COLLISION DETECTION SYSTEM, COLLISION DETECTION DATA GENERATOR, AND ROBOT
First Claim
1. A collision detection system comprising:
- a memory unit that stores first collision detection data corresponding to a first object and second collision detection data corresponding to a second object as collision detection data of the objects; and
a processing unit that performs a collision determination between the first object and the second object in the world coordinate system based on the first collision detection data and the second collision detection data,wherein the memory unit stores representative point data obtained by discretization of depth map data of the objects as seen from a predetermined viewpoint in model coordinate systems of the objects using cubic areas set in the model coordinate systems as the collision detection data.
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Abstract
A collision detection system includes a memory unit that stores first collision detection data corresponding to a first object and second collision detection data corresponding to a second object as collision detection data of objects, and a processing unit that performs a collision determination between the first object and the second object in the world coordinate system based on the first collision detection data and the second collision detection data. The memory unit stores representative point data obtained by discretization of depth map data of the objects as seen from a predetermined viewpoint in model coordinate systems of the objects using cubic areas set in the model coordinate systems as the collision detection data.
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Citations
13 Claims
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1. A collision detection system comprising:
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a memory unit that stores first collision detection data corresponding to a first object and second collision detection data corresponding to a second object as collision detection data of the objects; and a processing unit that performs a collision determination between the first object and the second object in the world coordinate system based on the first collision detection data and the second collision detection data, wherein the memory unit stores representative point data obtained by discretization of depth map data of the objects as seen from a predetermined viewpoint in model coordinate systems of the objects using cubic areas set in the model coordinate systems as the collision detection data. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A collision detection data generator comprising:
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a depth map data acquisition unit that acquires depth map data of an object as seen from a predetermined viewpoint in a model coordinate system of the object; and a collision detection data generation unit that generates representative point data in the model coordinate system of the object as collision detection data, wherein the collision detection data generation unit generates the representative point data by discretization of the depth map data using cubic areas set in the model coordinate system of the object. - View Dependent Claims (8, 9, 10, 11, 12)
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13. A robot comprising:
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a movable unit; a memory unit that stores first collision detection data corresponding to a first object and second collision detection data corresponding to a second object as collision detection data of the objects; a processing unit that performs a collision determination between the first object and the second object in the world coordinate system based on the first collision detection data and the second collision detection data; and a control unit that controls a movement of the movable unit based on a result of the collision determination performed by the processing unit, wherein the memory unit stores representative point data obtained by discretization of depth map data of the objects as seen from a predetermined viewpoint in model coordinate systems of the objects using cubic areas set in the model coordinate systems as the collision detection data.
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Specification