Checking a predefined path of a robot

Abstract

The invention relates to a method for checking a predefined path of a robot (1), comprising the following steps: determining (S20) or providing a computer-implemented three-dimensional environment model; determining (S30) a distance between a computer-implemented model of the robot and the environment model for different sections of the path; and visualising (S40) a virtual representation of the path using a visualisation device (2; 3) in an augmented reality for checking the path, wherein, in this visualisation, a warning is output for a section of the path if the distance determined for this section falls within a predefined warning range, and an all-clear is output for a section of the path if the distance determined for this section falls within an all-clear range.

Description

[0001] Description

[0002] Checking a given path of a robot

[0003] The present invention relates to a method and system for checking a predetermined path of a robot and to a computer program or computer program product for carrying out the method.

[0004] Robot paths can be specified in particular using a simulated environment and / or by teaching, in particular path points.

[0005] Especially for commissioning, it should preferably be checked in advance whether a real robot could or would collide with its real environment when following a given path, which may differ from the simulated environment or the real environment as it was during training.

[0006] The object of the present invention is to improve the operation of robots, in particular (by) checking predetermined paths.

[0007] This object is achieved by a method having the features of claim 1. Claims 14, 15 represent a system or computer program or.

[0008] A computer program product for carrying out a method described herein is protected. The subclaims relate to advantageous developments.

[0009] According to one embodiment of the present invention, a method for testing a predetermined path of a robot (“robot path”) comprises the steps of:

[0010] Obtaining or providing a computer-implemented three-dimensional environment model;

[0011] Determining a distance between

[0012] - a computer-implemented model of the robot and

[0013] - the environment model for different sections of the track; and

[0014] Visualising a virtual representation of the track using a visualisation device in an augmented reality for checking the track, wherein in this visualisation - a warning is issued for a section of the track if the distance determined for this section lies within a predefined warning range, and

[0015] - an all-clear signal is issued for one section of the track, in particular this section, if the distance determined for this section lies within a specified all-clear range.

[0016] As a result, in one embodiment, a test person can (re)check the specified path more reliably and / or quickly for the risk of possible collisions with the real environment. In one embodiment, the path is checked, preferably by the test person, with the aid of or on the basis of the visualized virtual representation and the issued warning and / or all-clear signal. In a further development, one or more sections for which a warning is issued are specifically, in particular more thoroughly, more precisely and / or separately checked, in particular for possible collisions of the robot with the environment, and the path, in particular at least this section(s), is modified if necessary.

[0017] In one embodiment, the robot has a robot arm with three or more, preferably at least six, in one embodiment at least seven, joints, in a further development pivot joints, which connect movable members of the robot to one another and are movable by drives, in particular motors, of the robot, and / or a mobile base, in particular movable with the aid of at least one drive, in particular motor, of the robot. The invention is particularly advantageous for such robots, in particular due to the complex paths thus possible. In one embodiment, a robot-guided tool or workpiece forms a (distal) movable member of the robot within the meaning of the present invention, or the model of the robot (also) has a model of a robot-guided tool or workpiece.

[0018] In one embodiment, the path is specified by programming or by a work program and, in particular, is specified in a further development using a simulated environment and / or by teaching, in particular, path points. The three-dimensional environment model comprises, in one embodiment, particularly permanently or temporarily stored data that specify or describe one or more three-dimensional contours or geometries of a real environment of the robot, in particular a robot cell, production or warehouse hall, or the like.

[0019] In one embodiment, the robot model comprises, in particular, permanently or temporarily stored data that specify or describe the three-dimensional contour(s) or geometry(s) of the (real) robot, in particular one or more of its movable limbs. As mentioned above, in one embodiment, a robot-guided tool or workpiece forms a (distal) movable limb of the robot within the meaning of the present invention, or the robot model (also) comprises a model of a robot-guided tool or workpiece.

[0020] A section of the track for which a warning or all-clear is issued can consist of a (track) point or be a (track) point for which the distance is determined.

[0021] In one embodiment, a section of the path for which a warning or all-clear is issued extends on one or both sides beyond a (path) point or has several (path) points; it can be continuous or discrete, in particular a continuous or discrete sequence of points.

