JP2007029489A - Self-propelled cleaner and its program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To execute the automatic cleaning with the optimum cleaning period by a self-propelled cleaner even when a small animal such as a pet or the like exists in a cleaning range. <P>SOLUTION: The self-propelled cleaner is equipped with an ill-smelling sensor 12 to sense the ill-smelling of the sucked dust, an ill-smelling analysis means 13 to judge the existence of the small animal such as the pet or the like in the cleaning range from the ill-smelling information sensed by the ill-smelling sensor and a cleaning period determination means 15 to determine the period until the next execution of the automatic cleaning from the analysis result by the ill-smelling analysis means 13, automatically judges the existence of the small animal such as the pet or the like in the cleaning range and executes the automatic cleaning with the shorter period than the preset cleaning period when the small animal exists. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention is used for a self-propelled cleaner and a traveling technique in the program.

  Conventionally, in a self-propelled cleaner, in order to prevent trash from being left out and to travel on an optimal travel route, the amount of dust accumulated in the cleaning area is determined during automatic cleaning, and there is a large amount of trash. There are means for automatically cleaning the area according to the amount of accumulated dust (for example, see Patent Document 1) by increasing the suction force or decreasing the traveling speed.

  FIG. 7 shows a configuration diagram of the self-propelled cleaner described in Patent Document 1. In FIG. 7, the self-propelled cleaner is a suction motor 3 that cleans the device body 1, a drive motor 4 that travels, and an obstacle sensor 7 such as an ultrasonic sensor or a distance measuring sensor that detects a wall surface or an obstacle. And an optical sensor 9 for detecting dust and dirt in the cleaning area, connected to the obstacle detection means 8 for detecting an obstacle based on the information acquired from the obstacle sensor 7, and the information acquired from the optical sensor 9. The dust amount detecting means 10 for detecting the amount of dust accumulated in the cleaning area based on the above, the traveling position detecting means 11 for detecting the traveling position of the apparatus main body 1 based on information such as the traveling sensor and the gyro sensor, and the suction motor 3 and a control unit 2 for controlling the drive motor 4.

In the self-propelled cleaner configured as described above, the amount of dust accumulated in the cleaning region is set based on the amount of dust accumulated in advance based on the amount of dust accumulated detected by the dust amount detection means 10 during automatic traveling. In many cases, automatic cleaning is performed while avoiding obstacles by controlling the suction force of the suction motor 3 to be increased or by controlling the drive motor 4 to decrease the traveling speed.
JP 2000-353014 A

  However, even if the conventional means is used, the dust accumulation amount can be detected after actually starting automatic cleaning, so that dust and dust are accumulated (need to be cleaned). )), It is necessary for the user to make self-judgment and then start automatic cleaning by user operation. For this reason, if automatic cleaning is started after accumulation of dust or dust exceeding the cleaning capability of the self-propelled cleaner, cleaning of the specified area will not be sufficiently completed within the allowable time, and there will be no battery in the middle. The problem was that it was difficult for the user to know whether the cleaning was completed. Furthermore, the degree of dust and dust accumulation varies greatly depending on the living environment of the resident. Especially in the living environment where small animals such as pets exist, not only garbage and dust accumulate regularly but also hair loss on small animals irregularly. Therefore, it is difficult to predict the timing of automatic cleaning, and it is difficult to perform automatic cleaning at an optimal cycle, and automatic cleaning according to odor regardless of the amount of dust accumulation There was also a problem of wanting to do.

  Therefore, in order to solve the above-described conventional problems, the present invention automatically determines whether or not a small animal such as a pet exists in the cleaning area, and performs automatic cleaning at an optimal cleaning cycle when the small animal exists. The purpose is to build a characteristic self-propelled vacuum cleaner.

  In order to solve the above-mentioned conventional problems, the self-propelled cleaner of the present invention includes an odor detection unit that detects the smell of sucked dust, and a pet or the like in a cleaning area from the odor information detected by the odor detection unit. Odor analysis means for determining whether or not a small animal is present, and a cleaning cycle determination means for determining a cycle until the next automatic cleaning is performed based on an analysis result of the odor analysis means.

  Thus, the self-propelled cleaner according to the present invention can automatically determine whether or not a small animal such as a pet exists in the cleaning area. When the small animal exists, the cycle is shorter than a preset cleaning cycle. It becomes possible to perform automatic cleaning.

