JP7202207B2 - In-building condition determination system - Google Patents

Description

The present invention relates to an in-building condition determination system.

In recent years, systems have been proposed that automatically determine whether indoor conditions are clean. For example, in US Pat. No. 5,200,000, each room for patients in a hospital determines whether the room is clean and ready for patient reception (i.e., does not require cleaning), or A system is disclosed for determining the condition of a room that needs cleaning. Specifically, the technique of Patent Literature 1 focuses on disinfecting the surfaces of a room or equipment in the room, and sensors are provided on each surface. Then, it is determined whether the surface has been disinfected based on whether the cleaning liquid has been detected on the surface by the sensor for an appropriate time, and the cleanliness of the room is determined based on this.

Japanese translation of PCT publication No. 2012-533385

By the way, in buildings such as houses, there are cases where things are left on the floor or the like without being stored. And when there are many things left unattended, the inside of a building will be in a cluttered state. Therefore, it is often determined whether a building is clean or cluttered based on the amount of unstored items left unattended. Residents (users) need to avoid abandoned objects in their daily lives, so if there are many abandoned objects (that is, the building is cluttered), the living space will be narrowed and the user's comfort will be impaired. be Also, in this case, it is a state that requires clearing up. In general, the burden of tidying up increases in proportion to the amount of items (discarded items) that must be stored. Therefore, when many things are left unattended (that is, when the inside of the building is cluttered), tidying up immediately leads to comfort for the user.

Here, in the technology described in Patent Document 1, since the cleanliness of the room is determined based on whether or not it has been disinfected, it is not possible to determine the amount of items left unstored in the building. Therefore, it is not possible to determine whether the building is clean or cluttered.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and is capable of enhancing user comfort by detecting whether the inside of a building is clean or messy based on how things are stored. The object is to provide a judgment system.

In order to solve the above-described problems, a system for judging the state of a building in a first aspect of the invention includes: an object detection means for detecting the presence of an object in a building; means, and state determination means for determining whether the inside of the building is clean or cluttered based on the temporal change of the information on the object stored by the storage means.

According to the first invention, an object is detected by the object detection means, and information about the object is stored. Then, it is determined whether the building is clean or cluttered based on the temporal change of the object information. It can be determined whether the detected object is an object that is temporarily detected or an object that is constantly detected, based on the temporal change of the information on the object in the building. As a result, for example, an object that is temporarily detected can be determined to be an abandoned object. Therefore, it is possible to judge the storage situation of things, and based on this, it is possible to detect whether the inside of the building is clean or messy. This allows the user to notice that many things have been left unattended (that is, the building is cluttered). Therefore, the necessity of tidying up can be noticed while the burden of tidying up is small, and as a result, the comfort of the user can be improved.

The state determination system in the building of the second invention, in the first invention,
The object detection means comprises floor area measurement means for detecting an exposed floor area in the building as an exposed floor area,
The storage means stores the exposed floor area measured by the floor area measurement means,
The state determination means determines whether the interior of the building is clean or cluttered based on the change over time of the exposed floor area stored by the storage means.

When the building is not cluttered (i.e., when things are stored where they should be stored), items placed on the floor in the building (i.e., unstored items) include shelves, It is often furniture such as a table, sofa, or an object that is supposed to be placed on the floor (for example, cardboard containing beverages for stock). Therefore, in a situation where the inside of the building is not cluttered, the items that are not stored are fixed to some extent. In this case, the floor space occupied by unstored items is substantially constant, in other words, the otherwise exposed floor space is also substantially constant.

According to the second invention, in the building, the exposed floor area measured by the floor area measuring means is stored in the storage means, and based on the change over time of the exposed floor area stored in the storage means, the floor area in the building is determined. A state is determined by the state determining means. That is, according to the second invention, the change over time of the exposed floor area is grasped. As a result, it is possible to determine the exposed floor area in which the object is stored in the predetermined position and the exposed floor area in which the object is left on the floor without being stored in the predetermined position. Therefore, it is possible to grasp the storage situation of objects in the building based on the change in the exposed floor area over time. As a result, it is possible to recognize that the number of items that must be stored in a predetermined position is increasing, and the necessity of tidying up can be noticed before the burden of tidying up increases, thereby enhancing the user's comfort. be able to.

