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Title:
AUTONOMOUS TRAVEL-TYPE CLEANER AND METHOD FOR UPDATING CUMULATIVE FLOOR AREA PROBABILITY
Document Type and Number:
WIPO Patent Application WO/2019/049655
Kind Code:
A1
Abstract:
An autonomous travel-type cleaner provided with: a map generation unit (181) for generating a new map wherein the position of a reference member is used as a reference position; and a floor area probability update unit (184) for using the floor area probability of the new map to update, for each of element areas at positions that match, a cumulative floor area probability of a cumulative map. The floor area probability update unit (184) adds one to a cumulative map number which indicates the number of maps used so far for updates in each of the element areas, subtracts the cumulative floor area probability from the floor area probability, divides the difference therebetween by the cumulative map number obtained through the addition, adds to this quotient the cumulative floor area probability, and updates the resulting sum as the new cumulative floor area probability. On the above basis, provided is the autonomous travel-type cleaner wherein it is possible to update to a new map that accommodates changes in the environment of the cleaning area.

Inventors:
ASAI Koji
MAEDA Shigenori
NAKAMURA Tomonori
AMANO Katsushige
Application Number:
JP2018/030883
Publication Date:
March 14, 2019
Filing Date:
August 22, 2018
Export Citation:
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Assignee:
PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD. (1-61, Shiromi 2-chome Chuo-ku, Osaka-sh, Osaka 07, 〒5406207, JP)
International Classes:
A47L9/28; G05D1/02
Foreign References:
JP2015058131A2015-03-30
JP2004033340A2004-02-05
JP2005211367A2005-08-11
JP2002085305A2002-03-26
JP2006110322A2006-04-27
Attorney, Agent or Firm:
KAMATA Kenji et al. (1-61, Shiromi 2-chome, Chuo-ku, Osaka-sh, Osaka 07, 〒5406207, JP)
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