| CPC B25J 9/1617 (2013.01) [G05B 2219/40302 (2013.01)] | 5 Claims |
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1. An action control device that performs action control for moving p control subjects,
wherein p is set as any integer of 20 or more, from a set of p starting positions to a set of p target positions,
a direction that is not parallel to a first direction being set as a second direction, an opposite direction to the first direction being set as a third direction, an opposite direction to the second direction being set as a fourth direction, a direction that is not parallel to a plane formed by the first direction and the second direction being set as a fifth direction, and an opposite direction to the fifth direction being set as a sixth direction, each starting position and each target position being adjacent to another starting position or another target position in at least one of the first to sixth directions, and the p control subjects arranged in the set of target positions and the p control subjects arranged in the set of starting positions respectively forming blocks of arbitrary shapes,
the control subjects being controlled so as to either remain stationary or to move to any one of a first position to a sixth position on a three-dimensional space of the control subjects, the first position being set as an adjacent position in the first direction, a second position being set as an adjacent position in the second direction, a third position being set as an adjacent position in the third direction, a fourth position being set as an adjacent position in the fourth direction, a fifth position being set as an adjacent position in the fifth direction, and the sixth position being set as an adjacent position in the sixth direction, and
among the positions included in the set of starting positions and the set of target positions, the maximum coordinate value in the first direction being set as Xthresh, the maximum coordinate value in the second direction being set as Ythresh, and the minimum coordinate value in the fifth direction being set as Zthresh,
the action control device comprising a processor configured to execute operations comprising:
determining a first virtual plane that is perpendicular to the first direction and fixed at a coordinate value of Xthresh+1 in the first direction, and a second virtual plane on which movement is performed in the first direction from infinity in the third direction, pushing control subjects that are arranged or control subjects that were arranged in the set of starting positions and that abut the second virtual plane in a movement direction of the second virtual plane, thereby compressing the control subjects such that none of the control subjects exceeds the first virtual plane and such that the coordinate values thereof in the first direction remain at or below Xthresh, envisaging a third virtual plane that is perpendicular to the second direction and fixed at a coordinate value of Ythresh+1 in the second direction, and a fourth virtual plane on which movement is performed in the second direction from infinity in the fourth direction, pushing the control subjects that are included in the compressed shaped acquired using the first and second virtual planes and that abut the fourth virtual plane in a movement direction of the fourth virtual plane, thereby compressing the control subjects such that none of the control subjects exceeds the third virtual plane and such that the coordinate values thereof in the second direction remain at or below Ythresh, and determining the positions of the control subjects included in the compressed shape as a set of intermediate positions M1;
pushing virtual control subjects that are arranged or virtual control subjects that were arranged in the set of target positions and that abut the second virtual plane, thereby compressing the virtual control subjects such that none of the virtual control subjects exceeds the first virtual plane and such that the coordinate values thereof in the first direction remain at or below Xthresh, pushing the virtual control subjects that are included in the compressed shaped acquired using the first and second virtual planes and that abut the fourth virtual plane in the movement direction of the fourth virtual plane, thereby compressing the virtual control subjects such that none of the virtual control subjects exceeds the third virtual plane and such that the coordinate values thereof in the second direction remain at or below Ythresh, determining the positions of the virtual control subjects included in the compressed shape as a set of intermediate positions M3, and determining a process for moving each control subject in an opposite direction to the movement direction used when determining the set of intermediate positions M3 from the virtual control subjects arranged in the set of target positions in reverse order to the order used when determining the set of intermediate positions M3 from the set of target positions; and
determining a process Middle_Transform for transforming the shape formed by the control subjects arranged in the set of intermediate positions M1 into the shape formed by the control subjects arranged in the set of intermediate positions M3,
wherein, in the process Middle_Transform, a plurality of control subjects extracted by deconstruction are moved simultaneously to respective locations to which the plurality of control subjects is to be added during construction.
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