JP2005115430A - Immersive design support apparatus and method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To assemble and evaluate ergonomic characteristics of a new product based on sensibilities depending on human subjectivity without producing a real machine (prototype machine), even if evaluation is insufficient Provided is an immersive design support apparatus and method capable of repeatedly performing redesign and re-evaluation according to.
A part database 12 for storing part data 3 such as shapes, dimensions, weights, moments of inertia and colors of a plurality of parts 2 constituting a design object 1 and a geometric constraint condition between the parts are stored. A constraint condition database 14, a computer 16 for storing a three-dimensional dynamic simulator 15 for calculating a motion of a design object in the three-dimensional virtual space using the parts database and the constraint condition database, and a design object in the three-dimensional virtual space And an immersive display device 18 that visually presents the movement to the designer.
[Selection] Figure 1

Description

  The present invention relates to an immersive design support apparatus and method for assembling and evaluating ergonomic characteristics of a new product based on sensibilities depending on human subjectivity without manufacturing an actual machine.

  An immersive stereoscopic image display technique represented by the CAVE system (Non-patent Document 1) is known as a technique for experiencing a three-dimensional virtual space with computer graphics. In this technology, a user can embody a stereoscopic virtual space by wearing special glasses for stereoscopic viewing.

  In the CAVE system, 2.5 to 3 m square screens are used and installed on the front, left, right, and floor surfaces so as to surround the user. Stereoscopic images are projected by a stereoscopic projector from above on the screen on the floor and from behind on the other screens. A 6-degree-of-freedom position sensor is attached to the user's head, and a stereoscopic image viewed from the user's viewpoint position is displayed on the screen. The user wears glasses that can be viewed stereoscopically and stands in CAVE, so that the user is surrounded by a wide-view stereoscopic image and can obtain a highly immersive sensation.

Further, CABIN (CAVE screen version CAVE) developed as an extension of the CAVE system has been published in a paper of Non-Patent Document 2.
Further, Patent Documents 1 to 3 are disclosed as immersive image presentation devices.

  The “immersive display system” of Patent Document 1 aims to make it possible to determine the position and angle of a user's head with respect to features and objects in the surrounding environment. As shown in FIG. And a visual display device 32 for displaying an image based on an image output signal from the optical correlator.

  The “realistic virtual reality provision processing method and apparatus” in Patent Document 2 is intended to provide a virtual world with a high sense of presence to an experience person, and uses a virtual environment and force feedback based on stereoscopic vision. Measures the movement data of the experience, detects the viewpoint, determines the movement of the avatar of the experience, displays it so that it can move, and the operation interface that the experience has based on the movement of the virtual object by force feedback processing Force sense presentation.

  As shown in FIG. 10, the “immersive display device and method” of Patent Document 3 displays a computer-generated 3D virtual world image in a stereoscopically viewable manner so as to surround the user 41. A viewpoint position detection unit 42, a composite information display unit 43, a three-dimensional information display unit 44, a two-dimensional information generation unit 45, a three-dimensional information generation unit 46, and an information synthesis unit 47 are included.

  On the other hand, the “force sense presentation device” means a device that can feel and operate a virtual object as if it were a real object in a virtual world constructed as data on a computer.

  Non-Patent Documents 3 and 4 introduce such force sense presentation devices that are fixed to the floor (desktop). Further, Non-Patent Document 5 proposes a force sense presentation device that generates a force by pulling a user's body by the tension of a wire, and the room itself has a winding mechanism. Further, Non-Patent Document 6 discloses that a winding device is used in such a manner that a user carries it on the back.

  Moreover, patent documents 4-8 are disclosed as a force sense presentation apparatus used by directly attaching to a human hand or body.

  As shown in FIG. 11, the “force sense presentation device” of Patent Document 4 includes an outer member 52 formed into a glove shape with a flexible material, a tube 54 that is incorporated in the outer member and filled with fluid, and an outer shell. It comprises an electromagnetic valve 59 that controls the flow of fluid generated by the movement of an object in the member.

  As shown in FIG. 12, the “force sense presentation device” of Patent Document 5 includes an outer member 52 formed of a flexible material and having an outer shape, and a tube 54 that is incorporated in the outer member and filled with fluid. The electromagnetic valve 59 controls the flow of fluid generated by the movement of the object in the outer member.

  As shown in FIG. 13, the “force sense presentation device” of Patent Document 6 includes an attachment means 62 attached to a force sense presentation target (human finger 63), a wire 66 having one end connected to the attachment means, and a wire The brake means (cylinder 69) connected to the other end of the wire and restricts the movement of the wire, and the control means 64 for controlling the degree of use of the brake.

