JP2008023142A - Self-propelled vacuum cleaner and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled vacuum cleaner capable of reducing an uncleaned area and efficiently cleaning a cleaned area by improving the accuracy in determining the cleaning time and travel distance in the cleaning area. <P>SOLUTION: The self-propelled vacuum cleaner has: a travel distance measuring part 25 for measuring the distance in which a cleaner body 1 moves; a storage part 24 for storing the locus of movement of the cleaner body; a circuit detecting part 26 for detecting that the cleaner body makes a circuit in the area based on the locus stored in the storage part; a cleaning area computing part 27 for computing the cleaned area by processing the information in the storage part and the information in the circuit detecting part; a cleaning time determining part 28 for determining the cleaning time for the area computed by the cleaning area computing part; and a cleaning distance determining part 29 for determining the travel distance necessary for cleaning the area computed by the cleaning area computing part. Since the cleaning time and the travel distance are determined for the area computed by the cleaning area computing part 27 in this way, the accuracy in determination is improved, and therefore, the uncleaned area can be reduced and the cleaned area can be efficiently cleaned. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a self-propelled cleaner and a program that have a cleaning function and a traveling function and perform automatic cleaning.

Conventionally, as this kind of self-propelled cleaner, for example, in order to work efficiently without performing complicated control, it is completed based on the total cleaning movement time when obstacles are avoided a predetermined number of times In some cases, the time to be determined is determined (see, for example, Patent Document 1).
JP 2004-49779 A

  However, in the above-described conventional configuration, when time is used as a parameter, when cleaning an elongated room and a room close to a square at the same outer peripheral distance, the same cleaning time is calculated although the area is different. Therefore, it cannot be said that the accuracy of the cleaning time is high, and there is a case where an uncleaned area remains although the determined cleaning time is reached.

  The present invention solves the above-described conventional problems, and improves the determination accuracy of a cleaning time and a travel distance with respect to a cleaning area, reduces an uncleaned area, and can perform efficient cleaning, and The purpose is to provide a program.

  In order to solve the above-described conventional problems, the self-propelled cleaner of the present invention includes a travel distance measuring unit that measures a distance traveled by the cleaner body, a storage unit that stores a trajectory moved by the cleaner body, Based on the trajectory of the main body of the cleaner stored in the storage unit, the lap detection unit that detects that the vacuum cleaner has made a round of the area, the information in the storage unit and the information in the lap detection unit are processed, and the area of the area Cleaning area calculation unit that calculates the cleaning time, a cleaning time determination unit that determines a cleaning time for the area calculated by the cleaning area calculation unit, and a travel distance necessary for cleaning the area calculated by the cleaning area calculation unit And a cleaning distance determining unit.

  As a result, the information of the storage unit and the information of the lap detection unit are processed and the cleaning time and the travel distance are determined for the region calculated by the cleaning region calculation unit. Can be cleaned.

  Moreover, the program of the self-propelled cleaner of the present invention is for causing a computer to execute at least a part of the functions of the self-propelled cleaner, and all the self-propelled cleaners using a general-purpose computer are used. Or a part can be easily realized.

  The self-propelled cleaner and the program of the present invention can improve the determination accuracy of the cleaning time and the travel distance with respect to the cleaning area, reduce the uncleaned area, and can clean efficiently.

  The first invention is a travel distance measuring unit that measures a distance traveled by the cleaner body, a storage unit that stores a travel path of the cleaner body, and a travel path of the cleaner body that is stored in the storage unit. Based on the rotation detection unit that detects that the cleaner body has made a round of the area, the cleaning area calculation unit that calculates the area of the area by processing the information of the storage unit and the information of the rotation detection unit, and the cleaning area calculation unit Self-propelled cleaning having a cleaning time determining unit that determines a cleaning time for the calculated region and a cleaning distance determining unit that determines a travel distance necessary for cleaning the region calculated by the cleaning region calculating unit By using the machine, the cleaning time and travel distance are determined for the area calculated by the cleaning area calculation unit by processing the information in the storage unit and the information of the lap detection unit, thereby increasing the determination accuracy and reducing the uncleaned area. , Can be cleaned efficiently.

  In the second invention, in particular, in the first invention, when the time determined by the cleaning time determination unit has elapsed, if the traveling distance does not reach the distance determined by the cleaning distance determination unit, the cleaning that extends the cleaning time By providing a time change unit, even if the vehicle travels in a place with a large coefficient of friction, such as a carpet, or if it deliberately changes the travel speed, it is not Since it is determined that there is a cleaning area and the cleaning time is extended, there is no uncleaned area.

