JP2001067381A - Device and method for checking interference, and storing medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To execute interference check in a short time and with precision by confirming whether the same space area exists or not in a three-dimensional shape in a moving space when plural matters move on the same coordinate systems so as to judge an interfering relation. SOLUTION: Plural pieces of three-dimensional data are read from a storing device 20 and stored in a RAM 15. Positional data on respective three- dimensional shapes moving on a coordinate system are inputted and recorded in a RAM 16. A moving shape preparing arithmetic part 1 newly prepares a three-dimensional shape obtained by combining the respective three-dimensional shapes before/after moving which are stored in the RAM 15 along a moving locus. A shape overlapping part arithmetic part 3 calculates the three- dimensional shape of overlapping part of the respective newly prepared three- dimensional shapes to be stored in a RAM 17. A shape overlapping part judging part 4 judges the presence/absence of the overlapping part of the newly prepared three-dimensional shapes. Then, when there is not an overlapping part, it can be judged that no interference occurs.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an interference check technique for checking an interference relationship between moving objects in a three-dimensional CAD apparatus.

[0002]

2. Description of the Related Art When designing a product having a plurality of moving objects, it is necessary to consider whether or not the moving objects interfere with other shapes. In recent years, there has been a tendency to prefer an external shape using a large number of free-form surfaces, and in order to accurately express the intention of a designer, a three-dimensional CAD device is used more often than a two-dimensional CAD device. Along with this, there is a tendency that a shape using a lot of free-form surfaces moves or a design that moves linearly but moves three-dimensionally increases, and a three-dimensional interference check is required.

In the prior art, the distance from the movement start position to the movement completion position is finely divided to move the three-dimensional CA.
Using the interference check function of D, the presence or absence of contact at each position and the measurement of the clearance amount were performed.

[0004]

In the above-mentioned prior art, the distance between the movement start position and the movement completion position is finely divided and moved, and interference check is performed at each position. Was required.

On the other hand, in order to shorten the interference check time,
If the interval between the movement start position and the movement completion position is increased to reduce the number of interference checks, even if there is no interference at the divided positions, interference will occur at positions where no interference check is performed during that time. There is a problem that the reliability is reduced because of the possibility that the reliability is reduced.

The present invention has been made under such a background, and an object of the present invention is to make it possible to check the interference of a plurality of moving objects with high accuracy in a short time.

[0007]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention relates to an interference checking apparatus for checking an interference relationship between a plurality of moving objects, wherein the plurality of objects move on the same coordinate system. Generating means for generating the three-dimensional shape of the moving space for each object, and whether the same spatial region exists for the three-dimensional shape of the moving space of each object generated by the first generating means. First confirmation means for confirming whether or not there is no same-space area, and first determination means for determining that there is no interference relationship when the first confirmation means confirms that the same space area does not exist. I have.

The present invention also relates to an interference checking apparatus for checking the interference relation between a plurality of moving objects, wherein the three-dimensional shape of the moving space when the three-dimensional shapes of the plurality of objects move on the same coordinate system is determined. A first generation unit for each object, and a first check for checking whether or not the same space region exists in the three-dimensional shape of the moving space of each object generated by the first generation unit. Means, a first determination means for determining that there is no interference relationship when the first confirmation means confirms that the same space area does not exist, and an identical space area by the first confirmation means. A second confirmation unit for confirming whether or not the passing time zones of the objects passing through the same space area overlap when it is confirmed that the object exists; Confirm not duplicate If there is a possibility that there is an interference relationship when the passing time zones are confirmed to overlap by the second determination unit that determines that there is no interference relationship and the second checking unit that determines that there is no interference relationship. When the third determining means determines that there is a possibility that there is an interference relationship, the third determining means determines, for each time that the overlapping passing time zone is divided, A fourth determination unit is provided for determining whether or not there is an interference relationship based on the occupied space coordinates of each of the objects.

The present invention also relates to an interference check method for checking an interference relationship between a plurality of moving objects, wherein the plurality of objects move in the same coordinate system.
A first generation step of generating a three-dimensional shape for each object, and a three-dimensional moving space of each object generated in the first generation step.
For the dimensional shape, a first confirmation step of confirming whether or not the same space area exists, and when it is confirmed by the first confirmation step that the same space area does not exist, it is determined that there is no interference relationship. A first determining step of determining.

