WO2016031704A1 - 電気掃除機 - Google Patents
電気掃除機 Download PDFInfo
- Publication number
- WO2016031704A1 WO2016031704A1 PCT/JP2015/073512 JP2015073512W WO2016031704A1 WO 2016031704 A1 WO2016031704 A1 WO 2016031704A1 JP 2015073512 W JP2015073512 W JP 2015073512W WO 2016031704 A1 WO2016031704 A1 WO 2016031704A1
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- WIPO (PCT)
- Prior art keywords
- vacuum cleaner
- abnormality
- imaging
- mode
- detected
- Prior art date
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- 230000005856 abnormality Effects 0.000 claims abstract description 93
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Images
Classifications
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- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Definitions
- Embodiment of this invention is related with the vacuum cleaner provided with imaging means, such as a camera, for example.
- the problem to be solved by the present invention is to provide a vacuum cleaner that can immediately record an abnormality when the abnormality occurs.
- the vacuum cleaner of the embodiment has a main body case.
- the vacuum cleaner also has drive wheels that allow the main body case to travel.
- this vacuum cleaner has a control means for autonomously running the main body case by controlling the driving of the drive wheels.
- this vacuum cleaner has an abnormality detection means for detecting an abnormality.
- this vacuum cleaner has an image pickup means for picking up an image.
- the control means includes a cleaning mode for cleaning the surface to be cleaned, an imaging mode for imaging by the imaging means, and a standby mode for waiting for operation. Then, when the abnormality detection unit detects an abnormality during the cleaning mode, the control unit switches to the imaging mode and causes the imaging unit to capture an image.
- reference numeral 10 denotes a vacuum cleaner as a traveling body device.
- the vacuum cleaner 10 includes a vacuum cleaner 11 as an autonomous traveling body, and a base portion for charging the vacuum cleaner 11. And a charging device (charging stand) 12.
- the vacuum cleaner 11 is connected to an access point 14 as a relay means (relay unit) such as a home gateway (router) disposed in a room that is a cleaning area, for example.
- a relay means such as a home gateway (router) disposed in a room that is a cleaning area, for example.
- wireless communication such as Bluetooth (registered trademark)
- wireless communication with an external device 16 such as a mobile phone is possible via an (external) network 15 such as the Internet.
- the electric vacuum cleaner 11 is a so-called self-propelled robot cleaner that cleans the floor surface while autonomously traveling (self-propelled) on the floor surface as a surface to be cleaned.
- this electric vacuum cleaner 11 has a hollow main body case 20 as a running / cleaning part, an electric blower 21 as an operation part (cleaning part) housed in the main body case 20, and a suction side of the electric blower 21
- a drive wheel 23, 23 serving as a plurality of (a pair of) drive units for traveling
- a motor 24 serving as a drive means (drive body) serving as an operation unit for driving the drive wheels 23, 23.
- auxiliary cleaning means as, for example, a plurality (a pair) of turning cleaning parts (cleaning parts) arranged at the lower part of the main body case 20 so as to be able to turn along the floor surface
- Side brushes 26 and 26 side brush motors 27 and 27 which are turning drive means (turning drive parts) as operation parts (cleaning parts) for turning these side brushes 26 and 26, and the lower part of the body case 20 can be rotated.
- Rotating block which is a cleaning means (cleaning body) as a rotating cleaning body (cleaning part) arranged in Shi 28 and,, and a like brush motor 29 is a rotation driving means of the rotary brush 28 as an operation portion for driving the rotation (cleaning unit) (rotary drive member).
- the vacuum cleaner 11 includes a sensor unit 31 as an operation unit having various sensors as an input / output / control unit, a camera 35 as an imaging unit (imaging unit), and a wireless communication unit (wireless communication unit).
- LAN device 36 secondary battery 37 that is a power supply battery, capacity sensor 38 as a capacity detection means (capacity detection unit) for detecting the capacity of the secondary battery 37, and control means configured by a circuit board and the like As a control unit (controller) 39.
- the direction along the traveling direction of the vacuum cleaner 11 (main body case 20) is the front-rear direction (arrows FR and RR shown in FIG. 3 and the like), and the left-right direction intersecting (orthogonal) with the front-rear direction. (Both sides direction) is described as the width direction.
- the main body case 20 is formed into a flat columnar shape (disk shape) by using, for example, a synthetic resin, etc., and has a circular bottom surface, a longitudinal shape in the width direction, that is, a horizontally long suction port 41, and a plurality of exhaust ports 42. And are open. Further, a camera 35 is disposed in the main body case 20.
- the suction port 41 is in communication with the suction side of the electric blower 21 through the dust collecting unit 22.
- the rotary brush 28 is rotatably disposed in the suction port 41.
- the electric blower 21 generates negative pressure by driving and sucks dust from the suction port 41 to the dust collecting part 22.
- the suction side is directed rearward and the axial direction is the front-rear direction (horizontal direction).
- the electric blower 21 may not be necessary in the case of, for example, a configuration in which dust is scraped up to the dust collection unit 22 by the rotating brush 28 or the like, and is not an essential configuration.
- the dust collecting unit 22 collects dust sucked from the suction port 41 by driving the electric blower 21.
- Each drive wheel 23 causes the vacuum cleaner 11 (main body case 20) to travel in the forward and backward directions (autonomous traveling) on the floor surface, that is, for traveling, and is not illustrated along the left-right width direction. It has an axis and is arranged symmetrically in the width direction.
- Each motor 24 is arranged corresponding to each of the drive wheels 23, for example, and can drive each drive wheel 23 independently.
- Each motor 24 is connected to each drive wheel 23 through a gear box (not shown).
- Each motor 24 constitutes a drive wheel unit integrally with each gear box and each drive wheel 23, and this drive wheel unit is a suspension device (suspension unit) which is a biasing means (biasing member) (not shown). The device is biased in a direction protruding downward from the main body case 20, and the gripping force of the drive wheels 23, 23 against the floor surface is secured by this biasing.
- the turning wheel 25 is a driven wheel that is located at the front and substantially at the center in the width direction of the main body case 20 and can turn along the floor surface.
- Each side brush 26 has brush hairs 43 as a plurality of (for example, three) cleaning bodies that project radially and come into contact with the floor surface.
- the side brushes 26 and 26 are disposed at positions on both sides of the main body case 20 in front of the drive wheels 23 and 23 and behind the swivel wheel 25.
- Each side brush motor 27 moves each side brush 26 to the center side in the width direction of the body case 20, in other words, the right side brush 26 to the left side, and the left side brush 26 to the right side, that is, each side.
- the brushes 26 can be rotated so that dust in the front (traveling direction) is scraped to the suction port 41 side.
- the side brush 26 and the side brush motor 27 are not indispensable as long as they can be sufficiently cleaned by the electric blower 21 or the rotating brush 28.
- the rotary brush 28 is formed in a long shape, and both ends are pivotally supported on both sides in the width direction of the suction port 41 so as to be rotatable.
- the rotating brush 28 protrudes from the suction port 41 to the lower side of the lower surface of the main body case 20, and with the vacuum cleaner 11 placed on the floor surface, the lower portion touches the floor surface and scrapes dust. Is configured to take.
- the brush motor 29 is accommodated in the main body case 20, and is connected to the rotating brush 28 via a gear mechanism (not shown) as a mechanism portion.
- the rotating brush 28 and the brush motor 29 are not essential components as long as they can be sufficiently cleaned by the electric blower 21 or the side brushes 26 and 26.
