TWI714167B - Mobile air cleaning machine, air cleaning method, and air cleaning system - Google Patents

Mobile air cleaning machine, air cleaning method, and air cleaning system Download PDF

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TWI714167B
TWI714167B TW108125165A TW108125165A TWI714167B TW I714167 B TWI714167 B TW I714167B TW 108125165 A TW108125165 A TW 108125165A TW 108125165 A TW108125165 A TW 108125165A TW I714167 B TWI714167 B TW I714167B
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sensing
target substance
sensor
entrance
unit
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TW202011134A (en
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佐野健太郎
大平昭義
小谷正
京谷浩平
網野梓
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日商日立製作所股份有限公司
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F7/00—Ventilation
    • F24F7/003—Ventilation in combination with air cleaning
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • F24F11/70—Control systems characterised by their outputs; Constructional details thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F7/00—Ventilation
    • F24F7/007—Ventilation with forced flow

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Ventilation (AREA)

Abstract

使空氣清淨機移動至可減低過敏原等空氣清淨 的對象物質侵入至室內或其擴散的適當場所。 Move the air purifier to reduce allergens and other air purification The target substance invades into the room or spreads in an appropriate place.

作為移動型空氣清淨機(1)的機器人(20)係 具備有：具有進行空氣清淨的清淨部的框體；感測空氣清淨的對象物質侵入至室內或侵入前兆的感測部(22)；使框體移動的機構部(23)；及根據感測部(22)所感測到的感測結果，透過機構部(23)，朝向對象物質的侵入路徑而使框體移動的控制部(21)。例如，感測部(22)係藉由設置在家的出入口的人感感測器，感測對象物質透過該出入口而侵入至室內或侵入前兆，控制部(21)係透過機構部(23)，朝向成為對象物質的侵入路徑的出入口而使框體移動。 Robot (20) series as a mobile air purifier (1) Equipped with: a frame body with a cleaning part for air cleaning; a sensor part (22) that detects the intrusion of air-cleaning target substances into the room or a precursor of the invasion; a mechanism part (23) that moves the frame; and according to the sensing The sensing result sensed by the part (22) passes through the mechanism part (23), and the control part (21) moves the frame toward the entry path of the target substance. For example, the sensing unit (22) is a human sensor installed at the entrance and exit of the home, and the sensing target substance penetrates the entrance and exits into the room or the precursor of invasion, and the control unit (21) is through the mechanism unit (23), The housing is moved toward the entrance and exit of the entry path of the target substance.

Description

移動型空氣清淨機、空氣清淨方法、及空氣清淨系統 Mobile air cleaning machine, air cleaning method, and air cleaning system

本發明係關於移動型空氣清淨機、及空氣清淨方法。 The present invention relates to a mobile air purifier and an air purifying method.

習知的空氣清淨機係設置場所固定，因此若欲將室內全體的空氣清淨化，風扇旋轉數會增加，且噪音增大。此外，在大房間必須要有大風量，因此大型化，且至完成為止的時間長。 The conventional air purifier is installed in a fixed place, so if it is desired to purify the entire indoor air, 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 larger and it takes a long time to complete.

對於該課題，如專利文獻1所示，有一種空氣清淨機，其係具備有：具有上面、側面、及下面，在上面中央部設有吸氣口，且在側面或上面的外緣部及側面設有排氣口的框體；自走裝置；馬達；風扇；及配設在比馬達更靠近框體側面側，且藉由馬達的旋轉而旋轉的過濾器構件。 With regard to this problem, as shown in Patent Document 1, there is an air purifier that has an upper surface, a side surface, and a lower surface, an air inlet is provided in the center of the upper surface, and the outer edge portion of the side or upper surface and A frame with an exhaust port on the side; a self-propelled device; a motor; a fan; and a filter member that is arranged on the side of the frame than the motor and is rotated by the rotation of the motor.

該空氣清淨機係藉由被裝載在室內或本體的感測器，感測塵埃、過敏原、病毒濃度，而與行走模式連動。藉由該方式，可提供一種可達成小型化，而且可迅速進行生活空間中的空氣清淨的自走式空氣清淨機。 The air purifier detects the concentration of dust, allergens, and viruses through a sensor installed in the room or on the body, and is linked with the walking mode. With this method, it is possible to provide a self-propelled air purifier capable of achieving miniaturization and quickly purifying air in a living space.

[先前技術文獻] [Prior Technical Literature] [專利文獻] [Patent Literature]

[專利文獻1] 國際公開第2018/074052號 [Patent Document 1] International Publication No. 2018/074052

在專利文獻1的空氣清淨機中，係感測塵埃、過敏原、病毒濃度，來決定行走模式。但是，該等係在感測到的時點已侵入至室內，有對人類生活造成影響的可能性。 In the air purifier of Patent Document 1, the concentration of dust, allergen, and virus is sensed to determine the walking mode. However, these systems have penetrated into the room at the time of sensing, and may have an impact on human life.

例如，伴隨來自換氣扇的換氣，從由其附近進行吸氣的吸氣口所侵入的過敏原通過廚房而飛散至作為隔壁房間的起居室。被置放在起居室的空氣清淨機係以被裝載在本體的感測器感測飛散至起居室的過敏原，藉此開始起居室的空氣清淨。 For example, along with ventilation from a ventilating fan, allergens invaded from the inhalation port through which the air is inhaled are scattered through the kitchen to the living room which is the next room. The air purifier placed in the living room uses a sensor mounted on the body to detect allergens scattered to the living room, thereby starting to clean the air in the living room.

但是，在作為侵入口的廚房中，過敏原已飛散。因此，位於廚房的家人長時間受到飛散的過敏原的影響。 However, the allergens have been scattered in the kitchen as the entry port. Therefore, family members in the kitchen have been affected by scattered allergens for a long time.

因此，本發明之主要課題在使空氣清淨機移動至可減低過敏原等空氣清淨的對象物質侵入至室內或其擴散的適當場所。 Therefore, the main subject of the present invention is to move the air purifier to an appropriate place that can reduce the intrusion of air purifying target substances such as allergens into the room or its diffusion.

本發明之特徵為：具備有：具有進行空氣清淨的清淨部的框體； 感測空氣清淨的對象物質侵入至室內或侵入前兆的感測部； 使前述框體移動的機構部；及 根據前述感測部所感測到的感測結果，透過前述機構部，朝向前述對象物質的侵入路徑而使前述框體移動的控制部。 其他手段如後述。The feature of the present invention is that it is provided with: a frame with a cleaning part for air cleaning; The sensing part that detects the intrusion of the target substance with clean air into the room or the precursor of intrusion; The mechanism that moves the aforementioned frame; and Based on the sensing result sensed by the sensing unit, the control unit moves the housing through the mechanism unit toward the entry path of the target substance. Other methods are described later.

藉由本發明，可使空氣清淨機移動至可減低過敏原等空氣清淨的對象物質侵入至室內或其擴散的適當場所。According to the present invention, the air purifier can be moved to an appropriate place where it is possible to reduce the intrusion of air purifying target substances such as allergens into the room or its diffusion.

以下參照圖式，詳加說明本發明之一實施形態。Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

在圖1中顯示本發明之實施形態的移動型空氣清淨機1。圖1(a)係顯示外觀斜視圖，圖1(b)係顯示上蓋開時的外觀斜視圖。Fig. 1 shows a mobile air cleaner 1 according to an embodiment of the present invention. Figure 1(a) is a perspective view showing the appearance, and Figure 1(b) is a perspective view showing the appearance when the upper cover is opened.

在圖2中顯示實施形態的移動型空氣清淨機1的上面圖。Fig. 2 shows a top view of the mobile air cleaner 1 of the embodiment.

在圖3中顯示實施形態的移動型空氣清淨機1的縱剖面圖的圖2的I-I剖面。Fig. 3 shows the I-I section of Fig. 2 of the longitudinal sectional view of the mobile air cleaner 1 of the embodiment.

如圖1(a)、(b)所示，實施形態的移動型空氣清淨機1係具有扁平大致圓柱形狀的本體1H。 移動型空氣清淨機1的本體1H係如圖3所示，藉由送風手段1w、行走手段1r、過濾器3、感測器4、控制基板5a、及蓄電池5b、及將該等內包的外裝蓋件2所構成。亦即，本體1H係以扁平大致圓柱形狀的框體亦即外裝蓋件2所覆蓋。在外裝蓋件2的上面係附有上蓋2f。As shown in Figs. 1(a) and (b), the mobile air cleaner 1 of the embodiment has a main body 1H having a flat and substantially cylindrical shape. The main body 1H of the mobile air cleaner 1 is shown in Fig. 3, and the air supply means 1w, the traveling means 1r, the filter 3, the sensor 4, the control board 5a, and the storage battery 5b, and the enclosed The exterior cover 2 is formed. That is, the main body 1H is covered by the outer cover 2 which is a flat and substantially cylindrical frame. An upper cover 2f is attached to the upper surface of the exterior cover 2.

