Method for using a multi-unit actuated kinematics, preferably a robot, particularly preferably an articulated robot, by a user by means of a mobile display device

摘要

The present invention relates to a method for using a multi-unit actuated kinematics (1), preferably a robot (1), particularly preferably an articulated robot (1), by a user (2) by means of a mobile display device (4), wherein the multi-unit actuated kinematics (1) at least comprising: • a plurality of links (11) interconnected by actuated joints (12), and An end effector (14) which is connected to at least one member (11), wherein the mobile display device (4) comprises at least: • at least one display element (41) which is designed to display to the user (2) at least one real representation of the multi-unit actuated kinematics (1), preferably with its surroundings, and At least one image capturing element (42), which is designed to capture the multi-unit actuated kinematics (1), preferably with its surroundings, as image data together with depth information, Wherein the display element (41) is further configured to show to the user (2) at least one virtual representation of the multi-unit actuated kinematics (1 ') in the real representation of the multi-unit actuated kinematics (1), preferably and in its surroundings, with at least the steps: Aligning (000) the image acquisition element (42) of the mobile display device (4) on the multi-unit actuated kinematics (1), preferably with its surroundings, by the user (2), Detecting (030) at least the multi-unit actuated kinematics (1), preferably with its surroundings, by means of the image-capturing element (42) of the mobile display device (4), Detecting (050) the multi-unit actuated kinematics (1), preferably and its surroundings, in the acquired image data of the image acquisition element (42) of the mobile display device (4), Three-dimensional indexing (070) of the multi-unit actuated kinematics (1), preferably and in its surroundings, based on the acquired image data together with the depth information, and Inserting (200) the virtual representation of the multi-unit actuated kinematics (1 '), preferably and in its surroundings, via the multi-unit actuated kinematics (1) in the display element (41) of the mobile display device (4), wherein the fade-in (200) takes place taking into account the geometric relationships of the multi-membered actuated kinematics (1), preferably and its surroundings.