  As shown in FIG. 14, “a motion recognition device and motion recognition method, and a force-tactile sensation presentation device and a control method thereof” disclosed in Patent Document 7 are provided with a pair or a plurality of pairs of coverings in the vicinity of a joint portion constituting a target skeleton structure. The members S1 and S2 are mounted as a brace, and the position detection means for detecting the relative positional relationship between the covering members optically or magnetically or from the length of the wire member is paired with the covering member S1. , S2 respectively, or provided over both covering members.

  As shown in FIG. 15, the “force sense presentation device and virtual space system” of Patent Document 8 has a force sense presentation having a grip portion, a fulcrum portion, and a variable length connection portion under an environment representing a virtual space 73. The means 71 is attached to the operator and gives a force to the operator according to the state of the virtual force sense receiving object 75 and / or the virtual object 74 in the virtual space.

  Furthermore, the “three-dimensional dynamic simulator” related to the present invention is a software library for obtaining the motion of a virtual object in a virtual space by calculation, and is disclosed in Non-Patent Document 7, for example.

CAVE system, conference presentation at Sigma 93, Internet <http: // www. evl. uic. edu / EVL / RESEARCH / PAPERS / CRUZ / sig93. paper. html> Michitaka Hirose, Tetsuro Ogi, Shohei Asbestos, Toshiro Yamada, “Development of multi-screen all-around display (CABIN) and its characteristic evaluation”, IEICE Transactions D-II, Vol. J81-D-II, no. 5, pp. 888-896, (1998) PHANTOM manufactured by SensAble Technology, Internet <http: // www. sensorable. com / products / phantom_host / phantom. asp> CyberForce from Immersion, Internet <http: // www. immersion. com / 3d / products / cyber_force. php> Sato, Hirata, Kawarada, "Proposal of Spatial Interface Device SPIDER", IEICE Transactions D-II, Vol. J74-D-II, no. 7, pp. 887-894, (1991) Tsuji, Yano, Saito, Ogi, Hirose, “Development and Evaluation of Haptic GEAR in an Immersive Virtual Space”, Journal of the Virtual Reality Society of Japan, Vol. 5, no. 4, pp. 1113-1120 (200.12) Three-dimensional dynamics simulator, Vortex from Critical Mass Labs, Internet <URL: http: // www. cm-labs. com />

JP 2002-91696 A, “Immersive Display System” JP 2002-123840 A, “Realistic Virtual Reality Providing Processing Method and Apparatus” Japanese Patent Application Laid-Open No. 2003-141573, “Immersive Display Device and Method” Japanese Patent Application Laid-Open No. 11-327752, “Force Display Device” Japanese Patent Application Laid-Open No. 2000-56898, “Force Display Device” Japanese Patent Laid-Open No. 2000-99240, “force sense presentation device” Japanese Patent Laid-Open No. 2001-133300, “Motion Recognition Device and Motion Recognition Method, and Force / Tactile Sense Presentation Device and Control Method Thereof” JP 2002-304246 A, “Force Display Device and Virtual Space System”

  In the CAD that has been proposed so far to develop and mass-produce some new products (eg perceptual robots), designers input numerical data to a computer via an interface such as a mouse or a keyboard and put it on a monitor. Work was done by checking the displayed two-dimensional computer graphic (CG). The designed parts were evaluated numerically by various simulations.

  That is, in conventional product development, a part is designed by CAD using a computer, this is assembled in a two-dimensional computer graphic (CG) displayed on a monitor, and then operation is confirmed by various simulations. Next, after confirming the desired performance and operation in this operation check, each designed part is actually manufactured and the actual machine (prototype) is assembled, and the ergonomic characteristics (size, position, use of the prototype) Easiness, motion, etc.) and motion characteristics are evaluated again based on the sensitivity that depends on human subjectivity, and mass production is performed after satisfaction is obtained in this evaluation.

  The operation check by simulation can be freely performed repeatedly using a computer. However, since the evaluation of ergonomic characteristics is based on the actual machine, there is a problem that it is too expensive to re-implement and repeat the actual machine. In addition, when a person directly operates an actual machine (prototype), there is a risk of injury to the person if the prototype is too heavy or malfunctions.