在替換過濾器3時，如圖1(b)所示，可打開上蓋2f，把持過濾器把手部3h而拿起。由於將過濾器3設在本體1H的上方，因此可拿起上蓋2f而簡單替換過濾器3。When replacing the filter 3, as shown in Fig. 1(b), the upper cover 2f can be opened, and the filter handle 3h can be held and picked up. Since the filter 3 is provided above the main body 1H, the filter 3 can be easily replaced by picking up the upper cover 2f.

如圖1(a)、圖2所示，在外裝蓋件2的上方側面係設有以上面視為大致U字形狀的本體吸入口2i。As shown in Figs. 1(a) and 2, the upper side surface of the exterior cover 2 is provided with a main body suction port 2i whose upper surface is regarded as a substantially U-shape.

在圖4(a)中顯示實施形態的移動型空氣清淨機1的側面圖，在圖4(b)中顯示由上觀看過濾器3附近的橫剖面圖的圖4(a)的II-II剖面，在圖4(c)中顯示送風手段附近的橫剖面圖的圖4(a)的III-III剖面。Fig. 4(a) shows a side view of the mobile air cleaner 1 of the embodiment, and Fig. 4(b) shows a cross-sectional view of the vicinity of the filter 3 viewed from above, II-II of Fig. 4(a) The cross-section is the III-III cross-section of FIG. 4(a) showing a cross-sectional view near the air blowing means in FIG. 4(c).

如圖2、圖4(c)所示，在不具本體吸入口2i的位置的下方中央係設有本體排出口2o。換言之，在本體排出口2o的上方並未設有本體吸入口2i。As shown in Figs. 2 and 4(c), the main body discharge port 2o is provided in the center of the lower part of the position where the main body suction port 2i is not provided. In other words, the main body suction port 2i is not provided above the main body discharge port 2o.

圖3所示之送風手段1w係具有：離心葉輪6、葉輪用馬達6m、及渦輪7。 葉輪用馬達6m係配置成與離心葉輪6為同軸，且驅動離心葉輪6。The air blowing means 1w shown in FIG. 3 includes a centrifugal impeller 6, an impeller motor 6m, and a turbine 7. The impeller motor 6m is arranged coaxially with the centrifugal impeller 6 and drives the centrifugal impeller 6.

離心葉輪6係配置成大致朝上。離心葉輪6係藉由進行旋轉，透過吸入口6i而由上方朝下方吸入空氣而排出至側方(圖3的箭號α2)。其中，吸入口6i係指離心葉輪6的葉片6h的上端面6h1。The centrifugal impeller 6 system is arranged to face upward. The centrifugal impeller 6 rotates and sucks air from the upper side to the lower side through the suction port 6i, and discharges it to the side (arrow α2 in FIG. 3). Among them, the suction port 6i refers to the upper end surface 6h1 of the blade 6h of the centrifugal impeller 6.

如圖4(c)所示，渦輪7係在上面視下以螺旋狀設在離心葉輪6的外周。As shown in FIG. 4(c), the turbine 7 is spirally provided on the outer periphery of the centrifugal impeller 6 when viewed from above.

圖3所示之行走手段1r係具有：側方車輪9s1、9s2；車輪用馬達9m1、9m2；及後方車輪9k。車輪用馬達9m1、9m2係驅動側方車輪9s1、9s2。The traveling means 1r shown in Fig. 3 has: side wheels 9s1 and 9s2; wheel motors 9m1 and 9m2; and rear wheels 9k. The wheel motors 9m1 and 9m2 drive the side wheels 9s1 and 9s2.

在圖5中顯示移動型空氣清淨機1的下面圖。在圖6中顯示移動型空氣清淨機1的後面圖。 在移動型空氣清淨機1係朝下方突出設有一對側方車輪9s1、9s2與後方車輪9k。側方車輪9s1、9s2係驅動輪，後方車輪9k係從動輪。The bottom view of the mobile air cleaner 1 is shown in FIG. FIG. 6 shows a rear view of the mobile air cleaner 1. A pair of side wheels 9s1 and 9s2 and a rear wheel 9k protrude downward in the mobile air cleaner 1 system. The side wheels 9s1 and 9s2 are driving wheels, and the rear wheels 9k are driven wheels.

使用皮帶，作為由車輪用馬達9m1、9m2朝向側方車輪9s1、9s2各個的動力傳達手段。來自車輪用馬達9m1、9m2的動力係分別透過滑輪9p1、9p2而被傳達至側方車輪9s1、9s2。A belt is used as a means for transmitting power from the wheel motors 9m1, 9m2 to the side wheels 9s1, 9s2. The power trains from the wheel motors 9m1 and 9m2 are respectively transmitted to the side wheels 9s1 and 9s2 through the pulleys 9p1 and 9p2.

後方車輪9k係透過腳輪9c而被固定在底板2t。腳輪9c係可旋轉地被保持在底板2t。The rear wheel 9k is fixed to the bottom plate 2t through casters 9c. The casters 9c are rotatably held on the bottom plate 2t.

圖3、圖4(b)所示之過濾器3係構成為具有：用以去除粒徑大的塵埃的前置過濾器、用以去除粒徑小的塵埃的HEPA過濾器、及用以去除臭味成分的除臭過濾器。 過濾器3係在本體吸入口2i的內側，設成以上面視為大致圓周狀。如圖3所示，過濾器3係在高度方向設在本體1H的上部側方。The filter 3 shown in Fig. 3 and Fig. 4(b) is configured to have: a pre-filter for removing dust with a large particle size, a HEPA filter for removing dust with a small particle size, and Deodorizing filter for odor components. The filter 3 is located inside the main body suction port 2i, and is provided in a substantially circular shape viewed from the upper surface. As shown in Fig. 3, the filter 3 is provided on the upper side of the main body 1H in the height direction.

其中，過濾器3若設在本體1H的上部側方，係可連續設置，亦可間歇式設置。Among them, if the filter 3 is installed on the upper side of the main body 1H, it can be installed continuously or intermittently.

＜控制系＞ 以感測器4而言，配設有感測塵埃的塵埃感測器4a(參照圖3)。其中，以感測器而言，其他亦可使用感測氣味的氣味感測器(未圖示)、感測障礙物的紅外線感測器(未圖示)、測定與障礙物的距離的TOF感測器(未圖示)等。＜Control System＞ The sensor 4 is provided with a dust sensor 4a (refer to FIG. 3) that senses dust. Among them, in terms of sensors, other odor sensors (not shown) that sense odors, infrared sensors (not shown) that sense obstacles, and TOF that measure the distance to obstacles can also be used. Sensors (not shown), etc.

圖3所示之控制基板5a係由蓄電池5b被供給電源。 控制基板5a係根據各種感測器資訊，控制葉輪用馬達6m、車輪用馬達9m1、9m2。如此一來，移動型空氣清淨機1係一邊自律行走一邊使房間的空氣通過過濾器3而形成為清淨。 ＜操作部1S＞ 如圖1(a)所示，移動型空氣清淨機1的操作部1S係配設在上蓋2f的外側的位置亦即本體1H的上面。亦即，操作部1S係被設在本體1H中不具以上面視呈大致U字形狀的本體吸入口2i的後方部1h1。The control board 5a shown in FIG. 3 is supplied with power from a battery 5b. The control board 5a controls the impeller motor 6m and the wheel motor 9m1 and 9m2 based on various sensor information. In this way, the mobile air purifier 1 cleans the air in the room through the filter 3 while walking autonomously. ＜Operation part 1S＞ As shown in Fig. 1(a), the operating unit 1S of the mobile air cleaner 1 is arranged on the upper surface of the main body 1H at a position outside the upper cover 2f. That is, the operation part 1S is provided in the rear part 1h1 of the main body 1H which does not have the main body suction port 2i which has a substantially U-shape in a top view.

操作部1S係具有操作釦s1。連接於操作部1S的操作釦s1的配線s2係如圖2所示，通過本體1H中避開以上面視呈大致U字形狀的本體吸入口2i的後方部1h1而與控制基板5a(參照圖3)相連接。The operation part 1S has an operation button s1. The wiring s2 of the operation buckle s1 connected to the operation part 1S is shown in FIG. 2, and is connected to the control board 5a by avoiding the rear part 1h1 of the main body suction port 2i that is substantially U-shaped in the top view. 3) Connected.

