JP2012194706A - Determination program, determination device and determination method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically determine a component which falls.SOLUTION: A determination program makes a computer execute the following processes of: reading, from a storage section for storing component information including the shapes and positions of components, the component information; specifying an update component the position of which is to be updated from the components; specifying a contact component which is in contact with the update component; updating the position of the update component; detecting the contact condition in the gravity direction of the contact component; and determining the falling condition of the contact component from the detected contact condition.

Description

  The present invention relates to a determination program, a determination device, and a determination method.

  2. Description of the Related Art Conventionally, there is an apparatus that displays an animation that supports part assembly and disassembly work. A creator who creates an animation to be displayed on this apparatus assumes a falling part by assembling or disassembling work, and creates an animation so that the falling of the part that occurs during assembling or disassembling work is expressed.

JP 2001-265840 A

  However, the above-described conventional technology has a problem that the falling part cannot be automatically determined because the creator of the animation assumes the falling part.

  The disclosed technology has been made in view of the above, and an object thereof is to provide a determination program, a determination device, and a determination method that can automatically determine a falling component.

  In one aspect, a determination program disclosed in the present application causes a computer to execute a process of reading component information from a storage unit that stores component information including the shape and position of the component. Further, the determination program disclosed in the present application causes a computer to execute a process of identifying an update part whose position is to be updated from among the parts. Further, the determination program disclosed in the present application causes the computer to execute processing for specifying a contact component that contacts the update component. Further, the determination program disclosed in the present application causes the computer to execute processing for updating the position of the update component. Further, the determination program disclosed in the present application causes the computer to execute processing for detecting the contact state of the contact component in the gravity direction. Further, the determination program disclosed in the present application causes the computer to execute processing for determining the fall state of the contact component from the detected contact state.

  According to one aspect of the determination program disclosed in the present application, a falling component can be automatically determined.

FIG. 1 is a diagram illustrating the configuration of the determination apparatus according to the first embodiment. FIG. 2 is a diagram for explaining processing of the determination apparatus. FIG. 3 is a diagram for explaining processing of the determination apparatus. FIG. 4 is a flowchart illustrating the procedure of the free fall determination process according to the first embodiment. FIG. 5 is a diagram illustrating the configuration of the determination apparatus according to the second embodiment. FIG. 6 is a diagram for explaining processing of the determination apparatus. FIG. 7 is a diagram for explaining processing of the determination apparatus. FIG. 8A is a diagram illustrating an example of the relationship between the minimum polygonal area generated by the detection unit and the center of gravity. FIG. 8B is a diagram illustrating an example of the relationship between the minimum polygonal area generated by the detection unit and the center of gravity. FIG. 9 is a flowchart illustrating the procedure of the rotation drop determination process according to the second embodiment. FIG. 10 is a diagram illustrating the configuration of the determination apparatus according to the third embodiment. FIG. 11 is a diagram for explaining processing of the determination apparatus. FIG. 12 is a diagram illustrating an example of a tree indicating a contact relationship between components indicated by the tree information. FIG. 13 is a diagram for explaining processing of the determination apparatus. FIG. 14 is a diagram for explaining processing of the determination apparatus. FIG. 15 is a diagram for explaining processing of the determination apparatus. FIG. 16 is a flowchart illustrating the procedure of the tree generation process according to the third embodiment. FIG. 17 is a flowchart illustrating a procedure of a fall state determination process according to the third embodiment. FIG. 18 is a diagram illustrating a computer that executes a determination program.

  Hereinafter, embodiments of a determination program, a determination apparatus, and a determination method disclosed in the present application will be described in detail with reference to the drawings. Note that this embodiment does not limit the disclosed technology. Each embodiment can be appropriately combined within a range in which processing contents are not contradictory.

[Configuration of judgment device]
A determination apparatus according to the first embodiment will be described. FIG. 1 is a diagram illustrating the configuration of the determination apparatus according to the first embodiment. The determination apparatus 10 according to the present embodiment is for determining a free fall of a component. As illustrated in FIG. 1, the determination device 10 includes an input unit 11, an output unit 12, a storage unit 13, and a control unit 14.

