JP7637917B2 - Vacuum cleaner - Google Patents

Description

This disclosure relates to a vacuum cleaner that autonomously travels and cleans.

Autonomous vacuum cleaners clean by approaching obstacles while avoiding them. On the other hand, when an obstacle is a living organism, a vacuum cleaner has been proposed that cleans by operating in a way that corresponds to the living organism (for example, Patent Document 1).

JP 2018-075192 A

Unlike other obstacles, living organisms are not always stationary, but can also move. Living organisms can also move from a stationary position. However, conventional technology has difficulty dealing with these unique movements of living organisms.

This disclosure has been made in consideration of the above-mentioned problems, and aims to provide a vacuum cleaner that can change its cleaning action in response to the movement of a living organism.

In order to achieve the above object, a vacuum cleaner according to the present disclosure is a vacuum cleaner comprising a main body, a moving means for moving the main body, a cleaning means attached to the main body, a position information acquisition means for acquiring position information indicating a relative positional relationship of an obstacle to the main body, and a control device for processing the position information and controlling the moving means and the cleaning means, the control device including a motion detection unit for detecting the stopping and movement of an obstacle based on the position information, a living body determination unit for determining whether the obstacle is a living body or a non-living body obstacle, and a control unit for determining whether the distance between the living body obstacle whose movement has been detected and the main body is within a distance threshold. In this case, the device includes a movement control unit that controls the movement means to cause the main body to perform an avoidance operation including stopping, a cleaning control unit that controls the movement means and the cleaning means to clean up to a position at a first distance from a biological obstacle where a stop has been detected, and to clean up to a position at a second distance shorter than the first distance from a non-biological obstacle, and an area setting unit that sets an uncleaned area including the position of the stopped biological obstacle as an uncleaned area, and the cleaning control unit controls the movement means and the cleaning means to clean the uncleaned area if there is no biological obstacle in the uncleaned area after cleaning of a specified cleaning area is completed.

According to the present disclosure, the cleaning plan can be changed and executed according to the movement of the living organism, and areas that could not be cleaned due to a stopped living organism can be cleaned after the living organism has moved away.

1 is a side view showing the appearance of a vacuum cleaner according to an embodiment. FIG. 2 is a bottom view showing the appearance of the vacuum cleaner according to the embodiment. FIG. 2 is a block diagram showing functional parts of the control device. FIG. 1 shows a floor map and a cleaning schedule. FIG. 13 shows the location of a biological obstacle and the path traveled by the vacuum cleaner. FIG. 13 is a diagram showing a first distance which is an avoidance distance for a biological obstacle. FIG. 13 is a diagram showing uncleaned areas on a floor map. 13A and 13B are diagrams showing another example of setting an uncleaned area. 4 is a flowchart showing the flow of operation of the control device. FIG. 13 is a diagram showing a floor map and an uncleaned area displayed on a terminal device.

Below, an embodiment of a vacuum cleaner according to the present disclosure will be described with reference to the drawings. Note that the following embodiment is an example to explain the present disclosure, and is not intended to limit the present disclosure. For example, the shapes, structures, materials, components, relative positional relationships, connection states, numerical values, mathematical expressions, the contents of each step in the method, and the order of each step shown in the following embodiment are examples, and may include contents not described below. In addition, geometric expressions such as parallel and orthogonal may be used, but these expressions do not indicate mathematical strictness, and include substantially acceptable errors, deviations, and the like. In addition, expressions such as simultaneous and identical also include a substantially acceptable range.

The drawings are schematic diagrams in which emphasis, omissions, or proportions have been appropriately adjusted in order to explain this disclosure, and may differ from the actual shapes, positional relationships, and proportions.

In addition, multiple inventions may be collectively described below as a single embodiment. Some of the content described below is also described as an optional component of this disclosure.

The drawings are schematic diagrams in which emphasis, omissions, or proportions have been appropriately adjusted in order to explain this disclosure, and may differ from the actual shapes, positional relationships, and proportions.

Fig. 1 is a side view showing the appearance of a vacuum cleaner according to an embodiment. Fig. 2 is a bottom view showing the appearance of a vacuum cleaner according to an embodiment. The vacuum cleaner 130 is a robotic vacuum cleaner that performs cleaning while moving autonomously, and includes a main body 131, a moving means 132, a cleaning means 134, a position information acquisition means 136, and a control device 170. In this embodiment, the vacuum cleaner 130 includes an environmental sound acquisition means 148.

