Method, control system, and robotic system for creating modified designs on a surface

Abstract

1. A method for creating a modified design (60a-60d) on a surface (22a, 22b), the method comprising: providing a tool (14) and an industrial robot (12) configured to perform relative movement; providing a digital model (40) of the surface, wherein the digital model comprises a candidate profile (38) of the surface; providing a candidate path (46) for relative movement based on the candidate profile; providing a candidate design (42a, 42b) to be created on the surface based on the candidate path; determining an actual profile (52a, 52b) of the surface; providing a corrected path (56a, 56b) for relative movement based on the actual profile; modifying the candidate design to provide a modified design (60a-60d) to be created on the surface based on a deviation (58a, 58b) between the candidate path and the corrected path; and controlling the industrial robot and the tool to create the modified design on the surface using the corrected path for relative movement.

Description

[Technical Field]

[0001] The present disclosure relates generally to creating designs on a surface. In particular, a method for creating a modified design on a surface using a tool and an industrial robot, a control system for creating a modified design on a surface, and a robotic system including an industrial robot, a tool, and a control system are provided. [Background technology]

[0002] Automotive parts and many other objects can be printed using digital printing. When performing such digital printing, a printhead having an array of nozzles can be carried by an industrial robot and used to apply paint to a surface in a controlled process to form an image on the surface. As the printhead moves along a path, it can deposit lines of the image along the path accordingly. The printhead can be controlled in this manner based on the velocity of the industrial robot relative to the object. Thus, the velocity can be used to determine the frequency at which the printhead should print new lines of the image along the path.

[0003] DE102010004496A1 discloses a method for printing on curved workpieces using a robot. The trajectory deviation between the true trajectory and the target trajectory is used in real time as a correction signal for controlling the printhead matrix of a printhead device. The corrected pixel matrix is ​​printed on the workpiece. The document states that the crucial factor is not that the trajectory is corrected, but rather that the correction signal is used for the direct control of inkjet nozzles arranged in the printhead matrix. Summary of the Invention

[0004] When printing an image on a surface of an object by digital printing, a digital model containing candidate profiles of the surface can be relied upon to generate candidate paths for movement of a print head relative to the surface, and an image can then be generated based on the candidate paths to fit the candidate profiles.

[0005] However, in many situations, the actual profile of a surface deviates from the candidate profile, and if digital printing is controlled based on the assumption that the candidate and actual profiles are identical, the image will be distorted when printed on the actual profile.

[0006] To adapt the image to the actual profile, the image can be regenerated based on the actual profile when it is determined that the actual profile deviates from the candidate profile, however, this process is unacceptably time consuming in many implementations.

[0007] DE102010004496A1 provides a solution for correcting print pixels in real time when the real trajectory deviates from the target trajectory, but the document is silent on how to deal with situations where the actual profile deviates from the candidate profile.

[0008] It is an object of the present invention to provide an improved method for creating modified designs on a surface.

[0009] It is a further object of the present invention to provide an improved control system for creating modified designs on a surface.

[0010] It is a still further object of the present invention to provide an improved robotic system.

[0011] These objects are achieved by a method according to the attached claim 1, a control system according to the attached claim 10 and a robot system according to the attached claim 11.

[0012] The present invention is based on the recognition that by modifying the candidate image provided based on the digital model to provide a modified image when the actual profile of the surface deviates from the candidate profile from the digital model, the modified image can be printed on the actual profile in a manner that exactly matches the way the candidate image for the candidate profile was provided, without the need to regenerate the image based on the actual profile.

[0013] According to a first aspect, there is provided a method of creating a modified design on a surface, the method comprising: providing a tool and an industrial robot configured to perform relative movement between the tool and the surface; providing a digital model of the surface, wherein the digital model comprises a candidate profile of the surface, providing a candidate path for relative movement based on the candidate profile; providing a candidate design to be created on the surface based on the candidate path; determining an actual profile of the surface; providing a corrected path for relative movement based on the actual profile; modifying the candidate design to provide a modified design to be created on the surface based on a deviation between the candidate path and the corrected path; and controlling the industrial robot and the tool to create the modified design on the surface using the corrected path for relative movement.

