System and program

Abstract

The present invention improves the accuracy of detecting an object that interferes with a working device. The system comprises an interference area detection unit, an interference area image generation unit and an interference object detection unit. An interference region detection means detects an interference region in which a work device (which has a movable part) of a main body device interferes with an object. An interference region image generation unit generates, on the basis of an interference region, an interference region image from a distance image in which distance information is reflected on each pixel, the interference region image including a region of the distance image in which an interference object is present, the interference object being an object that interferes with a work device. The interference object detection unit detects an interference object based on the interference region image.

Description

Technical Field

[0001] The present disclosure relates to a system and a program. Background Art

[0002] A device for detecting an object interfering with a working device and preventing a collision with the object in a working device including a movable unit such as an industrial robot arm has been proposed. For example, a manipulator as a robot arm is proposed, which detects an obstacle intruding into an operating space (for example, see patent document 1). The manipulator includes a connecting rod, a joint for rotating the connecting rod, and a distance sensor having a sensing direction oriented in a direction parallel to the connecting rod surface. The distance sensor monitors obstacles intruding into a local monitoring space installed in a turning direction of a link.

[0003] Reference List

[0004] Patent Literature

[0005] Patent Document 1: JP 2019-202405 A Summary of the invention

[0006] Technical issues

[0007] However, in the above-described related art, since the background greatly changes due to the motion such as the rotation of the manipulator, there is a problem that the accuracy of detecting the object by the distance sensor deteriorates.

[0008] Therefore, the present disclosure proposes a system for improving the detection accuracy of an object interfering with a working device.

[0009] Solution to the problem

[0010] The system according to the present disclosure includes an interference area detection unit, an interference area image generation unit, and an interference object detection unit. The interference area detection unit detects an interference area, which is an area where a working device interferes with an object in a main device including a working device, and the working device includes a movable unit. The interference area image generation unit generates an interference area image from a distance image based on the interference area, the distance image is an image that reflects distance information for each pixel, and the interference area image is an area of ​​the distance image including an interference object, and the interference object is an object that interferes with the working device. The interference object detection unit detects the interference object based on the interference area image.

[0011] In addition, the program according to the present disclosure includes: a step of detecting an interference area, the interference area is an area where a working device interferes with an object in a main device including a working device, and the working device includes a movable unit; and a step of generating an interference area image from a distance image based on the interference area, the distance image is an image that reflects distance information for each pixel, the interference area image is an area of ​​the distance image including an interference object, and the interference object is an object that interferes with the working device; and a step of detecting the interference object based on the interference area image. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a diagram showing a configuration example of a robot arm according to an embodiment of the present disclosure.

[0013] Figure 2 : is a diagram showing a configuration example of an object detection system according to the first embodiment of the present disclosure.

[0014] Figure 3A : is a diagram showing an example of an interference area according to the first embodiment of the present disclosure.

[0015] Figure 3B : is a diagram illustrating an example of an interference area according to the first embodiment of the present disclosure.

[0016] Figure 4A is a view showing an example of a distance image according to the first embodiment of the present disclosure.

[0017] Figure 4B : is a diagram showing an example of an interference area image according to the first embodiment of the present disclosure.

[0018] Figure 5 : is a diagram illustrating an example of the object detection process according to the first embodiment of the present disclosure.

[0019] Figure 6 : is a diagram showing a configuration example of an object detection system according to a second embodiment of the present disclosure.

[0020] Figure 7 : is a diagram showing a configuration example of an object detection system according to a third embodiment of the present disclosure.

[0021] Figure 8 is a diagram illustrating an example of an interference area according to the third embodiment of the present disclosure.

[0022] Fig. 9 : is a diagram showing a configuration example of an object detection system according to a fourth embodiment of the present disclosure.

[0023] Fig.10is a diagram illustrating an example of an interference area according to the fourth embodiment of the present disclosure. DETAILED DESCRIPTION

[0024] The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. The description is given in the following order. In addition, in the embodiments described below, the same parts are marked with the same reference numerals and repeated descriptions are omitted.

