Granted Patent B2

US 12,569,997 · App. 18/639,891 · Granted Mar 10, 2026

Inventors: Young Jun Kim (Seoul, KR); Daeun Song (Seoul, KR)

Assignee: Ewha University—Industry Collaboration Foundation

B25J9/1664G06T7/60G06T7/73

Abstract

Claims (64)

1 . A method of generating a robot path, the method comprising:

identifying a drawing pose set for a manipulator included in a robot in order to draw a two-dimensional (2D) image on a three-dimensional (3D) target surface;

setting a profile curve by projecting surface points of the 3D target surface onto an xy-plane;

determining coverage circles of the manipulator that are capable of covering all surface points of the profile curve;

deriving bounding circles for a mobile platform of the robot mounting the manipulator, corresponding to each of the determined coverage circles; and

generating a translation path of the robot for drawing the 2D image on the 3D target surface based on the derived bounding circles.

2 . The method of claim 1 , wherein the identifying of the drawing pose set comprises:

identifying 2D drawing data for the 2D image;

converting the 3D target surface to a 2D parametric domain;

mapping all drawing points included in the 2D drawing data to the 2D parametric domain; and

determining the drawing post set of the manipulator by inverting the 2D parametric domain to which all of the drawing points are mapped to the 3D target surface.

3 . The method of claim 2 , wherein the mapping of all of the drawing points to the 2D parametric domain comprises:

identifying, corresponding to a missing drawing point of the 2D drawing data, four nearest matching drawing points that form a quadrilateral in the 2D parametric domain, wherein the missing drawing point is a point that is not mapped to the 2D parametric domain; and

determining the drawing post set for the manipulator of the robot by parameterizing the missing drawing point by applying bilinear interpolation to a quadrilateral formed by the identified four nearest matching drawing points.

4 . The method of claim 1 , wherein the determining of the coverage circles of the manipulator comprises:

identifying a plurality of coverage circle candidates that is capable of covering all of the surface points of the profile curve; and

selecting final coverage circles for generating the robot path from among the identified plurality of coverage circle candidates based on a number of surface points of the profile curve included in each of the identified plurality of coverage circle candidates.

5 . The method of claim 1 , wherein the deriving of the bounding circles comprises:

determining a center of a bounding circle for the mobile platform to be in a direction perpendicular to a line connecting two endpoints among surface points of the profile curve included in each of the determined coverage circles.

6 . The method of claim 5 , wherein, in the mobile platform, a pose direction is determined based on the direction perpendicular to the line connecting the two endpoints.

7 . The method of claim 1 , wherein the generating of the translation path of the robot comprises:

determining a line connecting centers of each of the derived bounding circles for the mobile platform to be the translation path of the robot.

8 . A method of generating a robot path, the method comprising:

identifying a drawing pose set for a manipulator included in a robot in order to draw a two-dimensional (2D) image on a three-dimensional (3D) target surface;

setting a profile curve by projecting surface points of the 3D target surface onto an xy-plane;

identifying a plurality of coverage circle candidates that is capable of covering all surface points of the profile curve;

selecting, from among the identified plurality of coverage circle candidates, a first coverage circle candidate that comprises a greatest number of surface points of the profile curve;

selecting a second coverage circle candidate that comprises a greatest number of surface points among surface points of the profile curve other than surface points included in the first coverage circle candidate;

iterating the selecting of the first and second coverage circle candidates until coverage circle candidates capable of covering all of the surface points of the profile curve are selected;

deriving bounding circles for a mobile platform of the robot mounting the manipulator, corresponding to each of final coverage circles selected through the iteration; and

generating a translation path of the robot for drawing the 2D image on the 3D target surface based on the derived bounding circles.

9 . The method of claim 8 , wherein the identifying of the drawing pose set comprises:

identifying 2D drawing data for the 2D image;

converting the 3D target surface to a 2D parametric domain;

mapping all drawing points included in the 2D drawing data to the 2D parametric domain; and

determining the drawing post set of the manipulator by inverting the 2D parametric domain to which all of the drawing points are mapped to the 3D target surface.

10 . The method of claim 8 , wherein the deriving of the bounding circles comprises:

determining a center of a bounding circle for the mobile platform to be in a direction perpendicular to a line connecting two endpoints among surface points of the profile curve included in each of the determined coverage circles.

11 . The method of claim 10 , wherein, in the mobile platform, a pose direction is determined based on the direction perpendicular to the line connecting the two endpoints.

12 . A computing device comprising:

at least one processor; and

a memory configured to load or store a program executed by the processor,

wherein the program comprises instructions that, when executed by the processor, cause the processor to:

identify a drawing pose set for a manipulator included in a robot in order to draw a two-dimensional (2D) image on a three-dimensional (3D) target surface;

set a profile curve by projecting surface points of the 3D target surface onto an xy-plane;

determine coverage circles of the manipulator that are capable of covering all surface points of the profile curve;

derive bounding circles for a mobile platform of the robot mounting the manipulator, corresponding to each of the determined coverage circles; and

generate a translation path of the robot for drawing the 2D image on the 3D target surface based on the derived bounding circles.

13 . The computing device of claim 12 , wherein the processor is configured to:

identify 2D drawing data for the 2D image;

convert the 3D target surface to a 2D parametric domain;

map all drawing points included in the 2D drawing data to the 2D parametric domain; and

determining the drawing post set of the manipulator by inverting the 2D parametric domain to which all of the drawing points are mapped to the 3D target surface.

14 . The computing device of claim 13 , wherein the processor is configured to:

identify, corresponding to a missing drawing point of the 2D drawing data, four nearest matching drawing points that form a quadrilateral in the 2D parametric domain, wherein the missing drawing point is a point that is not mapped to the 2D parametric domain; and

determining the drawing post set for the manipulator of the robot by parameterizing the missing drawing point by applying bilinear interpolation to a quadrilateral formed by the identified four nearest matching drawing points.

15 . The computing device of claim 12 , wherein the processor is configured to:

identify a plurality of coverage circle candidates that is capable of covering all of the surface points of the profile curve; and

select final coverage circles for generating the robot path among the identified plurality of coverage circle candidates based on a number of surface points of the profile curve included in each of the identified plurality of coverage circle candidates.

16 . The computing device of claim 12 , wherein the processor is configured to:

determine a center of a bounding circle for the mobile platform to be in a direction perpendicular to a line connecting two endpoints among surface points of the profile curve included in each of the determined coverage circles.

17 . The computing device of claim 16 , wherein, in the mobile platform, a pose direction is determined based on the direction perpendicular to the line connecting the two endpoints.

18 . The computing device of claim 12 , wherein the processor is configured to:

determine a line connecting centers of each of the derived bounding circles for the mobile platform to be the translation path of the robot.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (19)