[0014] Thus, the method adapts to deviations between the candidate profile and the actual profile by modifying the candidate design to provide a corrected design. In this manner, the printed image can be manipulated to compensate for deviations in the path caused by the actual profile not perfectly corresponding to the candidate profile. By modifying the candidate design to provide a corrected design based on deviations between the candidate path and the corrected path, the design can be effectively adapted to an actual profile that does not correspond to the candidate profile. Thus, the method comprises generating a new path for relative movement based on the actual profile.

[0015] The candidate design may be modified to provide a revised design, for example, by stretching, shortening, or otherwise changing it in a direction parallel to the relative movement. Modifying the candidate design to provide a revised design may be done before commencing creating the revised design on the surface.

[0016] Determining the actual profile may comprise measuring the actual profile. For this purpose, a line scanner may be used. The digital model may be a CAD (Computer Aided Design) model.

[0017] The tool can be of any type for creating a design on a surface. The tool can be, for example, a digital print head, such as an inkjet printer.

[0018] An industrial robot may have a programmable manipulator with three or more axes, such as six or seven axes. An industrial robot may carry either a tool or an object having a surface.

[0019] Providing a corrective path may comprise modifying the candidate path to provide a corrective path. Alternatively, the corrective path may be generated based on the actual profile independent of the candidate path.

[0020] The candidate design may be a candidate image, in which case the revised design may be a revised image.

[0021] The candidate image may comprise a plurality of pixels, in which case modifying the candidate image to provide the modified image may comprise adding one or more pixels to the candidate image or removing one or more pixels from the candidate image.

[0022] The one or more pixels may comprise a plurality of pixels arranged in a line of pixels.

[0023] The candidate path and the modified path may lie in a common plane, and the modification of the candidate design may be at least partially performed in this plane. Alternatively or additionally, the modification of the candidate design may be performed transverse to this plane.

[0024] The line of pixels may cross the plane.

[0025] Creating the modified design on the surface may comprise applying a coating to the surface. The coating may be paint.

[0026] However, the method is not limited to painting. As an example, the method can also be used to create holes distributed in a specific pattern in a surface, for example by laser cutting.

[0027] The surface may be a first surface, the corrective path may be a first corrective path, and the corrective design may be the first corrective design, in which case the method may further comprise providing a second surface, determining a second actual profile of the second surface, providing a second corrective path for relative movement based on the second actual profile, modifying the candidate design to provide the second corrective design created on the second surface based on a deviation between the candidate path and the second corrective path, and controlling an industrial robot and a tool to create the second corrective design on the second surface using the second corrective path for relative movement.

[0028] According to a second aspect, there is provided a control system for creating a modified design on a surface, the control system comprising at least one data processing device and at least one memory having stored thereon at least one computer program, the at least one computer program comprising program code that, when executed by the at least one data processing device, causes the at least one data processing device to perform the steps of: providing a digital model of the surface, wherein the digital model comprises a candidate profile of the surface; providing a candidate path for relative movement between a tool and the surface based on the candidate profile; providing a candidate design to be created on the surface based on the candidate path; determining an actual profile of the surface; providing a corrected path for relative movement based on the actual profile; modifying the candidate design to provide a modified design to be created on the surface based on a deviation between the candidate path and the corrected path; and controlling an industrial robot and a tool to create the modified design on the surface using the corrected path for relative movement.

[0029] The at least one computer program may further comprise program code which, when executed by the at least one data processing device, causes or commands the performance of any of the steps of the first aspect.

[0030] According to a third aspect, there is provided a robot system comprising an industrial robot, a tool, and a control system according to the second aspect. The industrial robot, the tool, and the control system may be of any type according to the present disclosure.

[0031] Further details, advantages, and aspects of the present disclosure will become apparent from the following description taken in conjunction with the drawings. [Brief explanation of the drawings]

