Robot Workspace Modeling for Virtual Interference Checking
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Solution Overview
Problem
Existing methods for developing control programs for devices like robots are inefficient due to the need for accurate three-dimensional models of surrounding environments, which can be time-consuming and challenging, especially when three-dimensional shape information of objects like walls or columns is not available.
Innovation Solution
An information processing system that uses a movable unit with a measurement unit to create virtual models of objects in a robot's surrounding environment by measuring their shape and position, allowing for simulation in a virtual space without the need for explicit CAD data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a device model is operated in a virtual space to check interference, then the risk of actual device damage is reduced and control program development efficiency is improved, but it requires construction of accurate three-dimensional models of the device and surrounding environment in advance, which increases time consumption and complexity
Solution Approach 1:
The patent creates a virtual model (copy) of the robot and its surrounding environment to perform interference checks in virtual space instead of using the actual device. This copying approach allows safe verification of control programs while reducing the need for complex manual 3D model construction, as the virtual model can be generated from actual device data.
2Measurement precision
If three-dimensional shape information (CAD data) of surrounding objects is available, then accurate virtual modeling is achieved, but such information does not necessarily exist for many objects like walls and columns, requiring alternative measurement methods
Solution Approach 1:
The patent replaces the need for mechanical/CAD-based 3D modeling with an optical measurement system. A measurement device captures images of surrounding objects, and image processing algorithms automatically generate three-dimensional shape information, enabling accurate virtual modeling of objects like walls and columns without requiring pre-existing CAD data.
Solution Approach 2:
The measurement device automatically captures images and generates three-dimensional model data of the surrounding environment without requiring manual intervention or pre-existing information. The system self-services by autonomously creating the virtual environment model from raw image data, making the process adaptable to any object in the workspace.
3Manufacturing precision
If control program development is performed by operating the actual device, then real-world accuracy is achieved, but interference can actually occur causing device damage and time consumption increases
Solution Approach 1:
The patent performs preliminary interference checks in the virtual space before executing control programs on the actual device. By simulating robot operations with the virtual model and detecting potential collisions with surrounding objects in advance, the system prevents harmful interference from occurring during actual device operation, thereby protecting the device while maintaining program accuracy.
Data Source
AI summary
An information processing system includes a device that includes a movable unit including a measurement unit configured to measure a shape of an object, and a simulation unit that performs an operation simulation for the device in a virtual space by using a virtual model. The movable unit moves the measurement unit to a predetermined measurement point. The measurement unit measures a target existing in a surrounding environment of the device at the predetermined measurement point. A model including position information of the target is acquired by using a measurement result and information regarding the predetermined measurement point. The simulation unit sets a virtual model of the target in the virtual space by using the model.