Method and system for programming a robot using a virtual reality environment

Abstract

The present invention relates to a method and a system for programming a robot using a virtual reality environment. The method comprises: importing a representation of an object into the virtual reality environment; performing, by a user, a processing step for processing the object in the virtual reality environment; determining an effect of the processing step on the object, wherein the effect of the processing step on the object is determined by one or more parameters; adapting the execution of the processing step based on the determined effect of the processing step on the object; converting the adapted execution of the processing step into program code for controlling the robot.

Claims

[1] A method (3000) for programming a robot (2500) using a virtual reality environment, comprising: Importing (3100) a representation of an object (1220) into the environment in the virtual reality; Performing (3200), by a user, a processing step for processing the object (1220) in the environment in the virtual reality; Determining (3300) an effect (1221) of the processing step on the object (1220), wherein the effect (1221) of the processing step on the object (1220) is determined by one or more parameters; Adapting (3400) the execution of the processing step based on the determined effect (1221) of the processing step on the object (1220); and Converting (3500) the adapted execution of the processing step into a program code for controlling the robot (2500). [2] The method (3000) of claim 1, wherein determining (3300) the effect (1221) of the processing step on the object (1220) comprises simulating the effect (1221) of the processing step and monitoring the effect (1221) of the processing step on the object (1220): [3] Method (3000) according to one of claims 1 to 2, further comprising: manually adjusting the execution of the processing step based on the determined effect (1221) of the processing step on the object (1220). [4] The method (3000) according to any one of claims 1 to 3, wherein performing, by the user, the processing step of processing the object (1220) in the environment in the virtual reality comprises: Detecting a movement of the user for processing the object (1220) in the environment in virtual reality, in particular a position, a posture and / or a speed of a movement of a hand of the user. [5] Method (3000) according to claim 4, wherein the detection of the movement of the user is carried out at a frequency in the range between 1 Hz and 1000 Hz, preferably at a frequency in the range between 10 Hz and 100 Hz, more preferably at a frequency of 10 Hz. [6] Method (3000) according to one of claims 1 to 5, wherein performing the processing step comprises filtering and / or smoothing a movement of the user for processing the object (1220) in the environment in the virtual reality. [7] Method (3000) according to one of claims 1 to 6, wherein performing the processing step comprises interpolating detected movement data to calculate intermediate values, preferably by means of a polynomial function and / or by means of a polynomial train. [8] Method (3000) according to one of claims 1 to 7, wherein the environment represents a workshop for processing the object (1220) in the virtual reality. [9] Method (3000) according to one of claims 1 to 8, wherein the processing step is a process for processing a surface of the object (1220), preferably painting, sandblasting, gluing, and / or grinding. [10] The method (3000) of any one of claims 1 to 9, wherein the processing step is a process for painting the object (1220) and the method (3000) comprises creating paint paths. [11] The method (3000) of any one of claims 1 to 10, wherein the one or more parameters comprise a distance to the object (1220), an amount of paint, a time period for painting the object (1220), and / or a thickness of paint on the object (1220). [12] System (1000; 2000), comprising: one or more processors; Means for carrying out the method according to one of claims 1 to 11; one or more displays (1200; 1400) for displaying the object and the environment in virtual reality; and a means (1300) for detecting a movement of the user, in particular a representation of the tool in reality such as an input device held in a hand of the user. [13] The system (1000; 2000) of claim 12, wherein the one or more displays (1200; 1400) for representing the object (1220) and the environment in virtual reality comprise a reality augmentation device (1400). [14] The system (1000; 2000) of claim 13, wherein the reality augmentation device (1400) comprises reality augmenting or reality enriching glasses. [15] A non-transitory computer-readable storage medium comprising instructions stored thereon which, when executed by one or more processors of a system, cause the system (1000; 2000) to perform the method (3000) of any one of claims 1 to 11. [16] Robot (2500) which has been programmed by means of a method (3000) according to one of claims 1 to 11.

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