| 摘要 |
With the conventional arts, a self-propelled cleaner can travel along a predetermined travel route but cannot guide and/or inform the occupant for evacuation. The present invention allows a self-propelled cleaner to generate geographical information while traveling in the room, using the detection results of passive sensors for AF and the like, and when a fire is detected by a smoke sensor and/or a temperature sensor, travel to a predetermined guided occupant calling position with the highest priority, shout a guidance messages there, and guide the occupant to a evacuation gate along an evacuation route. It is possible to set a plurality of guided occupant calling positions with priority assigned to each position, and move the self-propelled cleaner to the next guided occupant calling position if there is no response at the first guided occupant calling position.
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