  The input unit 11 inputs various information to the control unit 14. For example, the input unit 11 receives an instruction from a user to execute a later-described free fall determination process, and inputs the received instruction to the control unit 14. Further, the input unit 11 receives identification information (ID: IDentification) of a part whose position is to be moved, that is, whose position is to be updated, from the user, and inputs the received identification information to the control unit 14. An example of a device of the input unit 11 is an operation reception device such as a mouse or a keyboard.

  The output unit 12 outputs various information. For example, the output unit 12 displays an image indicated by the image information corrected by the correction unit 14g described later so that a part determined to be free-falling by the determination unit 14f described later freely falls. Examples of the device of the output unit 12 include display devices such as LCD (Liquid Crystal Display) and CRT (Cathode Ray Tube).

  The storage unit 13 stores various information. For example, the storage unit 13 stores component information 13a. The component information 13a is information regarding a component on which an image is displayed by the output unit 12. For example, the part information 13a includes position information indicating the position of the part, shape information indicating the three-dimensional shape of the part, and the like for each part. Further, CAD (Computer Aided Design) data can be used as the component information 13a. An example of the position information of each component included in the component information 13a includes the position of the center of gravity of each component. In addition, the gravity direction to be described later is defined in advance in a three-dimensional space in which each component indicated by the component information 13a virtually exists. In addition, the ground described later is also defined in advance in a three-dimensional space in which each component indicated by the component information 13a virtually exists. The “storage unit” is also referred to as a “storage unit”.

  The storage unit 13 is, for example, a semiconductor memory device such as a flash memory, or a storage device such as a hard disk or an optical disk. The storage unit 13 is not limited to the type of storage device described above, and may be a RAM (Random Access Memory) or a ROM (Read Only Memory).

  The control unit 14 has an internal memory for storing programs defining various processing procedures and control data, and executes various processes using these. As shown in FIG. 1, the control unit 14 includes a generation unit 14a, a first specification unit 14b, a second specification unit 14c, an update unit 14d, a detection unit 14e, a determination unit 14f, and a correction unit. 14 g.

  The generation unit 14a reads the component information from the storage unit that stores the component information including the shape and position of the component, and generates image information. For example, the generation unit 14 a reads the component information 13 a stored in the storage unit 13. And the production | generation part 14a produces | generates the image information of the image displayed on the output part 12 based on the position and shape of the read component information 13a. FIG. 2 is a diagram for explaining processing of the determination apparatus. In the example of FIG. 2, the case where the component A21 is in contact with the component B22 and the component C23 is shown. Moreover, in the example of FIG. 2, the case where the component C23 and the component D24 are contacting is shown. Moreover, in the example of FIG. 2, the case where the component D24 is contacting the ground is shown. In the example of FIG. 2, the generation unit 14 a reads out component information 13 a including position information and shape information of the component A 21, the component B 22, the component C 23, and the component D 24 from the storage unit 13. In the example of FIG. 2, the generation unit 14a determines the component A21, the component B22, the component C23, and the component D24 based on the position indicated by the position information of each component in the read component information 13a and the shape indicated by the shape information. Image information including an image is generated. Note that the image information of the image displayed on the output unit 12 is corrected so that, when displayed on the output unit 12, a part determined to be free-falling is freely dropped by the determination unit 14 described later.

  The first specifying unit 14b specifies an update part, which is a part whose position is to be updated, from the parts. For example, the first specifying unit 14b specifies the update component from among the components by receiving and acquiring the identification information of the component whose position input from the input unit 11 is to be updated. In the example of FIG. 2, the case where the identification information of the component A21 is input from the input unit 11 is illustrated. In this case, the first specifying unit 14b specifies the component A21 as the updated component from the components A21 to D21.

  The second specifying unit 14c specifies a contact component that is a component that contacts the update component. For example, the second specifying unit 14c moves the update component by a small amount in the direction of gravity. An example of a minute amount is 2, 3 mm, etc. in the three-dimensional space where the part is located. Then, when interference occurs with another component, the second specification unit 14c specifies the component with the interference as a contact component that comes into contact with the updated component. Subsequently, the second specifying unit 14c adds the specified contact component to the contact component list.

