Patent Publication Number: US-9895039-B2

Title: Indoor unit of air-conditioning apparatus

Description:
TECHNICAL FIELD 
     The present invention relates to indoor units of air-conditioning apparatuses, and more specifically, it relates to an air-conditioning apparatus indoor unit including imaging unit capable of capturing an image of a room. 
     BACKGROUND ART 
     An indoor-unit control system has been developed that controls an autonomous vacuum cleaner to facilitate simplification of the structure of the autonomous vacuum cleaner (refer to Patent Literature 1, for example). 
     CITATION LIST 
     Patent Literature 
     [Patent Literature 1] Japanese Unexamined Patent Application Publication No. 7-271426 (pp. 6-7, FIG. 15) 
     SUMMARY OF INVENTION 
     Technical Problem 
     The indoor-unit control system disclosed in Patent Literature 1 includes a device controller, an autonomous vacuum cleaner, and an air-conditioning apparatus. The device controller is provided with a camera unit that captures an image of a room. The control system is capable of distinguishing a stationary object and a moving object on the basis of the captured image. 
     The control system can therefore identify an obstacle in the room using a stationary object detecting function and detect motion of the autonomous vacuum cleaner using a moving object detecting function. Accordingly, a control instruction is determined in accordance with vacuum cleaner traveling algorithms for, for example, obstacle avoidance, overlapping traveling avoidance in principle, and fundamental compliance with the previous optimal way of traveling. Various instructions for traveling, stopping, rotation, speed, and the like are converted into signals and the signals are transmitted to the autonomous vacuum cleaner. When receiving the signals, the autonomous vacuum cleaner efficiently cleans the room in accordance with the instructions while avoiding a person or an obstacle. Accordingly, it is only required that the autonomous vacuum cleaner has an operation function and a stop function. The autonomous vacuum cleaner has a very simple structure because it does not need a camera and a sensor. 
     Furthermore, the position of a user (person) in the room can be similarly identified. Accordingly, the air-conditioning apparatus can blow conditioned air to the user (or so as to avoid the user). 
     Although the indoor-unit control system disclosed in Patent Literature 1 can facilitate simplification of the structure of the autonomous vacuum cleaner, the system has to include the device controller provided with the camera unit. Disadvantageously, the control system is expensive therefor. 
     Furthermore, the device controller has to be disposed on a ceiling. This involves troublesome installation work. In addition, disadvantageously, such an additional object protruding from the ceiling degrades the appearance of the room. 
     The present invention intends to overcome the above-described disadvantages and meet the above-described requirements, and relates to controlling an autonomous vacuum cleaner without any special device controller. More particularly, the invention relates to effective utilization of an indoor unit of an air-conditioning apparatus. 
     Solution to Problem 
     The present invention provides an air-conditioning apparatus indoor unit that includes a body to be disposed on a wall of a room, the body having an air inlet and an air outlet, an air-sending device sucking indoor air through the air inlet to provide an air path leading to the air outlet, a heat exchanger disposed in the air path, the heat exchanger serving as part of a refrigeration cycle, a blowing direction control device disposed in the air outlet, the blowing direction control device controlling a blowing direction of air conditioned by the heat exchanger, an imaging device capturing an image of inside of the room, and a controller controlling the air-sending device, the refrigeration cycle, and the blowing direction control device on the basis of an image captured by the imaging device. The controller has an automatic cleaning mode for controlling an autonomous vacuum cleaner and controls the autonomous vacuum cleaner in the automatic cleaning mode on the basis of an image captured by the imaging device. 
     Advantageous Effects of Invention 
     The air-conditioning apparatus indoor unit according to the present invention includes the imaging device. The controller controls the air-sending device, the refrigeration cycle, and the blowing direction control device and has a function for controlling the autonomous vacuum cleaner on the basis of an image captured by the imaging device. It is therefore unnecessary to additionally install a dedicated device controller to control the autonomous vacuum cleaner. Accordingly, installation work is not needed. The autonomous vacuum cleaner can be controlled at low cost. Furthermore, since any additional object does not protrude from a ceiling, a desirable appearance of a room can be maintained. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a front view illustrating an air-conditioning apparatus indoor unit according to Embodiment 1 of the present invention. 
