JPS6292003A - Position designating system for 3-dimensional simulator - Google Patents

Abstract

PURPOSE:To easily designate a 3-dimensional position and to improve the operability with a 3-dimensional simulator by giving an instruction to shift the simulator to a desired position by means of a 3-dimensional joy stick. CONSTITUTION:A 3-dimensional joy stick 12 is provided together with a cursor hit button 13. A picture display device 5 divides a display screen into four parts to display a top view 14, a front view 9, a side view 10 and a squint view 15 of a robot 8 respectively. The stick 12 moves the cursors 11 at a time and supplies the coordinate values X, Y and Z all at once with push of the button 13. Thus an operator turns the robot 8 round each axis of X, Y and Z with reference to the view 15 and can display freely the desired states.

Description

[Detailed Description of the Invention] [Summary] A top view, a front view, and a side view of an object moving in a three-dimensional space are displayed on the display screen, and the cursors respectively displayed in this kingdom are moved to desired positions using a three-dimensional joystick. move,
By making it possible to specify the moving position of an object with a single hit, specifying a three-dimensional position in a three-dimensional simulator is facilitated.

[Industrial application field]

The present invention relates to a three-dimensional simulator that displays the three-dimensional position of an object moving in three-dimensional space, such as a robot, on a display screen and corrects the robot's motion data by specifying a desired position, and particularly relates to a three-dimensional simulator that displays the three-dimensional position of an object moving in three-dimensional space, such as a robot, and corrects the robot's motion data by specifying a desired position. After displaying the top view, front view, side view, and perspective view of Ropo 7), and setting the cursor on each of the top view, front view, and side view to the desired position, This invention relates to a position specification method for a three-dimensional simulator that can specify a three-dimensional position.

In recent years, with the advancement of factory automation, industrial robots have been increasingly introduced. However, in order for this robot to perform work, it must first simulate its movements using a three-dimensional simulator that uses a computer, image display device, tablet or joystick, etc., to avoid interference with processed products or other equipment, etc. It is necessary to check for errors in the movement position and create operation data.

For this reason, the robot status is displayed on the image display device based on the motion data first input from the computer, and if there is interference or error, the desired position is input from the tablet or joystick, and the robot's motion position is is instructed to correct the initial operation data.

To do this, the operator moves a cursor displayed on the display screen to a desired position using a tablet or joystick, and inputs the desired position into the calculator by hitting from the cursor sum.

Therefore, it is desirable to be able to easily move the cursor to a desired position in three dimensions and to have fewer hits.

It is also desirable that the status of the robot be easy to see.

[Conventional technology]

FIG. 5 is a block diagram showing an example of a conventional three-dimensional simulator.

The computer 1 reads the environmental conditions of the robot 8 from the environmental data file 2, the data of the robot 8 from the robot data file 3, and the movement data of the robot 8 in the environment from the educational data file 4, and simulates the movement of the robot 8. The simulated results are then displayed on the image display device 5.

The operator looks at the operating state of the robot 8 displayed on the display screen of the image display device 5 and checks for interference, positional errors, etc. If there is a movement that requires correction, input to correct the movement of the robot 8 is sent from the tablet 6 to the computer 1.

That is, by moving the cursor displayed on the image display device 5 to a desired position using the tablet 6 and pressing the button 7, the current cursor position is manually input to the computer 1.

The computer 1 modifies the motion data to move the robot 8 to this position and stores it in the educational data file 4.

The computer 1 can actually operate the robot 8 using the motion data of the educational data file 4, and can judge the quality of the correction work.

FIG. 6 is a diagram illustrating an example of movement position input.

As shown in FIG. 6, the display screen of the image display device 5 displays, for example, a front view 9 and a side view 10 of the robot 8. Here, move the cursor 11 to the desired position on the front view 9 using the tablet 6, and press the button 7 to adjust the X and Z positions.
determine the position of

Next, move the cursor 11 to a desired position in the side view 10 using the tablet 6 as shown by the cursor 11'', and press the button 7 to determine the Y position.

[Problem that the invention seeks to solve]

As mentioned above, in the past, to specify a three-dimensional movement position, it was necessary to move the cursor twice and hit it twice, and the display screen displayed a diagram of the robot seen from three directions. However, there is a problem in that it is difficult and time-consuming for the operator to specify the intended three-dimensional position.

