Apparatus for setting interference region of robot
AssigneeFanuc Corporation
InventorsHiroji NISHI, Shunichi OZAKI
Life of this patent
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Abstract
An apparatus for setting an interference region of a robot includes a 3D camera which photographs surroundings of a robot to acquire a camera image of a region around the robot including distance information and color information, a 3D map generation unit which generates a 3D map including a plurality of point sequences which are arranged at equal intervals in a 3D space around the robot on the basis of the camera image, a color setting unit which sets a color of the robot, a color search unit which searches for a point sequence including color information corresponding to the robot color from the 3D map, and an interference region setting unit which sets an interference region on the basis of position data of the searched point sequence.
Claims4
An apparatus for setting an interference region of a robot, comprising:
- a 3D camera which photographs surroundings of a robot to acquire a camera image of a region around the robot including distance information and color information;
- a 3D map generation unit which generates a 3D map comprising a plurality of point sequences which are arranged at equal intervals in a 3D space around the robot on a basis of the camera image, each of the point sequences including the color information included in the camera image;
- a color setting unit which sets a color of at least one of the robot and an obstacle around the robot, the color makes the robot and the obstacle distinguishable;
- a color search unit which searches for a point sequence including color information corresponding to the color set by the color setting unit from the 3D map generated by the 3D map generation unit;
- and
- an interference region setting unit which sets an interference region on a basis of position data of the point sequence searched by the color search unit, the position data is obtained by the distance information of the camera image.
Dependencies are inferred from the claim text.