  According to a third aspect of the invention, in particular, in the second aspect of the invention, the cleaning time changing unit periodically measures the ratio of the elapsed cleaning time to the time determined by the cleaning time determination unit and the travel distance with respect to the distance determined by the cleaning distance determination unit. If there is a difference, by changing the cleaning time, the cleaning time is corrected during the cleaning, so that the cleaning time can be quickly known.

  In a fourth aspect of the invention, in particular, in any one of the first to third aspects of the invention, the cleaning time calculated by the cleaning time determination unit is the size of the area of the area calculated based on the trajectory stored in the storage unit. By determining accordingly, the cleaning time can be accurately determined.

  In particular, in any one of the first to fourth inventions, the fifth invention is a cleaning time for notifying the cleaning time determined by the display, sound or voice and the cleaning time determined by the cleaning time determination unit from the notification unit. By providing the notification unit, the user can know the cleaning time.

  In particular, according to a sixth aspect of the present invention, in any one of the first to fifth aspects of the present invention, an informing unit that informs by display, sound, or voice, and a cleaning time change notifying unit that informs the change of the cleaning time from the informing unit. By providing, the user can know that the cleaning time has been changed according to the cleaning status.

  According to a seventh aspect of the invention, in particular, in any one of the first to sixth aspects of the invention, by providing a time counting unit that measures time and a cleaning completion time notifying unit that notifies the cleaning completion time, the user can You can know when cleaning is complete.

  The eighth invention is particularly a program for causing a computer to realize at least a part of the functions of the self-propelled cleaner in any one of the first to seventh inventions. Since it is a program, it is possible to easily realize at least a part of a self-propelled cleaner by cooperating hardware resources such as an electric / information device, a computer, and a server. Also, program distribution and installation can be simplified by recording on a recording medium or distributing a program using a communication line.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the embodiments.

(Embodiment)
The figure shows a self-propelled cleaner in an embodiment of the present invention.

  As shown in FIG. 1, the cleaner body 1 includes a drive wheel 2 that travels and a cleaning unit 3 that sucks up dust and dirt on the floor surface with a nozzle, a brush, and a suction motor. In addition, there are two ultrasonic sensor transmitters 4a for detecting obstacles ahead, and three ultrasonic sensor transmitters 4b for receiving ultrasonic waves reflected from the obstacles. Furthermore, two infrared sensors 5 are provided on the right side of the main body in order to smoothly run along the wall without meandering. In addition, there are a plurality of auxiliary drive wheels 7 (only one is shown) to support the cleaner body 1 during travel, and a travel sensor 6 is provided to detect one travel state of the auxiliary drive wheels. Further, there is a gyro sensor 8 for grasping the angle in the traveling direction. By using this gyro sensor 8, coordinate positions of X (vertical direction) and Y (horizontal direction) can be stored. Moreover, although not shown in figure, the front part of the vacuum cleaner main body 1 is equipped with the collision detection part which detects a collision by any chance when it collides with an obstacle.

  In FIG. 2, the self-propelled cleaner is a control unit 21 that performs arithmetic processing on input information and data such as travel control and movement position calculation, and generates and sends control signals and data, and becomes an obstacle. Obstacle detection unit 22 for detecting an object, steering / driving unit 23 for moving the cleaner body 1 in a desired direction, information on the environment in which the cleaner body 1 travels, such as the position of the cleaner body 1 and the presence or absence of obstacles There is a storage unit 24 for storing the map information.

  The control unit 21 includes, for example, a CPU and a memory. In order to control the operation of the cleaner body 1, a control signal is generated for the steering and driving unit 23 that drives the driving wheels 2. For example, it can be driven to avoid contact with an obstacle using the information of the obstacle detection unit 22, or based on the relative relationship between the map information and the position information stored in the storage unit 24 and the current location. A control signal for moving to the location is generated.

  Other configurations such as a one-chip microcomputer with a single CPU and memory, and other computations such as an FPGA and a DSP may be used. Further, by configuring with a recording device such as an HDD, a DVD, or a flash memory, it is possible to perform complicated processing that uses a large amount of memory capacity. Furthermore, by configuring with a communication device such as a wireless LAN, the cleaner main body 1 can communicate with an external device, and transmission of accumulated data and reception of new control patterns are further advanced. Processing can be made possible.