In view of these problems, the present invention divides the display screen to display a top view, a front view, a side view, and a perspective view, and displays a cursor on each of the top view, front view, and side view.
By moving this cursor using a three-dimensional joystick, three-dimensional position designation is facilitated, and position designation input can be completed with a single hit.

[Means for Solving the Problems] FIG. 1 is a block diagram of a circuit showing an embodiment of the present invention.

FIG. 1 shows a top view, a front view, a side view, and a perspective view of a robot 8 by adding a three-dimensional joystick 12 and a cursor hint button 13 to FIG. is displayed.

The three-dimensional joystick 12 simultaneously moves the cursor displayed on the top view, front view, and side view displayed on the display screen of the image display device 5, and presses the button 13 to move the XYZ
The configuration is such that the coordinate values of are input at one time.

[Effect]

With the above configuration, the operator can freely rotate the robot 8 around the X, Y, and Z axes to display the desired state using a perspective view, and easily find the intended three-dimensional position. In addition to being able to specify settings, it also improves operability and saves time and effort.

〔Example〕

FIG. 2 is a diagram illustrating a display example of the image display device, and FIG. 3 is a diagram illustrating an example of a three-dimensional joystick.

In FIG. 1, computer 1 uses the environment data file 2 and educational data file 4 to simulate the results, and
The image is displayed on the image display device 5 as shown in the figure. That is, for example, a front view 9, a side view 10, a top view 14, and a perspective view 15 are displayed by dividing the display screen into four parts.

Cursor 1 is placed on the front view 9, side view 10, and top view 14, respectively.
1 is displayed, and the three-dimensional joystick 12 is displayed as the third
For example, if you tilt it in the direction of arrow A in the figure, the cursor 11 will move in the -X direction.
moves, and when you tilt it in the direction of arrow B, it moves in the +X direction.

Also, if you tilt the three-dimensional joystick 12 in the direction of arrow C -
Move the cursor 11 in the Y direction and move it in the direction of the arrow to +
Move in the Y direction. Further turning in the direction of arrow E moves the cursor 11 in the -Z direction, and turning it in the direction of arrow F moves the cursor 11 in the +Z direction.

By operating the three-dimensional joystick 12 as described above, when the cursor 11 is positioned at the desired position, 2
By pressing the mouth 13, the moving position of the robot 8 is input into the computer 1.

FIG. 4 is a flowchart illustrating the calculation of cursor coordinate values.

Let the coordinate system on the display screen of the image display device 5 be x, y, and let the coordinate origin be XO+Vo.

The coordinate system in which the robot 8 displayed on the image display device 5 is defined, that is, the robot coordinate system is X, Y.

Let this coordinate origin be Xo, Yo, and Zo.

The values of the three-dimensional joystick, that is, the increments of X, Y, and Z in the robot coordinate system are ΔX and ΔY.

Let it be ΔZ.

Let K be a conversion coefficient from the robot coordinate system to the image display device coordinate system.

The coordinate positions of the cursor on each display screen for the front view, side view, and top view are (X+, YI) (x2°3'2).
(X3, 'i3), and the coordinate origin of each display screen is (xo+, yO+) (XO2
, ya2) (XO3, yo3).

The enlargement/reduction ratio in the front view is 5, and the amount of parallel shift is T
X, , TZ, the enlargement/reduction ratio in the side view is 82, the amount of parallel movement is TY2 + TZ2, the enlargement/reduction ratio in the top view is 83, the amount of parallel movement is TX3゜TY
Set it to 3.

When the three-dimensional joystick 12 is operated, the calculation it
reads ΔX, ΔY, and ΔZ. Then, the position of the cursor is calculated, and the position is sent to the image display device 5 to be moved. That is, X! +(ΔX/K) is calculated and set as a new xI, y1+(ΔZ/K) is calculated and set as a new yI, and the front view cursor is moved by this new coordinate (X+, )'+).

Also, calculate x2+ (ΔY/K) and set it as new x2, and y2+
(ΔZ/K) is calculated as a new y2, and the side view cursor is moved by this new coordinate (x2+y2).

