099] Likewise, the controller (11) can improve the accuracy of gesture recognition by determining the change in Z-axis acceleration within a threshold time. The threshold time may be 0.1 seconds, but this is merely an example.
[0100] The controller (11) can set the gesture state to power off (S127) if the Z-axis acceleration is detected to be less than the third value and then detected to be greater than the fourth value within a threshold time.
[0101] FIG. 8 is a flowchart illustrating a method for a vacuum cleaner according to an embodiment of the present disclosure to determine whether the operation of the vacuum cleaner is changed. FIG. 8 is a flowchart illustrating a method for performing step S20 of FIG. 5.
[0102] The controller (11) can perform a method to determine whether to change the vacuum cleaner operation shown in FIG. 8 every second week.
[0103] The controller (11) can determine whether the gesture state is set (S201).
[0104] Alternatively, the controller (11) may determine whether the gesture state is set to suction power up, suction power down, and power off.
[0105] If the controller (11) is not set to a gesture state, it can perform step S201 again.
[0106] If the controller (11) has a gesture state set, it can change the operation mode according to the set gesture state (S203).
[0107] When the gesture state is set to suction power up, the controller (11) can control the motor (14) so that the suction power becomes stronger than the current. That is, when the gesture state is set to suction power up, the controller (11) can control the operation mode of the vacuum cleaner to an operation mode with the suction power increased by one level.
[0108] The controller (11) can control the motor (14) so that the suction power becomes weaker than the current level when the gesture state is set to suction power down. That is, when the gesture state is set to suction power down, the controller (11) can control the operation mode of the vacuum cleaner to an operation mode with the suction power reduced by one level.
[0109] The suction power of the vacuum cleaner can be divided into several levels. The controller (11) can adjust the suction power level according to the gesture state. The controller (11) can control the motor (14) through the drive unit (13) according to the suction power level.
[0110] The controller (11) can turn off the power when the gesture state is set to power off.
[0111] When the controller (11) changes the operation mode according to the gesture state, it can initialize the gesture state (S205).
[0112] If the gesture state is initialized, the gesture state may not be set.
[0113] That is, the controller (11) determines whether a gesture state is set every second cycle, and if a gesture state is set, it can change the operation of the vacuum cleaner (100) based on the set gesture state. If a gesture state is not set, the controller (11) can maintain the operation of the vacuum cleaner.
[0114] As described above, the vacuum cleaner (100) according to the embodiment of the present disclosure has the advantage of improving user convenience by allowing the user to easily change the operation mode through gesture recognition. In addition, according to the embodiment of the present disclosure, the disadvantage of reduced freedom of the user's hand is improved as the user does not need to press a separate button to change the operation mode. Furthermore, according to the embodiment of the present disclosure, the number of buttons provided in the vacuum cleaner (100) can be reduced, which has the advantage of simplifying the manufacturing plant and reducing material costs.
[0115] Meanwhile, although only suction power up, suction power down, and power off were described as user gestures, user gestures can be more diverse.
[0116] FIG. 9 is a drawing illustrating various examples of user gestures that can be applied to a vacuum cleaner according to an embodiment of the present disclosure.
[0117] User gestures may include forward / backward, zigzag, continuous straight movement, and random.
[0118] Meanwhile, the gestures illustrated in FIG. 9 are merely examples for illustrative purposes, and some may be omitted or other gestures may be included.
[0119] The above description is merely an illustrative explanation of the technical concept of the present invention, and those skilled in the art to which the present invention pertains will be able to make various modifications and variations within the scope of the essential characteristics of the present invention.
[0120] Accordingly, the embodiments disclosed in this invention are intended to explain, not limit, the technical concept of the invention, and the scope of the technical concept of the invention is not limited by these embodiments.
[0121] The scope of protection of the present invention shall be interpreted by the claims below, and all technical ideas within an equivalent scope shall be interpreted as being included within the scope of rights of the present invention.