The main body 131 is a structural member that forms the structural foundation of the vacuum cleaner 130. The main body 131 also functions as a housing that houses or holds the moving means 132, the cleaning means 134, the position information acquisition means 136, the control device 170, etc. A bumper 139 that is radially displaceable relative to the main body 131 is attached to the outer periphery of the main body 131. Also, as shown in FIG. 2, a suction port 138 is provided on the bottom of the main body 131 to suck dirt into the inside of the main body 131.

The moving means 132 is a device that moves the vacuum cleaner 130 based on instructions from the control device 170. The moving means 132 is not particularly limited, but in this embodiment, it includes a pair of wheels 140 rotatably attached to the main body 131, a running motor (not shown) that applies torque to the wheels 140, and a housing 141 that accommodates the running motor. The moving means 132 is provided with casters 142 that function as auxiliary wheels on the bottom surface of the main body 131. The main body 131 of the vacuum cleaner 130 can move freely in a straight line, backwards, left turns, right turns, etc. by independently rotating the two wheels 140 of the moving means 132.

The cleaning means 134 may be one that cleans the underside of the main body 131 or the surrounding area of the main body 131 by collecting dust through suction, or by wiping with a mop or nonwoven fabric. In this embodiment, the cleaning means 134 is a unit that sweeps up dust and sucks it through the suction port 138, and includes a rotating brush 146 arranged near the suction port 138, a brush drive motor 147 that rotates the rotating brush 146, and a suction unit 133.

The suction unit 133 is a unit that sucks in dust from the suction port 138 and holds the dust inside the main body 131, and is equipped with an electric fan (not shown) and a dust holding section 143. The electric fan sucks in air from inside the dust holding section 143 and expels the air outside the main body 131, thereby sucking in dirt from the suction port 138 and storing the dirt inside the dust holding section 143.

The position information acquisition means 136 is a device that acquires position information that indicates the relative positional relationship of an obstacle to the main body 131. The position information acquisition means 136 detects the direction and distance of obstacles such as walls and furniture that exist around the main body 131, and acquires 2.5-dimensional position information. It is also possible to determine the vacuum cleaner 130's own position from the information on the direction and distance of obstacles detected by the position information acquisition means 136 and floor information such as a route map and a floor map that are stored separately.

The type of the position information acquisition means 136 is not particularly limited, but examples include a LiDAR (Light Detection and Ranging) camera that emits light and detects the position and distance based on the light reflected by an obstacle and returned, and a ToF (Time of Flight) camera. Other examples of the position information acquisition means 136 include a compound eye camera that acquires an image of illumination light or natural light reflected by an obstacle and acquires the position and distance based on parallax.

The environmental sound acquisition means 148 is a device capable of acquiring environmental sound. Although there is no particular limitation to the environmental sound acquisition means 148, in this embodiment, it is a microphone with directionality for acquiring environmental sound around a biological obstacle.

In this embodiment, the vacuum cleaner 130 is equipped with a self-position detection device (not shown). The self-position detection device detects its own position relative to a predetermined position based on the movement of the vacuum cleaner 130 by the moving means 132. The type of the self-position detection device is not particularly limited, and examples include an odometry sensor such as an encoder that is provided on the moving means 132 and detects the rotation angle of each of a pair of wheels 140 rotated by a traveling motor. In addition, the self-position detection device may include an acceleration sensor that detects the acceleration when the vacuum cleaner 130 travels, an angular velocity sensor that detects the angular velocity when the vacuum cleaner 130 turns, and other inertial sensors. The self-position detection device may also include an LPS (Local Positioning System).

In this embodiment, the vacuum cleaner 130 acquires its own position using SLAM (Simultaneous Localization and Mapping). Specifically, it creates a map while continuously acquiring odometry and LiDAR scan data, and calculates its own position based on the created map.

Figure 3 is a block diagram showing the functional parts of the control device. The control device 170 is a device equipped with a processor that processes the location information acquired by the location information acquisition means 136 and controls the moving means 132 and the cleaning means 134. The control device 170 is equipped with a motion detection unit 171, a live body determination unit 172, a movement control unit 173, a cleaning control unit 174, and an area setting unit 175 as processing units realized by causing the processor to execute a program. In the case of this embodiment, the control device 170 is further equipped with a sound determination unit 176 as a processing unit. Each processing unit will be described below, but the order of description will not match the processing flow of the control device 170. The processing flow of the control device 170 will be described later.