         FIG. 2  is a side view of the indoor unit of  FIG. 1  in cross-section. 
         FIG. 3  is a perspective view of part (in the vicinity of an air outlet) of the indoor unit of  FIG. 1 . 
         FIG. 4  is a perspective view of an autonomous vacuum cleaner that receives an operation signal from the indoor unit of  FIG. 1 . 
         FIG. 5  is a flowchart explaining the steps of automatic cleaning by the indoor unit of  FIG. 1 . 
         FIG. 6  includes a plan view explaining an example of convergent blow in automatic cleaning by the indoor unit of  FIG. 1  and a plan view explaining exemplary cleaning areas in automatic cleaning. 
         FIG. 7  is a side view that explains an air-conditioning apparatus indoor unit according to Embodiment 2 of the invention and illustrates convergent blow. 
         FIG. 8  is a flowchart explaining the steps of automatic cleaning by an air-conditioning apparatus indoor unit according to Embodiment 3 of the invention. 
         FIG. 9  is a front view explaining an air-conditioning apparatus indoor unit according to Embodiment 4 of the invention. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     Embodiment 1 
       FIGS. 1 to 6  are diagrams explaining an air-conditioning apparatus indoor unit according to Embodiment 1 of the present invention.  FIG. 1  is a front view of the indoor unit.  FIG. 2  is a side view of the indoor unit in cross-section.  FIG. 3  is a perspective view of part (in the vicinity of an air outlet) of the indoor unit.  FIG. 4  is a perspective view of an autonomous vacuum cleaner that receives an operation signal from the indoor unit.  FIG. 5  is a flowchart explaining the steps of automatic cleaning.  FIG. 6( a )  is a plan view explaining an example of convergent blow in automatic cleaning.  FIG. 6( b )  is a plan view explaining exemplary cleaning areas in automatic cleaning. Note that the figures are schematically illustrated and the invention is not limited to the illustrated embodiment. 
     (Indoor Unit) 
     As illustrated in  FIGS. 1 to 3 , an air-conditioning apparatus indoor unit (hereinafter, referred to as an “indoor unit”)  100  includes a body  1  having an air inlet  3  positioned in upper part of the body and an air outlet  7  positioned in lower part thereof, a front panel  2  openably covering the front of the body  1 , an air-sending device  5  sucking indoor air through the air inlet  3  to provide an air path  6  leading to the air outlet  7 , and a heat exchanger  4  positioned upstream of the air-sending device  5  (i.e., adjacent to the air inlet  3 ). 
     The indoor unit  100  further includes a transmitting device  40  to transmit an operation signal to an autonomous vacuum cleaner  70  (refer to  FIG. 4 ) and an imaging device  50  to capture an image of a room such that the devices are arranged on the front of the body  1  near the air outlet  7 . 
     As regards the transmitting device  40  and the imaging device  50  in the invention, any type of device may be used and the device may be disposed in any position. For example, these devices may be arranged on central part of the front panel  2 . Additionally, the indoor unit  100  includes an annunciator (not illustrated) to provide information about an operation state of the indoor unit using sounds or images. 
     (Heat Exchanger) 
     The heat exchanger  4 , which is one of components performing a refrigeration cycle, includes a front heat exchanging portion  4   a  positioned substantially parallel to the front panel  2 , a front upper heat exchanging portion  4   b  positioned diagonally above the front of the air-sending device  5 , and a rear upper heat exchanging portion  4   c  positioned above the rear of the air-sending device  5 . The indoor unit  100  further includes a drain pan  8  placed under the front heat exchanging portion  4   a . The drain pan  8  has an upper surface  8   a  that serves as a drain pan face for actually receiving drain water and has a lower surface  8   b  that defines a front surface of the air path  6 . 
