JP5857803B2 - Industrial machine interference determination device, interference determination method, computer program, and recording medium - Google Patents

Description

  The present invention relates to a technique for determining interference between an industrial machine and an obstacle.

  Various techniques have been proposed to prevent the robot and an obstacle (equipment) from interfering during actual operation, teaching, or motion simulation of the robot. For example, Patent Document 1 describes a technique for projecting a three-dimensional model of a horizontal articulated robot and a three-dimensional model of an obstacle onto a horizontal plane and determining interference between the robot and the obstacle on the horizontal plane. Yes. As described above, as an algorithm for determining interference between objects (between a robot and an obstacle), for example, a method for determining interference based on a distance between objects, or an object divided into rectangular parallelepipeds. A method of judging interference between each other, a method of representing the surface of an object with polygons, a method of judging interference between polygons, and projecting objects and objects onto a straight line called a separation axis to overlap images on the separation axis There is a method for determining the interference accordingly.

JP 2004-202627 A

  However, the technique described in Patent Document 1 has a problem in that it cannot be applied to a robot having a complicated configuration because the form of the robot is limited to a horizontal articulated type. In addition, in the method of determining interference based on the distance between objects, the method of determining interference between rectangular parallelepipeds, and the method of determining interference between polygons, the processing load increases as the shape of the robot or equipment becomes more complicated. There is a problem that it takes time to determine the interference. In the determination by the separation axis, it may be difficult to determine the optimum separation axis depending on the shape of the object. These problems are not limited to robots, but are common problems when determining interference between an industrial machine having a movable part and an obstacle.

  In view of these problems, the problem to be solved by the present invention is to provide a technique capable of quickly and accurately determining interference between a movable part of an industrial machine and an obstacle.

  SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following forms or application examples.

Application Example 1 An interference determination device that determines interference between an industrial machine having a movable part and an obstacle, and includes at least a part of the movable part and at least a part of the obstacle. A storage unit storing data of a cylindrical model in which one shape is represented by a rectangular cylinder and data of a rectangular parallelepiped model in which the other shape is represented by a rectangular parallelepiped, a position of the shape represented by the cylindrical model, and the rectangular parallelepiped A position acquisition unit that acquires a position of a shape represented by the model, a normal vector of an upper surface or a lower surface of the cylindrical model, and a vector of any one of a surface normal vector or an edge vector of the rectangular parallelepiped model A separation axis determination unit that obtains a first plane including a straight line parallel to a normal vector of the side surface of the cylindrical model on the first plane as a first separation axis; and The cylindrical model and the rectangular parallelepiped model are projected, and the cylindrical model image projected onto the first plane and the rectangular parallelepiped model image onto the first separation axis on the first plane. An interference determination unit that determines the interference between the movable unit and the obstacle based on whether or not the cylindrical model image projected onto the first separation axis and the rectangular parallelepiped model image overlap each other An interference determination device comprising:

  In the interference determination apparatus having such a configuration, a first plane including a normal vector of the upper surface or the lower surface of the cylindrical model and any one of the surface normal vectors (or side vectors) of the rectangular parallelepiped model is obtained. Then, a straight line parallel to the normal vector of the side surface of the cylindrical model on the first plane is obtained as the first separation axis. Therefore, it is possible to reliably specify the normal vector used as the separation axis from the normal vectors of the side surfaces of the cylindrical model that exist innumerably over 360 °, and thereby, the rectangular parallelepiped model and the cylindrical model can be efficiently identified. Interference with the side surface can be determined. As described above, the interference determination apparatus having the above configuration can quickly determine the interference even when the cylindrical model is used, so the real-time interference determination between the movable part of the industrial machine and the obstacle is possible. Becomes easy. In addition, according to the above configuration, even when a cylindrical model is used, interference can be determined quickly, so that the outer shape of the movable part of the industrial machine is only a simple model such as a rectangular parallelepiped model. Instead, it can be accurately modeled using a cylindrical model. Therefore, since it is possible to determine interference according to the shape of an actual industrial machine, it is possible to easily perform determination of interference that requires accuracy, such as determination of interference in a narrow space. In the interference determination apparatus having the above configuration, the cylindrical model and the rectangular parallelepiped model are projected onto the first plane, and further projected onto the first plane on the first separation axis on the first plane. The cylindrical model image and the rectangular parallelepiped model image are projected, and interference between the movable part of the industrial machine and the obstacle is determined based on the projection result. That is, since a three-dimensional model is projected onto a one-dimensional separation axis via a two-dimensional plane, each model can be projected onto the separation axis with high accuracy.

Application Example 2 In the interference determination apparatus according to Application Example 1, the separation axis determination unit may further include a normal vector of an upper surface or a lower surface of the cylindrical model and an edge vector or a surface normal of the rectangular parallelepiped model. An outer product vector with any one of the vectors is obtained, a second plane including the outer product vector and a normal vector of the upper surface or the lower surface of the cylinder model is obtained, and the cylinder on the second plane is obtained. A straight line parallel to the normal vector of the side surface of the model is determined as a second separation axis, and the interference determination unit further projects the cylindrical model and the rectangular parallelepiped model onto the second plane, and The cylindrical model image and the rectangular parallelepiped model image projected onto the second plane are projected onto the second separation axis on the second plane, and projected onto the second separation axis. The cylindrical model image and the Based on the presence or absence of an overlap between the image of the rectangular parallelepiped model is determined interference with the obstacle and the movable portion, the interference determination unit.

  According to the interference determination apparatus having such a configuration, an outer product vector of the normal vector of the upper surface or the lower surface of the cylindrical model and any one of the side vectors (or surface normal vectors) of the rectangular parallelepiped model is obtained. In addition, a second plane including the outer product vector and the normal vector of the upper or lower surface of the cylinder model is obtained, and a second separation axis parallel to the normal vector of the side surface of the cylinder model on the second plane is obtained. On the other hand, a cylindrical model and a rectangular parallelepiped model are projected. Therefore, it is possible to determine the interference between the side surface of the movable part represented by the cylindrical model and the obstacle represented by the rectangular parallelepiped model from a viewpoint different from the first separation axis.

Application Example 3 In the interference determination apparatus according to Application Example 1 or Application Example 2, the separation axis determination unit further includes a normal vector of the upper surface or the lower surface of the cylindrical model and an edge vector of the rectangular parallelepiped model. Alternatively, an outer product vector with any one of the surface normal vectors is obtained, a straight line parallel to the outer product vector is determined as a third separation axis, and the interference determination unit further includes the third Projecting the cylindrical model and the cuboid model on a separation axis, and based on whether or not the image of the cylindrical model projected on the third separation axis and the image of the cuboid model overlap, the movable portion and the An interference determination device that determines interference with an obstacle.

  In the interference determination device having such a configuration, an outer product vector of a normal vector of the upper surface or the lower surface of the cylindrical model and any one of the side vectors (or surface normal vectors) of the rectangular parallelepiped model is obtained. Project a cylindrical model and a rectangular parallelepiped model onto a third separation axis parallel to the outer product vector. Therefore, it is possible to determine the interference between the outer shape of the movable part represented by the cylindrical model and the outer shape of the obstacle represented by the rectangular parallelepiped model.

