Interactive and shared augmented reality system and method having local and remote access

A method for remote programming of an industrial robot arranged at a local site, the method comprising:

• obtaining an image at the local site from a camera mounted on the robot,
• generating first graphics,
• registering the first graphics with the image at the local site,
• generating a composite augmented reality image with a registering unit based on the image, the generated first graphics, and the specified position and orientation,
• displaying the augmented reality image on a remote display device carried by or arranged on an operator at a remote site that is physically separated from the local site,
• specifying a remote position and an orientation at the remote site with a tracking unit carried by or arranged on an operator at the remote site, wherein the position and orientation are in relation to a remote coordinate system,
• specifying a local position and an orientation at the local site in relation to a local coordinate system based on the remote position and orientation specified at the remote site in the remote coordinate system,
• positioning and orienting the robot in the specified local position and orientation such that a camera arranged on the robot assumes the specified local position and orientation,
• displaying a view comprising an environment of the local site and the generated first graphics projected on the environment in dependence of the specified local position and orientation, and
• remotely controlling movements of the robot at the local site and remotely teaching the robot one or more waypoints at the local site to carry out a task.

A computer program product, comprising:

• a computer readable medium;
• and
• computer program instructions recorded on the computer readable medium and executable by a processor for performing a method for remote programming of an industrial robot by remotely displaying an augmented reality view comprising graphical information overlaid an image captured at a local site, the method comprising
• obtaining an image at the local site from a camera mounted on the robot,
• generating first graphics,
• registering the first graphics with the image at the local site,
• generating a composite augmented reality image with a registering unit based on the image, the generated first graphics, and the specified position and orientation,
• displaying the augmented reality image on a remote display device carried by or arranged on an operator at a remote site that is physically separated from the local site,
• specifying a remote position and an orientation at the remote site with a tracking unit carried by or arranged on an operator at the remote site, wherein the position and orientation are in relation to a remote coordinate system,
• specifying a local position and an orientation at the local site in relation to a local coordinate system based on the remote position and orientation specified at the remote site in the remote coordinate system,
• positioning and orienting the robot in the specified local position and orientation such that a camera arranged on the robot assumes the specified local position and orientation,
• displaying a view comprising an environment of the local site and the generated first graphics projected on the environment in dependence of the specified local position and orientation, and
• remotely controlling movements of the robot at the local site and remotely teaching the robot one or more waypoints at the local site to carry out a task.