JPH0566908A - Object hold display method - Google Patents

Abstract

PURPOSE:To attain the accurate and effective simulation by holding an object included in a three-dimensional space shown on a screen produced in a computer with an operation similar to a usual operation. CONSTITUTION:A movable palm part 11 bends to an unmovable palm part 12 in accordance with the bending state of a thumb part 13 of a hand set to the part 11 on the screen of a data glove put on the hand of an operator. Then an object is held by the glove when a contact of the part 13 is secured on one of both side faces of rectangular parallelepiped which surrounds the object and then a contact is secured between a forefinger part 14, a middle finger part 15, a medical finger part 16 or a small finger part 17 and the other side face of the rectangular parallelepiped.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an object gripping display method for gripping an object in a three-dimensional space on a display screen created in a computer with a data glove fitted by an operator, and particularly to an artificial reality. Introduced 3D C
The present invention relates to an object grip display method used for AD and various simulators.

[0002]

2. Description of the Related Art Conventionally, this kind of object grip display method is shown in FIG.
It is used in the object grip display device shown in. FIG. 5 is a block diagram showing a configuration of an object gripping device in a conventional example. A display 1 for displaying an image, a glove-shaped data glove 2 to be put on the operator's hand for operation, and a detection signal for detecting the bending angle of the finger and the entire movement of the hand output from the data glove 2 are input to a computer. The signal conversion means 3 for converting into a data signal for processing, the three-dimensional space data file 5 for storing the data for displaying a plurality of objects in the three-dimensional space on the screen of the display 1, and the signal conversion means 3. Input a data signal and use the three-dimensional spatial data file 5 to display a series of movements on the screen of the display 1 for moving the object after the data glove 1 worn by the operator grasps the object And an object grasping program 4 for performing the operation.

For example, when simulating the assembling procedure of a certain structure, the operator puts the data glove 2 on his / her hand and operates the hand, grasps an object on the screen of the display 1 and moves it to assemble it. Do the work. This can be done in a three-dimensional space on the screen.

When grasping an object existing in this virtual three-dimensional space created by a computer, the data glove 2
The hand displayed on the screen is only the finger is a movable part, so hold it by holding an object between the finger and the palm,
An object is sandwiched and held by a thumb (pad of the finger) and another finger (pad of the finger). [Reference: Future vision of design and CAD (new technology of three-dimensional interface), Japan Society for Precision Engineering, 1990].

[0005]

As described above, in the conventional example, since the object gripping method in which only the finger is the movable portion is used,
Since it is different from the actual movement of the hand, not only is it difficult to grasp an object, but the movement is unnatural.

That is, the method of holding an object between the finger and the palm or by sandwiching the object between the thumb and the belly of the other finger is such that the object is sandwiched between the thumb and the fingertip of the other finger. It is unnatural and difficult to grasp an object because it is different from the daily movement of the hand. Furthermore, since a large number of sample points (planes) are required to determine that the object is gripped, the determination takes time. Therefore, when used for simulation, for example, the simulation becomes inaccurate and takes a long time.

On the other hand, according to the present invention, a part of the palm is made movable, and the grip (contact) with an object is judged with the fingertips of the thumb and other fingers, so that the judgment is efficient and natural and easy. The object of the present invention is to provide an object grasping method displayed on a screen capable of grasping various objects.

[0008]

An object grip display method of the present invention is a display for displaying an image, a glove-shaped data glove which is operated by being put on an operator's hand, and a bending of a finger output by the data glove. Signal conversion means for inputting a detection signal for detecting the angle and the entire movement of the hand and converting it into a data signal for computer processing, and data for displaying a plurality of objects in a three-dimensional space on the screen of the display. The data glove to be stored and the data signal of the signal conversion means are input, and the data glove that the operator wears on the screen of the display by using the three-dimensional space data file grips and holds an object. And an object gripping program for displaying a series of operations for moving the object after determining Gripping program is to be bent is part of a palm in response to the bending angle of the finger of the data signal inputted from said signal converting means.

Further, the object gripping program defines a rectangular parallelepiped containing the object when the data glove tries to grip the object on the screen, and a fingertip portion of the thumb of the data glove is provided on one of opposite side surfaces of the rectangular parallelepiped. Contact
It is determined that the object is grasped because the fingertip portion other than the thumb is in contact with the other side surface.

[0010]

In the object gripping display method of the present invention, as shown in FIG. 1, the movable palm portion 11 bends with respect to the non-movable palm portion 12 depending on how the thumb portion 13 bends with respect to the movable palm portion 11.

Next, consider the case of gripping the three-dimensional object 41 shown in FIG. To grab the three-dimensional object 41, the rectangular parallelepiped 42 including the three-dimensional object may be grabbed. In order to grip the rectangular parallelepiped 42, for example, the tips of the thumb portion 13 and the little finger portion 17 of the hand displayed on the screen shown in FIG. To contact.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings. The present embodiment is applied to the same apparatus configuration as the conventional example shown in FIG. 5, but the object gripping program 4 is different, and the hand motion and grip determination displayed on the screen are as described below. FIG. 1 is a perspective view of a hand displayed on the screen. The data glove 2 shown in FIG. 5 is displayed on the screen of the display 1 similar to the shape of a human hand as shown in FIG. 1, and is composed of a palm portion and a finger portion. The palm portion is a movable palm portion 11 that bends depending on how the thumb bends.
And the non-movable palm portion 12 serving as a reference for bending, the bending boundary 1
It is joined at 8. The finger portion includes a thumb portion 13 joined to the movable palm portion 11, an index finger portion 14, a middle finger portion 15, a ring finger portion 16, and a little finger portion 7 joined to the non-movable palm portion. The thumb part 3 is different from the movable palm part 11 with respect to the index finger part 1.
4, the middle finger portion 15, the ring finger portion 16, and the little finger portion 17 are bent with respect to the non-movable palm portion 12.

