Robotic device, and the stair-climbing method, and the mobile device

摘要

Observes the outside world by (1) Stereo vision system, the robot apparatus outputs a range image (D1) stereo data is three-dimensional distance information calculated by the binocular parallax. Plane detector (2), and by detecting the distance from the flat image, recognizes the plurality of planes present in the environment. Extract the plane robotic device which can be raised and lowered from (D2) plane data, stairs recognizer (3), and outputs the data stairs (D4) recognizes the stairs from the plane. Stairs controller (4), and outputs a (D5) operation control command to achieve the vertical movement of the stairs by using the (D4) this staircase data. Thus, allowing a stair autonomously operates to provide information to the moving body itself is related to the stairs.