[Application Example 4] The interference determination apparatus according to any one of Application Example 1 to Application Example 3, wherein the separation axis determination unit further includes a surface normal vector or an edge vector of the rectangular parallelepiped model. A straight line parallel to any one of the vectors is determined as a fourth separation axis, and the interference determination unit further projects the cylindrical model and the rectangular parallelepiped model onto the fourth separation axis, and An interference determination device that determines interference between the movable portion and the obstacle based on whether or not the image of the cylindrical model projected onto the four separation axes overlaps the image of the rectangular parallelepiped model.

  In the interference determination apparatus having such a configuration, the cylindrical model and the rectangular parallelepiped model are projected onto the fourth separation axis parallel to any one of the surface normal vectors (or side vectors) of the rectangular parallelepiped model. . Therefore, it is possible to determine the interference between the movable part represented by the cylindrical model and the surface of the obstacle represented by the rectangular parallelepiped model.

[Application Example 5] The interference determination apparatus according to any one of Application Example 1 to Application Example 4, wherein the separation axis determination unit is further parallel to a normal vector on an upper surface or a lower surface of the cylindrical model. A straight line is determined as a fifth separation axis, and the interference determination unit further projects the cylindrical model and the rectangular parallelepiped model onto the fifth separation axis, and projects the projection onto the fifth separation axis. An interference determination device that determines interference between the movable portion and the obstacle based on whether or not an image of a cylindrical model and an image of the rectangular parallelepiped model overlap.

  In the interference determination apparatus having such a configuration, the cylindrical model and the rectangular parallelepiped model are projected onto the fifth separation axis parallel to the normal vector of the upper surface or the lower surface of the cylindrical model. Therefore, it is possible to determine the interference between the upper and lower surfaces of the movable part represented by the cylindrical model and the outer shape of the obstacle represented by the rectangular parallelepiped model.

[Application Example 6] The interference determination apparatus according to Application Example 5 that cites Application Example 3 that cites Application Example 2 that cites Application Example 1 and that cites Application Example 4 that cites Application Example 3, and that separates the separation axis determination unit. Determining the separation axis in the order of the fifth separation axis, the fourth separation axis, the first separation axis, the second separation axis, and the third separation axis, and determining the interference The unit does not perform interference determination using the separation axis in the order after the separation axis determined that the movable part and the obstacle do not interfere with each other, and the separation axis determination unit includes the movable part and the obstacle. An interference determination apparatus that does not determine a separation axis in an order subsequent to a separation axis that is determined not to interfere with an obstacle.

  According to the interference determination apparatus having such a configuration, the separation axis used for the determination of interference is determined in the order from the smallest calculation amount for determining the separation axis, and the movable part and the obstacle do not interfere with each other. Is once determined, the subsequent determination of the separation axis and the determination of interference are not performed. Therefore, it is possible to determine interference at high speed.

  In addition to the configuration as the interference determination device described above, the present invention can also be configured as an interference determination method or a computer program. Such a computer program may be recorded on a computer-readable recording medium.

It is explanatory drawing which shows schematic structure of the robot system containing an interference determination apparatus. It is explanatory drawing which shows the outline | summary of the separation axis determination performed by the interference determination apparatus. It is explanatory drawing which shows schematic structure of an interference determination apparatus. It is a flowchart of an interference determination process. It is a detailed flowchart of a 1st sub determination process. It is a figure which shows the example of the separation axis determined by the 1st sub determination process. It is a detailed flowchart of a 2nd sub determination process. It is a figure which shows the example in which the straight line parallel to the normal vector of the X surface of a rectangular parallelepiped model was determined as a separation axis in the 2nd sub determination process. It is a figure which shows the example in which the straight line parallel to the normal vector of the Y surface of a rectangular parallelepiped model was determined as a separation axis in the 2nd sub determination process. It is a figure which shows the example in which the straight line parallel to the normal vector of the Z surface of a rectangular parallelepiped model was determined as a separation axis in the 2nd sub determination process. It is a detailed flowchart of a 3rd sub determination process. It is a figure which shows the example of the separation axis in case the normal vector of the X surface of a rectangular parallelepiped model is selected by the 3rd sub determination process. It is a figure which shows the example of the separation axis in case the normal vector of the Y surface of a rectangular parallelepiped model is selected by the 3rd sub determination process. It is a figure which shows the example of the separation axis in case the normal vector of the Z surface of a rectangular parallelepiped model is selected by the 3rd sub determination process. It is a figure which shows the concept by which a cylinder model and a rectangular parallelepiped model are projected on a separation axis in a 3rd sub determination process. It is a figure which shows the normal vector of the side surface of a cylinder model. It is a detailed flowchart of a 4th sub determination process. It is a figure which shows the concept by which a cylinder model and a rectangular parallelepiped model are projected on a separation axis in a 4th sub determination process. It is a detailed flowchart of a 5th sub determination process. It is a figure which shows the concept by which a cylinder model and a rectangular parallelepiped model are projected on a separation axis in a 5th sub determination process. It is a figure which shows the positional relationship of the cylinder model and the rectangular parallelepiped model which require the process after the 3rd sub determination process.

A. Device configuration:
FIG. 1 is an explanatory diagram showing a schematic configuration of a robot system 10 including an interference determination device 400 as an embodiment of the present invention. The robot system 10 includes an articulated industrial robot 100, a control device 200 that controls the operation of the robot 100, a teaching device 300 that teaches the operation of the robot 100 to the control device 200, a robot 100, and an obstacle 500. And an interference determination device 400 that determines the interference of each other. The robot 100, the teaching device 300, and the interference determination device 400 are each connected to the control device 200 by a predetermined cable.

  The robot 100 includes a base unit 101 that is fixed to equipment in a factory. The base portion 101 includes a shoulder portion 102 supported by the base portion 101 by a joint shaft that can turn in the horizontal direction, a lower arm 103 that has a lower end supported by the shoulder portion 102 by a joint shaft that can turn in the vertical direction, and An upper arm 104 whose substantially central portion is supported at the tip of the lower arm 103 by a joint shaft that can pivot in the vertical direction, a wrist 105 that is supported at the tip of the upper arm 104 by a joint shaft that can pivot in the vertical direction, and a wrist A rotatable flange portion 106 provided at the front end of 105 and an end effector 107 attached to the flange portion 106 are provided as a movable portion.

  FIG. 2 is an explanatory diagram illustrating an outline of the interference determination process performed by the interference determination device 400. The interference determination apparatus 400 according to the present embodiment determines interference by a technique called separation axis determination. As shown in FIG. 2A, in the separation axis determination, in order to determine whether or not two objects interfere with each other, first, a certain separation axis is determined, and two objects are placed on the separation axis. Is projected. If the two images appearing on the separation axis do not overlap by the projection, it is determined that the two objects do not interfere with each other. On the other hand, as shown in FIG. 2B, if two images overlap, it cannot be determined that the two objects do not interfere with each other on the separation axis. Therefore, another separation axis is selected, and interference is determined again based on the result of projection onto the selected other separation axis. In the separation axis determination, if there is at least one separation axis in which the two images do not overlap among the selected separation axes, it is determined that the two objects do not interfere with each other. On the other hand, if two images overlap at all selected separation axes, it is determined that the two objects interfere with each other.