- the sensor unit 31 includes, for example, a rotational speed detection means (rotational speed sensor) such as an optical encoder that measures the rotational speed of the motor 24, an obstacle detection means (obstacle sensor) that detects an obstacle, and a floor surface
- a rotational speed detection means such as an optical encoder that measures the rotational speed of the motor 24, an obstacle detection means (obstacle sensor) that detects an obstacle, and a floor surface
- a function such as a step detecting means (step sensor) such as an infrared sensor for detecting a step or the like is provided, and it is disposed in each part such as an upper part, an outer peripheral part (a front part and a rear part) and a lower part of the main body case 20.
- the camera 35 includes a camera module as an imaging means body (imaging unit body) for imaging, and an illumination device such as an LED that is turned on by the control unit 39 during imaging.
- the camera 35 is disposed, for example, on the outer peripheral part or the upper part of the main body case 20 at the center in the left-right direction of the front part of the main body case 20, and in a direction along the radial direction of the central axis of the main body case 20
- an image of a region extending from the front to the upper front in the present embodiment can be captured at a predetermined horizontal angle of view (for example, 105 °), and the captured image is converted into data and compressed into a predetermined data format. Then, it can be output to the control unit 39.
- the camera 35 is disposed at a position away from the turning center (center axis) of the main body case 20.
- the image captured by the camera 35 may be a still image or a moving image. Therefore, hereinafter, unless otherwise specified, an image captured by the camera 35 means at least one of a still image and a moving image.
- the wireless LAN device 36 is for wireless communication with an external device via the access point 14 and the network 15. Therefore, various information can be transmitted to and received from the network 15 via the wireless LAN device 36. That is, the wireless LAN device 36 has functions of a transmission unit (transmission unit) and a reception unit (reception unit) that transmit and receive signals to and from the access point 14 via the network 15.
- a transmission unit transmission unit
- a reception unit reception unit
- the secondary battery 37 supplies power to the electric blower 21, each motor 24, each side brush motor 27, brush motor 29, sensor unit 31, camera 35, wireless LAN device 36, capacity sensor 38, control unit 39, and the like. .
- the secondary battery 37 is electrically connected to a charging terminal 45 exposed on the lower surface of the main body case 20, for example.
- the capacity sensor 38 is voltage detection means (voltage sensor) that can detect the current capacity of the secondary battery 37 by monitoring the voltage of the secondary battery 37, for example.
- the control unit 39 includes a CPU that is a control unit main body (control unit main body), a ROM that is a storage unit that stores fixed data such as a program read by the CPU, a work area that is a work area for data processing by the program, and the like.
- RAM that is an area storage unit that dynamically forms various memory areas
- memory that is a storage means (storage unit) such as SDRAM that stores image data captured by the camera 35
- calendar information such as the current date and time It has a timer to do.
- the control unit 39 is electrically connected to the electric blower 21, each motor 24, each side brush motor 27, brush motor 29, sensor unit 31, camera 35, wireless LAN device 36, capacity sensor 38, etc.
- an abnormality detection means that detects and determines the abnormal state of the vacuum cleaner 11 (main body case 20) based on the remaining capacity of the secondary battery 37 detected by the capacity sensor 38, that is, the remaining amount ing.
- the control unit 39 autonomously travels and controls the driving of the electric blower 21, each motor 24, each side brush motor 27, the brush motor 29, and the like to clean the floor surface.
- a cleaning mode which is a running mode, a charging mode in which the secondary battery 37 is charged via the charging device 12, an imaging mode in which imaging is performed by the camera 35, and a standby mode in standby mode.
- the charging device 12 is disposed at a position that does not interfere with cleaning, such as in the vicinity of a wall section that partitions the room.
- a charging circuit 52 for charging a secondary battery 37 such as a constant current circuit is accommodated in a charging device case 51, and a charging terminal 53 electrically connected to the charging circuit 52 is provided.
- 53 and a power supply cord 54 for power supply connected to a commercial power source are exposed to the outside of the charging device case 51
- the operation of the charging circuit 52 is a charging device control unit (charging device controller) as charging device control means Controlled by 58.
- the charging device control unit 58 has a charging mode for charging the secondary battery 37 via the charging circuit 52 and a standby mode for standby operation.
- the electric vacuum cleaner 11 returns to the charging device 12 after completion of cleaning if the capacity of the secondary battery 37 does not become a predetermined value or less by the end of cleaning after the start of cleaning.
- the vacuum cleaner 11 Take an image with 35. After taking an image with the camera 35, the vacuum cleaner 11 transmits an e-mail and enters a standby state (stopped state). Note that it is not essential to send an e-mail.
- the electric vacuum cleaner 11 is configured such that the control unit 39 that has changed from the standby mode to the cleaning mode at the timing of the start of cleaning, for example, when a preset cleaning start time is reached, the electric blower 21, the drive wheels 23 , 23 (motors 24, 24), side brushes 26, 26 (side brush motors 27, 27), rotating brush 28 (brush motor 29), etc. are driven, for example, detached (departed) from the charging device 12 (step 1). Then, cleaning is carried out while autonomously running on the floor surface by the drive wheels 23, 23 (step 2).
- the cleaning start position can be set at an arbitrary place such as the travel start position of the electric vacuum cleaner 11 or the entrance / exit of the room.
- step 2 the control unit 39 detects, for example, a distance from a wall portion surrounding the room or an obstacle in the room, a step on the floor surface, and the like via the sensor unit 31, and a vacuum cleaner.
- 11 main body case 20
- the driving wheels 23 and 23 motors 24 and 24
- the vacuum cleaner 11 is made to run on the floor surface, for example, randomly or along the wall. Then, the vacuum cleaner 11 collects dust to the suction port 41 by the side brushes 26, 26 that are driven to rotate, and the suction port in which the negative pressure generated by driving the electric blower 21 acts via the dust collection unit 22 41 sucks dust on the floor together with air.
- the rotary brush 28 that is driven to rotate scrapes off dust on the floor surface to the dust collecting unit 22.
- the dust sucked together with the air from the suction port 41 is separated and collected by the dust collecting unit 22, and the air from which the dust is separated is sucked into the electric blower 21, and after cooling the electric blower 21, it becomes exhaust air.
- the air is exhausted from the exhaust port 42 to the outside of the main body case 20.
- the control unit 39 monitors the remaining capacity of the secondary battery 37, that is, the remaining capacity via the capacity sensor 38 so that the capacity of the secondary battery 37 is not insufficient. Then, the control unit 39 determines whether or not the current capacity of the secondary battery 37 (remaining capacity of the secondary battery 37) is less than a predetermined value (for example, 5% or less of the rated capacity) (step 3). ), When it is determined that the capacity of the secondary battery 37 is not below a predetermined level, the control unit 39 determines whether or not the cleaning of the cleaning area has been completed (step 4). If it is determined in step 4 that cleaning has not ended, the process returns to step 2.
- a predetermined value for example, 5% or less of the rated capacity
- the vacuum cleaner 11 drives the drive wheels 23 and 23 (motors 24 and 24) by the control unit 39 and travels to the charging device 12. (Step 5). During this travel, for example, the vacuum cleaner 11 may be brought closer to the charging device 12 based on a guide signal output from the charging device 12, or a room map stored in advance in the control unit 39. Accordingly, the charging device 12 may be returned to the position.
- the control unit 39 determines whether or not the current capacity of the secondary battery 37 (remaining capacity of the secondary battery 37) is equal to or less than a predetermined value (for example, 5% or less of the rated capacity) (step 6). ), When it is determined that the capacity of the secondary battery 37 is not less than or equal to the predetermined value, the control unit 39 determines whether the battery has returned (homed) to the charging device 12 (step 7). If it is determined in step 7 that the charging device 12 has not been returned, the process returns to step 5. If it is determined in step 7 that the charging device 12 has been returned, the charging terminal 45 is connected to the charging terminal 53 (mechanically and electrically), the respective parts are stopped, and the cleaning operation is completed. (Step 8), the standby mode (sleep mode) is entered (Step 9).
