Marker-Based Virtual Item Programming for Large Robot Teach-In
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Solution Overview
Problem
Existing robotic programming techniques, such as teach-in and offline methods, face challenges with large objects where teach-in requires physical presence and is labor-intensive, while offline requires complex simulation and advanced skills.
Innovation Solution
A method and apparatus that uses a virtual item marked with a marker to simulate interactions during programming, allowing for the identification and display of the virtual item, enabling efficient programming of robots by replacing real items with virtual ones, which can be easily handled and positioned.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If teach-in techniques are used for programming large objects, then the robot can be easily programmed according to real installation, but the objects need to be physically available which is difficult or impossible for large objects and causes downtime
Solution Approach 1:
The patent uses virtual copies (digital twins) of large objects that can be manipulated in simulation environment. These virtual objects replicate the physical properties and geometry of real large objects, allowing programmers to work with accurate representations without physical constraints. The virtual objects can be freely positioned, rotated, and manipulated during programming, eliminating the need for physical object availability and reducing downtime.
Solution Approach 2:
The system allows programming to be performed in advance using virtual objects in a simulation environment before the actual robot deployment. All programming tasks can be completed preliminarily without requiring the physical presence of large objects, and the program can be tested and validated before commissioning, eliminating programming downtime during actual operation.
2Loss of time
If offline programming is used, then programming can be done prior to commissioning with no downtime, but the complete surrounding needs to be accurately mapped into simulation environment requiring advanced programming skills
Solution Approach 1:
Instead of requiring complete and accurate mapping of the entire physical environment into complex simulation models, the system uses simplified virtual objects that capture only the essential geometric and physical properties needed for programming. These virtual copies are sufficient for teaching robot motions and interactions without requiring faithful reproduction of the entire surroundings, reducing simulation complexity while maintaining programming effectiveness.
Solution Approach 2:
The system applies partial mapping by creating virtual representations only of the specific objects and areas relevant to the programming task, rather than mapping the complete environment. This selective approach reduces the complexity of the simulation environment while still enabling effective offline programming for the required operations.
3Reliability
If teach-in techniques are used for large objects, then the robot can interact with real objects, but the process becomes labor-intensive and unsafe
Solution Approach 1:
The system replaces physical interaction with large objects with virtual interaction through digital twins. Programmers can safely manipulate virtual representations of hazardous or difficult-to-handle objects without physical risk. The virtual objects maintain accurate geometric and physical properties, ensuring that the robot learns correct interaction patterns while the programmer remains safe from physical hazards associated with large or dangerous objects.
Data Source
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AI summary
The object of the present disclosure is to provide a method, apparatus, computer-readable storage media and a computer program for robotic programming. To solve the dilemma that teach-in techniques can't 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 (20) marked by a marker (30) during programming of the robot (10) and display the virtual item (20) to a user (40). So even very large items can be used and also replaced easily during programming, which makes the programming procedures go smoothly and efficiently.