| 摘要 |
PROBLEM TO BE SOLVED: To provide device and method for detecting interference between mobile objects with which interference between objects can be easily detected in a short time. SOLUTION: Line elements 11 and 12 are turned in the advancing direction (arrow direction) of right handed screw in +Z direction around the designated rotary axis (Z axis) of three-dimensional space, where these line elements exist, and projected on a YZ plane and line elements 11A and 12A are provided. Since an intersection 13 exists, when the line elements 11 and 12 are rotated around the designated rotary axis (Z axis), it is expressed that these line elements are interferred. Next, an angleθis found by calculating an inner product while considering two vectors started at a point Z14, where the value of the intersection 13 (and points P and Q) is equal with the value of Z-axis coordinate, and finished at the points P and Q. In this case, the point P on the line element 11 and the point Q on the line element 12 are positioned at the intersection 13 when these line element are projected on the YZ plane.
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