JP3140900B2 - Automatic traveling vacuum cleaner - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic traveling vacuum cleaner having a cleaning function, a moving function, and a detecting function, and for traveling and cleaning unattended.

[0002]

2. Description of the Related Art A conventional automatic traveling vacuum cleaner includes a cleaning means 61, a traveling means 62, a snake control means 63, an obstacle detecting means 64, and a cleaning area as disclosed in Japanese Patent Application Laid-Open No. 3-106319. A storage unit 65 for storing, a floor nozzle, a dust detection unit 66, a dust region control unit 67, a judgment processing unit 68 for controlling forward / backward / stopping / turning of the main body, a power supply 69, and an operation unit 70 And a direction detection sensor 71,
After moving / cleaning along the wall around the room while detecting obstacles, cleaning the inside of the cleaning area while avoiding obstacles, and simply moving speed according to the amount of garbage detected by the garbage detecting means 66. There was a thing that was cleaning while controlling.

[0003]

However, in such a conventional self-propelled vacuum cleaner, the garbage may be generated simply by controlling the moving speed according to the amount of garbage. When it occurred, it was necessary to run or retreat in the same place again and clean again.

In addition, since the cleaning area is simply cleaned while avoiding obstacles, and the cleaning is performed irrespective of the folds and flooring of the flooring, the efficiency of sucking refuse is low.

In addition, the cleaning of each room is performed each time regardless of the amount of waste in each room, which is inefficient. SUMMARY OF THE INVENTION In view of the above problems, a first object of the present invention is to suck dust, remove the dust, move the main body in the length direction by the length of the suction port to suck the dust, and change the direction when moving to the wall. The main body moves in the width direction by the width of the suction port and sucks in garbage.In other words, it moves by the length or width of the suction port and sucks in garbage. Therefore, there is no need to run or retreat in the same place again, and an automatic traveling vacuum cleaner capable of performing efficient cleaning can be obtained.

A second object of the present invention is to provide an automatic traveling vacuum cleaner capable of performing efficient cleaning by detecting streaks of folding / flooring and cleaning along the streaks.

A third object is to calculate the area of the room by moving along the surrounding wall, and to calculate the number of times of cleaning based on the amount of waste for each room, the necessity of cleaning and the room area. And an autonomous vacuum cleaner that can be cleaned efficiently.

[0008]

The first means for achieving the first object is provided in a vacuum cleaner main body,
Cleaning means including a floor nozzle with a suction port, and a vacuum cleaner
A traveling means for traveling, and <br/> Misaohebi means for controlling the travel direction of the cleaner, a position recognizer cleaner, and the obstacle detection means, and the cleaning area storage unit for storing the cleaning zone, the A garbage detector that detects garbage sucked in from the floor nozzle ,
In a self- propelled cleaner provided with a source, a moving path of the main body is determined based on a signal from the position recognition unit and the obstacle detection unit and data from the cleaning area storage unit, and a signal is sent to the traveling unit and the snake unit. travel Misaohebi control means and the length of the previous SL dust by a signal from the detecting means suck in response to not detect the dust write <br/> viewed mouth to control the feed forward and backward, stop, and direction change Or before the signal to move the cleaner by the width
An automatic traveling type vacuum cleaner having a moving distance control unit for sending to the traveling steering unit is provided .

[0009] A second means for achieving the second object is provided in the main body of the vacuum cleaner, and has a suction port.
Cleaning means including a floor nozzle provided with
That the traveling means and, Misaohebi means for controlling the travel direction of the cleaner
, Vacuum cleaner position recognition means, obstacle detection means, cleaning
A cleaning area storage unit for storing an area, and suction from the floor nozzle.
Equipped with garbage detection means for detecting garbage
In example was self-traveling vacuum cleaner, and the floor judging means for judging cleaning floor tatami flooring, the unevenness of the floor surface
Floor surface detecting means for detecting the streak, folding line detecting means and flooring streak detecting means based on signals from the floor surface discriminating means and streak detecting means, signals from the position recognizing means and obstacle detecting means, and a cleaning area. Traveling snake control means for determining a movement route of the main body based on data from the storage unit and sending signals to the traveling means and the snake means to control forward / backward / stop / direction change , wherein the folding line detecting means; it is an automatic traveling vacuum cleaner configured as a traveling Misaohebi control means for sending a signal to travel along the streaks in the traveling means and Misaohebi means by a signal from the flooring streaks detecting means .

