---
publication_id: "OT-2026-000001066"
title: "Terminal device"
published_at: "2026-09-15T19:03:49.300965Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001066"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/0081"
  - "b25j9/0081"
  - "b25j9/1666"
  - "b25j9/1666"
  - "b25j9/1676"
  - "b25j13/08"
---

# Terminal device

## 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.