Further, according to the present invention, in an interference check method for checking an interference relationship between a plurality of moving objects, the three-dimensional shape of the moving space when the three-dimensional shapes of the plurality of objects move on the same coordinate system is determined. A first generation step for each object, and a first confirmation for confirming whether or not the same spatial region exists in the three-dimensional shape of the moving space of each object generated in the first generation step A first determining step of determining that there is no interference relationship when the same space area does not exist in the first checking step and the first checking step; A second confirmation step of confirming whether or not the passing time zones of the objects passing through the same space area are overlapped when the existence of the object is confirmed; Confirm not duplicate If there is a possibility that there is an interference relationship when it is confirmed that the transit time zones overlap in the second determination step of determining that there is no interference relationship and the second confirmation step When it is determined that there is a possibility that there is an interference relationship in the third determination step and the third determination step, for each time when the overlapping passing time zone is divided, There is provided a fourth determination step of determining the presence or absence of an interference relationship based on the occupied space coordinates of each object.

Further, the present invention is a storage medium for storing a program for checking an interference relationship between a plurality of moving objects, wherein the program is used when the plurality of objects move on the same coordinate system. A first generation routine for generating a three-dimensional shape of the moving space for each object, and whether or not the same space region exists for the three-dimensional shape of the moving space of each object generated by the first generation routine And a first determination routine for determining that there is no interference relationship when it is confirmed that the same space area does not exist by the first confirmation routine.

Further, the present invention is a storage medium for storing a program for checking an interference relationship between a plurality of moving objects, wherein the program is a program for storing a plurality of moving objects.
A first generation routine for generating, for each object, a three-dimensional shape of a moving space when the three-dimensional shape moves on the same coordinate system; and a three-dimensional moving space of each object generated by the first generation routine. For a shape, a first confirmation routine for confirming whether or not the same space region exists, and when the first confirmation routine confirms that the same space region does not exist, it is determined that there is no interference relationship. When it is confirmed that the same space area exists by the first determination routine to be performed and the first confirmation routine, it is determined whether or not the passing time zones of the objects passing through the same space area overlap. A second confirmation routine to be performed, a second determination routine for determining that there is no interference relationship when it is confirmed that the transit time zones do not overlap by the second confirmation routine, and a second confirmation routine. When it is confirmed that the transit time zones overlap, the third determination routine determines that there is a possibility that there is an interference relationship, and there is a possibility that there is an interference relationship by the third determination routine. A fourth determination routine for determining whether or not there is an interference relationship based on the occupied space coordinates of each of the objects at each of the divided times when the overlapping transit time zones are divided when the determination is made. I have.

In the present invention, the first confirmation means
Second confirmation means for confirming whether or not the passage time zones of the objects passing through the same space area overlap when the same space area is confirmed to exist by the process / routine;
A process / routine; and second determining means / process / routine for determining that there is no interference relationship when it is confirmed by the second checking means / process / routine that the transit time zones do not overlap. ing.

Further, in the present invention, the second confirmation means
A third determination unit / process / routine for determining that there is a possibility of an interference relationship when the transit time zones are confirmed to overlap by the process / routine is provided.

In the present invention, the third determination means
When it is determined that there is a possibility that there is an interference relationship by the process / routine, the interference relationship is determined based on the occupied space coordinates of each object at each of the divided times of the overlapping transit time zones. A fourth determination means / step / routine for determining presence / absence is provided.

In the present invention, the interference check device (method) is applied to a three-dimensional CAD device, and the routines are executed by the three-dimensional CAD device.

[0017]

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

FIG. 1 is a functional block diagram of a three-dimensional CAD apparatus to which the present invention is applied. The three-dimensional CAD device is C
Various designs are performed three-dimensionally with the PU 22 as a core, and various programs to be executed by the CPU 22 are stored in the ROM 14. This ROM1
4 include programs corresponding to the flowcharts of FIGS. 2 and 3 and a moving shape creation calculation unit 1, a movement trajectory shape creation calculation unit 2, a shape overlap portion calculation calculation unit 3, a shape overlap unit determination unit 4, and a shape overlap unit. Transit time calculation operation unit 5, transit time overlap judgment unit 6, insignificant time calculation operation unit 7, interference check operation unit 8, interference check continuation judgment unit 9, interference relation judgment unit 10
A processing program corresponding to this function is also included.

