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US 12,466,064 B2Granted
Interference determination device, robot control system, and method for determining interference
AssigneeKYOCERA Corporation
InventorsTakuya Miyamoto, Masato Mori, Kazuki Ono, Sho Bunno
Life of this patent
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Abstract
An interference determination device includes a controller that determines interference between a robot and an object. The controller obtains a plurality of vertices of at least one object within a motion range of the robot in a real space and positional information regarding the plurality of vertices. The controller determines interference between the robot and the object in the real space on a basis of the plurality of vertices and the positional information.
Claims15
An interference determination device comprising:
- a controller for determining interference between a robot and an object, the controller configured to
- obtain a plurality of vertices of a figure encompassing an outer shape of at least one object within a motion range of the robot in a real space and positional information regarding the plurality of vertices, wherein a number of the plurality of vertices of the figure is fewer than a number of points included in spatial point cloud information representing the at least one object, and
- determine interference between the robot and the object in the real space based on the plurality of vertices and the positional information.
A method for determining interference, the method comprising:
- obtaining a plurality of vertices of a figure encompassing an outer shape of at least one object within a motion range of the robot in a real space and positional information regarding the plurality of vertices, wherein a number of the plurality of vertices of the figure is fewer than a number of points included in spatial point cloud information representing the at least one object;
- and
- determining interference between the robot and the object in the real space based on the plurality of vertices and the positional information.
Dependencies are inferred from the claim text.