Motion limiting device and motion limiting method

A motion limiting method comprising:

• detecting environmental information around a robot;
• generating, based on the environmental information that is detected, a three-dimensional environment model that includes an unobservable area and an observable area and indicates a working environment in which the robot operates, the unobservable area being the area where the environmental information cannot be detected, and the observable area being the area where the environmental information can be detected;
• and
• limiting a motion of the robot when it is determined that the robot has entered the unobservable area based on the three-dimensional environment model that is generated.

A motion limiting device comprising:

• an environment sensor that detects environmental information around a robot;
• an environment model generation unit that generates, based on the environmental information detected by the environment sensor, a three-dimensional environment model that includes an unobservable area and an observable area and indicates a working environment in which the robot operates, the unobservable area being the area where the environmental information cannot be detected by the environment sensor, and the observable area being the area where the environmental information can be detected by the environment sensor;
• and
• a parameter setting unit that limits a motion of the robot when it is determined that the robot has entered the unobservable area based on the three-dimensional environment model generated by the environment model generation unit.