Robotic Path Planning for 3D Surface Coverage
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Solution Overview
Problem
Existing methods for robotic surface coverage on 3D freeform surfaces are inefficient and require manual intervention, as they involve complex and time-consuming processes for generating continuous and even coverage paths while satisfying task and manipulator constraints.
Innovation Solution
A generalized approach that converts a 3D wireframe representation of a task object into a u,v system, allowing for direct computation of a coverage path on the 3D surface without the need for unwrapping or partitioning, thereby enabling automated and optimal robotic coverage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If conventional UV mapping methods are used for 3D surface coverage, then coverage paths can be generated, but the process requires manual segregation of partitions and is computationally intensive
Solution Approach 1:
The method automatically segments the 3D surface into partitions based on mathematical representations, eliminating the need for manual segregation. The system divides complex surfaces into manageable patches that can be independently processed and mapped to 2D UV coordinates, significantly reducing manual intervention while maintaining coverage quality
Solution Approach 2:
The patent replaces manual mechanical partitioning processes with automated computational algorithms. Instead of physically or manually dividing surfaces, the system uses mathematical models and computer-based UV mapping algorithms to automatically generate coverage paths, reducing computational intensity through intelligent algorithm selection
2Ease of operation
If manual segregation of partitions is performed for UV mapping, then coverage paths can be computed, but the process is time-consuming and requires manual intervention
Solution Approach 1:
The system performs preliminary automated partitioning of the 3D surface into mathematically defined patches before UV mapping is attempted. By pre-segmenting the surface using algorithmic rules rather than manual intervention, the system prepares the data structure in advance, enabling rapid automated computation of coverage paths without time-consuming manual steps
Solution Approach 2:
The patent implements self-service automation where the system automatically segments, maps, and generates coverage paths without requiring manual segregation of partitions. The computational process serves itself by using automated algorithms to perform tasks that would otherwise require human intervention, eliminating both manual labor and associated time losses
3Productivity
If conventional surface analysis methods are used, then coverage can be achieved, but the approach is computationally intensive and requires unwrapping partitions
Solution Approach 1:
The patent efficiently transforms 3D surface coordinates into 2D UV parameter space through mathematical mapping functions. This dimensional transformation allows coverage paths to be computed in the simpler 2D UV domain and then mapped back to 3D space, reducing computational complexity compared to direct 3D surface analysis while avoiding complex unwrapping operations through algorithmic parameterization
Data Source
AI summary
A generalized approach and methodology for addressing surface traversal and coverage of a 3 Dimensional (3-D) object receives a 3-D wireframe or similar Cartesian based representation, converts the 3-D representation to a u,v system or mapping. Often employed for texture mapping, u.v grid systems define a two dimensional form of an object, often referred to as “unfolding” of an object. Configurations herein define a u.v grid system directly on the 3-D object for computing a coverage path, typically an aggregation of raster passes to traverse an entire 3-D surface. From a robotic manipulator, a 3D freeform surface, and task constraints, the approach determines whether there exists a feasible continuous motion plan to cover the surface, and if so, produces a uniform coverage path that best satisfies task constraints resulting from the physical object and robot kinematics.