The state determination system in the building of the third invention, in the second invention,
The object detection means comprises height detection means for detecting the height of an object placed on the floor surface in the building,
the storage means stores the height of the object detected by the height detection means;
The state determination means determines whether the interior of the building is clean or cluttered based on the change in the exposed floor area and the change in the height of the object over time stored by the storage means. and

When the objects are stored in a predetermined position, the ornaments to be placed on the furniture such as shelves, tables, sofas, etc. are also fixed, and the height of the furniture and the ornaments does not change. Therefore, it is considered that the height of the object placed on the floor in the building does not change. On the other hand, when an object is not stored in a predetermined position, it may be left not only on the floor but also on furniture such as a shelf, a table, and a sofa. In this case, the height of the objects stored in the furniture changes due to the existence of the objects left on the furniture without being stored in a predetermined position. change). Thus, the height of objects placed on the floor within the building will change if the objects are not stored in place. In other words, when the object is stored in a predetermined position, the height of the object is detected as a substantially constant value. is higher than that value.

According to the third invention, the storage means stores the height of the object placed on the floor measured by the height detection means in the building. Then, the state of the inside of the building is determined by the state determining means based on the time-dependent change in the exposed floor area and the time-dependent change in the height of the object stored by the storage means. That is, it is possible to grasp the storage status of objects in the building based on changes in the exposed floor area and changes in the height of the objects. By ascertaining the storage status of objects in the building based not only on changes in the exposed floor area but also on changes in the height of the objects, it is possible to more reliably assess the storage status of objects in the building.

The state determination system in the building of the fourth invention is, in the second invention,
The object detection means comprises position detection means for detecting the position of an object placed on the floor within the building,
the storage means stores the position of the object detected by the position detection means;
The state determination means determines whether the interior of the building is clean or cluttered based on the changes in the exposed floor area and the changes in the positions of the objects over time stored by the storage means. do.

According to the fourth invention, the storage means stores the position of the object placed on the floor measured by the position detection means in the building. Then, the state of the inside of the building is determined by the state determining means based on the time-dependent change in the exposed floor area and the time-dependent change in the position of the object stored by the storage means. That is, it is possible to grasp the storage status of objects in the building based on changes in the exposed floor area and changes in the positions of the objects. By ascertaining the storage status of objects in the building based not only on changes in the exposed floor area but also on changes in the positions of objects, it is possible to more reliably ascertain the storage status of objects in the building.

The state determination system in the building of the fifth invention is any one of the second to fourth inventions,
a dust amount measuring means for measuring an amount of dust acquired by a cleaning target, which is either a self-propelled vacuum cleaner that cleans the building while moving or a person, in the room;
The state determination means determines the residual degree of dirt in the building based on the time-dependent change in the exposed floor area stored in the storage means and the amount of dust in the building measured by the dust amount measurement means. It is characterized by determining

For example, a self-propelled vacuum cleaner cleans an exposed floor surface as an obstacle-free area (hereinafter referred to as a cleanable area). In this case, if an object is left on the floor without being stored in a predetermined position, the self-propelled vacuum cleaner cannot clean the floor surface where the object is left. The floor surface portion where the is left is excluded from the cleaning area of the self-propelled vacuum cleaner.

According to the fifth invention, the amount of dust obtained by cleaning the cleanable area by the cleaning target is measured by the amount of dust measuring means. Here, changes in exposed floor area over time are captured. Therefore, based on the amount of dust measured by the dust amount measuring means, the amount of dust in the maximum exposed floor area can be calculated as the estimated total amount of dust among the temporal changes in the exposed floor area. Alternatively, the total floor area within a building is typically known. Therefore, based on the dust amount measured by the dust amount measuring means, the dust amount in the entire floor area can be calculated as the estimated total dust amount. Then, the residual dust amount can be calculated by subtracting the acquired dust amount from the estimated total dust amount. Therefore, it is possible to determine the degree of residual dirt in the building based on the amount of residual dust. By grasping the degree of dirt residue, the user can notice the sanitary condition of the room, thereby improving the user's health condition and thus improving the user's comfort.

Schematic which shows the structure of the state determination system in a building. 4 is a flowchart showing a state determination process inside a building;

An embodiment embodying the present invention will be described below with reference to the drawings. FIG. 1 is a schematic diagram showing the configuration of a state determination system in a building, and the state determination system is installed in a building 10 such as a house.