[0032] [Figure 1]1 shows a schematic side view of a robotic system comprising an industrial robot, a tool, and an object having a surface. [Figure 2a] 1A and 1B schematically represent a side view of a candidate profile of a digital model of a surface. [Figure 2b] 10A and 10B schematically represent a top view of a candidate profile. [Figure 3a] 10A and 10B schematically represent a side view of a candidate path for a tool and a candidate design on a candidate profile. [Figure 3b] 10A and 10B schematically represent a top view of a candidate design on a candidate profile. [Figure 4a] 10A and 10B are schematic representations of side views of candidate designs on the actual profile of a surface; [Figure 4b] 10A and 10B are schematic representations of top views of candidate designs on actual profiles; [Figure 5] 10A and 10B schematically represent a side view of a correction path for a tool. [Figure 6] 10 shows a schematic representation of the deviation between the candidate path and the revised path. [Figure 7a] 10A and 10B are schematic side views of a modified path and a modified design on an actual profile; [Figure 7b] 10A and 10B are schematic representations of top views of modified designs on actual profiles; [Figure 8] 10A and 10B schematically represent a side view of a robotic system and a further object with a surface. [Figure 9a] 9A and 9B are schematic side views of candidate designs on the actual profile of the surface of FIG. 8; [Figure 9b] 9a and 9b are schematic representations of top views of candidate designs on the actual profile of FIG. 9a; [Figure 10] 10A and 10B schematically represent side views of further examples of correction paths for tools; [Figure 11] 11 shows a schematic representation of the deviation between the candidate path and the revised path of FIG. 10; [Figure 12a] 11A and 11B are schematic side views of the corrected path of FIG. 10 and the corrected design on the actual profile of FIGS. 9A and 9B; [Figure 12b]12b schematically represents a top view of the modified design on the actual profile of FIG. 12a; [Figure 13] 10A and 10B schematically represent top views of further examples of candidate designs. [Figure 14] 14A and 14B schematically represent top views of further examples of modified designs based on modifications to the candidate design of FIG. 13; [Figure 15] 14A and 14B schematically represent top views of further examples of modified designs based on modifications to the candidate design of FIG. 13; [Figure 16] 1 shows a block diagram outlining the general steps of the method. DETAILED DESCRIPTION OF THE INVENTION

[0033] In the following, a method for creating a modified design on a surface using a tool and an industrial robot, a control system for creating a modified design on a surface, and a robotic system comprising an industrial robot, a tool, and a control system are described, where the same or similar reference numbers are used to indicate the same or similar structural features.

[0034] 1 is a schematic side view of a robotic system 10. The robotic system 10 includes an industrial robot 12 and a digital printhead 14. The printhead 14 is an example of a tool according to the present disclosure.

[0035] The industrial robot 12 of this example includes a base 16 and a manipulator 18 that is movable relative to the base 16. The manipulator 18 may be movable relative to the base 16 in at least three axes, such as six or seven axes.

[0036] 1 further shows an object 20a, illustrated here as a car, with a surface 22a, illustrated here as a car roof surface, although objects according to the present disclosure are not limited to cars and surface 22a according to the present disclosure are not limited to a car body surface.

[0037] In this example, the object 20a is stationary, and the industrial robot 12 carries and moves the print head 14 relative to the stationary object 20a. The print head 14 is here located at the distal end of the manipulator 18. Alternatively, the print head 14 may be stationary, and the industrial robot 12 may carry and move the object 20a relative to the stationary print head 14. In either case, the industrial robot 12 is configured to effect relative movement between the print head 14 and the object 20a.

[0038] The print head 14 is configured to apply paint 24 to the surface 22a by digital printing. The paint 24 is an example of a coating agent according to the present disclosure. In this manner, the print head 14 can create a modified design on the surface 22a. The print head 14 includes a plurality of nozzles 26. The nozzles 26 are individually controlled. In this example, the nozzles 26 are arranged in a matrix having rows and columns. The robot system 10 further includes a supply unit 28. The supply unit 28 is configured to supply the paint 24 to the print head 14.

[0039] The robot system 10 further comprises a scanner 30, which here is carried by the industrial robot 12.

[0040] The robotic system 10 further comprises a control system 32. The control system 32 comprises a data processing device 34 and a memory 36. The memory 36 has stored thereon a computer program. The computer program comprises program code that, when executed by the data processing device 34, causes the data processing device 34 to perform or command the performance of various steps described herein. In this example, the control system 32 controls the industrial robot 12, the supply unit 28, the print head 14, and the scanner 30.

[0041] 2a schematically represents a side view of a candidate profile 38 of a digital model 40 of surface 22a, and FIG. 2b schematically represents a top view of candidate profile 38. Surface 22a and any other portions of object 20a may be modeled, for example, in CAD to provide digital model 40. Digital model 40 of surface 22a, including candidate profile 38, may be provided in control system 32. As shown in FIG. 2a, candidate profile 38 comprises a curved portion.

