Movement Sequence Definition Device for Robot Surface Adaptation
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Solution Overview
Problem
Current methods for defining sequences of movements on a generic model are labor-intensive and require manual precision, especially when dealing with variable surfaces or subjects, which can be time-consuming and inefficient for applications like massage robots or painting robots.
Innovation Solution
The method involves acquiring and adapting movement sequences by deforming a generic model to match a subject's surface, allowing for the transformation of real movement sequences into generic sequences without the need for manual visualization, using techniques such as calculating differences between the generic model and the subject's surface representation to apply transformations like translation, rotation, and scaling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual programming of movement sequences on a digital tablet is used, then precision of movement definition is improved, but time consumption and operational complexity increase
Solution Approach 1:
The patent uses a camera to capture images of the reference element moving on the actual surface, creating a visual record that is automatically processed into movement sequences. This copying approach replaces manual digital tablet programming, maintaining precision through image analysis while dramatically reducing time consumption by eliminating manual tracing and definition steps.
Solution Approach 2:
The patent replaces the mechanical interaction of manually drawing on a digital tablet with an automated optical system. A camera captures the movement, and image processing algorithms automatically convert the visual data into precise movement sequences, substituting manual mechanical operations with automated optical-mechanical systems that achieve both precision and efficiency.
2Measurement precision
If manual programming of movement sequences on a digital tablet is used, then precision of movement definition is improved, but ease of operation deteriorates
Solution Approach 1:
The system captures the actual movement of the reference element through camera imaging, creating an automatic record that is processed into movement sequences. This eliminates the need for operators to manually program movements on digital tablets, significantly improving ease of operation while maintaining precision through automated image analysis and sequence generation.
Solution Approach 2:
The system performs self-service by automatically capturing, processing, and generating movement sequences without requiring manual intervention. The camera and image processing system work autonomously to define precise movement paths, freeing operators from complex manual programming tasks and dramatically improving operational ease.
3Adaptability or versatility
If reconnaissance robots use camera and image processing to analyze surfaces, then adaptability to unknown surfaces is improved, but speed of robot movement deteriorates
Solution Approach 1:
The patent performs preliminary action by pre-defining movement sequences on a generic model before actual robot operation. The system captures reference movements on a standardized model, processes them into generic sequences, and stores them for rapid execution. This preliminary preparation eliminates the need for real-time surface analysis during actual operations, maintaining adaptability through pre-computed sequences while dramatically improving execution speed.
Solution Approach 2:
The system uses a dynamic approach by creating a generic model that can be adapted to different surfaces through parameter adjustment rather than requiring complete re-analysis for each new surface. The movement sequences are defined on a flexible generic model that can be transformed and applied to various surfaces, maintaining adaptability while enabling faster operation through pre-defined sequences.
4Manufacturing precision
If three-dimensional scanning is used to program robot movements, then manufacturing precision of movement paths is improved, but complexity of the device increases
Solution Approach 1:
The patent uses a camera, which is a simple and universal device, to perform multiple functions: capturing the geometry of the surface, tracking the movement of the reference element, and generating movement sequences. This universal imaging approach replaces complex dedicated three-dimensional scanning systems, achieving high precision in movement path definition while significantly reducing device complexity by using a multi-functional, simple camera-based system.
Data Source
Figure 1
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AI summary
The invention relates to a device for defining a generic sequence of movements (Tx) in a generic model, the device comprising: - means (40) for acquiring a position (Pr) of a reference element (45) moving across a surface; the reference element (45) being configured to perform a real sequence of movements (Tr); - means (41) for recording the real sequence of movements (Tr); - means (14) for acquiring a three-dimensional representation (Re) of the surface; - means for adjusting the generic model to the three-dimensional representation (Re) of the surface; and - means (42) for defining a generic sequence of movements (Tx) in the generic model by applying the adjustment between the generic model and the three-dimensional representation (Re) of the surface.