Autonomous moving robot and control method thereof

摘要

An autonomous moving robot includes: a distance sensor; an estimation unit configured to estimate a self position based on a distance measured by the distance sensor and map information; a normal line calculating unit configured to calculate a plane based on the distance and calculate the normal line of the plane; and a determination unit configured to calculate a histogram representing a distribution of normal line angles indicating a direction of the normal line and determines whether information of the distance sensor is insufficient based on the calculated histogram. The autonomous moving robot autonomously moves based on the self position estimated. At least one of a control process of changing a measurement direction of the distance sensor, a process of changing an estimation method of the self position, or a control process of taking a predetermined safety action is performed when the determination unit determines that the information is insufficient.

主权项

1. An autonomous moving robot comprising:
a distance sensor that measures a distance to an object; an estimation unit configured to estimate a self position based on the distance measured by the distance sensor and map information indicating a movement environment of the autonomous moving robot; a normal line calculating unit configured to calculate a plane based on the distance measured by the distance sensor and calculate the normal line of the plane; and a determination unit configured to calculate a histogram representing a distribution of normal line angles indicating a direction of the normal line calculated by the normal line calculating unit and determine whether information of the distance sensor for estimating the self position is insufficient based on the calculated histogram, wherein the autonomous moving robot autonomously moves based on the self position estimated by the estimation unit, and wherein at least one of a control process of changing a measurement direction of the distance sensor, a process of changing an estimation method of the self position, or a control process of taking a predetermined safety action is performed when the determination unit determines that the information of the distance sensor is insufficient.