JP2007159609A - Self-propelled cleaner and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled cleaner capable of cleaning a room without concerns about noises for a user or neighbors around the house. <P>SOLUTION: The self-propelled cleaner is provided with wheels for autonomously travelling (an autonomous travel means 102), a suction means 103 for sucking dust, a suction control means 109 for controlling a suction power of the suction means 103 and a communication means 106 provided on an entrance of the house or a common entrance for a plurality of houses and for communicating with a person presence/absence management means 201 for managing the presence/absence of the person by sensing entering/leaving. The cleaner renders the suction power of the suction means 103 larger than usual through the control means 109 when the number of the absence is larger based on the presence/absence information in each house, which is obtained via the communication means 106 and which the management means 201 manages. Thereby the cleaning can be performed without the worry about noises for the user or the inhabitants around the house. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a self-propelled cleaner that travels independently without human assistance and a program thereof.

Conventionally, as this kind of self-propelled cleaner, one having a self-propelled cleaner body for cleaning and a transmitter for transmitting radio waves of a specific frequency is known. The self-propelled cleaner body is integrated with the autonomous traveling means for autonomously traveling, the suction means for rotating the suction fan to suck the dust inside the self-propelled cleaner body, and the self-propelled cleaner body. Receiving means for receiving radio waves of a specific frequency emitted from the transmitter that is not configured. Here, when radio waves from the transmitter installed by the user are received by the receiving means, the operation mode of the suction means is operated in a silent mode in which the number of rotations of the suction fan is reduced compared to the normal mode, and the autonomous The traveling speed is lowered by the traveling means (see, for example, Patent Document 1).
Japanese Patent Laying-Open No. 2005-21498

  However, in the above-described conventional configuration, when the user is concerned about the noise generated during cleaning and wants to perform the cleaning in the silent mode when a person is present around the dwelling unit to be driven, the cleaning is started. By confirming that there are people around the dwelling unit where the user is traveling, and then determining that there is a person around the dwelling unit where the user is traveling, when carrying the transmitter or the self-propelled cleaner body Therefore, it has been necessary to carry out operations such as determination of an installation position where the radio waves of the transmitter always reach and installation of the transmitter, which causes a lot of trouble for the user.

  The present invention solves the above-mentioned conventional problems, obtains information on the presence / absence of a person for each dwelling unit or a neighboring dwelling unit that travels without bothering the user, and a dwelling unit in which no person is present based on the information. The purpose of the present invention is to provide a self-propelled cleaner and a program thereof that can perform cleaning without worrying about noise for a user or a person in a nearby dwelling unit by increasing the suction power as there is more .

  In order to solve the above-described conventional problems, a self-propelled cleaner and a program thereof according to the present invention include autonomous running means for autonomous running, suction means for sucking dust, and suction force of the suction means. Communication means for communicating between suction control means for controlling and presence / absence management means for managing the presence / absence of a person by detecting entrance / exit provided at an entrance of a dwelling unit or a collective entrance of a plurality of dwelling units; And the suction force of the suction means by the suction control means as the number of people is absent based on the presence / absence information of the person for each dwelling unit managed by the presence / absence management means acquired through the communication means. Is higher than usual.

  By acquiring information on the presence / absence of a person for each dwelling unit that travels without disturbing the user's hand or surrounding dwelling units, and by increasing the suction power as the number of dwelling units is absent based on that information, Cleaning can be performed without worrying about noise for the user or the people in the surrounding dwelling units.

  The self-propelled cleaner and the program thereof according to the present invention can perform cleaning without worrying about noise for a user or a person in a surrounding dwelling unit.

  The first invention includes an autonomous traveling means for autonomously traveling, a suction means for sucking dust, a suction control means for controlling the suction force of the suction means, an entrance of a dwelling unit or a collective entrance of a plurality of dwelling units Communication means for communicating with presence / absence management means for managing the presence / absence of persons by detecting entry / exit provided in the system, and the presence / absence management means acquired via the communication means Based on the presence / absence information of people in each dwelling unit managed by the self-propelled cleaner, the suction control means makes the suction power of the suction means higher than usual by the suction control means as the number of people's absence increases. By acquiring information on the presence / absence of people in each dwelling unit or surrounding dwelling unit that does not bother the user, and increasing the suction power as the number of dwelling units without people increases based on that information, Do not worry about noise for people in the dwelling unit. Cleaning can be carried out.