     (Blowing Direction Control Device: Up-Down Deflectors) 
     The indoor unit  100  includes a blowing direction control device. The blowing direction control device includes a left group  10 L of right-left deflectors and a right group  10 R of right-left deflectors (hereinafter, referred to collectively as “right-left deflectors  10 ” and individually as a “right-left deflector  10 ”) to control a blowing direction of indoor air conditioned (hereinafter, referred to as “conditioned air”) by the heat exchanger  4  relative to the horizontal direction (right-left direction). The right-left deflectors  10  are arranged in the air path  6  in the vicinity of the air outlet  7 . The blowing direction control device further includes up-down deflectors  9  (including a front up-down deflector  9   a  and a rear up-down deflector  9   b , which are referred to collectively as the “up-down deflectors  9 ”) to control the blowing direction of the conditioned air relative to the vertical direction (up-down direction). The up-down deflectors  9  are arranged in the air outlet  7 , serving as an end of the air path  6 . 
     As used herein, the terms “left” and “right” refer to the left and right sides when the room is viewed from the indoor unit  100 , namely, in a direction from the rear of the body  1  to the front panel  2 . 
     (Blowing Direction Control Device: Right-Left Deflectors) 
     The right group  10 R of right-left deflectors includes right-left deflectors  10   a ,  10   b , . . . , and  10   g  which are rotatably arranged on the lower surface  8   b  of the drain pan  8  and are connected by a right connecting rod  20 R. The left group  10 L of right-left deflectors includes right-left deflectors  10   h ,  10   i , . . . , and  10   n  which are connected by a left connecting rod  20 L. 
     The right group  10 R of right-left deflectors and the right connecting rod  20 R constitute a link mechanism. Furthermore, the left group  10 L of right-left deflectors and the left connecting rod  20 L constitute a link mechanism. The right connecting rod  20 R is coupled to right driving unit (not illustrated) and the left connecting rod  20 L is coupled to left driving unit  30 L. 
     Accordingly, when the right connecting rod  20 R is shifted by the right driving unit, the right-left deflectors  10   a ,  10   b , . . . , and  10   g  are rotated while being parallel to one another. When the left connecting rod  20 L is shifted by the left driving unit  30 L, the right-left deflectors  10   h ,  10   i , . . . , and  10   n  are rotated while being parallel to one another. This allows conditioned air to be blown in the same direction throughout the width of the air outlet  7  or to be blown such that air flow components each corresponding to half the width of the air outlet  7  are blown away from each other or to be blown such that the air flow components each corresponding to half the width of the air outlet  7  hit against each other. 
     The right-left deflectors  10  in the invention are not limited to the shape illustrated and may have any shape. Furthermore, any number of right-left deflectors  10  may be arranged. In addition, the right-left deflectors  10  may be divided into at least three groups, the right-left deflectors of each group may be rotatably joined to a connecting rod, and the rods may be independently shifted. 
     (Up-Down Deflectors) 
     Each up-down deflector  9  has a rotation axis parallel to the horizontal direction (Y direction) and is rotatably attached to the body  1 . A rotation shaft of the front up-down deflector  9   a  and a rotation shaft of the rear up-down deflector  9   b  are connected by a link mechanism or gear mechanism and are rotated by a common driving motor. 
     The up-down deflectors  9  in the invention are not limited to the configuration illustrated. The front up-down deflector  9   a  and the rear up-down deflector  9   b  may be rotated by different driving motors. Alternatively, each of the up-down deflectors  9  may be divided at the center in the lateral direction such that four up-down deflectors  9  are arranged. The up-down deflectors  9  may be rotated independently. 
     (Autonomous Vacuum Cleaner) 
     In  FIG. 4 , the autonomous vacuum cleaner  70  includes a body  71  shaped like a flat container, a receiving unit  72  to receive an operation signal from the indoor unit  100 , a dust collecting unit (not illustrated) accommodated in the body  71 , a traveling driving unit (not illustrated) accommodated in the body  71 , and wheels  73  projecting from a lower surface of the body  71 . 