[0025] 1. First Implementation

[0026] 2. Second Implementation

[0027] 3. Third Implementation

[0028] 4. Fourth Implementation

[0029] (1. First Embodiment)

[0030] [Structure of the working device]

[0031] Figure 1 1 is a diagram showing a configuration example of a robot arm according to an embodiment of the present disclosure. The accompanying drawings are diagrams for explaining a robot arm 1 to which a monitoring system of the present disclosure can be applied. The robot arm 1 is a device that performs operations such as grasping and carrying a target object on behalf of a human arm. The robot arm 1 shown in the figure includes a main device 200 and an operation device 210.

[0032] The working device 210 includes a plurality of links 211 and a hand 212, each of which is rotatably attached. The link 211 is a portion corresponding to the skeleton of the arm of the robot arm 1. The hand 212 grasps a conveyance target object.

[0033] The main device 200 is a device that holds the working device 210 and drives the working device 210 .

[0034] Based on the control of the main device 200, the working device 210 can be extended and rotated to transport the held transport object to any position within the movable range. The main device 200 can drive the working device 210 through remote control or automatic control by the operator.

[0035] When an object other than the transported object exists near the movable range of the working device 210, it is possible to contact or collide with the working device 210. By detecting the object interfering with the working device 210, the safety of the operation can be ensured. An interfering object 10 is shown in the figure. The interfering object 10 is a person approaching the working device 210. The object detection system (object detection system 100) disclosed in the present invention is a system that detects a person as an interfering object 10 when the person intrudes into the movable range 20 of the working device 210. By detecting the interfering object 10, processing such as issuing a warning can be performed. A distance measuring sensor 110, which is a sensor for detecting the interfering object 10, is provided in the main device 200 shown in the figure. The details of the distance measuring sensor 110 are described below.

[0036] [Configuration of object detection system]

[0037] Figure 2 1 is a diagram showing a configuration example of an object detection system according to a first embodiment of the present disclosure.

[0038] Note that the figure also shows a working device 210 and a main device 200. The main device 200 includes a drive unit 220 and a control unit 230. The drive unit 220 drives the working device 210. The control unit 230 controls the drive unit 220. The control unit 230 controls the drive unit 220 according to the operation of the operator, so that the working device 210, for example, retracts and grasps the transport object. Note that the control unit 230 shown in the figure outputs information about the working device to the interference area detection unit 130 of the object detection system 100. For example, the movable range of the working device 210 corresponds to the information about the working device. In addition, the extension and contraction direction, extension length, and moving speed of the working device 210 can also be applied as information about the working device.

[0039] The figure further shows a distance measuring sensor 110. Figure 1 As shown, the distance measuring sensor 110 is a sensor provided in the main device 200 or the like, and measures the distance to an object provided near the working device 210. The distance to the object can be measured by, for example, a time of flight (ToF) method. The ToF method is a ranging method for measuring the distance to the object by irradiating the object with light and measuring the time for the light to travel between the ranging sensor 110 and the object. The distance measuring sensor 110 shown in the figure generates a distance image based on data of the distance to the detected object. Here, the distance image is an image that reflects distance information for each pixel. The distance measuring sensor 110 outputs the generated distance image to the interference area image generation unit 120 described below.

[0040] The object detection system 100 includes an interference region image generation unit 120 , an interference region detection unit 130 , and an interference object detection unit 140 .

[0041] The interference area detection unit 130 detects an interference area. The interference area is an area where the working device 210 interferes with the object. The interfering object 10 (such as a person present in the interference area) may come into contact with the working device 210. The interference area can be detected based on, for example, the movable range of the working device 210. Specifically, the range obtained by adding an offset to the movable range of the working device 210 can be detected as the interference area. The movable range of the working device 210 can be obtained from the information of the working device output by the control unit 230 of the main device 200. In addition, an interference area can also be detected in which the movable range is further restricted by information such as the extension and contraction direction, extension length, and moving speed of the working device 210. The interference area detection unit 130 outputs the detected interference area to the interference area image generation unit 120.

