Robot Workspace Point-Cloud Filtering for Interference Avoidance

The patent applies color changes by using a marker with specific color properties (e.g., AR marker) that can be reliably detected and distinguished from the robot and work environment. The marker's color and pattern are designed to be uniquely identifiable, allowing the system to differentiate the marker from other objects regardless of lighting conditions or stains on the robot body.

The patent introduces a marker as an intermediary element between the robot and the work environment. This marker serves as a reliable reference object for coordinate system setting and interference region specification. By using this intermediary marker with known position and color characteristics, the system can accurately determine the robot's position and define interference regions without relying on color differentiation of the robot body itself.

The patent uses a virtual model (copy) of the robot's shape and attitude information to define the robot region. Instead of requiring complex physical sensors to detect the robot's boundaries, the system creates a digital representation of the robot's geometry and uses this copy to specify the interference region in the virtual environment. This approach maintains accuracy while reducing hardware complexity.

The patent replaces mechanical or physical measurement systems with information-based processing. By using attitude information from the robot controller and shape data to define the robot region, the system substitutes complex physical sensing and measurement mechanisms with computational methods that process digital information about the robot's position, orientation, and geometry.