US 12,466,064 B2
Interference determination device, robot control system, and method for determining interference
Takuya Miyamoto, Kadoma (JP); Masato Mori, Osaka (JP); Kazuki Ono, Osaka (JP); and Sho Bunno, Osaka (JP)
Assigned to KYOCERA Corporation, Kyoto (JP)
Appl. No. 18/269,242
Filed by KYOCERA Corporation, Kyoto (JP)
PCT Filed Dec. 23, 2021, PCT No. PCT/JP2021/048017
§ 371(c)(1), (2) Date Jun. 22, 2023,
PCT Pub. No. WO2022/138864, PCT Pub. Date Jun. 30, 2022.
Claims priority of application No. 2020-214160 (JP), filed on Dec. 23, 2020.
Prior Publication US 2024/0051135 A1, Feb. 15, 2024
Int. Cl. B25J 9/16 (2006.01); G06T 1/00 (2006.01); G06T 7/55 (2017.01); G06T 7/73 (2017.01); G06V 20/52 (2022.01)
CPC B25J 9/1666 (2013.01) [B25J 9/1697 (2013.01); G06T 1/0014 (2013.01); G06T 7/55 (2017.01); G06T 7/73 (2017.01); G06V 20/52 (2022.01); G06T 2207/30232 (2013.01)] 15 Claims
OG exemplary drawing
 
1. An interference determination device comprising:
a controller for determining interference between a robot and an object, the controller configured to
obtain a plurality of vertices of a figure encompassing an outer shape of at least one object within a motion range of the robot in a real space and positional information regarding the plurality of vertices, wherein a number of the plurality of vertices of the figure is fewer than a number of points included in spatial point cloud information representing the at least one object, and
determine interference between the robot and the object in the real space based on the plurality of vertices and the positional information.