Inspection path searching device, inspection path searching program and appearance inspection robot for visual inspection robot

摘要

Problem to be solved: to provide an inspection work plan for compatibility between the efficiency of the inspection work and the coverage rate of the object.An inspection route searching device for an appearance inspection robotAt least one of the object 6 and the camera 32 is grasped by a hand 22 while changing the attitude pointVisual inspection of inspection object 6 for each attitude point of robot 1An inspecting polygon discriminator 93 for determining whether the camera 32 can inspect the polygon 601 constituting the three-dimensional shape model 60 of the object 6 of inspection, andThe or of the inspectable polygons as determined by the inspectable polygon decision sectionAn optimal inspection path searching section 942 for searching a cost based inspection path due to changes in attitude points and.Diagram