Interference check device

• US 9,550,295 B2
• Filed: 01/22/2014
• Issued: 01/24/2017
• Est. Priority Date: 02/06/2013
• Status: Active Grant

• Current Assignee: Mitsubishi Electric Corporation
• Original Assignee: Mitsubishi Electric Corporation
• Inventors: Shiratsuchi, Koji
• Primary Examiner(s): Edwards, Jerrah
• Assistant Examiner(s): Bendidi, Rachid
• Application Number:
  US14/651,426
• Publication Number:
  US 20150328776A1
• Time in Patent Office: 1,098 Days
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 17/02 electric
• CPC Class Codes: G05B 2219/39094 Interference checking between robot and fixture
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/49 Protective device

Abstract

An interference check device includes a model-number upper-limit input unit to which a model upper-limit number of geometric models allocated to a modeling target of interference check is input, a modeling unit generating model candidates from the modeling target using geometric models equal to or less than the model upper limit number, a processing-computation-amount upper-limit setting unit setting a computation upper-limit amount of interference check based on a computation processing amount required for each process performed by a controller controlling the modeling target, a minimum-enclosure-volume-model determination unit determining a model candidate having smallest model enclosure volume as a model for the modeling target from the model candidates that can perform calculation processing of interference check with equal to or less than the computation upper-limit amount, and an interference check unit performing interference check between models using determined model.

Claims

1. An interference check device comprising:

a model-number upper-limit input circuit to which an upper limit number of geometric models that is allocated to a modeling target is input, the modeling target being a target of an interference check;

a modeling process circuit that, when a cuboid that is capable of enclosing the modeling target is set as the modeling target as a model for an interference check, uses new geometric models that have a calculation cost per unit distance calculation smaller than the cuboid and that are in number equal to or less than the upper limit number of the geometric models to replace the cuboid with the new geometric models and models the modeling target;

a model-candidate storage memory that stores, as model candidates, models in Which the new geometric models are used;

a computation-amount upper-limit setting process circuit that sets a computation upper-limit amount that is an upper limit of a computation processing amount in calculation processing of the interference check, on a basis of information relating to the computation processing amount required for each process performed by a controller that controls the modeling target;

a volume-model determination process circuit that extracts, from the model candidates, a model candidate on which a calculation processing of the interference check is capable of being performed with the computation processing amount equal to or less than the upper-limit amount, and determines the model candidate having a smallest model enclosure volume as the model for the modeling target from among extracted model candidates; and

an interference check process circuit that performs to the interference check between models by using the model determined by the volume-model determination process circuit, and, if there is a possibility of interference, outputs an operation stop command, and, if there is no possibility of interference, outputs an operation continuation command.

3. The interference check device according to claim 1, further comprising

a cuboid-setting input circuit to which information relating to a size of the cuboid that is capable of enclosing the modeling target is input, wherein

the modeling process circuit replaces the cuboid with the new geometric model on a basis of the information relating to the size of the cuboid.

4. The interference check device according to claim 1, wherein the volume-model determination process circuit extracts a model candidate on which the calculation processing of the interference check is capable of being performed with the computation processing amount equal to or less than the upper-limit amount on a basis of information relating to the computation amount in calculation processing for each model required for the interference check by the controller, and determines the model candidate having a smallest model enclosure volume as the model for the modeling target from among extracted model candidates.

5. The interference check device according to claim 1, further comprising a conversion process circuit that, when a three-dimensional model as a modeling target created in advance by using a computer aided design/computer aided machine (CAD/CAM) system is input, divides the three-dimensional model into a plurality of assemblies by using the CAD/CAM system and converts the three-dimensional model to a cuboid model for each assembly, wherein

the modeling process circuit models the modeling target by using the three-dimensional model converted to the cuboid model for each assembly.

6. The interference check device according to claim 1, wherein the new geometric model is any of a combination of spherical models, a combination of cylindrical models, and a combination of a spherical model and a cylindrical model.

2. An interference check device for checking interface between robots or between a robot and peripheral devices, comprising:

a limit-value input circuit to which a volume upper limit of a volume permitted for a model that is allocated to a modeling target of at least one component of the robot with respect to a volume of the modeling target is input, the modeling target being a target of an interference desk;

a computation-amount upper-limit setting process circuit that sets a computation upper-limit amount that is an upper-limit of a computation processing amount in calculation processing of to the interference check, on a basis of information relating to the computation processing amount required for each process performed by a controller that controls the modeling target;

a model-number calculation process circuit that calculates an upper-limit number of models that is an upper limit number of geometric models processable by the controller, on a basis of the computation upper-limit amount;

a modeling process circuit that, when a cuboid that is capable of enclosing the modeling target is set as the modeling target as a model for the interference check, uses new geometric models associated with the at least one component of the robot that have a calculation cost per unit distance calculation smaller than the cuboid and that are in number equal to or less than the upper limit number of models to replace the cuboid with the new geometric models and models the modeling target of the at least one component of the robot;

a model-candidate storage memory that stores, as model candidates, models in which the new geometric models are used;

a volume-model determination process circuit that extracts, from the model candidates, a model candidate on which a calculation processing of the interference check is capable of being performed with the computation processing amount equal to or less than the upper-limit amount, and, if there is a model having a volume equal to or less than the volume upper limit among extracted model candidates, determines the model candidate having a smallest model enclosure volume as the model for the modeling target from among extracted model candidates; and

an interference check process circuit that performs to the interference check between models by using the model determined by the volume-model determination process circuit, and, if there is a possibility of interference, outputs an operation stop command to the robot or a command correcting a motion trajectory of the robot, and, if there is no possibility of interference, outputs an operation continuation command to the robot.

7. The interference check device according to claim 2, further comprising a cuboid-setting input circuit to which information relating to a size of the cuboid that is capable of enclosing the modeling target is input, wherein

the modeling process circuit replaces the cuboid with the new geometric model on a basis of the information relating to the size of the cuboid.

8. The interference check device according to claim 2, wherein the volume-model determination process circuit extracts the model candidate on which the calculation processing of the interference check is capable of being performed with the computation processing amount equal to or less than the upper-limit amount on a basis of information relating to the computation amount in calculation processing for each model required for the interference check by the controller, and determines the model candidate having a smallest model enclosure volume as the model for the modeling target from among extracted model candidates.

9. The interference check device according to claim 2, further comprising a conversion process circuit that, when a three-dimensional model as a modeling target created in advance by using a computer aided design/computer aided machine (CAD/CAM) system is input, divides the three-dimensional model into a plurality of assemblies by using the CAD/CAM system and converts the three-dimensional model to a cuboid model for each assembly, wherein

the modeling process circuit models the modeling target by using the three-dimensional Model converted to the cuboid model for each assembly.

10. The interference check device according to claim 2, wherein the new geometric model is any of a combination of spherical models, a combination of cylindrical models, and a combination of a spherical model and a cylindrical model.