公开(公告)号：US10664996B2

公开(公告)日：2020-05-26

申请号：US15818397

申请日：2017-11-20

Applicant: SIEMENS AKTIENGESELLSCHAFT

Inventor： Mehdi Hamadou ,  Jan Richter ,  Maximilian Walter

IPC: G06K9/00 ,  G06T7/80 ,  B25J9/16 ,  G06T7/73 ,  G06T7/60 ,  G06T11/60 ,  H04N5/232

Abstract: In a method for the start-up operation of a multi-axis system, with the multi-axis system including, as components, segments connected via respective joints and are movable in one or more axes, and a tool, connected to one of the segments and is movable to a specified position, optical markers are arranged in the environment. Position coordinates of the optical markers in a first, global coordinate system are ascertained and stored in the controller. The environment is captured as image data by a camera system. The image data are transmitted to an AR system and visualized in an output apparatus. The optical markers and virtual markers are represented during the visualization of the image data, wherein a respective virtual marker is assigned to an optical marker. A check is performed as to whether an optical marker and the virtual marker overlay one another in the visualized image data.

公开(公告)号：US20180144503A1

公开(公告)日：2018-05-24

申请号：US15818397

申请日：2017-11-20

Applicant: SIEMENS AKTIENGESELLSCHAFT

Inventor： Mehdi Hamadou ,  JAN RICHTER ,  MAXIMILIAN WALTER

IPC: G06T7/80 ,  G06T11/60 ,  G06T7/73 ,  H04N5/232 ,  G06T7/60

CPC classification number: G06T7/80 ,  B25J9/1692 ,  G05B2219/32014 ,  G05B2219/37009 ,  G05B2219/39449 ,  G06T7/60 ,  G06T7/73 ,  G06T7/74 ,  G06T11/60 ,  G06T2207/30204 ,  G06T2207/30244 ,  G06T2210/12 ,  H04N5/23296

Abstract: In a method for the start-up operation of a multi-axis system, with the multi-axis system including, as components, segments connected via respective joints and are movable in one or more axes, and a tool, connected to one of the segments and is movable to a specified position, optical markers are arranged in the environment. Position coordinates of the optical markers in a first, global coordinate system are ascertained and stored in the controller. The environment is captured as image data by a camera system. The image data are transmitted to an AR system and visualized in an output apparatus. The optical markers and virtual markers are represented during the visualization of the image data, wherein a respective virtual marker is assigned to an optical marker. A check is performed as to whether an optical marker and the virtual marker overlay one another in the visualized image data.

公开(公告)号：US10482589B2

公开(公告)日：2019-11-19

申请号：US15818375

申请日：2017-11-20

Applicant: SIEMENS AKTIENGESELLSCHAFT

Inventor： Mehdi Hamadou ,  Jan Richter ,  Maximilian Walter

IPC: B25J9/16 ,  G06T7/00 ,  G06T7/50 ,  G06T7/73 ,  G05B19/05 ,  G06T7/20 ,  G06T19/00

Abstract: A method for the start-up operation of a multi-axis system, the multi-axis system having segments which are movable by a controller in one or more axes, and a tool which is connected to one of the segments and is movable and drivable to a specified position by the controller. The method includes assigning a workspace and a safe space to the multi-axis system, arranging optical markers in an environment, making it possible for an augmented reality system to determine the position of a camera system which records the multi-axis system within the environment, defining a bounding body for each of the components such that the bounding body encloses the component, calculating a position of the bounding body during the movement of the multi-axis system, visualizing the bounding bodies together with an image recorded by the camera system, and checking whether the bounding body intersects with the safe space.