US 12,384,032 B2
Route generation device, route generation method, and non-transitory computer readable storage medium
Shota Ishikawa, Kariya (JP); Tomoaki Ozaki, Kariya (JP); and Toshitaka Suzuki, Kariya (JP)
Assigned to DENSO CORPORATION, Aichi-pref. (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Oct. 18, 2022, as Appl. No. 18/047,566.
Claims priority of application No. 2021-172581 (JP), filed on Oct. 21, 2021.
Prior Publication US 2023/0125294 A1, Apr. 27, 2023
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1674 (2013.01); B25J 9/1666 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A route generation device that generates a route for moving a robot with multiple parts that are connected and configured to rotate, the route generation device comprising:
a waypoint registration unit that is configured to register a plurality of waypoints including a start point and an end point, each of which indicates one posture of the robot;
a waypoint condition determination unit that is configured to determine whether a registration waypoint, which is the waypoint registered by the waypoint registration unit, is allowable as the posture of the robot, based on a predetermined condition;
a route generation unit that is configured to generate the route connecting an added waypoint and an existing waypoint while adding the waypoint; and
a route condition determination unit that is configured to determine whether the route generated by the route generation unit satisfies a condition for enabling the robot to operate, wherein:
the route generation unit and the route condition determination unit repeat processing until the route reaches the end point when a process continuation condition is satisfied,
the route generation device further comprising:
a determination result display processing unit that is configured to display determination results determined by the waypoint condition determination unit and the route condition determination unit and a condition determined not to be satisfied in determination processes on a display device,
wherein
the determination result display processing unit displays on the display device a rate of interference, the rate of interference comprising a respective percentage of each object that interferes with the robot as the interference occurring in the robot, which is one of states in which the route does not satisfy the condition.