SELF-PROPELLED VACUUM CLEANER AND METHOD FOR CONTROLLING SELF-PROPELLED VACUUM CLEANER

FIELD

The present disclosure relates to a self-propelled vacuum cleaner and a method for controlling the self-propelled vacuum cleaner.

BACKGROUND

Conventionally, a self-propelled vacuum cleaner that autonomously travels on a surface to be cleaned and sucks dust present on the surface to be cleaned has been disclosed (see, for example, Patent Literature 1).

CITATION LIST
Patent Literature

- Patent Literature 1: JP 2005-211362 A

SUMMARY
Technical Problem

The present disclosure proposes a self-propelled vacuum cleaner capable of improving cleaning efficiency and a method for controlling the self-propelled vacuum cleaner.

Solution to Problem

According to the present disclosure, there is provided a self-propelled vacuum cleaner. The self-propelled vacuum cleaner includes a main body, a plurality of suction ports, a plurality of suction pipes, a valve, a sensor, and a controller. The main body is independently movable in an environment. Each of the plurality of suction ports is independently disposed on a bottom surface of the main body. The plurality of suction pipes is disposed inside the main body, and each of the plurality of suction pipes is connected to the plurality of suction ports. The valve is disposed in at least one of the plurality of suction pipes. The sensor acquires object information regarding an object in the environment. The controller controls each unit. In addition, the controller controls the valve on the basis of the acquired object information.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a top view illustrating an example of a configuration of a self-propelled vacuum cleaner according to an embodiment of the present disclosure.

FIG. 2 is a side view illustrating the example of the configuration of the self-propelled vacuum cleaner according to the embodiment of the present disclosure.

FIG. 3 is a bottom view illustrating the example of the configuration of the self-propelled vacuum cleaner according to the embodiment of the present disclosure.

FIG. 4 is a view for describing an example of an internal configuration of the self-propelled vacuum cleaner according to the embodiment of the present disclosure.

FIG. 5 is a cross-sectional view illustrating an example of a configuration of a valve according to the embodiment of the present disclosure.

FIG. 6 is a schematic diagram illustrating an example of control processing of the self-propelled vacuum cleaner according to the embodiment of the present disclosure.

FIG. 7 is a schematic diagram illustrating an example of the control processing of the self-propelled vacuum cleaner according to the embodiment of the present disclosure.

FIG. 8 is a schematic diagram illustrating an example of the control processing of the self-propelled vacuum cleaner according to the embodiment of the present disclosure.

FIG. 9 is a schematic diagram illustrating an example of the control processing of the self-propelled vacuum cleaner according to the embodiment of the present disclosure.

FIG. 10 is a view for describing an example of an internal configuration of the self-propelled vacuum cleaner according to a modification example of the embodiment of the present disclosure.

FIG. 11 is a flowchart illustrating an example of a procedure of control processing executed by a controller according to the embodiment of the present disclosure.

DESCRIPTION OF EMBODIMENTS

Hereinafter, respective embodiments of the present disclosure will be described with reference to the accompanying drawings. Note that the present disclosure is not limited to the embodiments illustrated below. In addition, the respective embodiments can be appropriately combined within a range that does not contradict processing contents. In addition, in the respective embodiments below, the same parts are denoted by the same reference signs, and redundant description will be omitted.

In addition, in the embodiments illustrated below, expressions such as “constant”, “orthogonal”, “vertical”, or “parallel” may be used, but these expressions do not need to be strictly “constant”, “orthogonal”, “vertical”, or “parallel”. In other words, it is assumed that each expression described above allows deviation in manufacturing accuracy, installation accuracy, and the like, for example.

Conventionally, a self-propelled vacuum cleaner that autonomously travels on a surface to be cleaned and sucks dust present on the surface to be cleaned has been disclosed. While autonomously traveling on a surface to be cleaned such as a floor surface, the self-propelled vacuum cleaner sucks the dust on the surface to be cleaned by sucking air from a suction port directed toward the surface to be cleaned, whereby the self-propelled vacuum cleaner cleans the surface to be cleaned. The sucked dust is collected in a dust box provided in the self-propelled vacuum cleaner.

Meanwhile, in the above-described conventional technique, since one suction port provided in the bottom surface of a main body is sucked by a plurality of suction pipes, there is room for further improvement in terms of improving cleaning efficiency.