  In the example of FIG. 2, the second specifying unit 14c interferes with the parts B22 and C23 when the update part A21 is slightly moved in the direction of gravity, so the parts B22 and C23 are replaced with the update part A21. Identifies as a contact part that contacts.

The update unit 14d updates the position of the update component. For example, the update unit 14d moves the update component by a predetermined distance in the movement direction, and updates the position after the movement as the position of the update component. FIG. 3 is a diagram for explaining processing of the determination apparatus. In the example of FIG. 3, the case where the part A21 whose position is (X _A1 , Y _A1 , Z _A1 ) is specified as the update part is shown. Further, in the example of FIG. 3, a case where the update component A21 is moved by a predetermined distance X in the right direction in the drawing is shown. It is assumed that the position of the updated part A21 after the movement is (X _A2 , Y _A2 , Z _A2 ). In the example of FIG. 3, the update unit 14d updates the position of the update component A21 to (X _A2 , Y _A2 , Z _A2 ).

  The detection unit 14e detects the contact state of the contact component in the gravity direction. For example, the detection unit 14e selects one unselected contact component from the contact components in the contact component list, and moves the selected contact component by a small amount in the direction of gravity. An example of a minute amount is 2, 3 mm, etc. in the three-dimensional space where the part is located. And the detection part 14e detects whether it is a state which interferes with other components as a contact state. When the detection unit 14e detects that the contact component interferes with another component, the detection unit 14e adds the other component that interferes with the contact component to the contact component list. However, the detection unit 14e does not add to the contact component list when the other component that interferes with the contact component is a base component that is a component in contact with the ground. This is because the parts in the contact parts list are subject to determination as to whether or not they will fall free by the determination unit 14f described later. However, since the base parts are in contact with the ground, they do not fall freely. This is to remove it from the target. In the example of FIG. 3, the detection unit 14e shows a case where the contact part B22 detects that the contact part B22 does not interfere with other parts. In the example of FIG. 3, the detection unit 14e shows a case where it is detected that the contact component C23 is in a state of interfering with other components.

  The determination unit 14f determines the fall state of the contact component from the detected contact state. For example, the determination unit 14f determines that the contact component is free-falling when the detection unit 14e detects that the contact component does not interfere with other components. Moreover, the determination part 14f determines with this contact part not falling freely, when the detection part 14e detects that a contact part is in the state which interferes with another part. Then, the determination unit 14f adds the contact component determined to be free fall to the free fall component list. In the example of FIG. 3, the determination unit 14f determines that the component B22 is free-falling. In the example of FIG. 3, the determination unit 14f determines that the part C23 does not fall freely.

  The correction unit 14g corrects the image information so that a part determined to be free-falling freely falls on the display of the output unit 12. For example, the correction unit 14g corrects the image information generated by the generation unit 14a so that a part determined to be free-falling by the determination unit 14f is free-falling on the display. Then, the correction unit 14g outputs the corrected image information to the output unit 12. In the example of FIG. 3, the correction unit 14g corrects the image information generated by the generation unit 14a so that the component B22 falls freely.

  The control unit 14 is an integrated circuit such as an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA) or an electronic circuit such as a central processing unit (CPU) or a micro processing unit (MPU).

[Process flow]
Next, a processing flow of the determination apparatus 10 according to the present embodiment will be described. FIG. 4 is a flowchart illustrating the procedure of the free fall determination process according to the first embodiment. This free fall determination process is executed when the control unit 14 inputs an instruction to execute the free fall determination process from the input unit 11.

  As shown in FIG. 4, when receiving the identification information of the component whose position is to be updated (Yes at Step S101), the first specifying unit 14b specifies the updated component from the components (Step S102). The generation unit 14a reads the component information 13a from the storage unit 13 and generates image information (step S103). The second identification unit 14c identifies a contact component that comes into contact with the updated component, and adds the identified contact component to the contact component list (step S104).

  The update unit 14d updates the position of the update component (step S105). The detection unit 14e selects one unselected contact component from the contact component list, and moves the selected contact component by a small amount in the direction of gravity (step S106). The detection unit 14e determines whether the contact component has interfered with other components (step S107).

