TW202011134A - Mobile air purifier and air purification method - Google Patents

Abstract

A robot (20) as a mobile air purifier (1) is provided with: a housing having a purification unit for purifying air; a detection unit (22) for detecting either the entry of target substances for air purification into a room or an indication of such an entry; a mechanism unit (23) for moving the housing; and a control unit (21) which, on the basis of the result of detection by the detection unit (22), causes the mechanism unit (23) to move the housing toward the route of entry of the target substances. For example, the detection unit (22) detects, by means of a human detection sensor installed at a doorway of a house, the entry of the target substances into the room through the doorway or an indication of such an entry, and the control unit (21) causes the mechanism section (23) to move the housing toward the doorway, which becomes the route of entry of the target substances.

Description

Mobile air cleaner and air purification method

The present invention relates to a mobile air cleaner and an air purification method.

The conventional air purifier is installed in a fixed place, so if you want to clean the air in the whole room, the number of fan rotations will increase and the noise will increase. In addition, a large air volume is necessary in a large room, so it becomes large and takes a long time to complete.

Regarding this subject, as shown in Patent Document 1, there is an air purifier which includes an upper surface, a side surface, and a lower surface, an air inlet in the center of the upper surface, and an outer edge portion on the side surface or the upper surface A frame with an exhaust port on the side; a self-propelled device; a motor; a fan; and a filter member disposed closer to the side of the frame than the motor and rotated by the rotation of the motor. The air purifier detects the dust, allergen, and virus concentration by a sensor installed in the room or the body, and is linked with the walking mode. With this method, a self-propelled air purifier that can achieve miniaturization and can quickly purify the air in the living space can be provided. [Prior Technical Literature] [Patent Literature]

[Patent Literature 1] International Publication No. 2018/074052

(Problems to be solved by the invention)

In the air purifier of Patent Document 1, the walking mode is determined by sensing the concentration of dust, allergens, and viruses. However, these systems have invaded into the room at the time of sensing, and there is a possibility of affecting human life. For example, with the ventilation from the ventilation fan, the allergen invaded from the intake port that inhales the air is scattered through the kitchen to the living room as the next room. The air purifier placed in the living room senses the allergens scattered into the living room with a sensor mounted on the body, thereby starting air purification in the living room. However, in the kitchen as an intrusion, allergens have scattered. Therefore, family members located in the kitchen have been affected by flying allergens for a long time.

Therefore, the main subject of the present invention is to move the air cleaner to an appropriate place that can reduce the intrusion of air purification target substances such as allergens into the room or its diffusion. (Means to solve the problem)

The invention is characterized by: Frame body with a cleaning section for air cleaning; Sensing part that senses the object of clean air intrusion into the room or intrusion precursor; A mechanism for moving the aforementioned frame; and Based on the sensing result sensed by the sensing part, the control part moves the frame body toward the intrusion path of the target substance through the mechanism part. Other means will be described later. (Effect of invention)

According to the present invention, the air cleaner can be moved to an appropriate place where air-purified substances such as allergens can be reduced into the room or spread.

The following is a detailed description of one embodiment of the present invention with reference to the drawings.

FIG. 1 shows a mobile air cleaner 1 according to an embodiment of the present invention. FIG. 1(a) is a perspective view showing the appearance, and FIG. 1(b) is a perspective view showing the appearance when the upper cover is opened.

FIG. 2 shows a top view of the mobile air cleaner 1 of the embodiment.

FIG. 3 shows the I-I cross section of FIG. 2 of the longitudinal cross-sectional view of the mobile air cleaner 1 of the embodiment.

As shown in FIGS. 1(a) and (b), the mobile air cleaner 1 of the embodiment has a flat body 1H having a substantially cylindrical shape. As shown in FIG. 3, the main body 1H of the mobile air cleaner 1 is provided with air supply means 1w, walking means 1r, filter 3, sensor 4, control board 5a, and battery 5b, and The exterior cover 2 is composed. That is, the body 1H is covered with a flat, substantially cylindrical frame, that is, the exterior cover 2. An upper cover 2f is attached to the upper surface of the exterior cover 2.

When replacing the filter 3, as shown in FIG. 1(b), the upper cover 2f can be opened, and the filter handle portion 3h can be picked up. Since the filter 3 is provided above the body 1H, the filter 3 can be easily replaced by picking up the upper cover 2f.

As shown in FIGS. 1( a) and 2, on the upper side surface of the exterior cover 2, a body suction port 2 i whose upper surface is regarded as a substantially U-shape is provided.