The operation of this hand is performed only by a sensor that detects the bending angle of the thumb of the data glove 2, and a subtle shape change of the palm is expressed by the object grasping program 4. Also, FIG.
In addition to the one having a three-dimensional effect as shown in FIG. 2, each part can be expressed by a surface as shown in FIG. Although it is unnatural if the expression method of FIG. 2 is used, the amount of processing required for display is reduced, so that an inexpensive computer can be used. Note that (a), (b), and (c) in FIG. 2 describe the bending operation of the thumb.

Next, a determination method when an object is held by the hand displayed on this screen will be described with reference to FIGS. 3 and 5.
FIG. 3 is a flow chart showing the procedure of grip determination according to this embodiment. In addition, FIG. 4 is a perspective view of a rectangular parallelepiped used for grip determination in this embodiment. In step 301, it is determined whether or not the tip of the thumb portion of the gripping hand is in contact with any of the surfaces forming the outer packaging rectangular parallelepiped 42 of the object shown in FIG. 4 to be gripped. For example, if the tip of your thumb is (Xp, Yp, Z
p), each surface of the rectangular parallelepiped is an xy plane, yz
The plane is parallel to the zx plane, and the intersection with each axis is Xmax, X
Consider the case of min, Ymax, Ymin, Zmax, and Zmin. When the following conditions are satisfied, it is determined that the tip point of the thumb is parallel to the xy plane and the normal vector outward of the rectangular parallelepiped is in contact with the surface in the positive z-axis direction.

Change from Zp> Zmax to Zp <Zmax Xmin <Xp <Xmax Ymin <Yp <Ymax Zmin <Zp, Zmax The contact determination with another surface can be performed in the same manner.

If it is determined in step 301 that the tip of the thumb is in contact with the outer package rectangular parallelepiped, step 302
If it is determined that the contact is not made, step 304
Go to. In step 302, similarly to step 301, it is determined whether or not the tip of a finger other than the thumb is in contact with the outer package rectangular parallelepiped.
If it is determined that the contact is not made, step 304
Go to. In step 303, it is determined that the object is gripped, and the process ends. Further, in step 304, the process is terminated because the object is not grasped.

As described above, the rectangular parallelepiped, especially the constituent surface is xyz.
By making a contact determination with a rectangular parallelepiped that is perpendicular to each axis, it is possible to make a rapid determination with a small processing amount. This effect becomes remarkable when the object to be grasped is a complicated object including many surfaces or including a curved surface such as a free curved surface.

[0018]

As described above, if the present invention is applied, when grasping an object in a three-dimensional space on a display screen created in a computer, the thumb and other objects are grasped in the same manner as a daily operation. Since the object can be grasped by sandwiching it with the fingertips of the fingers, the object can be grasped naturally and easily. Further, since the grip determination is performed only at the sample points of the fingertips, the determination can be speeded up. Therefore, for example, when simulating a three-dimensional object or assembling work on the screen,
There is an effect that the work is accurate and efficient.

[Brief description of drawings]

FIG. 1 is a display diagram of a hand displayed on a screen according to an embodiment.

FIG. 2 is a display diagram of a hand that is simplified and displayed on a screen according to an embodiment.

FIG. 3 is a flowchart showing a procedure of grip determination according to an embodiment.

FIG. 4 is a perspective view of a rectangular parallelepiped used for grip determination in one embodiment.

FIG. 5 is a block diagram showing a configuration of a conventional object gripping display device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 display 2 data glove 3 signal conversion means 4 object gripping program 5 three-dimensional spatial data file 11 movable palm part 12 non-movable palm part 13 thumb part 14 forefinger part 15 middle finger part 16 ring finger part 17 little finger part 18 bending boundary

Claims (2)

[Claims] 1. A display for displaying an image, a glove-shaped data glove to be put on an operator's hand for operation, and a detection signal for detecting a bending angle of a finger and an overall movement of the hand output by the data glove. A signal converting means for inputting and converting into a data signal for computer processing, and a three-dimensional space data file storing data for displaying a plurality of objects in a three-dimensional space on the screen of the display,
The data signal of the signal conversion means is input, and the three-dimensional spatial data file is used to move the object after it is determined that the data glove that the operator wears on the screen of the display grips the object. In an object gripping display device including an object gripping program for displaying a series of operations, the object gripping program causes a part of a palm to bend in accordance with a bending angle of a finger of a data signal input from the signal converting means. An object grip display method characterized by: 2. The object gripping program defines a rectangular parallelepiped containing the object when the data glove tries to grip the object on the screen, and a fingertip portion of a thumb of the data glove is provided on one of opposite side surfaces of the rectangular parallelepiped. The object gripping display method according to claim 1, wherein it is determined that the object has been gripped by touching the object and a fingertip part other than the thumb contacting the other side surface.