In other words, the conventional product development process has the following problems.
(1) In order to evaluate the ergonomic characteristics (size, position, ease of use, operation, etc.) of a new product based on the sensibility that depends on human subjectivity, it is indispensable to manufacture a real machine (prototype). Met.
(2) If the evaluation with the actual machine is insufficient, it is necessary to repeat the redesign by CAD and the remanufacturing of the actual machine (prototype machine), which not only takes time but also may result in a huge development cost.
(3) When trying to judge the impression received from the design object (new product) only from the two-dimensional CG on the monitor without omitting the prototype of the actual machine, what kind of mental influence the new product has on the user There is a risk that the product will not be fully evaluated, resulting in a product that is difficult to use and new products may not be accepted by the market.

  The present invention has been made to solve such problems. That is, the object of the present invention is based on the sensibility that depends on human subjectivity for the ergonomic characteristics (size, position, ease of use, operation, etc.) of a new product without producing a real machine (prototype). Even if the evaluation is insufficient, CAD redesign and re-evaluation can be repeated without producing a real machine (prototype), which shortens the development period of new products. Another object of the present invention is to provide an immersive design support apparatus and method that can reduce development costs.

According to the present invention, a parts database that stores part data such as shapes, dimensions, weights, moments of inertia, and colors of a plurality of parts constituting a design object;
A constraint database that stores geometric constraints between parts;
A computer for storing a three-dimensional dynamics simulator for calculating a motion of a design object in a three-dimensional virtual space using the component database and the constraint condition database;
There is provided an immersive design support device comprising an immersive display device that visually presents a design object and its motion to a designer in a three-dimensional virtual space.

According to the configuration of the present invention, part data such as the shape, size, weight, moment of inertia, and color of a plurality of parts constituting the design object is stored in the part database, and the geometric data between the parts is stored in the constraint database. By storing the constraint conditions, the motion of the design object in the three-dimensional virtual space can be obtained by calculation with a computer storing the three-dimensional dynamic simulator.
In addition, by using the immersive display device to visually present the design object and the motion obtained by the 3D dynamic simulator in the 3D virtual space to the designer, it is possible to create a new machine without producing a real machine (prototype). The ergonomic characteristics (size, position, ease of use, etc.) of the product can be evaluated based on the sensitivity depending on human subjectivity.

According to a preferred embodiment of the present invention, the immersive display device includes designer detection means for detecting the position and motion of an actual designer located in a three-dimensional virtual space, and the position and motion of the designer. A virtual designer presenting means for presenting as a virtual designer in a three-dimensional virtual space,
The computer calculates motion accompanied by acceleration, collision judgment between parts, geometric constraints acting between parts, and mechanical interference between a design object and a virtual designer in a three-dimensional virtual space by an immersive display device. .

With this configuration, the designer detection means detects the position and action of an existing designer located in the three-dimensional virtual space, and the virtual designer presentation means virtually designs the designer position and action in the three-dimensional virtual space. Can be presented as a person.
Further, by using the computer to calculate the mechanical interference between the design object in the three-dimensional virtual space by the immersive display device and the virtual designer in addition to the normal motion, The motion of the design object can be directly evaluated based on the sensibility by the designer directly in the three-dimensional virtual space.

Moreover, it is preferable to further include a force sense presentation device that allows the designer to experience the force in the three-dimensional virtual space received by the virtual designer.
By providing such a force sense presentation device, a designer produces a real machine (prototype) with a force (weight, strength, reaction force, touch, etc.) in a three-dimensional virtual space via a virtual designer. Without experiencing it.

  Further, according to the present invention, a part design process for inputting part data such as the shape, dimensions, weight, moment of inertia, and color of a plurality of parts constituting a design object into the part database, and designing from the part database using a computer An assembly process that assembles multiple parts that make up an object in a three-dimensional virtual space, and a design object and its movement assembled using a computer are visually presented to the designer in the three-dimensional virtual space and ergonomic characteristics There is provided an immersive design support method characterized by comprising an evaluation step for evaluating a three-dimensional virtual space and repeating the assembly step and the evaluation step alternately.

According to the method of the present invention, part data such as the shape, dimensions, weight, moment of inertia, and color of a plurality of parts constituting the design object in the part design process is input to the part database, and the part is used using the computer in the assembly process. Multiple parts that make up the design object from the database are virtually assembled in a three-dimensional virtual space, and the design object and its movement assembled using a computer in the evaluation process are visually presented to the designer in the three-dimensional virtual space. The ergonomic characteristics can be evaluated in the three-dimensional virtual space.
Also, by repeating the assembly process and the evaluation process alternately, even if the evaluation is insufficient, redesign and re-evaluation by CAD can be repeated without producing a real machine (prototype), and a new product The development period can be shortened and the development cost can be reduced.

