Interference determination device and method

An interference determination method comprising:

• an acquisition section acquiring a first pose and a second pose for each of a plurality of robots, and structural information;
• a computation section computing, based on structural information for each of the plurality of robots, for a prescribed part of each of the plurality of robots, a first position in the first pose, a second position in the second pose, and a midway position on a trajectory between the first pose and the second pose;
• a possibility determination section determining a possibility of inter-robot interference in a case in which each of the plurality of robots moves from the first pose to the second pose, based on any overlap between added-margin regions resulting from addition of a prescribed margin to a circumscribed shape containing the prescribed part of each of the plurality of robots at any of the first positions, the second positions, and the midway positions;
• an end determination section setting the midway position so as to be a new position for the first position or so as to be new position for the second position in a case in which a possibility of interference has been determined by the possibility determination section, the end determination section causing processing of the computation section and the possibility determination section to be executed repeatedly until a predetermined condition is satisfied, with the predetermined condition being that a distance from the first position to the midway position and a distance from the second position to the midway position are sufficiently small distances;
• and
• an interference determination section determining whether or not there is interference between the prescribed parts of the plurality of robots at any of the first positions, the second positions, or the midway positions in a case in which the end determination section has determined the distances to satisfy the condition.

A non-transitory storage medium storing an interference determination program executable by a computer to function as:

• an acquisition section configured to acquire a first pose and a second pose for each of a plurality of robots, and structural information;
• a computation section that, based on structural information for each of the plurality of robots, is configured to compute, for a prescribed part of each of the plurality of robots, a first position in the first pose, a second position in the second pose, and a midway position on a trajectory between the first pose and the second pose;
• a possibility determination section configured to determine a possibility of inter-robot interference in a case in which each of the plurality of robots moves from the first pose to the second pose, based on any overlap between added-margin regions resulting from addition of a prescribed margin to a circumscribed shape containing the prescribed part of each of the plurality of robots for the first positions, for the second positions, and for the midway positions;
• an end determination section that, in a case in which a possibility of interference has been determined by the possibility determination section, is configured to set the midway position so as to be a new position for the first position or so as to be new position for the second position and causes processing of the computation section and the possibility determination section to be executed repeatedly until a predetermined condition is satisfied, with the predetermined condition being that a distance from the first position to the midway position and a distance from the second position to the midway position are sufficiently small distances;
• and
• an interference determination section that, in a case in which the end determination section has determined the distances to satisfy the condition, is configured to determine whether or not there is interference between the prescribed parts of the plurality of robots at any of the first positions, the second positions, or the midway positions.