From the drawing database in the storage device 20,
A plurality of three-dimensional shape data created by the three-dimensional CAD device is read and stored in the RAM 15. The input unit 11 inputs position data of each three-dimensional shape that moves a position on the coordinate system with time, and records the position data in the RAM 16.
The moving shape creation calculation unit 1 creates the shapes of the three-dimensional shapes before and after the movement stored in the RAM 15 and their movement trajectories.
A three-dimensional shape is newly created by connecting the shapes before and after the movement of each three-dimensional shape stored in the three-dimensional shape along the movement trajectory. The three-dimensional shape of the overlapping part is calculated,
It is stored in the RAM 17.

The shape overlapping portion determining section 4 determines whether or not the three-dimensional shape data is stored in the RAM 17, that is, whether or not there is an overlapping portion in each of the three-dimensional shapes connected along the movement trajectory. If there is no overlapping portion, it is determined that no interference occurs in the movement of each three-dimensional shape stored in the RAM 15, and the process ends. If there is an overlapping portion, the shape transit time calculating unit 5 calculates a time zone in which each three-dimensional shape stored in the RAM 15 passes through the three-dimensional shape of the overlapping portion stored in the RAM 17, It is stored in the RAM 18.

The passing time overlap judging section 6 uses the RAM 18
It is determined whether or not the time zones in which the three-dimensional shapes pass through the overlapping portions stored in the RAM 15 overlap. If the time zones do not overlap, the movement of each three-dimensional shape stored in the RAM 15 is performed. It is determined that no interference occurs, and the process ends.

If the time zones overlap, the number of divisions into which the overlapping passing time zones are divided into very small time periods is input through the input unit 11. Then, the minute time calculation / operation unit 7 calculates the minute time obtained by dividing the overlapping passing time zone by the number of divisions related to the input, and sets the overlapping start time of the overlapping passing time zone as the interference check execution time.

Next, the moving shape creation calculation unit 1 calculates each 3
The occupied space shape at the time of performing the interference check of the three-dimensional shape is created, and the presence / absence of overlapping portions of the three-dimensional shapes is determined by the interference check calculation unit 8 based on the occupied space shape, and only when there is an overlapping portion. , Interference check execution time, interference amount and clearance are calculated, and R
Stored in AM19.

The next interference check execution time shifted by a very short time is set by the interference check continuation calculation unit 9, and the moving shape is maintained until the set interference check execution time exceeds the overlap end time of the overlapped transit time zone. The processes of the creation calculation unit 1, the interference check calculation unit 8, and the interference check continuation calculation unit 9 are repeated. Then, the presence / absence of the interference relationship is determined by the interference relationship determination unit 10 based on the recording data stored in the RAM 19.

Next, the interference check processing will be described in detail with reference to the flowcharts of FIGS.

A plurality of independent three-dimensional shape data are read on the same coordinate system (step S1). For example, the three-dimensional shape A and the three-dimensional shape B in FIG. 3 are read and arranged on the same coordinates. Here, each of the three-dimensional shapes A and B is a cube having a length L of one side, and the coordinate value of the center point a of the three-dimensional shape A is (Xa, Y0, Za). It is assumed that the coordinates are arranged such that the coordinate value of b is (Xb, Y0, Zb).

Next, a relationship between time and position (movement amount) is defined for the read three-dimensional shape (step S2).
Here, the three-dimensional shape A moves parallel to the X axis, the three-dimensional shape B moves parallel to the Z axis, and the positions of the points a and b move with time t as follows.

X coordinate of point a: Xb · t + Xa (1-
t), Y coordinate of point a: Y0, Z coordinate of point a: Za, X coordinate of point b: Xb, Y coordinate of point b: Y0, Z coordinate of point b: Zb (1-t).

The movement completion time is defined as te (te ≧ 1), and the time t takes a value of 0 ≦ t ≦ te.