Therefore, it is expected to achieve a technique capable of overcoming the above-described problem and improving the cleaning efficiency of the self-propelled vacuum cleaner.

[Configuration of Self-Propelled Vacuum Cleaner]

First, with reference to FIGS. 1 to 5, a configuration of a self-propelled vacuum cleaner 1 according to an embodiment will be described. FIG. 1 is a top view illustrating an example of the configuration of the self-propelled vacuum cleaner 1 according to the embodiment of the present disclosure, and FIG. 2 is a side view illustrating the example of the configuration of the self-propelled vacuum cleaner 1 according to the embodiment of the present disclosure.

Note that in the following respective drawings, an X-axis direction, a Y-axis direction, and a Z-axis direction orthogonal to one another are defined for easy understanding of the description. In addition, in the orthogonal coordinate system, a Z-axis positive direction is a vertically upward direction, an X-axis positive direction is a traveling direction of the self-propelled vacuum cleaner 1, and the Y-axis direction is a direction orthogonal to an X-axis and a Z-axis (that is, a width direction of the self-propelled vacuum cleaner 1).

As illustrated in FIGS. 1 and 2, the self-propelled vacuum cleaner 1 includes a main body 10 and a plurality of (two in the figures) wheels 20. The main body 10 is independently movable in an environment where the self-propelled vacuum cleaner 1 is located.

The plurality of wheels 20 is provided, for example, on both sides of the main body 10. The plurality of wheels 20 is connected to a drive unit (not illustrated) such as a motor, and each of the plurality of wheels 20 is rotatable in an independent rotation direction and at an independent rotation speed. Note that in the present disclosure, the number of the wheels 20 provided in the main body 10 is not limited to two and may be three or more.

In addition, as illustrated in FIG. 1, the self-propelled vacuum cleaner 1 further includes a sensor 80 and a controller 90. The sensor 80 acquires information regarding an object in the environment where the self-propelled vacuum cleaner 1 is located (hereinafter also referred to as “object information”).

The sensor 80 is, for example, an obstacle sensor, a distance measuring sensor, or the like. The obstacle sensor provided in the self-propelled vacuum cleaner 1 detects, for example, an obstacle existing in front (specifically, on a traveling direction side) of the main body 10. The obstacle sensor is, for example, an ultrasonic sensor.

The obstacle sensor includes, for example, a transmitter (not illustrated) disposed at a front center portion of the main body 10 and a receiver (not illustrated) disposed on each of both sides of the transmitter. Then, the obstacle sensor can detect a location of the obstacle and a distance to the obstacle by the receivers each receiving an ultrasonic wave that is transmitted from the transmitter, reflected by the obstacle, and returns.

In addition, the distance measuring sensor provided in the self-propelled vacuum cleaner 1 detects a distance between an obstacle (for example, a wall W (see FIG. 7), leg circumference P of furniture (see FIG. 8), or the like) present around the self-propelled vacuum cleaner 1 and the self-propelled vacuum cleaner 1.

This distance measuring sensor is, for example, a so-called laser range scanner that scans laser light and measures a distance on the basis of light reflected by an obstacle. The distance measuring sensor is used, for example, to create an environmental map in the environment where the self-propelled vacuum cleaner 1 is located.

Note that the sensor 80 mounted on the self-propelled vacuum cleaner 1 according to the embodiment is not limited to the obstacle sensor and the distance measuring sensor. For example, in the embodiment, the object information in the environment where the self-propelled vacuum cleaner 1 is located may be acquired by a camera or the like that captures an image of a situation around the main body 10.

The controller 90 controls each unit constituting the self-propelled vacuum cleaner 1. The controller 90 is achieved by, for example, a central processing unit (CPU), a micro processing unit (MPU), or the like executing a program stored in a storage unit (not illustrated) using an RAM or the like as a work area.

In addition, the controller 90 is a controller, and may be achieved by, for example, an integrated circuit such as an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA).

FIG. 3 is a bottom view illustrating an example of the configuration of the self-propelled vacuum cleaner 1 according to the embodiment of the present disclosure; As illustrated in FIG. 3, the self-propelled vacuum cleaner 1 according to the embodiment includes a plurality of (three in the figure) suction ports 30. Each of the plurality of suction ports 30 is independently disposed on a bottom surface 11 of the main body 10. In other words, all the suction ports 30 are not connected to one another on the bottom surface 11.

