Interference Determination Device
AssigneeDAIHEN Corporation
InventorMakoto IKEGUCHI
Life of this patent
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Abstract
The interference determination device includes a distance measurement unit measuring a distance to an object contained in a workspace of a robot; a decimation unit decimating point cloud data obtained by the distance measurement unit, based on a range and a number of points of the point cloud data obtained by the distance measurement unit; an extraction unit extracting point cloud data, contained in a determination region encompassing a robot region that corresponds to a model of the robot positioned in the workspace, from point cloud data after being decimated by the decimation unit; and a determination unit determining that the robot interferes with the object when the point cloud data extracted by the extraction unit is located inside the robot region.
Claims9
An interference determination device, comprising:
- a distance measurement unit measuring a distance to an object contained in a workspace of a robot;
- a decimation unit decimating point cloud data obtained by the distance measurement unit, based on a range and a number of points of the point cloud data obtained by the distance measurement unit;
- an extraction unit extracting point cloud data, contained in a determination region encompassing a robot region that corresponds to a model of the robot positioned in the workspace, from point cloud data after being decimated by the decimation unit;
- and
- a determination unit determining that the robot interferes with the object when the point cloud data extracted by the extraction unit is located inside the robot region.
An interference determination device, comprising:
- a distance measurement unit measuring a distance to an object contained in a workspace of a robot;
- a decimation unit decimating point cloud data obtained by the distance measurement unit, based on a range and a number of points of the point cloud data obtained by the distance measurement unit;
- and
- a determination unit determining that the robot interferes with the object when point cloud data after being decimated by the decimation unit is located inside a robot region that corresponds to a model of the robot positioned in the workspace.
An interference determination device, comprising:
- a distance measurement unit measuring a distance to an object contained in a workspace of a robot;
- an extraction unit extracting point cloud data, contained in a determination region encompassing a robot region that corresponds to a model of the robot positioned in the workspace, from point cloud data obtained by the distance measurement unit;
- and
- a determination unit determining that the robot interferes with the object if the point cloud data extracted by the extraction unit is located inside the robot region.
Dependencies are inferred from the claim text.