The motion detection unit 171 detects the stopping and movement of an obstacle based on the position information acquired from the position information acquisition means 136. For example, if the vacuum cleaner 130 is equipped with only LiDAR as the position information acquisition means 136, the presence or absence of movement of the obstacle is determined by analyzing the change in the position information over time. In addition, if the living body is limited to a human being, the cross-sectional shape in the horizontal plane of the human foot corresponding to the height position where the LiDAR laser is irradiated, such as the ankle or calf, may be stored, and movement and stopping may be detected by tracking the cross-sectional shape of the foot from the position information.

Specifically, an example would be to divide the LiDAR point cloud into a set of nearby points (clusters), and judge each cluster based on the similarity with the cross-sectional shape of the foot. In addition, areas where furniture legs such as table legs and chair legs are densely concentrated, such as under a dining table, can be judged based on the density of the number of clusters within a predetermined range, so if the density is equal to or greater than a predetermined value, the judgment criteria (similarity) for judging a person's foot can be made stricter.

In this embodiment, the motion detection unit 171 detects not only the movement and stopping of the obstacle, but also the relative movement direction of the obstacle with respect to the main body 131. For example, the direction coming straight toward the main body is set to 0°, and the movement direction of the obstacle is detected as an angle.

The biometric determination unit 172 determines whether the obstacle acquired by the position information acquisition means 136 is a biometric obstacle that is a living organism or a non-biometric obstacle. The method of determination by the biometric determination unit 172 is not particularly limited. For example, when the movement of an obstacle is detected by the motion detection unit 171, the biometric determination unit 172 may determine that the moving obstacle is a biometric obstacle. In addition, when a moving obstacle stops, the biometric determination unit 172 may determine that the moved obstacle and the obstacle that exists at the stopped position are biometric obstacles. In addition, the biometric determination unit 172 may store the cross-sectional shape of a person sitting upright, a person sitting cross-legged, a person lying down, etc. at the height position where the LiDAR laser is irradiated, and may compare the shape obtained from the position information with the stored shape to determine whether the stopped obstacle is a biometric obstacle or a non-biometric obstacle.

The vacuum cleaner 130 may include an infrared sensor, and the biometric determination unit 172 may determine that an obstacle is a biometric obstacle if the obstacle emits heat of about 36°C based on a signal from the infrared sensor. The vacuum cleaner 130 may also include a camera, and the biometric determination unit 172 may analyze an image from the camera to determine that the obstacle is a biometric obstacle and may further identify the type of living organism. The biometric determination unit 172 may also obtain environmental sounds from the environmental sound acquisition means 148, and determine that the obstacle is a biometric obstacle based on voices, footsteps, etc.

When the distance between the obstacle whose movement is detected and the main body 131 is within the distance threshold, the movement control unit 173 controls the moving means 132 to make the main body 131 perform an avoidance operation, including stopping. The distance threshold may be a predetermined constant value, or may be changed based on the relative movement speed between the obstacle and the main body 131. In the case of this embodiment, the movement control unit 173 controls the moving means 132 so that the main body 131 continues to move if the moving obstacle and the main body 131 do not collide in the future, based on the movement direction of the obstacle detected by the movement detection unit 171 and the movement direction of the main body 131. For example, the movement control unit 173 obtains the movement direction of the moving obstacle from the movement detection unit 171 and the width of the obstacle in a direction perpendicular to the movement direction, and when it can be estimated that the obstacle will collide with the main body 131 in the future, the movement control unit 173 may cause the main body 131 to perform an avoidance operation. Specific examples of the avoidance operation include a temporary stop, a detour operation to move the obstacle so that the obstacle is at a predetermined distance or more, and the like. Note that, when the accuracy of the biometric determination unit 172's determination of whether the obstacle is a biometric obstacle or a non-bimetric obstacle is medium, the avoidance operation may include temporarily stopping, slowing down the main body 131, or operating the main body 131 so that the obstacle is at a predetermined distance, and causing the biometric determination unit 172 to determine again whether the obstacle is a biometric obstacle or not. For example, when the position information acquisition means 136 is LiDAR, the shorter the distance to the obstacle, the more detailed and multiple pieces of information on the obstacle can be acquired, improving the determination accuracy of the biometric determination unit 172, and enabling a more effective avoidance operation to be performed.