[0022] In one embodiment, to determine the distance for a section comprising multiple points, the distance of a selected point, for example, a starting, ending, or middle point of this section (as the distance of this section) is determined. In a further development, the section comprising multiple points is colored accordingly or depending on the determined distance of this point. This allows the test to be performed more quickly in one embodiment.

[0023] In one embodiment, to determine the distance for a section comprising multiple points, the distances between two or more discrete, in particular selected, points of this section, for example, a starting point and an end point of this section, a starting point, an end point, and a middle point of this section, or the like, are determined, and the smallest of these distances is determined as the distance of this section. This allows the test to be performed both quickly and precisely in one embodiment.

[0024] In one embodiment, to determine the distance for a section comprising multiple points, in particular a continuous section, the minimum distance or the distance to the point closest to the environment model is determined as the distance of this section. This allows the check to be performed more precisely in one embodiment.

[0025] In one further development, a section, in particular a section consisting of one or more points, is colored according to or depending on the determined distance. In one embodiment, this can improve the precision of the test. For example, a point or section, in particular a single point or a section comprising several points, is colored red to issue a warning and / or colored green to issue an all-clear. Likewise, the coloring can also be multi-level and / or discretized differently, for example in {red, yellow, green} or the like, in particular with other colors and / or more finely discretized, or change continuously with the relevant, in particular smallest, distance, for example from red for (too) small distances to green for (sufficiently) large distances or the like.

[0026] In one embodiment, the method comprises the step:

[0027] - Acquiring data of a real environment of the robot using a sensing device, which in one embodiment is mobile and in a further development is particularly portable by a person; wherein the environment model is determined on the basis of this acquired data.

[0028] This allows, in one embodiment, the robot's real environment to be advantageously taken into account during the test, thus enabling the risk of collision with it to be assessed particularly reliably. In one embodiment, the detection device is arranged on the visualization device, either integrated or detachably in a further development. This allows, in one embodiment, the environment model to be advantageously determined in situ or shortly before visualization, thus making the test particularly up-to-date and therefore particularly reliable and informative.

[0029] In one embodiment, the acquisition device for acquiring the data is moved translationally and / or rotationally and / or manually relative to the real environment, in particular by an inspection person handling the visualization device. This allows a larger area of ​​the environment and / or the environment to be captured more precisely, thus making the inspection particularly reliable and meaningful.

[0030] In one embodiment, the detection device comprises one or more non-contact distance meters; in a further development, it comprises one or more radar distance meters, one or more ultrasonic distance meters, and / or one or more lidar distance meters. This allows the environment model to be determined more precisely in one embodiment, thus making the test particularly reliable and informative. Lidar distance meters are particularly advantageous because of their compact design and precise measurement capabilities.

[0031] Additionally or alternatively, the detection device in one embodiment has one or more cameras, in a further development a 3D camera system, which in one embodiment has at least two or stereo cameras, a triangulation system in which at least one light source images a defined pattern onto the surroundings and at least one camera records this pattern, preferably from a different viewing angle, at least one TOF camera, at least one interferometry camera, at least one light field camera or the like, and / or an image evaluation. In one embodiment, this allows the surroundings to be detected more quickly, thus enabling the inspection to be carried out particularly quickly and / or a larger surrounding area to be taken into account.

[0032] Alternatively, or particularly preferably in addition to the determination based on the acquired data of the real environment, the environment model is determined in one embodiment based on specified target data, or in a further embodiment, CAD data, of the environment. By taking such data into account, the environment model can be determined in one embodiment more quickly and / or more precisely.

[0033] In one embodiment, the robot model is determined on the basis of predetermined target data; in a further development, this is determined on the basis of the predetermined path of the robot and / or on the basis of CAD data of the robot, and / or a measurement of the robot. By taking such data into account, the robot model can be determined more quickly and / or more precisely in one embodiment. In one embodiment, the robot model has or indicates a pose of the robot members relative to one another and / or to an environmentally fixed reference system for the various sections, in particular points, of the path, which pose is predetermined by the predetermined path. In one embodiment, a pose or attitude within the meaning of the present invention comprises a one-, two-, or three-dimensional position and / or a one-, two-, or three-dimensional orientation.