  In particular, the second invention is the first invention, wherein the dwelling unit storage means for storing the position of the dwelling unit and the arrangement of the plurality of dwelling units, and the presence of the person acquired from the absence management means via the communication means. The absence control information extraction means for extracting information on the dwelling units within a predetermined range based on the residence arrangement stored in the residence arrangement storage means from the absence information, and the suction control means is extracted by the absence presence information extraction means By making the suction power of the suction means higher than usual as the number of people absent in the information on the absence of people present is increased, it is possible to avoid being affected by the information on the absence of people in distant units that do not need to worry about noise. Therefore, it is possible to determine the suction force based only on the presence / absence information of the person in the surrounding dwelling unit that needs to worry about noise.

  According to a third invention, in particular, in the first or second invention, the dwelling unit arrangement storage means for storing the position of the dwelling unit and the arrangement of the plurality of dwelling units, and the absence management means via the communication means are obtained. Weighting means for performing weighting such that the weight of a dwelling unit closer to a dwelling unit traveling based on the location of the dwelling unit stored in the dwelling unit arrangement storage unit in the presence / absence information of a person for each dwelling unit is increased, and the weighting unit is Weighted summing means for summing weighted results, and absence level determining means for determining the degree of absence of a person from the result of the weighted summing means and performing higher leveling as the absence degree is higher, the suction control means is By increasing the suction power of the suction means as the level of the absent level determination means is higher, the importance of the information can be determined according to the distance from the dwelling unit that is traveling , It can be carried out only in the decision of the suction force standing absence information of the person in the dwelling unit around there is a need to worry about the noise.

  The 4th invention is the absence of a person for each dwelling unit acquired from the absence management means via the communication means and the time measuring means for measuring time in particular, in the 3rd invention, in particular for each predetermined time zone. Weighting coefficient storage means for storing a weighting coefficient of weighting means for weighting information, and the weighting means determines the weighting from the weighting coefficient stored in the weighting coefficient storage means based on the time by the time measuring means. Therefore, in quiet hours such as at night or early morning, the weighting coefficient is reduced to make it difficult to increase the suction force even when there are no dwelling units or people living in the vicinity, so that the surrounding noise is concerned. Can be cleaned without any problems.

  According to a fifth aspect of the present invention, in particular, in the third or fourth aspect of the invention, the weight setting unit includes a weight setting unit, and the weight setting unit sets / changes the weighting coefficient of the weighting coefficient storage unit according to the environment around the dwelling unit to be cleaned. By performing the setting, the user can have the weighting coefficient set and changed so that the user can perform cleaning by a cleaning method suitable for the situation of each surrounding dwelling unit, such as the number of units per dwelling unit and the distance between dwelling units.

  In the sixth invention, in particular, in any one of the third to fifth inventions, the cleaning start determining means for determining the start of cleaning, the calendar means for managing the date and the day of the week, and the absence level determining means determine The absence level storage means for storing the level of the absence degree of the person for each day of the week and the time zone by the calendar means, and the cleaning start determination means has the highest absence level stored in the absence level storage means for each day of the week. By making a decision to start cleaning in a high time zone, it is possible to perform cleaning in a time zone where the noise is not the most concern with respect to the vicinity of the dwelling unit that travels without bothering the user.

  7th invention made it the program for making a computer perform the function of at least one part of the self-propelled cleaner of any one of 1st-6th invention. Since it is a program, at least a part of a self-propelled cleaner can be easily realized by cooperating hardware resources such as electric / information equipment, a computer, and a server. Also, by recording the program on a recording medium or distributing the program using a communication line, the program can be easily distributed / updated and installed.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, this invention is not limited by this embodiment.

