| CPC B25J 9/1694 (2013.01) [B25J 9/1664 (2013.01)] | 16 Claims |
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1. A control apparatus for a robot including a three-dimensional sensor, the control apparatus comprising:
an operation controller configured to control the robot to shift a measurement range of the three-dimensional sensor in a scan area; and
a memory configured to store computer-executable instructions and a processor configured to execute the computer-executable instructions stored in the memory to cause the control apparatus to update map information based on a result of measurement performed by the three-dimensional sensor, the map information indicating a scan status at each of a plurality of points in the scan area,
wherein the operation controller performs first scanning in which the measurement range of the three-dimensional sensor is shifted to update map information about a local range in the scan area, and performs second scanning in which the measurement range of the three-dimensional sensor is shifted away from the local range to update map information about a range different from the local range for which the first scanning is performed to update map information,
the map information indicates, as the scan status, at least whether a subarea corresponding to each of the plurality of points in the scan area is a determined-subarea determined to include or determined not to include an object or an undetermined-subarea undetermined to include or undetermined not to include an object,
the operation controller performs the first scanning in response to a degree of updating of the map information being greater than a threshold, and performs the second scanning in response to the degree of updating being less than or equal to the threshold, and
the degree of updating includes a number of undetermined-subareas updated to determined-subareas.
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