＜移動型空氣清淨機1的空氣流＞ 接著，說明移動型空氣清淨機1的空氣流。＜Air flow of mobile air cleaner 1＞ Next, the air flow of the mobile air cleaner 1 will be described.

因圖3所示之葉輪用馬達6m驅動，離心葉輪6進行旋轉(圖3的箭號α3)。藉由離心葉輪6的旋轉，如圖3的箭號α1所示，室內空氣由本體吸入口2i被吸入至本體1H的內部。Because the impeller shown in Fig. 3 is driven by a motor 6m, the centrifugal impeller 6 rotates (arrow α3 in Fig. 3). Due to the rotation of the centrifugal impeller 6, the indoor air is sucked into the main body 1H through the main body suction port 2i as shown by arrow α1 in FIG.

由本體吸入口2i流入的空氣係通過過濾器3而去除塵埃、氣味等而形成為清淨。已形成為清淨的空氣係在通過過濾器3後，由側方以大致直角被偏向至下方，而達至離心葉輪6的吸入口6i(6h1)。 如圖3所示，離心葉輪6的內部的空氣係由下方而以大致直角被偏向至側方(圖3的箭號α4)，而達至設在離心葉輪6的外周的渦輪7。 已達至渦輪7的空氣係如圖4(c)的箭號α5所示，通過螺旋形狀的渦輪7而在渦輪7的內部減速而被升壓之後，由本體排出口2o被放出至外部(室內)(圖3的箭號α2)。The air flowing in from the main body suction port 2i passes through the filter 3 to remove dust, odor, etc., and become clean. After passing through the filter 3, the clean air is deflected 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 in the centrifugal impeller 6 is deflected to the side at a substantially right angle from below (arrow α4 in FIG. 3 ), and reaches the turbine 7 provided on the outer periphery of the centrifugal impeller 6. The air that has reached the turbine 7 is shown by arrow α5 in Fig. 4(c). After being decelerated inside the turbine 7 and boosted by the spiral turbine 7, the air is discharged to the outside through the main body discharge port 2o ( Indoor) (arrow α2 in Figure 3).

圖7係顯示設置有行動感測系統的屋外的側面圖。 作為移動型空氣清淨機1(圖1)而被具現化的機器人20的感測部22(圖9)係感測塵埃、過敏原、病毒等空氣清淨的對象物質侵入至室內或侵入前兆。接受該感測結果，機器人20的控制部21(圖9)係以移動至侵入路徑的方式控制機構部23(圖9)。因此，如圖7所示，在屋外設置有用以使感測部22感測過敏原侵入或侵入前兆的各種感測器10。 在此，感測部22係根據「門或窗已打開」等事象，感測對象物質侵入至室內。另一方面，感測部22係根據成為「門或窗快要打開」的其他事象，感測對象物質對室內侵入前兆。亦即，對所感測到的侵入前兆，機器人20會搶先行動而移動。Fig. 7 shows a side view of the exterior of a house with a motion sensing system. The sensor unit 22 (FIG. 9) of the robot 20 realized as the mobile air purifier 1 (FIG. 1) detects the intrusion of air-purifying target substances such as dust, allergens, and viruses into the room or precursors of intrusion. Receiving this sensing result, the control unit 21 (FIG. 9) of the robot 20 controls the mechanism unit 23 (FIG. 9) to move to the intrusion path. Therefore, as shown in FIG. 7, various sensors 10 are provided outside the house to allow the sensor unit 22 to sense the invasion or precursor of the allergen. Here, the sensing unit 22 detects the intrusion of the target substance into the room based on the fact that the door or window is opened. On the other hand, the sensing unit 22 detects the precursor of the intrusion of the target substance into the room based on other events that "doors or windows are about to open". That is, the robot 20 will preemptively act and move for the detected intrusion precursor.

閘門91係用地的出入口。在閘門91內部的用地係設置有屋外感測器71。 屋外感測器71係辨識從閘門91進入的人。 人所攜帶的智慧型元件90係可利用GPS(Global Positioning System，全球定位系統)等的位置通知功能來取得自身的位置資訊。根據所取得的位置資訊，感測智慧型元件90的利用者對閘門91或玄關門92的出入。 此外，屋外感測器71係不僅感測人的功能，亦可構成為計測屋外與屋內的空氣流的風速計。藉由屋外感測器71被計測到的空氣流係作為用以預測根據過敏原的飛散量或飛散路徑之對屋內的侵入路徑的資料，而被提供給感測部22。Gate 91 is the entrance to the site. An outdoor sensor 71 is installed on the site inside the gate 91. The outdoor sensor 71 recognizes a person entering through the gate 91. The smart component 90 carried by a person can use GPS (Global Positioning System, Global Positioning System) and other location notification functions to obtain its own location information. According to the obtained position information, the user of the smart device 90 is sensed for entering and exiting the gate 91 or the entrance gate 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 house based on the scattering amount or the scattering path of the allergen.

感測部22係根據屋外的空氣流、與侵入至屋內的過敏原侵入口的位置，預測過敏原對屋內的飛散路徑。例如，在東西南北各方存在窗或門等侵入口的住屋中，根據以下資訊，感測部22係預測對屋內的飛散路徑。 ・東窗與西門分別打開。 ・南窗與北窗分別關閉。 ・藉由屋外感測器71，計測在屋外正在吹西向的風。 此時，按照風向，已由東窗侵入的過敏原被預測會由西門排出。因此，移動型空氣清淨機1係先移動至上游側的東窗而將侵入的過敏原進行清淨，之後，移動至下游側的西門而將過敏原清淨。The sensing unit 22 predicts the dispersion path of the allergen in the house based on the air flow outside the house and the position of the allergen intrusion port that has entered the house. For example, in a house where there are intrusive openings such as windows or doors in the east, west, south, and north sides, the sensing unit 22 predicts the flight path into the house based on the following information. ・The east window and west door are opened separately. ・The south window and north window are closed separately. ・The outdoor sensor 71 measures the wind blowing from the west outside the house. At this time, according to the wind direction, allergens that have invaded through the east window are predicted to be discharged from the west door. Therefore, the mobile air purifier 1 first moves to the east window on the upstream side to clean the invading allergens, and then moves to the west door on the downstream side to clean the allergens.

玄關門92係用地內的家的出入口。在該玄關門92的附近係設置有：聲音感測器72、人感感測器73、感壓感測器74、及門開閉感測器75。 聲音感測器72係藉由將開閉玄關門92的聲音等進行集音，來感測人的出入的開閉感測感測器。 人感感測器73係例如一般的焦電型者，利用由開閉玄關門92的人(接近的人)所被放出的紅外線，感測人的出入。 感壓感測器74係藉由感測開閉玄關門92的人所乘載的玄關地墊等的感壓，來感測人的出入的開閉感測感測器。 門開閉感測器75係藉由感測玄關門92本身的開閉，來感測人的出入。Entrance gate 92 is the entrance to the home in the site. A sound sensor 72, a human sensor 73, a pressure sensor 74, and a door opening/closing sensor 75 are installed in the vicinity of the entrance door 92. The sound sensor 72 is an opening and closing sensor that senses the entry and exit of a person by collecting the sound of the opening and closing entrance 92 or the like. The human sensor 73 is, for example, a general pyroelectric type, and uses infrared rays emitted by a person (an approaching person) who opens and closes the entrance door 92 to sense the entry and exit of the person. The pressure-sensitive sensor 74 is an opening/closing sensor that senses the pressure of a porch floor mat or the like carried by a person opening and closing the porch door 92 to detect the entry and exit of a person. The door opening and closing sensor 75 senses the entrance and exit of people by sensing the opening and closing of the entrance door 92 itself.

藉由以上設置在玄關門92的附近的至少1個各種感測器，感測玄關門92的開閉(亦即人的出入)。如上所示感測到開閉的玄關門92係可成為侵入至屋內的過敏原侵入口，因此感測出其開閉的結果係作為用以預測侵入至屋內的侵入路徑(侵入口)的資料，而被提供給感測部22。The opening and closing of the entrance 92 (that is, the entry and exit of people) is sensed by the above at least one of various sensors provided near the entrance 92. As shown above, the entrance door 92 that senses the opening and closing can be an allergen intrusion port into the house. Therefore, the result of sensing its opening and closing is used as data for predicting the intrusion path (intrusion port) into the house. , And is provided to the sensing part 22.

