Robot Motion Mapping with Deformable 3D Surface Models
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Solution Overview
Problem
Existing robots operating on unknown surfaces require high computing power and human intervention to manage movements accurately, limiting their autonomy and efficiency, especially in applications like massage robots and artisanal porcelain painting.
Innovation Solution
A device that uses a generic three-dimensional model with known sequences of movements, which can be adjusted to match the surface geometry through deformation, allowing the robot to automatically adapt its movements without prior knowledge of the surface geometry.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If image processing means are used to analyze the surface and determine the robot path, then the robot can operate on unknown surfaces, but the computing power requirement increases and the robot moves slowly
Solution Approach 1:
The patent applies preliminary action by pre-defining multiple candidate paths on a generic 3D model before the robot encounters the actual surface. The system prepares motion sequences in advance on the generic model, then quickly adapts them to the real surface through deformation, avoiding real-time path planning computation during robot movement.
Solution Approach 2:
The patent uses copying by creating a generic 3D model that replicates the essential geometric features of the target surface. This generic model serves as a simplified copy that can be deformed to match the actual surface, allowing the robot to transfer pre-planned paths from the generic model to the real surface without complex real-time analysis.
2Manufacturing precision
If three-dimensional scanning and numerical modeling are used to program robot movements, then movement accuracy is improved, but human intervention is required reducing automation
Solution Approach 1:
The patent applies self-service by enabling the system to automatically adjust the generic model to match the actual surface through deformation algorithms. The robot autonomously adapts pre-defined paths to the real surface geometry without requiring human operators to manually program or adjust the path for each specific surface, achieving both accuracy and automation.
Solution Approach 2:
The patent uses parameter changes by deforming the generic 3D model's geometric parameters to match the actual surface. The system modifies the model's shape parameters automatically through algorithms that compare the generic model with the scanned surface, then applies corresponding transformations to the motion paths to maintain accuracy without human intervention.
3Adaptability or versatility
If the generic model is deformed to match the surface geometry, then the known sequences of movements can be applied to unknown surfaces, but the complexity of the device increases
Solution Approach 1:
The patent replaces mechanical adjustment mechanisms with computational methods. Instead of physically modifying the generic model or using complex mechanical deformation devices, the system uses software algorithms to deform the digital 3D model and transform the motion paths, significantly reducing device complexity while maintaining adaptability to diverse surfaces.
Data Source
AI summary
The invention relates to a device for managing the movements of a robot configured to treat a surface, said device including:acquisition means for acquiring a three-dimensional representation (Re) of said surface to be treated; anddetermination means for determining a sequence of movements on the basis of said three-dimensional representation (Re) of said surface to be treated;said determination means comprising at least one three-dimensional generic model (m1-m3) for which a plurality of sequences of movements (Tx) are known;said device including adjustment means for adjusting said generic model (m1-m3) with said three-dimensional representation (Re) of said surface to be treated that are able to deform said generic model (m1-m3) and known sequences of movements (Tx) so as to correspond to said three-dimensional representation (Re) of said surface to be treated.