  FIG. 3 is an explanatory diagram illustrating a schematic configuration of the interference determination apparatus 400. The interference determination device 400 includes a CPU 410, a RAM 420, an HDD (hard disk drive) 430, a monitor 440, and an interface 450. These are connected to each other via a bus 460. The control device 200 is connected to the interface 450. The interference determination device 400 can be configured by a personal computer, for example.

  The HDD 430 stores model data 432 representing the outer shapes of the robot 100 and the obstacle 500. In the present embodiment, the outer shape of at least a part of the movable part of the robot 100 is represented by a cylindrical model representing a right circular cylinder shape. The outer shape of the obstacle 500 is represented by a rectangular parallelepiped model representing the shape of a rectangular parallelepiped. The HDD 430 stores an interference determination program 434 for determining the interference between the robot 100 and the obstacle 500. The model data 432 and the interference determination program 434 are not limited to the HDD 430, and may be recorded on a recording medium such as a flexible disk, a CD-ROM, a DVD-ROM, a magneto-optical disk, or a flash memory.

  The CPU 410 functions as the position acquisition unit 412, the separation axis determination unit 414, and the interference determination unit 416 by loading the interference determination program 434 stored in the HDD 430 into the RAM 420 and executing it.

  The position acquisition unit 412 has a function of acquiring the position of each movable unit of the robot 100 from the control device 200 and acquiring the position of the obstacle 500 set in advance in the HDD 430.

  The separation axis determination unit 414 has a function of determining a separation axis for detecting interference between the movable unit of the robot 100 and the obstacle 500. A specific method for determining the separation axis will be described later.

  The interference determination unit 416 projects the model of the robot 100 (cylinder model) and the obstacle model (cuboid model) on the separation axis determined by the separation axis determination unit 414, and moves the movable unit of the robot 100 and the obstacle 500. A function of determining interference with the A specific interference determination method will be described later.

  In the present embodiment, the interference determination device 400 and the control device 200 are configured as different devices, but all the functions of the interference determination device 400 may be incorporated into the control device 200.

B. Interference judgment processing:
FIG. 4 is a flowchart of an interference determination process that is repeatedly executed by the CPU 410 executing the interference determination program 434. When the interference determination program 434 is executed by the CPU 410, first, the position acquisition unit 412 acquires the rotation angle of each axis of the robot 100 from the control device 200 (step S10). When the position acquisition unit 412 acquires the rotation angle of each axis of the robot 100, the position acquisition unit 412 calculates the position and orientation of each movable unit of the robot 100 in each link coordinate system and tool coordinate system from the rotation angle (step S12). When the position and orientation of the robot 100 are calculated, the position acquisition unit 412 identifies a movable unit and an obstacle that are subject to interference determination (step S14). When the determination target is specified, the position acquisition unit 412 calculates the position and orientation of the determination target in the central coordinate system of the specified determination target (step S16).

  When the position and orientation of the determination target are calculated, the position acquisition unit 412 determines whether the determination target movable part is a cylindrical model and the obstacle is a rectangular parallelepiped model (step S18). If the determination target is not a cylindrical model or a rectangular parallelepiped model (step S18: NO), the CPU 410 performs a determination process according to the type of the determination target (step S20). For example, if the determination target is a point model and a prism model, interference is determined based on whether or not a point is included in the prism, and if the determination target is a rectangular model and a prism model, a rectangular parallelepiped Is determined based on whether or not is present inside the prism.

  When it is determined that the movable part to be determined is a cylindrical model and the obstacle is a rectangular parallelepiped model (step S18: YES), the separation axis determination unit 414 and the interference determination unit 416 perform first sub determination processing ( Step S22), second sub-determination process (Step S24), third sub-determination process (Step S26), fourth sub-determination process (Step S28), and fifth sub-determination process (Step S30). Execute in this order. In all the determination processes from the first sub-determination process to the fifth sub-determination process, if it is not determined that there is no interference, the interference determination unit 416 determines that there is interference, and the monitor 440 displays the determination result ( “There is interference” is displayed (step S32). On the other hand, although details will be described later, if any of the determination processes from the first sub determination process to the fifth sub determination process is determined as “no interference”, the subsequent determination process Without being executed, the interference determination unit 416 displays the determination result (no interference) on the monitor 440, and the interference determination process ends.

C. First sub-determination process:
FIG. 5 is a detailed flowchart of the first sub determination process. The first sub determination process is a process for determining interference between the upper and lower surfaces of the cylindrical model and the outer shape (side) of the rectangular parallelepiped. When the first sub-determination process is started, the separation axis determination unit 414 determines a straight line parallel to the normal vector on the upper surface of the cylindrical model as the separation axis (step S100; see FIG. 6D). The separation axis determined by the first sub-determination process corresponds to the “fifth separation axis” in the claims.

  When the separation axis is determined, the interference determination unit 416 projects the cylindrical model and the rectangular parallelepiped model onto the determined separation axis (step S102), and the image of the cylindrical model projected onto the separation axis and the rectangular parallelepiped model. It is determined whether or not the image overlaps (step S104).

  If the image of the cylinder model and the image of the cuboid model overlap on the separation axis (step S104: YES), the upper or lower surface of the cylinder model and the outer shape of the cuboid may interfere with each other. In order to perform interference determination in detail, the interference determination unit 416 ends the first sub determination process and shifts the process to the second sub determination process (step S24) illustrated in FIG. On the other hand, if the cylindrical model image and the rectangular parallelepiped model image do not overlap on the separation axis (step S104: NO), the second to fifth sub-determination processes shown in FIG. 4 need not be executed. It is clear that the cylinder model and the rectangular parallelepiped model do not interfere with each other. Therefore, the interference determination unit 416 determines “no interference” as it is and displays the determination result (no interference) on the monitor 440 (step S106). When the determination result is displayed on the monitor 440, the interference determination unit 416 ends the series of interference determination processing shown in FIG.

  FIG. 6 is a diagram illustrating an example of the separation axis determined by the first sub determination process described above. (FIGS. 6A to 6D show a state in which the positional relationship between the cylindrical model and the rectangular parallelepiped model is observed from different viewpoints. FIG. 6A shows the rectangular parallelepiped model viewed from the + X direction side. 6B shows a view of the cuboid model viewed from the + Y direction, and FIG. 6C shows a view of the cuboid model viewed from the + Z direction. 6 shows the projection of the cylindrical model and the rectangular parallelepiped model on the separation axis AX1 parallel to the normal vector on the upper surface of the cylindrical model.In the example shown in FIG. Since the images projected on AX1 do not overlap, it is determined that there is no interference.

