JPS60217461A - Three-dimension object display system - Google Patents

Abstract

PURPOSE:To attain the expression of a 3-dimensioned object with a less amount of calculation by controlling contrast and saturation of a color in several gradation at each dot on a CRT as to express a relative distance of a 3-dimensional object thereby without using complicated algorithm. CONSTITUTION:Color information corresponding to each dot is generated by an operation processor 10 and the generated color information is stored to an address of each dot of display RAMs 50, 60, 70 via a bus transmission line 3,000. The color information is transmitted to a video signal generator 100 via an interface 90 and a bus transmission line 7,000 and the video signal in response to the contrast of each dot is outputted and displayed from the device 100 onto a transmission line 8,000 based on the color information. That is, in displaying the 3-dimension object on a 2-dimension color display 110, the depth of the object and the relative distance between the objects in a 3-dimension space are expressed with less amount of calculation not using complicated algorithm based on the change of the contrast and saturation.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a display device, and particularly to a three-dimensional object display method that performs color light control suitable for three-dimensional display.

[Background of the invention]

Traditionally, three-dimensional objects have been expressed on two-dimensional displays using several types of projection methods such as isometric projection and perspective projection, and geometric modeling such as solid models and wire-frame models. . but,
In both CAD systems, which use many line drawings, many lines intersect in a complicated manner to represent a single three-dimensional object, making it difficult to determine the direction of the object and visually determining which side is visible. To solve this problem, there are many hidden line processing algorithms, but these require an enormous amount of calculation and reduce display speed. In addition, the simplified hidden line processing algorithm that requires less calculation cannot completely remove hidden lines, and when a large number of three-dimensional objects are combined, the result is an isomorphism that is almost the same as one without hidden line processing.

In addition, there are methods such as positive shape processing that express shadows on three-dimensional objects, but this also requires a huge amount of calculation to create one screen, and it is necessary to reduce the amount of calculation. teeth,
Required an expensive display system.

Furthermore, since many lines intersect in a complicated manner, when a diagram of several objects arranged in three-dimensional space is expressed on a display,
It was difficult to visually understand the relationships between objects because the relative distances between objects were unknown. Therefore, for example, C
In a robot teaching system that displays robots and their motion ranges on the RT and teaches the robot while looking at the relationship between the robot and the robot motion ranges, if the robot motion ranges are displayed in 3D, the diagram becomes complicated. However, in order to know the range of motion and the relative distance to the robot, it was no longer possible to provide effective teaching, and the only way to know the range of motion and the relative distance to the robot was to rely on numerical expressions, making it difficult to understand visually.

[Object of the Invention] The present invention was made to solve the drawbacks of the prior art in three-dimensional display. It expresses the relative distance of three-dimensional objects, which is difficult to display on a dimensional display, using the three-dimensional structure of color (brightness, saturation, hue), and requires fewer calculations without using complex algorithms. The purpose of the present invention is to provide an inexpensive display device that can represent a three-dimensional object in terms of quantity.

[Summary of the invention]

The present invention is based on the three-dimensional structure of colors, and when displaying a three-dimensional object on a two-dimensional display, the depth of the object and the relative distance between objects in three-dimensional space can be expressed numerically or using complicated methods. In order to make it easier to visually understand with a small amount of calculation without using an algorithm, three-dimensional distances are calculated by changing the brightness and saturation of colors.

The method of expressing depth by changing the brightness and saturation of colors takes advantage of human illusions, and the deeper you go from the human perspective, the darker the color becomes.
It was established based on the theory of the chiaroscuro method, which emphasizes the brightness and darkness in the foreground and expresses depth in a two-dimensional visual form. The present invention is based on the distribution J.D., A. Tondis, published by Science Publishing).

[Embodiments of the invention]

Below, the embodiments of the present invention are divided into (1) an example in which the relative distance between a three-dimensional display object and a viewpoint is determined, and (2) an example in which the relative distance between the robot and an inoperable range in robot teaching is determined. I will explain.

FIG. 1 shows the overall configuration of the system, in which an arithmetic processor 10 generates color information corresponding to each dot, and the generated color information is sent to the display RAM via a bus transmission path 3ooo.
50, 60.70 (7) The original color information stored in each dot address and read into the display RAM is transmitted to the video signal generator 1oo via the interface 9o and the bus transmission M7000, and each color is displayed based on the color information. A video signal corresponding to the brightness of the dot is transmitted from the video signal generator 1oo to the transmission path aoo.

and displays each color on the color display 110.

Figure 2 shows the three-dimensional structure of color, that is, hue (color), brightness, and saturation (reference: "Color Watching, All about Color", supervised by Hiroshi Motomei, Shogakukan Publishing), and shows a pair of cones. It has a layered structure.