The third means for achieving the third object is a cleaning means for storing the necessity of cleaning for each room in addition to the configuration of the first means for achieving the first object. A necessity storage unit, a room area calculation unit that calculates the area of the room from data from the cleaning area storage unit, a room area storage unit that stores the calculation result, and a totalization of each room for each cleaning based on a signal from the garbage detection unit A total waste storage unit that stores the amount of waste, an operation unit that calculates the number of required cleanings based on signals from the cleanness necessity storage unit, the room area storage unit, and the total amount of waste storage unit, and a required number of cleaning times that stores the result A timing pulse generating section for generating a pulse which is a basic of the section and the number of times of cleaning, a coincidence detecting means for detecting a coincidence of signals from the required number of times of cleaning storage section and the timing pulse generating section, and that it is the optimum cleaning time. It is an automatic traveling vacuum cleaner configured as a inclusive alarm unit buzzer and the display lamp to al.

Further, according to the present invention, as a fourth means for alarming the garbage disposal time, in addition to the structure of the first means for achieving the first object, a total garbage amount storage for each room for each cleaning is provided. Unit, a storage unit for the amount of dust in the dust bag, an adding unit for adding the storage unit for the total amount of dust and the storage unit for the amount of dust in the dust bag, and an alarm unit including a buzzer for warning the time of waste disposal and an indicator lamp. And a self-propelled vacuum cleaner having the following configuration.

[0012]

In the first means, the dust sucked from the floor nozzle is detected by the dust detection means, and the detection is continued until the dust disappears. When the garbage disappears, the main body is moved in the length direction by the length of the suction port, and the garbage is detected by the post-garbage detecting means, and the detection is continued until the garbage disappears. Move the main body in the length direction by the length of the suction port in the same way as when the dust is gone. When it reaches the wall, it changes direction and moves the body in the width direction by the width of the suction port. Similarly, the garbage is detected by the garbage detecting means and continues to be detected until the garbage disappears, and when the garbage disappears, a signal is sent to the traveling means and the snake means to move the main body in the length direction by the length of the suction port. To control the movement.

In the second means, when the cleaning surface is detected to be bent or flooring by the floor surface discriminating means, and when the streak is detected by the streak detecting means, the traveling means is driven so as to run along the fold or flooring of the flooring. And a signal is sent to the control means to control the movement of the main body.

In the third means, the main body moves while detecting an obstacle along the surrounding wall, and calculates the area of the room by the room area calculation section based on data from the cleaning area storage section, and outputs the result to the room. It is stored in the area storage unit. The arithmetic unit calculates data from the cleanness necessity storage unit for each room, the total garbage amount storage unit for each cleaning, and the room area storage unit, and stores the result in the required cleaning count storage unit. When the signal from the timing pulse generator and the data from the required number-of-times-of-cleaning storage unit match, a buzzer and a display lamp are used to notify the user of the optimum cleaning time.

Further, the data from the storage unit for the total amount of waste for each room cleaning and the storage unit for the storage amount of dust in the dust collection bag which has been stored before are added by the addition unit, and the result is added to the amount of waste in the dust collection bag. Store in the storage unit. When the data in the dust bag storage unit exceeds the set value, a buzzer and an indicator lamp warn that it is time to replace the dust bag.

[0016]

Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a longitudinal sectional view of an automatic traveling vacuum cleaner according to the present invention.

The main body 1 is provided with the following. The cleaning means 2 includes an electric blower 3, a dust collection chamber 4, and a filter 5.
And a rotary brush 6, a floor nozzle 8 provided with a suction port 7, a dust collecting bag 9, and connection pipes 10 and 11 connecting the floor nozzle 8 and the dust collecting chamber 4.

The traveling means 12 comprises a traveling motor 13, a traveling drive unit 14, traveling wheels 15 and a driven wheel 16, and the steering means 17 comprises a steering motor 18 and a steering speed reducer 19. The position recognizing means 20 is composed of a traveling distance detecting section 21 for detecting the rotation speed of the traveling motor 13 and a traveling direction detecting section 22, and the obstacle detecting section 23 is a distance detecting section 24.
And a contact detection unit 25.