D. Second sub-determination process:
FIG. 7 is a detailed flowchart of the second sub determination process. The second sub-determination process is a process that is executed when “no interference” is not determined in the first sub-determination process, and is a process for determining interference between the surface of the rectangular parallelepiped model and the outer shape of the cylindrical model. is there. When the second sub determination processing is started, the separation axis determination unit 414 selects one surface normal vector from the three types of surface normal vectors of the rectangular parallelepiped model (step S200), and the selected surface method is selected. A plane including the line vector and the normal vector of the upper surface of the cylinder model is created (step S202). When such a plane is created, the separation axis determination unit 414 determines a straight line parallel to the selected surface normal vector as the separation axis on the created plane (step S204, FIG. 8B, FIG. 8). 9 (A) and FIG. 10 (B)). The separation axis determined in the second sub-determination process corresponds to the “fourth separation axis” in the claims. Note that the three types of surface normal vectors of the rectangular parallelepiped model are obtained by capturing two reverse surface normal vectors as one type out of a total of six surface normal vectors of the rectangular parallelepiped model.

  When the separation axis is determined, the interference determination unit 416 projects the cylindrical model and the rectangular parallelepiped model onto the plane created in step S202 (step S206). Further, the cylindrical model image and the rectangular parallelepiped model image projected onto the plane are projected onto the separation axis determined in step S204 (step S208). As described above, when the cylindrical model and the rectangular parallelepiped model are projected onto the separation axis in a stepwise manner through the plane, the interference determination unit 416 overlaps the cylindrical model image projected onto the separation axis and the rectangular parallelepiped model image. Whether or not (step S210). If the image of the cylindrical model and the image of the rectangular parallelepiped model do not overlap on the separation axis (step S210: NO), the cylindrical model and the rectangular parallelepiped can be obtained without executing the third to fifth sub-determination processes shown in FIG. It is clear that there is no interference with the model. Therefore, it is determined as “no interference” as it is, and the determination result (no interference) is displayed on the monitor 440 (step S208). When the determination result is displayed on the monitor 440, the interference determination unit 416 ends the series of interference determination processing shown in FIG.

  When the image of the cylindrical model and the image of the cuboid model overlap on the separation axis (step S210: YES), the interference determination unit 416 performs all of the three types of surfaces of the cuboid model in order to perform interference determination in more detail. It is determined whether interference has been determined in the second sub-determination process using the normal vector (step S214). When interference determination is not performed using all three types of surface normal vectors (step S214: NO), the interference determination unit 416 returns the processing to step S200. Then, interference is determined using a surface normal vector that has not yet been selected from the three types of surface normal vectors. On the other hand, when the interference is determined using all three types of surface normal vectors, but “no interference” is not determined (step S214: YES), another interference is determined. In order to perform interference determination using the separation axis, the interference determination unit 416 ends the second determination process, and shifts the process to the third sub determination process (step S26) illustrated in FIG.

  In the second sub-determination process of the present embodiment, a plane is first created, each model is projected onto the plane, and an image of each model on the plane is projected onto the separation axis. On the other hand, in the second sub-determination process, each model may be directly projected onto a separation axis parallel to each surface normal vector of the rectangular parallelepiped model without creating a plane. As in this embodiment, if a plane is created and each model is projected onto the plane, each model (especially a cylindrical model) can be projected onto the plane with high accuracy. Each model can be accurately projected. On the other hand, if each model is projected directly onto the separation axis, the process of creating a plane is omitted, and the processing time can be shortened. The reason why the plane is not created in the first sub-determination process shown in FIG. 5 is that, in the first sub-determination process, a straight line parallel to the normal vector on the upper surface of the cylinder model, that is, a straight line parallel to the central axis of the cylinder Because is determined as the separation axis, the cylindrical model can always be accurately projected parallel to the separation axis.

  FIG. 8 is a diagram illustrating an example in which a straight line parallel to the normal vector of the X plane of the rectangular parallelepiped model is determined as the separation axis in the second sub determination process. FIGS. 8A to 8C show a state in which the cylindrical model and the rectangular parallelepiped model having the same positional relationship are observed from different viewpoints. 8A shows a view of the cuboid model from the + X direction side, FIG. 8B shows a view of the cuboid model from the + Y direction, and FIG. 8C shows the cuboid model from the + Z direction. Each view is shown. FIG. 8B shows a state in which the cylindrical model and the rectangular parallelepiped model are projected onto the separation axis AX2 parallel to the surface normal vector of the X plane of the rectangular parallelepiped model. In the example shown in FIG. 8B, since the images projected on the separation axis AX2 do not overlap, it is determined that there is no interference. In FIG. 8B, a plane including the surface normal vector of the rectangular parallelepiped model and the normal vector of the upper surface of the cylindrical model is omitted.

  FIG. 9 is a diagram illustrating an example in which a straight line parallel to the normal vector of the Y plane of the rectangular parallelepiped model is determined as the separation axis in the second sub-determination process. 9A to 9C show a state in which the cylindrical model and the rectangular parallelepiped model having the same positional relationship are observed from different viewpoints. 9A shows a cuboid model viewed from the + X direction side, FIG. 9B shows a cuboid model viewed from the + Y direction, and FIG. 9C shows a cuboid model from the + Z direction. Each view is shown. FIG. 9A shows a state in which the cylindrical model and the rectangular parallelepiped model are projected onto the separation axis AX3 parallel to the surface normal vector of the Y plane of the rectangular parallelepiped model. In the example shown in FIG. 9A, since the images projected on the separation axis AX3 do not overlap, it is determined that there is no interference. In FIG. 9A, a plane including the surface normal vector of the rectangular parallelepiped model and the normal vector of the upper surface of the cylindrical model is omitted.

  FIG. 10 is a diagram illustrating an example in which a straight line parallel to the normal vector of the Z plane of the rectangular parallelepiped model is determined as the separation axis in the second sub determination process. FIGS. 10A to 10C show a state in which a cylindrical model and a rectangular parallelepiped model having the same positional relationship are observed from different viewpoints. 10A shows a cuboid model viewed from the + X direction side, FIG. 10B shows a cuboid model viewed from the + Y direction, and FIG. 10C shows a cuboid model from the + Z direction. Each view is shown. FIG. 10B shows a state in which the cylindrical model and the rectangular parallelepiped model are projected onto the separation axis AX4 that is parallel to the surface normal vector of the Z plane of the rectangular parallelepiped model. In the example shown in FIG. 10B, since the images projected on the separation axis AX4 do not overlap each other, it is determined that there is no interference. In FIG. 10B, a plane including the surface normal vector of the rectangular parallelepiped model and the normal vector of the upper surface of the cylindrical model is omitted.

E. Third sub-determination process:
FIG. 11 is a detailed flowchart of the third sub determination process. The third sub-determination process is a process that is executed when “no interference” is not determined in the second sub-determination process, in order to determine the interference between the side surface of the cylindrical model and the outer shape (side) of the rectangular parallelepiped model. It is processing of. When the third sub determination process is started, the separation axis determination unit 414 selects one surface normal vector from the three types of surface normal vectors of the rectangular parallelepiped model (step S300), and the selected surface method is selected. A plane including the line vector and the normal vector of the upper surface of the cylindrical model is created (step S302; see plane PF1 in FIG. 15). When such a plane is created, the separation axis determination unit 414 determines a straight line parallel to the normal vector of the side surface of the cylindrical model as the separation axis on the created plane (step S304, separation axis AX3 in FIG. 15). reference). The separation axis determined in the third sub-determination process corresponds to the “first separation axis” in the claims, and the plane generated in the third sub-determination process corresponds to the “first separation axis” in the claims. Corresponds to “plane”.

