Method and apparatus for the start-up operation of a multi-axis system

A computer program for the start-up operation of a multi-axis system, said computer program being embodied in a non-transitory computer readable medium, wherein the computer program comprises software code, which when loaded into an internal memory of a digital computer causes execution of the steps of:

• assigning a workspace to the multi-axis system, in which a presence and/or a movement of components of the multi-axis system is permitted in the workspace;
• assigning a safe space in which the components are not permitted to penetrate the safe space;
• arranging a plurality of optical markers in an environment of the multi-axis system so as to enable an augmented reality (AR) system to determine a position and orientation of a camera system which records the multi-axis system within the environment;
• defining and assigning a bounding body for each of the components such that the bounding body encloses the component;
• calculating by the AR system a position of the bounding body in a first global coordinate system as the multi-axis system moves;
• transforming the position of the bounding body into a second coordinate system corresponding to the position and orientation of the camera system;
• visualizing the bounding bodies in the AR system together with an image that is recorded by the camera system;
• and
• checking by the controller whether the bounding body intersects with the safe space or whether the bounding body leaves the workspace.

An apparatus for the start-up operation of a multi-axis system, with the multi-axis system including, as components, a plurality of segments which are connected via respective joints and 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, wherein a workspace is assigned to the multi-axis system, in which a presence and/or a movement of the segments and/or tool is permitted in said workspace, and wherein at least one safe space is assigned to the multi-axis system, in which the components are not permitted to penetrate said safe space, said apparatus comprising:

• a controller for driving the components of the multi-axis system;
• a camera system configured to record the multi-axis system in an environment of the multi-axis system,
• an augmented reality (AR) system configured to capture and process an image recorded by the camera system, said augmented reality (AR) system defining, for each of the components, a bounding body and assign it the component, with the bounding body enclosing the component;
• and
• a plurality of optical markers in the environment of the multi-axis system to permit the AR system to determine a position and orientation of the camera system that records the environment of the multi-axis system,
• wherein the AR system includes an output apparatus configured to perform a check of the defined bounding bodies with respect to the workspace and the safe space by calculating a position of the bounding body in a first global coordinate system as the multi-axis system moves, transforming the position of the bounding body into a second coordinate system corresponding to the position and orientation of the camera system, and visualizing the bounding bodies in the AR system together with an image that is recorded by the camera system.