JP2006095005A - Self-propelled vacuum cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled vacuum cleaner which is excellent in economical efficiency by suppressing power consumption. <P>SOLUTION: While a monitoring mode is set, a doubtful person is normally detected by a power-saving sensor 35 reducing power consumption, and the doubtful person is detected by an infrared CCD sensor 73 while carrying out rotational traveling of a main body BD whenever a prescribed period passes. Thus, an operation time in the case of using the infrared CCD sensor 73 whose power consumption is high is reduced, so that power consumption can be reduced. Moreover, since rotational traveling is carried out by a driving mechanism provided at the self-propelled vacuum cleaner 10, there is no need to separately provide a device for rotating the infrared CCD sensor 73, so that cost for manufacturing is reduced. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a self-propelled cleaner provided with a main body having a cleaning mechanism and a drive mechanism for realizing steering and driving.

Conventionally, as a self-propelled cleaner of this type, a human body sensor such as a pyroelectric sensor that detects infrared rays generated from a human body is provided so that a person existing in the vicinity of the self-propelled cleaner can be detected. A configured self-propelled cleaner is known (see, for example, Patent Documents 1 and 2). A self-propelled cleaner provided with such a human body sensor can also function as a crime prevention device that detects a suspicious person who has entered.
Japanese Patent Laid-Open No. 02-7930 Japanese Patent Laid-Open No. 04-261632

However, the human body sensor described above has a problem that the detection range is narrow and cannot be detected when a suspicious person is far away. Therefore, it has been proposed to install a camera with a wide detection range in a self-propelled cleaner.
However, the camera consumes a large amount of power, and for example, it is uneconomical to perform imaging with the camera over the entire time when the user is away. Moreover, when operating a self-propelled cleaner with a battery, a battery with a large capacity must be facilitated, resulting in an increase in manufacturing cost.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a self-propelled cleaner that can suppress power consumption and is excellent in economy.

In order to achieve the above object, the invention according to claim 2 includes a main body having a cleaning mechanism, a driving mechanism for realizing steering and driving, a human body sensor for detecting infrared rays generated from the human body, and a camera. In self-propelled vacuum cleaner,
While detecting the infrared rays from the human body while the imaging with the camera is disabled, the human body sensor performs the same while rotating the main body by controlling the driving mechanism each time a predetermined condition is satisfied. The camera includes a suspicious person detection unit that causes the camera to take an image.

In Claim 2 comprised as mentioned above, a self-propelled cleaner is a main body provided with a cleaning mechanism, a drive mechanism which realizes steering and driving, a human body sensor which detects infrared rays generated from a human body, a camera, It has.
In addition, while detecting the infrared rays from the human body while the imaging with the camera is disabled, the human body sensor rotates the main body by controlling the driving mechanism each time a predetermined condition is satisfied. However, suspicious person detection means for causing the camera to take an image is provided. In other words, normally, a suspicious person is detected by a human body sensor with low power consumption, and switching to imaging with a camera having a wide detection range is performed at a predetermined timing. By doing in this way, since it becomes possible to reduce power consumption compared with the case where it always image | photographs with a camera, it becomes possible to set it as the self-propelled cleaner excellent in economical efficiency. Furthermore, since it is comprised so that it may rotate by the drive mechanism with which a self-propelled cleaner is equipped, it is not necessary to provide the apparatus for rotating a camera separately, and it becomes possible to reduce manufacturing cost.

  As for the cleaning mechanism provided in the main body, a suction type cleaning mechanism may be adopted, a cleaning mechanism of a type scraped with a brush may be adopted, or a combination of both may be adopted. In addition, with respect to a drive mechanism capable of steering and driving, by separately controlling the rotation of the drive wheels arranged on the left and right sides in the main body, steering such as forward, backward, left and right direction change and rotational travel at the same place And can be driven. In this case, it goes without saying that auxiliary wheels may be provided at the front and rear. Further, the drive wheel may be realized by a configuration that drives not only the wheel but also an endless belt. Of course, besides this, the drive mechanism can be realized with various configurations such as four wheels and six wheels.

According to a third aspect of the present invention, the suspicious person detecting means controls the driving mechanism to rotate the main body and perform imaging while rotating the main body every time a predetermined time elapses.
In the third aspect configured as described above, it is possible to perform the rotation of the main body and the imaging with the camera every predetermined time.