  When the separation axis is determined, the interference determination unit 416 projects the cylindrical model and the rectangular parallelepiped model onto the plane created in step S302 (step S306). Further, the cylindrical model image and the rectangular parallelepiped model image projected onto the plane are projected onto the separation axis determined in step S304 (step S308). As described above, when the cylindrical model and the rectangular parallelepiped model are projected onto the separation axis in a stepwise manner through the plane, the interference determination unit 416 overlaps the cylindrical model image projected onto the separation axis and the rectangular parallelepiped model image. Whether or not (step S310). If the image of the cylindrical model and the image of the rectangular parallelepiped model do not overlap on the separation axis (step S310: NO), the cylindrical model and the rectangular parallelepiped can be obtained without executing the fourth to fifth sub-determination processes shown in FIG. It is clear that there is no interference with the model. Therefore, it is determined as “no interference” as it is, and the determination result (no interference) is displayed on the monitor 440 (step S312). When the determination result is displayed on the monitor 440, the interference determination unit 416 ends the series of interference determination processing shown in FIG.

  When the image of the cylindrical model and the image of the cuboid model overlap on the separation axis (step S310: YES), the interference determination unit 416 performs all the three surface methods of the cuboid model in order to perform interference determination in more detail. It is determined whether or not interference is determined in the third sub-determination process using the line vector (step S314). When interference determination is not performed using all the surface normal vectors (step S314: NO), the interference determination unit 416 returns the processing to step S300. Then, interference is determined using a surface normal vector that has not yet been selected from the three types of surface normal vectors. On the other hand, when the interference is determined using all three types of surface normal vectors, but “no interference” is not determined (step S314: YES), yet another In order to perform the interference determination using the separation axis, the interference determination unit 416 ends the third determination process and shifts the process to the fourth sub determination process (step S28) illustrated in FIG.

  FIG. 12 is a diagram illustrating an example of the separation axis when the normal vector of the X plane of the rectangular parallelepiped model is selected in step S300 of the third sub determination process. FIGS. 12A to 12D show a state in which a cylindrical model and a rectangular parallelepiped model having the same positional relationship are observed from different viewpoints. 12A shows a cuboid model viewed from the + X direction, FIG. 12B shows a cuboid model viewed from the + Y direction, and FIG. 12C shows a cuboid model from the + Z direction. Each view is shown. FIG. 12D shows a plane PF1a including the normal vector of the upper surface of the cylindrical model and the normal vector of the X plane of the rectangular parallelepiped model, and the side surface of the cylindrical model included in this plane PF. A separation axis AX3a parallel to the normal vector is shown.

  FIG. 13 is a diagram illustrating an example of the separation axis when the normal vector of the Y plane of the rectangular parallelepiped model is selected in step S300 of the third sub determination process. 13A to 13D show a state in which the cylindrical model and the rectangular parallelepiped model having the same positional relationship are observed from different viewpoints. FIG. 13A shows a cuboid model viewed from the + X direction, FIG. 13B shows a cuboid model viewed from the + Y direction, and FIG. 13C shows a cuboid model from the + Z direction. Each view is shown. FIG. 13D shows a plane PF1b including the normal vector of the upper surface of the cylindrical model and the normal vector of the Y plane of the rectangular parallelepiped model, and the side surface of the cylindrical model included in this plane PF. A separation axis AX3b parallel to the normal vector is shown.

  FIG. 14 is a diagram illustrating an example of the separation axis when the normal vector of the Z plane of the rectangular parallelepiped model is selected in step S300 of the third sub determination process. FIGS. 14A to 14D show a state in which a cylindrical model and a rectangular parallelepiped model having the same positional relationship are observed from different viewpoints. 14A shows a cuboid model viewed from the + X direction side, FIG. 14B shows a cuboid model viewed from the + Y direction, and FIG. 14C shows the cuboid model from the + Z direction. Each view is shown. FIG. 14D shows a plane PF1c including the normal vector of the upper surface of the cylindrical model and the normal vector of the Z plane of the rectangular parallelepiped model, and the side surface of the cylindrical model included in this plane PF. A separation axis AX3c parallel to the normal vector is shown.

  FIG. 15 is a diagram illustrating a concept in which the cylindrical model and the rectangular parallelepiped model are projected onto the separation axis in the third sub determination process. FIG. 15 shows a normal vector NV1 on the Z plane of the rectangular parallelepiped model, a normal vector NV2 on the upper surface of the cylindrical model, and a plane PF1 including these normal vectors NV1 and NV2. FIG. 15 also shows a separation axis AX3 parallel to the normal vector NV3 of the side surface of the cylindrical model included in the plane PF1. In step S306, first, a cylindrical model and a rectangular parallelepiped model are projected onto the plane PF1. In FIG. 15, the two-dimensional image on the plane PF1 thus projected is represented by hatching. In step S308, projection is further performed on the separation axis AX3 on the plane PF1 from the two-dimensional image. As described above, in the third sub-determination process, a plane including the surface normal vector of the rectangular parallelepiped model and the normal vector of the upper surface of the cylindrical model is created and parallel to the normal vector of the side surface of the cylindrical model on the plane. A straight line is determined as the separation axis. Therefore, as shown in FIG. 16, the normal vector used as the separation axis can be reliably identified from the normal vectors on the side surfaces of the infinite number of cylinder models extending over 360 °. The interference between the surface of the rectangular parallelepiped model and the side surface of the cylindrical model can be determined. In the example shown in FIG. 15, since the images projected on the separation axis AX3 do not overlap, it is determined that there is no interference.

F. Fourth sub determination process:
FIG. 17 is a detailed flowchart of the fourth sub determination process. The fourth sub determination process is a process executed when it is determined that “no interference” is determined in the third sub determination process, and interference between the side surface of the cylindrical model and the outer shape (side) of the rectangular parallelepiped model is determined in the third sub determination process. This is a process for determining with a different separation axis from the determination process. When the fourth sub determination process is started, the separation axis determination unit 414 selects one (one type) of edge vectors from three types of vectors (side vectors) parallel to each of the 12 sides of the rectangular parallelepiped model. The cross product is selected (step S400), and the cross product vector of the selected side vector and the normal vector of the top surface of the cylindrical model is calculated (step S402, see cross product vector CP1 in FIG. 18). When the outer product vector is calculated, the separation axis determination unit 414 creates a plane including the calculated outer product vector and the normal vector of the upper surface of the cylindrical model (step S404, see plane PF2 in FIG. 18). When such a plane is created, the separation axis determination unit 414 determines a straight line parallel to the normal vector of the side surface of the cylindrical model as the separation axis on the created plane (step S406, separation axis AX4 in FIG. 18). reference). The separation axis determined in the fourth sub determination process corresponds to a “second separation axis” in the claims.

