US 11,731,283 B2
Method for checking a safety area of a robot
Andreas Huber, Stallhofen (AT); Tomaz Kukovec, Makole (SI); and Christoph Monschein, Jagerberg (AT)
Assigned to MAGNA STEYR FAHRZEUGTECHNIK GMBH & CO KG, Graz (AT)
Filed by MAGNA STEYR Fahrzeugtechnik AG & Co KG, Graz (AT)
Filed on Jan. 18, 2021, as Appl. No. 17/151,259.
Claims priority of application No. 102020201375.6 (DE), filed on Feb. 5, 2020.
Prior Publication US 2021/0237278 A1, Aug. 5, 2021
Int. Cl. G05B 15/00 (2006.01); B25J 13/06 (2006.01); B25J 9/16 (2006.01); G06T 11/00 (2006.01); G06V 20/10 (2022.01); B25J 19/00 (2006.01)
CPC B25J 13/06 (2013.01) [B25J 9/1666 (2013.01); G06T 11/00 (2013.01); G06V 20/10 (2022.01); B25J 9/1671 (2013.01); B25J 19/0095 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method for checking a safety area of a robot with an augmented reality human machine interface (AR-HMI) that comprises a display and a video camera, the method comprising:
acquiring, at the AR-HMI, a robot type;
displaying, in the display of the AR-HMI, a virtual robot image of at least part of a robot of the acquired robot type in a manner such that the virtual robot image overlays an actual robot image of the robot of the acquired robot type in the video camera of the AR-HMI;
aligning a position of the virtual robot image with a position of the actual robot image by moving the AR-HMI in three-dimensional space;
confirming the alignment of the position between the virtual robot image and the actual robot image;
displaying, in response to confirming the alignment of the position, a virtual first safety cell area around the virtual robot image in the confirmed position as an overlay of the actual robot image in the display of the AR-HMI for positioning a reference coordinate system in a base of the robot;
displaying a virtual second safety cell area around the virtual robot image in the confirmed position as an overlay of the real or actual image in the display of the AR-HMI for positioning the reference coordinate system in the base of the robot; and
displaying a working space and a protected space, taking into consideration at least one current axis position of the robot, for positioning the reference coordinate system in the base of the robot.