  The assembly process includes an assembly preparation process and a virtual assembly process. In the assembly preparation process, constraint points that give constraint conditions to part data are freely set, and in the virtual assembly process, the relative positions of the respective parts in the three-dimensional virtual space are set. The position and orientation are determined freely, and the constraint conditions between the parts are set freely.

  By this method, it is possible to freely set a constraint point that gives a constraint condition to the part data in the assembly preparation process, and in the virtual assembly process, the relative position and orientation of each part in the three-dimensional virtual space can be freely determined, and each The evaluation process can be repeated by freely setting the constraint conditions between the parts, the development period of a new product can be shortened, and the development cost can be reduced.

The setting of the constraint condition in the three-dimensional virtual space includes an operation input and / or a numerical input.
The operation input is performed by operating the virtual designer with a magnetic sensor or a force sense presentation device worn by the designer,
For numerical input, a part is selected by an operation input, an input window is opened using key input of an input / output device in the three-dimensional virtual space, and numerical data is input thereto.

  By this method, it is possible to easily set a rough position by an operation input and to arrange at a predetermined relative angle, and to perform an assembly specified more numerically by numerical input.

Moreover, the said evaluation process consists of two processes of an evaluation preparation process and a virtual evaluation process,
In the evaluation preparation process, set the operation of the design object,
In the virtual evaluation process, the design object in the three-dimensional virtual space is visually confirmed, and the designer manipulates the virtual designer to perform a dynamic interaction with the design object, and the motion is expressed in the three-dimensional virtual space. Check in.

By this method, the operation of the design object is set in the evaluation preparation process, so that the operation of the set design object can be visually confirmed in the three-dimensional virtual space in the virtual evaluation process.
In addition, by operating the virtual designer by the designer and performing a dynamic interaction with the design object, the operation of the design object is directly manipulated in the three-dimensional virtual space, and the movement is performed in the three-dimensional virtual space. You can check immediately.

  As described above, the immersive design support apparatus and method according to the present invention allows the human product to have the ergonomic characteristics (size, position, ease of use, etc.) of a new product without producing a real machine (prototype). It can be evaluated based on the sensibility that depends on the subjectivity, and even if the evaluation is insufficient, redesign and re-evaluation by CAD can be repeated without producing a real machine (prototype), and new products It has excellent effects such as shortening the development period and reducing development costs.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In addition, in each figure, the same code | symbol is attached | subjected to a common part and the overlapping description is abbreviate | omitted.

  FIG. 1 is a system configuration diagram of an immersive design support apparatus according to the present invention. As shown in this figure, the immersive design support apparatus 10 of the present invention includes a parts database 12, a constraint condition database 14, a computer 16 storing a three-dimensional dynamic simulator 15, an immersive display apparatus 18, and a force sense presentation apparatus. 20.

  The component database 12 stores component data 3 such as shapes, dimensions, weights, moments of inertia, and colors of a plurality of components 2 constituting the design object 1. The parts database 12 is designed by CAD and is built in the storage device of the computer 16 or other computer 17. The parts database 12 does not necessarily have to be designed by a computer constituting the present invention, but may be designed and input using another computer.

  The constraint condition database 14 stores geometric constraint conditions between the parts 2. The constraint condition database 14 is also built in the storage device of the computer 16 or other computer 17.

  In addition, the single computer or the plurality of computers constituting the present invention are connected to each other via a network, communicate data in almost real time, and are configured to update and perform data based on the data. .

  The computer 16 that stores the three-dimensional dynamic simulator 15 is hereinafter referred to as an “arithmetic unit computer”. The three-dimensional dynamic simulator 15 is simulation software for obtaining a motion of a design target in a virtual space by calculation. The three-dimensional dynamic simulator 15 calculates a motion in accordance with a physical law based on the component data 3 such as the size, shape, and mass characteristics of the component 2 stored in the component database 12. This calculation is preferably performed at every sampling period, and the position and orientation of each component are preferably output in real time.

This calculation deals with motion with acceleration (dynamics), collision detection between objects, and geometric constraints (rotation axis, slider joint, etc.) acting between objects. The following inputs from designers in the immersive display are also included in this calculation. The computing unit computer prepares not only the design object but also the virtual designer in the virtual space. By operating this virtual designer, the designer dynamically interferes with an object (such as a design target) in the virtual space.
In order to configure a system that is easier to use, it is desirable that the computing unit computer can perform real-time computation, that is, the calculation result and the motion in the real world can be expressed at the same speed. On the other hand, when the real-time property is remarkably impaired, the input by the designer is not reflected in the event in the virtual space indefinitely, so that a satisfactory function cannot be exhibited in the evaluation mode described later.