Next, for a plurality of three-dimensional shapes defining the relationship between time and position, a three-dimensional shape obtained by connecting the three-dimensional shapes before and after the movement along the movement trajectory, that is, the entire area of the movement space when moving. Is newly generated (step S3). In the above example, before the movement of the three-dimensional shape A (t =
0) and the three-dimensional shape after the movement (t = te) are connected along the movement trajectory.
The three-dimensional shape is as shown in FIG. 4, and the three-dimensional shape before the movement of the three-dimensional shape B (t = 0) and the three-dimensional shape after the movement (t = te) are joined along the movement trajectory. The three-dimensional shape of the entire area of the space is as shown in FIG.

Next, in a plurality of three-dimensional shapes of the entire region of the moving space joined along the moving trajectory, a new three-dimensional shape of an overlapping portion (the same space region) is generated (step S4). The three-dimensional shape of the overlapping part of the three-dimensional shapes of FIGS. 4 and 5 is as shown in FIG. 6, but the overlapping part is the same coordinate system using the existing functions of the three-dimensional CAD apparatus. It can be calculated by arranging it above and calculating its product.

Next, it is determined whether or not a three-dimensional shape of the overlapping portion has been generated (step 5). In the above example, as shown in FIG. 6, since the three-dimensional shape of the overlapping portion is generated, it is assumed that there is a possibility that the three-dimensional shape A and the three-dimensional shape B may interfere with each other in step S
6 is performed. If the three-dimensional shape of the overlapping portion is not generated, it is determined that there is no interference relationship, and the process ends.

In step S6, a time zone in which each read three-dimensional shape passes through an overlapping portion is calculated. The time zone passing through the overlapping portion is a time zone when the overlapping portion and each three-dimensional shape are at a position where they overlap or touch each other, and are calculated from the relationship between time and position defined in step S2. FIG. 7 shows a time zone in which the three-dimensional shapes A and B pass through the three-dimensional shape of the overlapping portion in FIG. 6 in the above example.

Next, it is determined whether or not the time zones passing through the portions where the read three-dimensional shapes overlap each other overlap (step S7). In the above example, as shown in FIG.
The time zone Ta in which the three-dimensional shape A passes through the three-dimensional shape of the overlapping part is Ta ≦ Ta ≦ Tae, and the time zone Tb in which the three-dimensional shape B passes through the three-dimensional shape of the overlapping part.
Is Tbs ≦ Tb ≦ Tbe. Therefore, Tas
The transit times overlap in the time zone from to Tbe,
It is determined that there is a possibility of interference in the movement of the three-dimensional shape A and the three-dimensional shape B, and the process of step S8 is performed. If it is determined that the time zones passing through the portions where the read three-dimensional shapes overlap each other do not overlap, it is determined that there is no possibility of interference, and the process ends.

In step S8, the number of divisions into which the overlapping passing time zone is divided into minute times is defined. Here, the time zone from Tas to Tbe is divided into ten, but the number of divisions is arbitrary and may be more than ten. The number of divisions can also be automatically selected and defined according to the length of the passage time zone, the size of the overlapping spatial area, and the like.

Next, the execution time of the interference check is set to the overlapping start time of the overlapping passing time zone (step S).
9). Specifically, in the above example, the three-dimensional shapes A and B are
It is moved to the position at Tas which is the overlapping start time of the overlapping passing time zone.

Then, it is determined whether or not an overlapping portion is generated in the occupied space coordinates of the plurality of three-dimensional shapes at the set interference check execution time (step S10). In the above example, the processing performed in steps 4 and 5 described above is performed by replacing the three-dimensional shapes A and B with the three-dimensional shapes A and B at the overlapping start time Tas of the overlapping transit time zone. Since it is determined that the data is generated, the process of step S11 is performed. If no overlapping portion is generated in the set interference check execution time, the process of step S11 is skipped and step S1 is performed.
Proceed to 2 to set the next interference check execution time.

In step S11, the collision amount and the clearance are calculated and stored together with the collision check execution time. Then, the process proceeds to step S12. In step S12, the execution time of the interference check is shifted for a very short time. In the above example, specifically, the three-dimensional shapes A and B are calculated from Tas, which is the overlapping start time of the overlapping passing time zone, in step S8.
Is moved to the position at the time elapsed by the minute time (Tbe-Tas) / 10 calculated in.