- a predetermined value for example, 5% or less of the rated capacity
- a predetermined time for example, when a preset charging start time is reached, or a predetermined time after the vacuum cleaner 11 is connected to the charging device 12 is reached.
- the control unit 39 and the charging device control unit 58 shift to the charging mode, drive the charging circuit 52, and start charging the secondary battery 37.
- the control unit 39 and the charging device control unit 58 stop the charging by the charging circuit 52 and finish the charging operation, and the control unit 39 and the charging device control unit 58 are in the standby mode.
- step 6 if it is determined in step 6 that the capacity of the secondary battery 37 has become equal to or less than the predetermined value, the charging device 12 to be returned cannot be found, or the vacuum cleaner 11 ( It is determined that the main body case 20) is in an inoperable state (abnormal state), and the control unit 39 switches to the imaging mode, and at that position, the electric blower 21, the motors 24 and 24, and the side brush motors 27 and 27 In addition, the brush motor 29 and the like are stopped, an image is captured by the camera 35 (step 10), the captured image is compressed into a predetermined image format, for example, temporarily stored in a memory, and the wireless LAN device 36 is To the access point 14 (step 11).
- This image data is transmitted from the access point 14 to a specific server connected to the network 15, and stored (uploaded) on the server in a state where it can be viewed using a predetermined application or the like.
- the server transmits an e-mail to the external device 16 (step 12), and the process proceeds to step 9.
- the URL to the image of the server is described.
- the user accesses the URL described in the e-mail to Images taken by the vacuum cleaner 11 can be viewed.
- step 3 if it is determined that the capacity of the secondary battery 37 has become a predetermined value or less, the electric vacuum cleaner 11 (main body case 20) is in an inoperable state (abnormal state) during cleaning. It is determined that it is an object, and the process proceeds to Step 10.
- the camera 35 in step 10 is imaged in a state where the vacuum cleaner 11 (main body case 20) can no longer move due to insufficient capacity of the secondary battery 37, so one shot It becomes imaging.
- control unit 39 when the control unit 39 detects that the remaining amount of the secondary battery 37 is equal to or less than the predetermined value during or after the cleaning mode, the control unit 39 switches to the imaging mode and causes the camera 35 to capture an image. After that, by switching to the standby mode, even if the vacuum battery 11 cannot return to the charging device 12 due to insufficient capacity of the secondary battery 37, that is, the battery is exhausted, the user can The position can be easily identified, and the vacuum cleaner 11 can be easily and reliably found.
- a micro switch as drive wheel protrusion detection means (drive wheel sensor) for detecting that the drive wheels 23, 23 protrude more than a predetermined amount. 61, 61 are provided.
- Each micro switch 61 is disposed in the main body case 20 above each drive wheel unit and is electrically connected to the control unit 39.
- Each drive wheel unit (each drive wheel 23) contacts the drive wheel unit when each drive wheel 23 protrudes downward from the main body case 20 (the lower surface of the main body case 20) by a predetermined amount or more.
- each driving wheel 23 protrudes downward from the main body case 20 (lower surface of the main body case 20) by a predetermined amount or more, that is, each driving wheel 23 is lifted from the floor surface as a running surface (derailing).
- the control unit 39 can detect this.
- the vacuum cleaner 11 starts the cleaning, and if the driving wheel 23 does not lift from the floor surface as the running surface until the cleaning is finished, the cleaning device 11 returns to the charging device 12 after the cleaning is finished. And return. Further, when the driving wheel 23 is lifted from the floor surface as the traveling surface during cleaning, or when the driving wheel 23 is lifted from the floor surface as the traveling surface while returning to the charging device 12, the vacuum cleaner 11 Takes an image with the camera 35. After taking an image with the camera 35, the vacuum cleaner 11 transmits an e-mail and enters a standby state (stopped state). Note that it is not essential to send an e-mail.
- steps 15 and 16 are performed instead of steps 3 and 6 of the first embodiment.
- step 15 and step 16 the control unit 39 determines whether at least one of the microswitches 61 has been turned on or off. If it is determined that the on / off state has been switched, for example, the main body case 20 rides on a step, and one of the drive wheels 23 is idled, and the vacuum cleaner 11 (main body case 20) is in an inoperable state (abnormal state). ), The control unit 39 switches to the imaging mode and proceeds to Step 10.
- the control unit 39 detects that at least one of the drive wheels 23 and 23 is lifted from the floor surface (running surface) during or after the cleaning mode, the camera 35 switches to the imaging mode and Even if the vacuum cleaner 11 cannot travel due to climbing up a step or the like and cannot return to the charging device 12 by switching to the standby mode after this imaging, the user can The position of the vacuum cleaner 11 can be easily identified, and the vacuum cleaner 11 can be easily and reliably found.
- the function of the step sensor of the sensor unit 31 determines whether the main body case 20 is overturned.
- the level difference sensor detects whether or not the floor surface is located within a predetermined distance below the lower surface of the main body case 20 by measuring the distance between the lower surface of the main body case 20 and the position facing it.
- the controller 39 determines that there is a step such as a descending staircase. For this reason, when nothing is detected for a predetermined time or more within a predetermined distance of the position facing the lower surface of the main body case 20, it can be determined that the main body case 20 is rolling over.
- the electric vacuum cleaner 11 returns to the charging device 12 after the cleaning is completed unless the main body case 20 rolls over before the cleaning is completed after the cleaning is started.
- the vacuum cleaner 11 captures an image with the camera 35. After taking an image with the camera 35, the vacuum cleaner 11 transmits an e-mail and enters a standby state (stopped state). Note that it is not essential to send an e-mail.
- Step 18 and Step 19 are performed instead of Step 3 and Step 6 of the first embodiment.
- Step 18 and Step 19 whether or not the control unit 39 has detected an object that faces the lower surface of the main body case 20 within a predetermined distance for a predetermined time or more by the function of the step sensor of the sensor unit 31. Is determined by the control unit 39. And when it is determined that the object facing the lower surface of the main body case 20 for a predetermined time or more and within a predetermined distance is not detected, for example, the main body case 20 falls due to falling from a descending stairs, etc. It is determined that the electric vacuum cleaner 11 (main body case 20) is in an inoperable state (abnormal state), and the control unit 39 switches to the imaging mode and proceeds to step 10.
- control unit 39 when the control unit 39 detects that the main body case 20 rolls over during or after the cleaning mode, the control unit 39 switches to the imaging mode and causes the camera 35 to capture an image, and after this imaging, switches to the standby mode. In other words, even if the vacuum cleaner 11 becomes unable to run due to falling or overturning and cannot be returned to the charging device 12, the user can easily identify the position of the vacuum cleaner 11 from the captured image, and the vacuum cleaner 11 can be found easily and reliably.
- the vacuum cleaner 11 is normally provided with a step sensor function for detecting a step for autonomous running, the function of the step sensor can be effectively used as it is, and there is no need to add a separate configuration.
- the fourth embodiment includes driving wheel sensors 65 and 65 as driving wheel detecting means for detecting the stacking or idling of the driving wheels 23 and 23 in place of the capacity sensor 38 of the first embodiment. is there.
- Each drive wheel sensor 65 is a torque sensor that detects the torque of the drive wheels 23, 23 or the motors 24, 24, for example, and when the torque detected by these drive wheel sensors 65 exceeds a predetermined upper limit threshold, It can be determined that the driving wheel 23 (motor 24) is stuck, and when the driving wheel 23 (motor 24) falls below a predetermined lower limit threshold, the control unit 39 can determine that the driving wheel 23 (motor 24) is idling.
