| 摘要 |
PROBLEM TO BE SOLVED: To provide a self-propelled cleaner capable of cleaning as it propels itself, and of being used for fire alarms while utilizing its self-propelled function. SOLUTION: A distance-measuring AF passive sensor 31FM provided in the self-propelled cleaner is used to detect flames. This eliminates the need to newly install a camera or the like for detection of fires. The AF passive sensor 31FM performs imaging at least twice or more (step S510, S530), and since an increase or decrease in an image pixel area corresponding to a flame is used as criteria, it is possible to securely detect only flames. In this way, the possibility of detecting any obstacles that resemble flames in color as flames is eliminated. COPYRIGHT: (C)2006,JPO&NCIPI
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