The plurality of suction ports 30 is disposed side by side along an edge portion 12 on the traveling direction side in the bottom surface 11. For example, in the embodiment, one suction port 30 (hereinafter also referred to as suction port 31) is disposed along a central portion of the edge portion 12.

In addition, another suction port 30 (hereinafter also referred to as suction port 32) is disposed along a right side of the edge portion 12 in the traveling direction (Y-axis negative direction side). In addition, still another suction port 30 (hereinafter also referred to as suction port 33) is disposed along a left side of the edge portion 12 in the traveling direction (Y-axis positive direction side).

In addition, in the embodiment, a pair of suction ports 32 and 33 out of the plurality of suction ports 30 has a substantially L-shape, and each of the pair of suction ports 32 and 33 is disposed along a pair of corner portions 13 adjacent to each other in a direction (Y-axis direction in the figure) intersecting the traveling direction (X-axis direction) in the bottom surface 11. In other words, the pair of suction ports 32 and 33 is disposed along the edge portion 12 on the traveling direction side in the bottom surface 11 and an edge portion 14 on a side in the bottom surface 11.

FIG. 4 is a view for describing an example of an internal configuration of the self-propelled vacuum cleaner 1 according to the embodiment of the present disclosure. As illustrated in FIG. 4, the self-propelled vacuum cleaner 1 according to the embodiment further includes a plurality of suction pipes 40, one or a plurality of (two in the figure) valves 50, a dust box 60, and a fan 70.

The plurality of suction pipes 40 is disposed inside the main body 10, and each of the plurality of suction pipes 40 is connected to the plurality of suction ports 30 located in the bottom surface 11 of the main body 10. Specifically, one suction pipe 40 (hereinafter also referred to as suction pipe 41) is connected between the suction port 31 and the dust box 60.

In addition, another suction pipe 40 (hereinafter also referred to as suction pipe 42) is connected between the suction port 32 and the suction pipe 41. In addition, still another suction pipe 40 (hereinafter also referred to as suction pipe 43) is connected between the suction port 33 and the suction pipe 41. In other words, in the embodiment, the suction pipes 42 and 43 join the suction pipe 41 and are connected to the dust box 60 on a downstream side of the joining portion.

Note that in the present disclosure, “downstream” refers to a downstream side in a flow in which dust on a surface to be cleaned is sucked inside the self-propelled vacuum cleaner 1. In addition, in the present disclosure, “upstream” refers to an upstream side in the flow in which the dust on the surface to be cleaned is sucked inside the self-propelled vacuum cleaner 1.

The valve 50 is provided in at least one of the plurality of suction pipes 40. In the embodiment, the suction pipe 42 and the suction pipe 43 are each provided with two valves 50 (hereinafter also referred to as valves 52 and 53). With reference to FIG. 5, a detailed configuration of the valve 50 will be described.

FIG. 5 is a cross-sectional view illustrating an example of the configuration of the valve 50 according to the embodiment of the present disclosure; As illustrated in FIG. 5, the valve 50 according to the embodiment includes rubber such as silicone rubber, and has a cup portion 50a, a support portion 50b, and an arm portion 50c.

The cup portion 50a has a cup shape such as a semi-conical shape or a semi-elliptical cone shape. The cup portion 50a is disposed so as to close a cross-sectional area having a predetermined area or more (for example, 70% or more of the entirety) inside the suction pipe 40.

The support portion 50b supports an opening of the cup portion 50a and is supported by the suction pipe 40. In other words, the valve 50 is supported by the suction pipe 40 via the support portion 50b.

The arm portion 50c is fixed to an inner bottom surface of the cup portion 50a and extends along an axial direction of the cup portion 50a. In the valve 50 according to the embodiment, the arm portion 50c is pulled along the axial direction of the cup portion 50a by an actuator (not illustrated) or the like, whereby the cup portion 50a is deformed so that the cup portion 50a is folded inward.

As a result, since a state in which the suction pipe 40 is closed by the cup portion 50a is eliminated, the valve 50 becomes an open state.

Meanwhile, in a case where a state in which the arm portion 50c is pulled by the actuator or the like is eliminated, since the cup portion 50a including rubber returns to an original cup shape illustrated in FIG. 5, the suction pipe 40 is closed again by the cup portion 50a and the valve 50 becomes a close state.