- the electric vacuum cleaner 11 starts the cleaning, and if the driving wheel 23 (motor 24) does not stack or idle until the cleaning is completed, the charging device 12 after the cleaning is completed.
- the vacuum cleaner 11 Takes an image with the camera 35. After taking an image with the camera 35, the vacuum cleaner 11 transmits an e-mail and enters a standby state (stopped state). Note that it is not essential to send an e-mail.
- steps 21 to 24 are performed instead of steps 3 and 6 of the first embodiment.
- step 21 and step 23 the control unit 39 determines whether or not the torque of at least one of the drive wheels 23 and 23 (motors 24 and 24) is equal to or higher than a predetermined upper limit threshold value by each drive wheel sensor 65. To do. When it is determined that the torque of at least one of the driving wheels 23 and 23 (motors 24 and 24) is equal to or greater than a predetermined upper threshold, at least one of the driving wheels 23 and 23 is a floor surface of the carpet. It is determined that the vacuum cleaner 11 (main body case 20) is stuck due to tangling of hair and the like is in an inoperable state (abnormal state), and the control unit 39 switches to the imaging mode and proceeds to step 10.
- step 21 and step 23 determines whether or not the torque of at least one of the drive wheels 23, 23 (motors 24, 24) is equal to or lower than a predetermined lower limit threshold value by each drive wheel sensor 65. .
- the control unit 39 determines whether or not the torque of at least one of the drive wheels 23 and 23 (motors 24 and 24) is equal to or lower than a predetermined lower threshold value by each drive wheel sensor 65. .
- the torque of at least one of the drive wheels 23 and 23 is equal to or lower than a predetermined lower threshold
- at least one of the drive wheels 23 and 23 slips depending on the floor surface state. It is determined that the electric vacuum cleaner 11 (main body case 20) is in an inoperable state (abnormal state) and the control unit 39 switches to the imaging mode and proceeds to step 10.
- the control unit 39 when the control unit 39 detects that at least one of the drive wheels 23 and 23 is stuck or idled during or after the cleaning mode, the control unit 39 switches to the imaging mode and causes the camera 35 to capture an image. After this imaging, switching to the standby mode makes it impossible for the vacuum cleaner 11 to run due to being caught or slipped on the floor surface, and even if it is not possible to return to the charging device 12, the user can The position of the vacuum cleaner 11 can be easily identified, and the vacuum cleaner 11 can be easily and reliably found.
- the drive wheel sensor 65 of the fourth embodiment may be a current detection means (current sensor) that detects, for example, a stack of the drive wheels 23 (motor 24) or idling by detecting a current flowing through the motor 24. Good.
- current sensor current sensor
- a rotary brush sensor 67 serving as a rotary cleaning body drive detection means (rotary cleaning body drive detection unit) for detecting the lock of the rotary brush 28 is used. Is provided.
- the rotary brush sensor 67 is, for example, a torque sensor that detects the torque of the rotary brush 28 or the brush motor 29.
- the torque detected by the rotary brush sensor 67 is equal to or greater than a predetermined upper limit threshold (for example, 1 N ⁇ m). When it is detected, it can be determined that the rotary brush 28 (brush motor 29) is locked.
- the electric vacuum cleaner 11 returns to the charging device 12 after the cleaning is finished unless the rotary brush 28 is locked before the cleaning is finished after the cleaning is started.
- the vacuum cleaner 11 captures an image with the camera 35. After taking an image with the camera 35, the vacuum cleaner 11 transmits an e-mail and enters a standby state (stopped state). Note that it is not essential to send an e-mail.
- steps 27 and 28 are performed instead of steps 3 and 6 of the first embodiment.
- step 27 and step 28 the control unit 39 determines whether or not the torque of the rotary brush 28 (brush motor 29) is equal to or higher than a predetermined upper limit threshold value by the rotary brush sensor 67.
- a predetermined upper limit threshold value e.g., a predetermined upper limit threshold
- foreign matter is sucked into the suction port 41, or carpet hair on the floor surface is entangled with the rotating brush 28.
- the rotating brush 28 is locked, and it is determined that the vacuum cleaner 11 (main body case 20) is in an inoperable state and an uncleanable state (abnormal state), the control unit 39 switches to the imaging mode, and the step Proceed to 10.
- control unit 39 when the control unit 39 detects that the rotary brush 28 is locked during or after the cleaning mode, the control unit 39 switches to the imaging mode and causes the camera 35 to capture an image. Even when the rotary brush 28 is caught on the floor and the vacuum cleaner 11 cannot travel and cannot return to the charging device 12, the user can easily position the vacuum cleaner 11 by the captured image. The vacuum cleaner 11 can be easily and reliably found.
- the function of the obstacle sensor of the sensor unit 31 detects whether or not an obstacle has been detected a predetermined number of times within a predetermined time. Is.
- a non-contact type distance measuring means such as an ultrasonic sensor, or a contact type contact detecting means (contact sensor) for detecting an obstacle by contacting the obstacle is used.
- ranging sensor such as an ultrasonic sensor
- contact sensor contact type contact detecting means
- the electric vacuum cleaner 11 does not detect an obstacle more than a predetermined number of times within a predetermined time after the cleaning is started until the cleaning is finished (the surroundings of the main body case 20 are obstructed). If it does not enter the position surrounded by the object), it returns to the charging device 12 after cleaning. Also, during cleaning, if an obstacle is detected more than a predetermined number of times within a predetermined time (the body case 20 has entered the position surrounded by the obstacle), or when returning to the charging device 12 within a predetermined time When an obstacle is detected more than a predetermined number of times (when the periphery of the main body case 20 enters a position surrounded by the obstacle), the vacuum cleaner 11 captures an image with the camera 35. After taking an image with the camera 35, the vacuum cleaner 11 transmits an e-mail and enters a standby state (stopped state). Note that it is not essential to send an e-mail.
- steps 31 to 40 are performed instead of steps 3 and 6 of the first embodiment.
- control unit 39 determines whether or not the number of consecutive obstacle detections N is a predetermined value Nth, for example, 6 or more (steps 34 and 39), and the number of consecutive obstacle detections N is not more than the predetermined value Nth. If it is determined that (N ⁇ Nth), the process returns to step 31 and step 36, and if it is determined that the number N of obstacle continuous detections has reached or exceeded the predetermined value Nth (N ⁇ Nth), the vacuum cleaner 11 It is determined that the surroundings of the (main body case 20) are surrounded by obstacles, for example, the vacuum cleaner 11 (main body case 20) cannot enter the bag path and cannot be removed, cannot be run, and cannot be cleaned. 39 switches to the imaging mode and proceeds to step 10.
- Nth for example, 6 or more
- control unit 39 when the control unit 39 detects that an obstacle has been detected a predetermined number of times within a predetermined time during the cleaning mode or after the cleaning mode, the control unit 39 switches to the imaging mode and causes the camera 35 to capture an image.
- the control unit 39 switches to the standby mode after imaging, even if the vacuum cleaner 11 cannot move due to being surrounded by obstacles and cannot return to the charging device 12, the user can take The position can be easily identified, and the vacuum cleaner 11 can be easily and reliably found.
- the vacuum cleaner 11 is normally equipped with an obstacle sensor function for detecting an obstacle for autonomous running, the obstacle sensor function can be effectively used as it is, and a separate configuration needs to be added. There is no.
- the control unit 39 switches to the imaging mode when the abnormal state of the vacuum cleaner 11, that is, the unmovable state or the uncleanable state of the main body case 20, is detected. Then, after this imaging, the mode is switched to the standby mode.