[0042] 3a is a schematic representation of a side view of a candidate profile 38 and an overlying candidate image 42a, and FIG. 3b is a schematic representation of a top view of a candidate profile 38 and an overlying candidate image 42a. The candidate image 42a may be of a wide variety of different types for printing on the surface 22a. The candidate image 42a may be, for example, roof stripes on the object 20a. The candidate image 42a comprises a plurality of pixels 44.

[0043] 3a also shows a candidate path 46 for the print head 14. The candidate path 46 is a path for relative movement between the print head 14 and the object 20a when printing the candidate image 42a on the surface 22a. In this example, the candidate path 46 is a path that the manipulator 18 follows to move the print head 14 relative to the surface 22a. The candidate path 46 may be set, for example, a fixed distance above the candidate profile 38. FIG. 3b shows a candidate length 48a of the candidate image 42a on the candidate profile 38.

[0044] The control system 32 is configured to provide a candidate path 46 based on the candidate profile 38. The control system 32 is also configured to provide a candidate image 42a based on the candidate path 46. The candidate image 42a may be provided, for example, by modifying a source image of a flat surface based on the candidate path 46.

[0045] Figure 3b further shows a plane 50. The candidate paths 46 are now provided in the plane 50. Figure 3a is a diagram of this plane 50.

[0046] 4a is a schematic side view of the candidate image 42a on the actual profile 52a of the surface 22a, and FIG. 4b is a schematic top view of the candidate image 42a on the actual profile 52a. As shown in FIG. 4a, the physical actual profile 52a deviates from the candidate profile 38 from the digital model 40. The reasons for this deviation can be many, including acceptable variations within the tolerances. Here, the actual profile 52a has steeper curved portions than the candidate profile 38.

[0047] To determine the actual profile 52a, the industrial robot 12 moves along the surface 22a and measures the actual profile 52a using the scanner 30. To do this, the industrial robot 12 may, for example, move along a candidate path 46. For multiple positions along the candidate path 46, the scanner 30 measures the distance to the surface 22a. The actual profile 52a can then be determined by the distance to the surface 22a measured by the scanner 30. However, the actual profile 52a may be determined in alternative ways.

[0048] If the frequency of the print head 14 is controlled based on the velocity of the industrial robot 12 relative to the object 20a, the misalignment between the actual profile 52a and the candidate profile 38 will cause the candidate image 42a to finish too soon if printed on the actual profile 52a. Thus, printing the candidate image 42a on the actual profile 52a is compressed compared to providing the candidate image 42a on the candidate profile 38.

[0049] 4a and 4b, when candidate image 42a is printed on actual profile 52a, candidate image 42a will have an error length 54a that is shorter than candidate length 48a due to the misalignment between actual profile 52a and candidate profile 38. Therefore, the misalignment reduces the quality of candidate image 42a.

[0050] 5 schematically illustrates a side view of a corrective path 56a for the printhead 14. The control system 32 is configured to determine the corrective path 56a based on the actual profile 52a. The corrective path 56a may be set, for example, a fixed distance above the actual profile 52a. Thus, the measured distance to the surface 22a can be used to create a new corrective path 56a for the printhead 14.

[0051] 6 schematically represents the deviation 58a between the candidate path 46 and the modified path 56a. As shown, the modified path 56a deviates from the candidate path 46 over a relatively short segment. The control system 32 may determine the deviation 58a for multiple positions along the modified path 56a.

[0052] 7a schematically illustrates a side view of the corrected path 56a and the corrected image 60a on the actual profile 52a, and FIG. 7b schematically illustrates a top view of the corrected image 60a on the actual profile 52a. The corrected image 60a is provided by the control system 32 by correcting the candidate image 42a based on a deviation 58a between the candidate path 46 and the corrected path 56a. In this way, the industrial robot 12 can adapt to the deviation 58a by image compensation.

[0053] In this example, one pixel 44, shown without fill in Figures 7a and 7b, has been added to candidate image 42a to provide modified image 60a. The addition of pixel 44 occurs because error length 54a was shorter than candidate length 48a (Figure 4b). Candidate image 42a can therefore be modified to provide modified image 60a such that the length of modified image 60a provided on actual profile 52a matches the length of candidate image 42a provided on candidate profile 38 when viewed from above actual profile 52a and candidate profile 38, respectively.