According to a fourth aspect of the present invention, the suspicious person detecting means controls the drive mechanism to rotate the main body every time the random number value extracted every predetermined time becomes a predetermined value. The camera is configured to take an image.
In the fourth aspect configured as described above, it is possible to rotate the main body and take an image with a camera at random intervals.

According to a fifth aspect of the present invention, infrared detection by the human body sensor is invalidated while the camera is picked up by the suspicious person detecting means.
In the fifth aspect configured as described above, since the human body sensor becomes invalid during imaging with the camera, it is possible to further reduce power consumption.

According to a sixth aspect of the present invention, the camera is an infrared camera.
In claim 6 configured as described above, since a suspicious person can be imaged even at night, a self-propelled cleaner excellent in crime prevention effect can be obtained.

As described above, according to the second aspect of the invention, it is possible to reduce power consumption and reduce manufacturing costs.
According to the third aspect of the present invention, it is possible to rotate the main body and take an image with the camera every predetermined time.
Furthermore, according to the invention concerning Claim 4, it becomes possible to perform rotation rotation of a main body and imaging with a camera at random intervals.
Furthermore, according to the invention concerning Claim 5, it becomes possible to reduce power consumption more.
Furthermore, according to the invention concerning Claim 6, it can be set as the self-propelled cleaner excellent in the crime prevention effect.

  FIG. 1 is an external perspective view of a self-propelled cleaner according to the present invention, and FIG. 2 is a rear view of the self-propelled cleaner shown in FIG. In FIG. 1, the direction indicated by arrow A is the traveling direction of the self-propelled cleaner. As shown in FIG. 1, a self-propelled cleaner 10 according to the present invention includes a substantially cylindrical main body BD, and two drive wheels 12R and 12L provided on the back side of the main body BD (see FIG. 2). Are driven individually, it is possible to go straight, reverse and turn. In addition, an infrared CCD sensor 73 serving as the camera is provided in the center portion on the front side of the main body BD. The infrared CCD sensor 73 is provided in a movable manner, and can capture the front side of the main body BD as shown in FIG. 1, and will be described later with reference to FIGS. It is also possible to take an image of the inside of a dust box 90 (not shown) installed in the.

  Further, below the infrared CCD sensor 73, seven ultrasonic sensors 31 (31a to 31g) as distance measuring means are provided. The ultrasonic sensor 31 includes a transmitter that generates an ultrasonic wave, and a receiver that receives the ultrasonic wave that is emitted from the transmitter and reflected back to the front wall, and is transmitted from the transmitter. The distance to the wall can be calculated from the time until the sound wave is received by the receiving unit. Among these seven ultrasonic sensors 31, an ultrasonic sensor 31d is provided in the center of the front side of the main body BD. The ultrasonic sensor 31a and the ultrasonic sensor 31g, the ultrasonic sensor 31b and the ultrasonic sensor 31f, and the ultrasonic sensor 31c and the ultrasonic sensor 31e are provided symmetrically. When the traveling direction of the main body BD is perpendicular to the front wall, the distances measured by the ultrasonic sensors 31 provided symmetrically are the same.

  In addition, pyroelectric sensors 35 (35a, 35b) as human body sensors are provided on both the left and right sides of the front side of the main body BD. The pyroelectric sensors 35a and 35b can detect a person existing in the vicinity of the main body BD by detecting infrared rays generated from the human body. Although not shown in FIG. 1, pyroelectric sensors 35 (35c, 35d) are also provided on the left and right sides of the back side of the main body BD, respectively, so that the detection range is 360 ° around the main body BD. It is configured.

In FIG. 2, two drive wheels 12R and 12L are respectively provided at the left and right ends at the center of the back side of the main body BD. Also, three auxiliary wheels 13 are provided on the front side (traveling direction side) on the back side of the main body BD. Furthermore, step sensors 14 for detecting road surface irregularities and steps are provided on the upper right, lower right, upper left, and lower left of the back side of the main body BD, respectively. A main brush 15 is provided below the center of the back side of the main body BD. The main brush 15 is rotationally driven by a main brush motor 52 (not shown), and can scrape off dust on the road surface. Moreover, the opening of the part to which the main brush 15 is attached is a suction port, and the scraped dust is sucked into the suction port while the main brush 15 scrapes the dust. Further, side brushes 16 are respectively provided on the upper right and upper left on the back side of the main body BD.
The self-propelled cleaner 10 according to the present invention includes various sensors in addition to the ultrasonic sensor 31, pyroelectric sensor 35, and step sensor 14 shown in FIGS. 1 and 2. Will be described later with reference to the drawing (FIG. 3).

