JP2006048308A - Self-propelled cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To allow a user to properly recognize the existence of an intruder by surely detecting the intruder to a closed predetermined space at low costs. <P>SOLUTION: This self-propelled cleaner 100 for cleaning a room by performing self-propelled traveling is provided with a traveling part 2 for moving the self-propelled cleaner, an intruder detecting means (for example, CPU 7) for detecting the existence of an intruder to the room based on a first flow rate signal and a second flow rate signal outputted from a first flow sensor 27 and a second flow sensor 28 in the stop status of the movement of the self-propelled cleaner by the traveling part and an announcement operation executing means (for example, CPU 7, sounding part 9 and communication control part 10 or the like) for executing an announcement operation for announcing the detected existence of the intruder. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a self-propelled cleaner that performs autonomous running and cleaning.

  2. Description of the Related Art Conventionally, a self-propelled cleaner that performs autonomous running and cleaning in a room based on a predetermined running pattern is known.

  This self-propelled cleaner includes, for example, two drive wheels disposed along a direction orthogonal to the travel direction, and travels in a predetermined direction based on control of driving of these drive wheels. However, the running surface such as the floor surface is cleaned.

  As a usage method of this self-propelled cleaner, for example, while the user is out, there is a method of cleaning in accordance with a predetermined traveling pattern and traveling (cleaning) time set in advance. That is, while the user is out, the self-propelled cleaner performs autonomous cleaning in a room where the window is closed and the flow of air (gas) is restricted (closed). It is like that.

Further, as a self-propelled cleaner, there is also known a self-propelled vacuum cleaner provided with a flow sensor for detecting the amount of air sucked from a nozzle for the purpose of detecting the presence / absence of a floor surface or unevenness (for example, a patent) Reference 1).
JP-A-62-292128

  By the way, an apparatus for detecting an intruder in a predetermined monitoring area (room) is known for the purpose of crime prevention when the user goes out. However, since such a device is equipped with a human body detection sensor, a surveillance camera, and the like, there is a problem that the configuration becomes complicated and the cost is increased.

  An object of the present invention is to provide a self-propelled cleaner that can reliably detect an intruder in a closed predetermined space at a low cost and can make the user appropriately recognize the presence of the intruder. It is to be.

In order to solve the above problems, the present invention, for example, as shown in FIGS.
A self-propelled cleaner (100) that autonomously runs and cleans in a closed predetermined space,
A traveling unit (2) for moving the self-propelled cleaner;
A flow sensor (for example, the first flow sensor 27 and the second flow sensor 28) that detects an airflow flowing in a predetermined direction and outputs a flow velocity signal related to the flow velocity;
An intruder detection means (for example, an intruder detection means for detecting the presence of an intruder in the predetermined space based on the flow velocity signal output from the flow sensor in a stopped state of movement of the self-propelled cleaner by the traveling unit. CPU7)
A notification operation executing means (for example, CPU 7) for executing a notification operation for notifying the presence of the intruder detected by the intruder detection means;
With
The notification operation executing means includes
A sound generator (9) for outputting a warning sound for warning the presence of the intruder;
The self-propelled cleaner is connected to the external communication terminal (for example, the mobile phone 200) that is connected to the self-propelled cleaner through a predetermined communication line (for example, the network N) and exists outside the predetermined space. The information output means (for example, the communication control part 10) which outputs the intruder information regarding presence of an intruder is provided.

  According to the present invention, based on the flow velocity signal output from the flow sensor in the stopped state of the movement of the self-propelled cleaner, it is possible to detect the presence of an intruder in the closed predetermined space. The presence of an intruder can be detected with a simple configuration. That is, since the flow sensor has high airflow detection accuracy, for example, when an intruder enters a predetermined space through a window, a door, or the like, the atmosphere in the space generated by opening the window, the door, or the like ( It is possible to reliably detect changes in the airflow according to the inflow and outflow of (gas). Thus, intruder detection in a predetermined space can be reliably performed at low cost. In addition, since the notification operation for notifying the presence of the detected intruder is executed, the user can appropriately recognize the presence of the intruder.