圖8係顯示設置有行動感測系統的居室的側面圖。居室係家庭等的室內，但是亦可為其他公司的總務室或倉庫等，未受限定。 窗開閉感測器76係感測附近的窗的開閉的感測器。窗開閉感測器76係將感測到開閉的結果，作為過敏原侵入屋內的侵入路徑而通知感測部22。Figure 8 shows a side view of a living room equipped with a motion sensing system. The living room is the interior of the home, but it can also be the general office 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 detects the result of opening and closing, and notifies the sensor 22 as an intrusion path of the allergen into the house.

設置在居室內的複數信標80之中，接近被感測到侵入或侵入前兆的過敏原侵入口的信標80係對周圍發出叫出用電波，使移動型空氣清淨機1接收該叫出用電波，藉此在過敏原侵入路徑(侵入口)叫出移動型空氣清淨機1。因此，機器人20或行動辨識伺服器40係對接近被感測到侵入或侵入前兆的過敏原侵入口的信標80，指示叫出用電波的發訊。Among the plural beacons 80 installed in the living room, the beacon 80 that is close to the allergen intrusion port where the invasion or invasion precursor is sensed is to send out a radio wave to the surroundings, so that the mobile air purifier 1 receives the call. Using radio waves, the mobile air purifier 1 is called on the allergen intrusion path (intrusion port). Therefore, the robot 20 or the action recognition server 40 instructs the beacon 80 approaching the allergen intrusion port for which the invasion or invasion precursor is sensed to call out the radio wave.

圖9係空氣清淨系統的構成圖。 空氣清淨系統係構成為包含有：複數感測器10、機器人20、供電裝置30、及行動辨識伺服器40。 感測器10係設在室內及室外來感測資訊，藉由通訊部14而將資訊送訊至外部者。例如，在圖7中所說明的屋外感測器71、聲音感測器72、人感感測器73、感壓感測器74、門開閉感測器75、及在圖8中所說明的窗開閉感測器76分別為感測器10之一例。Figure 9 is a configuration diagram of the air cleaning system. The air cleaning system is configured to include a plurality of sensors 10, a robot 20, a power supply device 30, and a movement recognition server 40. The sensor 10 is installed indoors and outdoors to sense information, and the communication unit 14 transmits the information to outsiders. For example, the outdoor sensor 71, the sound sensor 72, the human sensor 73, the pressure sensor 74, the door opening and closing sensor 75 described in FIG. 7 and the one described in FIG. 8 The window opening and closing sensors 76 are examples of the sensors 10 respectively.

機器人20係具有感測部22及機構部23等，可在室內移動的機器人。機器人20係例如具有空氣清淨功能的機器人，但是不限於此，亦可為玩賞用的機器人或警備用的機器人，未受限定。例如，圖1的移動型空氣清淨機1係機器人20之一例。亦即，機器人20的空氣清淨功能(清淨部、未圖示)係被具體化為移動型空氣清淨機1的過濾器3、離心葉輪6、及葉輪用馬達6m。The robot 20 is a robot that has a sensor unit 22, a mechanism unit 23, etc., 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 be a robot for play or a standby robot, and is not limited. For example, the mobile air cleaner 1 of Fig. 1 is an example of the robot 20. That is, the air cleaning function (cleaning part, not shown) of the robot 20 is embodied as the filter 3, the centrifugal impeller 6, and the impeller motor 6m of the mobile air cleaner 1.

供電裝置30係對該機器人20供給電力者。行動辨識伺服器40的控制部41係具有與複數感測器10、及機器人20進行通訊的通訊部44。根據該等相連接的感測器10或機器人20的感測資訊，感測人或動物或其他機器人裝置等移動體的行動及/或狀態。The power supply device 30 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 plurality of sensors 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.

複數感測器10係具備：控制部11、感測部12、記憶部13、通訊部14、及電源部15。 電源部15係起動該感測器10而對各部供給電力。通訊部14係無線或有線的通訊模組，將感測器10的感測資訊及感測器10的固有ID(IDentifier)傳送至行動辨識伺服器40。記憶部13係例如ROM(Read Only Memory，唯讀記憶體)或快閃記憶體，記憶感測器10的固有ID等。感測部12係作為感測室內及室外的資訊的感測器來發揮功能。感測部12係以例如紅外線或超音波等來感測人等的人感感測器，可感測人或移動機器人等移動體。控制部11係控制感測部12的動作。The plurality of sensors 10 includes a control unit 11, a sensing unit 12, a storage unit 13, a communication unit 14, and a power supply unit 15. The power supply unit 15 activates the sensor 10 to supply electric 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 identification server 40. The memory unit 13 is, for example, ROM (Read Only Memory) or flash memory, the unique ID of the memory sensor 10, and the like. The sensing unit 12 functions as a sensor for sensing indoor and outdoor information. The sensing unit 12 is a human sensor that senses humans by, for example, infrared rays or ultrasonic waves, and can sense moving objects such as humans or mobile robots. The control unit 11 controls the operation of the sensing unit 12.

機器人20係具備：電源部25、機構部23(移動手段)、感測部22、控制部21、記憶部24、通訊部27、及操作部26。機器人20係在電源部25具備二次電池(未圖示)，藉由將該二次電池以供電裝置30充電來進行動作。The robot 20 includes a power supply unit 25, a mechanism unit 23 (moving means), a sensing unit 22, a control unit 21, a storage unit 24, a communication unit 27, and an operation unit 26. The robot 20 is equipped with a secondary battery (not shown) in the power supply unit 25, and operates by charging the secondary battery with the power supply device 30.

電源部25係使機器人20起動，並且對該機器人20的各部供給電力。機構部23係用以在室內移動者，例如以馬達與車輪所構成。機構部23係作為可在居室內部移動的移動手段來發揮功能。The power supply unit 25 starts the robot 20 and supplies electric power to each part of the robot 20. The mechanism part 23 is used to move people 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.

感測部22係作為感測室內及室外的資訊的感測器來發揮功能。感測部22係用以感測機器人20的位置、或感測人或動物等移動體的行動的感測器群。控制部21係例如CPU(Central Processing Unit，中央處理單元)，分析感測部22的感測資訊，且根據該所分析的資訊，控制機器人20的動作。記憶部24係例如RAM(Random Access Memory，隨機存取記憶體)或快閃記憶體，記憶控制部21所分析的資訊。通訊部27係例如Wi-Fi(註冊商標)的通訊模組，在控制部21與行動辨識伺服器40之間傳送接收資訊。操作部26係供利用者操作機器人20之用的開關或按鍵等。The sensing unit 22 functions as a sensor for sensing indoor and outdoor information. The sensor unit 22 is a group of sensors for sensing the position of the robot 20 or the movement of a moving body such as a human 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 actions of the robot 20 based on the analyzed information. The memory unit 24 is, for example, RAM (Random Access Memory) or flash memory, and the information analyzed by the memory control unit 21 is stored. 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 mobile identification server 40. The operation unit 26 is a switch or button for the user to operate the robot 20.

供電裝置30係對機器人20供給電力者。此外，供電裝置30係具備：感測部31、通訊部32、及供電部33。感測部31係感測機器人20的位置的感測器。通訊部32係例如Wi-Fi(註冊商標)的通訊模組，在控制部21與行動辨識伺服器40之間傳送接收資訊。供電部33係將由外部電源50被供給的電力供電至機器人20的電源部25。此外，外部電源50係不僅供電裝置30，亦對行動辨識伺服器40供給電力。The power supply device 30 is a device 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 mobile identification server 40. The power supply unit 33 supplies power supplied from 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 mobile recognition server 40.

其中，機器人20的感測部22係構成為包含：紅外線、超音波、雷射、加速度、攝影機、聲音辨識等感測器群、及感測機構部23的動作的感測器群。感測部22係包含用以感測自身移動的空間的幾何資訊的位置感測器的感測手段。藉此，可自律地在室內移動。控制部21係可使用機構部23的動作資訊及感測器群的感測資訊，來辨識自己位置。結果，機器人20的控制部21係藉由感測部22來分析居室的幾何資訊，且使所分析的幾何形狀的資訊(居住空間地圖)記憶在記憶部24。藉此，控制部21係可辨識機器人20自身的位置。若藉由通訊部27來接收目的地資訊(幾何資訊)，機器人20係可自律地朝目的地移動。Among them, the sensor unit 22 of the robot 20 is configured as a sensor group including a group of sensors such as infrared, ultrasonic, laser, acceleration, camera, and voice recognition, and the operation of the sensing mechanism unit 23. The sensing unit 22 is a sensing means including a position sensor for sensing geometric information of the space where it moves. With this, you can move indoors autonomously. The control unit 21 can use the movement information of the mechanism unit 23 and the sensing information of the sensor group to recognize its position. As a result, the control unit 21 of the robot 20 analyzes the geometric information of the living room through the sensing unit 22, and memorizes the analyzed geometric information (living space map) in the memory unit 24. Thereby, 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 move toward the destination autonomously.