  FIG. 3 is a block diagram showing a configuration of the self-propelled cleaner shown in FIGS. 1 and 2. In the figure, a CPU 21, a ROM 23, and a RAM 22 are connected to a main body BD as a control unit via a bus 24. The CPU 21 executes various controls using the RAM 22 as a work area according to the control program and various parameter tables stored in the ROM 23.

  The main body BD has a battery 27, and the CPU 21 can monitor the remaining amount of the battery 27 through the battery monitoring circuit 26. Further, the battery 27 is provided with a charging terminal 27a for charging from a charging device 100 described later. The charging terminal 27a is connected to the power supply terminal 101 of the charging device 100 for charging. The battery monitoring circuit 26 mainly monitors the voltage of the battery 27 and detects the remaining amount. The main body BD has an audio circuit 29a connected to the bus 24, and the speaker 29b emits audio in accordance with the audio signal generated by the audio circuit 29a.

  The main body BD includes an ultrasonic sensor 31 (31a to 31g) as a distance measuring unit, a pyroelectric sensor 35 (35a to 35d) as a human body sensor, and a step sensor 14 (FIG. 1, FIG. 1). (See FIG. 2). The main body BD includes lateral wall sensors 36R and 36L for detecting side walls as other sensors not shown in FIGS. The lateral wall sensors 36R and 36L can be constituted by, for example, a passive sensor or an ultrasonic sensor. Furthermore, the main body BD includes a gyro sensor 37 as the other sensor. The gyro sensor 37 includes an angular velocity sensor 37a that detects a change in angular velocity caused by a change in the traveling direction of the main body BD. The gyro sensor 37 integrates the sensor output values detected by the angular velocity sensor 37a, and the direction angle that the main body BD faces. Can be detected.

The self-propelled cleaner 10 according to the present invention has motor drivers 41R and 41L as drive mechanisms.
Drive wheel motors 42R, 42L, and a gear unit (not shown) interposed between the drive wheel motors 42R, 42L and the drive wheels 12R, 12L described above. The driving wheel motors 42R and 42L are driven and controlled in detail by the motor drivers 41R and 41L when rotating. Each motor driver 41R, 41L outputs a corresponding drive signal in response to a control instruction from the CPU 21. Various types of gear units and drive wheels 12R and 12L may be employed, and may be realized by driving a circular rubber tire or driving an endless belt.

  Further, the actual rotation direction and rotation angle of the drive wheel can be accurately detected from the output of a rotary encoder (not shown) attached integrally with the drive wheel motors 42R and 42L. Note that the rotary encoder is not directly connected to the drive wheel, and a driven wheel that can be freely rotated is mounted in the vicinity of the drive wheel, and the drive wheel slips by feeding back the rotation amount of the driven wheel. It may be possible to detect the amount of rotation. The acceleration sensor 44 detects the acceleration in the XYZ triaxial directions and outputs the detection result. Various types of gear units and drive wheels can be employed, and may be realized by driving a circular rubber tire or driving an endless belt.

  The cleaning mechanism in the self-propelled cleaner 10 according to the present invention includes two side brushes 16 (see FIG. 2) provided on the back surface side of the main body BD and a main brush 15 ( 2) and a suction fan (not shown) for sucking dust scraped by the main brush 15 and storing it in the dust box 90. The main brush 15 is driven by a main brush motor 52, and the suction fan is driven by a suction motor 55. The main brush motor 52 and the suction motor 55 are supplied with driving power from motor drivers 54 and 56, respectively. Cleaning using the main brush 15 is controlled by the CPU 21 as appropriate according to the floor condition, battery condition, user instruction, and the like.

  The main body BD has a wireless LAN module 61, and the CPU 21 can communicate with an external LAN wirelessly according to a predetermined protocol. The wireless LAN module 61 assumes that there is an access point (not shown), and the access point can be connected to an external wide area network (for example, the Internet) via a router or the like. Suppose that Therefore, it is possible to send and receive normal mail via the Internet and browse the WEB site. The wireless LAN module 61 is composed of a standardized card slot and a standardized wireless LAN card connected to the slot. Of course, the card slot can be connected to other standardized cards.