  In addition, although the said patent document 1 is what provided the flow sensor in the self-propelled cleaner, the said flow sensor aims at detection of the presence or absence of a floor surface, an unevenness | corrugation, etc. The purpose is different. That is, according to the present application, it is possible to reliably detect the intruder in the closed predetermined space at a low cost, and to allow the user to properly recognize the presence of the intruder.

  In this case, by outputting a warning sound for warning the presence of the intruder from the sound generation unit, it is possible to make the user in the vicinity of the predetermined space more appropriately recognize the presence of the intruder. In addition, by outputting intruder information related to the presence of an intruder to an external communication terminal that is connected to the self-propelled cleaner through a predetermined communication line and exists outside the predetermined space, the user can Even when the user exists outside the space, the user can be made to recognize the presence of the intruder more appropriately by using the external communication terminal.

  According to the present invention, since the presence of an intruder can be detected with a simple configuration using a flow sensor, the intruder can be reliably detected at a low cost. In addition, since the notification operation for notifying the presence of the detected intruder is executed, the user can appropriately recognize the presence of the intruder.

  Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. However, the scope of the invention is not limited to the illustrated examples.

  FIG. 1 is a side view showing a self-propelled cleaner 100 illustrated as a preferred embodiment to which the present invention is applied as viewed from the side, and FIG. 2 is a plan view showing the self-propelled cleaner 100. FIG. 3 is a front view showing the self-propelled cleaner 100. FIG. 4 is a block diagram showing a main configuration of the self-propelled cleaner 100.

  1 to 3 show a state in which the inside of the housing 1 of the self-propelled cleaner 100 is seen through, and each component disposed in the housing 1 is indicated by a broken line.

  Moreover, in the following description, the direction along the traveling direction of the self-propelled cleaner 100 is the front-rear direction X, the forward direction side is the front side, and the reverse direction side is the rear side. Further, one direction orthogonal to the front-rear direction X is defined as a left-right direction Y, and a direction orthogonal to both the front-rear direction X and the left-right direction Y is defined as a vertical direction Z.

  The self-propelled cleaner 100 of the present embodiment performs cleaning by autonomously traveling based on a predetermined traveling pattern in a room or the like, for example, and as shown in FIGS. And a traveling unit 2 that rotates the two left and right drive wheels 21L and 21R in the housing 1 to move the self-propelled cleaner 100 in a predetermined direction, and a cleaning that is a traveling surface during the movement. A cleaning unit 3 for cleaning dust or the like on the surface is disposed, and as shown in FIG. 4, the operation unit 4, the sound generation unit 9, the communication control unit 10, the storage unit 5, and the RAM 6. And a CPU 7, and each part is connected by a bus 8.

In addition, the room is a space where the inflow / outflow of the atmosphere (gas) through, for example, a window is restricted,
In the present embodiment, it is assumed that after the traveling of the self-propelled cleaner 100 is stopped, the windless state is almost achieved and the closed predetermined space according to the present invention is equivalent.

  The traveling unit 2 independently rotates two drive wheels 21L and 21R disposed at both ends in the left-right direction Y at the substantially center of the bottom of the self-propelled cleaner 100, and each of the drive wheels 21L and 21R. The left wheel drive unit 22 and the right wheel drive unit 23 to be driven, a predetermined number of driven wheels 24 (five shown in FIG. 2) that are driven to rotate as the self-propelled cleaner 100 travels, and the forward direction side Proximity sensor 25 for measuring the distance to obstacles (not shown) such as existing walls and furniture,... To obstacles (not shown) such as side walls existing on the Y side of the self-propelled cleaner 100 Proximity sensors 26, 26 for measuring the distance, first flow sensor 27 and second flow sensor 28 for detecting airflow and detecting the flow velocity, and detecting steps such as unevenness on the running surface Step detecting sensor 29 for performing Ete is configured.

  The left drive wheel 21L is disposed so as to be rotatable around an axis in the left-right direction Y, for example.

  The left wheel drive unit 22 includes, for example, a left wheel drive motor 221 as a drive source for rotationally driving the left drive wheels 21L and 21R, a gear for transmitting the drive force of the left wheel drive motor 221 to the left drive wheel 21L, and the like The left wheel drive unit 22 is integrated with the left drive wheel 21L to constitute the left wheel side drive unit 2L.