  When the separation axis is determined, the interference determination unit 416 projects the cylindrical model and the rectangular parallelepiped model onto the plane created in step S404 (step S408). Further, the cylindrical model image and the rectangular parallelepiped model image projected onto the plane are projected onto the separation axis determined in step S406 (step S410). As described above, when the cylindrical model and the rectangular parallelepiped model are projected onto the separation axis in a stepwise manner through the plane, the interference determination unit 416 overlaps the cylindrical model image projected onto the separation axis and the rectangular parallelepiped model image. Whether or not (step S412). When the image of the cylindrical model and the image of the rectangular parallelepiped model do not overlap on the separation axis (step S412: NO), the cylindrical model and the rectangular parallelepiped model are not necessary without executing the fifth sub-determination process shown in FIG. It is clear that does not interfere. Therefore, it is determined as “no interference” as it is, and the determination result (no interference) is displayed on the monitor 440 (step S414). When the determination result is displayed on the monitor 440, the interference determination unit 416 ends the series of interference determination processing shown in FIG.

  When the image of the cylindrical model and the image of the cuboid model overlap on the separation axis (step S412: YES), the interference determination unit 416 performs all of the three types of sides of the cuboid model in order to determine interference in more detail. It is determined whether interference has been determined in the fourth sub-determination process using the vector (step S416). When interference determination is not performed using all three types of side vectors (step S416: NO), the interference determination unit 416 returns the processing to step S400. Then, interference is determined using an edge vector that has not yet been selected from the three types of edge vectors. On the other hand, when interference is determined using all three types of side vectors, but “no interference” is not determined (step S416: YES), yet another separation axis is determined. The interference determination unit 416 terminates the fourth determination process and shifts the process to the fifth sub determination process (step S30) illustrated in FIG.

  FIG. 18 is a diagram illustrating a concept in which the cylindrical model and the rectangular parallelepiped model are projected onto the separation axis in the fourth sub determination process. FIG. 18 shows a side vector SV1 of the rectangular parallelepiped model, a normal vector NV2 of the upper surface of the cylindrical model, and an outer product vector CP1 obtained from the side vector SV1 and the normal vector NV2. FIG. 18 also shows a plane PF2 including the outer product vector CP1 and the normal vector NV2 of the upper surface of the cylinder model, and a separation axis AX4 parallel to the normal vector NV3 of the side surface of the cylinder model included in the plane PF2. Has been. In step S408, first, a cylindrical model and a rectangular parallelepiped model are projected on the plane PF2. In FIG. 18, the two-dimensional image on the plane PF2 projected in this way is represented by hatching. In step S410, projection is further performed on the separation axis AX4 on the plane PF2 from the two-dimensional image. As described above, in the fourth sub-determination process, the outer product vector is calculated from the side vector of the rectangular parallelepiped model and the normal vector of the upper surface of the cylindrical model, and a plane including the outer product vector and the normal vector of the upper surface of the cylindrical model. Create Then, a straight line parallel to the normal vector of the side surface of the cylindrical model existing on the plane is determined as the separation axis. Therefore, as in the third sub-determination process, it is possible to reliably specify the normal vector to be used as the separation axis from the normal vectors on the side surfaces of the cylinder model that exist innumerably over 360 °. The interference between the outer shape of the rectangular parallelepiped model and the side surface of the cylindrical model can be determined efficiently. In the example shown in FIG. 18, since the images projected on the separation axis AX4 do not overlap, it is determined that there is no interference.

G. Fifth sub determination process:
FIG. 19 is a detailed flowchart of the fifth sub-determination process. The fifth sub-determination process is a process for determining the interference between the outer shape of the rectangular parallelepiped model and the outer shape of the cylindrical model that are in a positional relationship in which it is not possible to determine that no interference occurs in any of the first to fourth sub-determination processes. is there. When the fifth sub determination process is started, the separation axis determination unit 414 selects one side vector from the three types of side vectors of the rectangular parallelepiped model (step S500), and selects the selected side vector and the cylindrical model. The cross product vector with the normal vector on the upper surface is calculated (step S502; refer to the cross product vector CP2 in FIG. 20). When the outer product vector is calculated, the separation axis determination unit 414 creates a plane including the calculated outer product vector and the normal vector of the upper surface of the cylindrical model (step S504, see plane PF3 in FIG. 20). When such a plane is created, the separation axis determination unit 414 determines a straight line parallel to the outer product vector on the created plane as the separation axis (step S506; see the separation axis AX5 in FIG. 20). The separation axis determined in the fifth sub-determination process corresponds to the “third separation axis” in the claims, and the plane generated in the fifth sub-determination process corresponds to the “third separation axis” in the claims. Corresponds to “plane”.

  When the separation axis is determined, the interference determination unit 416 projects the cylindrical model and the rectangular parallelepiped model onto the plane created in step S504 (step S508). Further, the cylindrical model image and the rectangular parallelepiped model image projected onto the plane are projected onto the separation axis determined in step S506 (step S510). As described above, when the cylindrical model and the rectangular parallelepiped model are projected onto the separation axis in a stepwise manner through the plane, the interference determination unit 416 overlaps the cylindrical model image projected onto the separation axis and the rectangular parallelepiped model image. Whether or not (step S512). When the image of the cylindrical model and the image of the rectangular parallelepiped model do not overlap on the separation axis (step S512: NO), the interference determination unit 416 determines “no interference” and the determination result (no interference) on the monitor 440. ) Is displayed (step S514). When the determination result is displayed on the monitor 440, the interference determination unit 416 ends the series of interference determination processing shown in FIG.

  When the image of the cylindrical model and the image of the rectangular parallelepiped model overlap on the separation axis (step S512: YES), the interference determination unit 416 uses the all three types of side vectors of the rectangular parallelepiped model to perform the fifth sub determination. It is determined whether or not interference has been determined in the process (step S516). When interference determination is not performed using all three types of side vectors (step S516: NO), the interference determination unit 416 returns the process to step S500. Then, interference is determined using an edge vector that has not yet been selected from the three types of edge vectors. On the other hand, when the interference is determined using all the three types of side vectors but is not determined to be “no interference” (step S516: YES), the interference determination unit 416 Then, the fifth sub determination process is terminated, and the process proceeds to step S32 of the interference determination process illustrated in FIG. Then, the interference determination unit 416 first determines that “there is interference” and causes the monitor 440 to display the determination result. In other words, in the present embodiment, the cylinder model and the rectangular parallelepiped model may interfere with each other in all the determination processes from the first sub-determination process to the fifth sub-determination process when it is not determined “no interference”. Judgment is high and it is determined that there is “interference”.

  FIG. 20 is a diagram illustrating a concept in which the cylindrical model and the rectangular parallelepiped model are projected onto the separation axis in the fifth sub determination process. FIG. 20 shows a side vector SV2 of the rectangular parallelepiped model, a normal vector NV2 of the upper surface of the cylindrical model, and an outer product vector CP2 obtained from the side vector SV1 and the normal vector NV2. FIG. 15 shows a plane PF3 including the outer product vector CP2 and the normal vector NV2 on the upper surface of the cylindrical model, and a separation axis AX5 parallel to the outer product vector CP2 included in the plane PF3. In step S508, first, the cylindrical model and the rectangular parallelepiped model are projected on the plane PF3. In FIG. 20, the two-dimensional image on the plane PF3 thus projected is represented by hatching. In step S510, projection is further performed on the separation axis AX5 on the plane PF3 from the two-dimensional image. In the example illustrated in FIG. 20, the images projected on the separation axis AX5 overlap each other, and therefore, when interference is determined using all three types of side vectors, “interference exists”. It is determined. However, if it is determined that there is no interference in the determination of interference using another vector, it is determined that there is no interference.