  The self-propelled cleaner of the present invention automatically determines whether or not a small animal such as a pet is present in the cleaning area, and when there is a small animal, automatic cleaning can be performed at a cycle shorter than a preset cleaning cycle. Therefore, automatic cleaning can be performed at a cleaning cycle that is optimal for the living environment of the resident.

  The first invention includes odor detection means for detecting the smell of sucked dust, and odor analysis means for determining whether or not a small animal such as a pet exists in the cleaning area from the odor information detected by the odor detection means. , Time measuring means for measuring time from the time of cleaning, cleaning period determining means for determining a period from the analysis result of the odor analyzing means to the next automatic cleaning, and determination by the cleaning cycle determining means Cleaning cycle storage means for storing the cycle, and when the odor analysis means determines that there is a small animal such as a pet in the cleaning area, the cleaning cycle determination means stores the previous cycle stored in the cleaning cycle storage means It is possible to determine a shorter cycle, and automatic cleaning can be performed with an optimal cleaning cycle even in a living environment where small animals such as pets exist in the cleaning area

  In particular, the second invention is the self-propelled cleaner of the first invention, further comprising a cleaning ability control means for controlling the ability of the cleaning means, and the cleaning ability control means is a cleaning area by the odor analyzing means. When it is determined that there is a small animal such as a pet, automatic cleaning can be performed without leaving any hair loss of the pet or small animal by controlling the cleaning means to increase the cleaning ability.

  In a third aspect of the invention, in particular, in the self-propelled cleaner according to the first or second aspect of the invention, the vehicle speed control means for controlling the running speed of the running means is provided, and the running speed control means is configured to analyze the odor When it is determined by the means that there is a small animal such as a pet in the cleaning region, automatic cleaning can be performed without leaving any hair loss such as a pet or small animal by controlling the traveling means to reduce the traveling speed.

  In particular, the fourth invention is the self-propelled cleaner according to any one of the first to third inventions, the odor information storage means for storing the odor information detected by the odor detection means, and the odor information detected this time. And the odor information comparison means for comparing the previously detected odor information, the cleaning cycle determination means determines the period until the next cleaning according to the result of comparison in the odor information comparison means, Even when pets, small animals, etc. no longer exist or when there is little activity, automatic cleaning can be performed at an optimal cycle.

  In particular, in the self-propelled cleaner of the fourth invention, the fifth invention stores odor information for each cleaning area in the odor information storage means, and changes the cleaning ability and the traveling speed for each cleaning area. Only the cleaning area where there is a lot of activity of pets and small animals can be intensively cleaned.

  The sixth aspect of the invention is particularly the self-propelled cleaner according to any one of the first to fifth aspects of the invention, wherein the cleaning cycle determination means is provided via the external input means by providing external input means. The period to be changed in can be arbitrarily set and changed.

  In the seventh invention, in particular, as a configuration for causing all or any one of the first to sixth inventions to function, the computer is made to function as all or part of the invention. All or part of the invention can be easily realized.

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

(Embodiment 1)
FIG. 1 shows a configuration diagram of a self-propelled cleaner according to the first embodiment of the present invention.

  In FIG. 1, a suction motor 3 for cleaning the device main body 1, a drive motor 4 for traveling, an odor sensor 12 for detecting the smell of the sucked dust, an ultrasonic sensor for detecting a wall surface and an obstacle, and a distance measurement. An obstacle sensor 7 such as a sensor is connected, and the device main body 1 detects an obstacle based on the control unit 2 that controls the suction motor 3 and the drive motor 4 and information acquired from the obstacle sensor 7. The failure detection means 8, the odor analysis means 13 for determining whether or not a small animal such as a pet exists in the cleaning area from the odor information detected by the odor sensor 12, and the time from the time of cleaning is counted. The time measuring means 14, the cleaning period determining means 15 for determining the period until the next automatic cleaning is performed from the analysis result of the odor analyzing means 13, and the period determined by the cleaning period determining means 15 are described. Composed of the cleaning cycle the storage means 16 for. Here, it is assumed that a threshold of a sensor signal for determining whether or not a small animal exists is set in advance in the odor analyzing means 13, and until the next automatic cleaning is performed in advance in the cleaning cycle storage means 16. It is assumed that the period is set.