- the vacuum cleaner 11 that autonomously travels and autonomously cleans is not easy to recover when it becomes unrunnable or uncleanable, so by taking an image at the position where the abnormality occurred as described above, The user can easily collect the vacuum cleaner 11 in an abnormal state, and urge the user to improve the cleaning environment so that the abnormal state does not reoccur at the same position during subsequent autonomous running or autonomous cleaning. be able to.
- the sensor unit 31 instead of the capacitance sensor 38 of the first embodiment, the sensor unit 31 includes a temperature sensor 71 that detects the temperature (room temperature) around the body case 20 (the vacuum cleaner 11). It is to be prepared.
- the controller 39 is abnormal when the temperature detected by the temperature sensor 71 becomes a predetermined upper limit temperature threshold, for example, 40 ° C. or higher, or when the temperature becomes a predetermined lower limit temperature threshold, for example, 0 ° C. or lower. Is determined. For example, if the temperature (room temperature) is equal to or higher than a predetermined upper limit temperature threshold, there may be an abnormal state such as a fire in the room, and the temperature (room temperature) is lower than the predetermined lower limit temperature threshold. In some cases, there is a possibility of an abnormal condition such as going out with the window open in the winter or an intruder entering through the window or the like, so that the temperature in the room is reduced to the level of the outside air. Since there are regional differences and seasonal differences in temperature, it is preferable that the user can set these temperature thresholds as appropriate.
- the control unit 39 when the control unit 39 detects an abnormally high temperature equal to or higher than the predetermined upper limit temperature threshold or an abnormal low temperature equal to or lower than the predetermined lower limit threshold during the cleaning mode, the electric cleaning is performed.
- the machine 11 stops cleaning, travels to a predetermined position set in advance, and takes an image with the camera 35. Further, when the control unit 39 detects an abnormally high temperature equal to or higher than a predetermined upper limit temperature threshold value or an abnormally low temperature equal to or lower than a predetermined lower limit threshold value during the charging mode or the standby mode, the vacuum cleaner 11 leaves the charging device 12 and travels to a predetermined position set in advance, and an image is taken by the camera 35.
- the control unit 39 determines whether or not the temperature detected by the temperature sensor 71 is equal to or higher than a predetermined upper limit temperature threshold (step 41) and is not equal to or higher than the predetermined upper limit temperature threshold. If it is determined, it is determined whether or not the temperature detected by the temperature sensor 71 is equal to or lower than a predetermined lower limit temperature threshold (step 42). If it is determined in step 42 that the temperature is not less than the predetermined lower limit temperature threshold value, the process returns to step 41.
- step 41 when it is determined in step 41 that the temperature detected by the temperature sensor 71 is equal to or higher than the predetermined upper limit temperature threshold, or in step 42, the temperature detected by the temperature sensor 71 is equal to or lower than the predetermined lower limit temperature threshold. If it is determined, the control unit 39 determines whether it is the cleaning mode, the charging mode, or the standby mode (step 43). If it is determined in step 43 that the cleaning mode is set, the control unit 39 switches to the imaging mode, and the motors 24 and 24, the side brush motors 27 and 27, the brush motor 29, etc. are stopped for cleaning.
- Step 44 The operation is interrupted (step 44), and the control unit 39 drives the drive wheels 23 and 23 (motors 24 and 24) to travel to a predetermined imaging position such as the center position of the room (step 45).
- a predetermined imaging position such as the center position of the room (step 45).
- an image is captured by the camera 35 (Step 46), and the captured image is appropriately compressed and output to the access point 14 via the wireless LAN device 36.
- step 47 an electronic mail is transmitted from the server to the external device 16 (step 48).
- step 43 If it is determined in step 43 that the charging mode or standby mode is selected, the control unit 39 switches to the imaging mode, and the control unit 39 drives the driving wheels 23 and 23 (motors 24 and 24) to perform charging. Detach from the device 12 (step 49) and proceed to step 45.
- step 48 it may return to the mode immediately before switching to the imaging mode, stop as it is and shift to the standby mode, or return to the charging device 12 to shift to the charging mode or standby mode. May be.
- the control for moving the main body case 20 to the center position of the room is performed by, for example, turning the main body case 20 and using the function of the obstacle sensor (ranging sensor) of the sensor unit 31 for the main body case 20 and the main body case 20 Measure the distance to obstacles such as surrounding walls and move gradually to a position where the measured distance is more than a certain predetermined distance (for example 2m), or in advance the vacuum cleaner 11 (control unit 39) It is possible to perform control such as moving toward a predetermined position.
- a certain predetermined distance for example 2m
- the main body case 20 when capturing an image with the camera 35, for example, when capturing a still image, the main body case 20 is swung in a predetermined direction by a predetermined angle, for example, a predetermined angle equal to or smaller than the horizontal angle of view of the camera 35, and a plurality of adjacent adjacent cases Take a still image of the direction.
- the main body case 20 when the moving image is captured by the camera 35, the main body case 20 is turned in a predetermined direction by a predetermined angle, for example, a predetermined angle equal to or smaller than the horizontal angle of view of the camera 35 while capturing by the camera 35.
- a predetermined angle for example, a predetermined angle equal to or smaller than the horizontal angle of view of the camera 35
- the control unit 39 detects that the room temperature has become equal to or higher than the predetermined upper limit temperature threshold value or lower than the lower limit temperature threshold value during the cleaning mode, the control unit 39 switches to the imaging mode and the camera 35 By capturing the image and uploading the image to the server, the inside of the room was imaged, for example, whether there was an intruder such as a vacant nest, or if the fire source such as a stove was forgotten to be extinguished or a fire occurred.
- the image can be easily visually confirmed by the user and can be used not only for crime prevention at home, but also easily and reliably confirming the safety of pets and children when they are away.
- the sensor unit 31 detects a heat source around (inside) the body case 20 (the vacuum cleaner 11). Infrared sensor 73 is provided.
- the vacuum cleaner 11 when the control unit 39 detects an abnormal heat source with the infrared sensor 73 during the cleaning mode, the vacuum cleaner 11 interrupts cleaning and travels to a predetermined position set in advance. Then, an image is taken by the camera 35.
- the control unit 39 detects an abnormal heat source with the infrared sensor 73 during the charging mode or the standby mode, the vacuum cleaner 11 is separated from the charging device 12 and travels to a predetermined position. Then, the camera 35 captures an image.
- Step 41 and Step 42 instead of Step 41 and Step 42 in the seventh embodiment, whether or not an abnormal heat source, such as a person or a flame, is detected by the infrared sensor 73 is determined.
- a step 51 of determination is provided.
- step 51 If it is determined in step 51 that an abnormal heat source has been detected, it is determined that there is an abnormal state in which a danger such as an intruder such as a vacant nest or a fire may have occurred, and step 43 and subsequent steps. move on.
- control unit 39 when the control unit 39 detects an abnormal heat source in the room during the cleaning mode, the control unit 39 switches to the imaging mode and takes an image with the camera 35 and uploads the image to the server. For example, you can visually check the indoor state with images downloaded from the server, such as whether there are intruders such as empty nests, forgetting to turn off the fire source such as a stove, or fire, etc. Not only can it be used, it is possible to easily and reliably check the safety of pets and children when they are away.
- the sensor unit 31 detects a specific gas in the air around the body case 20 (the vacuum cleaner 11) (in the room).
- the gas sensor 75 is provided.
- the gas detected by the gas sensor 75 is a toxic gas such as carbon monoxide.
- the vacuum cleaner 11 when the control unit 39 detects toxic gas by the gas sensor 75 during the cleaning mode, the vacuum cleaner 11 interrupts the cleaning, travels to a predetermined position, and Take an image with 35. Further, when the control unit 39 detects toxic gas by the gas sensor 75 during the charging mode or the standby mode, the vacuum cleaner 11 leaves the charging device 12 and travels to a predetermined position, An image is picked up by the camera 35.