As shown in FIG. 1, a building 10 is provided with living rooms 11 and the like as indoor spaces. In addition to the living room 11, the building 10 also includes a plurality of living rooms, corridors, toilets, bathrooms, and other spaces, which are not shown in the drawings.

A sofa 21, a desk 22, and a chair 23 are arranged in the living room 11. - 特許庁A plurality of books 24 are stacked on the desk 22 . In addition, the living room 11 is provided with a self-propelled cleaner 25 (cleaning robot) that cleans the indoor space. The self-propelled cleaner 25 has a rechargeable battery (not shown), and uses electric power stored in the battery to clean while traveling (self-propelled) in an indoor space. . Although illustration is omitted, the self-propelled cleaner 25 has a suction unit for sucking dust, a dust storage unit for storing dust sucked by the suction unit, and the like.

In the building 10, the living room 11 and other spaces are cleaned by the self-propelled vacuum cleaner 25 once every three days during the daytime (15:00 in this embodiment). there is Further, in the building 10, the living room 11 and other spaces have the same floor surface height so that the self-propelled cleaner 25 can come and go (move) to other spaces in the living room 11. - 特許庁It is assumed that the self-propelled cleaner 25 cleans all the rooms 11 and other spaces in the building 10 in one cleaning.

The self-propelled cleaner 25 is equipped with a weight sensor 26 for measuring the weight of dust. The weight sensor 26 is provided, for example, in the dust container, and detects the weight of the dust contained in the dust container.

A state detection sensor 28 that detects the state in the living room 11 from above is provided in the living room 11 (for example, the ceiling). The state detection sensor 28 is, for example, a sensor such as an ultrasonic sensor, a laser radar, or a millimeter wave radar. The state detection sensor 28 detects the sofa 21, the desk 22 on which the books 24 are placed, the chair 23, the self-propelled cleaner 25, and the floor as objects in the living room 11. and the distance to each object. The state detection sensor 28 corresponds to floor area measurement means and height detection means.

A liquid crystal display 29 is attached to the living room 11 (for example, wall surface) for displaying the determination result of the state determination system.

A state detection sensor 28 is also provided in each space other than the living room 11, and is configured to detect the state in each space (not shown).

The building 10 is provided with a controller 30 that controls the state determination system of this embodiment. The controller 30 is attached, for example, to the wall of the living room 11 (not shown). The controller 30 has a storage section 31 , a timer 32 and a communication section 33 . The storage unit 31 stores various information necessary for control processing performed by the controller 30 . The timer 32 is a timing device that synchronizes with the current time, and sequentially outputs time information regarding the current time.

A state detection sensor 28 is connected to the controller 30 . The result detected by the state detection sensor 28 (the distance to the object) is input to the controller 30 . This result is stored in the storage unit 31 together with the date and time information output by the timer 32 . A result (distance to the object) detected by the state detection sensor 28 provided in another space is similarly input to the controller 30 .

Controller 30 can communicate with weight sensor 26 provided in self-propelled cleaner 25 via communication unit 33 . The self-propelled cleaner 25 weighs the amount of dust contained in the dust container with the weight sensor 26 each time it cleans, and transmits weight information of the weighed dust to the controller 30 . The garbage weight information transmitted from the weight sensor 26 is stored in the storage unit 31 together with the date and time information output by the timer 32 .

When the dust in the dust container is removed, information indicating that the weight sensor 26 has been reset is transmitted to the controller 30 . Therefore, when the next cleaning is performed with the dust stored in the dust storage unit, the weight of the previously acquired dust is subtracted from the weight of the received dust. Thereby, the weight of the garbage acquired on the day can be grasped.

Next, the content of the state determination system executed by the controller 30 will be described. FIG. 2 is a flow chart showing the flow of control processing relating to the state determination system. This process is repeatedly executed in a predetermined time cycle.

In FIG. 2, in step S11, it is determined whether or not it is 3 o'clock. Here, it is set at 3:00 because, in this embodiment, the data analysis for determining the state inside the building 10 is started at 3:00. In this embodiment, the data is analyzed at 3:00 when it is assumed that the residents in the building 10 are not active. If it is 3 o'clock, YES is determined and the process proceeds to step S12. If the time is not 3:00, a NO determination is made and this process is terminated.