  The operation / action of the self-propelled cleaner configured as described above will be described below with reference to the flowchart of FIG.

  First, the self-propelled vacuum cleaner automatically cleans the cleaning area while avoiding the obstacle based on the information acquired from the obstacle sensor 7, and after the automatic cleaning is completed, the time measuring means 14 determines the time for starting the next cleaning. The measurement is started, and the odor sensor 12 detects the odor of the sucked dust (step 1), and passes the degree of the detected sensor signal to the odor analysis means 13 as sensor information. The odor analysis means 13 compares the sensor information acquired from the odor sensor 12 with a threshold value of a sensor signal set in advance in the odor analysis means 13 (step 2), and the sensor information acquired from the odor sensor 12 If the value is large, it is determined that a small animal such as a pet is present in the cleaning area (step 3). When the odor analyzing means 13 determines that the small animal is present in the cleaning area, the odor analyzing means 13 notifies the cleaning cycle determining means 15 of the presence of the small animal (step 4).

  When the cleaning cycle determination unit 15 obtains the small animal presence notification for the first time from the odor analysis unit 13, the cleaning cycle determination unit 15 acquires the cycle information stored in advance from the cleaning cycle storage unit 16, and the cycle becomes shorter than the acquired cycle. Next, a cycle for performing automatic cleaning is determined (step 5). Further, the cleaning cycle determining unit 15 notifies the determined cycle to the cleaning cycle storage unit 16, and the cleaning cycle storage unit 16 stores the acquired cycle.

  Here, when the odor analyzing means 13 determines that the small animal does not exist in the cleaning area, the cleaning period determining means 15 next sets the period stored in the cleaning period storage means 16 in advance. It is determined as the period for automatic cleaning.

  When the time measured by the time measuring unit 14 coincides with the cycle determined by the cleaning cycle determining unit 15 (step 6), the cleaning cycle determining unit 15 notifies the control unit 2 of an automatic cleaning start request ( Step 7), the controller 2 activates the suction motor 3 and the drive motor 4 to start automatic cleaning in the cleaning area (Step 8).

  As described above, in the present embodiment, it is automatically determined whether or not a small animal such as a pet exists in the cleaning area, and when the small animal exists, automatic cleaning is performed at a cycle shorter than a preset cleaning cycle. Therefore, even in a living environment where a small animal such as a pet exists in the cleaning area, automatic cleaning can be performed at an optimal cycle.

(Embodiment 2)
Next, a second embodiment of the present invention will be described with reference to FIG. Here, FIG. 2 shows the cleaning speed control means 5 for controlling the rotational speed of the suction motor 3 and the traveling speed control for controlling the rotational speed of the drive motor 4 in addition to FIG. 1 showing the first embodiment. Means 6, odor information storage means 17 for storing the odor information detected by the odor sensor 12, odor information comparison means 18 for comparing the odor information detected this time with the odor information detected last time, and the cleaning cycle determining means. 15 is configured to include an external input unit 19 that can arbitrarily set and change the cycle to be changed.

  With respect to the self-propelled cleaner configured as described above, in the present embodiment, the operation and action of the configuration provided with the cleaning ability control means 5 with respect to the first embodiment will be described below with reference to FIGS. This will be described using the flowchart of FIG.

  First, the self-propelled vacuum cleaner automatically cleans the cleaning area while avoiding the obstacle based on the information acquired from the obstacle sensor 7, and after the automatic cleaning is completed, the time measuring means 14 determines the time for starting the next cleaning. The measurement is started, and the odor sensor 12 detects the odor of the sucked dust (step 1), and passes the degree of the detected sensor signal to the odor analysis means 13 as sensor information. The odor analysis means 13 compares the sensor information acquired from the odor sensor 12 with a threshold value of a sensor signal set in advance in the odor analysis means 13 (step 2), and the sensor information acquired from the odor sensor 12 If the value is large, it is determined that a small animal such as a pet is present in the cleaning area (step 3). When the odor analyzing means 13 determines that the small animal is present in the cleaning area, the odor analyzing means 13 notifies the cleaning cycle determining means 15 of the presence of the small animal (step 4).

