Self-propelled vacuum cleaner and method for controlling self-propelled vacuum cleaner

Abstract

A self-propelled vacuum cleaner ( 1 ) according to the present disclosure includes a main body ( 10 ), a plurality of suction ports ( 30 ), a plurality of suction pipes ( 40 ), a valve ( 50 ), a sensor ( 80 ), and a controller ( 90 ). The main body ( 10 ) is independently movable in an environment. Each of the plurality of suction ports ( 30 ) is independently disposed on a 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 object information regarding an 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.

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  claim 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  claim 1 , 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  claim 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  claim 1 , 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  claim 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  claim 1 , 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.