JP2002230057A - There-dimensional model simulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a three-dimensional model simulator for simplifying the arrangement confirmation or interference check of a deforming (moving) object by obtaining and superimposing the shape information of the object in real time. SOLUTION: This three-dimensional model simulator is provided with a three-dimensional picture obtaining means for time-sequentially obtaining the three-dimensional picture of a substance whose shape is changing and simulated, a model data generating means for time-sequentially generating three- dimensional model data corresponding to the shape change of the substance from the obtained three-dimensional picture of the substance, a model data storing means for preliminarily storing three-dimensional data whose shape is fixed, and a superimposing and outputting means for superimposing the time- sequentially changing three-dimensional data generated by the model data generating means on the three-dimensional data stored in the model data storing means and for outputting the data.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional model simulator, and more particularly to a three-dimensional model simulator for simulating a three-dimensional image of a real object whose shape is to be simulated.

[0002]

2. Description of the Related Art Conventionally, when designing a machine or the like, data is input using a three-dimensional model simulator, and its arrangement is checked and interference is checked.

Further, by inputting mathematical formula data of an object that is deformed momentarily, shape information of an object that is deformed (moves) is handled.

[0004]

However, in the prior art as described above, in order to create data of an ever-deformable object and to confirm it on a three-dimensional model simulator, shapes and operations that can be expressed by mathematical expressions are combined. It requires a great deal of man-hours by the designer, such as inputting information that has been done.

Further, in the above-described prior art, a great number of man-hours are required by a designer to change the arrangement or to check for an interference check when the scale is changed.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described circumstances, and uses shape information of a deforming (moving) object as a real object whose shape changes as a simulation target as a three-dimensional image acquiring means. It is an object of the present invention to provide a three-dimensional model simulator that acquires a shape information acquiring device in real time and superimposes it on a simulator in real time, thereby facilitating arrangement confirmation and interference check of a deforming (moving) object.

[0007]

According to the present invention, in order to solve the above-mentioned problems, (1) a three-dimensional image which acquires a three-dimensional image of a real object having a changing shape to be simulated in time series Acquiring means; model data generating means for generating three-dimensional model data corresponding to a change in the shape of the real object in a time series from the three-dimensional image of the real object obtained by the three-dimensional image obtaining means; Model data storage means for storing the obtained three-dimensional simulator data in advance, and the three-dimensional simulator data stored in the model data storage means changing in a time series to the three-dimensional simulator data generated by the model data generation means. And a superimposing means for superimposing and outputting the three-dimensional model data.

(Corresponding Embodiment of the Invention) An embodiment according to the present invention corresponds to a first embodiment described later.

(Operation) The shape information acquiring apparatus 1 as a three-dimensional image acquiring means is a simulation target of a deformable (moving) object 2 as a real object whose shape changes.
Acquire dimensional shape information in real time.

A computer 3 serving as model data generating means connected to the shape information obtaining apparatus 1 serving as the three-dimensional image obtaining means serves to simulate a real-time three-dimensional object 2 as a real object whose shape changes. Calculate shape information.

That is, the computer 3 as the model data generating means changes the shape of the object 2 as the real object from the three-dimensional image of the real object obtained by the shape information obtaining apparatus 1 as the three-dimensional image obtaining means. Are generated in time series.

The computer 3 as the superimposing output means superimposes the time-varying three-dimensional model data generated by the model data generating means on the three-dimensional simulator data stored in advance in the model data storing means. And outputs it to the display device 5 or the like.

According to the present invention, in order to solve the above-mentioned problems, (2) magnification input means for inputting a magnification for reducing or enlarging the three-dimensional model data generated by the model data generating means is further provided. The three-dimensional model data enlarged or reduced according to the magnification input by the magnification input means is superimposed on and output from the three-dimensional simulator data stored in the model data storage means (1). Is provided.

(Corresponding Embodiment of the Invention) An embodiment according to the present invention corresponds to a second embodiment described later.

(Operation) In (1), the computer 3 as superimposition output means
Is used to superimpose the three-dimensional model data generated in time series by the model data generation means on the three-dimensional simulator data stored in advance in the model data storage means and output the resulting data to a display device or the like. The size of the object 2 is changed from the three-dimensional model data enlarged or reduced according to the magnification (scale) input by the input device 4 as an input means, and the three-dimensional shape information of the object 2 is converted into a three-dimensional model simulator in real time. The data is superimposed on the data and output to the display device 5 or the like.

