Robot
First Claim
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.
1 Assignment
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Accused Products
Abstract
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.
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Citations
15 Claims
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1. A robot comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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Specification