  When the cleaning cycle determination unit 15 obtains the small animal presence notification for the first time from the odor analysis unit 13, the cleaning cycle determination unit 15 acquires the cycle information stored in advance from the cleaning cycle storage unit 16, and the cycle becomes shorter than the acquired cycle. Next, a cycle for performing automatic cleaning is determined (step 5). Further, the cleaning cycle determining unit 15 notifies the determined cycle to the cleaning cycle storage unit 16, and the cleaning cycle storage unit 16 stores the acquired cycle.

  Here, when the odor analyzing means 13 determines that the small animal does not exist in the cleaning area, the cleaning period determining means 15 next sets the period stored in the cleaning period storage means 16 in advance. It is determined as the period for automatic cleaning.

  When the time measured by the time measuring unit 14 coincides with the cycle determined by the cleaning cycle determining unit 15 (step 6), the cleaning cycle determining unit 15 sends an automatic cleaning start request to the control unit 2 and the presence of a small animal. (Step 71), and when the cleaning capability control means 5 obtains the notification of the presence of a small animal from the cleaning cycle determination means 15 (Step 72), the cleaning motor control means 5 controls the suction motor 3 so that the number of rotations of the suction motor 3 becomes larger than usual. The rotational speed is determined (step 73), and automatic cleaning in the cleaning area is started (step 8).

  As described above, in this embodiment, it is possible to automatically determine whether or not a small animal such as a pet exists in the cleaning area, and when the small animal exists, the cleaning unit can be controlled to increase the cleaning ability. Therefore, automatic cleaning can be performed without leaving any hair loss from pets or small animals.

(Embodiment 3)
Next, a third embodiment of the present invention will be described with reference to FIG. Here, FIG. 2 shows the cleaning speed control means 5 for controlling the rotational speed of the suction motor 3 and the traveling speed control for controlling the rotational speed of the drive motor 4 in addition to FIG. 1 showing the first embodiment. Means 6, odor information storage means 17 for storing the odor information detected by the odor sensor 12, odor information comparison means 18 for comparing the odor information detected this time with the odor information detected last time, and the cleaning cycle determining means. 15 is configured to include an external input unit 19 that can arbitrarily set and change the cycle to be changed.

  With respect to the self-propelled cleaner configured as described above, in the present embodiment, the operation and action of the configuration provided with the traveling speed control means 6 with respect to the second embodiment will be described below with reference to FIGS. This will be described using the flowchart of FIG.

  First, the self-propelled vacuum cleaner automatically cleans the cleaning area while avoiding the obstacle based on the information acquired from the obstacle sensor 7, and after the automatic cleaning is completed, the time measuring means 14 determines the time for starting the next cleaning. The measurement is started, and the odor sensor 12 detects the odor of the sucked dust (step 1), and passes the degree of the detected sensor signal to the odor analysis means 13 as sensor information. The odor analysis means 13 compares the sensor information acquired from the odor sensor 12 with a threshold value of a sensor signal set in advance in the odor analysis means 13 (step 2), and the sensor information acquired from the odor sensor 12 If the value is large, it is determined that a small animal such as a pet is present in the cleaning area (step 3). When the odor analyzing means 13 determines that the small animal is present in the cleaning area, the odor analyzing means 13 notifies the cleaning cycle determining means 15 of the presence of the small animal (step 4).

  When the cleaning cycle determination unit 15 obtains the small animal presence notification for the first time from the odor analysis unit 13, the cleaning cycle determination unit 15 acquires the cycle information stored in advance from the cleaning cycle storage unit 16, and the cycle becomes shorter than the acquired cycle. Next, a cycle for performing automatic cleaning is determined (step 5). Further, the cleaning cycle determining unit 15 notifies the determined cycle to the cleaning cycle storage unit 16, and the cleaning cycle storage unit 16 stores the acquired cycle.

  Here, when the odor analyzing means 13 determines that the small animal does not exist in the cleaning area, the cleaning period determining means 15 next sets the period stored in the cleaning period storage means 16 in advance. It is determined as the period for automatic cleaning.

  When the time measured by the time measuring unit 14 coincides with the cycle determined by the cleaning cycle determining unit 15 (step 6), the cleaning cycle determining unit 15 sends an automatic cleaning start request to the control unit 2 and the presence of a small animal. (Step 74), the travel speed control means 6 receives the notification of the presence of the small animal from the cleaning cycle determination means 15 (Step 75), so that the drive motor 4 has a lower rotational speed than usual. The rotational speed is determined (step 76), and automatic cleaning in the cleaning area is started (step 8).