According to the present invention, in order to solve the above-mentioned problems, (3) the three-dimensional simulator data stored in the model data storage means and the three-dimensional simulator data generated by the model data generation means. The three-dimensional model simulator according to (1) is provided with interference detection means for detecting interference in the simulation space with the three-dimensional model data.

(Corresponding Embodiment of the Invention) An embodiment according to the present invention corresponds to a second embodiment described later.

(Operation) In (1), the computer 3 as superimposition output means
When the three-dimensional shape information of the object 2 is superimposed on the three-dimensional model simulator in real time by the computer 3, the computer 3 as the interference detection means uses the three-dimensional simulator data stored in the model data storage means and the model data generation means. By detecting interference in the simulation space with the time-series three-dimensional model data generated by the means, the interference is recognized from the deformed three-dimensional shape information.

According to the present invention, in order to solve the above-mentioned problems, (4) the interference detection means includes: a simulation data of a part where the three-dimensional simulator data and the time-series three-dimensional model data interfere with each other; The three-dimensional model simulator according to (3), wherein data indicating interference is added and output.

(Corresponding Embodiment of the Invention) An embodiment according to the present invention corresponds to a second embodiment described later.

(Operation) In (3), the computer 3 as interference detecting means
When interference occurs in the three-dimensional model simulator, the data indicating the interference is added to the simulation data of the interfering portion and output, so that, for example, the color of the interfering portion is changed and displayed on the display device 5 or the like. To make things possible.

According to the present invention, in order to solve the above problems, (5) the interference detection means detects an interfering portion of the three-dimensional simulator data and the time-series three-dimensional model data in a time-series manner. The three-dimensional model simulator according to (4), wherein data indicating interference is added to simulation data of a part having a history of interference and output.

(Corresponding Embodiment of the Invention) An embodiment according to the present invention corresponds to a second embodiment described later.

(Operation) In (4), the computer 3 as interference detecting means
In the three-dimensional model simulator, for example, by adding data indicating the interference to the simulation data of a portion having a history of occurrence of interference in the three-dimensional model simulator and outputting the result, It is possible to display in different colors.

[0025]

Embodiments of the present invention will be described below with reference to the drawings.

(First Embodiment) FIG. 1 is a block diagram showing the configuration of a first embodiment of a three-dimensional model simulator according to the present invention.

The three-dimensional model simulator according to the first embodiment of the present invention is configured as follows.

That is, the three-dimensional model simulator according to the first embodiment of the present invention comprises, as shown in FIG.
A shape information acquisition device 1 as three-dimensional image acquisition means for acquiring a three-dimensional image of a deformed (moving) object 2 (FIG. 2) as a real object having a shape to be simulated and changing in time series; It is connected to a shape information acquisition device 1 as a three-dimensional image acquisition means, and converts three-dimensional model data corresponding to the shape change of the real object from a three-dimensional image of the real object acquired by the shape information acquisition device 1 in time series. A computer 3 including a CPU 6 as model data generating means for generating the model data; a memory 7 in the computer 3 as model data storing means for preliminarily storing three-dimensional simulator data having a fixed shape; The three-dimensional simulator data stored in the memory 7 in the computer 3 of the storage means is added to the computer as the model data generation means. 3 including a CPU 6 as a superimposing output unit for superimposing and outputting the three-dimensional model data which changes in time series generated by the computer 3, an input device 4 connected to the computer 3, for example, as a magnification input unit, and And a display device 5.

FIG. 2 shows a box-shaped object 2 whose lid keeps opening and closing automatically as an example of a deformable (moving) object 2 as a substance whose shape changes, which is the object of the simulation.

FIG. 3 shows a deformable (moving) object as a real object having a shape to be simulated by a stereo video camera used as a specific example of the shape information obtaining apparatus 1 as the three-dimensional image obtaining means. 2
As an example, a box-shaped object 2 whose lid keeps opening and closing automatically
, The shape change information of the box-shaped object 2 is acquired in real time, and is captured in real time on, for example, three-dimensional CAD data.

Next, the operation of the first embodiment of the three-dimensional model simulator according to the present invention will be described.

FIG. 9 is a flowchart for explaining the operation of the first embodiment of the three-dimensional model simulator according to the present invention.

That is, the shape information acquiring apparatus 1 as the three-dimensional image acquiring means acquires, in real time, three-dimensional shape information of a deforming (moving) object 2 as a real object whose shape to be simulated changes. (Step S11).