The distance detecting section 24 is constituted by using an ultrasonic sensor. The ultrasonic sensor is provided on the front of the main body 1.
The ultrasonic wave emitted from the ultrasonic transducer of this ultrasonic sensor propagates in the air, and measures the round-trip time required for the ultrasonic wave to hit an obstacle such as a wall and be reflected back to the ultrasonic transducer. Thus, the distance to the obstacle is detected. The contact detection unit 25 is configured using a conductive rubber pressure sensor. The conductive rubber pressure sensor is provided on the front surface of the main body 1, and the conductive rubber pressure sensor is provided when the main body 1 collides with an obstacle such as a wall. When pressure is applied, the resistance value of the conductive rubber pressure sensor changes. By detecting this change in the resistance value, it is detected that it has come into contact with an obstacle.

The operation unit 26 has a start switch 27 and a stop switch 28, and the alarm unit 29 has a buzzer 30 and an indicator lamp 31 for notifying the optimum cleaning time, and a buzzer 32 and an indicator lamp for notifying the replacement time of the dust bag 9. 33 are provided. In addition, a power supply 34 is provided.

FIG. 4 is a block diagram of an automatic traveling vacuum cleaner which is an embodiment of the first means of the present invention. The operation and operation of the present embodiment will be described below.

When cleaning a room surrounded by walls on all sides, the main body 1 is placed at a corner along the wall, and a start switch 27 of the operation unit 26 is placed.
Operate. When the start switch 27 is operated, the running and snaking control means 35 operates the electric blower 3 to send a signal to the running means 12 and the snaking means 17, and the running motor 13 is driven so that the main body 1 starts running.

The running and snaking control means 35 during running determines the moving route based on the position recognizing means 20 and the obstacle detecting means 23 and sends signals to the running means 12 and the snaking means 17 to control the running motor 13. The main body 1 cleans the floor surface along the wall around the room while avoiding obstacles by controlling the snake motor 18 to change the running direction. The traveling position is recognized by the traveling position recognition means 20, and this data is stored in the cleaning area storage unit 36.

After the end of the circuit along the wall around the room is detected by the position recognition means 20, the inside of the moved area is regarded as a cleaning area, and the vehicle travels while avoiding obstacles in this cleaning area. The garbage sucked from the floor nozzle 8 is detected by the garbage detecting means 37 on the way, and continues to be detected at that position until there is no more garbage. When there is no dust, the dust detection means 37 sends a signal to the moving distance control means 38 that the dust is no longer present.

The moving distance control means 38 sends a signal to the running control means 35 to the effect that the vehicle runs in the longitudinal direction by the length of the suction port 7. The traveling means 12 and the snake control means 17 receive the signal from the traveling snake control means 35 and move the main body 1 in the length direction by the length of the suction port 7. The detection is continued until it disappears, and the body 1 is moved in the length direction by the length of the suction port 7 in the same manner as when there is no dust.

When the vehicle advances to the wall, the running and snaking control means 35, which has received the signals from the position recognizing means 20 and the obstacle detecting means 23, sends signals to the running means 12 and the snaking means 17 to change the direction of the main body 1. It is moved in the width direction by the width of the suction port 7.
Similarly, the garbage is detected by the garbage detecting means 37 until the garbage disappears.
When the main body 1 is moved in the width direction by the length of the suction port 7 and the width of the main body 1 is moved by the width of the suction port 7 when the wall advances to the wall, the entire room is automatically cleaned.

That is, the moving speed is controlled in accordance with the amount of dust, and when dust remains, efficient automatic cleaning can be performed without the necessity of traveling or retreating to the same place again and cleaning again.

FIG. 5 is a view showing a moving path of the main body 1 when the automatic traveling vacuum cleaner of this embodiment cleans.

FIG. 6 is a block diagram of an automatic traveling vacuum cleaner which is an embodiment of the second means of the present invention. The operation and operation of the present embodiment will be described below.

When the main body 1 completes a round along the wall of the room, the inside of the moved area is regarded as a cleaning area, and the cleaning area is automatically cleaned. When the floor surface discriminating means 39 detects that the cleaning floor is bent or flooring, and when the streak detecting means 40 detects a bent or flooring streak, a signal is sent to the folding streak detecting means 41 and the flooring streak detecting means 42. When the cleaning floor surface is folded, the folding streak detecting means 41 is used. When the cleaning floor surface is flooring, the flooring streak detecting means 42 is operated by a signal sent to the traveling snake control means 35 and a signal from the moving distance control means 38. The traveling and snake control means 35 moves the traveling means 12 and the snake operation means 1 so that the main body 1 moves by the length of the suction port 7 along the path.
7 is signaled.