The axis of the cone shows degrees of intensity, with white at the top, then gradually adding gray to black at the top. Hues lined up parallel to this axis become lighter or darker depending on the axis. Also, the radius of the circle indicates the saturation of each hue.

The further away from the vertical axis, the more saturated and vivid each hue becomes. Furthermore, each hue arranged in a circle around the vertical axis is complementary to the hue on a concentric circle located symmetrically around the vertical axis, and when these two hues are mixed, they form a concentric circle. becomes gray in the center. When hues with different saturation levels are mixed, the hue becomes a highly saturated hue, and the saturation level indicates the level of the difference between the levels of the two mixed colors.

Figure 3 shows the 12 basic colors (for details, refer to the literature mentioned in the [Summary of the Invention]) and the color code. Two colors on the same straight line are complementary colors to each other. Located in
Adding these two codes, ■10=xoo
It becomes oo2 (binary number).

By using the color properties shown in Figures 2 and 3,
Describe the relative distance and structure of 3D objects. The procedure will be described below.

(1) First, we will explain a method for three-dimensional display by adjusting the brightness of colors based on the relative distance between the viewpoint and the object without using a complicated hidden line processing algorithm.

Now, if we consider the case where a three-dimensional object is displayed on a two-dimensional display as shown in Fig. 4, normally when displaying a three-dimensional object, x=-1, x=1゜'j''-1 ，'!=
1. The actual size object is reduced so that it fits within the regular perspective space surrounded by z=:Q, z==l, and then projected onto the screen. At this time, any point on the three-dimensional object is X
A, yA, zA). At this time, as shown in Figures 5 and 6, the two axes (0≦2≦1) of the normal perspective space are divided into n equal parts, and the gradation of color intensity is i (i=1...n). Create.

Here, let's assume that it is divided into 13 equal parts to create 13 gradations of color brightness. i=1, that is, z=0 side is the brightest,
The gradation i is set so that 1=13, that is, the z=1 side is the darkest. In addition, the boundary of brightness gradation 2. becomes the following formula.

z, = 1/n + z, -, 1 = l - 13 -13 Next, point A on the display object in the normal perspective space is at gradation level i
The brightness gradation KA of point A is determined based on the following. That is, repeat until ZA>Zl→i=i+1 ZA<z.

zA<zI-+1==i KA=i By the way, the colors at each point are variously red and green.

Since it is represented by the 3yX color of blue, the production rate of the three primary colors of the color at one point A can be calculated as follows. That is, as shown in Figure 7 for the 12 basic colors, the ratio of blue light to red light is Pyo. = b / r, the ratio of green light to red light, P. A color component table having g/r values is prepared in the RAM 80.

From the color code of coordinate A, from the color component table, find p'2, I P';Do for point A, and use the following formula:
3JjX Color generation values Q, I, QR, Q are determined by the following formula.

QIl=p,. .・(1/(1+p,,))QR=
1/(1+P3oo) Q, = p au ・(P 2., O/ (t + p
a6o) ) Each generated value QB, QR, Q, is processed by processor 1.
After setting the value to 0, the data including the brightness gradation KA is sent to the display RAM interface 30 via the bus 3000.
transmitted to. The display RAM interface 30 stores each data at the screen address corresponding to the coordinate A in the display RAMs 50, 60° 70. At this time, the brightness gradation K
A is stored in the display RAM 50 along with QR. The data stored in each display RAM is transmitted via interface 90 to bus 7000 and then to video signal generator 100. Video M hot S raw device 100
From each data, video signals corresponding to the degrees of each of the three primary colors are sent to the bus 8000 and transmitted to the color display device 110. Color display device 1
10 displays a color at a dot corresponding to point A on the three-dimensional plane according to each signal. As a result, depth can be represented by the intensity gradation of colors, and a two-dimensional display of a three-dimensional object that is easy to visually understand is possible.

(2) Next, an example of displaying the relative distance between a robot and an inoperable robot range in robot teaching will be described as an example of displaying the relative distance of an object in a three-dimensional space on a two-dimensional display.

Now, assuming that the robot's inoperable area is given in advance, we set the gradation of saturation by a constant value from the boundary of the inoperable area, and set the gradation value that is closest to the inoperative area. The saturation of the object is set to be high ('=1), and the saturation becomes low as the object moves away from the object, that is, as it enters the operable area.