  The immersive display device 18 is hereinafter referred to as a “display unit”. The display unit is a part that visually presents to the designer the motion of the design object in the virtual space obtained by the computing unit computer. In addition to visual information, auditory information can be presented by generating a three-dimensional sound field using a plurality of speakers. The display unit must have 1) a high immersive feeling for the designer, and 2) a function of measuring the movement of the designer and delivering it to the computing unit computer.

The immersive display device 18 may be a CAVE system, for example.
As shown in FIG. 1, the CAVE system projects images from four directions onto a screen 5 surrounding a designer 4 (white person wearing glasses), and presents an image with a high sense of presence to the designer 4. It is a display system. The projected image is an image in which information for the right eye and the left eye is alternately projected for each frame, and is projected by blocking the line of sight through the liquid crystal shutter glasses 6 one by one in synchronization therewith. The CG is observed as a stereoscopic image by the designer 4. Further, the position and orientation of the liquid crystal shutter glasses 6 are always measured, and the image is updated according to the information, so that the designer can recognize as if he / she exists in the projected virtual space.
The designer 4 in CAVE (a three-dimensional virtual space surrounded by the screen 5) equips the body with a magnetic sensor 7 in addition to the liquid crystal shutter glasses 6. Information on the position and orientation of these magnetic sensors 7 is also constantly measured and functions as a system interface. The projected CG motion is obtained by simulating the influence of the motion of the designer 4 and the physical law (mechanical law) by a computing unit computer.
The immersive display device 18 of FIG. 1 has six immersive display units (the breakdown is one for controlling sensors and liquid crystal shutter glasses attached to the designer, four for projecting images, and in the CAVE. The computer 17 includes one computer that generates a sound field.

  It has been confirmed by experiments that the immersive display device 18 as described above allows a designer in CAVE to exert a mechanical action on an object in a virtual space.

  The immersive display device 18 does not necessarily need to use the CAVE system as long as it has the two functions described above. For example, a stereoscopic image is output to a head-mounted display (HMD) having a sufficiently wide viewing angle, and a designer's position is detected by using a gyro sensor or the like mounted on the HMD, and at the same time, some method (by motion capture or equipment) If the designer's movement is monitored by movement measurement), the function as a display unit is satisfied.

The force sense presentation device 20 is hereinafter referred to as a “force sense presentation unit”. The force sense presentation unit is a device that allows the designer to experience the force in the virtual space received by the virtual designer. By using this, the assembly mode, which will be described later, facilitates positioning during component placement, and in the evaluation mode, not only can collisions with the design object be easily recognized, but also through the exchange of force during the cooperative operation with the design object. Evaluation is also possible.
Many such force sense presentation devices have already been announced, but many of them are of the robot arm type used by being fixed to the floor surface. In order for the designer to evaluate the design object while moving freely, a floor-mounted force sense presentation device is not desirable.
The force sense presentation device 20 of the present invention preferably satisfies the following four requirements.
(1) It should be possible to generate a force that restrains exercise on the user's hand or arm.
(2) A function for measuring the joint angle or hand position of the user is provided.
(3) The user should be able to move while wearing it, and the movement should not be hindered.
(4) Do not disturb information presentation by the display unit.

FIG. 2 is a schematic diagram showing the immersive design support method of the present invention. As shown in this figure, the method of the present invention comprises a part design process S0, an assembly process S1, and an evaluation process S2.
The part design process S0 is a process in which part data such as shapes, dimensions, weights, moments of inertia, colors, and the like of a plurality of parts constituting the design object are input to the part database 12. The assembly step S1 is a step of assembling a plurality of parts constituting the design object in the three-dimensional virtual space, and is hereinafter referred to as “assembly mode”. Further, the evaluation step S2 is a step of visually presenting the assembled design object and its motion to the designer in the three-dimensional virtual space and evaluating the ergonomic characteristics in the three-dimensional virtual space. This is called “mode”. The method of the present invention is performed by alternately repeating the assembly process (assembly mode) and the evaluation process (evaluation mode).

  FIG. 3 is a flowchart showing the immersive design support method of the present invention. Hereinafter, the method of the present invention will be described in order for each stage based on FIG. 2 and FIG.

