Robot control device and robot system
The robot control device addresses the computational burden of high-resolution 3D point data by grouping and modeling 3D points as hexahedrons, enabling efficient interference-free workpiece retrieval.
TW202631357APending Publication Date: 2026-08-01FANUC LTD
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Patent Information
- Application Number
- TW114147396
- Authority / Receiving Office
- TW · TW
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2024-12-06
- Filing Date
- 2025-12-04
- Publication Date
- 2026-08-01
AI Technical Summary
Technical Problem
Conventional robot systems face increased computational load and processing time due to the large number of 3D points in point group data from vision sensors, which cannot be effectively reduced without compromising interference determination accuracy.
Method used
A robot control device that classifies 3D points into groups on the same virtual plane, generates obstacle models as hexahedrons, and sets robot actions to avoid interference with these models, reducing the number of points needing interference checks.
Benefits of technology
Significantly reduces the computational load and processing time for interference determination by replacing numerous 3D points with fewer obstacle models, ensuring accurate workpiece removal operations.
✦ Generated by Eureka AI based on patent content.
Abstract
This invention provides a robot control device that controls a robot to retrieve a workpiece based on 3D point group data generated by a 3D vision sensor, which represents the surface shape of a subject area where a workpiece may be located by a plurality of 3D points. The device includes: a grouping unit that classifies the plurality of 3D points into a plurality of groups that are close to each other and exist on the same virtual plane; an obstacle model generation unit that generates an obstacle model composed of a hexahedron, wherein the hexahedron has a square on the virtual plane that encloses the 3D points belonging to the same group as its upper surface, and a square formed by projecting the upper surface perpendicularly onto the surface on which the workpiece is placed as its bottom surface; and an action setting unit that sets the actions of the robot to retrieve the workpiece in a manner that does not interfere with the obstacle model. none
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