[0034] As explained above, in one embodiment, a robot-guided tool or workpiece forms a movable member of the robot within the meaning of the present invention. Accordingly, in one embodiment, the robot model comprises a computer-implemented model of a robot-guided tool or workpiece as a movable member of the robot. This advantageously allows the risk of a collision of a robot-guided tool or workpiece with the environment to be checked. Accordingly, in one embodiment, the robot model is determined based on specified target data, in a further development CAD data, of the tool or workpiece, and / or a measurement of the tool or workpiece.

[0035] In one embodiment, the environment model has one or more geometry primitives in a predetermined relationship, in particular spatial position, to a real environmental obstacle, in particular thus to several real environmental obstacles, each at least one geometry primitive in a predetermined relationship, in particular spatial position, to this real environmental obstacle. Additionally or alternatively, in one embodiment, the robot model has one or more geometry primitives in a predetermined relationship, in particular spatial position, to a member of the robot, in particular thus to several members of the robot, preferably at least one end effector, each at least one geometry primitive in a predetermined relationship, in particular spatial position, to this robot member. In one embodiment, this allows the distance(s) to be determined more quickly.A geometric primitive within the meaning of the present invention is, in one embodiment, a polyhedron, in particular a prism, in particular a cuboid, or a cylinder, cone, ellipsoid, in particular a sphere, or the like. This allows the distance(s) to be determined particularly quickly in one embodiment.

[0036] In one embodiment, the environment model is determined using at least one approximation of features detected using the detection device, in particular points, particularly preferably a point cloud detected using the detection device. In a further development, the model is determined using one or more grids and / or one or more approximation surfaces, in particular planar approximation surfaces and / or singly or multiply curved approximation surfaces. In one embodiment, such grids or approximation surfaces are determined by means of adjustment functions, in particular interpolation or extrapolation, smoothing and / or other fitting functions of points detected using the detection device. In particular, the environment model can have this approximation. By means of such an approximation, the environment can be modeled in a particularly advantageous manner, in particular quickly and / or precisely, in one embodiment.

[0037] In one embodiment, the environment model is determined based on the robot, in particular using data from the robot acquired by a detection device, in particular the detection device, and / or based on the model of the robot. In a further development, the robot, which may have been included in the acquisition of data from the robot's real environment using the detection device, is at least partially eliminated or masked out. This allows the environment model to be improved in one embodiment.

[0038] In one embodiment, the environmental model is determined based on a selection of an environmental area by a test person. In a further development, an environmental area selected by the test person is not taken into account by the environmental model, in one development it is not already captured using the capture device, and / or only an environmental area selected by the test person is taken into account by the environmental model, in one development only this environmental area is captured using the capture device. In one embodiment, this allows the environmental model to be improved and / or determined more quickly.

[0039] In one embodiment, the distance between the model of the robot and the environment model is determined for one or more of the different sections of the path based on a minimum distance between

[0040] - an imaginary shell of a selected movable member of the robot, in an embodiment of a robot-guided tool or workpiece, or

[0041] - an imaginary shell of several, in one embodiment all, movable members of the robot, in one embodiment including a robot-guided tool or workpiece, and

[0042] - an imaginary shell of the entire environment of the robot described by the environment model or

[0043] - an imaginary shell of a selected part of this environment or shell, can in particular be the corresponding distance.

[0044] Such an imaginary shell is, in one embodiment, determined at least partially by the model of the robot or environment model, in one embodiment, one or more of the geometry primitives of the robot model and / or one or more of the geometry primitives of the environment model and / or the approximation of points detected by means of the detection device, with the aid of which the environment model is determined or which the environment model has, and can in particular be formed at least partially by surfaces, corners, edges, nodes, coordinate lines or the like of the geometry primitives or the approximation, in particular of the grid(s) or the approximation surface(s), and / or a predetermined, in particular average, minimum and / or maximum, distance to the robot (limb) or a surface of the environment or the environment region and / or a predetermined, in particular average, minimum and / or maximum, distance to the orthe geometry primitive(s), grid(s), or approximation surface(s) or be defined or specified accordingly. An imaginary hull can, in particular, be continuous or discrete. Thus, for example, the minimum distance between corners, edges, and / or surfaces of a geometry primitive of the robot model in the form of a cuboid and a grid or an approximation surface of the environment model can be used to determine a distance between the robot model and the environment model.