  In the part design process S0, the part data 3 of the plurality of parts 2 constituting the design target 1 is designed by existing CAD. The part data 3 includes information such as shape, size, mass, moment of inertia, and color, but does not include geometric constraints that connect the parts. The component 2 here is a single component that constitutes the design object. This component data is sent to the computing unit computer and stored in the component database 12. The component data 3 here is in a data format that can be output by general-purpose CAD, and CAD data designed by a conventional method can also be used.

  In the assembly step S1 (assembly mode), the designer assembles a design object by combining the component data 3 stored in the computing unit computer. “Assembly” means that the relative position / posture and geometric constraints of the component data are given by the designer, such as the target component, its attachment position, the type and direction of the constraint, and parameters such as friction in the constraint, This is an operation for selecting / determining not only a single part but also a detailed geometric constraint between a plurality of parts.

  The assembly mode S1 includes two stages: an assembly preparation step S11 (hereinafter referred to as “assembly preparation”) and a virtual assembly step S12 (hereinafter referred to as “assembly”). In “Assembly Preparation” S11, a constraint point (Constrained Point, hereinafter referred to as CP) that can give a constraint condition to the component data by the computing unit computer is set. This is performed by inputting from a keyboard of a computer constituting the arithmetic unit computer.

  Thereafter, an operation “assembly” S12 for assembling a design object based on the processed part data 3 is performed, and this is an operation of determining the relative position and orientation of the parts and setting the constraints between the parts. Two methods are used as the input method. One is operation input (input by operation), and the other is numerical input (input by numerical value).

  Rough position setting (part A center line and part B center line aligned, etc.) and arrangement at predetermined relative angles (0 °, 45 °, 90 °, etc.) are “input by operation” Is done by. This operation is performed by operating the virtual designer using a magnetic sensor worn by the designer or a force sense presentation device. When more detailed numerically specified assembly is required, “input by numerical value” is performed. An input window is opened using the key input of the input / output device in the display unit, and numerical data is input thereto. At this time, the component is selected by indicating the component by “input by operation”.

The setting of the constraint condition is divided into the following two types depending on the positional relationship of the parts. When the distance between the CPs is shorter than a certain point when the parts are placed, an input screen for a constraint condition for connecting the CPs after the parts placement is opened. The designer answers this using an input / output device, and gives a constraint condition. Otherwise, after the arrangement is completed, a paired CP is designated and the respective constraint conditions are input. This input is also input using an input window in the same way as “input by numerical value”.
In the assembly mode, the computing unit computer does not reproduce the dynamic physical phenomenon. This is to ignore the inertia of the part so that the position and orientation of the part can be immediately determined as desired.
Further, in the movement of a part that employs “input by movement”, the operability is improved by presenting a force for guiding alignment to the force sense presentation device.
After assembling the design object with the necessary parts, the designer switches to the “evaluation” mode. The result assembled at this time is stored in a format that can be handled as a dynamic model in the “evaluation” mode (hereinafter referred to as assembly).

The evaluation step S2 (evaluation mode) is divided into an evaluation preparation step S21 (hereinafter referred to as “evaluation preparation”) and a virtual evaluation step S22 (hereinafter referred to as actual “evaluation”).
“Evaluation preparation” S21 is an operation for setting the operation of the design object, which is not necessarily performed in the display unit, but may be performed by input using a keyboard of a computer constituting the computing unit computer. This is because there is no excellent graphical user interface (GUI) that can operate the program language even in a large operation in the display unit at this stage. Accordingly, when such a GUI is developed, it is preferable to use this GUI in the display unit.

When the “evaluation preparation” S21 is completed, the designer evaluates the target in the display section with the actual “evaluation” S22. “Evaluation” here means not only visual confirmation of the design and operation of the design object, but also the interaction of the design object with the mechanical object by operating the virtual designer with a magnetic sensor worn by the designer. And confirming its behavior. When a force sense presentation device is used instead of a magnetic sensor, it is possible to evaluate more intuitively by feeling the force received by the virtual designer in the virtual space.
If you feel dissatisfied with the visual evaluation, move to the assembly mode “preparation for assembly” or “assembly”, and if you find it difficult to operate, return to “preparation for evaluation” and change the control law. “Evaluate” again. The design is advanced by repeating this process. If the evaluation result is sufficiently satisfactory, the design is complete, and the assembly and control law at that time are the final results.

  Hereinafter, as a specific example of the present invention, a case where the design object 1 is a robot that contacts a human (hereinafter referred to as a robot) will be described.

  FIG. 4 is a schematic diagram showing a part data design process. A part 2 constituting the robot (design object 1) is designed using general-purpose CAD. Here, parts necessary for the robot are prepared, and these parts data are sent to the computing unit computer 16.