Assuming that the distance between an arbitrary point A on the robot and the robot inoperable area B is dA8, the saturation LA of the point A is determined as follows. That is, dA,=lA eyebrow! To' = 1 dAe>D-+ To' = To' +1. d=d-DdAB
Repeat until ≦D.

dAll≦D-)K'=to'LA=to' Next, the saturation LA is determined by finding the complementary color from the color code of point A based on Figure 3, and using the complementary color combination rate qA according to the gradation code LA. Multiply complementary colors. In addition, the colors indicated by the color code are
Since each color is represented by the three primary colors of red, green, and blue, the color of chroma LA, which is obtained by multiplying the complementary colors at a rate of qA, can be calculated as follows. That is, as shown in FIG. 7 for each of the 12 basic colors, the ratio of blue light to red light is Pyo. = b / r, ratio of green light to red light P1°.

= Color component table with g/r value in RAM80
Have it ready. Determine the color code of complementary color A' from the color code of coordinate A using the following formula.

p,' = 100002-Δ Next, color component tapes for colors A and A' respectively) Li side P'1ooy P(+oo+ P'ioa* pCl
oo Claim: Complementary Color Power Calculate P 3K t P 10° of the color with saturation LA by multiplying complementary colors at the combination rate q using the following formula.

(A) P loo ” P 1oo + '!' P +o
.

(Nin Pyo. =Pyo. +Q'P+o.

Pl. otpg. Therefore, the three primary color generation values Q of the color with saturation LA
, ,Q, ,Q, can be determined by the following formula.

Qa=p+oo・(i/(i+p3.,o))・(D
QR=1/(1+P3..)-(2)Q,=p,
,・(p=/(i+p,,,o))・(3) After calculating each generated value Q, ,Q,,Q, by the processor 10, these data are sent to the display RAM interface 30 via the bus 3000. transmitted to.

The display RAM interface 30 displays each data
It is stored at the screen address corresponding to the coordinate A at AM50, AM60, and AM70, respectively. Display RAM50, 60.7
The data stored in 0 is sent via the interface 90,
video signal generator 100)
1: Transmitted. The video signal generator 100 sends video signals corresponding to the degree of each 3M color to the bus 8000 from each data, and sends them to the color display device 11.
Transmit to 0. The color display device 110 displays a color on a dot corresponding to a three-dimensional point A in accordance with each signal. An example of a two-dimensional display obtained in this way is shown in FIG. This makes it possible to express the relative distance to the robot without showing the robot's inoperable range in 3D, and it is easier to visually understand the robot's inoperable range in 3D. Object 2
Dimensional display becomes possible. Further, by combining the depth expression based on the brightness of the colors described above based on the three-dimensional structure of colors shown in FIG. 2, stereoscopic viewing of a two-dimensional display becomes possible.

〔Effect of the invention〕

According to the present invention, the following effects can be expected.

(1) Complex hidden line processing algorithms and positive form processing algorithms are used to display three-dimensional objects where many lines intersect. 3D, visually easy-to-understand expressions can be easily realized using 3D images (between limbs, data).

(2) Since the present invention only changes the saturation and brightness of colors, it can be easily implemented on existing personal computers without changing the system, and the graphics functions of existing systems can be improved. I can do it.

(3) Relative distances between objects arranged in a three-dimensional space can also be expressed visually in an easy-to-understand manner by expressing changes in color saturation as distances, without using numerical expressions.

[Brief explanation of drawings]

Fig. 1 is an overall configuration diagram of a display system to which the present invention is applied, Fig. 2 is a diagram showing the three-dimensional structure of colors, Fig. 3 is a diagram showing the 12 basic colors, and Fig. 4 is a diagram showing the three-dimensional structure of a three-dimensional object. Figure 5 shows an example. Figure 5 is a top view of the relationship between a three-dimensional object and regular perspective space. Figure 6 is a diagram showing a three-dimensional object and the gradation of brightness in regular perspective space. 8 is a diagram showing a color generation table, and FIG. 8 is a diagram showing relative distance by color saturation. ■ 3 Figure 4 Figure Y 6 Figure 2 = ρ Sword 7 Iris 3 4 classes 4 households gμ

Claims (1)

[Scope of Claims] 1. A color display means for creating images using light emitters of three primary colors of light, and a color display means corresponding to each of the three primary colors for storing color information corresponding to each dot on the display surface of the disk play means. In a display device consisting of a display memory means for displaying images, and an arithmetic processing means for generating color information to be stored in the memory means, the brightness and saturation of the color are controlled for each dot during three-dimensional display. , a three-dimensional object display method characterized in that the relative distance of each object in three dimensions is represented by color intensity and saturation on a two-dimensional display. 2. The three-dimensional object display method according to item 1, wherein the brightness of the color is determined according to the relative distance from the viewpoint. 3. The saturation of the above color depends on the relative distance from the robot inoperable range in robot teaching.