The cleaning control unit 174 acquires a floor map as shown in FIG. 4 in advance, and acquires a cleaning plan as shown by the arrow in FIG. 4 in advance. The layout of non-biological obstacles 210 such as walls, pillars, partitions, and furniture is registered in advance on the floor map. The cleaning control unit 174 uses the acquired floor map to control the moving means 132 and the cleaning means 134 according to the cleaning plan and performs cleaning. In this embodiment, the entire cleaning area shown in FIG. 4 is divided into multiple areas (four areas in this embodiment), and a cleaning plan is set for each area. The cleaning control unit 174 performs cleaning for each area.

When cleaning the vicinity of a biological obstacle 200 that is an obstacle whose stop has been detected by the motion detection unit 171 and that has been determined by the biological determination unit 172, as shown in FIG. 5, the cleaning control unit 174 controls the moving means 132 and the cleaning means 134 to clean up to a position of a first distance 201 from the biological obstacle 200, as shown in FIG. 6. In other words, the cleaning control unit 174 controls the moving means 132 to avoid the biological obstacle 200 while being separated from the biological obstacle 200 by the first distance 201. The cleaning control unit 174 also controls the moving means 132 and the cleaning means 134 to clean up to a position of a second distance from a non-biological obstacle 210 that is shorter than the first distance 201.

The first distance 201 is not specifically limited, but is set to a distance that will not cause the stationary biological obstacle 200 to come into contact with the main body 131 even if the biological obstacle 200 changes its position. The second distance is set to a distance that will cause the tip of the rotating brush 146 to come into contact with the non-biological obstacle 210.

When an uncleaned area is set by the area setting unit 175 described below, the cleaning control unit 174 controls the moving means 132 and the cleaning means 134 to clean the uncleaned area if there is no biological obstacle within the set uncleaned area after finishing cleaning a specified cleaning area (one of four areas in this embodiment) according to the cleaning plan. This makes it possible to autonomously clean areas that could not be cleaned due to the presence of a biological obstacle, and to complete the cleaning plan.

In addition, when the sound determination unit 176 described below determines that the ambient sound around the stopped biological obstacle 200 includes sound emitted from an audio device, the cleaning control unit 174 controls at least one of the moving means 132 and the cleaning means 134 to suppress sound reaching the biological obstacle 200 from the main body 131. For example, the moving means 132 and the cleaning means 134 are controlled to clean up to a position at a third distance from the obstacle that is longer than the first distance 201, thereby suppressing sound reaching the biological obstacle 200 from the main body 131. In addition, sound reaching the biological obstacle 200 from the main body 131 can also be suppressed by suppressing the moving speed of the main body 131, suppressing the suction force of the cleaning means 134, suppressing the rotation speed of the rotating brush, etc.

As shown in FIG. 7, the area setting unit 175 sets an uncleaned area including the position of the stopped bio-obstacle 200 as an uncleaned area 300. The method of setting the uncleaned area 300 is not particularly limited, but for example, the area setting unit 175 logs the travel record of the main body 131 according to the cleaning plan, and sets an area included in the cleaning plan through which the main body 131 could not travel as an uncleaned area. As a result, an area that cannot be cleaned because it is blocked by the bio-obstacle 200 is also set as an uncleaned area, as shown in A of FIG. 7.

When a biological obstacle 200 is present in an area surrounded by non-biological obstacles 210 as shown in FIG. 8B and the area is equal to or less than an area threshold, the area setting unit 175 may stop control of cleaning the area and set the area surrounded by the non-biological obstacles 210 as an uncleaned area 300. This can prevent the vacuum cleaner 130 from approaching the feet of a person present in a narrow space such as a kitchen and interfering with the person's work.

In addition, the area setting unit 175 may cancel the uncleaned area 300 that has been set due to the presence of a biological obstacle 200 in an area where furniture legs, such as table legs and chair legs, are concentrated, such as under a dining table. This is because an area where furniture legs are concentrated has a high possibility of erroneous determination because the cross-sectional shape of furniture legs is similar to the cross-sectional shape of a human foot, and it takes a long time for the main body 131 to enter and escape from an area where furniture legs are concentrated.

The sound determination unit 176 determines whether or not audio equipment sound, which is sound emitted from an audio equipment, is present in the environmental sounds around the biological obstacle 200 whose stop has been detected. An audio equipment is, for example, a television or audio equipment, and is a device that emits sound using a speaker. The method of determining audio equipment sound is not particularly limited, but for example, human conversation, singing, musical performance, etc. emitted from a speaker are included in audio equipment sound, while sounds that occur at a monotonous cycle or at a constant volume are excluded from audio equipment sound.