  The left wheel side drive unit 2L is supported by a unit support (not shown) attached and fixed to the housing 1 while being urged by the urging spring 222 toward the traveling surface side of the self-propelled cleaner 100. More specifically, the unit is provided via a first link and a second link (both not shown) rotatably attached to two different points of the left wheel side drive unit 2L and the unit support portion. Connected to the support.

  The right drive wheel 21R is arranged to be rotatable around the axis in the left-right direction Y, for example, in substantially the same manner as the left drive wheel 21L.

  The right wheel drive unit 23 is configured in substantially the same manner as the left wheel drive unit 22, and for example, a right wheel drive motor 231 as a drive source for rotationally driving the right drive wheel 21R, and a driving force of the right wheel drive motor 231 And a driving force transmission section (not shown) such as a gear for transmitting the right driving wheel 21R to the right driving wheel 21R. The right wheel driving section 23 is integrated with the right driving wheel 21R and the right wheel driving unit 2R. Is configured.

  Further, the right wheel side drive unit 2R is attached and fixed to the housing 1 in a state where it is urged by the urging spring 232 on the running surface side of the self-propelled cleaner 100, substantially like the left wheel side drive unit 2L. More specifically, a first link that is supported by a unit support portion (not shown), and is rotatably attached to two different points of the right wheel side drive unit 2R and the unit support portion, and It is connected to the unit support via a second link (both not shown).

  For example, the driven wheel 24 considers the weight balance between the front and rear of the self-propelled cleaner 100 around the drive wheels 21L and 21R in order to improve the running stability according to the rotational drive of the drive wheels 21L and 21R. A predetermined number is arranged at a predetermined position.

  The proximity sensor 25 is composed of, for example, an infrared sensor, an ultrasonic sensor, or the like, and a plurality of proximity sensors 25 are arranged so that the front ends of the proximity sensors 25 are exposed through a plurality of openings provided on the front side of the housing 1. It is installed.

  Further, the proximity sensor 25 outputs an obstacle detection signal for detecting an obstacle such as a wall or furniture existing on the forward direction side and in the predetermined range of the self-propelled cleaner 100 to the CPU 7. It has become.

The lateral wall proximity sensor 26 is composed of, for example, an infrared sensor, an ultrasonic sensor, and the like, substantially the same as the proximity sensor 25, and is closer to the end than the left and right drive wheels 21L and 21R of the housing 1. Each of the lateral wall proximity sensors 26 is disposed so as to expose the front end portion thereof through two provided openings.

  The lateral wall proximity sensor 26 is used for detecting an obstacle for detecting an obstacle such as a wall or furniture that is located in a predetermined range of the self-propelled cleaner 100 on the left and right direction Y side substantially orthogonal to the forward direction. A signal is output to the CPU 7.

  The first flow sensor 27 and the second flow sensor 28 are disposed at a substantially central portion of the upper surface of the self-propelled cleaner 100. Specifically, the first flow sensor 27 can detect the airflow flowing in the traveling direction according to a predetermined traveling pattern of the self-propelled cleaner 100, and the second flow sensor 28 can be detected in the traveling direction. Each detection unit is exposed from the housing 1 and arranged in a predetermined direction so that an airflow flowing in a direction orthogonal to each other can be detected.

  During the travel (movement) of the self-propelled cleaner 100, the first flow sensor 27 outputs a first flow velocity signal related to the flow velocity of the airflow flowing in the traveling direction to the CPU 7, and the second flow sensor 28 The second flow velocity signal related to the flow velocity of the airflow flowing in the direction orthogonal to the traveling direction is output to the CPU 7. More specifically, the first flow sensor 27 and the second flow sensor 28 are provided with a temperature detection unit such as a microsensor, and the temperature detection unit detects a temperature lowered due to an airflow generated during traveling. After that, the flow velocity of each airflow flowing in the traveling direction and the direction orthogonal to the traveling direction, which has a predetermined relationship with the detected temperature decrease degree, that is, the moving speed of the self-propelled cleaner 100 is calculated and first calculated. It outputs to CPU7 as a flow velocity signal and a 2nd flow velocity signal.