The floor surface discriminating means 39 is provided on the bottom of the main body 1 via a transmission rod 39b having a spring 39a on its outer periphery.
c, and a conductive rubber pressure sensor 39d is provided at a position corresponding to the upper end of the transmission rod 39b.
The height of the transmission rod 39b changes due to a difference in the floor surface, and the floor surface is determined based on the change.

The streak detecting means 40 is provided with a plurality of ultrasonic sensors 40a on the bottom of the main body 1 and a plurality of ultrasonic sensors 4a.
The ultrasonic wave emitted from the ultrasonic transducer 0a is reflected on the floor surface and the reciprocating time to return to the ultrasonic transducer is detected, and the streak is detected. At this time, if there is no streak, the round trip time differs, and if the round trip times of the ultrasonic waves at the plurality of ultrasonic sensors 40a are different, it is possible to determine that there is a streak.

The folding line detecting unit 41 and the flooring line detecting unit 42 detect the folding line and the flooring line based on the detection results of the floor surface discriminating unit 39 and the line detecting unit 40, respectively.

In other words, by sucking garbage traveling along the folds or floors of the flooring, it is possible to perform automatic cleaning efficiently with respect to garbage suction as compared with the case where cleaning is performed simply irrespective of the streaks.

FIG. 9 is a diagram showing the movement path of the main body 1 when the automatic traveling vacuum cleaner of this embodiment cleans along the folding line. FIG. 10 shows the main body 1 when the self-propelled vacuum cleaner according to the embodiment cleans along the floor of the flooring.
FIG. 5 is a diagram showing a movement route of the vehicle. FIG. 11 is a block diagram of an automatic traveling vacuum cleaner which is an embodiment of the third means of the present invention.

The operation and operation of this embodiment will be described below.
The main body 1 moves along the wall of the room while detecting an obstacle, recognizes the moved position by the position recognizing means 20, and stores the data in the cleaning area storage unit 36. The data from the cleaning area storage unit 36 is calculated by the room area calculation unit 43, and the result is stored in the room area storage unit 44. The necessity of cleaning for each room is stored in the necessity of cleaning storage unit 45. The necessity of cleanness indicates the degree of cleanliness required according to the type of room.

The signal from the garbage detecting means 37 for detecting the garbage sucked from the floor nozzle 8 is stored in a total garbage amount storage section 46.
Is stored. Total waste storage unit 46 for each room cleaning
And room cleanliness storage unit 45 and room area storage unit 4
The data from No. 4 is calculated by the calculation unit 47 and the result is stored in the required number-of-cleanings storage unit 48. The number of cleanings required in a unit period is determined by comparing the total amount of waste per unit area with the necessity of cleanliness, and determining the difference.

A signal from a timing pulse generator 49 for generating a basic timing pulse for detecting coincidence with the required number of times of cleaning and the number of times of room cleaning required 48 are stored.
Is detected by the coincidence detecting means 50, and when the coincidence is detected, the buzzer 30 of the alarm unit 29 determines that the optimal cleaning time is reached.
Is indicated by the display lamp 31. For example, if the unit period is 1 month, 1 month is 30 days, and the required number of cleanings is 10,
Once every three days is the optimal cleaning time. That is, automatic cleaning can be performed more efficiently than when cleaning is performed each time.

FIG. 12 shows that in the automatic traveling vacuum cleaner of the present embodiment, the signal from the timing pulse generator and the data from the required number of times of cleaning of the room are detected by the coincidence detecting means. It is a timing chart at the time of notifying that it is time. FIG. 13 is a block diagram of an automatic traveling vacuum cleaner which is an embodiment of the fourth means of the present invention.

The operation and operation of this embodiment will be described below.
The signal from the dust detection means 37 for detecting the dust sucked from the floor nozzle 8 is stored in the total dust storage unit 46. When the dust bag 9 is replaced, the dust amount storage unit 5 in the dust bag is replaced.
1 is initialized to zero. The addition unit 52 adds the data in the total dust storage unit 46 and the dust bag storage unit 51 when the cleaning is completed, and stores the result in the dust bag storage unit 51.