[0054] 7a and 7b, the modified image 60a is stretched compared to the candidate image 42a. As shown in FIG. 7b, when the modified image 60a is printed on the actual profile 52a using the modified path 56a, the modified image 60a has a modified length 62a in the main extension direction of the surface 22a that is equal to the candidate length 48a in the main direction of the surface 22a. Therefore, the modified image 60a can be printed on the actual profile 52a without distortion. That is, the appearance of the modified image 60a on the actual profile 52a corresponds to the appearance of the candidate image 42a on the candidate profile 38. The robotic system 10 then prints the modified image 60a on the object 20a using the modified path 56a.

[0055] 8 schematically depicts a side view of the robotic system 10 and a further object 20b having a surface 22b. Both the first surface 22a and the second surface 22b are modeled by a candidate profile 38 in the digital model 40, but neither the first surface 22a nor the second surface 22b perfectly matches the candidate profile 38. Furthermore, the first surface 22a and the second surface 22b are also offset from one another.

[0056] 9a is a schematic side view of the candidate image 42a on the second actual profile 52b of the second surface 22b, and FIG. 9b is a schematic top view of the candidate image 42a on the second actual profile 52b. As shown in FIG. 9a, the physical second actual profile 52b is offset from the candidate profile 38. Here, the second actual profile 52b has a flatter curve portion than the candidate profile 38.

[0057] In this example, the misalignment between the second actual profile 52b and the candidate profile 38 would cause the candidate image 42a to finish too late if printed on the second actual profile 52b. Thus, the provision of the candidate image 42a on the second actual profile 52b is stretched relative to the provision of the candidate image 42a on the candidate profile 38.

[0058] 9a and 9b, when candidate image 42a is printed on second actual profile 52b, candidate image 42a will have an error length 54b that is longer than candidate length 48a due to the misalignment between second actual profile 52b and candidate profile 38. Again, this misalignment reduces the quality of candidate image 42a.

[0059] 10 schematically represents a side view of a second corrective path 56b for printhead 14. Control system 32 is configured to determine second corrective path 56b based on second actual profile 52b, for example, in the same way that first corrective path 56a is determined based on first actual profile 52a.

[0060] 11 schematically represents the deviation 58b between the candidate path 46 and the second modified path 56b. As shown, the second modified path 56b deviates from the candidate path 46 over a relatively short segment. The control system 32 may determine the deviation 58b for multiple positions along the second modified path 56b.

[0061] 12a schematically represents a side view of the second corrected path 56b and the corrected image 60b on the second actual profile 52b, and FIG. 12b schematically represents a top view of the corrected image 60b on the second actual profile 52b. The corrected image 60b is provided by the control system 32 by correcting the candidate image 42a based on the deviation 58b between the candidate path 46 and the second corrected path 56b.

[0062] In this example, one pixel 44 has been removed from candidate image 42a to provide modified image 60b. The removal of pixel 44 occurs because error length 54b was longer than candidate length 48a (FIG. 9b). Thus, also in this manner, candidate image 42a may be modified to provide modified image 60b such that the length of modified image 60b provided on second actual profile 52b matches the length of candidate image 42a provided on candidate profile 38 when viewed from above second actual profile 52b and candidate profile 38, respectively.

[0063] 12a and 12b, the modified image 60b is compressed compared to the candidate image 42a. As shown in FIG. 12b, when the modified image 60b is printed on the second actual profile 52b using the second modified path 56b, the modified image 60b has a modified length 62b in the main extension direction of the second surface 22b that is equal to the candidate length 48a in the main direction of the second surface 22b. Therefore, the modified image 60b can be printed on the second actual profile 52b without distortion. That is, the appearance of the modified image 60b on the second actual profile 52b corresponds to the appearance of the candidate image 42a on the candidate profile 38. The robotic system 10 then prints the modified image 60b on the object 20b using the second modified path 56b. Therefore, the candidate image 42a can be manipulated by adding or removing pixels 44 to compensate for the inherent size difference between the first actual profile 52a or 52b and the candidate profile 38.

[0064] FIG. 13 schematically illustrates a top view of a further example of candidate image 42b. Candidate image 42b is provided on candidate profile 38 in digital model 40. FIG. 13 also illustrates a candidate path 46 for print head 14. Candidate image 42b comprises multiple columns that traverse candidate path 46. FIG. 13 illustrates columns 64a, 64b, and 64c. Each column 64a, 64b, and 64c comprises multiple pixels 44 that traverse candidate path 46. FIG. 13 also illustrates a candidate length 48b of candidate image 42b on candidate profile 38. Candidate images 42a and 42b are examples of candidate designs according to the present disclosure.