In step S<b>12 , the state inside the building 10 is detected by the state detection sensor 28 . Specifically, in living room 11, an object in living room 11 is detected by state detection sensor 28, and the distance between state detection sensor 28 and the object is obtained. Subsequently, in step S13, the exposed floor area to the total floor area (hereinafter referred to as the exposed floor area ratio) and the total height of the object are calculated.

Here, the controller 30 calculates the height of the object in the living room 11 based on the distance to the object acquired by the state detection sensor 28 . As the floor surface (exposed floor), based on the calculated distance of the object in the living room 11, a portion having a height of about 0 (for example, a height of 0 to 1 cm) is taken as the floor surface. As a result, in the living room 11, the area of the floor surface area (exposed floor area) and the area of the area other than the floor surface area (hereinafter referred to as the object occupied area) are calculated, and the exposed area of the entire floor area is calculated. A floor area ratio is calculated. Also, the heights in the object occupied area are totaled to calculate the total object height. For example, when the books 24 on the desk 22 are stored in another place, the total object height changes (decreases). In this embodiment, the total height of the object is the total height of the area other than the floor area, but the total height of the object including the height of the floor area may be

The results from the state detection sensors 28 provided in other spaces are similarly processed, and by totaling them, the exposed floor area ratio in the building 10 and the total value of object heights are calculated. Although the total floor area is calculated based on the detection result of the state detection sensor 28, the total floor area may be registered first.

In subsequent step S<b>14 , the result detected by the state detection sensor 28 during a predetermined period (past state detection result within the predetermined period) is read from the storage unit 31 . Here, the predetermined period is, for example, one month or the like, and it is said to be a period in which the data in the state where the objects are stored is included (that is, a period longer than the period in which the next cleaning is performed after cleaning). .

Subsequently, in step S15, the reference value of the exposed floor area ratio and the reference value of the total object height are calculated. For example, the reference value of the exposed floor area ratio is the maximum value of the exposed floor area ratio in a predetermined period, and the reference value of the total object height value is the minimum total object height value in the predetermined period. Here, among the changes over time in the past state detection results within a predetermined period, the situation in which the maximum value of the exposed floor area ratio is detected is that objects are stored in predetermined positions and placed on the floor in the building. It is considered to be a situation in which the object to be processed is a certain object (for example, furniture). Therefore, by setting the reference value of the exposed floor area ratio to the maximum value of the exposed floor area ratio in a predetermined period, the cleared state can be used as the reference value. Among the changes over time in the past state detection results within a predetermined period, the situation in which the minimum total value of object heights is detected is that objects are stored in predetermined positions, and that objects are stored on the floor and on furniture in the building. This is considered to be a situation in which the objects to be placed in the table are fixed to some extent (for example, furniture and ornaments). Therefore, by setting the reference value of the total height of the object to the minimum total height of the object in a predetermined period, the cleared state can be used as the reference value.

In the subsequent step S16, if the exposed floor area ratio is less than or equal to a predetermined percentage with respect to the reference value, and if the total value of object heights (the height of the object occupied area) is greater than or equal to a predetermined ratio with respect to the reference value. It is determined whether it is one of The predetermined ratio of the exposed floor area ratio to the reference value is, for example, 50%, and the predetermined ratio of the height of the object to the reference value is, for example, 250%.

The living room 11 and other spaces in the building 10 include various spaces such as rooms with many furnitures and rooms with few furnitures. In this embodiment, even if there are various spaces (that is, the rooms are used in various ways), the state of each space is detected by the state detection sensor 28, and changes over time in the detection results are grasped. Thereby, the state inside the building 10 can be determined based on the change over time (change over time of the total value of the exposed floor area ratio and the height of the object in this embodiment).

In S16, if at least one of the exposed floor area ratio and the height of the object satisfies the above regulation, the process advances to step S17, where it is determined that the state is "cluttered" as a state requiring tidying up. If neither the exposed floor area ratio nor the height of the objects meet the above-mentioned regulations, the process proceeds to step S25, and it is determined that the state is "not cluttered" as the state does not need to be put away.