  When the contact component does not interfere with other components (No at Step S107), the determination unit 14f determines that the contact component is free-falling, and adds the contact component determined to be free-falling to the free-fall component list (Step S108). ), Go to step S111. On the other hand, when the contact component interferes with another component (Yes at Step S107), the detection unit 14e determines whether the other component that interferes with the contact component is a base component (Step S109). If the other part that interferes with the contact part is not the base part (No at Step S109), the detection unit 14e adds the other part that interferes with the contact part to the contact part list (Step S110). Then, the detection unit 14e determines whether or not there is a contact part that is not selected in Step S106 among the contact parts in the contact part list (Step S111). If there is an unselected contact part (Yes at step S111), the process returns to step S106. On the other hand, when there is no unselected contact part (No at Step S111), the correction unit 14g performs the following process. That is, the correction unit 14g corrects the image information generated by the generation unit 14a so that a part determined to be free-falling freely falls on the display, and outputs the corrected image information to the output unit 12 ( Step S112) and the process is terminated. If the other component that interferes with the contact component is the base component (Yes at step S109), the process proceeds to step S111.

[Effect of Example 1]
As described above, the determination apparatus 10 according to the present embodiment reads the component information 13a from the storage unit 13 that stores the component information including the shape and position of the component, and generates image information. Further, the determination apparatus 10 according to the present embodiment identifies an update component, which is a component whose position is to be updated, from the components. Moreover, the determination apparatus 10 according to the present embodiment identifies a contact component that is a component that contacts the update component. Moreover, the determination apparatus 10 according to the present embodiment updates the position of the update component. Moreover, the determination apparatus 10 according to the present embodiment detects the contact state of the contact component in the gravity direction. Moreover, the determination apparatus 10 according to the present embodiment determines the fall state of the contact component from the detected contact state. Therefore, according to the determination apparatus 10 according to the present embodiment, it is possible to automatically determine the drop of the component.

  Moreover, the determination apparatus 10 according to the present embodiment determines that the contact component is free-falling when there is no component in contact with the contact component in the direction of gravity. Therefore, according to the determination apparatus 10 according to the present embodiment, it is possible to automatically determine the free fall of the component.

  Moreover, the determination apparatus 10 according to the present embodiment repeatedly performs the process of detecting the contact state until the contact component becomes a base component that is a component that contacts the ground, with the component that contacts the contact component as a new contact component. Moreover, the determination apparatus 10 according to the present embodiment determines the fall state of the new contact component from the contact state of the new contact component in the gravity direction. Thereby, a fall situation can be judged about all the parts which exist between an update part and the ground.

  In the first embodiment, the case where the free fall is determined is illustrated, but the disclosed apparatus is not limited to this. Therefore, in the second embodiment, a case where a rotational drop is determined will be described.

[Configuration of Determination Device 30]
FIG. 5 is a diagram illustrating the configuration of the determination apparatus according to the second embodiment. As illustrated in FIG. 5, the determination device 30 includes a control unit 34. Compared with the control unit 14 according to the first embodiment illustrated in FIG. 1, the control unit 34 replaces the second specifying unit 14 c, the detection unit 14 e, and the determination unit 14 f with a second specifying unit 34 c and a detection unit. 34e and the determination unit 34f are different. In the following description, circuits and devices that perform the same functions as those in the first embodiment will be denoted by the same reference numerals as those in FIG. 1 and description thereof will be omitted. In the present embodiment, the determination device 30 determines the rotational drop of the component. Further, in the present embodiment, the input unit 11 receives an instruction to perform a later-described rotational drop determination process from the user, and inputs the received instruction to the control unit 34.

  The second specifying unit 34c specifies a contact component that is a component that contacts the update component. For example, the second specifying unit 34c moves the update component in a small amount in all directions. An example of a minute amount is 2, 3 mm, etc. in the three-dimensional space where the part is located. Then, when interference occurs with another component, the second specification unit 34c specifies the component with the interference as a contact component that comes into contact with the updated component.