[0045] By determining the distance on the basis of a minimum distance of an imaginary shell of a selected movable member of the robot or of a selected sub-area of ​​the entire environment of the robot described by the environment model, the determination can be carried out more quickly in one embodiment, in particular can be limited to prima facie relevant areas.

[0046] By determining the distance based on a minimum distance of an imaginary shell of several, in one embodiment all, movable members of the robot or the entire environment of the robot described by the environment model, the test can be carried out more reliably in one embodiment, in particular several different collision possibilities can also be taken into account.

[0047] In one embodiment, the visualization device is a mobile, in particular portable (by a person, preferably with one hand), visualization device; in one embodiment, it comprises a handheld device, preferably a handheld device, tablet, smartphone, laptop, or the like, and / or glasses, in particular A(ugmented)R(eality) glasses. In one embodiment, this allows testing to be carried out in situ or on-site and thus improved. In one embodiment, the visualization device is configured (in terms of hardware and / or software) to control the robot or is (also) used for this purpose. In one embodiment, this allows commissioning to be carried out more quickly and / or more safely.

[0048] In one embodiment, the (visualized) virtual representation of the path comprises a path, in one embodiment continuous, of a robot-fixed reference point, preferably of an end effector of the robot, and / or a representation of one or more, in particular all, movable limbs of the robot, in one embodiment by means of or through geometric primitives of the robot model. The representation of the limb(s) of the robot changes in one embodiment during the visualization according to the specified path; accordingly, the virtual representation can in particular comprise a virtual simulation of the robot or a representation of the movement of one or more of its limbs while traveling along the path.

[0049] By visualizing the path, the inspection can be carried out more quickly and / or reliably in one embodiment, in particular an inspector can inspect or assess the path more easily, more intuitively and / or more quickly. In one embodiment, issuing a warning or all-clear signal comprises highlighting, preferably coloring and / or illuminating, the corresponding path or route section according to the distance determined for this purpose, wherein different distances can be assigned different highlighting, preferably colors or illumination, for example all distances in the warning area are assigned the color red and all distances in the all-clear area are assigned the color green, or all distances in the warning area are assigned the color red, smaller distances in the all-clear area are assigned the color yellow and larger distances in the all-clear area are assigned the color green, or a color that changes continuously or in several discrete steps with the determined distance, and / or path orPath sections with distances in the warning area are shown illuminated and track or path sections with distances in the all-clear area are shown non-illuminated or the lighting changes with the distances.

[0050] Additionally or alternatively, issuing a warning or all-clear signal can comprise highlighting, preferably coloring and / or illuminating, the representation of one or more, in particular all, movable members of the robot according to the distance determined for the respective section, wherein different distances can be assigned different highlighting, preferably colors and / or illumination, as described above. For example, the representation is colored red for or along section(s) with (too) small distances and green for or along section(s) with (sufficiently) large distances; likewise, the color of the representation can change continuously or in several discrete steps with the determined distance, and / or the representation can be displayed illuminated for distances in the warning area and non-illuminated in the all-clear area, or its illumination can change with the distances.

[0051] Likewise, the highlighting or issuing of a warning or all-clear signal in one embodiment can comprise a style of the corresponding track or path section or of the representation according to the distance determined for this purpose, wherein different styles can be assigned to different distances, for example thick and / or solid lines for all distances in the warning area and thin and / or dashed lines for all distances in the all-clear area, wherein, of course, a variety of other styles can also be used, for example a line thickness can change continuously or in discrete steps with the distance or the like.

[0052] By highlighting, in particular coloring and / or lighting, the path, an examiner can in one embodiment check or assess the path more quickly, by highlighting, in particular coloring and / or lighting, the representation of the robot limb(s) can be made more intuitive, by varying the style the visualization can be simplified and / or its recognizability can be improved.