After the state inside the building 10 is determined in steps S17 and S25, the process proceeds to step S18. In step S18, it is determined whether or not garbage weight information has been received on that day. That is, when the self-propelled cleaner 25 cleans, the weight sensor 26 transmits the weight information of the dust, so it is determined whether or not the cleaning was performed on the day (15:00). When the garbage weight information is received, it is assumed that the cleaning was performed on that day, and the process proceeds to step S19. If the garbage weight information has not been received, it is determined that cleaning has not been performed on that day, and the process proceeds to step S22.

In step S19, the weight of garbage that can remain in the building 10 (residual dust amount) is calculated based on the garbage weight information received on the day. That is, the exposed floor area ratio is calculated based on the detection result by the state detection sensor 28 . Therefore, the weight of dust obtained on the day is assumed to be the weight of dust obtained when the exposed floor area on the day is cleaned. Therefore, the weight of dust per unit area of the floor can be calculated, and thus the weight of dust that can be present on the entire floor area can be calculated. Since the exposed floor area has already been cleaned, the weight of dust obtained by subtracting the weight of dust obtained on the day from the weight of dust that can exist on the entire floor area corresponds to the amount of residual dust. After calculating the amount of residual dust, the process proceeds to step S20.

In step S20, it is determined whether or not the amount of residual dust is equal to or greater than a predetermined value. Here, the predetermined value can be appropriately set, for example, 300 mg. If the amount of residual dust is equal to or greater than the predetermined value, the process proceeds to step S21, and it is determined that "cleaning is required". If the amount of residual dust is less than the predetermined value, the process proceeds to step S26, and it is determined that "cleaning is unnecessary".

In steps S21 and S26, the need for cleaning is determined based on the amount of residual dust, and then the process proceeds to step S22. In step S22, the liquid crystal display 29 displays the necessity of cleaning inside the building 10 determined in steps S17 and S25 and the necessity of cleaning inside the building 10 determined in steps S21 and S26. Specifically, for example, if it is determined that "it is messy" in step S17 and that it is determined that "cleaning is necessary" in step S21, the liquid crystal display will say, "I need to clean up. I need to clean." 29. Subsequently, the process proceeds to step S23, and after each data such as the exposed floor area ratio, the total value of object heights, the amount of residual dust, etc. is stored in the storage unit 31, this process is terminated.

According to the configuration of the present embodiment described in detail above, the following excellent effects are obtained.

(1) According to the present embodiment, in the building 10 , the exposed floor area ratio is calculated based on the results detected by the state detection sensor 28 , and the exposed floor area ratio is stored in the storage unit 31 . The internal state of the building 10 is determined based on the change over time of the exposed floor area ratio stored in the storage unit 31 . Specifically, the maximum value of the exposed floor area ratio within a predetermined period is grasped, and when the exposed floor area ratio is equal to or less than the predetermined ratio with respect to this maximum value, it is determined that the inside of the building 10 is cluttered. be done.

In a situation where the inside of the building 10 is not cluttered, the floor space occupied by unstored objects (for example, furniture such as sofas 21, desks 22, chairs 23, etc.) is substantially constant. The floor area is also almost constant. Therefore, it is assumed that the ratio of the exposed floor area to the total floor area in the building 10 is a substantially constant numerical value. That is, by grasping the temporal change in the exposed floor area ratio, the change in the exposed floor area ratio can be grasped. As a result, it is possible to determine the exposed floor area ratio when an object is stored in a predetermined position and the exposed floor area ratio when an object is left on the floor without being stored in a predetermined position. Therefore, the situation in which the maximum value of the exposed floor area ratio within a predetermined period is detected is that objects are stored in predetermined positions and the objects placed on the floor in the building 10 are fixed to some extent (for example, furniture). Therefore, according to the present embodiment, when the maximum value of the exposed floor area ratio is a reference value, and the ratio is equal to or less than a predetermined ratio with respect to the maximum value, it is determined that the floor area is in a messy state, indicating that tidying up is necessary. .

The predetermined ratio is appropriately set assuming a situation before the burden of tidying up becomes large. As a result, it is possible to recognize that the number of items that must be stored in a predetermined position is increasing, and the necessity of tidying up can be noticed before the burden of tidying up increases, thereby enhancing the user's comfort. be able to.