  6 and 7 are diagrams for explaining the processing of the determination apparatus. In the example of FIG. 6, the case where the component A41, the component B42, and the component C43 are contacting is shown. Moreover, in the example of FIG. 6, the case where the components B42 and C43 are in contact with the ground is shown. In the example of FIG. 6, a case where identification information of the component B42 is input from the input unit 11 to the control unit 14 is illustrated. In this case, the first specifying unit 14b specifies the part B42 as the updated part from the parts A41 to C43. In the example of FIG. 6, when the second specifying unit 34c moves the update component B42 in a small amount in all directions, interference occurs with the component A41 and the component C43, so the component A41 and the component C43 are updated. It is specified as a contact part that comes into contact with B42.

Further, in the example of FIG. 7, a case where the update component B42 whose position is (X _B1 , Y _B1 , Z _B1 ) is moved by a predetermined distance X in the left direction in the drawing is shown. It is assumed that the position of the updated part B42 after the movement is (X _B2 , Y _B2 , Z _B2 ). In the example of FIG. 7, the update unit 14d updates the position of the update component B42 to (X _B2 , Y _B2 , Z _B2 ).

  The detection unit 34e determines whether or not the center of gravity is included in the smallest polygon surrounded by the contact part when the contact part of the part that contacts the contact part and the center of gravity of the contact part are projected on the horizontal plane. By determining, the contact state is detected. For example, the detection unit 34e moves the contact component by a small amount in the direction of gravity until the movement amount of the contact component reaches a specified amount. An example of a minute amount is 2, 3 mm, etc. in the three-dimensional space where the part is located. In addition, when interference occurs with other components, the detection unit 34e adds the position coordinates of the portion where the interference has occurred to the interference point list. That is, the interference point list includes a set of interference points that are the position coordinates of the portion where the interference has occurred. Then, the detection unit 34e projects a contact portion (interference portion), which is a set of interference points indicated by the position coordinates of the interference point list, and the center of gravity of the contact component on a horizontal plane. Subsequently, the detection unit 34e generates a minimum polygonal region surrounded by the contact portion and on the horizontal plane. And the detection part 34e detects a contact state by determining whether the gravity center is contained in the minimum polygon.

  8A and 8B are diagrams illustrating an example of the relationship between the minimum polygonal area generated by the detection unit and the center of gravity. In the example of FIG. 8A, since the center of gravity 50 of the contact component is not included in the minimum polygon 51 surrounded by the contact portion, the detection unit 34e determines that the center of gravity is not included in the minimum polygon. Here, when the center of gravity is not included in the minimum polygon, the contact component rotates and falls. In the example of FIG. 8B, since the center of gravity 50 of the contact component is included in the minimum polygon 51 surrounded by the contact portion, the detection unit 34e determines that the center of gravity is included in the minimum polygon. Here, when the center of gravity is included in the minimum polygon, the contact component does not rotate and fall. In this way, the detection unit 34e detects the contact state.

  The determination unit 34f determines the fall state of the contact component from the detected contact state. For example, the determination unit 34f determines that the contact component rotates and falls when the detection unit 34e determines that the center of gravity is not included in the minimum polygon. The determination unit 34f determines that the contact component does not rotate and fall when the detection unit 34e determines that the center of gravity is included in the minimum polygon. Then, the determination unit 34f adds the contact component determined to rotate and drop to the rotating and dropping component list. In the example of FIG. 7, the determination unit 34 f determines that the component A 41 is rotated and dropped.

  The correction unit 34g corrects the image information so that a part determined to be rotationally dropped falls on the display of the output unit 12. For example, the correcting unit 34g corrects the image information generated by the generating unit 14a so that a part determined to be rotated and dropped by the determining unit 34f is rotated and dropped on the display. Then, the correction unit 34g outputs the corrected image information to the output unit 12. In the example of FIG. 7, the correction unit 34g corrects the image information generated by the generation unit 14a so that the component A41 rotates and drops.

  The control unit 34 is an integrated circuit such as an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA) or an electronic circuit such as a central processing unit (CPU) or a micro processing unit (MPU).