  By using a microcomputer, the steering and driving unit 23 can be controlled in various forms such as control by PWM and setting of movement amount by serial communication in accordance with the device used as the driving unit. Is possible. Further, the position calculation method can be obtained by calculating the amount of movement from a command to the drive unit. For example, in the case of the cleaner body 1 having two left and right wheel drive units, the left and right drive wheel It is possible to calculate the speed and the distance and rotation angle moved from the set elapsed time. Furthermore, the accuracy of the movement amount can be improved by receiving the result after driving like the encoder pulse from the steering and driving unit 23. Furthermore, by combining with the gyro sensor 8, the calculation accuracy of the movement amount can be increased. In addition, it is possible to increase the calculation accuracy of the movement amount using another device such as an acceleration sensor.

  Here, the map information of the present embodiment is, for example, information on the presence / absence of obstacles, time information, and others for each square position on the X (vertical direction) and Y (horizontal direction) coordinates called cells. This is a collection of cells storing information to be stored for each cell position. In addition, the position information is, for example, information on X, Y (vertical and horizontal) coordinates or information on cell positions. In this example, X and Y axes are defined as examples of map information. However, a three-dimensional system based on X, Y, and Z (vertical and horizontal height) coordinates, and an angle based on R and Θ (radius, angle) coordinates. Other coordinate systems such as a coordinate system or Laplace space may be used.

  The obstacle detector 22 measures the distance and size of the obstacle according to the time and reception level received by the ultrasonic sensor receiver 4b using the reflection of the ultrasonic wave transmitted from the ultrasonic sensor transmitter 4a. Is possible. For a soft object such as a curtain with ultrasonic waves, the infrared sensor 5 can detect the distance from the obstacle.

  In addition, by incorporating a plurality of these sensors in the self-propelled cleaner, the detection capability can be interpolated even in situations where it is difficult to detect due to the characteristics of each sensor. It becomes possible to raise. In addition, a sensor that captures an image such as a CCD camera or a sensor that uses properties such as laser, electromagnetic waves, and magnetic force can be used as a function for detecting an obstacle.

  For example, the steering and driving unit 23 is configured to horizontally arrange two motors and two driving wheels 2 to the left and right, thereby changing the rotation speeds of the left and right motors according to a control signal from the control unit 21. As a result, the drive wheel 2 operates and the cleaner body 1 moves. In addition, by providing the drive wheel 2 with an encoder that detects rotation, the number of pulses detected by the encoders of the left and right drive wheels 2 is transmitted to the control unit 21, thereby increasing the calculation accuracy of the movement amount. The steering and driving unit 23 is not only a combination of a motor and a driving wheel, but also a multi-leg movable unit such as a two-legged or four-legged combination of a joint type actuator combined with a plurality of servomotors, or is used. The motor may be any motor capable of physical operation such as a linear motor.

  The storage unit 24 has a function of storing information, and is, for example, a flash memory typified by an SD card, a DDR memory used in combination with a CPU, a hard disk, or an optical disk. Further, by combining a plurality of these memories, for example, map information that is close to the cleaner main body 1 uses a memory that has a high read / write speed, and map information that is far from the cleaner main body 1 is a large-capacity memory. By using this, it is possible to have a configuration that can achieve both high speed and large capacity. Further, by using a wireless technology such as wireless LAN or Bluetooth, a memory provided outside the cleaner body 1 can be used. Furthermore, it is also possible to use a common map information and position information by sharing the memory with a plurality of cleaner main bodies 1 and other devices.

  Further, when storing the position, by handling the allocated memory as a ring-shaped buffer, it becomes possible to continue storing the new position while deleting the past old position information. In addition, when the remaining amount of memory for the location information to be stored is exhausted, the location information other than the maximum value and the minimum value location is deleted from the location information stored in the past to continue storing the new location. It is also possible to continue.

  In addition, the self-propelled cleaner includes a travel distance measuring unit 25 that measures a travel distance based on detection information of the travel sensor 6, and a cleaner body 1 that is based on a movement locus of the cleaner body 1 that is stored in the storage unit 24. A rounding detection unit 26 that detects that the area has been circled, a cleaning area calculation unit 27 that calculates the area of the area by processing the information in the storage unit 24 and the information in the rounding detection unit 26, and the area calculated by the cleaning area calculation unit 27 The cleaning time determining unit 28 for determining the cleaning time and the cleaning distance determining unit 29 for determining the travel distance necessary for cleaning the area calculated by the cleaning area calculating unit 28 are provided.

