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ROBOT SYSTEM, LEG TYPE MOBILE ROBOT SYSTEM, CONTROL METHOD OF LEG TYPE MOBILE ROBOT SYSTEM, AND CONTROL METHOD OF ROBOT SYSTEM

机译：机器人系统，LEG型移动机器人系统，LEG型移动机器人系统的控制方法以及机器人系统的控制方法

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摘要

Landform data showing the shape of a ground surface (4) is acquired. A specification position is specified on the ground surface. A relative angle (432; 442) between the virtual plane (51) and the ground surface (4) in the at least one inspection point (433; 443) is calculated based on the landform data when the virtual plane (51) set with the reference point (423) and the at least one inspection point (433; 443) is virtually arranged such that the reference point (423) overlaps with the specification position, and such that the virtual plane (51) becomes parallel to the ground surface in the specification position. A landform determination value indicating a flatness of the landform is calculated based on the relative angle (432; 442).

机译：获取表示地面形状（ 4 ）的地形数据。在地面上指定了规格位置。至少一个检查点中虚拟平面（ 51 ）与地面（ 4 ）之间的相对角度（ 432; 442 ）（ 433; 443 ）是根据将虚拟平面（ 51 ）与参考点（ 423 ）和虚拟布置至少一个检查点（ 433; 443 ），以使参考点（ 423 ）与指定位置重叠，并且使虚拟平面（ 51 ）在指定位置平行于地面。根据相对角度（ 432; 442 ）计算出表示地形平坦度的地形确定值。 展开▼

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公开/公告号US2016347386A1

专利类型

公开/公告日2016-12-01

原文格式PDF

申请/专利权人 MITSUBISHI HEAVY INDUSTRIES LTD.;
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申请/专利号US201515117331

发明设计人 YUKI TANI;NATSUKI MATSUNAMI;TOMOHIRO TAMI;
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申请日2015-02-27

分类号B62D57/032;G01B11/24;G01C7/04;G05D1/02;

国家 US

入库时间 2022-08-21 13:45:57

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