FIG. 4(a) shows a side view of the mobile air cleaner 1 of the embodiment, and FIG. 4(b) shows II-II of FIG. 4(a) of the cross-sectional view near the filter 3 as viewed from above. The cross section of FIG. 4(c) is a cross-sectional view taken along the line III-III in FIG. 4(a) of the cross-sectional view near the blowing means.

As shown in FIGS. 2 and 4(c), a body discharge port 2o is provided at the lower center of the position where there is no body suction port 2i. In other words, no body suction port 2i is provided above the body discharge port 2o.

The air supply means 1w shown in FIG. 3 includes a centrifugal impeller 6, a motor 6m for the impeller, and a turbine 7. The motor 6m for the impeller is arranged coaxially with the centrifugal impeller 6 and drives the centrifugal impeller 6.

The centrifugal impeller 6 series is arranged substantially upward. The centrifugal impeller 6 rotates, sucks air from above to below through the suction port 6i, and is discharged to the side (arrow α2 in FIG. 3 ). The suction port 6i refers to the upper end surface 6h1 of the blade 6h of the centrifugal impeller 6.

As shown in FIG. 4(c), the turbine 7 system is spirally provided on the outer periphery of the centrifugal impeller 6 in a top view.

The traveling means 1r shown in FIG. 3 has: side wheels 9s1, 9s2; wheel motors 9m1, 9m2; and rear wheels 9k. The wheel motors 9m1 and 9m2 drive the side wheels 9s1 and 9s2.

The bottom view of the mobile air cleaner 1 is shown in FIG. The rear view of the mobile air cleaner 1 is shown in FIG. In the mobile air cleaner 1 series, a pair of side wheels 9s1, 9s2 and a rear wheel 9k protrude downward. The side wheels 9s1 and 9s2 are the driving wheels, and the rear wheels 9k are the driven wheels.

A belt is used as a means of power transmission from the wheel motors 9m1, 9m2 toward the side wheels 9s1, 9s2. The power trains from the wheel motors 9m1 and 9m2 are transmitted to the side wheels 9s1 and 9s2 through the pulleys 9p1 and 9p2, respectively.

The rear wheels 9k are fixed to the bottom plate 2t through the casters 9c. The caster 9c is rotatably held by the bottom plate 2t.

The filter 3 shown in FIGS. 3 and 4(b) is configured to include: a pre-filter for removing dust with a large particle size, a HEPA filter for removing dust with a small particle size, and a filter for removing Deodorizing filter for smelly ingredients. The filter 3 is provided inside the main body suction port 2i, and is formed as a substantially circular shape from the top. As shown in FIG. 3, the filter 3 is provided on the upper side of the main body 1H in the height direction.

Among them, if the filter 3 is provided on the upper side of the body 1H, it can be installed continuously or intermittently.

<Control System> The sensor 4 is provided with a dust sensor 4a (see FIG. 3) for sensing dust. In terms of sensors, other odor sensors (not shown) that sense odor, infrared sensors (not shown) that detect obstacles, and TOF that measure the distance to obstacles Sensors (not shown), etc.

The control board 5a shown in FIG. 3 is supplied with power from the battery 5b. The control board 5a controls the impeller motor 6m and the wheel motors 9m1 and 9m2 based on various sensor information. In this way, the mobile air cleaner 1 is made to clean the air of the room through the filter 3 while walking autonomously. <Operation section 1S> As shown in FIG. 1(a), the operation portion 1S of the mobile air cleaner 1 is disposed on the outer side of the upper cover 2f, that is, on the upper surface of the body 1H. That is, the operation portion 1S is provided in the main body 1H without the rear portion 1h1 of the main body suction port 2i that is substantially U-shaped as viewed from above.

The operation unit 1S has an operation button s1. The wiring s2 of the operation button s1 connected to the operation portion 1S is as shown in FIG. 2, and it is connected to the control board 5a by avoiding the rear portion 1h1 of the body suction port 2i having a substantially U-shape as viewed from above in the body 1H (see FIG. 3) Connect.

<Air flow of mobile air cleaner 1> Next, the air flow of the mobile air cleaner 1 will be described.

Since the impeller shown in FIG. 3 is driven by a motor 6m, the centrifugal impeller 6 rotates (arrow α3 in FIG. 3). By the rotation of the centrifugal impeller 6, as shown by arrow α1 in FIG. 3, indoor air is sucked into the inside of the body 1H through the body suction port 2i.