[Process flow]
Next, a processing flow of the determination apparatus 30 according to the present embodiment will be described. FIG. 9 is a flowchart illustrating the procedure of the rotation drop determination process according to the second embodiment. This rotation drop determination process is executed when the control unit 34 receives an instruction to execute the rotation drop determination process from the input unit 11.

  As shown in FIG. 9, when the identification information of the part whose position is to be updated is received (Yes at Step S201), the first specifying unit 14b specifies the updated part from the parts (Step S202). The generation unit 14a reads the component information 13a from the storage unit 13 and generates image information (step S203). The second specifying unit 34c specifies a contact component that comes into contact with the updated component (step S204).

  The update unit 14d updates the position of the update component (step S205). The detection unit 34e moves the contact component by a small amount in the direction of gravity (step S206). The detection unit 34e determines whether the contact component has interfered with other components (step S207). If the contact component does not interfere with other components (No at Step S207), the process proceeds to Step S209. On the other hand, when the contact part interferes with another part (Yes at Step S207), the detection unit 34e adds the position coordinates of the part where the interference has occurred to the interference point list (Step S208). The detection unit 34e determines whether or not the movement amount of the contact component has reached the specified amount (step S209). If the amount of movement of the contact component has not reached the specified amount (No at step S209), the process returns to step S206.

  On the other hand, when the amount of movement of the contact component reaches the specified amount (Yes at Step S209), the detection unit 34e detects the contact portion (interference portion) that is a set of interference points indicated by the position coordinates of the interference point list, and the contact portion. The center of gravity of the part is projected onto a horizontal plane (step S210). The detection unit 34e determines whether or not the center of gravity is included in the area of the minimum polygon that is surrounded by the contact portion and that is on the horizontal plane (step S211). When the center of gravity is not included in the region within the minimum polygon (No at Step S211), the determination unit 34f determines that the contact component is rotated and dropped (Step S212). On the other hand, when the center of gravity is included in the region within the minimum polygon (Yes at Step S211), the determination unit 34f determines that the contact component does not rotate and fall (Step S213). And when it determines with a contact component rotating and falling, the correction part 34g performs the following processes. That is, the correction unit 34g corrects the image information generated by the generation unit 14a so that a component determined to be rotated and dropped on the display, and outputs the corrected image information to the output unit 12 ( Step S214), the process is terminated.

[Effect of Example 2]
As described above, the determination apparatus 30 according to the present embodiment reads the component information 13a from the storage unit 13 that stores the component information including the shape and position of the component, and generates image information. Moreover, the determination apparatus 30 according to the present embodiment identifies an update component, which is a component whose position is to be updated, from the components. Moreover, the determination apparatus 30 according to the present embodiment identifies a contact component that is a component that contacts the update component. Moreover, the determination apparatus 30 according to the present embodiment updates the position of the update component. Moreover, the determination apparatus 30 according to the present embodiment detects the contact state of the contact component in the gravity direction. Moreover, the determination apparatus 30 according to the present embodiment determines the fall state of the contact component from the detected contact state. Therefore, according to the determination apparatus 30 according to the present embodiment, it is possible to automatically determine the drop of the component.

  In addition, when the determination device 30 according to the present embodiment projects the contact portion of the component that contacts the contact component and the center of gravity of the contact component on a horizontal plane, the center of gravity is within the smallest polygon surrounded by the contact portion. When not included, it is determined that the contact component is rotated and dropped. Therefore, according to the determination apparatus 30 according to the present embodiment, it is possible to automatically determine the rotational drop of the component.

  In the third embodiment, a case will be described in which the contact relationship between components is extracted in advance, and free fall and rotation fall of the contact component are determined based on the extracted contact relationship between components.