[0065] FIG. 14 schematically illustrates a top view of a further example of a corrected image 60c. The corrected image 60c is provided on the first actual profile 52a. FIG. 14 also illustrates a first corrected path 56a for the print head 14. The corrected image 60c is a correction of the candidate image 42b based on the deviation 58a between the first corrected path 56a and the candidate path 46. In FIG. 14, the candidate image 42b has been corrected by adding a column 64b2 of pixels 44 between columns 64b and 64c to provide the corrected image 60c. This causes the corrected image 60c to be elongated along the first corrected path 56a compared to the candidate image 42b. This causes a corrected length 62c of the corrected image 60c along the first corrected path 56a to be longer than the candidate length 48b of the candidate image 42b along the candidate path 46 to compensate for the deviation between the candidate profile 38 and the first actual profile 52a. Column 64b2 of pixels 44 may be inserted into candidate image 42b where deviation 58a between candidate path 46 and first modified path 56a is most significant. Multiple columns may be inserted in this manner.

[0066] FIG. 15 schematically illustrates a top view of a further example of a corrected image 60d. The corrected image 60d is provided on the second actual profile 52b. FIG. 15 also illustrates a second corrected path 56b for the print head 14. The corrected image 60d is a correction of the candidate image 42b based on a deviation 58b between the second corrected path 56b and the candidate path 46. In FIG. 15, the candidate image 42b has been corrected by removing a column 64b of pixels 44 to provide the corrected image 60d. This causes the corrected image 60d to be compressed along the second corrected path 56b compared to the candidate image 42b. This causes a corrected length 62d of the corrected image 60d along the second corrected path 56b to be shorter than the candidate length 48b of the candidate image 42b along the candidate path 46 to compensate for the deviation between the candidate profile 38 and the second actual profile 52b. Columns may be removed from the candidate image 42b where the deviation 58b between the candidate path 46 and the second modified path 56b is most significant. Multiple columns may be removed in this manner.

[0067] The method of modifying candidate images 42a and 42b to provide modified images 60a-60d allows for the generation of modified images 60a-60d without having to modify digital model 40 and without having to completely generate new images. Modified images 60a-60d are examples of modified designs according to the present disclosure. Columns 64a, 64b, 64b2, and 64c are examples of lines according to the present disclosure. One, some, or all of columns 64a, 64b, 64b2, and 64c may be referred to by the reference numeral "64."

[0068] 16 schematically depicts a block diagram outlining the general steps of a method for printing images on surfaces 22a and 22b. The method includes step S10 of providing a print head 14 and an industrial robot 12. The method further includes step S12 of providing a digital model 40 including a candidate profile 38 of surfaces 22a and 22b. The method further includes step S14 of providing a candidate path 46 for relative movement between the print head 14 and surfaces 22a and 22b based on the candidate profile 38. The method further includes step S16 of providing candidate images 42a and 42b to be created on surfaces 22a and 22b based on the candidate path 46. Steps S10, S12, S14, and S16 of the first box 66 may be performed once for each digital model 40.

[0069] The method further includes a step S18 of determining actual profiles 52a and 52b of surfaces 22a and 22b. The method further includes a step S20 of providing corrected paths 56a and 56b for relative movement based on the actual profiles 52a and 52b. The method further includes a step S22 of modifying candidate images 42a and 42b based on deviations 58a and 58b between candidate path 46 and corrected paths 56a and 56b to provide corrected images 60a-60d to be printed on surfaces 22a and 22b. The method further includes a step S24 of controlling, by control system 32, industrial robot 12 and print head 14 to print corrected images 60a-60d on surfaces 22a and 22b using the corrected paths 56a and 56b for relative movement. Steps S18, S20, S22, and S24 of the second box 68 may be performed once for each object 20a and 20b to be painted, or once for each surface 22a and 22b to be painted.

[0070] The method allows for efficient printing of existing images using modified paths 56 and avoids the time-consuming generation of new images based on the actual profiles 52 a and 52 b. This method contributes to time savings and makes the robotic system 10 more flexible. The method has been tested by the inventors and proven to work as described herein.

[0071] While the present disclosure has been described with reference to exemplary embodiments, it will be understood that the invention is not limited to the above-described embodiments. For example, it will be understood that the dimensions of parts may be varied as needed. Accordingly, it is intended that the invention be limited only by the scope of the appended claims.