The air flowing in through the body suction port 2i passes through the filter 3 to remove dust, odor, etc., and is clean. After passing through the filter 3, the cleaned air system is biased downward from the side at a substantially right angle, and reaches the suction port 6i (6h1) of the centrifugal impeller 6. As shown in FIG. 3, the air system inside the centrifugal impeller 6 is deflected to the side (arrow α4 in FIG. 3) at a substantially right angle from below to the turbine 7 provided on the outer periphery of the centrifugal impeller 6. As shown by arrow α5 in FIG. 4(c), the air that has reached the turbine 7 is decelerated inside the turbine 7 by the spiral-shaped turbine 7 to be boosted, and then discharged from the body discharge port 2o to the outside ( Indoor) (Arrow α2 in Fig. 3).

Fig. 7 is a side view showing an outdoor house provided with a motion sensing system. The sensing unit 22 (FIG. 9) of the robot 20 that is being realized as the mobile air cleaner 1 (FIG. 1) senses the intrusion of air purification target substances such as dust, allergens, viruses, etc. into the room or a precursor to the invasion. Receiving this sensing result, the control unit 21 (FIG. 9) of the robot 20 controls the mechanism unit 23 (FIG. 9) so as to move to the intrusion path. Therefore, as shown in FIG. 7, various sensors 10 useful for allowing the sensing unit 22 to sense allergen intrusion or invasion precursors are installed outdoors. Here, the sensing unit 22 senses the intrusion of the target substance into the room based on the event such as "door or window opened". On the other hand, the sensing unit 22 is based on other phenomena that "a door or window is about to open", and a precursor of the intrusion of the sensing object substance into the room. That is, the robot 20 will preemptively move to the detected precursor of intrusion.

Gate 91 is the entrance to the land. An outdoor sensor 71 is provided on the land inside the gate 91. The outdoor sensor 71 recognizes the person entering through the gate 91. The smart element 90 series carried by a person can obtain its own position information using position notification functions such as GPS (Global Positioning System). Based on the obtained position information, the user of the smart device 90 senses the access to the gate 91 or the entrance door 92. In addition, the outdoor sensor 71 is not only a function of sensing a person, but can also be configured as an anemometer that measures the air flow outside and inside the house. The air flow measured by the outdoor sensor 71 is provided to the sensing unit 22 as data for predicting the intrusion path into the room based on the flying amount or flying path of the allergen.

The sensing unit 22 predicts the flying path of the allergen into the room based on the air flow outside the room and the location of the allergen entry port that has invaded into the room. For example, in a house where there are intrusions such as windows or doors in the east, west, south, and north, based on the following information, the sensing unit 22 predicts the flying path inside the house. ・East window and west door open separately. ・The south window and the north window are closed separately. ・The outdoor sensor 71 measures the wind that is blowing westward. At this time, according to the wind direction, allergens that have invaded through the east window are predicted to be discharged from the west gate. Therefore, the mobile air cleaner 1 first moves to the east window on the upstream side to clean the invading allergen, and then moves to the west gate on the downstream side to clean the allergen.

Entrance gate 92 is the entrance and exit of the home in the site. Near the entrance door 92, a sound sensor 72, a human sensor 73, a pressure sensor 74, and a door opening and closing sensor 75 are provided. The sound sensor 72 is an opening/closing sensing sensor that collects the sound of opening and closing the entrance door 92 and the like to sense the entry and exit of a person. The human sensor 73 is, for example, a general pyroelectric type person, and uses infrared rays emitted by a person (close person) opening and closing the entrance door 92 to sense the entry and exit of a person. The pressure-sensing sensor 74 is an opening-and-closing sensing sensor that senses the entry and exit of a person by sensing the pressure of a porch mat or the like carried by a person opening and closing the entrance door 92. The door opening and closing sensor 75 senses the entry and exit of a person by sensing the opening and closing of the entrance door 92 itself.

With at least one of various sensors provided near the entrance door 92, the opening and closing of the entrance door 92 (that is, the entry and exit of a person) is sensed. As shown above, the entrance door 92 that senses opening and closing can become an allergen intrusion into the house, so the result of sensing its opening and closing is used as data to predict the intrusion path (intrusion) into the house , And is provided to the sensing portion 22.

Fig. 8 is a side view showing a living room provided with a motion sensing system. The living room is the interior of a family, etc., but it can also be the general management room or warehouse of another company, and is not limited. The window opening and closing sensor 76 is a sensor that senses the opening and closing of a nearby window. The window opening/closing sensor 76 notifies the sensing unit 22 of the result of the opening/closing sensing as an intrusion route in which the allergen enters the room.