  The main body BD includes an infrared CCD sensor 73 and an infrared light source 72. The imaging signal generated by the infrared CCD sensor 73 is sent to the CPU 21 via the bus 24, and the CPU 21 performs various processes on the imaging signal. The infrared CCD sensor 73 has an optical system capable of imaging the front, and generates an electrical signal in accordance with infrared rays input from a visual field realized by the optical system. Specifically, a large number of photodiodes arranged corresponding to each pixel at the image forming position by the optical system are provided, and each photodiode generates an electric signal corresponding to the input infrared electric energy. . The CCD element temporarily stores the electrical signal generated for each pixel, and generates an imaging signal in which the electrical signal is continuous for each pixel. The generated imaging signal is output to the CPU 21 as appropriate.

  Here, the camera is configured to use the change in the infrared rays incident on the infrared CCD sensor 73, but the present invention is not limited to this. For example, if the processing amount of the CPU 21 is increased, a color image is captured, a skin color region characteristic of the human body is searched, and a suspicious person is detected based on the size and change of the region. . Of course, it is also possible to use CMOS instead of CCD. In addition, when the processing amount of the CPU 21 is highly required, a specialized image arithmetic device may be added to perform image processing on the imaging signal, or a VRAM may be added separately from the RAM 22. May be. Since the imaging signal can be input to the bus 24 of the main body BD, the main body BD may be provided so that the image arithmetic device, the VRAM, and the like are connected to the bus 24.

Next, the operation of the self-propelled cleaner 10 according to the present invention will be described.
The self-propelled cleaner 10 according to the present invention is provided with three modes: (A) automatic cleaning mode, (B) navigation mode, and (C) monitoring mode. The mode can be changed by the user's selection operation. The above three modes will be briefly described below.

(A) Automatic cleaning mode When the cleaning mode is set, the self-propelled cleaner 10 performs cleaning while automatically running according to a control program stored in advance in the ROM 23 or the like. When the unevenness of the wall or floor surface is detected by the sensor during traveling, traveling control is performed based on the control program described above.

(B) Navigation mode When the navigation mode is set, the self-propelled cleaner 10 moves to the vicinity of an irradiation position of infrared rays emitted from a remote controller as a light emitting device, and the surrounding spots. Clean. That is, in the navigation mode, the self-propelled cleaner 10 does not perform the cleaning while automatically running like the above-described automatic cleaning mode, but the user uses the remote controller to perform the cleaning. The place to be performed is pointed out, and the self-propelled cleaner 10 is guided to the same place to perform the cleaning.

(C) Monitoring mode When the monitoring mode is set, the self-propelled cleaner 10 monitors the intrusion of a suspicious person. Specifically, monitoring is performed using the pyroelectric sensor 35 and the infrared CCD sensor 73 shown in FIG. 2, and when a suspicious person is detected, the wireless LAN module 61 is used to send the information to the outside. The alarm signal is transmitted. This monitoring mode will be described in detail later with reference to the drawings (FIGS. 5 to 7).

  Hereinafter, the flow of the main process executed in the self-propelled cleaner 10 shown in FIGS. 1 to 3 will be described based on the flowchart shown in FIG. First, in step S100, initial setting is performed. In this processing, processing related to initialization such as clearing of the register in the CPU 21 and the RAM 22 is performed.

  Next, in step S110, it is determined whether or not a mode selection instruction has been issued. In this process, it is determined whether or not an instruction for selecting any one of the three modes (automatic cleaning mode, navigation mode, and monitoring mode) has been input. If it is determined in step S110 that the automatic cleaning mode has been selected, an automatic cleaning mode execution process is performed in step S120. If it is determined in step S110 that the navigation mode has been selected, a navigation mode execution process is performed in step S130. Further, if it is determined in step S110 that the monitoring mode has been selected, a monitoring mode execution process is performed in step S140. This monitoring mode execution process will be described later with reference to FIG.

  When the process of step S120, step S130, or step S140 is executed, or when it is determined that there is no mode selection instruction in step S110, next, in step S150, the power of the self-propelled cleaner 10 is supplied. It is specified whether or not an instruction to turn OFF is input. If there is no instruction to turn off the power of the self-propelled cleaner 10, the process returns to step S110, and if there is an instruction, the main process is terminated.

  Next, the monitoring mode execution process called and executed in step S140 of the flowchart shown in FIG. 4 will be described. FIG. 5 is a flowchart showing the flow of the monitoring mode execution process that is called and executed in step S140 of the flowchart shown in FIG. 4, and FIGS. FIG. 6 is a diagram schematically showing the operation of the self-propelled cleaner 10 when the flowchart shown in FIG. 5 is being executed.