Claims

1. A method for creating modified designs (60a-60d) on a surface (22a, 22b), comprising: - providing (S10) a tool (14) and an industrial robot (12) configured to perform relative movement between said tool (14) and said surface (22a, 22b); - providing (S12) a digital model (40) of said surfaces (22a, 22b), wherein said digital model (40) comprises candidate profiles (38) of said surfaces (22a, 22b); - providing (S14) candidate paths (46) for said relative movement based on said candidate profiles (38); - providing (S16) candidate designs (42a, 42b) to be created on said surfaces (22a, 22b) based on said candidate paths (46); - determining (S18) the actual profile (52a, 52b) of said surface (22a, 22b); providing (S20) a corrected path (56a, 56b) for said relative movement based on said actual profile (52a, 52b); - modifying (S22) said candidate designs (42a, 42b) based on deviations (58a, 58b) between said candidate path (46) and said modified paths (56a, 56b) to provide said modified designs (60a-60d) to be created on said surfaces (22a, 22b); - controlling (S24) said industrial robot (12) and said tool (14) to create said modified design (60a-60d) on said surface (22a, 22b) using said modified path (56a, 56b) for said relative movement; A method comprising:

2. The method of claim 1, wherein the candidate designs (42a, 42b) are candidate images and the revised designs (60a-60d) are revised images.

3. 3. The method of claim 2, wherein the candidate image comprises a plurality of pixels (44), and modifying the candidate image to provide the modified image comprises adding one or more pixels (44) to the candidate image or removing one or more pixels (44) from the candidate image.

4. The method of claim 3 , wherein the one or more pixels (44) comprise a plurality of pixels (44) arranged in a line (64) of pixels (44).

5. The method of any one of claims 1 to 4, wherein the candidate path (46) and the revised path (56a, 56b) lie in a common plane (50).

6. 6. The method of claim 5, wherein the line (64) of pixels (44) crosses the plane (50).

7. The method of any one of claims 1 to 6, wherein creating the modified design (60a-60d) on the surface (22a, 22b) comprises applying a coating (24) to the surface (22a, 22b).

8. the surface (22a, 22b) is a first surface (22a), the corrective path (56a, 56b) is a first corrective path (56a), the corrective design (60a-60d) is a first corrective design (60a, 60c), and the method comprises: - providing a second surface (22b); - determining a second actual profile (52b) of said second surface (22b); providing a second corrective path (56b) for said relative movement based on said second actual profile (52b); - modifying said candidate designs (42a, 42b) to provide second modified designs (60b, 60d) to be created on said second surface (22b) based on deviations (58a, 58b) between said candidate path (46) and said second modified path (56b); - controlling said industrial robot (12) and said tool (14) to create said second modified design (60b, 60d) on said second surface (22b) using said second modified path (56b) for said relative movement; The method of any one of claims 1 to 7, further comprising:

9. A control system (32) for creating a modified design (60a-60d) on a surface (22a, 22b), said control system (32) comprising at least one data processing device (34) and at least one memory (36) having stored thereon at least one computer program, said at least one computer program, when executed by said at least one data processing device (34), causing said at least one data processing device (34) to: - providing (S12) a digital model (40) of said surfaces (22a, 22b), wherein said digital model (40) comprises candidate profiles (38) of said surfaces (22a, 22b); providing (S14) candidate paths (46) for relative movement between the tool (14) and the surfaces (22a, 22b) based on said candidate profiles (38); - providing (S16) candidate designs (42a, 42b) to be created on said surfaces (22a, 22b) based on said candidate paths (46); - determining (S18) the actual profile (52a, 52b) of said surface (22a, 22b); providing (S20) a corrected path (56a, 56b) for said relative movement based on said actual profile (52a, 52b); - modifying (S22) said candidate designs (42a, 42b) based on deviations (58a, 58b) between said candidate path (46) and said modified paths (56a, 56b) to provide said modified designs (60a-60d) to be created on said surfaces (22a, 22b); - controlling (S24) the industrial robot (12) and the tool (14) to create the modified design (60a-60d) on the surface (22a, 22b) using the modified path (56a, 56b) for the relative movement; a control system (32) comprising program code for causing the control system to perform the steps of:

10. A robotic system (10) comprising an industrial robot (12), a tool (14), and a control system (32) according to claim 9.

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