  The step detection sensor 29 is composed of, for example, an infrared sensor, an ultrasonic sensor, etc., substantially the same as the proximity sensor 25 and the lateral wall proximity sensor 26, and includes a front end of the bottom and left and right drive wheels 21L, A front end portion of each step detecting sensor 29 is disposed on the front side of 21R with the traveling surface side facing. Further, the step detection sensor 29 outputs a step detection signal for detecting a step on the running surface to the CPU 7.

  The cleaning unit 3 includes a cleaning brush 31 that sweeps up dust on the cleaning surface (running surface), a suction fan 33 that is driven to collect dust on the cleaning surface via the suction port 32, and a suction port. 32 and the side cleaning for cleaning the cleaning surface outside the cleaning brush 31 and the dust collecting unit 35 that collects the dust sucked in through the suction port 32. And a brush 36 for use.

  The cleaning brush 31 is rotatable around the axis in the left-right direction Y based on the rotation of the brush drive motor 311 under the control of the CPU 7. A suction port 32 is provided on the rear side of the cleaning brush 31.

  The suction port 32 is provided at a substantially central portion in the longitudinal direction of the cleaning brush 31, and is connected to the rear end portion of the dust collecting portion 35 via the communication portion 34.

  The suction fan 33 communicates with the front end portion of the dust collecting unit 35 through a filter 37 for filtering dust, and is based on the fan drive motor 331 being rotationally driven under the control of the CPU 7. And can be rotated.

  The side cleaning brush 36 is disposed on the front side of the left and right drive wheels 21 </ b> L and 21 </ b> R so that a part of the brush protrudes outside the housing 1. That is, the side cleaning brush 36 can rotate around the axis center in the vertical direction Z provided on the edge portion of the housing 1 based on the rotation of the side brush drive motor 361 under the control of the CPU 7. It has become. Accordingly, a part of the side cleaning brush 36, for example, approximately half is located outside the housing 1, so that dust or the like existing on the cleaning surface outside the cleaning brush 31 can be cleaned. .

  The operation unit 4 has, for example, a plurality of operation keys (not shown) for instructing execution of various functions of the self-propelled cleaner 100, and a predetermined key corresponding to the operation key operated by the user. An operation signal is output to the CPU 7.

  Specifically, the cleaning unit 4 includes a mode setting switch 41 capable of setting a cleaning mode for cleaning according to a predetermined traveling pattern and a monitoring mode for monitoring an intruder into a predetermined space such as a room. The monitoring mode is not only set by a manual operation by the user, but may be configured to be automatically set after completion of a predetermined cleaning operation in the cleaning mode, for example.

  The sound generation unit 9 includes, for example, a speaker that emits a predetermined sound, and can output a predetermined warning sound for warning the presence of an intruder.

  The communication control unit 10 is connected to a wireless base station (not shown) by a wireless communication method such as a wireless LAN (Local Area Network), for example, and is connected to a mobile phone (external communication terminal; (See FIG. 5).

  Specifically, for example, when the self-propelled cleaner 100 is set to the monitoring mode, the communication control unit 10 has an intruder in the space with respect to the mobile phone 200 under the control of the CPU 7. Intruder information related to is transmitted.

  As shown in FIG. 5, the mobile phone 200 receives the intruder information transmitted from the self-propelled cleaner 100 via the network N and a predetermined number based on the received intruder information. And a display unit 202 for displaying a message and a speaker (not shown) for outputting a predetermined warning sound based on intruder information, for communicating with another mobile phone or the like (not shown). The unit 203 includes an operation input unit 204 having predetermined operation keys, a storage unit 205, a RAM 206, a CPU 207, and the like, and each unit is connected by a bus 208.

  Moreover, about the component corresponding to the component of the self-propelled cleaner 100 among the components of the mobile telephone 200, the code | symbol of the same row is attached | subjected and detailed description is abbreviate | omitted.

  The storage unit 5 includes, for example, a ROM (Read Only Memory), an EEPROM (Electronic Erasable Programmable ROM), and the like, and stores various programs executed under the control of the CPU 7, data related to the processing of each program, and the like. To do.

