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Application US20200122327
Published 2020-04-23
Method And System For Programming A Cobot For A Plurality Of Industrial Cells
Systems and a method for programming for a plurality of cells of an industrial environment. A physical cobot is provided within a lab cell comprising lab physical objects. A virtual simulation system with a user interface is provided. The virtual simulation system receives information inputs on the virtual cobot, on the virtual lab cell comprising lab virtual objects, and on a plurality of virtual industrial cells comprising virtual industrial objects. The virtual cobot and the physical cobot are connected together. A superimposed meta-cell is generated by superimposing the plurality of virtual cells and the virtual lab cell so as to obtain a single superimposed meta cell including a set of superimposed virtual objects. The virtual cobot is positioned in the superimposed meta cell. Inputs are received from the physical cobot's movement during teaching whereby the physical cobot is moved in the lab cell to the desired position(s) while providing, via the user interface, a visualization of the virtual cobot's movement within the superimposed meta cell so that collisions with any object are minimized. A robotic program is generated based on the received inputs of the physical cobot's movement.
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- 1. A method for programming by a data processing system a cobot for a plurality of cells of an industrial environment, comprising the following steps:
a) providing a physical cobot in a physical lab cell comprising a set of physical lab objects for teaching purposes; b) providing a virtual simulation system for simulating, in a virtual environment, a virtual cobot representing the physical cobot; c) providing a user interface for a user to interact with the virtual simulation system; d) receiving inputs on a virtual cobot representing the physical cobot, inputs on a virtual lab cell representing the physical lab cell, inputs on a set of virtual lab objects representing the set of the physical lab objects, inputs on a plurality of virtual industrial cells representing the plurality of cells of the industrial environment to be modeled, wherein each virtual industrial cell comprises a set of virtual industrial objects representing a set of physical industrial objects occupying the space of a corresponding cell of the industrial facility to be modeled; e) connecting the virtual cobot and the physical cobot together so that when the physical cobot moves, the virtual cobot follows the movement in the virtual environment, and once the virtual cobot detects a possible collision, both the physical cobot and the virtual cobot receive a collision notification; f) generating a superimposed meta-cell by superimposing the plurality of virtual industrial cells with the virtual lab cell so as to obtain a single superimposed meta cell comprising a set of superimposed virtual objects; g) positioning the virtual cobot in the generated superimposed meta cell; h) receiving inputs from the physical cobot's movement during teaching whereby the physical cobot is moved in the lab cell to the desired position(s) while providing, via the user interface, a visualization of the virtual cobot's movement within the superimposed meta cell so that collisions with any object are minimized; i) generating a robotic program based on the received inputs of the physical cobot's movement.
- 5. A data processing system comprising:
a processor; and an accessible memory, the data processing system particularly configured to:
a) provide a physical cobot in a physical lab cell comprising a set of physical lab objects for teaching purposes;
b) provide a virtual simulation system for simulating, in a virtual environment, a virtual cobot representing the physical cobot;
c) provide a user interface for a user to interact with the virtual simulation system;
d) receive inputs on a virtual cobot representing the physical cobot, inputs on a virtual lab cell representing the physical lab cell, inputs on a set of virtual lab objects representing the set of the physical lab objects, inputs on a plurality of virtual industrial cells representing the plurality of cells of the industrial environment to be modeled, wherein each virtual industrial cell comprises a set of virtual industrial objects representing a set of physical industrial objects occupying the space of a corresponding cell of the industrial facility to be modeled;
e) connect the virtual cobot and the physical cobot together so that when the physical cobot moves, the virtual cobot follows the movement in the virtual environment, and once the virtual cobot detects a possible collision, both the physical cobot and the virtual cobot receive a collision notification;
f) generate a superimposed meta-cell by superimposing the plurality of virtual industrial cells with the virtual lab cell so as to obtain a single superimposed meta cell comprising a set of superimposed virtual objects;
g) position the virtual cobot in the generated superimposed meta cell;
h) receive inputs from the physical cobot's movement during teaching whereby the physical cobot is moved in the lab cell to the desired position(s) while providing, via the user interface, a visualization of the virtual cobot's movement within the superimposed meta cell so that collisions with any object are minimized;
i) generate a robotic program based on the received inputs of the physical cobot's movement.
- 9. A non-transitory computer-readable medium encoded with executable instructions that, when executed, cause one or more data processing systems to:
a) provide a physical cobot in a physical lab cell comprising a set of physical lab objects for teaching purposes; b) provide a virtual simulation system for simulating, in a virtual environment, a virtual cobot representing the physical cobot; c) provide a user interface for a user to interact with the virtual simulation system; d) receive inputs on a virtual cobot representing the physical cobot, inputs on a virtual lab cell representing the physical lab cell, inputs on a set of virtual lab objects representing the set of the physical lab objects, inputs on a plurality of virtual industrial cells representing the plurality of cells of the industrial environment to be modeled, wherein each virtual industrial cell comprises a set of virtual industrial objects representing a set of physical industrial objects occupying the space of a corresponding cell of the industrial facility to be modeled; e) connect the virtual cobot and the physical cobot together so that when the physical cobot moves, the virtual cobot follows the movement in the virtual environment, and once the virtual cobot detects a possible collision, both the physical cobot and the virtual cobot receive a collision notification; f) generate a superimposed meta-cell by superimposing the plurality of virtual industrial cells with the virtual lab cell so as to obtain a single superimposed meta cell comprising a set of superimposed virtual objects; g) position the virtual cobot in the generated superimposed meta cell; h) receive inputs from the physical cobot's movement during teaching whereby the physical cobot is moved in the lab cell to the desired position(s) while providing, via the user interface, a visualization of the virtual cobot's movement within the superimposed meta cell so that collisions with any object are minimized; i) generate a robotic program based on the received inputs of the physical cobot's movement.