此外，機器人20的控制部21係可透過通訊部27而將自己位置的空間資訊(GI)發訊給行動辨識伺服器40。此外，機器人20的控制部21亦具備藉由感測部22，以畫像及聲音來辨識人或動物等移動體的行動的認知手段。因此，機器人20的控制部21係可將所感測到的移動體的狀態的資訊，透過通訊部27而發送至行動辨識伺服器40。接收到狀態的資訊的行動辨識伺服器40的控制部41係可透過外部通訊部45而將該狀態的資訊發送至外部。In addition, the control unit 21 of the robot 20 can send the spatial information (GI) of its position to the mobile recognition server 40 through the communication unit 27. In addition, the control unit 21 of the robot 20 also has a recognition means for recognizing the behavior of a moving body such as a human or an animal through an image and a sound by the sensing unit 22. Therefore, the control unit 21 of the robot 20 can send the information of the detected state of the moving body to the behavior recognition server 40 through the communication unit 27. The control unit 41 of the mobile recognition server 40 that has received the status information can send the status information to the outside through the external communication unit 45.

行動辨識伺服器40係構成為包含：控制部41、記憶部42、計時器43、通訊部44、及外部通訊部45。通訊部44係例如Wi-Fi(註冊商標)的通訊模組，接收由感測器10及機器人20所發出的資訊，且對機器人20發出資訊。通訊部44係作為可與設在室內及室外的複數感測器10或機器人20進行通訊的通訊手段來發揮功能。The action recognition server 40 is configured to include a control unit 41, a storage unit 42, a timer 43, a communication unit 44, and an external communication unit 45. The communication unit 44 is a communication module such as Wi-Fi (registered trademark), which receives the 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 a plurality of sensors 10 or robots 20 installed indoors and outdoors.

外部通訊部45係例如網路介面卡(NIC)，在與以感測器10及機器人20所建構的網路以外的外部網路之間傳送接收資訊。控制部41係分析由感測器10、機器人20、及外部通訊部45所接收到的資訊，且根據該分析結果，進行機器人20的控制。控制部41係作為根據複數感測器10所感測到的感測器資訊、及機器人20的感測部22所感測到的資訊，來感測移動體的行動的控制手段來發揮功能。The external communication unit 45 is, for example, a network interface card (NIC), which transmits and receives information to and from 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 moving body based on the sensor information sensed by the plurality of sensors 10 and the information sensed by the sensor unit 22 of the robot 20.

記憶部42係記憶來自外部通訊部45的輸入資訊或控制部41的控制資訊。記憶部42係記憶：表示設置有複數感測器10的位置的感測器位置資訊、及機器人20所移動的空間的幾何資訊與設有複數感測器10的位置的資訊的對應關係的記憶手段。控制部41係將設有各感測器10的位置，作為機器人20藉由位置感測器所感測到之以空間的座標系所表現的位置資訊而記憶在記憶部42。計時器43係辨識事件的發生時刻。 其中，行動辨識伺服器40的各功能亦可組入在機器人20或感測器10。The storage unit 42 stores input information from the external communication unit 45 or control information from the control unit 41. The memory unit 42 is a memory: a memory showing the correspondence relationship between the sensor position information of the position where the plurality of sensors 10 are installed, and the geometric information of the space where the robot 20 moves and the information of the position where the plurality of sensors 10 are installed means. The control unit 41 stores the position where each sensor 10 is provided in the memory unit 42 as position information expressed in a spatial coordinate system sensed by the robot 20 by the position sensor. The timer 43 identifies the time of occurrence of the event. Among them, the functions of the motion recognition server 40 can also be incorporated in the robot 20 or the sensor 10.

圖10係顯示圖9的空氣清淨系統的變形例的構成圖。 圖10的機器人20亦可自律移動，惟與圖9的機器人20不同，在記憶部24未記憶有幾何形狀的資訊(居住空間地圖)。因此，控制部21係當移動至藉由通訊部27所接收到的目的地資訊(幾何資訊)所示之目的地時，活用位於機器人20的周圍的無線標識60。 無線標識60係如在圖8中作為信標80所作說明般，具有：用以對周圍發出叫出用電波的發訊部61；及供自身進行動作之用的電源部62。接收到來自發訊部61的叫出用電波的機器人20係可得知感測到侵入或侵入前兆的過敏原侵入口的位置。Fig. 10 is a configuration diagram showing a modification of the air cleaning system of Fig. 9. The robot 20 in FIG. 10 can also move autonomously, but unlike the robot 20 in FIG. 9, the memory unit 24 does not memorize information of geometric shapes (living space map). Therefore, when the control unit 21 moves to the destination indicated by the destination information (geometric information) received by the communication unit 27, it utilizes the wireless markers 60 located around the robot 20. The wireless identification 60 is, as explained as the beacon 80 in FIG. 8, and has: a transmitting unit 61 for emitting radio waves for calling out to the surroundings; and a power supply unit 62 for operating itself. The robot 20 that has received the radio wave for calling from the transmitting unit 61 can know the position of the allergen intrusion port that senses the invasion or the precursor of the invasion.

圖11係顯示圖9的空氣清淨系統的變形例的構成圖。在圖9中，係將機器人20與行動辨識伺服器40形成為個別的框體來進行說明，在圖11中，則係將行動辨識伺服器40的功能統合在機器人20內的構成。亦即，在圖11的機器人20，係除了圖9的機器人20的各構成要素之外，配備有行動辨識伺服器40的計時器43作為機器人20的計時器28。同樣地，行動辨識伺服器40的外部通訊部45被配備作為機器人20的外部通訊部29。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 the components of the robot 20 of FIG. 9, the timer 43 of the action recognition server 40 is provided 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.

圖12係顯示藉由在記憶部24記憶有居住空間地圖的機器人20(圖9、圖11)所為之移動型的空氣清淨處理的流程圖。以S101而言，機器人20係由一般行走的狀態開始處理。 以S102而言，機器人20的感測部22係判定使用者的家人是否外出中。在S102中若為Yes，進至S111，若為No，則進至S131。例如，具有智慧型元件90的家人的位置資訊為屋外時，感測部22係判定使用者的家人為外出中。FIG. 12 is a flowchart showing a mobile air cleaning process performed by the robot 20 (FIG. 9 and FIG. 11) having a living space map stored in the memory unit 24. In S101, the robot 20 starts processing from a normal walking state. In terms of S102, the sensing unit 22 of the robot 20 determines whether the user's family is out. If it is Yes in S102, go to S111, and if it is No, go to S131. For example, when the location information of the family member with the smart element 90 is outdoors, the sensing unit 22 determines that the user's family member is out.

以S111而言，感測部22係由人感感測器73的反應等，判定玄關門92是否自此被打開。該判定處理係如在圖7所作說明，不僅人感感測器73，亦可根據聲音感測器72、感壓感測器74、門開閉感測器75之中的至少1個感測器，感測家人等人物已接近玄關門92的情形。在S111中若為Yes，即進至S112，若為No，則進至S121。 以S112而言，機器人20的控制部21係以移動至S111中有反應的玄關(玄關門92附近)的方式控制機構部23。藉由該移動，可掌握來自玄關門92的過敏原的侵入或侵入前兆，而快速地將玄關附近的過敏原清淨化。 以S113而言，藉由感測移動型空氣清淨機1周圍的塵埃的塵埃感測器4a(參照圖3)等，判定是否有機器人20周邊的塵埃的反應。在S113中若為Yes，即進至S151而繼續空氣清淨，若為No，則形成為空氣清淨已完成，移動至接下來的過敏原侵入口，因此停止空氣清淨，而進至S121。 以上根據S111~S113，說明根據所謂「家人等人物已接近玄關門92」的侵入前兆，機器人20快速地開始玄關門92附近的空氣清淨處理的處理。In terms of S111, the sensing unit 22 determines whether the entrance door 92 has been opened since then based on the response of the human sensor 73 or the like. The determination processing is as described in FIG. 7, not only the human sensor 73, but also based on at least one of the sound sensor 72, the pressure sensor 74, and the door opening and closing sensor 75 , Detect the situation where family members and other characters have approached the entrance 92. If it is Yes in S111, proceed to S112; if it is No, proceed to S121. In S112, the control unit 21 of the robot 20 controls the mechanism unit 23 so as to move to the entrance (near the entrance 92) that responded in S111. By this movement, it is possible to grasp the intrusion or precursor of the allergen from the entrance 92, and quickly purify the allergen near the entrance. In S113, the dust sensor 4a (refer to FIG. 3) that senses dust around the mobile air cleaner 1 determines whether there is a reaction from the dust around the robot 20. If it is Yes in S113, proceed to S151 to continue air purification, and if it is No, it is determined that air purification has been completed and moves to the next allergen intrusion port, so air purification is stopped, and the process proceeds to S121. Based on S111 to S113 above, it is explained that the robot 20 quickly starts the air cleaning process near the entrance 92 based on the so-called "family and other characters have approached the entrance 92".

