Augmented reality supported safety plane adjustment

A method for adjusting a location of a safety plane for a robot based on input from a portable augmented reality (AR) device comprising a display device and a camera, where the robot is controlled by a controller, and where the method comprises:

• establishing a spatial reference system with reference to the robot;
• establishing a communication connection between the portable AR device and the controller;
• obtaining, from the camera, a recording of surroundings of the portable AR device including the robot;
• causing the recording of the surroundings to be displayed on the display device;
• creating a virtual environment based on the spatial reference system, the virtual environment comprising a representation of the safety plane;
• causing the virtual environment to overlay the recording of the surroundings on the display device;
• obtaining, based on input from the display device, an adjusted location of the safety plane following displacement of the representation of the safety plane in the virtual environment;
• and
• undoing the displacement of the representation of the safety plane in the virtual environment.

A method for adjusting a location of a safety plane for a robot based on input from a portable augmented reality (AR) device comprising a display device and a camera, where the robot is controlled by a controller, and where the method comprises:

• establishing a spatial reference system with reference to the robot;
• establishing a communication connection between the portable AR device and the controller;
• obtaining, from the camera, a recording of surroundings of the portable AR device including the robot;
• causing the recording of the surroundings to be displayed on the display device;
• creating a virtual environment based on the spatial reference system, the virtual environment comprising a representation of the safety plane;
• causing the virtual environment to overlay the recording of the surroundings on the display device;
• and
• obtaining, based on input from the display device, an adjusted location of the safety plane following displacement of the representation of the safety plane in the virtual environment;
• wherein the displacement of the representation of the safety plane comprises a rotation around a rotation vector associated with the spatial reference system.

A method for adjusting a location of a safety plane for a robot based on input from a portable augmented reality (AR) device comprising a display device and a camera, where the robot is controlled by a controller, and where the method comprises:

• establishing a spatial reference system with reference to the robot;
• establishing a communication connection between the portable AR device and the controller;
• obtaining, from the camera, a recording of surroundings of the portable AR device including the robot;
• causing the recording of the surroundings to be displayed on the display device;
• creatin a virtual environment based on the spatial reference system, the virtual environment comprising a representation of the safety plane;
• causing the virtual environment to overlay the recording of the surroundings on the display device;
• and
• obtaining, based on input from the display device, an adjusted location of the safety plane following displacement of the representation of the safety plane in the virtual environment;
• wherein the safety plane is a first safety plane;
• and
• wherein the first safety plane is linked to a second safety plane so that movement of the first safety plane causes movement of the second safety plane.

A system for adjusting a location of a safety plane for a robot, the system comprising:

• a controller configured to perform operations comprising:
• controlling the robot;
• and
• establishing a spatial reference system with reference to the robot;
• and
• a portable augmented reality (AR) device comprising a display device and a camera, the portable AR device being configured to perform operations comprising:
• capturing a recording of surroundings of the portable AR device including the robot;
• establishing a virtual environment based on the spatial reference system, the virtual environment comprising a representation of the safety plane;
• displaying the virtual environment on the display device, the virtual environment overlaying the recording,
• receiving an adjusted location of the safety plane based on a displacement of the representation of the safety plane in the virtual environment, the displacement being based on an input comprising a tap action and a drag action, and the displacement being a displacement that is along a normal vector to the safety plane;
• and
• providing the adjusted location to the controller.