As described above, in the embodiment, the open/close state of the valve 50 is controlled by deforming the cup portion 50a including rubber. As a result, dust such as yarn waste caught on the cup portion 50a when the valve 50 is in the close state can be shaken off when the cup portion 50a is deformed so that the cup portion 50a is folded inward.

In other words, in the embodiment, since the dust caught on the cup portion 50a can be automatically shaken off by opening and closing the valve 50, it is possible to achieve maintenance-free operation of the valve 50.

Note that in the example of FIG. 5, an example in which the entire valve 50 includes rubber has been illustrated, but the present disclosure is not limited to the example, and for example, at least one of the support portion 50b and the arm portion 50c may include a material other than rubber.

In addition, in the embodiment, a case where the valve 50 has a structure illustrated in FIG. 5 has been illustrated, but the present disclosure is not limited to the example, and the valve 50 may have a conventionally known structure.

The description returns to FIG. 4. The dust box 60 is disposed inside the main body 10 and is provided on the downstream side of the suction pipe 40. The dust box 60 collects the dust sucked by the plurality of suction ports 30 and the plurality of suction pipes 40.

The fan 70 generates an air flow for sucking the dust in the plurality of suction ports 30 and the plurality of suction pipes 40. The fan 70 is provided, for example, on the downstream side of the dust box 60 and generates an air flow for sucking the dust via the dust box 60.

[Control Processing of Self-Propelled Vacuum Cleaner]

Next, with reference to FIGS. 6 to 9, control processing of the self-propelled vacuum cleaner 1 described above will be described. FIGS. 6 to 9 are schematic diagrams each illustrating an example of the control processing of the self-propelled vacuum cleaner 1 according to the embodiment of the present disclosure.

FIG. 6 illustrates control processing in a case where there is not an obstacle, large dust G (see FIG. 9), or the like around the self-propelled vacuum cleaner 1. In this case, as illustrated in FIG. 6, the controller 90 (see FIG. 1) controls the valve 52 provided in the suction pipe 42 and the valve 53 provided in the suction pipe 43 so that both the valves 52 and 53 become an open state.

As a result, the controller 90 can set all of a region R1 that is a suction possible range of the suction port 31, a region R2 that is a suction possible range of the suction port 32, and a region R3 that is a suction possible range of the suction port 33 as regions where the dust can be sucked. In other words, in the example of FIG. 6, the controller 90 can set the entire travelling direction side of the self-propelled vacuum cleaner 1 as a region where the dust can be sucked.

Therefore, according to the embodiment, in a case where there is not an obstacle, the large dust G, or the like around the self-propelled vacuum cleaner 1, it is possible to efficiently clean small dust present on the entire travelling direction side of the self-propelled vacuum cleaner 1.

Note that in the drawings of the present disclosure, to facilitate understanding, the valve 50 in the open state is denoted by “OPEN”, and the valve 50 in the close state is denoted by “CLOSE”.

FIG. 7 illustrates control processing in a case where the wall W is located around the self-propelled vacuum cleaner 1. The wall W is an example of the obstacle.

In this case, as illustrated in FIG. 7, the controller 90 (see FIG. 1) controls the wheels 20 and the like so that the main body 10 is moved along the wall W. In addition, the controller 90 controls the valve 50 (valve 53 in FIG. 7) corresponding to the suction port 30 (suction port 33 in FIG. 7) on a side close to the wall W so that the valve 50 becomes the open state.

Meanwhile, the controller 90 controls the valve 50 (valve 52 in FIG. 7) corresponding to the suction port 30 (suction port 32 in FIG. 7) on a side far from the wall W so that the valve 50 becomes the close state.

As a result, the controller 90 can set the region R1 that is a suction possible range of the suction port 31 and the region R3 that is a suction possible range of the suction port 33 as regions where the dust can be sucked. Then, in the example of FIG. 7, the controller 90 restricts the suction of the dust from the suction port 32 far from the wall W, whereby it is possible to improve the cleaning efficiency of the region R1 and the region R3.

For example, in the embodiment, the suction of the dust from the suction port 32 is restricted, whereby suction force for the region R1 and the region R3 can be improved by about 20(%).

As a result, the controller 90 can clean dust accumulated at a corner portion between the wall W and the surface to be cleaned or the like with higher efficiency. Therefore, according to the embodiment, when the self-propelled vacuum cleaner 1 performs cleaning along the wall W, the vicinity of the wall W can be efficiently cleaned.