S121~S123係根據所謂「在住屋用地內(庭院)存在具有智慧型元件90的家人的位置資訊」的侵入前兆，機器人20快速地開始玄關門92附近的空氣清淨處理的處理。在此，S111的判定處理置換成S121中家人是否位於住屋用地內的判定處理。S122、S123的處理係與S112、S113相同。S121 to S123 are based on the so-called "location information of the family member with the smart element 90 in the housing site (yard)". The robot 20 quickly starts the air cleaning process near the entrance 92. Here, the determination processing of S111 is replaced with the determination processing of S121 whether or not the family is located in the residential land. The processing system of S122 and S123 is the same as that of S112 and S113.

S131~S133係根據所謂「藉由窗開閉感測器76感測到屋內的窗已被打開的情形」的過敏原的侵入，機器人20快速地開始窗附近的空氣清淨處理的處理。在此，S111的判定處理置換成S131中是否感測到屋內的窗已被打開的判定處理。 在S132中，過敏原的侵入口為窗，而非為玄關，因此機器人20置換成S131中移動至有反應的窗附近的處理。S133的處理係與S113相同。S131 to S133 are based on the intrusion of allergens called "the window opening/closing sensor 76 detects that the window in the house has been opened", and the robot 20 quickly starts the air cleaning treatment near the window. Here, the determination process of S111 is replaced with the determination process of whether it is sensed that the window in the house has been opened in S131. In S132, the entry port of the allergen is a window instead of a entrance, so the robot 20 is replaced by the process of moving to the vicinity of the window where the reaction occurs in S131. The processing of S133 is the same as that of S113.

S141~S143係根據所謂「感測到屋內的換氣扇已動作的情形」的過敏原的侵入，機器人20快速地開始在換氣扇附近的吸氣口的空氣清淨處理的處理。其中，不僅換氣扇附近的吸氣口，雖遠離換氣扇，但是位於對應換氣扇的預定的位置的換氣口亦可作為空氣清淨處理的對象。 在此，S111的判定處理置換成S141中是否感測到屋內的換氣扇已動作的判定處理。其中，換氣扇的動作感測係可由換氣扇自身進行，亦可由有別於換氣扇而另外安裝的感測器(噪音計、電力計等)進行。 在S142中，由於過敏原的侵入口為換氣扇附近等吸氣口，而非玄關，因此機器人20係置換成移動至在S141中有反應的換氣扇附近等的吸氣口的處理。S143的處理係與S113相同。S141 to S143 are based on the intrusion of allergens called "detection of the operation of the indoor ventilation fan", and the robot 20 quickly starts the air cleaning process at the suction port near the ventilation fan. Among them, not only the intake port near the ventilating fan is far away from the ventilating fan, but the ventilating port located at a predetermined position corresponding to the ventilating fan can also be the target of the air cleaning process. Here, the determination process of S111 is replaced with the determination process of S141 whether it is sensed that the indoor ventilation fan has operated. Among them, the motion sensing system of the ventilating fan can be performed by the ventilating fan itself, or by a sensor (noise meter, power meter, etc.) installed separately from the ventilating fan. In S142, the entry of the allergen is the intake port near the ventilating fan, not the entrance, so the robot 20 is replaced by the process of moving to the intake port near the ventilating fan that reacted in S141. The processing of S143 is the same as that of S113.

以上如在圖12中所作說明，機器人20的感測部22係與外部的各種感測器10連動來感測對室內的過敏原侵入或侵入前兆，且移動至該感測場所而開始空氣清淨處理。 在S111、S121的判定處理中，感測來自玄關門92的過敏原的侵入或侵入前兆，在S131、S141的判定處理中，感測來自屋內的窗或換氣扇附近的吸氣口等通氣口的過敏原的侵入或侵入前兆。 其中，關於S111、S121、S131、S141的各判定處理，所判斷的感測器的優先順位並非限定於該順序。例如，相較於玄關的外側而窗的外側的花粉較多之日，亦可以窗的開閉感測器的反應為優先等根據屋外感測器71的測定資料來變更順序。As described above in FIG. 12, the sensing unit 22 of the robot 20 is linked with various external sensors 10 to sense the invasion of indoor allergens or precursors, and moves to the sensing place to start air cleaning deal with. In the determination processing of S111 and S121, the intrusion or precursor of the allergen from the entrance door 92 is sensed. In the determination processing of S131 and S141, it is sensed from the vents such as the indoor window or the suction port near the ventilation fan. The invasion or precursor of the allergen. However, regarding each determination process of S111, S121, S131, and S141, the priority order of the determined sensor is not limited to this order. For example, on a day when there is more pollen on the outside of the window than on the outside of the entrance, the order may be changed according to the measurement data of the outdoor sensor 71, such as giving priority to the response of the opening and closing sensor of the window.

圖13係顯示藉由在記憶部24未記憶有居住空間地圖的機器人20(圖10)所為之移動型的空氣清淨處理的流程圖。 圖12的機器人20移動至玄關門92附近的處理(S112)係機器人20可參照記憶在記憶部24的居住空間地圖而進行移動。另一方面，圖13的機器人20係自身不具有居住空間地圖，因此即使掌握了「移動至玄關門92附近」的目的地，亦不知道實際上由現在地點朝哪個方向前進較好。FIG. 13 is a flowchart showing a mobile type air cleaning process performed by the robot 20 (FIG. 10) that has no living space map stored in the memory unit 24. The process of moving the robot 20 in FIG. 12 to the vicinity of the entrance 92 (S112) is that the robot 20 can move with reference to the living space map stored in the memory unit 24. On the other hand, the robot 20 system 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 92", it is not known which direction is actually better to go from the current location.

因此，機器人20係若以來自玄關門92附近的無線標識60(圖8的信標80)的叫出用電波為線索，來掌握接下來的移動目的端即可。亦即，圖12的移動處理(S112)係在圖13中置換成：判定在機器人20周圍，是否有與感測到過敏原的侵入或侵入前兆的感測器連動的無線標識60的反應的處理(S112a)；移動至已有反應的無線標識60的位置的處理(S112b)；及無線標識60無反應時，即發出錯誤的處理(S112c)。 同樣地，S122的移動處理亦置換成使用無線標識60的S122a、S122b、S122c的各處理。 S132的移動處理亦置換成使用無線標識60的S132a、S132b、S132c的各處理。 S142的移動處理亦置換成使用無線標識60的S142a、S142b、S142c的各處理。 藉此，即使為自身不具有居住空間地圖的機器人20，亦可使用無線標識60，移動至過敏原的侵入或侵入前兆的感測場所而開始空氣清淨處理。Therefore, the robot 20 only needs to use the call-out radio waves from the wireless identification 60 (beacon 80 in FIG. 8) near the entrance 92 as a clue to grasp the next moving destination. That is, the movement processing (S112) of FIG. 12 is replaced in FIG. 13 with: it is determined whether there is a reaction of the wireless tag 60 linked to the sensor that detects the invasion of the allergen or the precursor of the invasion around the robot 20 Processing (S112a); processing of moving to the position of the wireless identification 60 that has already responded (S112b); and when the wireless identification 60 has no response, an error processing is issued (S112c). Similarly, the movement processing of S122 is also replaced with the processing of S122a, S122b, and S122c using the wireless identity 60. The movement processing of S132 is also replaced with the processing of S132a, S132b, and S132c using the wireless identity 60. The movement processing of S142 is also replaced with the processing of S142a, S142b, and S142c using the wireless identity 60. Thereby, even a robot 20 that does not have a living space map of its own can use the wireless identification 60 to move to a sensing location for the invasion of allergens or precursors of invasion and start the air cleaning process.

