SELF-PROPELLED CLEANER, SERVER, SELF-PROPELLED CLEANER CONTROL METHOD, AND SELF-PROPELLED CLEANER CONTROL PROGRAM

To provide a self-propelled cleaner capable of performing efficient cleaning by predicting a dust quantity in a cleaning object area even when learning of a dust quantity in the cleaning object area is insufficient.SOLUTION: A self-propelled cleaner 1 comprises: a map acquisition section 24 for acquiring, as a reference map, a dust quantity map including shape data similar to an object floor surface shape of a cleaning object area being a cleaning object of the self cleaner from a map database 51 which registers a plurality of dust quantity maps including shape data 31 indicating a floor surface shape and a dust quantity associated for each coordinate of a floor surface; a dust quantity prediction section 25 for predicting a dust quantity for each coordinate of the object floor surface shape based on the object floor surface shape and the acquired reference map; and a cleaning control section 21 for controlling a cleaning operation of the self cleaner based on the predicted dust quantity.SELECTED DRAWING: Figure 1 【課題】掃除対象領域におけるゴミ量の学習が不十分であっても、該掃除対象領域のゴミ量を予測し、効率的な掃除を行うことが可能な自走式掃除機を提供する。【解決手段】自走式掃除機１は、床面形状を示す形状データ３１と、床面の座標ごとに対応付けられているゴミ量とを含むゴミ量マップが複数個登録されているマップデータベース５１から、自機が掃除の対象とする掃除対象領域の対象床面形状に類似する形状データを含むゴミ量マップを参照マップとして取得するマップ取得部２４と、前記対象床面形状と、取得された前記参照マップとに基づいて、前記対象床面形状の座標ごとのゴミ量を予測するゴミ量予測部２５と、予測されたゴミ量に基づいて、自機の掃除動作を制御する掃除制御部２１とを備えている。【選択図】図１