Robot and multi-robot interference avoidance method
AssigneeDenso Wave Incorporated
InventorKenji Nagamatsu
Life of this patent
Estimating the term…
Abstract
In a robot, a first determining unit determines whether there is an interference region in which a first occupation region and a second occupation region are at least partially overlapped with each other. A second determining determines whether a second movable part of another robot is at least partially located in the interference region based on an actual position of the second movable part. A stopping unit begins stopping, at a predetermined timing, movement of the first movable part if it is determined that there is the interference region, and that the second movable part is at least partially located in the interference region. The predetermined timing is determined based on a positional relationship between an actual position of the first movable part and the interference region.
Claims9
A method of avoiding interference between first and second movable parts of first and second robots during movement of the first and second movable parts toward first and second target positions, respectively, the method comprising:
- defining a first occupation region for the first movable part of the first robot at the first target position, the first occupation region depending on a pose of the first movable part located at the first target position and identifying an interference range of the pose of the first movable part;
- defining a second occupation region for the second movable part of the second robot at the second target position, the second occupation region depending on a pose of the second movable part located at the second target position and identifying an interference range of the pose of the second movable part;
- determining whether there is an interference region in which the first occupation region and the second occupation region are at least partially overlapped with each other;
- determining whether at least one of the first and second movable parts is at least partially located in the interference region based on actual positions of the respective first and second movable parts;
- and
- beginning stopping, at a predetermined timing, the movement of one of the first and second movable parts if it is determined that there is the interference region and that the other of the first and second movable parts is at least partially located in the interference region, the predetermined timing being determined based on a positional relationship between the actual position of the one of the first and second movable parts and the interference region.
A robot communicable with another robot, the robot comprising:
- a first movable part;
- an operating unit configured to operate the first movable part so as to move the first movable part toward a first target position;
- a defining unit configured to define a first occupation region for the first movable part at the first target position, the first occupation region depending on a pose of the first movable part located at the first target position and identifying an interference range of the pose of the first movable part;
- an accessing unit configured to access another robot with a second movable part during movement to obtain information indicative of a second occupation region for the second movable part at a second target position and an actual position of the second movable part, the second occupation region depending on a pose of the second movable part located at the second target position and identifying an interference range of the pose of the second movable part;
- a first determining unit configured to determine whether there is an interference region in which the first occupation region and the second occupation region are at least partially overlapped with each other;
- a second determining unit configured to determine whether the second movable part is at least partially located in the interference region based on the obtained actual position thereof;
- and
- a stopping unit configured to begin stopping, at a predetermined timing, movement of the first movable part if it is determined that there is the interference region and that the second movable part is at least partially located in the interference region, the predetermined timing being determined based on a positional relationship between an actual position of the first movable part and the interference region.
A robot controller for a robot communicable with another robot and having a first movable part, in which the robot controller is operatively connected to a stopping unit, the robot controller being programmed to:
- operate the first movable part so as to move the first movable part toward a first target position;
- define a first occupation region for the first movable part at the first target position, the first occupation region at the first target position depending on a pose of the first movable part located at the first target position and identifying an interference range of the pose of the first movable past;
- access another robot with a second movable part during movement to obtain information indicative of a second occupation region for the second movable part at a second target position and an actual position of the second movable part, the second occupation region at the second target position depending on a pose of the second movable part located at the second target position and identifying an interference range of the pose of the second movable part;
- determine whether there is an interference region in which the first occupation region and the second occupation region are at least partially overlapped with each other;
- determine whether the second movable part is at least partially located in the interference region based on the obtained actual position thereof;
- and
- control the stopping unit to begin stopping, at a predetermined timing, movement of the first movable part if it is determined that there is the interference region and that the second movable part is at least partially located in the interference region, the predetermined timing being determined based on a positional relationship between an actual position of the first movable part and the interference region.
Dependencies are inferred from the claim text.