[0053] In one embodiment, a first virtual representation is used to visualize a section of the path if the distance determined for this section lies in the warning range, and a second virtual representation different from this is used to visualize this section of the path if the distance determined for this section lies in the all-clear range. For example, as explained elsewhere, a first virtual representation can be used to visualize a section of the path, which has a red-colored path section of a robot-fixed reference point if the distance determined for this section lies in the warning range, and a second virtual representation different from this can be used to visualize this section of the path, which has a green-colored path section of the robot-fixed reference point if the distance determined for this section lies in the all-clear range.In a further development, a first virtual representation is used to visualize a section of the track if the distance determined for this section lies in one part of the warning area, and a different first virtual representation is used to visualize this section of the track if the distance determined for this section lies in another part of the warning area. Additionally or alternatively, in a further development, a second virtual representation is used to visualize a section of the track if the distance determined for this section lies in one part of the all-clear area, and a different second virtual representation is used to visualize this section of the track if the distance determined for this section lies in another part of the all-clear area.

[0054] For example, to visualize a section of the path, a first virtual representation can be used which has a thick and / or red-colored path section of a robot-fixed reference point if the distance determined for this section lies in the warning area, another first virtual representation can be used which has a thinner and / or orange-colored path section of the reference point if the distance determined for this section is greater but still lies in the warning area, a second virtual representation can be used which has a thick and / or yellow-colored path section of the reference point if the distance determined for this section lies in the all-clear area, and another second virtual representation can be used which has a thinner and / or green-colored path section of the reference point if the distance determined for this section lies in the warning area but is greater.

[0055] The above-mentioned colors, lighting, styles, and classifications are, of course, only examples, although a variety of other discretizations and / or warnings or all-clear statements are possible.

[0056] In one embodiment, when visualizing the virtual representation of the path, one or more parameters of the path are output, in one embodiment a speed and / or at least one parameter, for example a speed, for at least one section, in particular a point, of the path selected in particular by a test person and / or at least one parameter, for example a speed, for a section, in particular a point, of the path that is currently being traveled or approached in a simulated manner during the visualization.

[0057] Additionally or alternatively, in one embodiment, during visualization, a value of the determined distance for at least one section of the path, in particular a globally minimum distance and / or a distance for a section, in particular a point, of the path selected, in particular by a test person, and / or for a section of the path that is currently being traveled or is currently being simulated, in particular a point that is being approached in a simulated manner, is output.

[0058] In one embodiment, a parameter and / or a distance value is output numerically, acoustically, and / or symbolically. For example, a direction of travel can be output by an arrow, a TCP speed by a corresponding numerical value, a distance value symbolically by a corresponding line, in particular a dimension line with ends symbolized, for example, by arrows, horizontal lines, or the like, and / or numerically by a corresponding numerical value, and / or a parameter or distance value acoustically, in particular by different pitches in relation to a reference tone, in particular a reference tone that corresponds to a zero value of the parameter or distance value.

[0059] By means of one or more of the features mentioned above, in one embodiment an inspector can inspect or assess the web more quickly and / or reliably.

[0060] Depending on the result of the test, the track is modified in one version, in a further development by (inputs or specifications by) the test person or automatically. A method described here can then be carried out again for or with the modified track(s) in order to test this modified track in an analogous way, whereby in one further development data from the real environment is again recorded and the environmental model is again determined on the basis of this data, which can advantageously take changes to the real environment into account, in another further development the previously used environmental model is reused or (again) provided, which can advantageously reduce effort and time required. The invention can be used with particular advantage in orto commission the robot to travel the specified path, since this is particularly advantageous in increasing safety and / or reducing effort and / or time, but is not limited to this.

[0061] According to one embodiment of the present invention, a system, in particular hardware and / or software, in particular program technology, is set up to carry out a method described here and / or comprises:

[0062] - means for determining or providing a computer-implemented three-dimensional environment model;

[0063] - means for determining a distance between a computer-implemented model of the robot and the environment model for different sections of the path; and

[0064] - a visualization device for visualizing a virtual representation of the track in an augmented reality for checking the track, wherein in this visualization a warning is issued for a section of the track if the distance determined for this section lies within a predetermined warning range, and an all-clear is issued for a section of the track if the distance determined for this section lies within a predetermined all-clear range.