The computer 3 as model data generating means connected to the shape information obtaining apparatus 1 as the three-dimensional image obtaining means performs real-time three-dimensional The shape information is calculated (step S12).

Here, the computer 3 as the model data generating means calculates the shape of the object 2 as the real object from the three-dimensional image of the real object obtained by the shape information obtaining apparatus 1 as the three-dimensional image obtaining means. Three-dimensional model data corresponding to the change is generated in time series (step S
12).

The computer 3 as the superimposition output means stores the three-dimensional simulator data stored in advance in the memory 7 in the computer 3 as the model data storage means in the time series generated by the model data generation means. The changing three-dimensional model data is superimposed and output to the display device 5 or the like (step S13).

As described above, in the three-dimensional model simulator according to the first embodiment, the shape information acquisition device 1
The shape information of the object 2 acquired by the computer 3
And the data is superimposed on the three-dimensional model simulator data and displayed on the display device 5.

FIG. 4 shows a display screen of the display device 5 in this state.

As a result, the object 2 deforming (moving) in real time can be easily handled as three-dimensional model simulator data.

When it is desired to change the position and orientation of the object 2 in the CAD data, even if the input device 4 is not used, and if the object 2 is within the range of the shape information acquisition device 1, the real object 2
By changing the position and orientation of, the CAD data can be easily changed.

FIG. 5A shows how the position and orientation of the real object 2 are directly changed in the direction of arrow A.

FIG. 5B shows a display screen of the display device 5 in a state where the position and orientation of the real object 2 are directly changed in the direction of arrow A.

It is to be noted that various modifications and changes can be made to each configuration of the first embodiment of the present invention.

For example, the shape information acquiring apparatus 1 may use an active sensor instead of using a passive sensor like a stereo video camera, and may use a hybrid of a passive sensor and an active sensor.

Also, a plurality of shape information acquisition devices 1 are arranged,
The shape information of the object 2 may be obtained from all directions.

Further, by arranging the object 2 on a turntable, shape information of the object 2 from all directions may be obtained.

(Second Embodiment) The block configuration of the second embodiment of the three-dimensional model simulator according to the present invention is the same as that of the first embodiment shown in FIG.

However, in the second embodiment,
The computer 3 includes, in addition to that of the first embodiment,
An interference detection unit is provided for detecting interference in a simulation space between the three-dimensional simulator data stored in the model data storage unit and the time-series three-dimensional model data generated by the model data generation unit. Shall be.

The interference detecting means adds the data indicating the interference to the simulation data of the part where the three-dimensional simulator data and the time-series three-dimensional model data interfere, and outputs the result.

Further, the interference detecting means detects an interfering portion of the three-dimensional simulator data and the time-series three-dimensional model data in a time-series manner, and interferes with the simulation data of a portion having a history of the interference. Is added and output.

FIG. 6 shows a three-dimensional model simulator according to a second embodiment of the present invention, which is a stereo video camera used as a specific example of the shape information acquiring device 1 as the above-mentioned three-dimensional image acquiring means. As another example of a deforming (moving) object as a real object having a changing shape, shape change information in a state in which the arm 8 (FIG. 7) performs a sequence operation (FIG. 7) is obtained in real time. This shows a state in which the data is captured in real time on the three-dimensional CAD data.

FIG. 7 shows a state in which the arm 8 is performing a sequence operation as another example of a deforming (moving) object as a real object whose shape changes as the object of the simulation.

Next, the operation of the second embodiment of the three-dimensional model simulator according to the present invention will be described.

FIG. 10 is a flow chart for explaining the operation of the second embodiment of the three-dimensional model simulator according to the present invention.

That is, the shape information acquiring apparatus 1 as the three-dimensional image acquiring means acquires, in real time, three-dimensional shape information of a deforming (moving) object 2 as a real object whose shape to be simulated changes. (Step S21).

The computer 3 as model data generating means connected to the shape information obtaining apparatus 1 as the three-dimensional image obtaining means performs real-time three-dimensional The shape information is calculated (step S22).

Here, the computer 3 as model data generating means calculates the shape of the object 2 as the real object from the three-dimensional image of the real object obtained by the shape information obtaining apparatus 1 as the three-dimensional image obtaining means. Three-dimensional model data corresponding to the change is generated in time series (step S
22).