  FIG. 5 is a schematic diagram showing a process for setting a constraint point. A constraint point (CP) is set for each component 2 and can be handled in the virtual space. The CP is provided in a place where there is a possibility of setting a constraint condition with other parts. The parts that have been set in this way are placed at an arrangement place in the virtual space, which is the initial position in “assembly”.

FIG. 6 is a schematic diagram showing a state of assembly by motion input.
In the assembly step S1 (assembly mode), the designer arranges each part in the space. For CP pairs that are close enough at the end of placement, the computing unit computer 16 opens an input window and asks for the input of constraint type and direction (if necessary). If the CPs are separated at the time of placement, the designer himself / herself designates the CP pair for which the constraint is to be set, and inputs the constraint condition from the input window.

For example, suppose you want to connect the upper arm to the upper end of the torso with a rotating joint. At this time, the following steps are taken.
(1) Select the torso from the organizing place and place it in the space. (2) Take out the upper arm from the organizing place and place it so that the upper CP of the torso and the CP at the end of the upper arm are close.
(3) Since the computing unit computer opens a constraint condition input window for the close CP pair, a constraint condition (rotation axis constraint, rotation is around the X axis) is input thereto.

FIG. 7 is a schematic diagram showing a state of assembly by numerical input.
If the relative position / orientation between parts is not in a predetermined relationship, an input window is opened for numerical input, and the position and orientation of the part are input numerically. In addition, when constraining between CPs located apart from each other, a constraint condition is input to the input window after designating a CP pair.

An example of joining the upper arm and the forearm will be described. The procedure is as follows.
(1) Select the forearm from the organizing place and place it in the space.
(2) Designate one CP of the upper arm and CP of the forearm.
(3) From the input window, enter the distance between the two points selected in (2) numerically. (Determination of relative position)
(4) Select one forearm CP.
(5) From the input window, input the rotation angle with respect to the spatial coordinate axis around the point selected in (4). (Decision of absolute posture)
(6) Specify one CP of the upper arm and CP of the forearm. (Selection of CP pair giving constraint)
(7) Input a constraint condition for connecting the CP pair selected in (6) from the input window.
(8) Completion

The robot is constructed in the virtual space by repeating these procedures. In the procedure, (2) and (3), (4) and (5), and (6) and (7) are paired by selection and input. It is also possible to open an input window for setting.
When construction is complete, the assembly window is instructed from the input window. At this time, not all parts may be used (the data at the head of FIG. 7 is not used here).

FIG. 8 is a schematic diagram of the control side design considering dynamics.
In the stage of “preparation for evaluation” S21, a control law is designed based on the assembly. This operation is performed by programming using the keyboard of the computer that constructs the computing unit computer 16.

In the evaluation step S2 (evaluation mode), the computing unit computer 16 obtains the motion of the robot in consideration of the physical laws by calculation and sends the result to the display unit. In the display unit, when the designer visually uses the motion and appearance of the robot and uses a force sense presentation device, the validity of the robot motion is evaluated by the interaction force through the virtual designer.
If you are not satisfied with the design, go to “Assembly” and install different parts. If there is no suitable part in the storage location, the part is again designed using CAD. If the set CP cannot satisfy the mounting position, the process proceeds to “assembly preparation” and the CP is reset. If there is a deficiency in the operation, the process proceeds to “Evaluation preparation”, the control law is changed, and the evaluation is performed again.

  As described above, the present invention makes it possible to introduce a sensibility based on human subjectivity into the evaluation at the time of design by presenting the design target video as a full-scale stereoscopic video to the designer. is there. Impression when using a design object in front of the eyes by using an immersive image presentation device such as a large display or a head-mounted display, and letting the designer feel as if the design object exists there It is possible to evaluate subjectively. The motion of the design object is calculated by a three-dimensional dynamic simulator and presented to the designer. At the same time, by reflecting the movement of the designer in the simulator, evaluation through mechanical interaction with the design object is possible.

When shifting from the assembly mode to the evaluation mode, create a setting file that describes the mechanical constraints between the robot parts generated by the assembly, and use this file at the start of the evaluation mode. Determine the state.
In the evaluation mode, the designer can evaluate the performance of the assembled robot. In this mode, the laws of mechanics are applied to all objects (all CGs) in the virtual space, and collision determination is also performed. The movement of the robot is determined by a control input for following the target value given from the simulator and a force received from the designer. In addition to being able to visually evaluate the robot subjectively by looking at the full-scale robot, the designer can more realistically interact with the robot through a force sense presentation device. You can get a full impression of the robot. Since all objects in the virtual space are numerically managed in the simulation, it is possible to evaluate the performance of the robot numerically in the same way as a conventional CAD system.