(2) According to the present embodiment, in the building 10, the total value of object heights is calculated based on the results detected by the state detection sensor 28, and the total value of the object heights is stored in the storage unit 31. be done. The state inside the building 10 is determined based on the change over time of the total value of object heights stored in the storage unit 31 . Specifically, when the total value of object heights is equal to or greater than a predetermined ratio with respect to the minimum total value of object heights within a predetermined period, it is determined that the building is cluttered.

When the objects are stored in a predetermined position, the ornaments to be placed on the furniture such as the sofa 21, the desk 22, the chair 23, etc. are also determined, and the height of the furniture and the ornaments does not change. On the other hand, when an object is not stored in a predetermined position, it may be left not only on the floor but also on furniture such as the sofa 21, the desk 22, and the chair 23. In this case, the height of the objects stored in the furniture changes due to the existence of the objects left on the furniture without being stored in a predetermined position. In other words, when the object is stored in a predetermined position, the height of the object is detected as a substantially constant value. is higher than that value.

Therefore, the change in the height of the object can be grasped by grasping the temporal change of the total value of the object height. With this, the height (total) of objects stored in a specified position and the height (total) of objects left on the floor or furniture without being stored in a specified position ) can be judged. The storage status of objects in the building 10 can be grasped based on the change in the total value of object heights. The situation in which the minimum total value of the heights of objects within a predetermined period is detected is when objects are stored in predetermined positions, and objects placed on the floor and furniture in the building 10 are fixed to some extent ( For example, furniture, ornaments, etc.). Therefore, when the minimum total height of objects is used as a reference value and is equal to or greater than a predetermined ratio with respect to the minimum total height, it is determined that the object needs to be put away and that the object is in a messy state.

The predetermined ratio is appropriately set assuming a situation before the burden of tidying up becomes large. As a result, the necessity of tidying up can be noticed before the burden of tidying up increases, and the comfort of the user can be enhanced. Further, by grasping the storage condition of objects in the building based not only on the change in the exposed floor area ratio but also on the change in the height of the object, it is possible to grasp the storage condition of objects in the building 10 more reliably. can be done.

(3) According to the present embodiment, the weight sensor 26 measures the amount of dust acquired by cleaning with the self-propelled cleaner 25 . As a result, the amount of residual dust that can remain in the building 10 (that is, the degree of residual dirt) can be calculated based on the exposed floor area ratio. By knowing the amount of residual dust, the user can become aware of the sanitary condition of the room, which can improve the user's health condition and thus improve the user's comfort.

The present invention is not limited to the above embodiments, and may be implemented as follows, for example.

(1) In the above-described embodiment, the condition inside the building 10 is determined based on the time-dependent change in the ratio of exposed floor area to the total floor area. floor area) may be detected, and the state determination within the building 10 may be performed based on the change in the exposed floor area over time. Even in this case, by establishing a reference value for the exposed floor area and comparing the exposed floor area to the reference value, it is possible to determine whether the interior of the building 10 is clean or cluttered.

(2) In the above embodiment, the state detection sensor 28 serves as the floor area measuring means and the height detecting means, but the floor area measuring means and the height detecting means may be different means. For example, as the floor area measuring means, the exposed area may be detected by image recognition using a camera. As the floor area measuring means, the self-propelled cleaner 25 may be provided with a sensor capable of detecting the locus of movement, and the exposed area may be detected based on the locus of movement. In these cases, the total floor area should be registered in advance. Further, as the height detection means, the height of an object placed on the floor may be detected by a distance measuring sensor such as an infrared ray or an ultrasonic wave.

(3) In the above embodiment, the state detection sensor 28 serves as the floor area measuring means and the height detecting means. A position detection means for detecting the position of an object placed on the floor in the living room 11 may be further provided.

The position detection means is a sensor such as an ultrasonic sensor, a laser radar, a millimeter wave radar, a camera, or the like. When the position detection means is a sensor, the state detection sensor 28 used in the above embodiment can also be used as the position detection means. Specifically, the position information of the object detected by the state detection sensor 28 in the above embodiment is also used for the state determination processing. In this case, the state detection sensor 28 as position detection means detects an object and its position in the living room 11 , and the position information is stored in the storage section 31 . Then, it is determined whether the interior of the building 10 is clean or cluttered based on the change in the exposed floor area ratio over time, the change in the height of the object over time, and the change over time in the positional information stored in the storage unit 31. be.