  Specifically, the storage unit 5 stores a moving direction detection program 5a, a drive control program 5b, an intruder detection program 5c, a notification operation execution program 5d, and the like.

  The movement direction detection program 5a causes the CPU 7 to receive the first flow velocity signal output from the first flow sensor 27 and the second flow velocity signal output from the second flow sensor 28 during the movement of the self-propelled cleaner 100. It is a program for realizing a function related to a moving direction detection process for detecting the moving direction of the self-propelled cleaner 100 based on at least one of them.

  The drive control program 5b allows the CPU 7 to move the self-propelled cleaner 100 according to the travel pattern stored in the storage unit 5 based on the detected movement direction of the self-propelled cleaner 100. This is a program for realizing the function related to the drive control processing for controlling the rotational drive of the drive wheels 21L and 21R, that is, the drive of the left wheel drive motor 221 and the right wheel drive motor 231 connected to the drive wheels.

The intruder detection program 5c causes the CPU 7 to set the first flow sensor 27 and the second flow sensor 27 as the intruder detection means when the self-propelled cleaner 100 is set to the monitoring mode and the movement of the self-propelled cleaner 100 is stopped. Based on the first flow velocity signal and the second flow velocity signal output from at least one of the flow sensors 28, a function related to an intruder detection process for detecting the presence of an intruder in a predetermined closed space is realized. It is a program for. That is, when an intruder enters a room through a window, a door, etc., the opening of the window, the door, etc. causes an inflow / outflow of the atmosphere (gas) into the room, and the air flow changes. Become. Accordingly, a change in airflow is detected by the first flow sensor 27 and the second flow sensor 28, and the first flow rate signal and the second flow rate signal are output from the first flow sensor 27 and the second flow sensor 28 and input to the CPU 7. Based on this, the CPU 7 executes the intruder detection program 5c to detect the presence of the intruder.

  The notification operation execution program 5d is a program for causing the CPU 7 to realize a function related to a notification operation execution process for executing a notification operation for notifying the presence of an intruder when the presence of the intruder is detected. is there. More specifically, based on the execution of the notification operation execution program 5d by the CPU 7, a warning sound for warning the presence of an intruder is output to the sound generation unit 9, or the communication control unit 10 is notified to the mobile phone 200. Intruder information is output. In this way, the CPU 7 constitutes a notification operation executing means together with the sound generation unit 9 and the communication control unit 10.

  Moreover, the memory | storage part 5 has memorize | stored the traveling pattern information 5e which concerns on the predetermined traveling pattern (refer FIG. 5) of the self-propelled cleaner 100 set beforehand.

  Here, as a traveling pattern, for example, as shown in FIG. 5, the two driving wheels 21L and 21R are rotated and driven at substantially equal speeds, so that the vehicle travels straight in a predetermined direction. An obstacle is detected based on the output signal from the sensor 25. In this case, the vehicle stops traveling, and after making a U-turn, that is, turning 180 degrees, travel straight in the direction opposite to the predetermined direction. Can be repeated in sequence.

  The travel pattern may be set based on a predetermined operation of the operation unit 4 by the user, or may be set as a default at the stage of manufacture / shipment.

  A RAM (Random Access Memory) 6 is, for example, a volatile semiconductor memory, and constitutes a storage area, a work area, and the like for programs and data read from the storage unit 5 under the control of the CPU 7.

A CPU (Central Processing Unit) 7 controls and controls each part of the self-propelled cleaner 100, reads a predetermined program stored in the storage unit 5, and develops it in the work area of the RAM 6. Then, various processes are executed according to the program. For example, the CPU 7 is based on the input of the first flow velocity signal and the second flow velocity signal output from the first flow sensor 27 and the second flow sensor 28 in a state where the monitoring mode for monitoring the intruder is set. Then, a predetermined control program is executed to detect the presence of an intruder and perform intruder monitoring processing for executing various notification operations for notifying the presence of the intruder.

  Next, the intruder monitoring process under the control of the CPU 7 will be described in detail with reference to FIG.

  Here, FIG. 6 is a flowchart illustrating an example of an operation related to the intruder monitoring process of the self-propelled cleaner 100.

