US 12,290,937 B2
Interference evaluation device, method, and program
Ryoichi Kuratani, Kyoto (JP); Akane Nakashima, Kyoto (JP); and Takeshi Kojima, Kyoto (JP)
Assigned to OMRON CORPORATION, Kyoto (JP)
Appl. No. 17/766,707
Filed by OMRON Corporation, Kyoto (JP)
PCT Filed Oct. 9, 2020, PCT No. PCT/JP2020/038334
§ 371(c)(1), (2) Date Apr. 5, 2022,
PCT Pub. No. WO2021/075380, PCT Pub. Date Apr. 22, 2021.
Claims priority of application No. 2019-190559 (JP), filed on Oct. 17, 2019.
Prior Publication US 2024/0066705 A1, Feb. 29, 2024
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1676 (2013.01) [B25J 9/1666 (2013.01); B25J 9/1682 (2013.01)] 18 Claims
OG exemplary drawing
 
1. An interference evaluating device comprising:
a processor;
a memory storing instructions for execution by the processor including instructions for:
acquiring set positions that are points of origin of movable ranges of a plurality of robots, respectively, starting positions that are positions of predetermined regions of the plurality of robots, respectively, at times of being in starting poses, and ending positions that are positions of the predetermined regions at times of being in ending poses; and
evaluating a risk of interference among the plurality of robots based on overlapping of polyhedrons that are specified based on polygons that include the set positions, the starting positions and the ending positions of the plurality of robots respectively,
wherein the instructions for execution by the processor include instructions for specifying the polyhedrons whose bottom surfaces are polygons obtained by projecting the polygons onto planes that are planes in which the robots are set, and that have predetermined heights in directions normal to the planes.