(Embodiment 1)
1 to 4 show a self-propelled cleaner and a program thereof according to Embodiment 1 of the present invention.

  As shown in FIG. 1, it has the self-propelled cleaner main body 101 which cleans, and the presence absence management means 201 which manages the presence or absence of the person in each dwelling unit.

  The self-propelled cleaner body 101 includes a wheel 102 which is an autonomous traveling means for traveling, a suction means 103 for sucking dust, an ultrasonic sensor 104 for detecting an obstacle, and a dwelling arrangement of a complex house where a user lives. Based on the location of the dwelling unit and storage unit 105 that stores the location of the dwelling unit that travels, the communication unit 106 that communicates with the absence management unit 201, the location of the dwelling unit that the dwelling unit storage unit 105 stores. A dwelling unit that travels from the presence / absence information of each person acquired through the communication means 106 (in this embodiment, the person's presence / absence information is 0 when there is a person and 1 when there is no person) Absence information extraction means 107 for extracting the presence / absence information of surrounding people (in this embodiment, the dwelling unit to be driven, the dwelling units up to the two right and left of the dwelling unit to be driven, and one dwelling unit above and below the dwelling unit to be driven) When And extraction) the standing absence information of a person in a total of seven dwelling units, a control unit 110 for controlling the wheel 102 and the suction unit 103, and a timer means 111 for measuring time.

  The control means 110 is a travel control means 108 that controls the wheel 102 based on the information on the obstacle detected by the ultrasonic sensor 104 (in this embodiment, the vehicle travels straight until an obstacle is detected by the ultrasonic sensor 104. When an obstacle is detected, the vehicle rotates in an arbitrary direction and then travels straight again. Then, the suction force is determined based on the presence / absence information of the person extracted by the presence / absence information extraction unit 107, and the determined suction force is determined. The suction control means 109 that controls the suction means 103 (in this embodiment, the suction power is made up of three stages, and the suction power “when the ratio of absence of people in the extracted information is 0% or more and less than 30%” Small ”, 30% or more and less than 70%, the suction force is“ medium ”, and 70% or more is the suction force“ large ”.

  Further, the occupancy management means 201 includes entrance / exit sensors 11, 12,..., 76 that detect entrance / exit of a person installed at the entrance of each dwelling unit or the collective entrance of a plurality of dwelling units, and entrance / exit sensors 11-76. The first communication means 202 that communicates with the person, and the absence / absence management unit 203 that manages the presence / absence of the person based on the entry / exit information acquired from the entry / exit sensors 11 to 76 via the first communication means 202. And a second communication means 204 that communicates with the communication means 106 of the self-propelled cleaner body 101.

  In FIG. 2, numbers in each frame are room numbers (entrance / exit sensors) of each dwelling unit, 301 is a dwelling unit that travels, and 302 a to 302 f are neighboring dwelling units in which human absence information is extracted by the human absence information extraction means 107. Indicates.

  The operation and action of the self-propelled cleaner configured as described above will be described with reference to FIGS.

  First, when the power is turned on, as shown in FIG. 4, suction is started by controlling the suction means 103 with the suction control means 109 so that the suction force becomes “small”, and the wheel is turned with the travel control means 108. Cleaning is started by starting traveling by controlling 102. At the same time, the time counting means 111 starts counting the cleaning time (STEP 201 to 202).

  During cleaning, the presence / absence information of persons in each dwelling unit is acquired from the absence / occupancy management means 201 via the communication means 106 (STEP 203).

  Here, the operation in the absence management means 201 sequentially acquires the person's entrance / exit information in each dwelling unit from the entrance / exit sensors 11-76 via the first communication means 202, as shown in FIG. Based on the acquired entrance / exit information, the presence / absence management unit 203 determines the presence / absence of a person in each dwelling unit (STEPs 101 and 102).

  After that, the presence / absence information of the person of each dwelling unit determined by the occupancy management unit 203 is transmitted to the communication unit 106 of the self-propelled cleaner body 101 via the second communication unit 204 (STEP 103).