  When the monitoring mode execution processing is started, first, in step S500, processing for enabling the pyroelectric sensor 35 (35a to 35d) is executed. When this process is executed and all the pyroelectric sensors 35 are activated, infrared rays generated from the human body can be detected, and a suspicious person in the vicinity of the main body BD can be detected. Next, in step S510, it is determined whether or not a suspicious person has been detected by the pyroelectric sensor 31. If it is determined that a suspicious person has been detected, a process for transmitting an alarm mail is performed in step S520. In this process, the wireless LAN module 61 transmits an alarm mail indicating that a suspicious person has been detected to a mobile phone or the like possessed by the user via the Internet or the like.

  If the process of step S520 is executed, next, a process of outputting an alarm sound is performed in step S530. In this process, the CPU 21 sends a predetermined signal to the audio circuit 29a, the audio circuit 29a generates an audio signal based on the signal, and outputs an alarm sound at the speaker 29b. This warning sound can notify the presence of a suspicious person when the user is nearby, and also serves as a warning for the suspicious person.

  If the process of step S530 is executed or if it is determined in step S510 that a suspicious person has not been detected, then in step S540, it is determined whether a predetermined time (for example, 1 minute) has elapsed. . If it is determined that the predetermined time has not elapsed, the process returns to step S510, whereas if it is determined that the predetermined time has elapsed, then in step S550, all pyroelectric sensors 35 are invalidated. Execute the process. That is, all the pyroelectric sensors 35 are prevented from detecting infrared rays from the human body.

  If the process of step S550 is executed, next, in step S560, a process of rotating the main body BD by a predetermined angle (for example, 30 degrees) is performed. In this process, by driving only one of the drive wheel motor 42R and the drive wheel motor 42L, the main body BD is rotated by the above-mentioned low angle and then stopped. Next, in step S570, imaging with the infrared CCD sensor 73 is performed with the main body BD stopped. If the process of step S570 is executed, it is next determined whether or not a suspicious person has been imaged by the infrared CCD sensor 73. Specifically, this processing can be performed by detecting a difference between frames of video signals (video signals for one screen) based on the imaging signal from the infrared CCD sensor 73. If it is determined that the suspicious person has been imaged, the processes of steps S520 and S530 described above are executed.

  If the process of step S530 is executed, or if it is determined in step S580 that the suspicious person has not been imaged, then in step S590, it is determined whether the main body BD has made one revolution. This determination can be made based on the direction angle of the main body BD detected by the gyro sensor 37, for example. If it is determined that the main body BD has not made one rotation, the process returns to step S560. By repeatedly executing the processes of steps S560, S570, and S590, imaging by the infrared CCD sensor 73 is performed while the main body BD is rotated by a predetermined angle.

  If it is determined in step S590 that the main body BD has made one revolution, then in step S600, it is determined whether or not there is an instruction to cancel the monitoring mode. If it is determined that there is no cancellation instruction, the process is performed. Returning to step S500, if it is determined that a cancel instruction has been issued, the monitoring mode execution process is terminated.

  Hereinafter, a specific example when the flowchart shown in FIG. 5 is executed will be described with reference to FIGS. First, when each of the pyroelectric sensors 35 (35a to 35d) is activated (step S500), it is possible to detect infrared rays generated from the human body, and to detect a suspicious person near the main body BD. Become. In FIG. 6, a colored portion indicates a range that can be detected by the pyroelectric sensor 35. If a suspicious person is detected when the pyroelectric sensor 35 is activated, an alarm mail is transmitted to the mobile phone or the like possessed by the user (step S520), and an alarm sound is sped. Is output from the power supply 29b (step S530).

  When a predetermined time (for example, 1 minute) elapses after the pyroelectric sensor 35 is activated, the pyroelectric sensor 35 is deactivated (step S550), and then the main body BD is rotated while rotating by a predetermined angle each time it is stopped. Then, imaging by the infrared CCD sensor 73 is performed (steps S560 and S570). In FIG. 7, the colored portion indicates a range that can be detected by the infrared CCD sensor 73. In FIG. 7, white arrows indicate the rotation direction of the main body BD. By causing the infrared CCD sensor 73 to perform imaging while rotating the main body BD by 360 degrees, it becomes possible to detect a suspicious person in a wider range than when the pyroelectric sensor shown in FIG. 6 is used. As a result of analyzing the imaging signal from the infrared CCD sensor 73, when a suspicious person is detected, an alarm mail is transmitted to a mobile phone or the like possessed by the user (step S520), and an alarm sound is transmitted. Is output from the speaker 29b (step S530). Thus, in self-propelled cleaner 10 concerning the present invention, since image pick-up by infrared CCD sensor 73 is performed every predetermined time (1 minute), compared with the case where image pick-up by infrared CCD sensor 73 is always performed, power consumption is reduced. It can be greatly reduced.