在以上說明的本實施形態中，係以機器人20(移動型空氣清淨機1)與各種感測器10合作，感測對室內的過敏原的侵入或侵入前兆，且移動至對該侵入路徑為適當的場所為主要特徵。 藉此，相較於實際上過敏原侵入至室內，感測該過敏原已飛散至屋內的各房間之後開始空氣清淨處理，可更快速且有效率地去除過敏原。In the embodiment described above, the robot 20 (mobile air purifier 1) cooperates with various sensors 10 to sense the invasion of indoor allergens or precursors, and move to the path of the invasion. The proper place is the main feature. In this way, compared to the fact that the allergen has penetrated into the room, the air cleaning process is started after sensing that the allergen has scattered to each room in the house, and the allergen can be removed more quickly and efficiently.

其中，本發明係包含各種變形例，而非為限定於前述實施例者。例如，前述實施例係為易於瞭解地說明本發明而詳細說明者，並非為限定於必須具備所說明的全部構成者。此外，可將某實施例的構成的一部分置換成其他實施例的構成，此外，亦可在某實施例的構成加上其他實施例的構成。 此外，關於各實施例的構成的一部分，可進行其他構成的追加/刪除/置換。此外，上述之各構成、功能、處理部、處理手段等亦可將該等的一部分或全部，例如藉由以積體電路進行設計等而以硬體實現。 此外，前述各構成、功能等亦可解釋處理器實現各個的功能的程式，藉由執行而以軟體實現。Among them, the present invention includes various modifications and is not limited to the foregoing embodiments. For example, the foregoing embodiments are described in detail in order to explain the present invention easily, and are not limited to those that must have all the described components. In addition, a part of the configuration of a certain embodiment may be replaced with the configuration of another embodiment, and the configuration of a certain embodiment may be added to the configuration 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, a part or all of the above-mentioned various configurations, functions, processing units, processing means, etc. may be implemented in hardware, for example, by designing with integrated circuits. In addition, each of the aforementioned structures, functions, etc. can also be interpreted as a program for the processor to realize each function, which can be realized by software through execution.

實現各功能的程式、表格、檔案等資訊係可放置在記憶體、或硬碟、SSD(Solid State Drive，固態硬碟)等記錄裝置、或IC(Integrated Circuit，積體電路)卡、SD卡、DVD(Digital Versatile Disc，數位影音光碟)等記錄媒體。 此外，控制線或資訊線係顯示在說明上被認為必要者，並不一定是在製品上顯示全部控制線或資訊線。實際上亦可認為全部構成相互連接。 此外，將各裝置相連的通訊手段並非限定於無線LAN，亦可變更為有線LAN或其他通訊手段。The programs, forms, files and other information systems that realize each function can be placed in the memory, or hard disk, SSD (Solid State Drive) and other recording devices, or IC (Integrated Circuit) card, SD card , DVD (Digital Versatile Disc) and other recording media. In addition, the control line or the information line is deemed necessary in the description, and it is not necessarily the display of all the control lines or information lines on the product. In fact, it can be considered that all the components are connected to each other. In addition, the communication means connecting each device is not limited to wireless LAN, and can be changed to wired LAN or other communication means.

1:移動型空氣清淨機 1H:本體 1h1:後方部 1r:行走手段 1S:操作部 1w:送風手段 2:外裝蓋件(框體) 2f:上蓋 2i:本體吸入口 2o:本體排出口 2t:底板 3:過濾器 3h:過濾器把手部 4:感測器 4a:塵埃感測器 5a:控制基板 5b:蓄電池 6:離心葉輪 6h:葉片 6h1:上端面 6i:吸入口 6m:葉輪用馬達 7:渦輪 9c:腳輪 9k:後方車輪 9m1、9m2:車輪用馬達(驅動用馬達) 9p1、9p2:滑輪 9s1、9s2:側方車輪(車輪) 10:感測器 11:控制部 12:感測部 13:記憶部 14:通訊部 15:電源部 20:機器人 21:控制部 22:感測部 23:機構部 24:記憶部 25:電源部 26:操作部 27:通訊部 28:計時器 29:外部通訊部 30:供電裝置 31:感測部 32:通訊部 33:供電部 40:行動辨識伺服器 41:控制部 42:記憶部 43:計時器 44:通訊部 45:外部通訊部 50:外部電源 60:無線標識 61:發訊部 62:電源部 71:屋外感測器 72:聲音感測器 73:人感感測器 74:感壓感測器 75:門開閉感測器 76:窗開閉感測器 80:信標 90:智慧型元件 91:閘門 92:玄關門 s1:操作釦 s2:配線1: Mobile air purifier 1H: body 1h1: rear 1r: means of walking 1S: Operation Department 1w: means of air supply 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: motor for impeller 7: Turbo 9c: casters 9k: rear wheels 9m1, 9m2: Wheel motor (drive motor) 9p1, 9p2: pulley 9s1, 9s2: side wheels (wheels) 10: Sensor 11: Control Department 12: Sensing part 13: Memory Department 14: Ministry of Communications 15: Power supply department 20: Robot 21: Control Department 22: Sensing Department 23: Institutional Department 24: Memory Department 25: Power supply department 26: Operation Department 27: Ministry of Communications 28: Timer 29: External Communications Department 30: power supply device 31: Sensing part 32: Ministry of Communications 33: Power Supply Department 40: Mobile identification server 41: Control Department 42: Memory Department 43: timer 44: Ministry of Communications 45: Department of External Communications 50: External power supply 60: wireless identification 61: Communication Department 62: Power Supply Department 71: outdoor sensor 72: Sound sensor 73: Human Sensor 74: pressure 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 button s2: Wiring

圖1係顯示關於本發明之一實施形態的移動型空氣清淨機。圖1(a)係顯示外觀斜視圖，圖1(b)係顯示上蓋開時的外觀斜視圖。 圖2係顯示關於本發明之一實施形態的移動型空氣清淨機的上面圖。 圖3係顯示關於本發明之一實施形態的移動型空氣清淨機的縱剖面圖的圖2的I-I剖面。 圖4係顯示關於本發明之一實施形態的移動型空氣清淨機。在圖4(a)中顯示實施形態的移動型空氣清淨機的側面圖，在圖4(b)中顯示由上觀看過濾器附近的橫剖面圖的圖4(a)的II-II剖面，在圖4(c)中顯示送風手段附近的橫剖面圖的圖4(a)的III-III剖面。 圖5係顯示關於本發明之一實施形態的移動型空氣清淨機的下面圖。 圖6係顯示關於本發明之一實施形態的移動型空氣清淨機的後面圖。 圖7係顯示關於本發明之一實施形態之設置有行動感測系統的屋外的側面圖。 圖8係顯示關於本發明之一實施形態之設置有行動感測系統的居室的側面圖。 圖9係關於本發明之一實施形態的空氣清淨系統的構成圖。 圖10係顯示關於本發明之一實施形態的圖9的空氣清淨系統的變形例的構成圖。 圖11係顯示關於本發明之一實施形態的圖9的空氣清淨系統的變形例的構成圖。 圖12係顯示關於本發明之一實施形態之藉由記憶有居住空間地圖的機器人所為之空氣清淨處理的流程圖。 圖13係顯示關於本發明之一實施形態之藉由未記憶有居住空間地圖的機器人所為之空氣清淨處理的流程圖。Fig. 1 shows a mobile air cleaner related to an embodiment of the present invention. Figure 1(a) is a perspective view showing the appearance, and Figure 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 cross-sectional view taken along the line I-I in Fig. 2 showing a longitudinal sectional view of the mobile air cleaner according to an embodiment of the present invention. Fig. 4 shows a mobile air cleaner relating to an embodiment of the present invention. Fig. 4(a) shows a side view of the mobile air purifier of the embodiment, and Fig. 4(b) shows the II-II section of Fig. 4(a) showing a cross-sectional view of the vicinity of the filter from above, Fig. 4(c) shows the III-III section of Fig. 4(a) in 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 shows a side view of the outside of a house equipped with a motion sensing system related to an embodiment of the present invention. Fig. 8 shows a side view of a living room equipped with a motion sensing system related to an embodiment of the present invention. Fig. 9 is a configuration diagram of an air cleaning system related to an embodiment of the present invention. Fig. 10 is a configuration diagram showing a modified example of the air cleaning system of Fig. 9 related to one embodiment of the present invention. Fig. 11 is a configuration diagram showing a modified example of the air cleaning system of Fig. 9 related to one embodiment of the present invention. Fig. 12 is a flowchart showing an air cleaning process performed by a robot with a memory map of a living space according to an embodiment of the present invention. FIG. 13 is a flowchart of an air cleaning process performed by a robot that does not have a living space map in memory of an embodiment of the present invention.

