Route creation method and route creation device
AssigneeToyota Jidosha Kabushiki Kaisha
InventorShintaro Yoshizawa
Life of this patent
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Abstract
Disclosed is a route creation method capable of creating a travel route which reduces the travel quantity of a robot and achieves the efficient travel of the robot. The route creation method and route creation device creates a plurality of candidate routes by using an intermediate point generated between the initial position and the final position set in advance, and thereafter evaluates the travel quantity of a traveling part of a robot with respect to each candidate route to select a candidate route, which achieves the most efficient travel, as a travel route.
Claims4
A route creation method of creating a travel route of a traveling part to be moved by an operation of joints in a robot having a plurality of joints, the route creation method comprising at least one processor for the steps of:
- generating an intermediate point probabilistically between an initial position and a final position of the travel route and creating a plurality of candidate routes as candidates of the travel route between the initial position and the final position via the intermediate point;
- and
- evaluating a travel quantity of the traveling part of the robot with respect to each candidate route to select one travel route,
- wherein, when a new candidate route is created,
- a new intermediate point is set,
- a point which is at a distance closest to a newly created candidate intermediate point is selected from the final position or the intermediate point in the previously created candidate route, and when the intermediate point in a previously created candidate route is selected, a partial route between the selected intermediate point and the final position is used as a part of the new candidate route, and
- a point which is at a distance closest to the newly created candidate intermediate point is selected from the initial position or the intermediate point in the previously created candidate route, and when the intermediate point in the previously created candidate route is selected, a partial route between the selected intermediate point and the initial position is used as a part of the new candidate route.
A route creation device comprising at least one processor for creating a travel route of a traveling part to be moved by an operation of joints in a robot having a plurality of joints, the route creation device comprising:
- a candidate route creation unit generating an intermediate point probabilistically between an initial position and a final position of the travel route and creating a plurality of candidate routes as candidates of the travel route between the initial position and the final position via the intermediate point;
- and
- a travel quantity evaluation unit evaluating the travel quantity of the traveling part of the robot with respect to each candidate route to select one travel route,
- wherein, when the candidate route creation unit creates a new candidate route,
- a new intermediate point is set,
- a point which is at a distance closest to a newly created candidate intermediate point is selected from the final position or the intermediate point in the previously created candidate route, and when the intermediate point in a previously created candidate route is selected, a partial route between the selected intermediate point and the final position is used as a part of the new candidate route, and
- a point which is at a distance closest to the newly created candidate intermediate point is selected from the initial position or the intermediate point in the previously created candidate route, and when the intermediate point in the previously created candidate route is selected, a partial route between the selected intermediate point and the initial position is used as a part of the new candidate route.
Dependencies are inferred from the claim text.