  In the fifth sub-determination process of the present embodiment, a plane is first created, each model is projected onto the plane, and those images are further projected onto the separation axis. However, in the fifth sub determination process, similarly to the second sub determination process, each model may be projected directly onto the separation axis parallel to the outer product vector without creating a plane.

  The interference determination apparatus 400 of the present embodiment described above can determine the interference between the upper surface or the lower surface of the cylindrical model and the outer shape of the rectangular parallelepiped model by executing the first sub determination process described above. By executing the two-sub determination process, it is possible to determine the interference between each surface of the rectangular parallelepiped model and the outer shape of the cylindrical model. Further, by executing the third sub determination process, it is possible to determine the interference between the side surface of the cylindrical model and the outer shape of the rectangular parallelepiped model. Further, in the fourth sub-decision process and the fifth sub-determination process, the interference between the cylinder model and the rectangular parallelepiped model is determined by a different separation axis by obtaining the outer product of the normal vector of the cylinder model and the side vector of the rectangular parallelepiped can do.

  FIG. 21 is a diagram illustrating a positional relationship between a cylindrical model and a rectangular parallelepiped model that require processing after the third sub determination processing. FIGS. 21A to 21D show a state in which a cylindrical model and a rectangular parallelepiped model all having the same positional relationship are observed from different viewpoints. Referring to FIG. 21A, the cylinder model and the rectangular parallelepiped model do not clearly interfere with each other. However, if the first sub-determination process is executed in this positional relationship, the cylinder model is parallel to the normal vector on the upper surface of the cylinder model. A straight line becomes a separation axis, and a cylindrical model and a rectangular parallelepiped model are projected onto the separation axis. Therefore, it is necessary to execute the second sub determination process. When the second sub-determination process is executed, a straight line parallel to the normal vector of each surface of the rectangular parallelepiped serves as the separation axis. For example, as shown in FIG. 21B, the normal vector of the Z surface of the rectangular parallelepiped model A straight line parallel to is determined as the separation axis. However, in the example shown in FIG. 21B, the cylindrical model and the rectangular parallelepiped model are projected on the separation axis. Further, as shown in FIGS. 21C and 21D, a straight line parallel to the normal vector of the X plane of the rectangular parallelepiped model and a straight line parallel to the normal vector of the Y plane are determined as the separation axis. Even so, the cylinder model and the rectangular parallelepiped model are projected on these separation axes. That is, in the positional relationship between the cylindrical model and the rectangular parallelepiped model shown in FIG. 21, the cylindrical model and the rectangular parallelepiped model do not interfere with each other, but there is no interference in the first sub-determination process and the second sub-determination process. It is not judged. Therefore, in this embodiment, not only the first sub-determination process and the second sub-determination process, but also the third sub-determination process, the fourth sub-determination process, and the fifth sub-determination process are performed, so that various separation axes can be obtained. Therefore, it is possible to accurately determine the interference.

  In the third sub determination process and the fourth sub determination process of this embodiment, a plane is created from two vectors, and a straight line parallel to the normal vector of the side surface of the cylindrical model existing on the plane is separated. Determine as axis. Therefore, it is possible to reliably specify the normal vector used as the separation axis from the normal vectors on the side surfaces of the cylindrical model that exist innumerably over 360 °. As a result, the interference between the cuboid model and the side surface of the cylindrical model can be determined efficiently. As described above, in this embodiment, even when a cylindrical model is used, it is possible to quickly determine the interference, so that it is easy to determine the real-time interference between the movable part of the robot 100 and the obstacle 500. Become. Therefore, for example, even in a system in which a large amount of CPU resources cannot be allocated for interference determination, such as a configuration in which the interference determination device 400 is incorporated in the control device 200, sufficiently high-speed interference determination can be performed. it can. Further, as described above, in this embodiment, even when a cylindrical model is used, it is possible to quickly determine the interference, so that the outer shape of each movable part of the robot 100 is changed to a rectangular parallelepiped model or the like. Not only a simple model but also a cylindrical model can be used for accurate modeling. Therefore, since it is possible to determine interference according to the actual shape of the robot 100, it is possible to easily determine interference that requires high accuracy, such as determination of interference in a narrow space.

  Moreover, in this embodiment, if it is determined that there is no interference in any of the determination processes from the first sub determination process to the fifth sub determination process, the entire interference determination process ends at that point. Therefore, it is possible to determine interference at high speed. In particular, in the present embodiment, the processing content of the first sub-determination process is the simplest, and the processing content such as plane creation and outer product calculation is more complicated as the sub-determination processing executed later. For this reason, if it is determined that there is no interference at an early stage, the entire process can be completed at a higher speed. Therefore, even if the movable part of the robot 100 is modeled using a cylindrical model, the average processing speed of interference determination can be improved.

  As mentioned above, although one Embodiment of this invention was described, this invention is not limited to such Embodiment, A various structure can be taken in the range which does not deviate from the meaning. For example, a function realized by software may be realized by hardware. In addition, the following modifications are possible.

  The processes from the first sub determination process to the fifth sub determination process in the embodiment may be omitted at least partially. In addition, the execution order of the processes from the first sub determination process to the fifth sub determination process can be changed as appropriate.

  In the embodiment described above, the interference determination device 400 determines interference between the movable part of the robot 100 and an obstacle, but may determine interference between an industrial machine other than the robot 100 and the obstacle. Moreover, each movable part of the robot 100 may be represented by a cylindrical model and a rectangular parallelepiped model, and the interference between the movable parts may be determined.

  In the above embodiment, the outer shape of at least a part of the possible portion of the robot 100 is represented by a cylindrical model, and the outer shape of the obstacle 500 is represented by a rectangular parallelepiped model. On the other hand, at least a part of the movable part of the robot 100 may be represented by a rectangular parallelepiped model, and at least a part of the outer shape of the obstacle 500 may be represented by a cylindrical model. That is, it is only necessary to be able to determine the interference between the object represented by the cylindrical model and the object represented by the rectangular parallelepiped model.

  In each sub-determination process of the above embodiment, in the process using the normal vector on the upper surface of the cylindrical model, the normal vector on the lower surface of the cylindrical model may be used. In addition, in the process using the surface normal vector of the rectangular parallelepiped model, the edge vector may be used instead of the surface normal vector. Conversely, in the process using the edge vector, the surface normal vector is replaced with the edge vector. May be used.

  In the embodiment described above, the interference determination device 400 acquires the position of the movable part of the robot 100 from the control device 200. On the other hand, the interference determination apparatus 400 may acquire the position of the movable part recorded in the RAM 420 or the HDD 430 of the interference determination apparatus 400. Further, the interference determination device 400 may determine the actual interference of the robot 100, or may virtually determine the interference when teaching the robot 100 or during the operation simulation of the robot 100.