[0042] The interference area image generation unit 120 generates an interference area image from the distance image output by the distance measurement sensor 110. The interference area image is an area of ​​the distance image including the interference object. The interference area image generation unit 120 generates the interference area image based on the interference area. Specifically, the interference area image generation unit 120 can generate the interference area image by extracting the area included in the interference area from the distance image.

[0043] The interference area image generation unit 120 may also generate the interference area image by performing a process of excluding objects not included in the interference area from the distance image. For example, a background image of a relatively far building or the like corresponds to an object not included in the interference area. By excluding such a background image and determining whether the remaining objects are included in the interference area, the accuracy of the interference area image may be improved. The processing speed of generating the interference area image may also be improved.

[0044] The interference area image generation unit 120 outputs the generated interference area image to the interference object detection unit 140 .

[0045] The interference object detection unit 140 detects an interference object based on the interference area image output from the interference area image generation unit 120. For example, the interference object detection unit 140 may extract an object from the interference area image, determine whether the extracted object is an interference object, and detect the interference object. The determination as to whether the object is an interference object may be performed by artificial intelligence (AI) processing.

[0046] The interfering object detecting unit 140 may output information about the detected interfering object to the control unit 230. Based on the output information about the interfering object, the control unit 230 may perform a process of stopping the operation of the working device 210 or issuing a warning.

[0047] [Interference area]

[0048] Figure 3A and Figure 3B : is a diagram illustrating an example of an interference area according to the first embodiment of the present disclosure. Figure 3A is a diagram showing an example of an image of a sensing range in the distance measuring sensor 110. In the figure, in addition to the conveying object 13 and the interfering object 10, a building 11 and a fence 12 corresponding to a background image are shown.

[0049] Figure 3B Yes Figure 3A The image shown is converted into a bird's-eye view image. The figure further shows the working device 210 and the interference area 410. The area enclosed by the dotted line in the figure represents the interference area 410. Among the objects included in the interference area 410, the interference object detection unit 140 excludes the transport object 13 processed by the working device 210 including the interference object detection unit 140 from the interference objects, and detects the person as the interference object 10. The transport object 13 can be identified as a known object by AI.

[0050] [Distance Image]

[0051] Figure 4A is a diagram showing an example of a distance image according to the first embodiment of the present disclosure. Figure 3A 4 is a diagram of a distance image 400 of an image shown in FIG. The distance image 400 in the figure is an image in which distance information is represented by shading. Dark areas represent short-distance objects, and thin areas represent long-distance objects. The building 11 as a background image is a white image. By using such a distance image, objects included in the interference area 410 can be easily detected. Note that an image in which distance information is represented by color can also be used as a distance image.

[0052] [Interference area image]

[0053] Figure 4B is a diagram showing an example of an interference area image according to the first embodiment of the present disclosure. Figure 3A FIG. 4 is a diagram of an interference region image 420 of the image illustrated in FIG. The interference region image 420 illustrated in the figure is equivalent to an image obtained by extracting a region included in the interference region 410 from the distance image 400 .

[0054] [Object detection processing]

[0055] Figure 5 is a diagram showing an example of target detection processing according to the first embodiment of the present disclosure. The accompanying figure is a flowchart showing an example of the processing procedure of interference object detection processing in the object detection system 100. First, the interference area detection unit 130 detects the interference area based on the information about the working device (step S501). Subsequently, the interference area image generation unit 120 generates an interference area image based on the distance image and the interference area (step S502). Subsequently, the interference object detection unit 140 detects the interference object based on the interference area image (step S503). Subsequently, the interference object detection unit 140 generates information about the interference object and outputs the information to the control unit 230 (step S504). Through the processing described above, the interference object can be detected.