Further, the computer 3 as the interference detecting means simulates the simulation space between the three-dimensional simulator data stored in the model data storing means and the time-series three-dimensional model data generated by the model data generating means. (Step S2)
2).

Then, the computer 3 as the above-mentioned interference detecting means is provided with the three-dimensional simulator data and
For example, data indicating an interference portion, such as data indicating that the interference portion is displayed in red, is added to the simulation data of the portion that interfered with the dimensional model data and output (step S22).

The computer 3 serving as the interference detecting means detects an interfering portion of the three-dimensional simulator data and the time-series three-dimensional model data in a time-series manner, and converts the interfering portion into simulation data of a portion having an interference history. On the other hand, for example, data indicating a portion having an interference history, such as data indicating that the portion is displayed in blue, is added and output (step S22).

The computer 3 serving as the superimposing output means stores the three-dimensional simulator data stored in advance in the memory 7 in the computer 3 serving as the model data storage means in time series generated by the model data generating means. The changing three-dimensional model data is superimposed and output to the display device 5 or the like (step S23).

At this time, when the computer 3 as the superimposing output means receives a magnification for reducing or enlarging the three-dimensional model data output from the model data generating means from the input device 4 as the magnification input means, The three-dimensional model data enlarged or reduced according to the input magnification is superimposed on the three-dimensional simulator data stored in the model data storage unit and output (step S23).

As described above, in the three-dimensional model simulator according to the second embodiment, the shape information acquisition device 1
Is transmitted to the computer 3 in real time, and is superimposed on the three-dimensional model simulator data and displayed on the display device 5.

FIG. 8 shows an example of the display screen of the display device 5 in this state. The shape change information of the arm 8 obtained by the shape information obtaining device 1 interferes with other components 9 in the hatched portions in the figure. It shows the situation.

As a result, the arm 8 that moves in real time can be easily handled as three-dimensional model simulator data.

Further, in accordance with an input from the input device 4, the magnification (scale) of the arm 8 in the three-dimensional model simulator taken in real time can be changed, thereby making it possible to easily size the moving arm 8. And the efficiency of the three-dimensional design increases.

Also, by displaying the interference portion in red on the display device 5 in real time, the designer can easily notice the interference.

Further, by displaying the portion having the interference history in blue on the display device 5, it is easy to change the design for avoiding interference.

It should be noted that each configuration of the second embodiment of the present invention can of course be variously modified and changed.

For example, the shape information acquiring apparatus 1 may use an active sensor instead of using a passive sensor like a stereo video camera, and may also use a hybrid of a passive sensor and an active sensor.

A plurality of shape information acquisition devices 1 are arranged,
The shape information of the arm 8 may be obtained from all directions.

By arranging the arm 8 on a turntable, shape information of the arm 8 from all directions may be obtained.

When the display color is changed as data to be added to the interference part or the part having the interference history, the display color does not need to be the same as that of the present embodiment, and is not limited to the change of the display color. The portion may be blinked or represented by a change in gray value.

[0074]

According to the first aspect of the present invention, a deformable (moving) object 2 as a real object whose shape is to be simulated is changed by a shape information acquiring apparatus 1 as a three-dimensional image acquiring means. 3D shape information can be easily obtained, the number of steps for creating the 3D shape information for the 3D model simulator can be reduced, and the moving object as the object whose shape is to be simulated changes. The efficiency of the three-dimensional design can be improved by capturing the object 2 in the moving state in the three-dimensional simulator while moving.

According to the second aspect of the present invention, a moving object 2 as a real object having a shape to be simulated that changes its shape can be captured as it is in a three-dimensional simulator. In addition, since the scale in the simulator can be adjusted, the optimum size of the object can be easily determined, and the efficiency of the three-dimensional design increases.

According to the third aspect of the present invention, when the (moving) object 2 as a real object whose shape changes and is a target of a simulation to be deformed to a state specified in a three-dimensional simulator is installed. An interference check can be easily performed.

According to the present invention, the (moving) object 2 as a real object whose shape is to be changed and which is to be simulated and deformed in a three-dimensional simulator is set. The user can easily perform the interference check.

According to the fifth aspect of the present invention, when each object as a real object whose shape is to be simulated on a three-dimensional simulator is extracted, a portion having a history of occurrence of interference can be easily obtained. As a result, it is easy to perform a modified design so that the object does not cause interference.