  When the self-propelled cleaner main body 101 acquires the presence / absence information of the person of each dwelling unit from the absence / occupancy management unit 201 by the communication unit 106, the travel stored in the dwelling unit arrangement storage unit 105 by the presence / absence information extraction unit 107. Based on the housing arrangement of the dwelling unit and the complex housing, the information on the dwelling unit and the surrounding dwelling unit is extracted from the acquired presence / absence information of the person (in this embodiment, in 301 and 302a to 302f in FIG. The presence / absence information of the person in the dwelling unit is extracted) (STEP 204).

  After extracting the presence / absence information of the person, the suction control unit 109 calculates the ratio of the absence of the person from the presence / absence information of the person, and after determining the suction force from the ratio, the suction unit 103 determines the suction force. Thus, the suction force is controlled (STEPs 205 and 206).

  The traveling control means 108 controls the traveling direction and speed by controlling the wheels 102 based on the information on the obstacle detected by the ultrasonic sensor 104 (STEPs 207 and 208).

  These operations from STEP 203 to STEP 208 are repeated until a predetermined time (in this embodiment, the time is 30 minutes) elapses, and when the predetermined cleaning time elapses, the suction control means 109 performs suction. Cleaning is terminated by stopping the means 103 and stopping the wheel 102 by the travel control means 108 (STEP 209, 210).

  In the present embodiment, the entrance / exit of the person is detected by the entrance / exit sensors 11 to 76 provided at the entrance of each dwelling unit, and the absence / absence management unit 203 based on the information detects the absence / absence of the person for each dwelling unit. However, the presence / absence detection means or the personal authentication means may be provided at the entrance of the complex house, and the presence / absence management unit 203 may manage the presence / absence of a person for each dwelling unit based on the information.

  In the present embodiment, the traveling control means 108 does not control the traveling speed based on the presence / absence information of the person. However, when the suction control means 109 increases the suction force of the suction means 103, the traveling control means 109 may increase the running speed.

  In the present embodiment, the suction control unit 109 determines the suction force of the suction unit 103 based on the ratio of the presence / absence of a person. However, the suction force is determined based on the number of people's presence / absence. It doesn't matter.

  Further, in this embodiment, the suction force determined by the suction control means 109 is three stages, but it may be two stages or less or four stages or more.

  Further, in this embodiment, the absence management unit 203 sequentially acquires information from the entrance / exit sensors 11 to 76, determines the presence / absence of a person, and transmits the result by the second communication unit 204. However, after all the information from the entrance / exit sensors 11 to 76 is determined, the result may be transmitted.

  As described above, in the present embodiment, suction control is performed as the number of people is increased based on the presence / absence information of people for each dwelling unit managed by the absence management unit 201 acquired through the communication unit 106. In order to make the suction force of the suction means 103 higher than usual by means 109, the presence / absence information of the person in each dwelling unit or surrounding dwelling unit that travels without getting the user's hand is obtained, and the person is absent based on that information By increasing the suction force as the number of dwelling units increases, cleaning can be performed without worrying about noise for the user or the people in the surrounding dwelling units.

  Further, in the present embodiment, the suction control means 109 increases the suction force of the suction means 103 as compared with the normal time as the absence of the person in the absence information extracted by the absence information extraction means 107 increases. Without being affected by the presence / absence information of people in distant units that do not need to worry about noise, it is possible to determine the suction force based only on the presence / absence information of people in surrounding units that need to be concerned about noise. .