1:移動型空氣清淨機 1: Mobile air purifier

76:窗開閉感測器 76: Window opening and closing sensor

80:信標 80: Beacon

Claims (10)

一種移動型空氣清淨機，其係自律地在室內移動的移動型空氣清淨機，其特徵為：具備有：具有進行空氣清淨的清淨部的框體；根據感測室內及/或室外的資訊的感測器所感測到的資訊，感測前述移動型空氣清淨機以外的其他移動體的行動及/或狀態，且由該移動體的行動及/或狀態，感測空氣清淨的對象物質侵入至室內或侵入前兆的感測部；使前述框體移動的機構部；及根據前述感測部所感測到的感測結果，透過前述機構部，朝向前述對象物質的侵入路徑而使前述框體移動的控制部。 A mobile air purifier, which is a mobile air purifier that autonomously moves indoors, and is characterized by: having: a frame with a purifying part for air purifying; and an air purifier based on sensing indoor and/or outdoor information The information sensed by the sensor senses the movement and/or state of other moving objects other than the aforementioned mobile air purifier, and from the movement and/or state of the moving object, it detects the intrusion of the air-cleaning target substance into A sensing unit for indoor or invasion precursor; a mechanism that moves the frame; and based on the sensing result sensed by the sensing unit, the frame is moved toward the entry path of the target substance through the mechanism through the mechanism The control department. 如申請專利範圍第1項之移動型空氣清淨機，其中，前述感測部係藉由設置在家的出入口的人感感測器，感測前述對象物質透過該出入口而侵入至室內或侵入前兆，前述控制部係透過前述機構部，朝向成為前述對象物質的侵入路徑的前述出入口，而使前述框體移動。 For example, the mobile air purifier according to the first item of the scope of patent application, wherein the aforementioned sensing part is a human sensor installed at the entrance and exit of the home, and senses the entry of the target substance into the room or the precursor of the entrance through the entrance and exit, The control unit moves the frame through the mechanism unit toward the entrance and exit that serves as an intrusion path of the target substance. 如申請專利範圍第1項之移動型空氣清淨機，其中，前述感測部係藉由使用者所攜帶的智慧型元件的位置通知功能，感測伴隨透過家的出入口之前述使用者的出入的前 述對象物質侵入至室內或侵入前兆，前述控制部係透過前述機構部，朝向成為前述對象物質的侵入路徑的前述出入口而使前述框體移動。 For example, the mobile air purifier of the first item in the scope of patent application, wherein the aforementioned sensing unit uses the position notification function of the smart element carried by the user to sense the user's access through the entrance and exit of the home before When the target substance penetrates into the room or is a precursor to the penetration, the control unit moves the frame body toward the entrance and exit that serves as an intrusion path of the target substance through the mechanism unit. 如申請專利範圍第1項之移動型空氣清淨機，其中，前述感測部係藉由窗開閉感測器，感測透過窗之前述對象物質侵入至室內或侵入前兆，前述控制部係透過前述機構部，朝向被打開的前述窗而使前述框體移動。 For example, the mobile air purifier in the first item of the scope of patent application, wherein the sensor part detects the intrusion of the target substance into the room or the precursor of the invasion through the window opening and closing sensor, and the control part passes through the The mechanism part moves the frame body toward the opened window. 如申請專利範圍第1項之移動型空氣清淨機，其中，前述感測部係根據藉由屋外感測器所計測到的空氣流，感測對前述室內的前述對象物質的侵入路徑，前述控制部係透過前述機構部，沿著前述感測部所感測到的前述侵入路徑，使前述框體移動。 For example, the mobile air purifier of the first item in the scope of patent application, wherein the sensing part is based on the air flow measured by the outdoor sensor to sense the intrusion path of the target substance in the indoor, and the control The unit moves the frame body along the intrusion path sensed by the sensing unit through the mechanism unit. 如申請專利範圍第1項之移動型空氣清淨機，其中，前述感測部係藉由設置在家的出入口之作為開閉感測感測器的聲音感測器，感測透過前述家的出入口的前述對象物質侵入至室內或侵入前兆，前述控制部係透過前述機構部，朝向成為前述對象物質的侵入路徑的前述出入口而使前述框體移動。 For example, the mobile air purifier of the first item of the scope of patent application, wherein the aforementioned sensing part is a sound sensor installed at the entrance and exit of the home as an opening/closing sensor to sense the aforementioned passage through the entrance and exit of the home The target substance penetrates into the room or is a precursor to the penetration, and the control unit moves the frame body toward the entrance and exit that serves as the penetration path of the target substance through the mechanism portion. 如申請專利範圍第1項之移動型空氣清淨機，其中， 前述感測部係藉由設置在家的出入口之作為開閉感測感測器的感壓感測器，感測透過前述家的出入口的前述對象物質侵入至室內或侵入前兆，前述控制部係透過前述機構部，朝向成為前述對象物質的侵入路徑的前述出入口而使前述框體移動。 For example, the mobile air purifier in item 1 of the scope of patent application, among which, The aforementioned sensing unit is a pressure sensitive sensor installed at the entrance and exit of the home as an opening/closing sensor, which senses the intrusion of the target substance into the room or the precursor of the invasion through the entrance and exit of the home, and the control unit is through the aforementioned The mechanism unit moves the frame body toward the entrance and exit that serves as the entry path of the target substance. 如申請專利範圍第1項至第7項中任一項之移動型空氣清淨機，其中，前述機構部係由：移動前述移動型空氣清淨機的前述框體的車輪；及驅動前述車輪的驅動用馬達所構成，前述清淨部係由：被配置在前述框體的上方的過濾器；設在通過前述過濾器後的空氣流的下游側的離心葉輪；及用以驅動前述離心葉輪之配置成與前述離心葉輪為同軸的葉輪用馬達所構成。 For example, the mobile air cleaner of any one of items 1 to 7 of the scope of the patent application, wherein the aforementioned mechanism is composed of: the wheels that move the frame of the mobile air cleaner; and the drive that drives the wheels It is composed of a motor, and the cleaning part is composed of: a filter arranged above the frame; a centrifugal impeller arranged on the downstream side of the air flow after passing through the filter; and a configuration for driving the centrifugal impeller It is composed of an impeller motor coaxial with the aforementioned centrifugal impeller. 一種空氣清淨方法，其係藉由具備：具有進行空氣清淨的清淨部的框體；使前述框體移動的機構部；感測部；及控制部且自律地在室內移動的移動型空氣清淨機所執行的空氣清淨方法，其特徵為：前述感測部係根據感測器感測室內及/或室外的資訊後的資訊，感測前述移動型空氣清淨機以外的其他移動體的行動及/或狀態，且由該移動體的行動及/或狀態，感測空氣清淨的對象物質侵入至室內或侵入前兆， 前述控制部係根據前述感測部所感測到的感測結果，透過前述機構部，朝向前述對象物質的侵入路徑而使前述框體移動。 An air cleaning method comprising: a frame having a cleaning part for air cleaning; a mechanism part that moves the frame; a sensing part; and a mobile air cleaning machine that automatically moves indoors with a control part The air purifying method implemented is characterized in that the aforementioned sensing unit senses the actions of other moving objects other than the aforementioned mobile air purifier and/or the information obtained by sensing indoor and/or outdoor information based on the sensor. Or state, and from the movement and/or state of the moving body, the intrusion of the target substance with clean air into the room or the precursor of the intrusion is sensed, The control unit moves the frame body toward the intrusion path of the target substance through the mechanism unit based on the sensing result sensed by the sensing unit. 一種空氣清淨系統，其係具備有：自律地在室內移動的移動型空氣清淨機、及伺服器的空氣清淨系統，其特徵為：具備有：具有進行空氣清淨的清淨部的框體；根據感測室內及/或室外的資訊的感測器所感測到的資訊，感測前述移動型空氣清淨機以外的其他移動體的行動及/或狀態的行動辨識部；由該移動體的行動及/或狀態，感測空氣清淨的對象物質侵入至室內或侵入前兆的感測部；使前述框體移動的機構部；及根據前述感測部所感測到的感測結果，透過前述機構部，朝向前述對象物質的侵入路徑而使前述框體移動的控制部。 An air cleaning system is provided with: a mobile air cleaning machine that moves indoors autonomously, and an air cleaning system with a server. The air cleaning system is characterized by having: a frame with a cleaning section for air cleaning; The information sensed by the sensor that detects indoor and/or outdoor information, and the action recognition unit that senses the action and/or state of other moving objects other than the aforementioned mobile air purifier; the action and/or state of the moving object Or state, the sensing part that detects the intrusion of the clean air target substance into the room or the precursor of the intrusion; the mechanism part that moves the frame; and based on the sensing result sensed by the sensor part, the mechanism is directed toward The control unit that moves the frame by the entry path of the target substance.
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