FIG. 8 illustrates control processing in a case where leg circumference P of furniture or the like is located around the self-propelled vacuum cleaner 1. The leg circumference P is another example of the obstacle.

In this case, as illustrated in FIG. 8, the controller 90 (see FIG. 1) controls the wheels 20 and the like so that the main body 10 is circulated along the leg circumference P. In addition, the controller 90 controls the valve 50 (valve 52 in FIG. 8) corresponding to the suction port 30 (suction port 32 in FIG. 8) on a side close to the leg circumference P so that the valve 50 becomes the open state.

Meanwhile, the controller 90 controls the valve 50 (valve 53 in FIG. 8) corresponding to the suction port 30 (suction port 33 in FIG. 8) on a side far from the leg circumference P so that the valve 50 becomes the close state.

As a result, the controller 90 can set the region R1 that a suction possible range of the suction port 31 and the region R2 that is a suction possible range of the suction port 33 as regions where the dust can be sucked. Then, in the example of FIG. 8, the controller 90 restricts the suction of the dust from the suction port 33, whereby it is possible to improve the cleaning efficiency of the region R1 and the region R2.

As a result, the controller 90 can clean dust accumulated at a corner portion between the leg circumference P and the surface to be cleaned or the like with higher efficiency. Therefore, according to the embodiment, when the self-propelled vacuum cleaner 1 performs cleaning along around the leg circumference P, the vicinity of the leg circumference P can be efficiently cleaned.

FIG. 9 illustrates control processing in a case where large dust G having a predetermined size or more is located in front of the self-propelled vacuum cleaner 1. Note that the size of the dust on a cleaning surface can be detected by the sensor 80 (see FIG. 1).

In this case, as illustrated in FIG. 9, the controller 90 (see FIG. 1) controls the wheels 20 and the like so that the suction port 31 passes above the large dust G. In addition, the controller 90 controls the valves 52 and 53 corresponding respectively to the suction ports 32 and 33 that do not pass above the large dust G so that the valves 52 and 53 become the close state.

As a result, the controller 90 can set only the region R1 that is a suction possible range of the suction port 31 as a region where the dust can be sucked. Then, in the example of FIG. 9, the controller 90 can further improve the cleaning efficiency in the region R1 by restricting suction of the dust from the suction ports 32 and 33. Therefore, according to the embodiment, even the large dust G can be cleaned without any problem.

As described above, in the embodiment, the controller 90 controls the opening and closing of the valve 50 on the basis of the object information in the environment where the self-propelled vacuum cleaner 1 is located. As a result, the controller 90 can suck dust with high suction force with respect to places where high suction force is required under various environments. Therefore, according to the embodiment, the cleaning efficiency of the self-propelled vacuum cleaner 1 can be improved.

In addition, in the embodiment, even if a side brush or the like that collects dust while rotating on a side of the main body 10 is not provided, it is possible to efficiently collect dust in the vicinity of the obstacle such as the wall W or the leg circumference P of furniture. Therefore, according to the embodiment, it is possible to eliminate the need for maintenance related to such a side brush and to reduce noise caused by the side brush.

In addition, in the embodiment, as illustrated in FIG. 9, the controller 90 may open and close the valve 50 according to a scattering situation of dust in the environment. As a result, the controller 90 can suck dust with high suction force with respect to a place where there is a lot of dust or a place where there is the large dust G. Therefore, according to the embodiment, the cleaning efficiency of the self-propelled vacuum cleaner 1 can be further improved.

In addition, in the embodiment, the plurality of suction ports 30 is disposed side by side along the edge portion 12 on the traveling direction side in the bottom surface 11 of the main body 10. As a result, since the suction port 30 can be brought close to the vicinity of the obstacle, the cleaning efficiency of the self-propelled vacuum cleaner 1 can be further improved.

In addition, in the embodiment, since each of the plurality of suction ports 30 disposed independently is sucked by the plurality of suction pipes 40 individually, a range to be cleaned can be made clearer as compared with a case where one suction port 30 is sucked by the plurality of suction pipes 40.

As a result, the controller 90 can determine the next cleaning range without overlapping with the already cleaned range. Therefore, according to the embodiment, the entire cleaning time can be shortened.