[0065] In one embodiment, the system or its means comprises:

[0066] - a, in particular mobile, in particular portable, detection device for detecting data of a real environment of the robot and means for determining the environment model on the basis of these detected data, in particular with the aid of at least one approximation of points detected with the aid of the detection device, wherein the detection device in one embodiment is arranged on the visualization device and / or has at least one contactless measuring distance meter, in particular at least one lidar, radar or ultrasonic distance meter, and / or at least one camera, in particular a 3D camera system, and / or an image evaluation; and / or

[0067] - Means for determining the environmental model on the basis of specified target data, in particular CAD data, of the environment and / or on the basis of the robot, in particular with the aid of data of the robot acquired, in particular by the acquisition device, and / or on the basis of the model of the robot and / or on the basis of a selection of an environmental area by an inspector; and / or

[0068] - means for determining the model of the robot on the basis of specified target data, in particular the specified path of the robot and / or CAD data of the robot, and / or a measurement of the robot; and / or

[0069] - means for determining the distance between the model of the robot and the environment model for at least one of the different sections of the path on the basis of a minimum distance between an imaginary shell of a selected movable member of the robot or an imaginary shell of several, in particular all, movable members of the robot and an imaginary shell of the entire environment of the robot described by the environment model or a selected sub-area thereof; and / or

[0070] - Means for using a first virtual representation for visualizing a section of the path when the distance determined for this section lies in the warning area, in particular a part of the warning area, and a second virtual representation different therefrom when the distance determined for this section lies in the all-clear area, in particular a part of the all-clear area, in particular another first virtual representation when the distance determined for this section lies in another part of the warning area, and / or another second virtual representation when the distance determined for this section lies in another part of the all-clear area; and / or

[0071] - Means for outputting at least one parameter of the path, in particular a speed and / or for at least one selected section of the path and / or for a section of the path simulated during visualization, in particular a point, and / or a value of the determined distance for at least one section of the path, in particular a global minimum distance and / or a distance for a selected section of the path and / or for a section of the path simulated during visualization, in particular a point, of the path, when visualizing the virtual representation of the path, in particular numerically and / or symbolically; and / or

[0072] - Means for modifying the path. A system and / or means within the meaning of the present invention can be designed in hardware and / or software, in particular at least one, in particular digital, processing unit, in particular a microprocessor unit (CPU), graphics card (GPU) or the like, preferably data- or signal-connected to a memory and / or bus system, and / or one or more programs or program modules. The processing unit can be designed to execute commands implemented as a program stored in a memory system, to detect input signals from a data bus, and / or to output output signals to a data bus. A memory system can have one or more, in particular different, storage media, in particular optical, magnetic, solid-state, and / or other non-volatile media. The program can be designed in such a way that it embodies the methods described here oris capable of executing, so that the processing unit can execute the steps of such methods and thus in particular can visualize the virtual representation of the path or issue the warning or all-clear. In one embodiment, a computer program product can have, in particular be, a storage medium, in particular a computer-readable and / or non-volatile one, for storing a program or instructions or with a program or instructions stored thereon. In one embodiment, execution of this program or these instructions by a system or a controller, in particular a computer or an arrangement of several computers, causes the system or the controller, in particular the computer(s), to execute a method described here or one or more of its steps, or the program or the instructions are configured to do so.

[0073] In one embodiment, one or more, in particular all, steps of the method are carried out completely or partially automatically, in particular by the system or its means.

[0074] In one embodiment, the system comprises the robot. In one embodiment, the warning zone is or will be specified in such a way that a collision between the robot and the environment is present or more likely, and / or the all-clear zone is or will be specified in such a way that a collision between the robot and the environment is not present or less likely.

[0075] In one embodiment, the method comprises the step:

[0076] - Driving the tested path with the robot.

[0077] In one embodiment, the path can be advantageously checked with the real robot, whereby the travel after the check in augmented reality advantageously increases the safety when traveling with the robot.

[0078] Accordingly, in one embodiment, the system or its means comprises:

[0079] - Means for moving the robot along the tested path.

[0080] In one embodiment, the method also includes operating the robot by traversing the tested path with the robot, thus, in particular, it can be a method for operating a robot or the robot. Accordingly, in one embodiment, the system can also be a system for operating a robot or the robot.