[0056] As described above, the object detection system 100 in the first embodiment of the present invention extracts objects included in the detected interference area from the distance image and determines whether the extracted object is an interference object. At this time, because the background image etc. can be excluded, the detection accuracy of the interference object can be improved.

[0057] (2. Second Embodiment)

[0058] The object detection system 100 in the first embodiment detects an interfering object from an interfering area image. In contrast, the object detection system 100 in the second embodiment of the present invention is different from the object detection system 100 in the first embodiment in that an interfering object is detected based on an interfering area image and an image.

[0059] [Configuration of object detection system]

[0060] Figure 6 is a diagram showing a configuration example of an object detection system according to a second embodiment of the present disclosure. Figure 2 The object detection system 100 is a block diagram of an example of a configuration of the object detection system 100. Figure 2 The object detection system 100 shown in FIG. 1 is different in that the interference area image generation unit 120 processes data from a plurality of sensors.

[0061] The sensor 111 shown in the figure is a sensor that generates an image including an object such as the interfering object 10. For example, a stereo camera may be applied to the sensor 111. The sensor 111 outputs the generated image to the interfering area image generation unit 120.

[0062] The sensor 112 shown in the figure is a sensor that distinguishes the material of the object. The sensor 112 outputs information about the material to the interference area image generation unit 120.

[0063] As described above, the distance measuring sensor 110 measures the distance to the object based on the reflected light of the irradiated light. However, depending on the material of the object, the error of the distance measurement increases. For example, the error increases in an object with high light reflectivity such as metal. In this case, the interfering object 10 can be detected by using a normal image instead of a distance image. The interference area image generation unit 120 shown in the figure selects a distance image from the distance measuring sensor 110 or an image from the sensor 112 based on the material information from the sensor 111. Subsequently, the interference area image generation unit 120 extracts the area and image included in the interference area for the selected distance image, and outputs the area as an interference area image.

[0064] The components of the object detection system 100 other than those described above are the same as those of the object detection system 100 in the first example of the present invention. Therefore, the explanation of the components is omitted.

[0065] As described above, the object detection system 100 in the second embodiment of the present invention selects the distance image and the image according to the material of the object and detects the interfering object 10. Therefore, the detection accuracy of the interfering object 10 can be further improved.

[0066] (3. Third Embodiment)

[0067] The object detection system 100 according to the first embodiment described above generates an interference area image based on the interference area of ​​the working device. In contrast, the object detection system 100 in the third embodiment of the present disclosure differs from the object detection system 100 in the first embodiment in that the position information of the object is further used.

[0068] [Configuration of object detection system]

[0069] Figure 7 2 is a diagram showing a configuration example of an object detection system according to a third embodiment of the present disclosure. Figure 2 The object detection system 100 is a block diagram of an example of a configuration of the object detection system 100. Figure 2 The object detection system 100 shown in is different in that position information from the control system 300 is input to the interference area image generation unit 120 .

[0070] The sensor 310 shown in the figure is a sensor that generates and outputs an image near the working device 210. The control system 300 shown in the figure detects the position of an object used as a background based on the image from the sensor 310. The position information acquisition unit 320 generates position information based on the position of the detected background and outputs the position information to the interference area image generation unit 120. The sensor 310 and the control system 300 are assumed to be a fixed point camera device or a drone device. Note that the control system 300 is an example of another system described in the claims.

[0071] The interference area image generation unit 120 shown in the figure generates an interference area image based on the distance image, the interference area, and the position information.

[0072] [Interference area]

[0073] Figure 8 1 is a diagram showing an example of an interference area according to a third embodiment of the present disclosure. Figure 3A 1 is a diagram showing an example of an image of a sensing range in the distance measuring sensor 110. In the figure, in addition to the conveying object 13, a well-known object 14 is also recorded. The object 14 is an image equivalent to the background image. For example, the object 14 may be an object that does not cause a problem even if the object collides with the working device 210, such as a hanger. Figure 7 The sensor 310 and the control system 300 shown in FIG. 1 generate an image near the working device 210, detect a known object such as the object 14, generate position information, and output the position information to the interference area image generation unit 120. The interference area image generation unit 120 excludes the object 14 as a background image based on the position information, and determines whether the remaining objects are included in the interference area.

