| 摘要 |
PROBLEM TO BE SOLVED: To provide the bypass setting method of an automatic carrying device capable of obtaining a bypass by simple calculation. SOLUTION: In an interference area where it is necessary for an automatic carrying device to bypass through an operation route from a start point to a target point, projecting points in the interference area are defined as interference points, and vertical segments from the interference points to the X axis are represented as interference lines. Then, (1) the intersections of a segment connecting the start point and the target point with the interference lines are calculated, and the interference point of the interference line having the intersection generated at first from the start point is registered as a bypass point, and (2) the intersections of the segment connecting the bypass point and the target point and the interference lines are calculated, and the interference point of the interference line having the intersection generated at first is registered as the bypass point, and (3) the step (2) is successively repeated, and the bypass points are registered, and (4) a bypass is set from an envelope constituted of the start point, the registered bypass points, and the target point.
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