Interference Evaluation Device, Method, and Program
AssigneeOMRON Corporation
InventorsRyoichi Kuratani, Akane Nakashima, Takeshi Kojima
Life of this patent
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Abstract
The present disclosure provides an acquisition unit acquiring an installation position, which serves as a point of origin within a range in which each of a plurality of robots can move, a start position, which is a prescribed location of each of the plurality of robots when in a starting posture, and an end position, which is a prescribed location when in a final posture, and an evaluation unit evaluates, for each of the plurality of robots, the risk of interference between the plurality of robots on the basis of overlap between polyhedra defined on the basis of polygons that include the installation position, the start position and the end position.
Claims13
An interference evaluating device comprising:
- an acquiring section that acquires set positions that are points of origin of movable ranges of a plurality of robots, respectively, starting positions that are positions of predetermined regions of the plurality of robots, respectively, at times of being in starting poses, and ending positions that are positions of the predetermined regions at times of being in ending poses;
- and
- an evaluating section that evaluates a risk of interference among the plurality of robots based on overlapping of polyhedrons that are specified based on polygons that include the set positions, the starting positions and the ending positions of the plurality of robots respectively.
An interference evaluating method comprising:
- acquiring set positions that are points of origin of movable ranges of a plurality of robots, respectively, starting positions that are positions of predetermined regions of the plurality of robots, respectively, at times of being in starting poses, and ending positions that are positions of the predetermined regions at times of being in ending poses;
- and
- evaluating a risk of interference among the plurality of robots based on overlapping of polyhedrons that are specified based on polygons that include the set positions, the starting positions and the ending positions of the plurality of robots, respectively.
A non-transitory storage medium storing an interference evaluating program executable by a computer to function as:
- an acquiring section that acquires set positions that are points of origin of movable ranges of a plurality of robots, respectively, starting positions that are positions of predetermined regions of the plurality of robots, respectively, at times of being in starting poses, and ending positions that are positions of the predetermined regions at times of being in ending poses;
- and
- an evaluating section that evaluates a risk of interference among the plurality of robots based on overlapping of polyhedrons that are specified based on polygons that include the set positions, the starting positions and the ending positions of the plurality of robots, respectively.
Dependencies are inferred from the claim text.