| 摘要 |
<P>PROBLEM TO BE SOLVED: To perform interference determination in a short period of time while grade separated crossing free from interference is taken into consideration. <P>SOLUTION: An interference determination device includes: an identification number allocation section 421 for allocating identification numbers; an interference information storing section 412 for storing interference information; an interference condition information storing section 413 for storing interference condition information; a grid managing section 424 that projects three-dimensional space on a two-dimensional plane and that divides the two-dimensional plane into a grid of n1×n2; a memory region initializing section 425 for specifying obstacle-corresponding grids and initializing them with obstacle occupancy information; an occupancy information recording section 426 for specifying robot-corresponding grids and recording robot occupancy information; and a decision section 427 that calculates AND between the robot occupancy information and the interference condition information and that decides as "no interference " when all digits of AND is "0" and as "presence of interference" when at least one digit is "1". In the case where the obstacle occupancy information is recorded in the region memorized to be the robot-corresponding grids, OR between the obstacle occupancy information and the identification numbers become the robot occupancy information. <P>COPYRIGHT: (C)2012,JPO&INPIT |