  As described above, in the present embodiment, it is possible to automatically determine whether or not a small animal such as a pet exists in the cleaning area, and when the small animal exists, it is possible to control the traveling means so as to reduce the traveling speed. Therefore, automatic cleaning can be performed without leaving any hair loss from pets or small animals.

(Embodiment 4)
Next, a fourth embodiment of the present invention will be described with reference to FIG. Here, FIG. 2 shows the cleaning speed control means 5 for controlling the rotational speed of the suction motor 3 and the traveling speed control for controlling the rotational speed of the drive motor 4 in addition to FIG. 1 showing the first embodiment. Means 6, odor information storage means 17 for storing the odor information detected by the odor sensor 12, odor information comparison means 18 for comparing the odor information detected this time with the odor information detected last time, and the cleaning cycle determining means. 15 is configured to include an external input unit 19 that can arbitrarily set and change the cycle to be changed.

  In the present embodiment, the self-propelled vacuum cleaner configured as described above is compared to the third embodiment with the odor information storage means 17 for storing the odor information detected by the odor sensor 12 and this time. The operation and action of the configuration provided with the odor information comparing means 10 for comparing the odor information with the previously detected odor information will be described below with reference to the flowcharts of FIGS.

  First, the self-propelled vacuum cleaner automatically cleans the cleaning area while avoiding the obstacle based on the information acquired from the obstacle sensor 7, and after the automatic cleaning is completed, the time measuring means 14 determines the time for starting the next cleaning. The measurement is started, and the odor sensor 12 detects the odor of the sucked dust (step 1), and passes the degree of the detected sensor signal to the odor analysis means 13 as sensor information. The odor analysis means 13 compares the sensor information acquired from the odor sensor 12 with a threshold value of a sensor signal set in advance in the odor analysis means 13 (step 2), and the sensor information acquired from the odor sensor 12 If the value is large, it is determined that a small animal such as a pet is present in the cleaning area (step 3).

  The odor analysis means 13 delivers the odor information detected this time to the odor information comparison means 18 (step 41), and the odor information comparison means 18 acquires the previous odor information from the odor information storage means 17 (step 42). The signal level of the current odor information and the previous odor information (for example, the level of ammonia odor) is compared. If the odor information detected this time is lower in signal level than the previously detected odor information (step 43), the odor The information comparison unit 18 notifies the cleaning cycle determination unit 15 of a cycle change request so as to determine a cycle longer than the previous cycle stored in the cleaning cycle storage unit 16 (step 44).

  Here, in the odor information comparison unit 18, when the signal level of the odor information detected this time is higher than the odor information detected last time, the previous time stored in the cleaning cycle storage unit 16 with respect to the cleaning cycle determination unit 15. A cycle change request is notified so as to determine a cycle shorter than the cycle.

  When the cleaning cycle determination unit 15 acquires a cycle change request for determining a long cycle from the odor information comparison unit 18, the cleaning cycle determination unit 15 acquires the previous cycle information from the cleaning cycle storage unit 16 so that the cycle becomes longer than the previous cycle. Next, a cycle for performing automatic cleaning is determined (step 45). Further, when the cleaning cycle determination unit 15 acquires a cycle change request for determining a short cycle from the odor information comparison unit 18, the cleaning cycle determination unit 15 acquires the previous cycle information from the cleaning cycle storage unit 16, and the cycle shorter than the previous cycle is obtained. Next, the cycle for performing automatic cleaning next time is determined.

  The cleaning cycle determination unit 15 notifies the determined cycle to the cleaning cycle storage unit 16, and the cleaning cycle storage unit 16 stores the acquired cycle.

  When the time measured by the time measuring unit 14 coincides with the cycle determined by the cleaning cycle determining unit 15 (step 6), the cleaning cycle determining unit 15 notifies the control unit 2 of an automatic cleaning start request ( Step 7), automatic cleaning in the cleaning area is started (step 8).

  As described above, in the present embodiment, when the odor information detected this time is lower in signal level than the odor information detected last time, a cycle longer than the previous cycle stored in the cleaning cycle storage means is determined. Therefore, even when there are no pets or small animals or there is little activity, automatic cleaning can be performed at an optimal cycle. In addition, when the odor information detected this time has a higher signal level than the odor information detected last time, it becomes possible to determine a cycle shorter than the previous cycle stored in the cleaning cycle storage means, so that pets and small animals Even when there is an increase or when there is a lot of activity, automatic cleaning can be performed at an optimal cycle.