- Step 53 is provided for determining whether or not the gas sensor 75 is abnormal depending on whether or not toxic gas is detected.
- step 53 If it is determined in this step 53 that toxic gas has been detected, it is determined that there is an abnormal state in which there is a possibility of danger such as gas leakage, and the process proceeds to step 43 and subsequent steps.
- control unit 39 when the control unit 39 detects toxic gas in the room during the cleaning mode, the control unit 39 switches to the imaging mode and takes an image with the camera 35 and uploads the image to the server.
- the user can easily confirm the safety of pets and children in the house by detecting gas leaks and visually checking indoor conditions such as whether there is an accident caused by this gas. And it can be done reliably.
- the sensor unit 31 may include a sound sensor or an illuminance sensor.
- a sound sensor when a sound sensor is provided, it can be used as crime prevention in the home by capturing images with the camera 35 when detecting abnormal sounds such as the sound of glass breaking or the sound of falling objects, or loud sounds (for example, 60 dB or more).
- abnormal sounds such as the sound of glass breaking or the sound of falling objects, or loud sounds (for example, 60 dB or more).
- communication between family members can be detected and captured by the camera 35.
- an illuminance sensor when an illuminance sensor is provided, it is possible to notify the user of an abnormality such as a fire by capturing an image with the camera 35 when a sudden change in illuminance (for example, a change of 100 lx or more) is detected. Without turning on the lights in the room, you can check the return of another family.
- the control unit 39 determines that it is abnormal.
- the other electrical device 78 includes various detection sensors 79 for detecting data for controlling its own operation, and determines whether or not it is in an abnormal state based on the data detected by these detection sensors 79. Therefore, the configuration of the vacuum cleaner 11 is further simplified by using the detection sensor 79 and the determination for the vacuum cleaner 10 via the access point 14 and the network 15.
- the detection sensor 79 is a temperature detection means (temperature sensor) that detects the temperature (room temperature) outside the other electrical device 78, that is, the position where the other electrical device 78 is disposed, and a person that detects the heat source.
- Infrared detection means infrared sensor
- gas detection means gas sensor
- sound detection means voice sensor
- illuminance detection means illuminance sensor
- other electrical equipment 78 provided with a temperature sensor as a detection sensor 79 there are, for example, a refrigerator, an air conditioner (air conditioner), a dehumidifier, and the other electrical equipment 78 provided with an infrared sensor as a detection sensor 79 includes, for example, Examples of the other electric equipment 78 including an air conditioner and including a gas sensor as the detection sensor 79 include an air conditioner. Examples of the other electric equipment 78 including the voice sensor as the detection sensor 79 include an air conditioner. Examples of other electrical devices 78 that include an illuminance sensor as the detection sensor 79 include a refrigerator and an air conditioner.
- signal transmission / reception means such as infrared communication means (infrared communication part) to transmit / receive signals to / from the network 15 via the access point 14 and input / output information. Since it is often possible, indoor monitoring is performed using a detection sensor mounted on these electric devices, and an abnormal state is imaged and notified by the vacuum cleaner 11.
- the detection sensor 79 is a temperature sensor, when it is determined that the room temperature is equal to or higher than a predetermined upper limit temperature threshold or lower than a predetermined lower limit temperature threshold, when the detection sensor 79 is an infrared sensor, a person, a flame, or the like
- the detection sensor 79 is a gas sensor
- when detecting a toxic gas when the detection sensor 79 is a voice sensor, abnormal sounds such as a cracking glass or a sound of falling objects are detected.
- a sound or loud sound is detected, if the detection sensor 79 is an illuminance sensor, it is determined that an abnormal state is assumed as in the seventh to ninth embodiments, respectively, when a sudden illuminance change is detected. Then, a signal is transmitted to the network 15 via the access point 14 by the signal transmission / reception unit.
- the vacuum cleaner 11 interrupts the cleaning, The vehicle travels to a predetermined position and takes an image with the camera 35.
- the control unit 39 receives that the detection sensor 79 included in the other electric device 78 detects an abnormality during the charging mode or the standby mode, the vacuum cleaner 11 is detached from the charging device 12. The vehicle travels to a predetermined position set in advance and takes an image with the camera 35.
- Step 55 determined by the control unit 39, and Step 56 for running the vacuum cleaner 11 (main body case 20) to a predetermined imaging position in the vicinity of another electric device 78 are provided.
- the vacuum cleaner 11 (main body case 20) may be allowed to autonomously travel to the vicinity of the other electrical device 78 in response to the infrared guidance output from the other electrical device 78,
- the installation position information of the other electric device 78 may be registered in advance in the server, and information may be transmitted from the server to the vacuum cleaner 11 so that the position of the other electric device 78 can be easily identified.
- a detection camera for detecting the position of the vacuum cleaner 11 may be arranged on the ceiling or the like, and the detection camera may be used to move to the abnormality detection position with high accuracy.
- the control unit 39 determines that the abnormality is detected when the wireless LAN device 36 receives a signal in which the abnormality is detected by the detection sensor provided in the other electrical device 78, so that the abnormality is detected.
- the vacuum cleaner 11 does not need to be provided with a separate detection sensor or a judgment means (judgment unit) for judging the abnormality, and the vacuum cleaner 11 determines whether or not it is abnormal only by receiving a signal. Since it can be determined, the configuration of the vacuum cleaner 11 can be further simplified, and the vacuum cleaner 11 is arranged by detecting an abnormality using detection and determination of detection sensors of various other electric devices 78. More secure monitoring (crime prevention) from a wide variety of viewpoints is possible, for example, it is possible to widely monitor places other than existing rooms.
- control unit 39 determines that there is an abnormality during the cleaning mode, the control unit 39 switches to the imaging mode, and the main body case 20 (the vacuum cleaner 11) is placed in a predetermined position such as near the position where the abnormality is occurring.
- the effective monitoring (crime prevention) system can be constructed by effectively using the functions provided in advance in each electric device.
- step 45 in the seventh to ninth embodiments may be used.
- a detection value detected by an external detection device 81 that can be connected to the network 15 via the access point 14 is used.
- the detection device 81 is, for example, a home seismometer (vibration detection means (vibration sensor)), a home anemometer (wind speed detection means (wind speed sensor)), a security mat (pressure detection means (pressure sensor)), Alternatively, it is a detection dedicated machine for the purpose of detection itself, such as a home gas detector (gas detection means (gas sensor)), rather than detecting data for controlling its own operation, for example, infrared communication means (A signal transmission / reception means (signal transmission / reception unit) such as an infrared communication unit is provided to transmit / receive signals to / from the network 15 to input / output information.
- the detection device 81 used in the present embodiment is at least one of these, and may be arbitrarily combined.
- the vacuum cleaner 11 when the detection value detected by the detection device 81 is abnormal while the control unit 39 is in the cleaning mode, the vacuum cleaner 11 interrupts cleaning, and the predetermined value is set in advance. Travel and take an image with the camera 35. Further, when the detection value detected by the detection device 81 is abnormal while the control unit 39 is in the charging mode or the standby mode, the vacuum cleaner 11 is separated from the charging device 12 and is set in a predetermined position. Then, the camera 35 takes an image.
- Step 41 and Step 42 of the seventh embodiment the detection value output from the detection device 81 to the network 15 via the access point 14 by the signal transmission unit is used as the network. 15 is read by the wireless LAN device 36 via 15 (access point 14), and the control unit 39 determines whether or not there is an abnormality based on the read detection value.
- the detection device 81 when the detection device 81 is a home seismometer, it is determined whether or not the vibration is abnormal depending on whether the vibration is greater than or equal to a predetermined value.