The beacon 80 located in the plural beacon 80 in the living room, which is close to the allergen intrusion port where the intrusion or the precursor of the intrusion is sensed, emits outgoing radio waves to the surroundings, so that the mobile air cleaner 1 receives the outgoing call The radio wave is used to call the mobile air cleaner 1 through the allergen intrusion path (ingress). Therefore, the robot 20 or the action recognition server 40 instructs the beacon 80 approaching the allergen intrusion port where the intrusion or the precursor of the intrusion is sensed to call the radio wave.

Fig. 9 is a configuration diagram of an air cleaning system. The air purification system is configured to include a plurality of sensors 10, a robot 20, a power supply device 30, and a motion recognition server 40. The sensor 10 is installed indoors and outdoors to sense information, and sends the information to outsiders through the communication unit 14. For example, the outdoor sensor 71, the sound sensor 72, the human sensor 73, the pressure sensor 74, the door opening/closing sensor 75 illustrated in FIG. 7, and the sensor illustrated in FIG. 8 The window opening and closing sensors 76 are each an example of the sensor 10.

The robot 20 is a robot that has a sensing unit 22, a mechanism unit 23, and the like, and can move indoors. The robot 20 is, for example, a robot having an air cleaning function, but it is not limited to this, and it may also be a robot for entertainment or a standby robot, which is not limited. For example, the mobile air cleaner 1 of FIG. 1 is an example of a robot 20. That is, the air cleaning function (cleaning unit, not shown) of the robot 20 is embodied as the filter 3 of the mobile air cleaner 1, the centrifugal impeller 6, and the impeller motor 6m.

The power supply device 30 is a person that supplies power to the robot 20. The control unit 41 of the action recognition server 40 has a communication unit 44 that communicates with the plural sensor 10 and the robot 20. Based on the sensing information of the connected sensors 10 or robots 20, the actions and/or states of moving objects such as humans, animals, or other robotic devices are sensed.

The complex sensor 10 includes a control unit 11, a sensing unit 12, a memory unit 13, a communication unit 14, and a power supply unit 15. The power supply unit 15 activates the sensor 10 to supply power to each unit. The communication unit 14 is a wireless or wired communication module, and transmits the sensing information of the sensor 10 and the unique ID (IDentifier) of the sensor 10 to the mobile recognition server 40. The memory unit 13 is, for example, a ROM (Read Only Memory), a flash memory, or a unique ID of the memory sensor 10. The sensor unit 12 functions as a sensor for sensing indoor and outdoor information. The sensing unit 12 is a human sensor that senses people, such as infrared rays or ultrasonic waves, and can sense moving objects such as people or mobile robots. The control unit 11 controls the operation of the sensing unit 12.

The robot 20 includes a power supply unit 25, a mechanism unit 23 (moving means), a sensing unit 22, a control unit 21, a memory unit 24, a communication unit 27, and an operation unit 26. The robot 20 includes a secondary battery (not shown) in the power supply unit 25 and operates by charging the secondary battery with the power supply device 30.

The power supply unit 25 activates the robot 20 and supplies power to each part of the robot 20. The mechanism part 23 is for moving indoors, and is composed of, for example, a motor and wheels. The mechanism part 23 functions as a moving means that can move inside the living room.

The sensor unit 22 functions as a sensor for sensing indoor and outdoor information. The sensor unit 22 is a sensor group for sensing the position of the robot 20 or sensing the movement of a moving body such as a person or an animal. The control unit 21 is, for example, a CPU (Central Processing Unit), analyzes the sensing information of the sensing unit 22, and controls the operation of the robot 20 based on the analyzed information. The memory section 24 is, for example, RAM (Random Access Memory, random access memory) or flash memory, and the information analyzed by the memory control section 21. The communication unit 27 is a communication module such as Wi-Fi (registered trademark), and transmits and receives information between the control unit 21 and the motion recognition server 40. The operation unit 26 is a switch or key for the user to operate the robot 20.

The power supply device 30 is a person that supplies power to the robot 20. In addition, the power supply device 30 includes a sensing unit 31, a communication unit 32, and a power supply unit 33. The sensor 31 is a sensor that senses the position of the robot 20. The communication unit 32 is a communication module such as Wi-Fi (registered trademark), and transmits and receives information between the control unit 21 and the motion recognition server 40. The power supply unit 33 supplies power supplied by the external power supply 50 to the power supply unit 25 of the robot 20. In addition, the external power supply 50 not only supplies power to the device 30, but also supplies power to the motion recognition server 40.