     Specifically, the autonomous vacuum cleaner  70  receives an operation signal transmitted from the indoor unit  100 , suction power of the dust collecting unit is controlled (namely, the rotation speed of a suction fan (not illustrated) is increased or reduced) on the basis of this signal, and a traveling direction and traveling speed are changed (or maintained). The autonomous vacuum cleaner  70  in the invention is not limited to the type illustrated. The body  71  may have any shape other than flat. 
     (Controller) 
     The indoor unit  100  includes a controller  60 . To provide a comfort air-conditioned environment, the controller  60  has a function (hereinafter, referred to as “air-conditioning control”) for controlling the refrigeration cycle, the air-sending device  5 , the right-left deflectors  10 , and the up-down deflectors  9  and further has a function (hereinafter, referred to as “cleaner control”) for controlling the autonomous vacuum cleaner  70 . 
     The controller  60  distinguishes a stationary object which remains still in the room and a moving object which is moving in the room on the basis of an image captured by the imaging device  50 , and determines the position and size of the stationary object. 
     Furthermore, the controller  60  remembers the positions and sizes of stationary objects, such as components (e.g., walls) of the room and furniture (e.g., a desk, a sofa, a bookcase, and a wardrobe). For the convenience of description, the furniture will be referred to as a “stationary three-dimensional object  80 ”. As regards a person (user) staying at a given position in the room, although such a person is a stationary object, the person is not misidentified as a stationary three-dimensional object because human beings have a slightly changing outline and their bodies have no flat or smoothly curved surface. 
     (Cleaner Control) 
     The cleaner control of the controller  60  will be described with reference to a flowchart of  FIG. 5 . 
     The controller  60  determines whether an “automatic cleaning mode” has been set (S 1 ). 
     Specifically, the user can set the automatic cleaning mode by operating a remote control (not illustrated) when leaving home. Alternatively, the automatic cleaning mode is automatically set when a predetermined time (e.g., 24 hours) has elapsed since the last automatic cleaning. 
     If the automatic cleaning mode has been set, the controller  60  determines on the basis of an image captured by the imaging device  50  whether there is a person (user) in a room  90  (S 2 ). 
     If there is a person in the room  90 , the controller  60  does not transmit an operation signal to the autonomous vacuum cleaner  70  (S 11 ), because the autonomous vacuum cleaner  70  is not allowed to operate. If an air-conditioning operation is being executed, the controller  60  continues the operation. If the air-conditioning operation is suspended, the controller  60  continues the suspension (S 12 ). 
     If there is no person in the room  90  (for example, the user is away from home), the controller  60  controls the autonomous vacuum cleaner  70  to clean the room. In this case, if the air-conditioning operation is being executed (S 3 ), the controller  60  suspends the air-conditioning operation (refrigeration cycle) (S 13 ). 
     To blow dust off the stationary three-dimensional object  80 , the controller  60  rotates the air-sending device  5  and controls the orientations of the right-left deflectors  10  and the up-down deflectors  9  to achieve convergent blow of indoor air to the stationary three-dimensional object  80  (S 4 ). In this case, it is preferable that the blown indoor air directly hit against a top surface of the stationary three-dimensional object  80 . Furthermore, the indoor air may be blown in an intermittent manner such that blowing of the air for a predetermined time (e.g., one minute) is alternately allowed and interrupted while blown-off dust falls (for example, for one minute), and such intermittent blow may be repeated multiple times. 
     In cases where there are a plurality of stationary three-dimensional objects  80 , the above-described blow (intermittent blow) is performed for each object in turn. 
     When air flow in the room settles such that the blown-off dust has fallen down after the air-sending device  5  is stopped at the completion of the convergent blow to the stationary three-dimensional object  80  (for example, when two minutes have elapsed since the termination of the convergent blow) (S 5 ), the controller  60  transmits an operation signal to the autonomous vacuum cleaner  70  to start automatic cleaning (S 6 ). 