Claims
1. Regarding vacuum cleaners, Main body with a handle formed thereon; A dust suction unit that sucks up dust from the floor through the drive of a motor; A head connecting the dust suction part and the main body; A sensing unit comprising an acceleration sensor and an angular velocity sensor and disposed in the main body; and Includes a controller, The above controller Determining a gesture state based on the sensing value of the above-mentioned sensing unit, and controlling the operation of the above-mentioned vacuum cleaner based on the gesture state. vacuum cleaner.
2. In Claim 1, The above controller The gesture state is determined at each preset first cycle, and Determining whether to change the operation of the above vacuum cleaner at each preset second cycle vacuum cleaner.
3. In Claim 2, The above first period is shorter than the above second period vacuum cleaner.
4. In Claim 2, The above controller If the Y-axis angular velocity is detected to be less than a first value by the angular velocity sensor and then detected to be greater than a second value within a threshold time, the gesture state is set to suction power up, and If the Y-axis angular velocity is detected to be less than the first value within a threshold time after the Y-axis angular velocity is detected to be greater than the second value by the angular velocity sensor, the gesture state is set to suction power down. vacuum cleaner.
5. In Claim 4, The above controller Determining whether the gesture state is set for every second cycle, When the above gesture state is set, the operation of the vacuum cleaner is changed based on the set gesture state. vacuum cleaner.
6. In Claim 5, The above controller If the above gesture state is set to suction power up, the motor is controlled to make the suction power stronger than the current, and If the above gesture state is set to suction power down, the motor is controlled to make the suction power weaker than the current level. vacuum cleaner.
7. In Claim 4, The above controller Determining whether the gesture state is set for every second cycle, Maintaining the operation of the vacuum cleaner when the above gesture state is not set vacuum cleaner.
8. In Claim 2, The above controller If the Z-axis acceleration is detected to be less than a third value by the acceleration sensor and then the Z-axis acceleration is detected to be greater than a fourth value within a threshold time, the gesture state is set to power off. vacuum cleaner.
9. In Claim 8, The above controller Determining whether the gesture state is set for every second cycle, If the above gesture state is set to power off, turn off the power of the vacuum cleaner. vacuum cleaner.
10. In Claim 1, A memory further comprising a gesture state mapped according to the sensing values of each of the acceleration sensor and the angular velocity sensor. vacuum cleaner.
11. Regarding the method of operation of the vacuum cleaner, Step of sucking up dust from the floor through the drive of a motor; A step of acquiring the sensing values of each of the acceleration sensor and the angular velocity sensor; A step of determining a gesture state based on the sensing values of each of the acceleration sensor and the angular velocity sensor; and A step of controlling the operation of the vacuum cleaner based on the above gesture state How the vacuum cleaner operates.
12. In Claim 11, The step of determining the above gesture state It includes a step of determining the gesture state at each preset first cycle, and The method of operation of the above vacuum cleaner It further includes a step of determining whether to change the operation of the vacuum cleaner at each preset second cycle, and The above first period is shorter than the above second period How the vacuum cleaner operates.
13. In Claim 12, The step of determining the above gesture state A step of setting the gesture state to suction power up if, after the angular velocity sensor detects that the Y-axis angular velocity is less than a first value, the angular velocity is detected to be greater than a second value within a threshold time, and The method includes the step of setting the gesture state to suction power down if, after the angular velocity sensor detects that the Y-axis angular velocity exceeds a second value, the Y-axis angular velocity is detected to be less than a first value within a threshold time. How the vacuum cleaner operates.
14. In Claim 13, The step of determining whether to change the operation of the above-mentioned vacuum cleaner A step of determining whether the gesture state is set for each of the second cycles, and A step of changing the operation of the vacuum cleaner based on the set gesture state when the above gesture state is set. How the vacuum cleaner operates.
15. In Claim 13, The step of determining whether to change the operation of the above-mentioned vacuum cleaner A step of determining whether the gesture state is set for each of the second cycles, and A step of maintaining the operation of the vacuum cleaner when the above gesture state is not set. How the vacuum cleaner operates.