In addition, in the embodiment, each of the pair of suction ports 32 and 33 has a substantially L-shape and is disposed along the pair of corner portions 13 adjacent to each other in the direction intersecting the traveling direction in the bottom surface 11 of the main body 10.

As a result, as illustrated in FIG. 7 and the like, it is possible to expand the region where the dust can be sucked not only to the front of the main body 10 but also to the side of the main body 10. Therefore, according to the embodiment, when the main body 10 is moved along the obstacle, the cleaning efficiency in the vicinity of the obstacle can be further improved.

Modification Example

Next, with reference to FIG. 10, a modification example of the embodiment will be described. FIG. 10 is a view for describing an example of an internal configuration of a self-propelled vacuum cleaner 1 according to a modification example of the embodiment of the present disclosure and is a view corresponding to FIG. 4 of the embodiment.

As illustrated in FIG. 10, the self-propelled vacuum cleaner 1 according to the modification example is provided with a valve 51 that controls suction from a suction port 31 provided in a front center portion of a main body 10. The valve 51 is disposed on an upstream side of a joining portion with the other suction pipes 42 and 43 in a suction pipe 41 connected to the suction port 31.

As a result, in the modification example, all suction ports 31, 32, and 33 can be controlled completely independently. For example, in the modification example, only a valve 50 corresponding to a suction port 30 on a side close to an obstacle can be controlled so that only the valve 50 is in an open state, and valves 50 corresponding to suction ports 30 other than the suction port 30 can be controlled so that the valves 50 are in a close state.

As a result, in the modification example, the suction force of the suction port 30 with the valve 50 in the open state can be greatly improved (for example, by about 90(%)). Therefore, according to the modification example, when the self-propelled vacuum cleaner 1 performs cleaning along the obstacle, the vicinity of the obstacle can be cleaned more efficiently.

In addition, in the modification example, for example, in a case where the suction port 32 (or suction port 33) on a side is scheduled to pass above large dust G (see FIG. 9), only the valve 50 corresponding to the suction port 32 (or suction port 33) may be turned into an open state without changing a path of the main body 10.

As a result, since the large dust G can be cleaned without changing the path of the main body 10, the cleaning efficiency of the self-propelled vacuum cleaner 1 can be further improved.

[Procedure of Control Processing]

Next, with reference to FIG. 11, a procedure of the control processing according to the embodiment will be described. FIG. 11 is a flowchart illustrating an example of the procedure of the control processing executed by the controller 90 according to the embodiment of the present disclosure.

First, the controller 90 starts cleaning in the environment where the main body 10 is located (Step S101). Next, the controller 90 acquires the object information in the environment where the main body 10 is located (Step S102).

For example, the controller 90 controls the sensor 80 to acquire a location of the obstacle, the scattering situation of dust, and the like in the environment where the main body 10 is located. Then, the controller 90 opens all the suction ports 30 (Step S103).

Next, the controller 90 determines whether there is the large dust G in front of the main body 10 (Step S104). Then, in a case where there is not the large dust G in front of the main body 10 (Step S104, No), the processing proceeds to Step S107 to be described later.

Meanwhile, in a case where there is the large dust G in front of the main body 10 (Step S104, Yes), the controller 90 controls each valve 50 and the like to restrict suction from the suction ports 30 other than the suction port 30 that passes above the large dust G (Step S105).

Then, the controller 90 sucks the large dust G at the opened suction port 30 (Step S106).

Next, the controller 90 determines whether it is scheduled to clean around the obstacle (Step S107). Then, in a case where it is not scheduled to clean around the obstacle (Step S107, No), the processing proceeds to Step S110 to be described later.

Meanwhile, in a case where it is scheduled to clean around the obstacle (Step S107, Yes), the controller 90 controls each valve 50 and the like to restrict suction from the suction port 30 on a side far from the obstacle (Step S108).

Then, the controller 90 cleans around the obstacle at the opened suction port 30 (Step S109).

Next, the controller 90 determines whether the cleaning in the environment where the main body 10 is located has been completed (Step S110). Then, in a case where the cleaning in the environment has been completed (Step S110, Yes), a series of control processing is ended.

Meanwhile, in a case where the cleaning in the environment has not been completed (Step S110, No), the processing returns to Step S102.