  As shown in FIG. 6, when the start of a cleaning operation according to a predetermined traveling pattern or traveling (cleaning operation) time is instructed based on the operation of the operation unit 4 by the user (step S1), the CPU 7 By controlling the left wheel drive motor 221 of the left wheel drive unit 22 and the right wheel drive motor 231 of the right wheel drive unit 23 based on the running pattern as shown in FIG. 5, the left and right drive wheels 21L and 21R are driven to rotate. The self-propelled cleaner 100 is caused to travel in a predetermined direction (step S2).

At this time, the CPU 7 controls execution of the movement direction detection process and the drive control process (step S3). Specifically, the CPU 7 reads the moving direction detection program from the storage unit 5 based on the first flow rate signal and the second flow rate signal output and input from the first flow sensor 27 or the second flow sensor, and stores them in the RAM 6. Based on the execution of the movement direction detection program 5a, a movement direction detection process is performed. Further, the drive control program 5b is read from the storage unit 5 and expanded in the RAM 6, and detected according to the drive control program 5b. Based on the moving direction, a drive control process for controlling driving of the left wheel drive motor 221 and the right wheel drive motor 231 is executed so that the self-propelled cleaner 100 travels in a predetermined direction.

  In this way, the self-propelled cleaner 100 can be made to travel so as to move according to a preset travel pattern.

  Then, when the cleaning according to the preset traveling pattern and the cleaning time is completed, the CPU 7 stops the movement by the traveling unit 2 according to a predetermined control program read from the storage unit 5, and the self-propelled type The cleaner 100 is set to the monitoring mode (step S4).

  When the first flow rate signal and the second flow rate signal are output from at least one of the first flow sensor 27 and the second flow sensor 28 and input to the CPU 7 in the state set to the monitoring mode (step S5; YES) ) Based on the input first flow velocity signal and second flow velocity signal, the CPU 7 reads the intruder detection program 5c from the storage unit 5 and expands it in the RAM 6, and performs intruder detection processing according to the intruder detection program 5c. This is executed to detect the presence of an intruder in the room (step S6).

  Next, the CPU 7 reads the notification operation execution program 5d from the storage unit 5 and develops it in the RAM 6, and performs notification operation execution processing for notifying the presence of an intruder according to the notification operation execution program 5d (step S7). As this notification operation execution processing, for example, the CPU 7 controls the sound generation unit 9 to output a warning sound for warning the presence of an intruder, or controls the communication control unit 10 to enter the mobile phone 200. Person information is sent. When the mobile phone 200 receives the intruder information, for example, the CPU 207 controls the display unit 202 to display a predetermined warning screen regarding the presence of the intruder, or controls the transmission / reception unit 203 to perform predetermined processing. Sounds a warning sound.

  As described above, according to the self-propelled cleaner 100 of the present embodiment, at least one of the first flow sensor 27 and the second flow sensor 28 in a stopped state of movement of the self-propelled cleaner 100. Since the presence of an intruder in the room can be detected based on the first flow velocity signal and the second flow velocity signal output from one side, the presence of the intruder can be detected with a simple configuration. That is, it is possible to reliably detect a change in the airflow using the flow sensors 27 and 28 with high airflow detection accuracy, and thus it is possible to reliably detect an intruder in the room at a low cost. That is, since the first flow sensor 27 and the second flow sensor 28 used for running control of the self-propelled cleaner 100 can be used for monitoring intruders, a monitoring system for detecting intruders can be manufactured at a lower cost. Can be introduced.

  In addition, since the notification operation for notifying the presence of the detected intruder is executed, the user can appropriately recognize the presence of the intruder. More specifically, by outputting a warning sound for warning the presence of the intruder from the sound generation unit 9, it is possible to make the user in the vicinity of the room more appropriately recognize the presence of the intruder, By outputting intruder information relating to the presence of an intruder to the mobile phone 200, even if the user is outside the room, the mobile phone 200 is used to more appropriately identify the presence of the intruder. Can be recognized.

