公开(公告)号：US20220015592A1

公开(公告)日：2022-01-20

申请号：US17375946

申请日：2021-07-14

Applicant: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.

Inventor： Yasunari IGUCHI ,  Yuta MIURA ,  Yuko TSUSAKA

IPC: A47L9/00 ,  A47L9/28 ,  G05D1/02

Abstract: A vacuum cleaner autonomously runs in a predetermined space and performs cleaning. This vacuum cleaner includes a position sensor that acquires a positional relationship between the vacuum cleaner and an object present in a two-dimensional measurement target space along a running surface of the vacuum cleaner, an estimated map acquisition unit that acquires a self-position estimation map corresponding to the measurement target space, a cleaning route acquisition unit that acquires a cleaning route created along the running surface based on a route planning map having a shape different from a shape of the self-position estimation map, a self-position estimation unit that estimates the self-position using the positional relationship based on the position sensor and the self-position estimation map, and a running controller that causes the vacuum cleaner to run along the cleaning route based on the self-position estimated by the self-position estimation unit.