Among them, the sensor unit 22 of the robot 20 is configured to include a sensor group such as infrared, ultrasonic, laser, acceleration, camera, and voice recognition, and a sensor group that senses the operation of the mechanism unit 23. The sensing part 22 includes sensing means for sensing a position sensor for sensing geometric information of the space in which it moves. With this, you can move indoors autonomously. The control unit 21 can use the motion information of the mechanism unit 23 and the sensing information of the sensor group to recognize its position. As a result, the control part 21 of the robot 20 analyzes the geometric information of the living room by the sensing part 22, and stores the analyzed geometrical shape information (living space map) in the memory part 24. Accordingly, the control unit 21 can recognize the position of the robot 20 itself. If the destination information (geometric information) is received by the communication unit 27, the robot 20 can autonomously move toward the destination.

In addition, the control unit 21 of the robot 20 can send the spatial information (GI) of its position to the motion recognition server 40 through the communication unit 27. In addition, the control unit 21 of the robot 20 is also provided with a cognitive means for recognizing the movement of a moving body such as a person or an animal through the image and sound through the sensing unit 22. Therefore, the control unit 21 of the robot 20 can send the sensed information on the state of the mobile body to the motion recognition server 40 through the communication unit 27. The control unit 41 of the action recognition server 40 that has received the status information can send the status information to the outside through the external communication unit 45.

The action recognition server 40 is configured to include a control unit 41, a memory unit 42, a timer 43, a communication unit 44, and an external communication unit 45. The communication section 44 is a communication module such as Wi-Fi (registered trademark), receives information sent by the sensor 10 and the robot 20, and sends information to the robot 20. The communication unit 44 functions as a communication means that can communicate with the plural sensors 10 or the robot 20 provided indoors and outdoors.

The external communication unit 45 is, for example, a network interface card (NIC), and transmits and receives information between an external network other than the network constructed by the sensor 10 and the robot 20. The control unit 41 analyzes the information received by the sensor 10, the robot 20, and the external communication unit 45, and controls the robot 20 based on the analysis result. The control unit 41 functions as a control means for sensing the movement of the mobile body based on the sensor information sensed by the complex sensor 10 and the information sensed by the sensor unit 22 of the robot 20.

The memory section 42 memorizes input information from the external communication section 45 or control information of the control section 41. The memory section 42 is a memory: a memory indicating a correspondence relationship between sensor position information provided with the position of the complex sensor 10 and geometric information of the space moved by the robot 20 and information provided with position of the complex sensor 10 means. The control unit 41 stores the position of each sensor 10 as the position information represented by the space coordinate system sensed by the robot 20 by the position sensor, and is stored in the memory unit 42. The timer 43 recognizes the time of occurrence of the event. The functions of the action recognition server 40 can also be integrated into the robot 20 or the sensor 10.

FIG. 10 is a configuration diagram showing a modification of the air cleaning system of FIG. 9. The robot 20 of FIG. 10 can also move autonomously, but unlike the robot 20 of FIG. 9, geometric information (residential space map) is not stored in the memory section 24. Therefore, when moving to the destination indicated by the destination information (geometric information) received by the communication unit 27, the control unit 21 utilizes the wireless identification 60 located around the robot 20. As described as the beacon 80 in FIG. 8, the wireless tag 60 includes: a signal transmission part 61 for emitting outgoing radio waves to the surroundings; and a power supply part 62 for operating itself. The robot 20 receiving the radio wave for calling from the transmission unit 61 can know the position of the allergen intrusion port where the intrusion or the precursor of the intrusion is sensed.

Fig. 11 is a configuration diagram showing a modification of the air cleaning system of Fig. 9. In FIG. 9, the robot 20 and the action recognition server 40 are formed as separate frames for description. In FIG. 11, the function of the action recognition server 40 is integrated in the robot 20. That is, in the robot 20 of FIG. 11, in addition to each component of the robot 20 of FIG. 9, the timer 43 equipped with the motion recognition server 40 is used as the timer 28 of the robot 20. Similarly, the external communication unit 45 of the action recognition server 40 is equipped as the external communication unit 29 of the robot 20.

FIG. 12 is a flowchart showing a mobile air cleaning process by the robot 20 (FIG. 9 and FIG. 11) storing the map of the living space in the memory unit 24. In S101, the robot 20 starts processing from a state where it is generally walking. In S102, the sensing unit 22 of the robot 20 determines whether the user's family is out. If it is Yes in S102, it proceeds to S111, and if it is No, it proceeds to S131. For example, when the location information of the family member with the smart device 90 is outside, the sensing unit 22 determines that the user's family member is out.