DESCRIPTION OF SYMBOLS 10 ... Robot system 100 ... Robot 101 ... Base part 102 ... Shoulder part 103 ... Lower arm 104 ... Upper arm 105 ... Wrist 106 ... Flange part 107 ... End effector 200 ... Control apparatus 300 ... Teaching apparatus 400 ... Interference determination apparatus 410 ... CPU
412 ... Position acquisition unit 414 ... Separation axis determination unit 416 ... Interference determination unit 420 ... RAM
430 ... HDD
432 ... Model data 434 ... Interference determination program 440 ... Monitor 450 ... Interface 460 ... Bus 500 ... Obstacle

Claims (9)

An interference determination device for determining interference between an industrial machine having a movable part and an obstacle,
Of the shape of at least a part of the movable part and the shape of at least a part of the obstacle, data of a cylindrical model in which one shape is represented by a rectangular cylinder and data of a cuboid model in which the other shape is represented by a rectangular parallelepiped And a storage unit storing
A position acquisition unit that acquires the position of the shape represented by the cylindrical model and the position of the shape represented by the rectangular parallelepiped model;
A first plane including a normal vector of an upper surface or a lower surface of the cylindrical model and any one of a surface normal vector or an edge vector of the rectangular parallelepiped model is obtained, and the first plane is calculated on the first plane. A separation axis determination unit that determines a straight line parallel to the normal vector of the side surface of the cylindrical model as a first separation axis;
The cylindrical model and the rectangular parallelepiped model are projected onto the first plane, and the cylindrical model image projected onto the first plane on the first separation axis on the first plane; Projecting the image of the rectangular parallelepiped model and interference between the movable part and the obstacle based on whether or not the cylindrical model image projected onto the first separation axis and the image of the rectangular parallelepiped model overlap each other. An interference determination unit for determining
An interference determination device comprising: The interference determination apparatus according to claim 1,
The separation axis determination unit further obtains an outer product vector of a normal vector of the upper surface or the lower surface of the cylindrical model and any one of an edge vector or a surface normal vector of the rectangular parallelepiped model, and the outer product A second plane including the vector and the normal vector of the upper or lower surface of the cylindrical model is obtained, and a straight line parallel to the normal vector of the side surface of the cylindrical model on the second plane is defined as a second separation axis. Determined as
The interference determination unit further projects the cylindrical model and the rectangular parallelepiped model onto the second plane, and further projects onto the second plane on the second separation axis on the second plane. And projecting the image of the cylindrical model and the image of the rectangular parallelepiped model, and based on whether or not the cylindrical model image projected onto the second separation axis overlaps the image of the rectangular parallelepiped model. An interference determination device that determines interference between a part and the obstacle. The interference determination apparatus according to claim 1 or 2, wherein
The separation axis determination unit further obtains an outer product vector of a normal vector of the upper surface or the lower surface of the cylindrical model and any one of an edge vector or a surface normal vector of the rectangular parallelepiped model, and the outer product Determine a straight line parallel to the vector as the third separation axis;
The interference determination unit further projects the cylindrical model and the rectangular parallelepiped model onto the third separation axis, and the image of the cylindrical model and the image of the rectangular parallelepiped model projected onto the third separation axis. An interference determination device that determines interference between the movable part and the obstacle based on whether or not there is an overlap. It is an interference determination apparatus as described in any one of Claim 1- Claim 3, Comprising:
The separation axis determination unit further determines a straight line parallel to any one of the surface normal vector or the edge vector of the rectangular parallelepiped model as a fourth separation axis,
The interference determination unit further projects the cylindrical model and the rectangular parallelepiped model onto the fourth separation axis, and the image of the cylindrical model and the image of the rectangular parallelepiped model projected onto the fourth separation axis. An interference determination device that determines interference between the movable part and the obstacle based on whether or not there is an overlap. It is an interference determination apparatus as described in any one of Claim 1- Claim 4, Comprising:
The separation axis determination unit further determines a straight line parallel to the normal vector of the upper surface or the lower surface of the cylindrical model as a fifth separation axis,
The interference determination unit further projects the cylindrical model and the rectangular parallelepiped model on the fifth separation axis, and the image of the cylindrical model and the image of the rectangular parallelepiped model projected on the fifth separation axis. An interference determination device that determines interference between the movable part and the obstacle based on whether or not there is an overlap. An interference determination apparatus according to claim 5, which cites claim 2, which cites claim 2, which cites claim 1, and which cites claim 3, which cites.
The separation axis determination unit determines a separation axis in the order of the fifth separation axis, the fourth separation axis, the first separation axis, the second separation axis, and the third separation axis. Done
The interference determination unit does not perform the interference determination using the separation axis in the order after the separation axis determined that the movable part and the obstacle do not interfere with each other.
The separation determination unit is an interference determination device that does not determine a separation axis in an order subsequent to a separation axis determined that the movable unit and the obstacle do not interfere with each other. An interference determination method for checking interference between an industrial machine having a movable part and an obstacle,
Of the shape of at least a part of the movable part and the shape of at least a part of the obstacle, data of a cylindrical model in which one shape is represented by a rectangular cylinder and data of a cuboid model in which the other shape is represented by a rectangular parallelepiped And a storage step of storing in the storage unit,
A position acquisition step of acquiring the position of the shape represented by the cylindrical model and the position of the shape represented by the rectangular parallelepiped model;
A first plane including a normal vector of an upper surface or a lower surface of the cylindrical model and any one of a surface normal vector or an edge vector of the rectangular parallelepiped model is obtained, and the first plane is calculated on the first plane. A separation axis determination step for determining a straight line parallel to the normal vector of the side surface of the cylindrical model as a first separation axis;
The cylindrical model and the rectangular parallelepiped model are projected onto the first plane, and the cylindrical model image projected onto the first plane on the first separation axis on the first plane; Projecting the image of the rectangular parallelepiped model and interference between the movable part and the obstacle based on whether or not the cylindrical model image projected onto the first separation axis and the image of the rectangular parallelepiped model overlap each other. An interference determination step for determining
An interference determination method comprising: A computer program for determining interference between an industrial machine having a movable part and an obstacle,
Of the shape of at least a part of the movable part and the shape of at least a part of the obstacle, data of a cylindrical model in which one shape is represented by a rectangular cylinder and data of a cuboid model in which the other shape is represented by a rectangular parallelepiped And a storage function for storing in a computer,
A position acquisition function for acquiring the position of the shape represented by the cylindrical model and the position of the shape represented by the rectangular parallelepiped model;
A first plane including a normal vector of an upper surface or a lower surface of the cylindrical model and any one of a surface normal vector or an edge vector of the rectangular parallelepiped model is obtained, and the first plane is calculated on the first plane. A separation axis determination function for determining a straight line parallel to the normal vector of the side surface of the cylindrical model as a first separation axis;
The cylindrical model and the rectangular parallelepiped model are projected onto the first plane, and the cylindrical model image projected onto the first plane on the first separation axis on the first plane; Projecting the image of the rectangular parallelepiped model and interference between the movable part and the obstacle based on whether or not the cylindrical model image projected onto the first separation axis and the image of the rectangular parallelepiped model overlap each other. An interference determination function for determining
A computer program that causes a computer to realize   A computer-readable recording medium on which the computer program according to claim 8 is recorded.

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