AR Robot Teaching with Virtual Model Position Matching
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Solution Overview
Problem
Existing robot systems face challenges in user-friendly operation due to the time-consuming creation of precise virtual models for navigation, and conventional augmented reality techniques require actual robot movement, making them inefficient for teaching operations.
Innovation Solution
A robot controller system that includes a display device to overlay virtual models of robot components and work targets with the actual environment, allowing for relative position and orientation determination between the virtual and actual models, enabling intuitive operation and teaching without physically moving the robot.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If virtual reality technique is used to navigate robot status and work, then navigation information can be displayed, but it requires considerable time and effort to create precise model data of the robot and peripheral equipment
Solution Approach 1:
The patent uses augmented reality to overlay virtual models of robot components and work targets onto the actual environment. These virtual models are simplified representations that do not require precise detailed modeling, allowing rapid creation and deployment while still providing effective navigation and status information to operators.
Solution Approach 2:
The patent introduces an augmented reality display as an intermediary between the actual robot environment and the operator. This intermediary overlays virtual information (robot status, work progress, navigation cues) directly onto the physical environment view, providing comprehensive navigation information without requiring time-consuming creation of complete virtual reality models.
2Loss of information
If conventional augmented reality technique is used to display robot status, then operator can view overlaid information, but operation is not sufficiently user-friendly as it still requires moving the actual robot for teaching
Solution Approach 1:
The patent creates virtual models of robot components (arm, gripper, work target) that can be manipulated independently in the augmented reality display. During teaching operations, operators can move and position these virtual models to define robot paths and operations without physically moving the actual robot, significantly simplifying the teaching process while maintaining accurate status visualization.
Solution Approach 2:
Instead of moving the actual robot to teach operations, the patent inverts the approach by moving virtual models in the augmented reality display to define the desired robot paths and operations. The actual robot then follows the paths defined by virtual model manipulation, making teaching operations much more intuitive and user-friendly.
3Measurement precision
If precise virtual models are created for accurate navigation, then navigation accuracy is improved, but device complexity and model creation effort increase significantly
Solution Approach 1:
The patent applies different levels of model detail to different components based on their specific needs. Critical components like the robot arm and gripper use accurate virtual models for precise position and orientation determination, while less critical elements use simpler representations. This localized approach maintains navigation accuracy where needed while reducing overall model creation complexity and effort.
Data Source
AI summary
A robot controller configured to assist an operation of a user, by effectively utilizing both techniques of augmented reality and mixed reality. The robot controller includes: a display device configured to display information generated by a computer so that the information is overlapped with an actual environment, etc.; a position and orientation obtaining section configured to obtain relative position and orientation between the display device and a robot included in the actual environment; a display controlling section configured to display a virtual model of the robot, etc., on the display device; an operation controlling section configured to operate the virtual model displayed on the display device; and a position and orientation determining section configured to determine the position and/or orientation of the robot by using the position and/or orientation of the operated virtual model and using the relative position and orientation between the robot and the display device.