Robot

摘要

A robot is provided. A measurement unit measures an object in a space. An own-position estimation unit calculates an own position of a mobile unit moving through the space by matching measurement data acquired by the measurement unit with map data representing information about the object in the space. A classification unit acquires class-based measurement data obtained by classifying the measurement data into at least two predetermined classes. A class-based own-position estimation unit estimates an own position of the mobile unit for each of the at least two predetermined classes by matching a class-based map having a position of the objects recorded therein for each class with the class-based measurement data. An integration unit configured to integrate the own positions estimated for the respective at least two predetermined classes. A control unit controls the mobile unit based on information from the integration unit.

主权项

1. A robot comprising:
a measurement unit configured to measure an object in a space; a storage unit configured to store map data representing information about the object in the space determined in advance; an own-position estimation unit configured to calculate an own position of a mobile unit moving through the space by matching measurement data acquired by the measurement unit with the map data; a classification unit configured to acquire class-based measurement data obtained by classifying the measurement data into at least two predetermined classes; a class-based own-position estimation unit configured to estimate an own position of the mobile unit for each of the at least two predetermined classes by matching a class-based map having a position of the objects recorded therein for each class with the class-based measurement data; an integration unit configured to integrate the own positions estimated for the respective at least two predetermined classes; and a control unit configured to control the mobile unit based on information from the integration unit.