Next, it is determined whether or not the set execution time of the interference check has reached the overlapping end time of the overlapping passing time zone (step S13). As a result, if the overlap end time has not been reached, the process returns to step S10 to calculate the amount of interference and clearance at minute time intervals from the overlap start time to the overlap end time.
As a result, in the above example, the recorded contents of the interference check stored in the RAM 19 are, for example, as shown in FIG.

On the other hand, if the overlap end time has been reached, R
Based on the interference check record stored in AM19,
It is determined whether there is an interference relationship (step S14). In the above example, as shown in FIG. 8, after the three-dimensional shapes A and B start moving, they come into contact with each other at time Tas, and until the time Tbe at which the three-dimensional shapes A and B come into contact again, the clearance is “0”, and Since the amount is positive, it is clear that interference has occurred, and it is known that there is an interference relationship.

As described above, in the present embodiment, the three-dimensional shape of the moving space when the three-dimensional shape of a plurality of objects moves on the same coordinate system is generated for each object, and the movement of each generated object is performed. Regarding the three-dimensional shape of the space, it is confirmed whether or not the same space region exists. If it is confirmed that the same space region does not exist, it is determined that there is no interference relationship, and the same space region exists. If it is confirmed that the transit time zones of the objects passing through the same space area overlap, if it is confirmed that the transit time zones do not overlap, the interference relationship is confirmed. It is determined that there is not, and when it is confirmed that the passing time zones overlap by the second confirmation means, it is determined that there is a possibility that there is an interference relationship for the first time,
When it is determined that there is a possibility that there is an interference relationship, the presence or absence of the interference relationship is determined in detail for each time when the overlapping transit time zone is divided, based on the occupied space coordinates of each object at those division times. The decision is made.

That is, the processing range of the interference check processing that requires time, such as calculating a clearance, is not limited to the entire area from the start of the movement to the completion of the movement, but is limited to the area where there is a possibility of interference. Since the interference check is performed in detail by subdividing the area, the interference check of a plurality of moving objects can be performed in a short time and with high accuracy.

In the above specific example, the interference check is performed on two objects. However, it is also possible to perform a mutual interference check on three or more objects by the same method.

[0044]

As described above, according to the present invention,
In an interference checking apparatus for checking an interference relationship between a plurality of moving objects, a first three-dimensional shape of a moving space when the three-dimensional shapes of the plurality of objects move on the same coordinate system is generated for each object. Generating means; first confirming means for confirming whether or not the same spatial region exists in the three-dimensional shape of the moving space of each object generated by the first generating means; and first confirming means The first determining means for determining that there is no interference relationship when it is confirmed that the same spatial area does not exist, and the first confirming means confirms that the same spatial area exists. In this case, the second checking means for checking whether or not the passing time zones of the respective objects passing through the same space area overlap, and the second checking means check that the passing time zones do not overlap. Interference A second determining unit for determining that there is no engagement, and determining that there is a possibility of an interference relationship when the second checking unit determines that the transit time zones overlap. A third determination unit,
Further, when it is determined by the third determination means that there is a possibility that there is an interference relationship, the occupied space coordinates of each of the objects at the divided times are divided for each time when the overlapping transit time zone is divided. A fourth determining unit for determining whether or not there is an interference relationship based on the interference check. The target range of the interference check is not limited to a range from the start of the movement to the completion of the movement. It is possible to check interference of a plurality of objects in a short time and with high accuracy.

[Brief description of the drawings]

FIG. 1 is a functional block diagram of a three-dimensional CAD apparatus to which the present invention is applied.

FIG. 2 is a flowchart illustrating an interference check process according to the embodiment of the present invention.

FIG. 3 is a flowchart continued from FIG. 2;

FIG. 4 is a step S in the flowchart of FIGS.
FIG. 4 is a diagram illustrating a specific example of the first process.