[0081] Further advantages and features emerge from the subclaims and the exemplary embodiments. The following shows, partly schematically:

[0082] Fig. 1: a system for checking a predetermined path of a robot according to an embodiment of the present invention; and

[0083] Fig. 2: a method for checking the predetermined path of the robot according to an embodiment of the present invention.

[0084] Fig. 1 shows a system for testing a given path of a robot 1 using a visualization device in the form of AR glasses 2 or a tablet 3 by a test person 4.

[0085] In a step S10 (see Fig. 2), a real environment 6 of the robot is captured using a detection device 5A or 5B, for example a 3D camera system, lidar sensor, or the like, arranged on the visualization device 2 or 3, preferably integrated or detachably, and in a step S20, a computer-implemented environment model is determined using this data. In a modification not shown, the environment model can additionally or alternatively be created based on target data of the environment or simply be provided, for example, retrieved from a memory.

[0086] In a step S30, a distance between a computer-implemented model of the robot and the environment model is determined for different sections, in one embodiment points, of the path, wherein the path was specified, for example, with the aid of a simulated environment or by teaching.

[0087] For example, the robot model can have geometric primitives in the form of cuboids, cylinders, or the like, each of which is assigned to one of the robot's movable limbs and whose pose or position changes accordingly according to the respective section or path point or when the robot simulates following the path. The environment model can, for example, have a grid or an approximation surface that approximates a point cloud captured during the capture of the real environment. The distance between the robot and the environment model is then determined, for example, as the minimum distance between all these geometric primitives and the grid or the approximation surface.

[0088] In a step S40, a virtual representation of the path is visualized using the visualization device 2 or 3 in an augmented reality for checking the path, for example the path of the TCP as a line and / or the geometry primitives during the simulated traversal of the path.

[0089] With this visualization, a warning is issued for a section of the path if the distance determined for this section lies within a predefined warning range, and an all-clear signal is issued for a section of the path if the distance determined for this section lies within a predefined all-clear range, for example, in the manner described above by highlighting corresponding sections or the like. Using this visualized virtual representation and the issued warnings or all-clear signals, the test person 4 can check in step S40 whether there is a risk of the robot 1 colliding with the environment when traveling along the predefined path, and how great this risk is.

[0090] In doing so, it can advantageously limit itself to or concentrate on the sections for which a warning is issued, examine these more closely and, if necessary, modify the path, particularly in such sections, in a step S50, whereupon steps S30, S40 and, if necessary, S50 can be carried out again.

[0091] The tested path can be traversed with the real robot in step S60.

[0092] Although exemplary embodiments have been explained in the preceding description, it should be noted that numerous modifications are possible. Furthermore, it should be noted that the exemplary embodiments are merely examples and are not intended to limit the scope of protection, applications, or structure in any way. Rather, the preceding description provides the skilled person with a guide for implementing at least one exemplary embodiment, whereby various modifications, particularly with regard to the function and arrangement of the described components, can be made without departing from the scope of protection as it results from the claims and equivalent combinations of features.

[0093] List of reference symbols

[0094] 1 robot

[0095] 2 AR glasses 3 T tablet

[0096] 4 examiner

[0097] 5A; 5B detection device

[0098] 6 Surroundings

[0099] TCP Tool Center Point

Claims

Patent claims 1. Method for checking a given path of a robot (1), comprising the steps: - Determine (S20) or provide a computer-implemented three-dimensional environment model; - Determining (S30) a distance between a computer-implemented model of the robot and the environment model for different sections of the path; and - Visualizing (S40) a virtual representation of the track using a visualization device (2; 3) in an augmented reality for checking the track, wherein in this visualization a warning is issued for a section of the track if the distance determined for this section is within a specified warning range, and an all-clear is issued for a section of the track if the distance determined for this section is within a specified all-clear range.

2. Method according to the preceding claim, characterized by the step: - Acquisition (S10) of data of a real environment of the robot using a, in particular mobile, in particular portable, acquisition device; wherein the environment model is determined on the basis of this acquired data, in particular using at least one approximation of features, in particular points, acquired using the acquisition device.

3. Method according to the preceding claim, characterized in that the detection device is arranged on the visualization device and / or is moved translationally and / or rotationally and / or manually to capture the data relative to the real environment and / or comprises at least one non-contact measuring distance sensor, in particular at least one lidar, radar or ultrasonic distance sensor, and / or at least one camera, in particular a 3D camera system, and / or an image evaluation system.