In terms of S111, the sensor unit 22 determines whether the entrance door 92 has been opened since the response of the human sensor 73 or the like. As shown in FIG. 7, the determination process is not only based on the human sensor 73, but also based on at least one sensor among the sound sensor 72, the pressure sensor 74, and the door opening/closing sensor 75. , Sensing the situation where family members and others have approached the entrance door 92. If it is Yes in S111, it proceeds to S112, and if it is No, it proceeds to S121. In S112, the control unit 21 of the robot 20 controls the mechanism unit 23 so as to move to the porch (near the porch door 92) that has responded in S111. By this movement, it is possible to grasp the invasion or precursor of the allergen from the entrance door 92, and to quickly purify the allergens near the entrance. In S113, it is determined whether there is a reaction of dust around the robot 20 by a dust sensor 4a (see FIG. 3) or the like that senses the dust around the mobile air cleaner 1. If it is Yes in S113, it proceeds to S151 to continue the air purification, and if it is No, it is formed that the air purification is completed and moves to the next allergen entry port, so the air purification is stopped, and the process proceeds to S121. In the above, according to S111 to S113, it is explained that the robot 20 quickly starts the air purification process near the entrance door 92 according to the intrusion sign that "persons such as family members have approached the entrance door 92".

S121 to S123 are based on the intrusion precursor of “the location information of the family member with the smart element 90 in the house site (yard)”, and the robot 20 quickly starts the air purification process near the entrance door 92. Here, the determination process of S111 is replaced with the determination process of whether the family is located in the house site in S121. The processing system of S122 and S123 is the same as that of S112 and S113.

S131 to S133 are based on the intrusion of an allergen called "a situation in which the window in the house has been opened by the window opening/closing sensor 76", and the robot 20 quickly starts the air cleaning process near the window. Here, the determination process of S111 is replaced with the determination process of whether it is sensed in S131 that the window in the house has been opened. In S132, the entry port of the allergen is a window, not a porch, so the robot 20 is replaced with the process of moving to the vicinity of the reactive window in S131. The processing system of S133 is the same as that of S113.

S141 to S143 are based on the so-called "sensation that the ventilating fan in the house has been activated" intrusion of the allergen, and the robot 20 quickly starts the process of purifying the air at the suction port near the ventilating fan. Among them, not only the intake port near the ventilating fan but the ventilating vent located at a predetermined position corresponding to the ventilating fan may be used as the object of air purification although it is far from the ventilating fan. Here, the determination process of S111 is replaced with the determination process of whether it is sensed in S141 that the indoor ventilation fan has operated. The motion sensing system of the ventilation fan can be performed by the ventilation fan itself, or by a sensor (noise meter, power meter, etc.) separately installed from the ventilation fan. In S142, since the entry port of the allergen is an intake port near the ventilator, not a porch, the robot 20 is replaced with an intake port near the ventilator that responds in S141. The processing system of S143 is the same as that of S113.

As described above in FIG. 12, the sensing unit 22 of the robot 20 is linked with various external sensors 10 to sense the allergen intrusion or the precursor of intrusion into the room, and moves to the sensing location to start air purification deal with. In the determination process of S111 and S121, the intrusion or the precursor of invasion of the allergen from the entrance door 92 is sensed, and in the determination process of S131 and S141, the air vents such as the intake port near the window or ventilator in the house are sensed Invasion or precursor of invasion. However, regarding the determination processing of S111, S121, S131, and S141, the priority order of the determined sensors is not limited to this order. For example, when there is more pollen on the outside of the window than on the outside of the entrance, the response of the sensor for opening and closing the window may be prioritized, and the order may be changed based on the measurement data of the outdoor sensor 71.

FIG. 13 is a flowchart showing a mobile air cleaning process by the robot 20 (FIG. 10) in which the living space map is not stored in the memory section 24. The process in which the robot 20 of FIG. 12 moves to the vicinity of the entrance door 92 (S112) means that the robot 20 can move by referring to the living space map stored in the memory unit 24. On the other hand, the robot 20 of FIG. 13 does not have a living space map. Therefore, even if it grasps the destination of "moving to the vicinity of the entrance gate 92", it is not known in which direction the current location is actually going.