Next, the control operation of the control device 170 provided in the vacuum cleaner 130 will be described. Figure 9 is a flowchart showing the flow of the operation of the control device.

The vacuum cleaner 130 performs cleaning according to the cleaning plan until the cleaning plan is completed (S101). During cleaning, the position information of obstacles is successively acquired using the position information acquisition means 136 (S102). The vacuum cleaner 130 performs the cleaning plan while recognizing its own position on the floor map using the position information acquisition means 136 and a self-position detection device, etc.

The motion detection unit 171 detects the motion of the obstacle based on the position information successively acquired by the position information acquisition means 136 (S103). When an obstacle within the distance threshold is moving, the movement control unit 173 controls the movement means 132 to make the main body 131 perform an avoidance motion until it is determined that the obstacle has moved away from the main body 131 beyond the distance threshold (S104). Note that when an obstacle moves away from the main body 131, if it is predicted that the main body 131 and the moving obstacle will not come into contact with each other, the motion detection unit 171 may not pause temporarily, taking into account the relative movement direction between the obstacle and the main body 131.

Next, it is determined whether a stopped obstacle that is not present on the floor map is a living body (S105). If the obstacle is a non-living body obstacle 210, the robot approaches the non-living body obstacle 210 to within a second distance and performs cleaning (S106). It is also possible to approach non-living body obstacles 210 that are present on the floor map to within the second distance and perform cleaning according to the cleaning plan.

If the obstacle is a biological obstacle 200 and the environmental sounds around the biological obstacle 200 include audio equipment sounds (S107), cleaning is performed in a quiet mode, such as performing cleaning while avoiding the biological obstacle 200 at a third distance (S108). If the environmental sounds around the biological obstacle 200 do not include audio equipment sounds (S107), cleaning is performed in a normal mode that is not a quiet mode, while avoiding the biological obstacle 200 at a first distance (S109).

Next, the area setting unit 175 sets the area that could not be cleaned because cleaning was performed while avoiding the stopped bio-obstacle 200 as the uncleaned area 300 (S110). The above process is performed until the cleaning plan for each area is completed (S101). When the cleaning plan for one area is completed (S101: Yes), the cleaning control unit 174 checks whether the bio-obstacle 200 exists in the set uncleaned area 300 based on the position information from the position information acquisition means 136 (S111). When the presence or absence of the bio-obstacle 200 in the uncleaned area 300 cannot be confirmed at the stage when the cleaning plan is completed, the cleaning control unit 174 moves the main body 131 to a position where the uncleaned area 300 can be confirmed. When the bio-obstacle 200 does not exist in the uncleaned area 300, the cleaning control unit 174 performs cleaning of the uncleaned area 300. The area setting unit processes the uncleaned area 300 that has been cleaned as having been cleaned.

The above process is performed for each partitioned cleaning area, but any uncleaned areas 300 that could not be cleaned due to the presence of a biological obstacle 200 are saved until the cleaning plan for all cleaning areas 300 is completed.

According to the vacuum cleaner 130 of the above embodiment, if there is a moving obstacle within the distance threshold, the movement of the main body 131 can be temporarily stopped to avoid a collision. In addition, for a stopped biological obstacle 200, cleaning is performed at a greater distance than the distance to a non-biological obstacle 210, making it possible to respond to a sudden change in the posture of the biological obstacle 200.

In addition, based on the knowledge that the stationary biological obstacle 200 will eventually move, the uncleaned area 300 that could not be cleaned due to the presence of the biological obstacle 200 can be cleaned after the cleaning plan for the specified area is completed, thereby completing the cleaning plan.

In addition, if the environmental sounds around the biological obstacle 200 include the sound of an audio device, it is possible to estimate that the biological obstacle 200 is watching television, listening to music, etc., and to reduce the noise of the vacuum cleaner 130 that the biological obstacle 200 hears, thereby reducing the noise during cleaning.

Note that this disclosure is not limited to the above-described embodiment. For example, the present disclosure may be realized by combining the components described in this specification in any way, or by excluding some of the components. In addition, this disclosure also includes modifications that can be made by applying various modifications that would come to mind to the above-described embodiment, provided that the modifications do not deviate from the spirit of this disclosure, i.e., the meaning of the words described in the claims.

For example, in the above description, the total cleaning area is divided into four areas, and the uncleaned areas are cleaned after each area is cleaned, but it is also possible to clean the uncleaned areas after all areas are cleaned.

In addition, if the cleaning time exceeds a predetermined time, cleaning of uncleaned areas may not be performed even after cleaning of one area or after cleaning of all areas has been completed.