Furthermore, calculate x3 + (ΔX/K) and set new x3,
Calculate y3+(8Y, , /K) and move the cursor on the top view to new y3 using this new coordinate (X3.Y3).

The above operation is continued until the button 13 is pressed, and when the button 13 is pressed, the cursor coordinate position in the robot coordinate system is determined.

That is, X = Xo - (TXI/St) + (xl -
OI ) /KY−Vo −(TY2 /S2 ) +
(X2 XO2) /KZ=Zo (TZ+ /
People calculate S+ ) + (y+ yo+ )/K.

Calculator 1 corrects the operation data based on this calculation resultj7
, stored in the educational data file 4.

FIG. 7 is a diagram illustrating control of the display screen.

The image display gW5 divides the normal display screen 20 into a robot status display area 16 that displays a front view, side view, top view, and perspective view of the robot 8, a menu display area 17, and a robot status display area 18. A function key 21 is provided on the keyboard.

By the way, the robot status display area 16 is divided into four parts as described above, and the status of the robot 8 is displayed. Therefore, there is a problem that the displayed contents are too small to read.Therefore, either press the function key 21 or press the menu display area 1
By hitting 7, a desired view, for example a front view, is enlarged and instantly displayed using the entire robot status display area 16.

By controlling the display screen 20 in this manner, the operating state of the robot 8 can be observed on an easily viewable screen.

In addition, the function keys 21 have fixed input functions, and there is a problem in that they cannot be used depending on the display screen. Therefore, a function meaning display area 19 is provided on the display screen 20 to display the positions of usable keys.

By doing this, the operator can
It is possible to operate the function keys 21 while looking at the screen, improving operability.

Further, a teaching box and a robot used for teaching the robot 8 may be displayed on a display screen, and by touching the display screen, off-line teaching of the robot's teaching data and the like may be performed.

〔Effect of the invention〕

As described above, the present invention can make it easier to see the state of an object and improve operability in a three-dimensional simulator that obtains motion data of an object moving in a three-dimensional space.

[Brief explanation of drawings]

FIG. 1 is a block diagram of a circuit showing an embodiment of the present invention, FIG. 2 is a diagram explaining a display example of an image display device, FIG. 3 is a diagram explaining an example of a three-dimensional joystick, and FIG. 4 is a diagram explaining an example of a three-dimensional joystick. A flowchart explaining the calculation of cursor coordinate values, FIG. 5 is a block diagram showing an example of a conventional three-dimensional simulator, FIG. 6 is a diagram explaining an example of input from a moving device, and FIG. 7 explains control of the display screen. This is a diagram. In the figure, 1 is a computer, 2 is an environmental data file, 3 is a robot data file, 4 is an educational data file, 5 is an image display device, 6 is a tablet, 7.13 is a button,
8 is a robot, 12 is a three-dimensional joystick, and 21 is a function key. Picture Illustrator, 4ζ device 1, water, J, word of mouth, 1J, figure $ 2, figure = 巳んχ2i人, ji'yoinku, Goλso7, 1421 Mihona. θM-1-; 5 figure $ 3 figure-・/lb left 樒桓's skin register moj first e system ro moro-tato first
45fJ Ayshi. Three, two lengths - S elm - 7n-rσ・1
Stone map 5th country

Claims (1)

[Claims] The state of an object (8) moving in a three-dimensional space is displayed on a display screen based on given motion data, and the state of the object (8) is displayed by hitting the cursor displayed on the display screen. A three-dimensional simulator that corrects the motion data so that when a movement position is specified, the object (8) is moved to the specified position, the three-dimensional simulator includes a button (13) for hitting the cursor position;
A three-dimensional joystick (12) for instructing movement of a cursor on the display screen in three directions, and an image for dividing the display screen to display a top view, a front view, a side view, and a perspective view of the object (8). a display device (5), and the three-dimensional joystick (12) instructs to move the cursor displayed on the top view, front view, and side view, respectively, displayed by the image display device (5) to a desired position. ) to calculate the movement amount of the cursor, and by pressing the button (13) of the three-dimensional joystick (12) once, the movement position of the object (8) can be input. Characteristic 3D simulator position specification method.