Each time the cleaning is completed, the data in the total dust storage unit 46 and the data in the dust bag storage unit 51 are added by the adding unit 52, and the result is stored in the dust bag storage unit 51 and the dust is collected. Bag 9
If the set value indicating the replacement of the dust collection bag 9 is exceeded, the buzzer 32 and the display lamp 33 of the warning unit 29 warn that it is time to replace the dust collection bag 9. That is, it is easy to know when to replace the dust bag.

[0042]

As described above, according to the first means of the present invention, the dust sucked from the floor nozzle is detected by the dust detecting means and is continuously detected until the dust is eliminated. The main body is moved in the length direction, and the dust sucked from the floor nozzle is detected by the dust detection means, and the detection is continued until the dust is eliminated. In addition, when proceeding to the wall, change direction and move the main unit in the width direction by the width of the suction port, similarly detect the dust sucked from the floor nozzle by the detection means and continue to detect until the garbage disappears, and after the garbage disappears By moving the main body in the length direction by the length of the suction port, there is no need to unload dust and it is not necessary to travel or retreat in the same place again to clean again, and efficient automatic cleaning can be performed.

According to the second means of the present invention, the folding / flooring is detected by the floor surface discriminating means, and the streaks are detected by the streaking detecting means and cleaned along the streaks. As a result, it is possible to perform efficient automatic cleaning with respect to dust suction as compared with the case where cleaning is performed regardless of the situation.

According to the third means of the present invention, the required number of cleanings is calculated based on the total amount of waste for each cleaning of the room, the area of the room and the necessity of cleaning the room, and the signal from the timing pulse generator is calculated. By notifying the optimum cleaning time by the buzzer and the indicator lamp by the coincidence of the above, the automatic cleaning can be performed more efficiently than in the case where the cleaning is performed each time.

Further, according to the fourth means of the present invention, when the data in the dust amount storage unit in the dust collection bag exceeds a set value indicating replacement of the dust collection bag, an alarm is issued by a buzzer and a display lamp. It is easy to know when to replace the dust bag.

[Brief description of the drawings]

FIG. 1 is a longitudinal sectional view of an automatic traveling vacuum cleaner according to the present invention.

FIG. 2 is a side view showing a distance detecting unit of the automatic traveling vacuum cleaner according to the present invention.

FIG. 3 is a side view showing a contact detection unit of the automatic traveling vacuum cleaner according to the present invention.

FIG. 4 is a block diagram of an automatic traveling vacuum cleaner which is an embodiment of the first means of the present invention.

FIG. 5 is a diagram showing a movement path of the main body when the automatic traveling vacuum cleaner according to the first embodiment of the present invention cleans.

FIG. 6 is a block diagram of an automatic traveling vacuum cleaner which is an embodiment of the second means of the present invention.

FIG. 7 is a sectional view showing a floor determining means of an automatic traveling vacuum cleaner according to an embodiment of the second means of the present invention.

FIG. 8 is a sectional view showing a streak detecting means of the automatic traveling vacuum cleaner which is an embodiment of the second means of the present invention.

FIG. 9 is a view showing a movement path of the main body when the self-propelled vacuum cleaner according to the second means of the present invention cleans along a folding line.

FIG. 10 is a view showing a movement path of a main body when an automatic traveling vacuum cleaner which is an embodiment of the second means of the present invention cleans along floors of a flooring.

FIG. 11 is a block diagram of an automatic traveling vacuum cleaner which is an embodiment of the third means of the present invention.

FIG. 12 is a block diagram showing an automatic traveling vacuum cleaner according to a third embodiment of the present invention; It is a timing chart at the time of notifying that it is the optimal cleaning time when it is done.

FIG. 13 is a block diagram of an automatic traveling vacuum cleaner which is an embodiment of the fourth means of the present invention.

