Robot Path Collision Checking With 3D AR Visualization
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Solution Overview
Problem
Existing methods for checking predefined robot paths do not adequately account for potential collisions with the real environment, which may differ from simulated environments or environments encountered during teaching.
Innovation Solution
A method involving the creation of a computer-implemented three-dimensional environment model, determination of a convex envelope for portions of the robot path, intersection analysis with the environment model, and visualization in augmented reality to issue warnings or all-clears for potential collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a predefined robot path is checked using traditional methods, then the checking process is simple, but collision risks with the real environment cannot be reliably detected
Solution Approach 1:
The patent creates a digital twin (virtual model) of the robot and its environment to simulate and check the predefined path. This virtual copy allows comprehensive collision detection without physical testing, resolving the contradiction by providing reliable collision detection through simulation rather than complex physical checking systems.
Solution Approach 2:
The patent performs path verification in advance by simulating the robot's movement along the predefined path and checking for potential collisions before actual execution. This preliminary checking in the virtual environment identifies collision risks without requiring complex real-time monitoring systems during actual operation.
2Measurement precision
If the real environment is used for path checking, then collision risks are accurately identified, but the checking process becomes time-consuming
Solution Approach 1:
Instead of using the actual real environment for checking, the patent creates a virtual model (digital twin) that replicates the environment's geometry and obstacles. This virtual copy enables rapid simulation and path verification without the time constraints of physical environment measurement and analysis, achieving both accuracy and efficiency.
Solution Approach 2:
The environment model is created and prepared in advance as a virtual representation, allowing multiple path checking scenarios to be simulated quickly without repeatedly measuring the physical environment. This preliminary modeling effort pays off through rapid iterative testing and verification.
3Reliability
If traditional path checking methods are used, then the process is quick, but comprehensive collision detection cannot be achieved
Solution Approach 1:
The patent uses a virtual model to perform comprehensive path verification, allowing thorough collision detection across the entire predefined path without physical constraints. This virtual environment enables complete checking of all potential collision points while maintaining productivity through rapid simulation execution.
Solution Approach 2:
By performing path verification in advance through simulation, the system identifies all potential collision risks before actual robot operation. This preliminary comprehensive checking ensures safety without requiring time-consuming iterative physical testing during production operations.
Data Source
AI summary
A method for checking a predefined path of a robot includes determining or providing a computer-implemented three-dimensional environment model; determining a distance between a computer-implemented model of the robot and the environment model for different portions of the path; and visualizing a virtual representation of the path using a visualization device in an augmented reality for checking the path, wherein, in this visualization, a warning is issued for a portion of the path if the distance determined for this portion falls within a predefined warning range, and an all-clear is issued for a portion of the path if the distance determined for this portion falls within an all-clear range.