     During the automatic cleaning, the autonomous vacuum cleaner  70  cleans a floor while moving. If the autonomous vacuum cleaner  70  is out of the field of view of the imaging device  50 , the autonomous vacuum cleaner  70  is actually traced by the controller  60 . 
     Specifically, the controller  60  remembers the positions of the walls of the room and the position and size of the stationary three-dimensional object  80 . For example, if the autonomous vacuum cleaner  70  enters a space under the stationary three-dimensional object  80  or a blind spot of the imaging device  50  such that the cleaner is out of the field of view of the imaging device  50 , the controller  60  estimates the position of the autonomous vacuum cleaner  70  by calculation based on a moving direction and a moving speed of the autonomous vacuum cleaner  70 . Accordingly, if the autonomous vacuum cleaner  70  is out of the field of view of the imaging device  50 , the autonomous vacuum cleaner  70  can be stopped and moved backward so as to prevent collision with the wall or can be allowed to travel along the wall. When the imaging device  50  again comes into the field of view of the imaging device  50 , the controller  60  determines the position of the autonomous vacuum cleaner  70  on the basis of an actually captured image and uses the position as a correct position for the next control. 
     The autonomous vacuum cleaner  70  may have any movement path (moving manner). While avoiding the stationary three-dimensional object or entering a space under the stationary three-dimensional object, the autonomous vacuum cleaner  70  may move along many lines parallel to one wall in principle, or move spirally around the center of the room. 
     As regards a dusty area (e.g., an area near or surrounding the stationary three-dimensional object or an area (corresponding to a “living zone”) in which a person is often present, it is preferable that the moving speed of the autonomous vacuum cleaner  70  be reduced, the amount of overlapping between cleaning ranges (the extent of overlapping between a cleaning range during advancing and a cleaning range during returning) be increased, and/or a dust suction rate be increased in such an area (these actions will be referred to collectively as “performing (allowing) powerful cleaning”). 
     At the termination of movement in the room, the autonomous vacuum cleaner  70  completes a series of automatic cleaning steps (S 7 ) at a position where the cleaning operation is finished or after moving to a predetermined standby position. The control is terminated. 
     (Advantages) 
     Since the controller  60  performs the air-conditioning control and the cleaning control, the indoor unit  100  does not need an additional device controller (provided with, for example, a camera and transmitting unit) for cleaner control. Advantageously thereby, the autonomous vacuum cleaner  70  can be controlled at low cost. In addition, since it is unnecessary to attach an additional object (device controller dedicated for cleaner control) on the ceiling, a desirable appearance of the room can be maintained. 
     Furthermore, when it is determined that there is no person in the room  90 , the autonomous vacuum cleaner  70  is permitted to move. Accordingly, there is no interference with a person, so that an algorithm for movement can be simplified. 
     In addition, since the convergent blow of indoor air to the stationary three-dimensional object is performed before start of cleaning, dust on the stationary three-dimensional object can be allowed to fall on the floor. In other words, dust deposited on places other than the floor can be removed, so that the room can be subjected to thorough cleaning. 
     When air flow in the room settles after the air-sending device  5  is stopped, the autonomous vacuum cleaner  70  starts cleaning. Advantageously, dust having fallen from the stationary three-dimensional object can be prevented from being stirred up. 
     As regards an area in which dust on the stationary three-dimensional object  80  will fall (for example, an area near or surrounding the stationary three-dimensional object  80  or an area on the leeward side of the stationary three-dimensional object  80 ) or an area (corresponding to the “living zone”) in which a person is often present, more powerful cleaning is performed in this area than that in the other area. Advantageously, this facilitates dust removal and the room can be cleaned more thoroughly. 
