Robot Programming With Marker-Tracked Virtual Items
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Solution Overview
Problem
Existing robotic programming techniques, such as teach-in and offline programming, face challenges with large objects where real objects are required for programming, leading to increased complexity, safety issues, and downtime due to the need for accurate simulation and advanced programming skills.
Innovation Solution
A method and apparatus that utilize a virtual item marked with a marker, allowing identification and display during programming, enabling efficient programming of large items by simulating interactions between virtual and physical models, reducing the need for real objects and simplifying the programming process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If real objects are used for teach-in programming, then the robot can be easily programmed according to real installation, but the programming process becomes complex and time-consuming for large objects
Solution Approach 1:
The patent uses virtual copies (digital twins) of real objects instead of physical objects for programming. The virtual item represents the real object in the simulation environment, allowing programmers to work with lightweight digital representations rather than heavy physical objects, thus reducing programming time while maintaining ease of operation
Solution Approach 2:
The patent transitions from physical 3D space to virtual/digital space by creating a digital twin of the real object. This dimensional shift allows the robot to be programmed in a virtual environment that mirrors the physical installation, eliminating the need to physically handle large objects during programming
2Ease of operation
If real objects are used for teach-in programming, then the programming can be done with simple techniques, but the robot must be stopped during programming causing downtime
Solution Approach 1:
The patent enables programming to be performed in advance by creating virtual items and configuring robot operations in a simulation environment before the actual physical deployment. This preliminary action in virtual space allows the robot to be programmed without stopping the physical system, maintaining productivity while preserving programming simplicity
Solution Approach 2:
The patent introduces a virtual item as an intermediary between the programmer and the real object. This virtual mediator allows programming operations to be performed on a digital representation rather than the physical object, enabling offline programming while maintaining the simplicity of teach-in techniques
3Loss of time
If offline programming with simulation environment is used, then programming can be done prior to commissioning, but the complete surrounding needs to be accurately mapped which increases complexity
Solution Approach 1:
The patent extracts only the essential elements needed for programming from the complete physical environment and creates virtual representations of these extracted elements. Rather than mapping the entire surrounding accurately, only the relevant objects and their interactions are virtualized, reducing simulation setup complexity while enabling efficient offline programming
Solution Approach 2:
The patent changes the state of objects from physical to virtual by creating digital twins with relevant parameters. This parameter transformation allows the robot to be programmed using virtual objects with simplified representations, reducing the complexity of simulation setup while maintaining the benefits of offline programming
4Weight of moving object
If duplicates of large objects are produced using 3D printing, then the weight is reduced facilitating teach-in, but the printing process is time-consuming and expensive
Solution Approach 1:
The patent creates virtual copies (digital twins) of real objects instead of physical duplicates through 3D printing. These virtual representations have negligible weight and can be instantiated instantly in the simulation environment, eliminating both the weight issue and the time-consuming printing process while facilitating easy teach-in programming
Data Source
AI summary
A method, apparatus, and computer-readable storage media for robotic programming are disclosed. To improve upon or even solve the dilemma that teach-in techniques cannot work for all kinds of objects and offline programming requires complicated simulation of a robot and objects, a solution is provided to use a virtual item marked by a marker during programming of the robot and display the virtual item to a user. As such, even very large items can be used and also replaced easily during programming, which makes the programming procedures go smoothly and efficiently.