(Embodiment 2)
5 to 8 show a self-propelled cleaner and a program thereof according to Embodiment 2 of the present invention. The same elements as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  In the present embodiment, as shown in FIG. 5, the self-propelled cleaner body 101 includes a weighting unit 112 that weights the presence / absence information of the person extracted by the presence / absence information extraction unit 107, and a weighting unit 112. The weighted summing means 113 for summing the weighted person presence / absence information, and the absence level determining means 114 for determining the degree of person's absence based on the result of the weighted summing means 113 and performing higher level as the absence degree is higher (this embodiment) In this embodiment, the weighting means is determined to be level 1 when the combined weighting coefficient is 0 or more and less than 0.4, level 2 when it is 0.4 or more and less than 0.8, and level 3 when it is 0.8 or more), and weighting means Weighting coefficient storage means 115 for storing weighting coefficients for weighting 112 and weights for setting weighting coefficients stored in weighting coefficient storage means 115 Present setting means 116, calendar means 117 for managing the date / time and day of the week, and absence level storage means 118 for storing the absence level determined by the absence level determination means 114 for each day of the week and time managed by the calendar means 117 (this embodiment) In this embodiment, the absence level for each minute is stored for four weeks for each day of the week / time), and the total of the absence levels stored in the absence level storage unit 118 for each day of the week based on the calendar unit 117 is the most. And a cleaning start determining means 119 for determining the cleaning start in a large time zone. Other configurations are the same as those of the first embodiment.

  In FIG. 6, the numerical values in each frame represent the dwelling unit in which the weighting coefficient storage unit 115 travels when the dwelling unit that travels is the dwelling unit 301 that travels in FIG. 2 and the surrounding dwelling units are the dwelling units 302 a to 302 f in FIG. It is a weighting coefficient memorize | stored for the surrounding dwelling unit for every time slot | zone, a row shows the weighting coefficient for every time slot | zone, and a column shows the weighting coefficient for every dwelling unit.

  The operation and action of the self-propelled cleaner configured as described above will be described below with reference to FIGS. 3 and 5 to 8.

  First, when the power is turned on, as shown in FIG. 7, the weighting setting means 116 sets the weighting coefficient of the weighting means 112, and the set weighting coefficient is stored in the weighting coefficient storage means 115. Here, when weighting setting is not performed by the weighting setting means 116, a default value stored in advance in the weighting coefficient storage means 115 is used as a setting value (in this embodiment, the weighting coefficient as shown in FIG. 6). Is stored in the weighting coefficient storage means 115) (STEPs 301 and 302).

  After setting the weighting coefficient, the presence / absence information of the person is acquired from the absence / absence management unit 201 via the communication unit 106, and weighting, determination of the absence level of the person, and storage are performed based on the acquired information (STEP 303). ).

  Here, the presence / absence management means 201 for determining the presence / absence of a person performs the same operation as in the first embodiment (the flow of the operation in the present embodiment is the same as in FIG. 3).

  FIG. 8 shows a flow of operations in which the self-propelled cleaner body 101 acquires the presence / absence information of a person, performs weighting based on the acquired information, and determines and stores the absence level of the person. First, the calendar means 117 confirms the day of the week and time, acquires the presence / absence information of each person from the presence / absence management means 201 via the communication means 106, and based on the acquired information, The absent information extraction means 107 extracts information on dwelling units that run and surrounding dwelling units (STEP 401 to STEP 403).

  The extracted information is weighted by the weighting coefficient stored in the weighting coefficient storage means 115 based on the time managed by the calendar means 117 by the weighting means 112, and the weighted result is summed by the weighting summing means 113. (STEP 404, 405).

  The result of the summation by the weighted summing means 113 is determined by the absence level judging means 114 such that the level becomes higher as the absence degree is higher, and the determined level is stored in the absent level storage means 118 (STEP 406). 407).

  After the absence level is stored, returning to FIG. 7, the cleaning start determining means 119 sums up the absence level for each time zone of the day of the week based on the day of the week and time managed by the calendar means 117, and the corresponding time zone. Determine whether the total absence level of is the largest. If the total value is the largest, it is determined that the cleaning is started, and if it is not the largest, the operation of STEP 303 is performed again (STEP 304).

  When the cleaning start determining means 119 determines the start of cleaning, the suction control means 109 determines the suction force based on the absence level determined by the absence level determining means 114 (in this embodiment, the absence is detected immediately before the cleaning starts. When the absent level determined by the level determining means 114 is 1, the suction force is “small”, when the absent level is 2, the suction force is “medium”, and when the absent level is 3, the suction force is “high” (STEP 305).