[Effects]

The self-propelled vacuum cleaner 1 according to the embodiment includes the main body 10, the plurality of suction ports 30, the plurality of suction pipes 40, the valve 50, the sensor 80, and the controller 90. The main body 10 is independently movable in the environment. Each of the plurality of suction ports 30 is independently disposed on the bottom surface 11 of the main body 10. The plurality of suction pipes 40 is disposed inside the main body 10, and each of the plurality of suction pipes 40 is connected to the plurality of suction ports 30. The valve 50 is disposed in at least one of the plurality of suction pipes 40. The sensor 80 acquires the object information regarding the object in the environment. The controller 90 controls each unit. In addition, the controller 90 controls the valve 50 on the basis of the acquired object information.

As a result, the cleaning efficiency of the self-propelled vacuum cleaner 1 can be improved.

In addition, in the self-propelled vacuum cleaner 1 according to the embodiment, the plurality of suction ports 30 is disposed side by side along the edge portion 12 on the traveling direction side in the bottom surface 11 of the main body 10.

As a result, the cleaning efficiency of the self-propelled vacuum cleaner 1 can be further improved.

In addition, in the self-propelled vacuum cleaner 1 according to the embodiment, each of the pair of suction ports 32 and 33 has a substantially L-shape and is disposed along the pair of corner portions 13 adjacent to each other in the direction intersecting the traveling direction in the bottom surface 11 of the main body 10.

As a result, when the main body 10 is moved along the obstacle, the cleaning efficiency in the vicinity of the obstacle can be further improved.

In addition, in the self-propelled vacuum cleaner 1 according to the embodiment, in a case where the main body 10 is moved along the obstacle (wall W, leg circumference P) in the environment, the controller 90 opens the valve 52 (53) corresponding to the substantially L-shaped suction port 32 (33) on the side close to the obstacle (wall W, leg circumference P). In addition, the controller 90 closes the valve 52 (53) corresponding to the substantially L-shaped suction port 32 (33) on the side far from the obstacle (wall W, leg circumference P).

As a result, when the main body 10 is moved along the obstacle, the cleaning efficiency in the vicinity of the obstacle can be further improved.

In addition, in the self-propelled vacuum cleaner 1 according to the embodiment, the controller 90 opens and closes the valve 50 according to the scattering situation of dust in the environment.

As a result, the cleaning efficiency of the self-propelled vacuum cleaner 1 can be improved.

In addition, in the self-propelled vacuum cleaner 1 according to the embodiment, in a case where the dust (large dust G) having a predetermined size or more is located in the path of the main body 10, the controller 90 closes the valve 50 corresponding to the suction port 30 that does not pass above the dust (large dust G).

As a result, even the large dust G can be cleaned without any problem.

In addition, in the self-propelled vacuum cleaner 1 according to the embodiment, the valve 50 has the cup portion 50a including rubber, and the controller 90 controls the valve 50 so that the valve 50 is in the open state by deforming the cup portion 50a so that the cup portion 50a is folded inward.

As a result, it is possible to achieve maintenance-free operation of the valve 50.

In addition, a method for controlling the self-propelled vacuum cleaner 1 according to the embodiment includes in the self-propelled vacuum cleaner 1, a step of acquiring the object information in the environment using the sensor 80 and a step of controlling opening and closing of the valve 50 on the basis of the acquired object information.

As a result, the cleaning efficiency of the self-propelled vacuum cleaner 1 can be improved.

Although the embodiments of the present disclosure have been described above, the technical scope of the present disclosure is not limited to the above-described embodiments as it is, and various modifications can be made without departing from the gist of the present disclosure. In addition, components of different embodiments and modification examples may be appropriately combined.

For example, in the above-described embodiment, a case where the number of suction ports 30 provided in the bottom surface 11 of the main body 10 is three has been illustrated, but the present disclosure is not limited to the example and can be appropriately changed according to the size of the main body 10 or the like. In other words, in the present disclosure, two suction ports 30 may be provided in the main body 10, or four or more suction ports 30 may be provided in the main body 10 according to the size of the main body 10 or the like.

In addition, the effects described in the present description are merely examples and are not limited, and other effects may be provided.

Note that the present technique can also have the following configurations.

(1)

A self-propelled vacuum cleaner, comprising:

- a main body independently movable in an environment;
- a plurality of suction ports each independently disposed in a bottom surface of the main body;
- a plurality of suction pipes disposed inside the main body, each of the plurality of suction pipes being connected to the plurality of suction ports;
- a valve disposed in at least one of the plurality of suction pipes;
- a sensor that acquires object information regarding an object in the environment; and
- a controller that controls each unit, wherein
- the controller controls opening and closing of the valve on the basis of the acquired object information.
  