(Embodiment 5)
Next, a fifth embodiment of the present invention will be described with reference to FIG. In the fifth embodiment, the configuration in which the external input means 19 is provided as compared with the fourth embodiment is adopted.

  As a result, the device main body 1 can arbitrarily set and change the cycle to be changed in the cleaning cycle determination unit 15 via the external input unit 19.

  In the present embodiment, the external input means 19 may be realized by communication.

(Embodiment 6)
Next, a sixth embodiment of the present invention will be described with reference to FIGS. In the present embodiment, the computer includes a control unit 2, a cleaning ability control unit 5, a traveling speed control unit 6, a failure detection unit 8, an odor analysis unit 13, a timing unit 14, and a cleaning cycle determination unit 15. And the cleaning cycle storage means 16, the odor information storage means 17, the odor information comparison means 18, and a program for functioning as all or part of the external input means 19. It is to function.

  As described above, according to the present embodiment, all or part of the present invention can be easily realized using a general-purpose computer or a server.

  As described above, the self-propelled cleaner according to the present invention can automatically determine whether a pet or a small animal exists in the cleaning area, and can change the cleaning cycle or the traveling speed when the small animal exists. Therefore, the present invention can be applied to a monitoring system for an area where a small animal exists and a device cooperation system via a network.

The block diagram of the self-propelled cleaner in Embodiment 1 of this invention The block diagram of the self-propelled cleaner in Embodiment 2 to Embodiment 6 of the present invention Flowchart of the first embodiment Flowchart of the second embodiment Flowchart of the third embodiment Flowchart of the fourth embodiment Configuration diagram of conventional self-propelled vacuum cleaner

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Apparatus main body 2 Control part 3 Suction motor 4 Drive motor 5 Cleaning capability control means 6 Travel speed control means 7 Obstacle sensor 8 Obstacle detection means 9 Optical sensor 10 Dust amount detection means 11 Travel position detection means 12 Odor sensor 13 Odor analysis means 14 Timekeeping means 15 Cleaning cycle determination means 16 Cleaning cycle storage means 17 Odor information storage means 18 Odor information comparison means 19 External input means

Claims (7)

A travel means, a cleaning means, an odor detection means for detecting the odor of the sucked dust, and an odor analysis means for judging whether there is a small animal such as a pet in the cleaning area from the odor information detected by the odor detection means; , Time measuring means for measuring time from the time of cleaning, cleaning period determining means for determining a period from the analysis result of the odor analyzing means to the next automatic cleaning, and determination by the cleaning cycle determining means Cleaning cycle storage means for storing the cycle, and when the odor analysis means determines that there is a small animal such as a pet in the cleaning area, the cleaning cycle determination means stores the previous cycle stored in the cleaning cycle storage means Self-propelled vacuum cleaner that determines a shorter cycle. A cleaning ability control means for controlling the ability of the cleaning means is provided, and the cleaning ability control means increases the cleaning ability when the odor analysis means determines that there is a small animal such as a pet in the cleaning area. The self-propelled cleaner according to claim 1, which controls the cleaning means. Travel speed control means for controlling the travel speed of the travel means is provided, and the travel speed control means reduces the travel speed when the odor analysis means determines that there is a small animal such as a pet in the cleaning area. The self-propelled cleaner according to claim 1 or 2, wherein the traveling means is controlled. The odor information storage means for storing the odor information detected by the odor detection means, the odor information comparison means for comparing the odor information detected this time with the odor information detected last time, and the cleaning cycle determination means comprises the odor information. The self-propelled cleaner according to any one of claims 1 to 3, wherein a period until the next cleaning is determined according to a result of comparison by the comparison means. The self-propelled cleaner according to claim 4, wherein the odor information storage means changes the suction force and the traveling speed for each cleaning region by storing the odor information for each cleaning region. The self-propelled cleaner according to any one of claims 1 to 5, further comprising an external input unit, wherein a cycle to be changed by the cleaning cycle determination unit can be arbitrarily set and changed. The program for functioning a computer as all or one part of the self-propelled cleaner of any one of Claims 1-6.