  After the suction force by the suction control means 109 is determined, suction is started by controlling the suction means 103 by the suction control means 109 so that the determined suction force is obtained, and the wheels 102 are controlled by the travel control means 108. At the same time, the cleaning is started by starting running, and at the same time, the calendar means 117 starts counting the cleaning time (STEPs 306 and 307).

  During cleaning, the suction control means 109 controls the suction means 103 so that the suction force determined in STEP 305 is obtained, and the traveling control means 108 is based on the obstacle information detected by the ultrasonic sensor 104. By controlling the wheel 102, the traveling direction and speed are controlled (STEP308 to STEP310).

  These operations from STEP 308 to STEP 310 are repeated until a predetermined time elapses (in this embodiment, the time is 30 minutes), and when the predetermined cleaning time elapses, the suction control means 109 performs the suction means. 103 is stopped, and the wheel 102 is stopped by the traveling control means 108 to complete the cleaning, and STEPs 304 and 305 are performed again (STEPs 311 and 312).

  In the present embodiment, weighting is performed only on the information extracted by the absentee information extracting unit 107, but weighting may be performed without extracting information. However, the weighting coefficient for distant units that do not need to worry about noise is 0.0.

  Further, in this embodiment, the absence level determination unit 114 determines the absence degree in three stages, but two or less stages or four or more stages may be used.

  Further, in this embodiment, cleaning is performed with the suction force determined by the suction control means 109 based on the absence level before the start of cleaning, but the absence information is acquired from the absence management means 201 during the cleaning. Then, the suction control means 109 may determine the suction force based on that and control the suction means 103.

  Further, in the present embodiment, the suction control means 109 increases the suction force of the suction means 103 as the level of the absence level determination means 114 is higher, so the importance of the information is increased according to the distance from the dwelling unit that is traveling. Since it can be determined, it is possible to determine the suction force based only on the presence / absence information of persons in the surrounding dwelling units that need to worry about noise.

  In the present embodiment, the weighting means 112 determines the weighting from the weighting coefficient stored in the weighting coefficient storage means 115 based on the time by the calendar means 117, so that quiet time zones such as night and early morning are By reducing the weighting coefficient, it is possible to make it difficult to increase the suction force even when there are no people in the dwelling unit or the surrounding dwelling units, and it is possible to perform cleaning without worrying about noise in the surroundings.

  In the present embodiment, the weight setting unit 116 sets / changes the weighting coefficient of the weighting coefficient storage unit 115 according to the environment around the dwelling unit to be cleaned, so the user sets / changes the weighting coefficient. Therefore, cleaning can be performed by a cleaning method according to the situation of individual surrounding dwelling units such as the number of people per dwelling unit and the distance between dwelling units.

  Further, in the present embodiment, the cleaning start determining unit 119 makes a user's hand troublesome because the cleaning start determination unit 119 performs the cleaning start determination at the time when the absence level stored in the absence level storage unit 118 is highest on each day of the week. It is possible to clean the area around the dwelling unit that travels without worrying about the most noise.

(Embodiment 3)
Next, the program of the self-propelled cleaner in the third embodiment of the present invention will be described with reference to FIGS.

  This embodiment is a program for causing a computer to execute at least a part of the functions of the self-propelled cleaner shown in the first and second embodiments. That is, absence presence information extraction means 107, control means 110, weighting means 112, weighted summation means 113, absence level determination means 114, calendar means 117, cleaning start determination means 119, absence of absence of self-propelled cleaner main body 101. The management means 201 is implemented in the form of a program for cooperating hardware resources such as a CPU (or microcomputer), RAM, ROM, storage / recording device, electrical / information device with I / O, computer, server, etc. It is. If it is in the form of a program, new functions can be distributed, updated, and installed easily by recording on a recording medium such as magnetic media or optical media, or by using a communication line such as the Internet. .

  As described above, the self-propelled cleaner and the program thereof according to the present invention can perform cleaning without worrying about noise for a user or a person in a surrounding dwelling unit. It can also be applied to uses such as systems.