[0074] The components of the object detection system 100 other than those described above are the same as those of the object detection system 100 in the first embodiment of the present invention. Therefore, the description of the components is omitted.

[0075] As described above, the object detection system 100 in the third embodiment of the present invention uses position information from another system to detect the interfering object 10. Therefore, the detection accuracy of the interfering object 10 can be further improved.

[0076] (4. Fourth Embodiment)

[0077] The target detection system 100 according to the first embodiment described above uses information about the working device from the control unit 230 of the main device 200 to which the target detection system 100 is connected. In contrast, the object detection system 100 in the fourth embodiment of the present invention is different from the object detection system 100 in the first embodiment in that information about the working device from the control unit 230 of another main device 200 is further used.

[0078] [Configuration of object detection system]

[0079] Fig. 9 2 is a diagram showing a configuration example of an object detection system according to a fourth embodiment of the present disclosure. Figure 2 1 is a block diagram of a configuration example of an object detection system 100. Note that two main devices 200 and two object detection systems 100 are shown in the figure. The main devices and the object detection system 100 are identified by adding "a" and "b" to their reference numbers. The main device 200a and the main device 200b are devices that are arranged in the same working area and perform work separately. The object detection system 100a detects an interfering object 10 using a working device 210a attached to the main device 200a. Similarly, the object detection system 100b detects an interfering object 10 using a working device 210b attached to the main device 200b.

[0080] In addition to information about a working device from a control unit 230 targeted by an object detection system 100 including the interference area detection unit 130, information about a working device from a control unit 230 targeted by another object detection system 100 is input to the interference area detection unit 130 shown in the figure. The interference area detection unit 130 in the figure detects an interference area based on information about these multiple working devices.

[0081] [Interference area]

[0082] Fig.10: is a diagram showing an example of an interference area according to the fourth embodiment of the present disclosure. The figure is a diagram showing an overhead image near the working device 210 as shown in Figure 3. The figure shows a state in which the working device 210a and the working device 210b perform work individually. The working device 210a shown in the figure grips the conveying object 13 for conveying. The working device 210b shown in the figure grips the conveying object 15 for conveying. When the working device 210a shown in the figure is used as an example, the conveying object 13 conveyed by the working device 210a does not correspond to the interference object. On the other hand, the working device 210b and the conveying object 15 sometimes correspond to the interference object. For example, when the working device 210a and the working device 210b convey the conveying target object to the same area (for example, the area 411 in the figure), the gripping unit of the working device 210b and the like correspond to the interference object of the working device 210a.

[0083] Therefore, the interference area detection unit 130a acquires the position of the working device 210b using the information about the working device from the control unit 230b and detects the interference area. At this time, the control unit 230b can output the information of the working device including the information about the position of the transported object 15 transported by the control unit 230b to the control unit 230a. The working device 210a can detect the interference area based on the acquired position information of the transported object 15. It should be noted that the control unit 230b is an example of another system described in the claims.

[0084] Note that the configuration of the object detection system 100 is not limited to this example. For example, a control device that simultaneously controls a plurality of main body devices 200 may be used as the control unit 230b.

[0085] Since components of the object detection system 100 other than those described above are the same as those of the object detection system 100 in the first embodiment of the present invention, explanation of the components is omitted.

[0086] As described above, the object detection system 100 in the fourth embodiment of the present disclosure detects the interference area based on the information related to the working device from the control unit 230 of the main device 200 to which the object detection system is attached and the control unit 230 of another main device 200. Therefore, when a plurality of working devices 210 are operated, the detection accuracy of the interfering object can be improved.

[0087] It should be noted that the configuration of the second embodiment of the present disclosure can be applied to other embodiments. Specifically, Figure 6 The interference area image generation unit 120 shown in FIG. 1 can be applied to the third embodiment and the fourth embodiment of the present disclosure.