  The travel distance measuring unit 25 can measure the total travel distance, the distance traveled at a predetermined time, and the like. Further, the rotation detection unit 26 stores the X and Y coordinates when the cleaner main body 1 first approaches the wall surface in the storage unit 24, and the cleaner main body 1 advances counterclockwise along the wall surface, When the stored X and Y coordinates coincide, it is determined that the wall has made one round. In addition, although it is determined as one round when it matches the stored X and Y coordinates, a margin for the X and Y coordinates may be provided as a determination reference.

  In addition, when the cleaning area calculation unit 27 detects one round, the cleaning area calculation unit 27 extracts the maximum and minimum X and Y coordinates from the storage unit 24 once. The area of the area that needs to be cleaned is calculated from the maximum and minimum XY coordinates. For the area calculated by the cleaning area calculation unit 27, the cleaning time determination unit 28 determines the cleaning time that requires cleaning, and the cleaning distance determination unit 29 determines the travel distance necessary for cleaning. A method for determining the cleaning time and the cleaning distance will be described later.

  In addition, the self-propelled cleaner includes a time counting unit 30 that measures the hour and minute, a cleaning time changing unit 31 that changes the cleaning time, and a cleaning time notifying unit that notifies the cleaning time determined by the cleaning time determining unit 23. 32, a notification unit 33 for displaying the cleaning time and the change of the cleaning time, and notifying by sound or voice, and a cleaning time change notification unit 34 for notifying the change of the cleaning time.

  The time counter 30 may be configured so that the user can set the time or can be automatically set using a radio clock. In addition, the cleaning completion time notification unit (not shown) that notifies the cleaning completion time is notified by the time counting unit 30 of timekeeping. The cleaning time changing unit 31 is a distance traveled after detection of one round with respect to the elapsed time determined by the cleaning time determination unit 28 and the cleaning travel distance determined by the cleaning travel distance 29 during the cleaning travel after detection of one round. Correct the cleaning time. Detailed description will be described later. The cleaning time notifying unit 32 performs voice guidance on the time determined by the cleaning time determining unit 28 after one round is detected by the speaker 33a of the notification unit 33, and notifies the user that the cleaning time has been changed by the liquid crystal display 33b. .

  Further, when the cleaning time is changed by the cleaning time changing unit 31, the cleaning time change notifying unit 34 gives voice guidance through the speaker 33a of the notification unit 33, and the cleaning time is changed by the liquid crystal display 33b. Inform the user. In addition, the alerting | reporting part 33 should just be alert | reported by at least 1 of a display, a sound, or an audio | voice, and is not specifically limited.

  About the self-propelled cleaner configured as described above, operations and actions until the change and notification of the cleaning time and the cleaning time will be described with reference to FIGS.

  In FIG. 3, when the self-propelled cleaner is started, the self-propelled cleaner looks for a wall. The method of recognizing the wall is that the ultrasonic sensor receiver 4b detects an obstacle, and after approaching the obstacle to a distance of 2 cm, the self-propelled cleaner rotates in the left direction and is detected by the two infrared sensors 5. Recognize that the obstacle is a wall when the distance is equal. If it is not a wall but an obstacle such as a chair leg, even if the self-propelled cleaner rotates, the detection distances of the two infrared sensors 5 are not equal, so that they can be distinguished. Although it is assumed that the distance approaches 2 cm in order to recognize the wall, the distance is not limited to 2 cm.

  When a wall is detected (S11), X = 0 and Y = 0 are set with the X and Y coordinates as the origin (S12). Subsequently, the self-propelled cleaner is controlled to keep the distance from the wall constant with the infrared sensor 5, and cleans and runs counterclockwise around the wall (S13). It is assumed that the first direction detected by detecting the wall is X = 0 and the positive direction of the Y axis.

  The self-propelled cleaner grasps the angle in the traveling direction with the gyro sensor 8 and stores the trajectory of the X and Y coordinates during traveling. If the vehicle continues to run and X = 0 and Y = 0, it is determined that the vehicle has made one revolution because it has returned to the origin (S14).

  When one round is detected, the area S is calculated by the following (Equation 1) using the maximum and minimum values in the X and Y directions of the stored trajectory (S15) (S16).

S = (MAX value of X coordinate−MIN value of X coordinate) × (MAX value of Y coordinate−MIN value of Y coordinate) (Formula 1)
Subsequently, a cleaning time T is calculated from the calculated area S (S17). The cleaning time T is a time required to travel all the area of the calculated area S, and the cleaning time T is determined using a graph as shown in FIG. In addition, the graph of FIG. 4 is determined by the traveling speed and rotation speed of the self-propelled cleaner, and the nozzle width of the cleaning unit 3. In the present embodiment, the case where 60 minutes is the MAX value is based on the assumption that a battery is mounted (not shown), and is a time that takes into account the capacity of the battery.