     In the above description, automatic cleaning is executed after the convergent blow of indoor air to the stationary three-dimensional object  80 . The convergent blow of indoor air to the stationary three-dimensional object  80  may be omitted and only automatic cleaning may be executed. 
     Furthermore, although automatic cleaning is executed while a person is away from the room in the above description, automatic cleaning may be executed while a person is present in the room. In this case, the autonomous vacuum cleaner  70  may move within an area with no interference (contact) with the person or may perform a silent operation (in which the rate of suction of indoor air is reduced) in an area near the person or in the entire room. 
     Example 
     Referring to  FIG. 6( a ) , the indoor unit  100  is disposed on one wall (back wall)  91  of the room  90 . A sideboard  81  and a television stand  83  (on which a television  82  is placed) are arranged along a left wall  92 . A table  84  and a sofa  85  are arranged at substantially the center of the room  90 . For the convenience of description, a stationary three-dimensional object is not disposed in an area near a wall (front wall)  93  opposite the wall  91 . 
     First, the indoor unit  100  blows indoor air (unconditioned air) W 81  to the sideboard  81  positioned closest to the indoor unit  100  such that the blown air converges on a top surface of the sideboard  81 . In this case, blowing of the indoor air W 81  for a predetermined time (e.g., one minute) is performed multiple times (e.g., three times) at regular intervals (e.g., one minute). 
     Then, the indoor unit  100  sequentially blows indoor air W 83 , indoor air W 84 , and indoor air W 85  to the television stand  83 , the table  84 , and the sofa  85 , respectively, such that the blown air converges on such a target in the same way. 
     The blown indoor air, serving as a given flux, flows while mixing with ambient air and has accordingly some degree of spread. Therefore, strictly, the blown indoor air does not converge on and hit against the top surface of, for example, the sideboard  81 . 
     In  FIG. 6( b ) , the controller  60  allows the autonomous vacuum cleaner  70  to start automatic cleaning when a predetermined time (e.g., three minutes) has elapsed since the termination of blowing of the indoor air W 85  and air flow in the room  90  settles. 
     Specifically, the autonomous vacuum cleaner  70  starts moving parallel to the wall  92  from a home position (corresponding to a standby position or storage position) to the indoor unit  100  (hereinafter, referred to as “forward movement”) while sucking dust on a floor  95 . Upon movement by a certain distance, the autonomous vacuum cleaner  70  moves parallel to the wall  91  (hereinafter, such motion will be referred to as “lateral movement”). Then, the autonomous vacuum cleaner  70  moves forward to the indoor unit  100  or away from the indoor unit  100  (hereinafter, such motion will be referred to as “backward movement”) while being parallel to the wall  92 . 
     In this case, convergent blowing of, for example, the indoor air W 81  has allowed dust on the top surface of the sideboard  81  and the like to fall downward. Accordingly, the dust may be in an area near the sideboard  81  and an area on the leeward side of the sideboard  81  relative to the indoor air W 81  and the like. 
     The autonomous vacuum cleaner  70  increases suction power, reduces a distance of lateral movement in order to increase the amount of overlapping of a cleaning range during forward movement and that during backward movement, or reduces a moving speed during forward and backward movements in a dust fall area  96  in the surrounding of the sideboard  81  and the television stand  83  and a dust fall area  97  in the surrounding of the table  84  and the sofa  85 . 
     Furthermore, since a person does not often enter an area  98  (hereinafter, referred to as a “non-living zone” which is not a “living zone”) near the corner between the wall  91  and a wall  94 , the autonomous vacuum cleaner  70  does not perform automatic cleaning in the non-living zone  98 . 
     Although the above-described automatic cleaning manner changes depending on area of the floor  95 , the present invention is not limited to this example. The entire floor  95  (excluding an area, for example, the sideboard  81 , in which the autonomous vacuum cleaner  70  cannot enter) in the room  90  may be cleaned in the same automatic cleaning manner. 