FIG. 14 is a block diagram of a conventional automatic traveling vacuum cleaner.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Main body 2 Cleaning means 3 Electric blower 4 Dust collection chamber 7 Suction port 8 Floor nozzle 12 Traveling means 14 Traveling drive part 15 Traveling wheel 17 Snake control means 18 Snake control motor 20 Position recognition means 21 Travel distance detection part 22 Travel direction detection part Reference Signs List 23 Obstacle detecting means 24 Distance detecting section 25 Contact detecting section 26 Operation section 29 Alarm section 34 Power supply 35 Running and snaking control means 36 Cleaning area storage section 37 Garbage detecting means 38 Moving distance controlling means 39 Floor discriminating means 40 Streak detecting means 41 Folding streak detecting means 42 Flooring streaking detecting means 43 Room area calculation unit 44 Room area storage unit 45 Clean necessity storage unit 46 Total garbage amount storage unit 47 Operation unit 48 Necessary cleaning frequency storage unit 49 Timing pulse generation unit 50 Coincidence detection unit 51 Dust collection bag storage unit

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-3-106319 (JP, A) JP-A-5-46246 (JP, A) JP-A-5-46239 (JP, A) 333902 (JP, A) JP-A-5-56900 (JP, A) JP-A-5-15479 (JP, A) JP-A-4-343826 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) A47L 9/00 102 A47L 9/28

Claims (4)

(57) [Claims] 1. A cleaning means provided on a main body of an electric vacuum cleaner, the cleaning means including a floor nozzle provided with a suction port, and running the vacuum cleaner.
A traveling means that, a Misaohebi means for controlling the travel direction of the cleaner, a position recognizer cleaner, and the obstacle detection means, and the cleaning area storage unit for storing the cleaning zone, is sucked from the floor nozzle Equipped with garbage detection means for detecting garbage and a power supply
In the automatic traveling vacuum cleaner obtained above, the moving path of the main body is determined based on the signals from the position recognizing means and the obstacle detecting means and the data from the cleaning area storage unit, and signals are sent to the traveling means and the snake means to move forward and backward. - a travel Misaohebi control means for controlling the stopping and turning, the signal from the previous SL dust detection means
In response to the detection of dust being stopped, a signal for moving the cleaner body by the length or width of the suction port is transmitted to the travel operation.
Self-traveling vacuum cleaner, characterized by comprising a moving distance control means for directing the steering means. 2. A suction port provided on a main body of the vacuum cleaner.
Cleaning means including a floor nozzle provided with
That the traveling means and, Misaohebi means for controlling the travel direction of the cleaner
, Vacuum cleaner position recognition means, obstacle detection means, cleaning
A cleaning area storage unit for storing an area, and suction from the floor nozzle.
Equipped with garbage detection means for detecting garbage
In example was self-traveling vacuum cleaner, and the floor judging means for judging cleaning floor tatami flooring, the unevenness of the floor surface
Floor surface detecting means for detecting the streak, folding line detecting means and flooring streak detecting means based on signals from the floor surface discriminating means and streak detecting means, signals from the position recognizing means and obstacle detecting means, and a cleaning area The moving path of the main body is determined based on the data from the storage unit, and signals are sent to the traveling means and the snake means to advance / retreat / stop /
A traveling snake control means for controlling a direction change , wherein the traveling snake control means travels along the streak to the traveling means and the snake control means according to a signal from the folding line detecting means and the flooring line detecting means .
Automatic traveling vacuum cleaner you characterized in that a travel Misaohebi control means for sending because the signal. 3. A total waste amount storage unit of each room receiving a signal from the waste detection means, a room area calculation unit receiving and calculating a signal from the cleaning area storage unit, and a room area storage unit storing a calculation result. And a cleanness necessity storage unit that stores the cleanness necessity of each room; a calculation unit that calculates signals from the total waste amount storage unit, the room area storage unit, and the cleanness necessity storage unit; and an output from the calculation unit. A required number of cleaning times storage unit, a timing pulse generating unit, a coincidence detecting means for detecting coincidence of signals from the required number of cleaning times storage unit and the timing pulse generating unit, and an optimal signal receiving signal from the coincidence detecting means. 3. The automatic traveling vacuum cleaner according to claim 1, further comprising a buzzer for notifying that it is time to clean and an alarm unit including an indicator lamp. 4. The dust collection bag storage unit storing the amount of dust in the dust collection bag, and adding the signals from the aggregated waste storage unit and the dust collection bag storage unit to add the dust amount in the dust collection bag. An addition unit that outputs to the garbage amount storage unit, and an alarm unit that includes a buzzer that alerts the dust collection bag replacement time by an output from the garbage amount storage unit in the dust collection bag and an indicator lamp, The self-propelled vacuum cleaner according to claim 1 , wherein the vacuum cleaner is a self-propelled vacuum cleaner.