- the detection device 81 is a home anemometer, the wind speed is If the detection device 81 is a security mat, it is determined whether it is abnormal depending on whether the pressure is higher than a predetermined value, and the detection device 81 is for home use. If it is a gas detector, it is determined whether it is abnormal depending on whether toxic gas is detected.
- the detection device 81 when the detection device 81 is a home seismometer, if the detected vibration is greater than or equal to a predetermined value, it may be in an abnormal state such as an earthquake or abnormal vibration caused by an intruder or the like. If the detection device 81 is an anemometer for home use and the detected wind speed is higher than a predetermined level, there may be an abnormal state where, for example, an intruder has entered the room through a window or the like and the wind has blown into the room. If the detection device 81 is a security mat and the detected pressure is greater than or equal to a predetermined level, for example, an intruder may have stepped in the security mat and may be in an abnormal state. When 81 is a household gas detector, there is a possibility of an abnormal condition such as a gas leak.
- the configuration of the vacuum cleaner 11 can be further simplified, and by detecting abnormalities using detection values of various detection devices 81, it is possible to widely monitor places other than the room where the vacuum cleaner 11 is arranged For example, more reliable monitoring (crime prevention) from a wide variety of viewpoints becomes possible.
- control unit 39 determines that it is abnormal during the cleaning mode, it switches to the imaging mode, and the main body case 20 (the electric vacuum cleaner 11) is moved to a predetermined position and an image is captured by the camera 35.
- An effective monitoring (security) system can be constructed by effectively using the function of the detection device 81.
- the main body case 20 captures an image while turning, so that the entire room can be imaged widely, and an abnormal location can be identified and a situation can be grasped. It can be easier.
- the vacuum cleaner 11 is normally configured so that the main body case 20 can turn for autonomous running, this configuration can be used effectively as it is, and the main body case 20 can be turned only for the imaging mode. There is no need to add another.
- the imaging position by the camera 35 is set to the center position of the room, the entire room can be imaged more reliably and the situation can be grasped more reliably.
- the indoor abnormality can be monitored even while the secondary battery 37 is being charged, the monitoring accuracy can be further improved.
- the imaging by the camera 35 may be performed when it is determined that an abnormality has been detected.
- the image captured by the camera 35 is preferably a moving image, and the state immediately after the occurrence of an abnormality can be captured more reliably.
- the camera 35 is turned by turning the main body case 20
- the camera 35 may be attached to the main body case 20 so as to be turnable, and only the camera 35 may be turned.
- the power consumption of the secondary battery 37 is suppressed and the secondary battery 37 lasts longer than when the main body case 20 is driven by driving the drive wheels 23 and 23 (motors 24 and 24). Can be made.
- a plurality of cameras 35 may be provided in the body case 20 in the circumferential direction, for example, spaced apart by an angle equal to or smaller than the angle of view. In this case, the turning at the time of imaging by the camera 35 becomes unnecessary, and the control can be further simplified.
- control of each of the above embodiments may be mounted on one electric vacuum cleaner 11 and selected and set by the user for use.
- the image may be directly attached to an e-mail notifying the image capturing.
- the abnormality since an image is picked up by the camera 35 when an abnormality is detected, the abnormality is immediately detected when an abnormality occurs, unlike when the user arbitrarily issues an imaging instruction. Can record.
- the image captured by the camera 35 by transmitting the image captured by the camera 35 to the outside, the image can be easily visually recognized outside.
- an e-mail is transmitted to the external device 16, so that the occurrence of the abnormality can be notified reliably and in real time, and the user can immediately recognize and confirm the abnormality immediately after the occurrence of the abnormality.
- a control method for a vacuum cleaner equipped with a camera and autonomously running comprising a cleaning mode for cleaning the surface to be cleaned, an imaging mode for imaging by the camera, and a standby mode for standby operation, and abnormal during the cleaning mode
- a method for controlling a vacuum cleaner that detects an image and switches to an imaging mode to capture an image with the camera.
- a control method for a vacuum cleaner characterized in that when an abnormality of the vacuum cleaner is detected, the mode is switched to an imaging mode, and after this imaging, the mode is switched to a standby mode.
- the cleaning mode if the detection value at the sensor provided in the main body case is abnormal, the mode is switched to the imaging mode, the main body case is run to a predetermined position, and an image is taken by the camera.
- a method for controlling an electric vacuum cleaner characterized in that it is transmitted to the outside.
- the mode is switched to the imaging mode, and the body case is moved to a predetermined position and an image is captured by the camera. How to control the vacuum cleaner.
- a control method for a vacuum cleaner wherein when a signal in which an abnormality is detected by an external detection device is received during the cleaning mode, the mode is switched to the imaging mode, and the main body case is moved to a predetermined position and an image is captured by the camera.
- the mode switches to the imaging mode, and the camera captures an image, and after this imaging, the mode switches to the standby mode.
- the mode is switched to the imaging mode, and an image is captured by the camera.
- An electric vacuum cleaner characterized in that when the main body case rolls over either during the cleaning mode or after the cleaning mode, the main body case switches to the imaging mode, and an image is captured by the camera, and after this imaging, the standby mode is switched. Control method.
- the mode is switched to the imaging mode, and an image is captured by the camera, and after this imaging, the mode is switched to the standby mode.
- the control method of the electric vacuum cleaner is
- An electric vacuum cleaner is provided in the main body case so as to be rotatable, and includes a rotary cleaning body that cleans dust on the surface to be cleaned by rotation.
- a rotary cleaning body that cleans dust on the surface to be cleaned by rotation.
- imaging is performed.
- a method for controlling a vacuum cleaner wherein the mode is switched to a mode, an image is captured by a camera, and the mode is switched to a standby mode after the imaging.
- a method for controlling a vacuum cleaner characterized in that the image pickup is performed and the standby mode is switched after the image pickup.
- a control method for a vacuum cleaner wherein the mode is switched to an imaging mode when the temperature detected by the temperature sensor is equal to or higher than a predetermined upper limit temperature threshold or lower than a predetermined lower limit temperature threshold.
- a control method for a vacuum cleaner that switches to an imaging mode when an abnormal heat source is detected by an infrared sensor.
- a control method for a vacuum cleaner characterized by switching to an imaging mode when gas is detected by a gas sensor.
- a control method for a vacuum cleaner characterized in that, even when the secondary battery provided in the main body case is being charged, if an abnormality is detected, the mode is switched to the imaging mode.
- a signal determined that the temperature detected by a temperature sensor which is a detection sensor provided in another electrical device, is equal to or higher than a predetermined upper temperature threshold or lower than a predetermined lower temperature threshold is switched to an imaging mode.
- a method for controlling a vacuum cleaner wherein when the signal determined that an abnormal heat source has been detected by an infrared sensor which is a detection sensor provided in another electrical device is received, the mode is switched to an imaging mode.
- a control method for a vacuum cleaner characterized in that notification is made by sending an e-mail when switching to an imaging mode.