Further, during the movement, the self-propelled cleaner is based on at least one of the first flow velocity signal output from the first flow sensor 27 and the second flow velocity signal output from the second flow sensor 28. Since 100 movement directions are detected, the movement direction of the self-propelled cleaner can be detected more appropriately. And since the rotational drive of the two drive wheels 21L and 21R is controlled based on the detected moving direction, the traveling control of the self-propelled cleaner 100 can be performed more appropriately so as to move according to the traveling pattern. The efficiency of cleaning can be improved.

  Note that the present invention is not limited to the above-described embodiment, and various improvements and design changes may be made without departing from the spirit of the present invention.

  For example, in the above-described embodiment, the configuration including the first flow sensor 27 and the second flow sensor 28 is illustrated, but the configuration is not limited thereto, and any configuration including at least one flow sensor may be used.

  In addition, a predetermined monitoring camera of the self-propelled cleaner 100 may be mounted, an intruder that has entered the room can be imaged, and a more attractive monitoring system can be provided.

  Furthermore, in the above embodiment, when an intruder is detected, both the sound generation of the warning sound from the sound generation unit 9 and the output of the intruder information to the mobile phone 200 via the communication control unit 10 are performed. However, the present invention is not limited to this. For example, a predetermined setting switch is provided in the operation unit 4 so that a warning sound and an intruder information output can be switched based on an operation by the user of the setting switch. It is also good.

  Further, although the mobile phone 200 is illustrated as an external communication terminal, the present invention is not limited to this, and any device may be used as long as it is connected to the self-propelled cleaner 100 via a predetermined communication line. .

It is the side view which looked and showed the self-propelled cleaner illustrated as a suitable one embodiment to which the present invention is applied from the side. It is a top view which shows the self-propelled cleaner of FIG. It is a front view which shows the self-propelled cleaner of FIG. It is a block diagram which shows the principal part structure of the self-propelled cleaner of FIG. It is a figure which shows typically the self-propelled cleaner of FIG. 1, and a mobile telephone. It is a flowchart which shows an example of the operation | movement which concerns on the intruder monitoring process of the self-propelled cleaner of FIG.

Explanation of symbols

100 self-propelled cleaner 2 traveling unit 27 first flow sensor 28 second flow sensor 7 CPU (intruder detection means, notification operation execution means)
9 Sound generator (notification operation execution means)
10 Communication control unit (notification operation execution means)
200 Mobile phone (external communication terminal)
N network

Claims (4)

A self-propelled cleaner that performs autonomous cleaning in a closed space and performs cleaning,
A traveling unit for moving the self-propelled cleaner;
A flow sensor that detects an airflow flowing in a predetermined direction and outputs a flow velocity signal related to the flow velocity;
An intruder detection means for detecting the presence of an intruder in the predetermined space based on the flow velocity signal output from the flow sensor in a stopped state of movement of the self-propelled cleaner by the traveling unit;
A notification operation executing means for executing a notification operation for notifying the presence of the intruder detected by the intruder detection means;
With
The notification operation executing means includes
A sound generation unit that outputs a warning sound for warning the presence of the intruder,
Information output means connected to the self-propelled cleaner via a predetermined communication line and outputting intruder information relating to the presence of the intruder in the space to an external communication terminal existing outside the predetermined space A self-propelled vacuum cleaner characterized by comprising: A self-propelled cleaner that performs autonomous cleaning in a closed space and performs cleaning,
A traveling unit for moving the self-propelled cleaner;
A flow sensor that detects an airflow flowing in a predetermined direction and outputs a flow velocity signal related to the flow velocity;
An intruder detection means for detecting the presence of an intruder in the predetermined space based on the flow velocity signal output from the flow sensor in a stopped state of movement of the self-propelled cleaner by the traveling unit;
A notification operation executing means for executing a notification operation for notifying the presence of the intruder detected by the intruder detection means;
A self-propelled vacuum cleaner characterized by comprising:   The self-propelled cleaner according to claim 2, wherein the notification operation executing means includes a sound generation unit that outputs a warning sound for warning the presence of the intruder. Connected to an external communication terminal existing outside the predetermined space via a predetermined communication line;
The said notification operation execution means is provided with the information output means which outputs the intruder information which concerns on the presence of the intruder in the said predetermined space with respect to the said external communication terminal, The Claim 2 or 3 characterized by the above-mentioned. Self-propelled vacuum cleaner.

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