4. Method according to one of the preceding claims, characterized in that the environment model is based on predefined target data, in particular CAD data, the environment is determined and / or has at least one three-dimensional geometric primitive in a predefined relation to a real environmental obstacle and / or the robot model is determined based on predefined target data, in particular the predefined path of the robot and / or CAD data of the robot, and / or a measurement of the robot and / or has at least one three-dimensional geometric primitive in a predefined relation to a part of the robot and / or the robot model is a computer-implemented model of a robot-guided tool or workpiece as a movable part of the robot.A method according to any of the preceding claims, characterized in that the environment model is determined based on the robot, in particular using data from the robot acquired by means of a, in particular, a detection device, and / or based on the model of the robot and / or based on a selection of an environmental area by a test person. A method according to any of the preceding claims, characterized in that the distance between the model of the robot and the environment model for at least one of the path segments is determined based on a minimum distance between an imaginary envelope of a selected movable part of the robot or an imaginary envelope of several, in particular all, movable parts of the robot and an imaginary envelope of the entire environment of the robot described by the environment model or of a selected sub-area thereof.A method according to any of the preceding claims, characterized in that the visualization device is a mobile, in particular portable, visualization device, in particular a handheld device, in particular a smartphone, and / or glasses, and / or the visualization device is configured for controlling the robot. A method according to any of the preceding claims, characterized in that the virtual representation of the path is a, in particular continuous, path of a robot-fixed reference point, in particular an end effector. and / or a representation of one or more, in particular all, movable parts of the robot, especially a simulation of the robot following the path.

9. Method according to one of the preceding claims, characterized in that a first virtual representation is used for visualizing a section of the track if the distance determined for this section lies in the warning area, in particular a part of the warning area, and a second virtual representation different from this is used for visualizing this section of the track if the distance determined for this section lies in the all-clear area, in particular a part of the all-clear area.

10. Method according to the preceding claim, characterized in that a different first virtual representation is used for visualizing this section of the path if the distance determined for this section lies in a different part of the warning area, and / or a different second virtual representation is used for visualizing this section of the path if the distance determined for this section lies in a different part of the all-clear area.

11. Method according to one of the preceding claims, characterized in that when visualizing the virtual representation of the path, at least one parameter of the path, in particular a speed and / or for at least one selected section of the path and / or for a section simulated to be approached or departed from during visualization, in particular a point, of the path, and / or a value of the determined distance for at least one section of the path, in particular a global minimum distance and / or a distance for a selected section of the path and / or for a section simulated to be approached or departed from during visualization, in particular a point, of the path, is output, in particular numerically and / or acoustically and / or symbolically.

12. Method according to one of the preceding claims, characterized in that the path is determined using the visualized virtual representation and the issued warning and / or all-clear is checked, in particular a section for which a warning is issued is specifically checked and / or the path, in particular at least this section, is modified if necessary (S50) and / or the checked path is driven with the robot (S60).

13. Method according to the preceding claim, characterized in that a virtual representation of the modified path is visualized in augmented reality using the visualization device for checking the modified path (S40), wherein in this visualization a warning is issued for a section of the modified path if the distance determined for this section is in a predetermined warning range, and an all-clear is issued for a section of the modified path if the distance determined for this section is in a predetermined all-clear range.

14. System for checking a predetermined path of a robot (1) which is set up and / or comprises a method according to one of the preceding claims: - Means of determining or providing a computer-implemented three-dimensional environment model; - Means of determining a distance between a computer-implemented model of the robot and the environment model for different sections of the path; and - a visualization device (2; 3) for visualizing a virtual representation of the path in an augmented reality for checking the path, wherein in this visualization a warning is issued for a section of the path if the distance determined for this section is within a predetermined warning range, and an all-clear is issued for a section of the path if the distance determined for this section is within a predetermined all-clear range.

15. Computer program or computer program product, wherein the computer program or computer program product contains instructions, in particular stored on a computer-readable and / or non-volatile storage medium, which, when executed by one or more computers or a system according to claim 14 cause the computer(s) or the system to perform a method according to any one of claims 1 to 13.

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