Industrial Robot Interference Zone Detection Using Voxel Hit-Bricks
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Solution Overview
Problem
Current methods for determining critical target locations in interference zones between industrial robots are time-consuming and complex due to the need for generating detailed 3D swept volumes, which increases robotic idle times and reduces manufacturing throughput.
Innovation Solution
A method using a virtual robotic application to determine potential interference zones by generating a set of bricks, identifying hit-bricks, and employing an AI-trained intersection detector to estimate the interference zone and set critical target locations, reducing the need for complex 3D swept volume calculations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If detailed 3D swept volumes are generated to determine critical target locations, then measurement precision is improved, but loss of time increases
Solution Approach 1:
The patent segments the continuous 3D swept volume into discrete volumetric pixels (voxels) that can be processed independently and in parallel. This discretization allows the interference zone to be divided into manageable units that can be evaluated simultaneously, reducing the overall computation time while maintaining precision in identifying critical target locations.
Solution Approach 2:
The patent replaces traditional geometric calculation methods with a voxel-based computational approach using virtual robotic simulation. Instead of performing complex analytical geometry operations to determine swept volumes and their intersections, the system uses discrete volumetric elements that can be processed through simulation and comparison operations, significantly reducing computation time.
2Manufacturing precision
If complex 3D swept volume calculations are performed, then manufacturing precision is improved, but productivity decreases
Solution Approach 1:
The patent performs preliminary determination of critical target locations using voxel-based simulation before actual robotic operations begin. By pre-calculating interference zones and identifying critical targets in advance using the voxel method, the system eliminates the need for complex real-time calculations during robotic execution, thereby maintaining manufacturing precision while improving productivity.
Solution Approach 2:
The patent uses disposable volumetric pixels (voxels) as temporary computational units to represent the swept volumes. These voxels are generated, processed for interference detection, and then discarded after determining critical target locations. This approach avoids the need for maintaining complex geometric models during operation, reducing computational overhead and improving robotic program execution speed.
3Productivity
If robotic idle times are reduced in interference zones, then productivity is improved, but reliability decreases
Solution Approach 1:
The patent pre-identifies critical target locations around interference zones using voxel-based simulation before robotic operations begin. By determining these critical locations in advance, the system can implement efficient semaphore signal control that allows robots to minimize idle waiting time while maintaining reliable collision avoidance, as the critical targets are already known and can be monitored efficiently.
Solution Approach 2:
The patent enables the robotic system to self-monitor its own operational status by tracking whether robots are approaching or have reached the pre-identified critical target locations. This self-service mechanism allows the system to dynamically adjust idle times based on real-time position feedback, maintaining safety reliability while optimizing productivity through reduced unnecessary waiting.
Data Source
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AI summary
System and a method for determining critical target locations around the interference zone between at least two virtual robots in an industrial environment. Data on a first virtual robot and on a second virtual robot are received to load into a virtual robotic application. Data on the two robotic programs of the two corresponding robots are received. A potential interference zone is determined based on an intersection of two robotic reach-zones generated from stretched kinematic chains of the two corresponding robots. A set of bricks filling at least the majority of the potential interference zone is generated. From the set of bricks, one or more subsets of hit-bricks are determined which comprise bricks hittable by one or more robots based on the data of a corresponding robotic program. The interference zone is estimated as the zone around a subset of collision-bricks comprising the hit-bricks that are hittable by both robots. A set of critical target locations is determined around the interference zone estimate.