Apparatus for setting interference region of robot

Patent metadata

Field	Value
Publication number	US-2016112694-A1
Application number	US-201514876194-A
Country	US
Kind code	A1
Filing date	Oct 6, 2015
Priority date	Oct 17, 2014
Publication date	Apr 21, 2016
Grant date	—

Abstract

An apparatus for setting an interference region of a robot includes a 3D camera which photographs surroundings of a robot to acquire a camera image of a region around the robot including distance information and color information, a 3D map generation unit which generates a 3D map including a plurality of point sequences which are arranged at equal intervals in a 3D space around the robot on the basis of the camera image, a color setting unit which sets a color of the robot, a color search unit which searches for a point sequence including color information corresponding to the robot color from the 3D map, and an interference region setting unit which sets an interference region on the basis of position data of the searched point sequence.

First claim

1 . An apparatus for setting an interference region of a robot, comprising:
a 3D camera which photographs surroundings of a robot to acquire a camera image of a region around the robot including distance information and color information; a 3D map generation unit which generates a 3D map comprising a plurality of point sequences which are arranged at equal intervals in a 3D space around the robot on a basis of the camera image, each of the point sequences including the color information included in the camera image; a color setting unit which sets a color of at least one of the robot and an obstacle around the robot, the color makes the robot and the obstacle distinguishable; a color search unit which searches for a point sequence including color information corresponding to the color set by the color setting unit from the 3D map generated by the 3D map generation unit; and an interference region setting unit which sets an interference region on a basis of position data of the point sequence searched by the color search unit, the position data is obtained by the distance information of the camera image.

2 . The apparatus for setting an interference region of a robot according to claim 1 , wherein the color setting unit sets the color of the robot, the color search unit searches for a robot point sequence including color information corresponding to the color of the robot from the 3D map, and the interference region setting unit sets the interference region on a basis of position data of remaining point sequences of the 3D map excluding the robot point sequence.

3 . The apparatus for setting an interference region of a robot according to claim 1 , wherein the color setting unit sets the color of the obstacle, the color search unit searches for an obstacle point sequence including color information corresponding to the color of the obstacle from the 3D map, and the interference region setting unit sets the interference region on a basis of position data of the obstacle point sequence.

4 . The apparatus for setting an interference region of a robot according to claim 1 , wherein the camera image includes an image of a marker which is a reference of a robot coordinate system, and the interference region setting unit sets the interference region in the robot coordinate system on a basis of the image of the marker.

Assignees

• Fanuc Corp

Inventors

• Nishi Hiroji
• Ozaki Shunichi

Classifications

• G06T2207/10012

  Stereo images · CPC title

• G06T2200/08

  involving all processing steps from image acquisition to 3D model generation · CPC title

• G06T7/0044

  Physics · mapped topic

• H04N13/0275

  Electricity · mapped topic

• G01B11/14

  for measuring distance or clearance between spaced objects or spaced apertures (G01B11/26 takes precedence; rangefinders G01C3/00) · CPC title