(4) Various modifications:
In the above-described embodiment, the case has been described in which, when the monitoring mode is set, every time a predetermined time (one minute) elapses, the main body BD is rotated and imaged by the infrared CCD sensor 73. In the present invention, the timing of starting the rotation of the main body BD and the imaging with the camera is not particularly limited. For example, a random number is extracted every certain time (for example, 3 seconds), and the extracted random number value is predetermined. You may comprise so that rotation of main body BD and imaging with a camera may be started when it becomes a value. When configured in this manner, the rotation of the main body BD and the imaging with the camera are performed at random time intervals.

  As described above, in the self-propelled cleaner 10 according to the embodiment, when the monitoring mode is set, the suspicious person is normally detected by the pyroelectric sensor 35 with low power consumption, Each time a predetermined time elapses, the infrared CCD sensor 73 detects a suspicious person while rotating the main body BD, so that the operation time of the infrared CCD sensor 73 with high power consumption is shortened. As a result, power consumption can be reduced. Moreover, since it is comprised so that it may rotate by the drive mechanism with which the self-propelled cleaner 10 is equipped, it is not necessary to provide the apparatus for rotating the infrared CCD sensor 73 separately, and can reduce manufacturing cost. It becomes possible.

It is an external appearance perspective view of the self-propelled cleaner concerning the present invention. It is a reverse view of the self-propelled cleaner shown in FIG. It is a block diagram which shows the structure of the self-propelled cleaner shown in FIG. 1, FIG. It is a flowchart showing the flow of main processing. FIG. 5 is a flowchart showing the flow of a monitoring mode execution process which is called and executed in step S140 of the flowchart shown in FIG. It is a figure which shows typically operation | movement of the self-propelled cleaner when the flowchart shown in FIG. 5 is performed. It is a figure which shows typically operation | movement of the self-propelled cleaner when the flowchart shown in FIG. 5 is performed.

Explanation of symbols

10 ... Self-propelled cleaners 12R, 12L ... Drive wheels 14 ... Step sensor 21 ... CPU
22 ... RAM
23 ... ROM
26 ... Battery-monitoring circuit 27 ... Battery-
27a ... Charging terminal 29a ... Audio circuit 29b ... Speaker 31 (31a-31g) ... Ultrasonic sensor 35 (35a-35d) ... Pyroelectric sensor 36R, 36L ... Horizontal wall sensor 61 ... Wireless LAN module 72 ... Infrared light source 73 ... Infrared CCD sensor

Claims (6)

In a self-propelled cleaner comprising a main body provided with a cleaning mechanism, a drive mechanism that realizes steering and driving, a human body sensor that detects infrared rays generated from a human body, and an infrared camera,
While allowing the human body sensor to detect infrared rays from the human body while disabling imaging with the infrared camera,
Whenever a predetermined time elapses or a random number value extracted every predetermined time becomes a predetermined value, the infrared camera performs imaging while controlling the drive mechanism and rotating the main body. Has suspicious person detection means,
A self-propelled cleaner characterized by invalidating infrared detection by the human body sensor while imaging by the infrared camera is performed by the suspicious person detecting means. In a self-propelled cleaner comprising a main body provided with a cleaning mechanism, a drive mechanism that realizes steering and driving, a human body sensor that detects infrared rays generated from a human body, and a camera,
While detecting the infrared rays from the human body while the imaging with the camera is disabled, the human body sensor performs the same while rotating the main body by controlling the driving mechanism each time a predetermined condition is satisfied. A self-propelled cleaner, comprising suspicious person detection means for causing a camera to take an image.   3. The self-propelled type according to claim 2, wherein the suspicious person detecting unit controls the driving mechanism to cause the camera to perform imaging while rotating the main body every time a predetermined time elapses. Vacuum cleaner.   The suspicious person detecting means controls the drive mechanism to cause the camera to take an image while rotating the main body every time a random number value extracted every predetermined time becomes a predetermined value. The self-propelled cleaner according to claim 2.   The self-propelled cleaning according to any one of claims 2 to 4, wherein detection of infrared rays by the human body sensor is invalidated while imaging by the camera is performed by the suspicious person detection means. Machine. The self-propelled cleaner according to any one of claims 2 to 5, wherein the camera is an infrared camera.

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