Therefore, as described above, according to the present invention, the shape information of a deforming (moving) object as a real object whose shape changes as a simulation target is obtained as three-dimensional image obtaining means. It is possible to provide a three-dimensional model simulator that facilitates confirmation of the arrangement of a deforming (moving) object and interference check by real-time acquisition by a device and superimposition on a simulator in real time.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a first embodiment of a three-dimensional model simulator according to the present invention.

FIG. 2 is a diagram showing a deformed (moving) object as a subject whose shape changes in a simulation according to the present invention;
FIG. 2 is a diagram illustrating a box-shaped object 2 in which a lid keeps opening and closing automatically as an example of the object 2.

FIG. 3 shows a stereoscopic video camera used as a specific example of the shape information acquisition device 1 as a three-dimensional image acquisition means according to the present invention, which is deformed as a real object whose shape to be simulated changes ( As an example of the (moving) object 2, by photographing a box-shaped object 2 whose lid keeps opening and closing automatically, the shape change information of the box-shaped object 2 is acquired in real time, for example, on three-dimensional CAD data. FIG. 7 is a diagram showing a state in which the data is being captured in real time.

FIG. 4 is a diagram showing a display device 5 according to the first embodiment.
It is a figure which shows the display screen of.

FIG. 5 (a) shows the first embodiment.
FIG. 5B is a diagram showing how the position and orientation of the real object 2 are directly changed in the direction of arrow A. FIG. 5B shows the position and orientation of the real object 2 in the direction of arrow A in the first embodiment. FIG. 7 is a diagram showing a display screen of the display device 5 in a state where the display screen has been changed to.

FIG. 6 is a stereo video camera used as a specific example of the shape information acquisition device 1 as the three-dimensional image acquisition means as a second embodiment of the three-dimensional model simulator according to the present invention, and is an object of the simulation. As another example of a deforming (moving) object as a real object whose shape changes as follows, shape change information in a state where the arm 8 performs a sequence operation is obtained in real time,
FIG. 7 is a diagram showing a state in which data is taken in real time on AD data.

FIG. 7 is a diagram illustrating another example of a deformable (moving) object as a real object whose shape changes as a simulation target in the second embodiment, in which an arm 8 performs a sequence operation. It is a figure showing a state.

FIG. 8 is a diagram showing a display device 5 according to the second embodiment.
It is a figure which shows the display screen of.

FIG. 9 is a flowchart for explaining the operation of the first embodiment of the three-dimensional model simulator according to the present invention.

FIG. 10 is a flowchart for explaining the operation of the second embodiment of the three-dimensional model simulator according to the present invention.

[Explanation of Signs] 2 ... Real object (object) whose shape to be simulated changes 1) 3D image acquisition means (shape information acquisition apparatus) 3 ... Model data generation means (computer) 7 ... Model data Storage means (memory), 3 ... superimposition output means (computer), 4 ... magnification input means (input device), 5 ... display device, 3 ... interference detection means (computer), 8 ... arm for performing a sequence operation.

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Claims (5)

[Claims] 1. A three-dimensional image acquiring means for acquiring a three-dimensional image of a real object whose shape to be simulated changes in a time-series manner;
Model data generating means for generating three-dimensional model data corresponding to the shape change of the real object from a three-dimensional image in time series, and model data storage means for preliminarily storing three-dimensional simulator data having a fixed shape And superimposition output means for superimposing and outputting the three-dimensional model data generated in time series by the model data generation means on the three-dimensional simulator data stored in the model data storage means. Dimensional model simulator. 2. The apparatus according to claim 1, further comprising: a magnification input unit for inputting a magnification for reducing or enlarging the three-dimensional model data generated by the model data generating unit. 2. The three-dimensional model simulator according to claim 1, wherein the three-dimensional model data is output by being superimposed on the three-dimensional simulator data stored in the model data storage means. 3. Interference detection for detecting interference in a simulation space between the three-dimensional simulator data stored in the model data storage means and the time-series three-dimensional model data generated by the model data generation means. The three-dimensional model simulator according to claim 1, further comprising means. 4. The apparatus according to claim 1, wherein said interference detecting means outputs the simulation data of a part where the three-dimensional simulator data and the time-series three-dimensional model data interfere with each other, together with data indicating the interference. Item 3 described in item 3
Dimensional model simulator. 5. The interference detecting means detects an interfering portion of the three-dimensional simulator data and the time-series three-dimensional model data in a time-series manner. The three-dimensional model simulator according to claim 4, wherein the data is output after adding data indicating the following.