[0088] The configuration of the third embodiment of the present disclosure can be applied to other embodiments. Figure 7 The configuration of the interference area image generation unit 120 shown in FIG. 1 is applicable to the second embodiment and the fourth embodiment of the present disclosure.

[0089] (Other Modifications)

[0090] The object detection system 100 of this example may be implemented by a dedicated computer system or may be implemented by a general-purpose computer system.

[0091] For example, a program for executing the above operation is stored in a computer-readable recording medium such as an optical disk, a semiconductor memory, a magnetic tape, or a flexible disk and is distributed. Then, for example, the control device is configured by installing the program in a computer and executing the above-described processing.

[0092] The communication program described above can be stored in a disk device of a server device on a network such as the Internet, and the communication program can be downloaded to a computer. The functions described above can be realized by the cooperation of an OS (operating system) and application software. In this case, the part other than the OS can be stored in a medium and distributed, or the part other than the OS can be stored in a server device so that the part can be downloaded to a computer.

[0093] In the various processes described in the embodiments, all or part of the processes explained as being automatically performed may be performed manually, or all or part of the processes explained as being manually performed may be performed automatically by a known method. In addition, unless otherwise specifically stated, the processing procedures, specific names, and information including various data and parameters explained in the document and shown in the drawings may be optionally changed. For example, the various information shown in the drawings is not limited to the information shown.

[0094] The illustrated components of the device are conceptual in function and do not always need to be physically configured as illustrated in the figure. That is, the specific form of distribution and integration of the device is not limited to the illustrated form, and all or part of it can be functionally or physically distributed and integrated into any unit according to various loads, usage conditions, etc. Note that such configuration by distribution and integration can be performed dynamically.

[0095] The above-described embodiments can be combined as appropriate within the range in which the processing contents do not contradict each other. The order of the steps of the flowcharts shown in the above-described embodiments can be changed as appropriate.

[0096] For example, the present embodiment can be implemented as any component constituting a device or a system, such as a processor used as a system LSI (large scale integration) or the like, a module using multiple processors, a unit using multiple modules, or a collection obtained by further adding other functions to the unit (i.e., a component as a part of the device).

[0097] Note that in this embodiment, a system means a collection of multiple components (devices, modules (components), etc.). It is not important whether all components exist in the same housing. Therefore, multiple devices housed in separate housings and connected via a network and a device in which multiple modules are housed in one housing are both systems.

[0098] For example, the present embodiment may adopt a configuration of cloud computing in which one function is collaboratively shared and processed by a plurality of devices via a network.

[0099] Although the embodiments of the present disclosure are described above, the technical scope of the present disclosure is not limited to the embodiments themselves. Various changes can be made without departing from the gist of the present disclosure. Components in different embodiments and modifications can be appropriately combined.

[0100] The processing procedures explained in the embodiments may be regarded as methods including these series of processes, and may be regarded as programs for causing a computer to execute these series of processes or recording media storing the programs. As the recording medium, for example, a floppy disk, a compact disk read-only memory (CD-ROM), a magneto-optical (MO) disk, a digital versatile disk (DVD), a Blu-ray disc (registered trademark), a magnetic disk, a semiconductor memory, a memory card, etc. may be used.

[0101] Note that the effects described in this specification are only illustrative and not limiting. There may be other effects.

[0102] It should be noted that the present technology can also adopt the following configurations.

[0103] (1) A system comprising:

[0104] an interference region detection unit that detects an interference region, the interference region being a region where interference occurs between the working device and the object in a main body device including the working device, the working device including a movable unit; and

[0105] an interference area image generating unit that generates an interference area image from a distance image based on the interference area, the distance image being an image reflecting distance information for each pixel, the interference area image being an area of ​​the distance image including an interference object, the interference object being an object interfering with the working device; and

[0106] The interfering object detection unit detects an interfering object based on the interfering area image.

[0107] (2) The system according to (1) above, wherein the interference area detection unit detects the interference area based on information about the working device.

