Method and a system for programming an industrial robot
View Patent ↗A method for programming an industrial robot. The robot is taught a path having waypoints located on or in the vicinity of an object. An image of the object is obtained. Information is obtained about the position of a pointer pointing at points. The position of the points relative to the object is determined. A point being pointed out is stored as a waypoint. A graphical representation is generated of the stored waypoint and the point being pointed out. A view is displayed including the object and the graphical representation. A system includes a pointer for pointing out points on or in the vicinity of the object, a position determiner determines the position of the points relative to the object, a camera delivers an image of the object and the pointer, a graphical generator generates graphics, a display displays a view including the object and graphical representation, and an activator.
1. A method in connection with programming of an industrial robot, comprising teaching the robot a path having a number of waypoints located on or in the vicinity of an object to be processed by the robot, the method comprising:
obtaining an image of the object,
obtaining information about the position of a pointing member pointing at points on or in the vicinity of the object,
determining the position of the points in relation to the object based upon said obtained information,
storing the point being presently pointed out by the pointing member as a waypoint upon receiving a recording signal,
generating a graphical representation of the stored waypoint and the point being presently pointed at by the pointing member, and
displaying a view comprising the object and said graphical representation projected on the object based on the image of the object and the generated graphical representation of the points.
2. The method according to claim 1 , further comprising:
generating a graphical representation of the path between the latest stored waypoint and the point presently being pointed out.
3. The method according to claim 1 , further comprising:
generating a graphical representation of the path between at least some of the stored waypoints.
4. The method according to claim 3 , further comprising:
obtaining information about whether the processing shall be on or off between the waypoints, and
generating a graphical representation of the path between the stored waypoints depending on whether the processing shall be on or off.
5. The method according to claim 3 , further comprising:
receiving information related to the processing, and
generating a graphical representation of the path between the stored waypoints depending on the received information related to the processing.
6. The method according to claim 1 , wherein said displaying step further comprises:
registering the generated graphical representation of the point to the image of the object to provide a composite augmented reality image and displaying a view showing the object and the point based on the composite augmented reality image.
7. The method according to claim 1 , wherein determining the position of the point comprises:
recognizing a first marker within the image, said first marker being positioned in a fixed relation to the object,
recognizing a second marker within the image, said second marker being positioned in a fixed relation to a pointing member pointing out the point, and
determining the position of the point in relation to the object based upon the first and the second marker.
8. The method according to claim 1 , further comprising:
obtaining information about position and orientation of the pointing member and
generating a graphical representation of the orientation of the pointing member in the point based upon the obtained information.
9. The method according to claim 1 , further comprising:
generating robot programming code based upon the determined position of the waypoint.
10. The method according to claim 9 , further comprising:
obtaining information about the orientation of the pointing member,
determining the orientation of the pointing member in the point based upon the obtained information and
the robot programming code is generated based upon the determined orientation of the waypoint.
11. The method according to claim 1 , wherein the image of the object is obtained by means of a camera.