Abstract
Description
Claims (19)
- 本体ケースと、
この本体ケースを走行可能とする駆動輪と、
この駆動輪の駆動を制御することで前記本体ケースを自律走行させる制御手段と、
異常を検出する異常検出手段と、
画像を撮像する撮像手段とを具備し、
前記制御手段は、被掃除面を掃除する掃除モードと、前記撮像手段により撮像させる撮像モードと、動作待機中の待機モードとを備え、前記掃除モード中に前記異常検出手段により異常を検出すると、前記撮像モードに切り換わって前記撮像手段により画像を撮像させる
ことを特徴とした電気掃除機。 - 異常検出手段は、電気掃除機の異常状態を検出し、
制御手段は、前記異常検出手段により異常状態を検出すると撮像モードに切り換わり、この撮像の後、待機モードに切り換わる
ことを特徴とした請求項1記載の電気掃除機。 - 本体ケースに設けられたセンサ部と、
撮像手段により撮像した画像を外部に送信する送信手段とを具備し、
異常検出手段は、前記センサ部での検出値が異常であるかどうかにより異常であるかどうかを判定し、
制御手段は、掃除モード中に前記異常検出手段により異常であることを判定すると撮像モードに切り換わり、所定位置まで前記本体ケースを走行させて前記撮像手段により画像を撮像させるとともに、この撮像した画像を前記送信手段により外部に送信させる
ことを特徴とした請求項1記載の電気掃除機。 - 他の電気機器に備えられた検出手段により異常を検出した信号を受信可能な受信手段を具備し、
異常検出手段は、前記信号を受信したときに異常であると判定し、
制御手段は、掃除モード中に前記異常検出手段により異常であることを判定すると撮像モードに切り換わり、所定位置まで前記本体ケースを走行させて撮像手段により画像を撮像させる
ことを特徴とした請求項1記載の電気掃除機。 - 外部の検出装置により異常を検出した信号を受信可能な受信手段を具備し、
異常検出手段は、前記受信手段により受信した前記検出装置からの信号に基づいて異常であるかどうかを判定し、
制御手段は、掃除モード中に前記異常検出手段により異常であることを判定すると撮像モードに切り換わり、所定位置まで前記本体ケースを走行させて撮像手段により画像を撮像させる
ことを特徴とした請求項1記載の電気掃除機。 - 本体ケースに設けられ、駆動輪を駆動させる電力を供給する電池を具備し、
異常検出手段は、前記電池の残量が所定以下であるかどうかにより異常であるかどうかを判定し、
制御手段は、掃除モード中と掃除モード後とのいずれかに前記異常検出手段により異常であることを判定すると撮像モードに切り換わり、撮像手段により画像を撮像させるとともに、この撮像の後、待機モードに切り換わる
ことを特徴とした請求項2記載の電気掃除機。 - 異常検出手段は、駆動輪が走行面から持ち上がったかどうかにより異常であるかどうかを判定し、
制御手段は、掃除モード中と掃除モード後とのいずれかに前記異常検出手段により異常であることを判定すると撮像モードに切り換わり、撮像手段により画像を撮像させるとともに、この撮像の後、待機モードに切り換わる
ことを特徴とした請求項2記載の電気掃除機。 - 異常検出手段は、本体ケースが横転した状態であるかどうかにより異常であるかどうかを判定し、
制御手段は、掃除モード中と掃除モード後とのいずれかに前記異常検出手段により異常であることを判定すると撮像モードに切り換わり、撮像手段により画像を撮像させるとともに、この撮像の後、待機モードに切り換わる
ことを特徴とした請求項2記載の電気掃除機。 - 異常検出手段は、駆動輪がスタックまたは空回りしたかどうかにより異常であるかどうかを判定し、
制御手段は、掃除モード中と掃除モード後とのいずれかに前記異常検出手段により異常であることを判定すると撮像モードに切り換わり、撮像手段により画像を撮像させるとともに、この撮像の後、待機モードに切り換わる
ことを特徴とした請求項2記載の電気掃除機。 - 本体ケースに回転可能に設けられ、回転により被掃除面の塵埃を掃除する回転清掃体を具備し、
異常検出手段は、前記回転清掃体の回転がロックしたかどうかにより異常であるかどうかを判定し、
制御手段は、掃除モード中と掃除モード後とのいずれかに前記異常検出手段により異常であることを判定すると撮像モードに切り換わり、撮像手段により画像を撮像させるとともに、この撮像の後、待機モードに切り換わる
ことを特徴とした請求項2記載の電気掃除機。 - 本体ケースに設けられ、この本体ケースの周囲の障害物を検出する障害物検出手段を具備し、
異常検出手段は、前記障害物検出手段によって所定時間以内に所定回数以上障害物を検出したかどうかにより異常であるかどうかを判定し、
制御手段は、掃除モード中と掃除モード後とのいずれかに前記異常検出手段により異常であることを判定すると撮像モードに切り換わり、撮像手段により画像を撮像させるとともに、この撮像の後、待機モードに切り換わる
ことを特徴とした請求項2記載の電気掃除機。 - センサ部は、温度センサを備え、
異常検出手段は、前記温度センサにより検出した温度が所定の上限温度閾値以上または所定の下限温度閾値以下であるかどうかにより異常であるかどうかを判定する
ことを特徴とした請求項3記載の電気掃除機。 - センサ部は、赤外線センサを備え、
異常検出手段は、前記赤外線センサにより異常な熱源を検出したかどうかにより異常であるかどうかを判定する
ことを特徴とした請求項3記載の電気掃除機。 - センサ部は、ガスセンサを備え、
異常検出手段は、前記ガスセンサによりガスを検出したかどうかにより異常であるかどうかを判定する
ことを特徴とした請求項3記載の電気掃除機。 - 本体ケースに設けられ、異常検出手段に電力を供給可能な二次電池を具備し、
前記異常検出手段は、前記二次電池の充電中でも異常を判定可能である
ことを特徴とした請求項12ないし14いずれか一記載の電気掃除機。 - 異常検出手段は、他の電気機器に備えられた検出手段である温度検出手段によって検出した温度が所定の上限温度閾値以上または所定の下限温度閾値以下であると判定された信号を受信手段により受信したときに異常であると判定する
ことを特徴とした請求項4記載の電気掃除機。 - 異常検出手段は、他の電気機器に備えられた検出手段である赤外線検出手段によって異常な熱源を検出したと判定された信号を受信手段により受信したときに異常であると判定する
ことを特徴とした請求項4記載の電気掃除機。 - 異常検出手段は、他の電気機器に備えられた検出手段によってガスを検出したと判定された信号を受信手段により受信したときに異常であると判定する
ことを特徴とした請求項4記載の電気掃除機。 - 異常検出手段により異常を検出したときに電子メールを送信することで報知する
ことを特徴とした請求項1ないし18いずれか一記載の電気掃除機。
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KR1020177020707A KR101855055B1 (ko) | 2014-08-28 | 2015-08-21 | 전기청소기 |
KR1020167011544A KR101840152B1 (ko) | 2014-08-28 | 2015-08-21 | 전기청소기 |
EP15835931.5A EP3187081B1 (en) | 2014-08-28 | 2015-08-21 | Electric cleaner |
CN201580047338.5A CN106659343B (zh) | 2014-08-28 | 2015-08-21 | 电动吸尘器 |
US15/503,879 US11006802B2 (en) | 2014-08-28 | 2015-08-21 | Vacuum cleaner |
BR112017002899A BR112017002899A2 (pt) | 2014-08-28 | 2015-08-21 | aspirador de pó |
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Also Published As
Publication number | Publication date |
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MY184068A (en) | 2021-03-17 |
JP2016049127A (ja) | 2016-04-11 |
BR112017002899A2 (pt) | 2017-12-12 |
CA2958738C (en) | 2020-01-07 |
KR101840152B1 (ko) | 2018-03-19 |
JP6621129B2 (ja) | 2019-12-18 |
KR101855055B1 (ko) | 2018-05-04 |
CN106659343A (zh) | 2017-05-10 |
US11006802B2 (en) | 2021-05-18 |
CA2958738A1 (en) | 2016-03-03 |
CN106659343B (zh) | 2020-02-14 |
KR20170089951A (ko) | 2017-08-04 |
EP3187081A1 (en) | 2017-07-05 |
US20170273528A1 (en) | 2017-09-28 |
KR20160067986A (ko) | 2016-06-14 |
EP3187081A4 (en) | 2018-07-11 |
EP3187081B1 (en) | 2022-04-13 |
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