Collision detection system, collision detection data generator, and robot

A technology of collision detection and data generation, applied in the field of manipulators, can solve problems such as difficulties

Active Publication Date: 2014-02-12
SEIKO EPSON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in reality, there are many objects for which no CAD data exists or for which CAD data cannot be obtained, so there is a problem that it is difficult to apply the above method to such objects

Method used

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  • Collision detection system, collision detection data generator, and robot
  • Collision detection system, collision detection data generator, and robot
  • Collision detection system, collision detection data generator, and robot

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Embodiment Construction

[0056] Hereinafter, preferred embodiments of the present invention will be described in detail. In addition, the present embodiment described below does not unduly limit the content of the present invention described in the claims, and all the configurations described in the present embodiment are not necessarily essential as the solution means of the present invention.

[0057] 1. make up

[0058] In the operation of a robot arm (robot arm), collisions with surrounding structures and peripheral devices, self-collisions, and collisions with other robots become very serious problems. In the collision detection method of this embodiment, such collisions are detected in advance by simulation.

[0059] The method of using the collision detection method of this embodiment can be roughly divided into offline use (pre-confirmation) and runtime use (prediction, pre-reading). In offline use, when the surrounding environment and the like are known and static, and the motion of the ma...

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Abstract

A collision detection system includes a memory unit that stores first collision detection data corresponding to a first object and second collision detection data corresponding to a second object as collision detection data of objects, and a processing unit that performs a collision determination between the first object and the second object in the world coordinate system based on the first collision detection data and the second collision detection data. The memory unit stores representative point data obtained by discretization of depth map data of the objects as seen from a predetermined viewpoint in model coordinate systems of the objects using cubic areas set in the model coordinate systems as the collision detection data.

Description

technical field [0001] The present invention relates to a collision detection system, a data generating device for collision detection, a manipulator, and the like. Background technique [0002] It is necessary to determine the presence or absence of collision and proximity between objects in various fields. For example, in fields such as manipulators, the occurrence of collisions has become a very big problem. Therefore, prior to the actual occurrence of a collision, research and development have been carried out to determine the presence or absence of a collision and a method of approaching more than a permissible level by calculation with a computer. As a prior art of such a collision determination method, for example, the technology disclosed in Patent Document 1 or the like is known. [0003] In the method of Patent Document 1, an object is represented by polygon data, each polygon of the polygon data is covered with a sphere of a predetermined radius, these spheres a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00B25J9/00
CPCB25J9/1666G05B2219/39085G05B2219/39095
Inventor 稻积满广
Owner SEIKO EPSON CORP
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