Therefore, the robot 20 only needs to use the radio wave from the wireless sign 60 (beacon 80 in FIG. 8) near the entrance door 92 as a clue to grasp the next destination of movement. That is, the movement process (S112) of FIG. 12 is replaced in FIG. 13 by determining whether there is a reaction around the robot 20 of the wireless tag 60 linked to the sensor that senses the intrusion of the allergen or the precursor of the invasion. Processing (S112a); processing to move to the position of the wireless tag 60 that has responded (S112b); and when the wireless tag 60 does not respond, an error processing is issued (S112c). Similarly, the movement process of S122 is also replaced with each process of S122a, S122b, and S122c using the wireless identification 60. The movement process of S132 is also replaced with each process of S132a, S132b, and S132c using the wireless identification 60. The movement process of S142 is also replaced with each process of S142a, S142b, and S142c using the wireless identification 60. By this, even if it is the robot 20 which does not have a map of the living space itself, it can use the wireless marker 60 to move to the sensing place where allergens are invaded or invaded and start the air cleaning process.

In the present embodiment described above, the robot 20 (mobile air cleaner 1) cooperates with various sensors 10 to sense the intrusion or precursor of intrusion into the indoor allergen, and moves to the intrusion path as Appropriate location is the main feature. In this way, compared with the fact that the allergen intrudes into the room, it is sensed that the allergen has been scattered into each room in the house and the air cleaning process is started, which can remove the allergen more quickly and efficiently.

However, the present invention includes various modified examples, and is not limited to the foregoing embodiments. For example, the foregoing embodiments are described in detail in order to explain the present invention in an easy-to-understand manner, and are not limited to those who must have all the described components. In addition, a part of the structure of a certain embodiment may be replaced with the structure of another embodiment, and the structure of a certain embodiment may be added to the structure of another embodiment. In addition, with regard to a part of the configuration of each embodiment, other configurations can be added/deleted/replaced. In addition, each of the above-mentioned configurations, functions, processing units, processing means, and the like may be implemented partially or entirely in hardware by, for example, designing with an integrated circuit. In addition, the aforementioned various configurations, functions, and the like can also explain programs for the processor to realize various functions, and are implemented in software by execution.

Programs, tables, files, and other information systems that implement various functions can be placed in memory, or hard disks, SSD (Solid State Drive, solid state drive) and other recording devices, or IC (Integrated Circuit) cards, SD cards , DVD (Digital Versatile Disc, digital audio-visual disc) and other recording media. In addition, the control line or information line is deemed necessary on the description, and it is not necessary to display all the control lines or information lines on the product. In fact, it can also be considered that all the components are connected to each other. In addition, the communication means for connecting each device is not limited to a wireless LAN, and it can be changed to a wired LAN or other communication means.

1: Mobile air cleaner 1H: Ontology 1h1: rear 1r: walking means 1S: Operation Department 1w: Air supply means 2: Exterior cover (frame) 2f: upper cover 2i: body suction port 2o: body outlet 2t: bottom plate 3: filter 3h: filter handle 4: Sensor 4a: Dust sensor 5a: control board 5b: battery 6: Centrifugal impeller 6h: blade 6h1: upper end face 6i: suction port 6m: Impeller motor 7: Turbo 9c: Caster 9k: rear wheels 9m1, 9m2: wheel motor (driving motor) 9p1, 9p2: pulley 9s1, 9s2: side wheels (wheels) 10: Sensor 11: Control Department 12: Sensing Department 13: Memory Department 14: Ministry of Communications 15: Power Department 20: Robot 21: Control Department 22: Sensing Department 23: Organization Department 24: Memory Department 25: Power Department 26: Operation Department 27: Ministry of Communications 28: Timer 29: External Communications Department 30: Power supply device 31: Sensing Department 32: Ministry of Communications 33: Power Supply Department 40: Mobile recognition server 41: Control Department 42: Memory Department 43: Timer 44: Ministry of Communications 45: External Communications Department 50: external power supply 60: wireless identification 61: Communication Department 62: Power Department 71: outdoor sensor 72: sound sensor 73: Human sensor 74: pressure sensitive sensor 75: Door opening and closing sensor 76: Window opening and closing sensor 80: Beacon 90: Smart components 91: Gate 92: Entrance door s1: operation buckle s2: wiring