FIG. 5 is a step S in the flowchart of FIGS.
FIG. 14 is a diagram illustrating a specific example of the process of No. 3;

FIG. 6 shows a step S in the flowchart of FIGS.
FIG. 14 is a diagram illustrating another specific example of the process of No. 3;

FIG. 7 is a step S in the flowchart of FIGS.
FIG. 14 is a diagram illustrating another specific example of the processing of No. 4;

FIG. 8 is a flowchart showing step S in the flowchart of FIGS.
FIG. 14 is a diagram illustrating another specific example of the processing of No. 6;

FIG. 9 is step S in the flowchart of FIGS.
FIG. 21 is a diagram showing another specific example of the processing of No. 11;

[Explanation of symbols]

 1: Moving shape creation calculation unit 2: Moving trajectory shape creation calculation unit 3: Shape overlap portion calculation calculation unit 4: Shape overlap portion determination unit 5: Shape passage time calculation calculation unit 6: Passage time overlap determination unit 7: Very small time calculation Operation unit 8: Interference check operation unit 9: Interference check continuation determination unit 10: Interference relation determination unit 11: Input unit 13: Display unit 14: ROM 15 to 19: RAM 20: Storage device (drawing database) 22: CPU

Claims (18)

[Claims] 1. An interference checking apparatus for checking an interference relationship between a plurality of moving objects, wherein a first three-dimensional shape of a moving space when the plurality of objects move on the same coordinate system is generated for each object. Generating means, and first confirming means for confirming whether or not the same spatial region exists in the three-dimensional shape of the moving space of each object generated by the first generating means; and An interference check device, comprising: first determination means for determining that there is no interference relationship when it is confirmed that the same space area does not exist by the means. 2. The method according to claim 1, wherein when the first confirmation unit confirms that the same space region exists, the second confirmation unit determines whether or not the passing time zones of the objects passing through the same space region overlap. And a second judging means for judging that there is no interference relationship when it is confirmed by the second checking means that the transit time zones do not overlap with each other. Item 2. The interference check device according to Item 1. 3. The method according to claim 2, further comprising a third determination unit that determines that there is a possibility of an interference relationship when the second confirmation unit confirms that the transit time zones overlap. 3. The interference check device according to claim 2, wherein 4. When the third determining means determines that there is a possibility that there is an interference relationship, the occupancy of each of the objects in the divided time is divided every time the overlapping passing time zone is divided. 4. The interference check apparatus according to claim 3, further comprising a fourth determination unit that determines whether or not there is an interference relationship based on the spatial coordinates. 5. An interference checking apparatus for checking an interference relationship between a plurality of moving objects, wherein a three-dimensional shape of a moving space when the three-dimensional shapes of the plurality of objects move on the same coordinate system is defined for each object. First generating means for generating; first confirming means for confirming whether or not the same spatial region exists for the three-dimensional shape of the moving space of each object generated by the first generating means; When the first confirmation unit confirms that the same space region does not exist, the first determination unit determines that there is no interference relationship, and the first confirmation unit determines that the same space region exists. When it is confirmed, the second confirmation means for confirming whether or not the passing time zones of the objects passing through the same space area overlap, and that the passing time zones do not overlap by the second confirmation means. If confirmed A second determining unit that determines that there is no interference relationship; and a third determining unit that determines that there is a possibility of an interference relationship when the second checking unit determines that the transit time zones overlap. When the third determining means determines that there is a possibility that there is an interference relationship, the occupancy of each of the objects in the divided time is divided every time the overlapping passing time zone is divided. Fourth to determine the presence or absence of an interference relationship based on spatial coordinates
An interference check device comprising: 6. The three-dimensional CAD,
The interference check device according to claim 1, wherein the interference check device is applied to a device. 7. An interference check method for checking an interference relationship between a plurality of moving objects, wherein a three-dimensional shape of a moving space when the plurality of objects move on the same coordinate system is generated for each object. A first confirmation step of confirming whether or not the same space region exists for the three-dimensional shape of the moving space of each object generated in the first generation step; and a first confirmation. A first determining step of determining that there is no interference relationship when it is confirmed by the step that the same spatial region does not exist, a method of checking interference. 8. When the first confirmation step confirms that the same space area exists, a second step of checking whether or not the passing time zones of the objects passing through the same space area overlap. And a second judging step of judging that there is no interference relationship when it is confirmed that the transit time zones do not overlap in the second confirming step. Item 7. The interference check method according to Item 7. 