Robot Work Environment Modeling Without CAD or Vision Setup
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Solution Overview
Problem
Existing robotic systems face challenges in creating accurate models of their working environments without CAD data, especially for small, portable robots, due to the high cost and expertise required for computer vision systems, making them uneconomical for small jobs.
Innovation Solution
A method involving a robot with a base, reference point, and sensors that allows manual or automated detection of surface coordinates by moving a reference point to sample points, using a controller to infer surface positions and types, enabling collision-free motion planning without the need for extensive setup or skilled technicians.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a computer vision system is used to generate environmental models, then measurement precision is improved, but device complexity and cost increase significantly
Solution Approach 1:
The patent extracts the essential function of environmental modeling from complex computer vision systems and implements it using the robot's own built-in sensors and controller. The robot uses its existing sensors to detect positions and angles, and the controller calculates reference point positions and infers surface positions, eliminating the need for separate expensive vision systems while maintaining adequate modeling precision
Solution Approach 2:
The patent creates a simplified copy of the environmental modeling capability that exists within the robot's own control system. Instead of using external complex vision systems, the robot copies the essential functionality by using its existing sensors and controller to generate environmental models, making the system simpler and more economical while retaining the core capability
2Measurement precision
If skilled technicians are used to set up computer vision systems, then measurement precision is improved, but loss of time and operational cost increase
Solution Approach 1:
The patent implements self-service by enabling the robot to perform environmental modeling autonomously using its own built-in sensors and controller. The system automatically detects surface positions and generates environmental models without requiring external skilled technicians for setup, thereby eliminating the time loss and operational costs associated with expert installation while maintaining reliable modeling through the robot's own capabilities
3Manufacturing precision
If the reference point is moved to sample points on surfaces, then manufacturing precision is improved, but the risk of damage to the robot or objects increases
Solution Approach 1:
The patent applies partial action by moving the reference point to sample points on surfaces rather than making full contact. The reference point is positioned at locations where it should not go in normal operation, but controlled movements to sample points allow surface detection while maintaining safety margins. This partial contact approach enables precise surface position measurement while minimizing damage risk through controlled, limited movements
Data Source
AI summary
A method for modeling a working environment of a robot comprising providing a robot having a base, a reference point, a plurality of links by which the reference point is movably connected to the base, and sensors for detecting positions of or angles between the links, providing a controller adapted to associate a position of the reference point to detected positions or angles between of the links, installing the base in a working environment which is delimited by at least one surface, moving the reference point to at least one sample point of the at least one surface, determining the position of the sample point from positions of or angles between the links detected while the reference point is at the sample point, and inferring the position of the surface from the determined position.