Fig. 1 shows a mobile air cleaner according to an embodiment of the present invention. FIG. 1(a) is a perspective view showing the appearance, and FIG. 1(b) is a perspective view showing the appearance when the upper cover is opened. Fig. 2 is a top view showing a mobile air cleaner according to an embodiment of the present invention. FIG. 3 is a I-I cross section of FIG. 2 showing a longitudinal cross-sectional view of a mobile air cleaner according to an embodiment of the present invention. Fig. 4 shows a mobile air cleaner according to an embodiment of the present invention. FIG. 4(a) shows a side view of the mobile air cleaner of the embodiment, and FIG. 4(b) shows the II-II cross section of FIG. 4(a) of the cross-sectional view near the filter viewed from above, FIG. 4(c) is a cross-sectional view taken along the line III-III in FIG. 4(a) showing a cross-sectional view near the air blowing means. Fig. 5 is a bottom view showing a mobile air cleaner according to an embodiment of the present invention. Fig. 6 is a rear view showing a mobile air cleaner according to an embodiment of the present invention. Fig. 7 is a side view showing an outdoor with a motion sensing system according to an embodiment of the present invention. 8 is a side view showing a living room provided with a motion sensing system according to an embodiment of the present invention. Fig. 9 is a configuration diagram of an air cleaning system according to an embodiment of the present invention. FIG. 10 is a configuration diagram showing a modification of the air cleaning system of FIG. 9 according to an embodiment of the present invention. FIG. 11 is a configuration diagram showing a modification of the air cleaning system of FIG. 9 according to an embodiment of the present invention. FIG. 12 is a flowchart showing air purification processing performed by a robot storing a map of a living space according to an embodiment of the present invention. FIG. 13 is a flowchart showing air purification processing by a robot that does not memorize a map of a living space according to an embodiment of the present invention.

1: Mobile air cleaner

76: Window opening and closing sensor

80: Beacon

Claims (9)

A mobile air cleaner, characterized by: Have: Frame body with a cleaning section for air cleaning; Sensing part that senses the object of clean air intrusion into the room or intrusion precursor; A mechanism for moving the aforementioned frame; and Based on the sensing result sensed by the sensing part, the control part moves the frame body toward the intrusion path of the target substance through the mechanism part. For example, the mobile air purifier according to item 1 of the patent application, wherein the sensing part is a human sensor installed at the entrance and exit of the home, and senses that the target substance penetrates into the room or enters the precursor through the entrance and exit, The control unit moves the frame body through the mechanism unit toward the entrance and exit which is an intrusion path of the target substance. For example, the mobile air purifier according to item 1 of the patent application, wherein the sensing unit senses the presence and absence of the user through the entrance and exit of the home through the position notification function of the smart element carried by the user The aforementioned target substance invaded into the room or intrusion precursor, The control unit moves the frame body through the mechanism unit toward the entrance and exit which is an intrusion path of the target substance. For example, the mobile air purifier according to item 1 of the patent scope, wherein the sensing unit senses the intrusion of the aforementioned target substance through the window into the room or the precursor of intrusion through the window opening and closing sensor. The control section moves the frame body toward the opened window through the mechanism section. According to the mobile air cleaner of claim 1, the sensing unit senses the intrusion path of the target substance in the room based on the air flow measured by the outdoor sensor, The control unit moves the frame body along the invasion path sensed by the sensing unit through the mechanism unit. For example, the mobile air purifier according to item 1 of the patent scope, wherein the sensing part is a sound sensor as an opening/closing sensing sensor provided at the entrance and exit of a home to sense the aforesaid passage through the entrance and exit of the home Intrusion of the target substance into the room or into the precursor, The control unit moves the frame body through the mechanism unit toward the entrance and exit which is an intrusion path of the target substance. For example, the mobile air purifier according to item 1 of the patent scope, wherein the sensing unit senses the pressure that passes through the entrance and exit of the home by using a pressure-sensing sensor as an opening and closing sensor at the entrance and exit of the home The aforementioned target substance invaded into the room or intrusion precursor, The control unit moves the frame body through the mechanism unit toward the entrance and exit which is an intrusion path of the target substance. The mobile air cleaner as claimed in any one of the first to seventh patent applications, wherein the mechanism portion is: a wheel that moves the frame of the mobile air cleaner; and a drive that drives the wheel Made of motor, The cleaning section is composed of: a filter arranged above the frame; a centrifugal impeller provided on the downstream side of the air flow after passing through the filter; and the centrifugal impeller arranged to drive the centrifugal impeller The coaxial impeller is composed of a motor. An air cleaning method is provided by: a frame having a cleaning section for performing air cleaning; a mechanism section for moving the frame; a sensing section; and an air cleaning method performed by a mobile air cleaning machine of a control section , Its characteristics are: The aforementioned sensing unit senses that the clean air target substance intrudes into the room or the precursor of intrusion, The control section moves the frame body toward the intrusion path of the target substance through the mechanism section based on the sensing result sensed by the sensing section.

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