US Patent 9414731 Self-propelled cleaner

A self-propelled cleaner including: a movement unit configured to move a housing; a blower unit configured to generate an air current for sucking dust on a floor surface into the housing; a dust detection unit configured to detect dust contained in the air current; and a control unit configured to control the movement unit and/or the blower unit to select a cleaning mode according to a detection result of the dust detection unit, wherein the control unit is capable of changing a threshold value for selecting the cleaning mode.