Block diagram of the self-propelled cleaner in Embodiment 1 of the present invention Dwelling unit layout of complex housing where users of the self-propelled vacuum cleaner live Flow chart showing the operational flow of the absence management means in the self-propelled cleaner Flow chart showing the operation flow of the self-propelled cleaner Block diagram of self-propelled cleaner in embodiment 2 of the present invention The figure which shows the weighting coefficient which the same self-propelled vacuum cleaner memorizes Flow chart showing the operation flow of the self-propelled cleaner The flowchart which shows the operation | movement flow from the absence-existence information acquisition of the self-propelled cleaner to memorizing the absence level

Explanation of symbols

102 wheels (autonomous driving means)
DESCRIPTION OF SYMBOLS 103 Suction means 105 Dwelling unit arrangement | positioning memory means 106 Communication means 107 Person presence absence information extraction means 109 Suction control means 112 Weighting means 113 Weighting summation means 114 Absence level determination means 115 Weighting coefficient storage means 116 Weighting setting means 117 Calendar means 118 Absence level storage Means 119 Cleaning start determination means 201 Personnel absence management means

Claims (7)

Autonomous traveling means for autonomously traveling, suction means for sucking dust, suction control means for controlling the suction force of the suction means, and entrance / exit provided at the entrance of the dwelling unit or the collective entrance of the plurality of dwelling units For each dwelling unit managed by the absence management means acquired through the communication means, and communication means for communicating with absence presence management means for managing the absence of persons by detecting A self-propelled cleaner in which the suction control means makes the suction force of the suction means higher than the normal time by the suction control means based on the presence / absence information of the person. The dwelling unit arrangement storage means for storing the position of the dwelling unit to travel and the arrangement of the plurality of dwelling units, and the dwelling unit arrangement stored in the dwelling unit arrangement storage means from the presence / absence information of the person acquired from the absence presence management means via the communication means Absentee information extracting means for extracting information on dwelling units within a predetermined range based on the above, the suction control means, the more the absence of the person in the absentee information extracted by the absentee information extracting means, the more The self-propelled cleaner according to claim 1, wherein the suction force of the suction means is made higher than normal. Stored in the dwelling unit storage unit in the dwelling unit storage unit for storing the position of the dwelling unit and the arrangement of the plurality of dwelling units, and in the presence / absence information of the person for each dwelling unit acquired from the absence management unit via the communication unit. Weighting means for weighting such that the weight of the unit closer to the dwelling unit that travels based on the arrangement of the dwelling units, the weighting summing means for summing up the results weighted by the weighting means, and the result of the weighting summing means The absence control unit further includes an absence level determination unit that determines the level of absence and increases the level of absence, and the suction control unit increases the suction force of the suction unit as the level of the absence level determination unit increases. The self-propelled cleaner according to claim 1 or 2. Weighting means for storing the weighting coefficient of the time measuring means for measuring the time and the weighting means for weighting the presence / absence information of the person for each dwelling unit obtained from the presence / absence management means via the communication means for each predetermined time zone 4. The self-propelled cleaner according to claim 3, further comprising a coefficient storage means, wherein the weighting means determines the weight from the weighting coefficient stored in the weighting coefficient storage means based on the time by the time measuring means. The self-propelled cleaner according to claim 3 or 4, further comprising weight setting means, wherein the weight setting means sets / changes the weighting coefficient of the weighting coefficient storage means according to the environment around the dwelling unit to be cleaned. A cleaning start determining means for determining the start of cleaning, a calendar means for managing the date and time and the day of the week, and an absence level for storing the level of the absence of the person determined by the absence level determining means for each day of the week and time period by the calendar means 6. The storage start determination unit according to any one of claims 3 to 5, wherein the cleaning start determination unit determines the start of cleaning in a time zone in which the absence level stored in the absence level storage unit is highest on each day of the week. The self-propelled vacuum cleaner described. The program for making a computer perform at least one part of the function in the self-propelled cleaner of any one of Claims 1-6.