{
  "abstract": "A terminal device includes a coordinate-system setting portion which sets a user coordinate system on the basis of a marker included in an image, photographed by a photographing portion, including an industrial robot and a work space of the industrial robot, a coordinate giving portion which gives a coordinate of the user coordinate system to point-group data obtained by a distance measuring portion which measures a distance to an object included in the image, a region specifying portion which specifies a robot region on the user coordinate system corresponding to the industrial robot on the basis of shape size information of the industrial robot corresponding to a type of the industrial robot and attitude information of the industrial robot, and a point-group creating portion for avoidance which creates point-group data for interference avoidance by removing the point-group data included in the robot region from the point-group data obtained by the distance measuring portion.",
  "assignees": [
    "DAIHEN CORP"
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  "authors": [
    "FUJISAWA SHO"
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  "title": "Terminal device",
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