  (2)

The self-propelled vacuum cleaner according to the above (1), wherein

- a plurality of the suction ports is disposed side by side along an edge portion on a traveling direction side in the bottom surface of the main body.
  
  (3)

The self-propelled vacuum cleaner according to the above (1) or (2), wherein

- each of a pair of the suction ports has a substantially L-shape and is disposed along a pair of corner portions adjacent to each other in a direction intersecting a traveling direction in the bottom surface of the main body.
  
  (4)

The self-propelled vacuum cleaner according to the above (3), wherein

- in a case where the controller moves the main body along an obstacle in the environment, the controller opens the valve corresponding to the substantially L-shaped suction port on a side close to the obstacle and closes the valve corresponding to the substantially L-shaped suction port on a side far from the obstacle.
  
  (5)

The self-propelled vacuum cleaner according to any one of the above (1) to (4), wherein

- the controller opens and closes the valve according to a scattering situation of dust in the environment.
  
  (6)

The self-propelled vacuum cleaner according to the above (5), wherein

- in a case where dust having a predetermined size or more is located in a path of the main body, the controller closes the valve corresponding to the suction port that does not pass above the dust.
  
  (7)

The self-propelled vacuum cleaner according to any one of the above (1) to (6), wherein

- the valve has a cup portion including rubber, and
- the controller controls the valve so that the valve is in an open state by deforming the cup portion so that the cup portion is folded inward.
  
  (8)

A method for controlling a self-propelled vacuum cleaner, the method comprising:

- in a self-propelled vacuum cleaner that includes a main body independently movable in an environment, a plurality of suction ports each independently disposed in a bottom surface of the main body, a plurality of suction pipes disposed inside the main body, each of the plurality of suction pipes being connected to the plurality of suction ports, a valve disposed in at least one of the plurality of suction pipes, and a sensor that acquires object information regarding an object in the environment,
- a step of acquiring the object information in the environment using the sensor; and
- a step of controlling the valve on the basis of the acquired object information.
  
  (9)

The method for controlling the self-propelled vacuum cleaner according to the above (8), wherein

- a plurality of the suction ports is disposed side by side along an edge portion on a traveling direction side in the bottom surface of the main body.
  
  (10)

The method for controlling the self-propelled vacuum cleaner according to the above (8) or (9), wherein

- each of a pair of the suction ports has a substantially L-shape and is disposed along a pair of corner portions adjacent to each other in a direction intersecting a traveling direction in the bottom surface of the main body.
  
  (11)

The method for controlling the self-propelled vacuum cleaner according to the above (10), wherein

- in a case where the step of controlling the valve moves the main body along an obstacle in the environment, the step of controlling the valve opens the valve corresponding to the substantially L-shaped suction port on a side close to the obstacle and closes the valve corresponding to the substantially L-shaped suction port on a side far from the obstacle.
  
  (12)

The method for controlling the self-propelled vacuum cleaner according to any one of the above (8) to (11), wherein

- the step of controlling the valve opens and closes the valve according to a scattering situation of dust in the environment.
  
  (13)

The method for controlling the self-propelled vacuum cleaner according to (12), in which

- in a case where dust having a predetermined size or more is located in a path of the main body, the step of controlling the valve closes the valve corresponding to the suction port that does not pass above the dust.
  
  (14)

The method for controlling the self-propelled vacuum cleaner according to any one of the above (8) to (13), wherein

- the valve has a cup portion including rubber, and
- the step of controlling the valve controls the valve so that the valve is in an open state by deforming the cup portion so that the cup portion is folded inward.

REFERENCE SIGNS LIST

- 1 SELF-PROPELLED VACUUM CLEANER
- 10 MAIN BODY
- 11 BOTTOM SURFACE
- 12 EDGE PORTION
- 13 CORNER PORTION
- 20 WHEEL
- 30 to 33 SUCTION PORT
- 40 to 43 SUCTION PIPE
- 50 to 53 VALVE
- 80 SENSOR
- 90 CONTROLLER
- G LARGE DUST

SELF-PROPELLED VACUUM CLEANER AND METHOD FOR CONTROLLING SELF-PROPELLED VACUUM CLEANER

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