     Embodiment 2 
       FIG. 7  is a diagram explaining an air-conditioning apparatus indoor unit according to Embodiment 2 of the invention and is a side view illustrating convergent blow. The same components as those in Embodiment 1 are designated by the same reference numerals and redundant description is omitted. 
     In  FIG. 7 , an air-conditioning apparatus indoor unit (hereinafter, referred to as an “indoor unit”)  200  can reverse the direction of air sending by the air-sending device  5  in the indoor unit  100 . Specifically, the air-sending device  5  can rotate (forward) in a predetermined direction to suck indoor air through the air inlet  3  and blow the air from the air outlet  7  and can rotate (backward) in the inverse direction of the predetermined direction to suck indoor air through the air outlet  7  and blow the air through the air inlet  3 . 
     Accordingly, the indoor unit  200  blows indoor air W 99  through the air inlet  3  to a ceiling  99  before automatic cleaning. The indoor air W 99  is reflected by the ceiling  99 , thus blowing dust off a top surface of the indoor unit  200 . The top surface of the indoor unit  200  can therefore be cleaned. As regards such a blowing manner, intermittent and multiple blowing is preferably performed in a manner similar to the indoor unit  100 . 
     An automatic cleaning manner after blowing dust off the top surface of the indoor unit  200  is the same as that in the indoor unit  100  according to Embodiment 1. 
     Furthermore, the order (first and second) of convergent blow to the stationary three-dimensional object  80  and the ceiling  99  is not limited. In cases where there are a plurality of stationary three-dimensional objects  80 , convergent blow to the stationary three-dimensional objects  80  may be started after convergent blow to the ceiling  99 . Alternatively, convergent blow to the ceiling  99  may be performed at the completion of convergent blow to each of the stationary three-dimensional objects  80 . Alternatively, convergent blow to one of the stationary three-dimensional objects  80  may be performed, convergent blow to the ceiling  99  may then be performed, and after that, convergent blow to the other stationary three-dimensional objects  80  may be performed. 
     Embodiment 3 
       FIG. 8  is a flowchart that explains an air-conditioning apparatus indoor unit according to Embodiment 3 of the invention and explains the steps of automatic cleaning. The same steps as those in Embodiment 1 are designated by the same reference numerals and redundant description is omitted. 
     The air-conditioning apparatus indoor unit (not illustrated) that executes control illustrated in  FIG. 8  includes the same components as those of the indoor unit  100  according to Embodiment 1 but the manner of automatic cleaning differs from that in Embodiment 1. Specifically, in Embodiment 1, a series of convergent blows to the stationary three-dimensional objects  80  and the movement of the autonomous vacuum cleaner are successively performed mainly on the assumption that the user is away from home. On the other hand, the indoor unit according to Embodiment 3 performs convergent blow to one stationary three-dimensional object  80  (for example, the sideboard  81  (refer to  FIG. 6( a ) )) (S 4 ) and then determines whether convergent blow of indoor air to each of the stationary three-dimensional objects  80  has been completed (S 16 ) and further determines whether there is a person in the room  90  (S 14 ) before convergent blow to another stationary three-dimensional object  80  (e.g., the television stand  83  (refer to  FIG. 6( a ) )). 
     If there is a person in the room, the air-conditioning operation is started (S 15 ) instead of convergent blow to another stationary three-dimensional object  80 . On the other hand, if there is no person, convergent blow to another stationary three-dimensional object  80  is continuously performed (S 4 ). 
     As described above, during convergent blow to the stationary three-dimensional objects  80 , the indoor unit according to Embodiment 3 interrupts the convergent blow when the user (person) returns to the room. Accordingly, the user is not exposed to an undesired air-conditioning environment or dust falling from the stationary three-dimensional object  80 . 
     When air flow in the room  90  settles (S 5 ) after convergent blow of indoor air to each of the stationary three-dimensional objects  80  is completed (S 16 ), an operation signal is transmitted to the autonomous vacuum cleaner  70  to start automatic cleaning (S 6 ), as long as there is no person in the room  90  (S 17 ). On the other hand, if the user (person) returns to the room (S 17 ), a stop signal is transmitted to the autonomous vacuum cleaner  70  to interrupt automatic cleaning (S 18 ). At the completion of a series of automatic cleaning steps (S 7 ), control is terminated. 