The vacuum cleaner 130 may also include a communication means capable of communicating with the terminal device 160, and may transmit a floor map provided in the vacuum cleaner 130 to the terminal device 160, and transmit uncleaned information indicating the position and range of uncleaned areas on the floor map. The terminal device 160 may also include a display means 161 and a display control unit (not shown) that display the uncleaned information by superimposing it on the received floor map.

The terminal device 160 may also include a reception unit that receives input, such as by the user tapping on an uncleaned area displayed on the display unit 161, as to whether or not to clean after finishing cleaning of a specific area, and may transmit the received reception information to the vacuum cleaner 130. The cleaning control unit 174 that has acquired the reception information may clean the uncleaned area 300 in accordance with the reception information.

This disclosure can be used in vacuum cleaners that travel autonomously and clean a given area.

130 Vacuum cleaner 131 Main body 132 Moving means 133 Suction unit 134 Cleaning means 136 Position information acquisition means 138 Suction port 139 Bumper 140 Wheel 141 Housing 142 Caster 143 Dust holding section 146 Rotating brush 147 Brush drive motor 148 Environmental sound acquisition means 160 Terminal device 161 Display means 170 Control device 171 Motion detection section 172 Biometric determination section 173 Movement control section 174 Cleaning control section 175 Area setting section 176 Sound determination section 200 Biometric obstacle 201 First distance 210 Non-biometric obstacle 300 Uncleaned area

Claims (7)

The main body,
A moving means for moving the main body;
A cleaning means attached to the main body;
a position information acquiring means for acquiring position information indicating a relative positional relationship of an obstacle with respect to the main body based on light that is emitted and reflected by the obstacle ;
A control device that processes the position information and controls the moving means and the cleaning means;
A vacuum cleaner comprising:
The control device includes:
a motion detection unit that detects stopping and moving of an obstacle based on the position information;
a living body determination unit that compares a plurality of cross-sectional shapes of the human body at the height position where the light is irradiated with a shape obtained from position information and determines whether a stationary obstacle is a living body obstacle or a non-living body obstacle;
a movement control unit that controls the moving means to make the main body take an avoidance action including stopping when a distance between the biological obstacle whose movement is detected and the main body is within a distance threshold;
a cleaning control unit that controls the moving means and the cleaning means so as to clean a position at a first distance from the biological obstacle where the stop is detected, and to clean a position at a second distance that is shorter than the first distance from a non-biological obstacle;
and a region setting unit that sets an uncleaned region including the position of the biological obstacle in a stopped state as an uncleaned region,
The cleaning control unit is
The vacuum cleaner controls the moving means and the cleaning means so that, after completing cleaning of a predetermined cleaning area, if no biological obstacle is found in the uncleaned area, the uncleaned area is cleaned. The motion detection unit is
Detecting a moving direction of a biological obstacle relative to the body;
The movement control unit is
The vacuum cleaner according to claim 1, wherein the moving means is controlled based on the detected moving direction of the biological obstacle and the moving direction of the main body so that the movement of the main body continues unless there is a future collision between the moving biological obstacle and the main body. 3. The vacuum cleaner according to claim 1, wherein the predetermined cleaning area is one of a plurality of areas divided from the entire cleaning area. The region setting unit is
The vacuum cleaner according to claim 1 , further comprising: a region that cannot be cleaned due to being blocked by a biological obstacle detected as stopping, set as an uncleaned region. The region setting unit is
The vacuum cleaner according to claim 1 , wherein when a biological obstacle is present in an area surrounded by obstacles and the area of the area surrounded by the obstacles is equal to or smaller than an area threshold, the area surrounded by the obstacles is set as an uncleaned area. An environmental sound acquisition means for acquiring environmental sound around an obstacle is provided,
The control device includes:
a sound determination unit that determines whether or not an audio device sound, which is a sound emitted from an audio device, is present in the environmental sound around the biological obstacle whose stop has been detected;
The cleaning control unit is
The vacuum cleaner according to any one of claims 1 to 5, wherein when the sound determination unit determines that there is acoustic equipment sound, at least one of the moving means and the cleaning means is controlled so as to suppress sound reaching the biological obstacle. The cleaning control unit is
The vacuum cleaner according to claim 6, wherein when the sound determination unit determines that there is acoustic equipment sound, the moving means and the cleaning means are controlled so as to clean up to a position at a third distance from the biological obstacle that is longer than the first distance.

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