Patent ID: 9584796
Date: 2017-02-28
CPC Classifications: G01B,G06T,H04N

Claim:
1. An apparatus for setting an interference region of a robot, comprising: a 3D camera which photographs surroundings of a robot to acquire a camera image of a region around the robot including distance information and color information, which is configured to synthesize a plurality of images, and in which a position and a posture are changeable; a 3D map generation unit which generates a 3D map comprising a plurality of point sequences which are arranged at equal intervals in a 3D space around the robot on a basis of the camera image, each of the point sequences including the color information included in the camera image; a color setting unit which sets a color of at least one of the robot and an obstacle around the robot, the color being a color which makes the robot and the obstacle distinguishable; a color search unit which searches for a point sequence including color information corresponding to the color set by the color setting unit from the 3D map generated by the 3D map generation unit; and an interference region setting unit which sets an interference region, which is a region where the obstacle exists, on a basis of position data of the point sequence searched by the color search unit, the position data being obtained by the distance information of the camera image; wherein the camera image includes an image of a marker which is a reference of a robot coordinate system, and the interference region setting unit sets the interference region in the robot coordinate system on a basis of the image of the marker.