Method and system for establishing no-entry zone for robot
AssigneeDenso Wave Incorporated
InventorTsuyoshi Ueyama
Life of this patent
Estimating the term…
Abstract
In a system, a first closed region specifying unit specifies a first closed region on a screen for enclosing an imaged obstacle in a first image, and a first projection area determining unit determines a first virtual projection area by extending a first closed region in a first orientation. A second closed region specifying unit specifies a second closed region on the screen. The second closed region encloses the imaged obstacle in the second image. A second projection area determining unit determines a second virtual projection area by extending the second closed region in a second orientation. An establishing unit establishes an overlap region between the first and second projection areas as the no-entry zone for the robot.
Claims8
A system for establishing, in a three-dimensional working space for a robot, a space which an obstacle occupies as a no-entry zone for the robot, the system comprising:
- an image pickup unit configured to:
- pick up a first image of the obstacle from a first viewpoint with a first orientation with respect to the obstacle while a whole of the obstacle is within a predetermined first field of view, and
- pick up a second image of the obstacle from a second viewpoint with a second orientation with respect to the obstacle while the whole of the obstacle is within a predetermined second field of view, the second viewpoint and second orientation being different from the first viewpoint and first orientation, respectively;
- a display unit configured to display the picked-up first and second images on a screen thereof;
- a first closed region specifying unit configured to receive a first closed region specified by an operator on the screen, the first closed region enclosing an imaged obstacle in the first image;
- a first projection area determining unit configured to determine a first virtual projection area by extending the first closed region in the first orientation;
- a second closed region specifying unit configured to receive a second closed region specified by an operator on the screen, the second closed region enclosing the imaged obstacle in the second image;
- a second projection area determining unit configured to determine a second virtual projection area by extending the second closed region in the second orientation;
- and
- an establishing unit configured to establish an overlap region between the first and second projection areas as the no-entry zone for the robot.
A method of establishing, in a three-dimensional working space for a robot, a space which an obstacle occupies as a no-entry zone for the robot, the method comprising:
- picking up a first image of the obstacle from a first viewpoint with a first orientation with respect to the obstacle while a whole of the obstacle is within a predetermined first field of view, and
- picking up a second image of the obstacle from a second viewpoint with a second orientation with respect to the obstacle while the whole of the obstacle is within a predetermined second field of view, the second viewpoint and second orientation being different from the first viewpoint and first orientation, respectively;
- displaying the picked-up first and second images on a screen of a display;
- specifying a first closed region on the screen, the first closed region enclosing an imaged obstacle in the first image;
- determining a first virtual projection area by extending the first closed region in the first orientation;
- specifying a second closed region on the screen, the second closed region enclosing the imaged obstacle in the second image;
- determining a second virtual projection area by extending the second closed region in the second orientation;
- and
- establishing an overlap region between the first and second projection areas as the no-entry zone for the robot.
Dependencies are inferred from the claim text.