  It should be noted that the present invention is not limited to the above-described embodiment, and can be variously modified without departing from the gist of the present invention.

1 is a system configuration diagram of an immersive design support apparatus according to the present invention. It is a schematic diagram which shows the immersive design support method of this invention. It is a flowchart which shows the immersive design support method of this invention. It is a schematic diagram which shows the design process of component data. It is a schematic diagram which shows the setting process of a restraint point. It is a schematic diagram which shows a mode that it assembles by a motion input. It is a schematic diagram which shows a mode that it assembles by numerical input. It is a schematic diagram of the control side design in consideration of dynamics. 1 is a schematic diagram of an “immersive display system” in Patent Document 1. FIG. 10 is a schematic diagram of “immersive display device and method” of Patent Document 3. FIG. 10 is a schematic diagram of a “force sense presentation device” in Patent Document 4. FIG. 10 is a schematic diagram of a “force sense presentation device” in Patent Document 5. FIG. 10 is a schematic diagram of a “force sense presentation device” in Patent Document 6. FIG. FIG. 10 is a schematic diagram of “A motion recognition device and a motion recognition method, and a force / tactile sensation presentation device and a control method thereof” in Patent Document 7. FIG. 10 is a schematic diagram of “force sense presentation device and virtual space system” of Patent Document 8.

Explanation of symbols

1 Design object, 2 parts, 3 parts data, 4 designer, 5 screen, 6 liquid crystal shutter glasses, 7 magnetic sensor, 10 immersive design support device, 12 parts database, 14 constraint database, 15 3D dynamic simulator, 16 computers (computers), 18 immersive display devices, 20 haptic devices

Claims (7)

A parts database that stores parts data such as the shape, dimensions, weight, moment of inertia, and color of multiple parts that make up the design object;
A constraint database that stores geometric constraints between parts;
A computer for storing a three-dimensional dynamics simulator for calculating a motion of a design object in a three-dimensional virtual space using the component database and the constraint condition database;
An immersive design support apparatus comprising an immersive display device that visually presents a design object and its motion to a designer in a three-dimensional virtual space. The immersive display device includes designer detection means for detecting the position and movement of an actual designer located in the three-dimensional virtual space, and the position and movement of the designer as a virtual designer in the three-dimensional virtual space. A virtual designer presenting means for presenting,
The computer calculates motion accompanied by acceleration, collision judgment between parts, geometric constraints acting between parts, and mechanical interference between a design object and a virtual designer in a three-dimensional virtual space by an immersive display device. The immersive design support apparatus according to claim 1. The immersive design support apparatus according to claim 2, further comprising a force sense presentation device that allows the designer to experience the force in the three-dimensional virtual space received by the virtual designer. A part design process that inputs part data such as the shape, dimensions, weight, moment of inertia, and color of multiple parts that make up the design object into the parts database, and multiple parts that make up the design object from the parts database using a computer Assembling process in 3D virtual space, design object assembled using computer and its motion are visually presented to designer in 3D virtual space and ergonomic characteristics are evaluated in 3D virtual space An immersive design support method, comprising: an evaluation step, wherein the assembly step and the evaluation step are alternately repeated. The assembly process comprises an assembly preparation process and a virtual assembly process,
In the assembly preparation process, freely set the constraint points that give constraint conditions to the part data,
5. The immersive mold according to claim 4, wherein in the virtual assembly process, the relative position and orientation of each part in the three-dimensional virtual space are freely determined, and a constraint condition between the parts is freely set. Design support method. The setting of the constraint condition in the three-dimensional virtual space includes an operation input and / or a numerical input.
The operation input is performed by operating the virtual designer with a magnetic sensor or a force sense presentation device worn by the designer,
6. The numerical input is characterized in that a part is selected by an operation input, an input window is opened by using a key input of an input / output device in a three-dimensional virtual space, and numerical data is input thereto. Immersive design support method described in 1. The evaluation process consists of two processes, an evaluation preparation process and a virtual evaluation process.
In the evaluation preparation process, set the operation of the design object,
In the virtual evaluation process, the design object in the three-dimensional virtual space is visually confirmed, and the designer manipulates the virtual designer to perform a dynamic interaction with the design object, and the motion is expressed in the three-dimensional virtual space. 5. The immersive design support method according to claim 4, wherein the immersive design support method is characterized in that:

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