[0108] (3) The system according to (2) above, wherein the interference area detection unit detects the interference area based on information on the working device.

[0109] (4) The system according to (2) above, wherein the interference area detection unit detects the interference area using a movable range of the working device as the information on the working device.

[0110] (5) The system according to (2) above, wherein the interference area detection unit detects the interference area based on information output from another system and information on the working device of the interference detection system.

[0111] (6) The system according to (5) above, wherein the interference area detection unit detects the interference area using a position of an object near the working device as information output from another system.

[0112] (7) A system according to (5) above, wherein the other system is a system for controlling a working device.

[0113] (8) The system according to any one of (1) to (7) above, wherein the interference area image generation unit generates the interference area image based on the interference area, the distance image, and the image of the object.

[0114] (9) The system according to any one of (1) to (7) above, wherein the interference area image generation unit generates the interference area image based on the interference area, the distance image, and the material of the object.

[0115] (10) A procedure comprising:

[0116] a step of detecting an interference area, the interference area being an area where the working device and the object interfere with each other in a main body device including the working device, the working device including a movable unit; and

[0117] The step of generating an interference area image based on the interference area, generating the interference area image from the distance image, the distance image being an image reflecting distance information for each pixel, the interference area image being an area of ​​the distance image including an interference object, the interference object being an object interfering with the working device; and

[0118] The step of detecting an interfering object based on the interfering area image.

[0119] Reference Numbers List

[0120] 1 Robotic Arm

[0121] 10 Interference Objects

[0122] 20 Movable range

[0123] 100, 100a, 100b Object detection system

[0124] 110 distance measurement sensor

[0125] 111, 112, 310 sensors

[0126] 120 Interference area image generation unit

[0127] 130, 130a, 130b interference area detection unit

[0128] 200, 200a, 200b Main device

[0129] 210, 210a, 210b working devices

[0130] 220, 220a, 220b drive unit

[0131] 230, 230a, 230b control unit

[0132] 300 Control System

[0133] 320 Position information acquisition unit

[0134] 400 Distance Image

[0135] 410 Interference Area

[0136] 420 Interference area image.

Claims

1. A system comprising: an interference region detecting unit configured to detect an interference region, the interference region being a region where interference occurs between the working device and an object in a main body device including a working device, the working device including a movable unit; as well as an interference area image generating unit for generating an interference area image from a distance image based on the interference area, the distance image being an image reflecting distance information for each pixel, the interference area image being an area of ​​the distance image including an interference object, the interference object being an object interfering with the working device; as well as An interfering object detection unit detects the interfering object based on the interfering area image.

2. The system according to claim 1, wherein: The interference area detection unit detects the interference area based on information about the working device.

3. The system according to claim 2, wherein: The interference area detection unit detects the interference area using the movable range of the working device as information on the working device.

4. The system according to claim 2, wherein: The interference area detection unit detects the interference area based on information on the working device output from a control unit of the working device.

5. The system according to claim 2, wherein: The interference area detection unit detects the interference area based on information output from another system and information about the working device of the system.

6. The system according to claim 5, wherein: The interference area detection unit detects the interference area using a position of an object near the working device as the information output from the other system.

7. The system according to claim 5, wherein: The other system is a system for controlling the working device.

8. The system according to claim 1, wherein: The interference area image generation unit generates the interference area image based on the interference area, the distance image, and the image of the object.

9. The system according to claim 1, wherein: The interference area image generation unit generates the interference area image based on the interference area, the distance image, and the material of the object.

10. A program comprising: a step of detecting an interference area, wherein the interference area is an area where interference occurs between the working device and the object in a main body device including a working device, wherein the working device includes a movable unit; as well as a step of generating an interference area image from a distance image based on the interference area, the distance image being an image reflecting distance information for each pixel, the interference area image being an area of ​​the distance image including an interference object, the interference object being an object interfering with the working device; as well as The step of detecting the interfering object based on the interfering area image.

Images