  Similarly, the travel distance D is calculated from the calculated area S (S18). The travel distance D is a distance assuming that the entire area of the calculated area S travels, and the travel distance D is determined using a graph as shown in FIG. For example, in the case of a 5 m × 4 m rectangular room as shown in FIG. 6, if the nozzle width of the cleaning unit 3 is 20 cm, considering that the 2 cm along the wall cannot be cleaned, 4.56 m × It is necessary to travel all over the area of 3.56m. That is, the distance to be traveled is (4.56 × 3.56 / 0.2 = 81.168 m), and the inclination of the graph is determined by the nozzle width of the cleaning unit 3.

  Subsequently, the cleaning time T is notified to the user (S19). As a notification method, for example, if the cleaning time T is 30 minutes, the time obtained by adding 30 minutes to the current time is displayed on the liquid crystal display 33a and simultaneously notified by voice guidance. The notification method may notify the remaining time other than the time.

  From this, in order to start cleaning of the cleaning region, measurement of the cleaning time t and the cleaning distance d is started (S20) (S21), and cleaning running is started (S22).

  When 1 minute has passed (S23), t / T and d / D are compared. If t / T is larger, it is determined that there are many obstacles, the friction coefficient is large such as a carpet, and the traveling speed is decelerated, so that the cleaning traveling is delayed. 2) (S25).

T ′ = ((t / T) / (d / D) × T) −t (Formula 2)
For example, if the correction value is t / T = 0.5 and d / D = 0.45 after 15 minutes have elapsed after the cleaning is started at T = 30, the cleaning time is changed and the remaining cleaning time T ′ is expressed by When 2) is used, ((0.2 / 0.15) × 30) −15 = 18.33 minutes. That is, if it was as planned, cleaning should have been completed in the remaining 15 minutes, but since the travel distance has not reached as planned, the cleaning will be extended by about 3 minutes.

  In addition, the changed cleaning time is set as the remaining cleaning time at the time of change, and voice guidance is performed by the speaker 33a of the notification unit 33, and the user is notified by the liquid crystal display 33b that the cleaning time has been changed (S26). As the change notification content, the changed cleaning remaining time and cleaning end time are notified in units of one minute.

  Thereafter, (S23) to (S26) are repeated every minute until the cleaning time ends. When the cleaning time ends, a series of cleaning ends (S27).

  As described above, in the present embodiment, the cleaning can be efficiently performed by determining the cleaning time and the cleaning travel distance with respect to the cleaning area first obtained by making a round of the room.

  In addition, when the time determined by the cleaning time determination unit 28 has elapsed, if the travel distance has not reached the distance determined by the cleaning distance determination unit 29, the cleaning time changing unit 31 that extends the cleaning time is provided. Even when the vehicle is decelerating when traveling on a place with a large coefficient of friction such as a carpet, or when the travel speed is changed intentionally, if the required travel distance is not reached, it is judged that there is an uncleaned area and cleaning is performed. Since the time is extended, the self-propelled cleaner does not travel in the cleaning area, and the uncleaned area does not remain.

  Further, the cleaning time changing unit 31 periodically monitors the ratio of the elapsed cleaning time to the time determined by the cleaning time determination unit 28 and the ratio of the travel distance to the distance determined by the cleaning distance determination unit 29, and there is a difference. In this case, since the cleaning time is corrected during cleaning by changing the cleaning time, it is possible to quickly know that the cleaning time has been changed.

  The cleaning time calculated by the cleaning time determination unit 28 calculates the area area based on the trajectory stored in the storage unit 24, and determines the cleaning time with high accuracy by determining the area according to the size of the area. can do.

  In addition, a notifying unit 33 for notifying by display, sound, or voice is provided, and the cleaning time notifying unit 32 for notifying the cleaning time determined by the cleaning time determining unit 28 from the notifying unit 33 after the circulation detecting unit 26 detects the area once. By providing the above, the user can know the cleaning time. Furthermore, if there is a change in the cleaning time, the user can know that the cleaning time has been changed according to the cleaning status by providing the cleaning time change notification unit 34 that notifies that the cleaning time has changed. Further, since the notification content is notified not only at the time but also at the time, the cleaning can be left to the self-propelled cleaner, and the user can make a plan in advance such as doing other things until the cleaning end time.