9. The method according to claim 1, further comprising a third determining step of determining that there is a possibility that there is an interference relationship when the passing time zones are confirmed to overlap in the second confirming step. The interference check method according to claim 8, wherein 10. When the third determination step determines that there is a possibility that there is an interference relationship, the occupancy of each of the objects in the divided time is divided every time the overlapping transit time zone is divided. The interference check method according to claim 9, further comprising a fourth determination step of determining whether or not there is an interference relationship based on the spatial coordinates. 11. An interference check method for checking an interference relationship between a plurality of moving objects, wherein a three-dimensional shape of a moving space when the three-dimensional shapes of the plurality of objects move on the same coordinate system is defined for each object. A first generation step of generating, a first confirmation step of confirming whether or not the same space region exists for the three-dimensional shape of the moving space of each object generated in the first generation step; When it is confirmed in the first confirmation step that the same space area does not exist, a first determination step of determining that there is no interference relationship, and a case where the same space area exists in the first confirmation step. A second checking step of checking whether or not the passing time zones of the objects passing through the same space area overlap each other when the checking is performed; and that the passing time zones do not overlap by the second checking step. If confirmed A second determination step of determining that there is no interference relation; and a second determination step of determining that there is a possibility of an interference relation when the passing time zones are confirmed to overlap in the second confirmation step. A determination step of 3 and when it is determined by the third determination step that there is a possibility that there is an interference relationship, for each time of dividing the overlapping passing time zone, A fourth method of determining the presence or absence of an interference relationship based on the occupied space coordinates
An interference check method, comprising: 12. The interference check method according to claim 3, wherein the three-dimensional CA
The interference check method according to claim 7, wherein the interference check method is applied to a D device. 13. A storage medium for storing a program for checking an interference relationship between a plurality of moving objects, the program comprising: a moving space when the plurality of objects move on the same coordinate system; A first generation routine for generating a three-dimensional shape for each object; and a third generation routine for confirming whether or not the same spatial region exists in the three-dimensional shape of the moving space of each object generated by the first generation routine. A first determination routine, and a first determination routine for determining that there is no interference relationship when it is confirmed that the same space area does not exist by the first confirmation routine. Medium. 14. When the first confirmation routine confirms that the same space area exists, a second method for checking whether or not the passing time zones of the objects passing through the same space area overlap. And a second determination routine for determining that there is no interference relationship when it is confirmed by the second confirmation routine that the transit time zones do not overlap with each other. 14. The storage medium according to 13. 15. A method according to claim 15, further comprising a third determination routine for determining that there is a possibility of an interference relationship when the passing time zones are confirmed to overlap by the second confirmation routine. The storage medium according to claim 14. 16. When the third determination routine determines that there is a possibility that there is an interference relationship, the occupancy of each of the objects in the divided time is divided every time the overlapping transit time zone is divided. 16. The storage medium according to claim 15, further comprising a fourth determination routine for determining the presence or absence of an interference relationship based on spatial coordinates. 17. A storage medium for storing a program for checking an interference relationship between a plurality of moving objects, the program comprising: a storage medium storing a plurality of three-dimensional shapes of the plurality of moving objects on the same coordinate system; A first generation routine for generating a three-dimensional shape of the moving space for each object, and whether or not the same space region exists in the three-dimensional shape of the moving space of each object generated by the first generation routine A first determination routine for determining whether there is no interference relationship when the first confirmation routine confirms that the same space area does not exist; and a first determination routine for determining that there is no interference relationship. A second confirmation routine for confirming whether or not the passing time zones of the objects passing through the same space area overlap when the confirmation routine confirms that the same space area exists; When it is confirmed by the second confirmation routine that the transit time zones do not overlap, the second determination routine that determines that there is no interference relationship, and that the transit time zones overlap by the second confirmation routine. A third determination routine for determining that there is a possibility that there is an interference relationship if the confirmation is made; and an overlap when the third determination routine determines that there is a possibility that there is an interference relationship. A fourth determination routine for determining the presence or absence of an interference relationship based on the occupied space coordinates of each object at each of the divided times of the passing time zone. 18. The storage medium according to claim 13, wherein said routines are executed by a three-dimensional CAD device.