Here, in the change over time of position information, for example, among objects detected in a predetermined period, objects that are not continuously detected at that position in a predetermined period (that is, detection and non-detection states in a predetermined period) The object at the position where it was) is judged as an object left without being stored. Then, as for the state determination inside the building 10, it is sufficient to determine whether the building 10 is clean or cluttered based on the number of the abandoned objects. For example, when the number of abandoned objects in the building 10 is equal to or greater than a predetermined value (eg, 10), it is determined that the building is cluttered.

(4) In the above embodiment, the reference values for the total exposed floor area ratio and object height are the maximum value and the minimum total value of past detection results in a predetermined period, respectively. It is good also as a structure registered. In this case, for example, a situation in which the user feels that the inside of the building is clean can be registered as a reference value. Also, when new furniture is purchased or furniture is discarded, the reference value can be changed by the user. By allowing the user to register and change the reference value, it is possible to correlate the determination result of the state determination system (for example, the determination that the room is cluttered) with the user's comfort.

(5) In the above embodiment, the state determination system in the building 10 for residential use has been described, but the state determination system in the building of the present invention is not limited to residential use, and can be used in buildings such as commercial buildings and warehouses. You may apply the state determination system in the building of this invention.

(6) In the above embodiment, the amount of residual dust is converted based on the amount of dust acquired by the self-propelled cleaner 25. However, for example, the amount of dust acquired by the user using the vacuum cleaner may be transmitted from the cleaner to the controller 30 .

(7) In the above embodiment, the state detection sensor 28 is configured to detect the state inside the building once a day. ), or constantly detect the state inside the building 10 .

DESCRIPTION OF SYMBOLS 10... Building 11... Living room 25... Self-propelled vacuum cleaner 26... Weight sensor 28... State detection sensor constituting object detection means, floor area measurement means, and height detection means, 30... Controller, 31... Memory A storage unit that constitutes means.

Claims (4)

Equipped with an object detection means for detecting the presence of an object in the building,
The object detection means is a floor area ratio detection means for detecting an exposed floor area ratio, which is a ratio of the exposed floor area to the total floor area, when the area of the exposed floor surface in the building is defined as the exposed floor area. has
storage means for storing the exposed floor area ratio detected by the floor area ratio detection means;
a state determination means for determining whether the interior of the building is clean or cluttered based on the change over time of the exposed floor area ratio stored by the storage means;
with
further comprising reference value calculation means for calculating, as a reference value for the exposed floor area ratio, the maximum value of the exposed floor area ratio in a predetermined period stored by the storage means;
The state determination means is
determining that the inside of the building is cluttered when the exposed floor area ratio detected by the floor area ratio detecting means is equal to or less than a predetermined ratio with respect to the reference value;
The state of the inside of the building, wherein the inside of the building is determined to be clean when the exposed floor area ratio detected by the floor area ratio detecting means is not equal to or less than the predetermined ratio with respect to the reference value. judgment system. The object detection means comprises height detection means for detecting the height of an object placed on the floor surface in the building,
the storage means stores the height of the object detected by the height detection means;
wherein the state determination means determines whether the interior of the building is clean or cluttered based on the time-dependent change in the exposed floor area ratio and the time-dependent change in the height of the object stored by the storage means. Item 1. The in-building state determination system according to Item 1. The object detection means comprises position detection means for detecting the position of an object placed on the floor within the building,
the storage means stores the position of the object detected by the position detection means;
3. The state determination means determines whether the inside of the building is clean or cluttered based on the time-dependent change in the exposed floor area ratio and the time-dependent change in the position of the object stored by the storage means. 2. The state determination system in the building according to 1 . For a cleaning target that is either a self-propelled vacuum cleaner that cleans while moving in the building or a person, a dust amount measuring means for measuring an amount of dust acquired by the cleaning target in the building is further provided. prepared,
The state determination means determines whether residual dirt remains in the building based on the time-dependent change in the exposed floor area ratio stored in the storage means and the amount of dust in the building measured by the dust amount measurement means. 4. The in-building condition determination system according to any one of claims 1 to 3 , which determines the degree of temperature.

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