  In this embodiment, the travel pattern for cleaning after detecting one round was not specified, but the types of travel patterns such as cross-pattern travel that combines vertical travel and lateral travel, and random travel that changes direction randomly. The calculation formula for determining the cleaning time may be changed.

  Note that the cleaning time t and the cleaning distance d are confirmed every minute as the cleaning time change timing, and the presence or absence of the change is determined. However, the change is not limited to one minute.

  In addition, as a method for changing the cleaning time, the change contents are notified in time and time in units of 1 minute. However, if it is troublesome to change frequently, there is a range of change in units of 3 minutes or 5 minutes. You may make it alert | report only when it is large.

  The notification unit 33 uses the liquid crystal display 33a and the speaker 33b as a notification, but may be any means that can be known by the user, such as a notification using a buzzer output or a notification using an LED.

  In this embodiment, a program for causing a computer to execute at least a part of the functions of the self-propelled cleaner is used as a CPU (or microcomputer), RAM, ROM, storage / recording device, I / O. You may implement with the form of the program which cooperates hardware resources, such as an electrical / information apparatus provided with the above, a computer, a server. In the form of a program, new functions can be easily distributed / updated and installed by recording on a recording medium such as a magnetic medium or an optical medium, or by using a communication line such as the Internet.

  As described above, the self-propelled cleaner and the program according to the present invention can improve the determination accuracy of the cleaning time and the travel distance with respect to the cleaning area, reduce the uncleaned area, and can efficiently clean. Applicable for both home and business use.

The schematic diagram which looked at the self-propelled cleaner in the embodiment of the present invention from the top Block diagram of the self-propelled vacuum cleaner Flow chart for explaining the cleaning operation of the self-propelled cleaner A graph that calculates the cleaning time required for cleaning the self-propelled cleaner A graph that calculates the distance traveled by the self-propelled cleaner Plan view of an example showing an image of a room cleaned by the self-propelled cleaner

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vacuum cleaner main body 2 Drive wheel 3 Cleaning part 21 Control part 22 Obstacle detection part 23 Steering and drive part 24 Storage part 25 Traveling distance measurement part 26 Circulation detection part 27 Cleaning area calculation part 28 Cleaning time determination part 29 Cleaning distance determination part 29 30 Timekeeping section 31 Cleaning time changing section 32 Cleaning time notifying section 33 Notifying section 34 Cleaning time changing notifying section

Claims (8)

Based on the travel distance measurement unit that measures the distance traveled by the cleaner body, the storage unit that stores the travel path of the cleaner body, and the travel path of the cleaner body stored in the storage unit With respect to the area calculated by the lap detection unit that detects that the circuit has made a round, the cleaning area calculation unit that calculates the area of the area by processing the information of the storage unit and the information of the lap detection unit, and the area calculated by the cleaning area calculation unit A self-propelled cleaner having a cleaning time determination unit that determines a cleaning time and a cleaning distance determination unit that determines a travel distance necessary for cleaning the area calculated by the cleaning area calculation unit. The self-propelled vehicle according to claim 1, further comprising a cleaning time changing unit that extends the cleaning time when the time determined by the cleaning time determination unit has elapsed and the travel distance has not reached the distance determined by the cleaning distance determination unit. Type vacuum cleaner. The cleaning time changing unit periodically monitors the ratio of the elapsed cleaning time to the time determined by the cleaning time determination unit and the ratio of the travel distance to the distance determined by the cleaning distance determination unit. The self-propelled cleaner according to claim 2 to be changed. The self-propelled cleaning according to any one of claims 1 to 3, wherein the cleaning time calculated by the cleaning time determination unit is determined according to the size of the area calculated based on the trajectory stored in the storage unit. Machine. The self-propelled according to any one of claims 1 to 4, further comprising: a notifying unit for notifying by display, sound or voice; and a cleaning time notifying unit for notifying the cleaning time determined by the cleaning time determining unit from the notifying unit. Type vacuum cleaner. The self-propelled cleaner according to any one of claims 1 to 5, further comprising: an informing unit that informs by display, sound, or voice; and a cleaning time change notifying unit that informs the change of the cleaning time from the informing unit. The self-propelled cleaner according to any one of claims 1 to 6, further comprising a time counting unit that measures time and a cleaning completion time notification unit that notifies the cleaning completion time. The program for making a computer perform at least one part of the function in the self-propelled cleaner of any one of Claims 1-7.

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