     In the case of interruption of automatic cleaning, the autonomous vacuum cleaner  70  may be stopped (on standby) at a position upon interruption of automatic cleaning or may return to the predetermined home position (corresponding to the standby position or storage position). If the autonomous vacuum cleaner  70  returns to the predetermined home position, since the controller  60  determines the position of the user (person) in the room, it selects a path with no interference with the user, and allows the autonomous vacuum cleaner  70  to move. 
     Embodiment 4 
       FIG. 9  is a front view explaining an air-conditioning apparatus indoor unit according to Embodiment 4 of the invention. The same components as those in Embodiment 1 are designated by the same reference numerals and redundant explanation is omitted. 
     In  FIG. 9 , an air-conditioning apparatus indoor unit (hereinafter, referred to as an “indoor unit”)  400  includes an infrared sensor  51  in addition to the same components as those of the indoor unit  100  according to Embodiment 1 and is configured such that the controller  60  transmits an operation signal to the autonomous vacuum cleaner  70 , the signal being based on an image captured by the imaging device  50  and information about a temperature measured by the infrared sensor  51 . 
     Specifically, if the user (person) is present in the room, the indoor unit  400  can calculate the degree of activity of the user on the basis of the information about the temperature of the user measured by the infrared sensor  51 . When the calculated degree of activity is less than or equal to a predetermined value, therefore, the indoor unit  400  determines that the user is in a relaxed state, for example, the user is “sleeping” or “intoxicated with music”, and does not transmit an operation signal to the autonomous vacuum cleaner  70 . 
     The indoor unit  400  therefore corresponds to a modification of the indoor unit  100  according to Embodiment 1 and is configured to take a user&#39;s state (relaxed state) into consideration when determining whether to skip convergent blow to any stationary three-dimensional object  80  and allow the autonomous vacuum cleaner  70  to execute automatic cleaning. 
     Furthermore, the indoor unit  400  corresponds to a modification of the indoor unit  200  according to Embodiment 3 and is configured to determine “whether the calculated degree of activity is less than or equal to the predetermined value” instead of the determination as to “whether there is a person in the room  90 ” (S 17  in  FIG. 8 ) just before execution of automatic cleaning by the autonomous vacuum cleaner  70 . 
     REFERENCE SIGNS LIST 
       1 , body;  2 , front panel;  3 , air inlet;  4 , heat exchanger;  4   a , front heat exchanging portion;  4   b , front upper heat exchanging portion;  4   c , rear upper heat exchanging portion;  5 , air-sending device;  6 , air path;  7 , air outlet;  8 , drain pan;  8   a , upper surface;  8   b , lower surface;  9 , up-down deflector;  9   a , front up-down deflector;  9   b , rear up-down deflector;  10 , right-left deflector;  10 L, left group of right-left deflectors;  10 R, right group of right-left deflectors;  10   a , right-left deflector;  10   h , right-left deflector;  20 L, left connecting rod;  20 R, right connecting rod;  30 L, left driving unit;  40 , transmitting device;  50 , imaging device;  51 , infrared sensor;  60 , controller;  70 , autonomous vacuum cleaner;  71 , body;  72 , receiving unit;  73 , wheel;  80 , stationary three-dimensional object;  81 , sideboard;  82 , television;  83 , television stand;  84 , table;  85 , sofa;  90 , room;  91 , wall (back wall);  92 , wall (left wall);  93 , wall (front wall);  94 , wall (right wall);  95 , floor;  96 , dust fall area;  97 , dust fall area;  98 , non-living zone;  99 , ceiling;  100 , indoor unit (Embodiment 1);  200 , indoor unit (Embodiment 2); and  400 , indoor unit (Embodiment 4).