[Configuration of Determination Device 50]
FIG. 10 is a diagram illustrating the configuration of the determination apparatus according to the third embodiment. As illustrated in FIG. 10, the determination device 50 includes a storage unit 53 and a control unit 54. The storage unit 53 is different from the storage unit 13 according to the first embodiment illustrated in FIG. 1 in that the storage unit 53 newly stores tree information 53b. In the tree information 53b, contact relations of components are registered by a tree generation unit 54h described later. That is, in this embodiment, since the component drop state is determined using the component contact relationship indicated by the tree information 53b, compared to the case where the contact relationship between individual components is detected for each determination, It is possible to determine the falling situation of parts at a high calculation speed. The tree information 53b will be described later. The control unit 54 is different from the control unit 14 according to the first embodiment illustrated in FIG. 1 in that a tree generation unit 54h is newly provided. The control unit 54 is different from the control unit 14 in that it includes a detection unit 54e, a determination unit 54f, and a correction unit 54g instead of the detection unit 14e, the determination unit 14f, and the correction unit 14g. Further, the control unit 54 is different from the control unit 14 in that it does not have the second specifying unit 14c. In the following description, circuits and devices that perform the same functions as those in the first and second embodiments are denoted by the same reference numerals as those in FIGS. 1 and 5 and description thereof is omitted.

  The determination apparatus 50 according to the present embodiment extracts the contact relationship between the components in advance, and determines the falling state of the component based on the extracted contact relationship between the components. Thereby, according to a present Example, a fall condition can be determined with a faster calculation speed. Further, in the present embodiment, the input unit 11 receives an instruction to execute a fall situation determination process described later from the user, and inputs the received instruction to the control unit 54. In the present embodiment, the input unit 11 receives an instruction to execute a tree generation process described later from the user, and inputs the received instruction to the control unit 54.

  The tree generation unit 54h extracts the contact relationship between parts. For example, the tree generation unit 54h moves the ground defined in the component information 13a in the direction opposite to the gravity direction using the moving component as a moving component. Then, the tree generation unit 54h determines whether the ground has interfered with other parts. When the ground interferes with other parts, the tree generation unit 54h sets the part that interferes with the ground as a base part. Then, the tree generation unit 54h sets the interfered component as a moving component. Next, the tree generation unit 54h moves the moving component by a small amount in the direction opposite to the direction of gravity. Subsequently, the tree generation unit 54h determines whether the moving part has interfered with other parts. When the moving part interferes with another part, the tree generation unit 54h adds a relationship indicating that the moving part and the other part that has interfered with each other to the tree information 53b. Thereafter, the tree generation unit 54h sets the other interfered component as a new moving component, and performs the above processing again.

  A specific example will be described. FIG. 11 is a diagram for explaining processing of the determination apparatus. In the example of FIG. 11, the case where the component A61 is in contact with the component B62 and the component C63 is shown. Further, in the example of FIG. 11, a case where the component C63 is in contact with the ground 64 is shown. In such a case, the tree generation unit 54h moves the ground 64 in the direction opposite to the gravitational direction using the ground 64 as a moving part. Then, the tree generation unit 54h determines whether or not the ground 64 has interfered with other parts. In the example of FIG. 6, the tree generation unit 54h determines that the ground 64 has interfered with the part C63. The tree generation unit 54h uses the part C63 that has interfered with the ground 64 as a base part. Then, the tree generation unit 54h sets the interfered component C63 as a moving component. Next, the tree generation unit 54h moves the moving component C63 by a small amount in the direction opposite to the gravity direction. Subsequently, the tree generation unit 54h determines whether or not the moving part C63 interferes with other parts. In the example of FIG. 6, the tree generation unit 54h determines that the moving part C63 interferes with the part A61. Then, the tree generation unit 54h adds a relationship indicating that the moving part C63 and the interfered part A61 are in contact with the tree information 53b. Thereafter, the tree generation unit 54h sets the interfered part A61 as a new moving part and repeats the same processing as described above. As a result, the tree generation unit 54h adds a relationship indicating that the ground and the part C63 are in contact, the part C63 and the part A61 are in contact, and the part A61 and the part B62 are in contact to the tree information 53b.

  FIG. 12 is a diagram illustrating an example of a tree indicating a contact relationship between components indicated by the tree information. In the example of FIG. 12, the contact relationship indicated by the tree information 53b is a relationship indicating that the ground and the part C63 are in contact, the part C63 and the part A61 are in contact, and the part A61 and the part B62 are in contact. It is shown. This contact relationship is the same as the contact relationship of the components shown in FIG. In the example of FIG. 12, the parts existing in the upper hierarchy are expressed as being closer to the base part, but any method can be used as the method for expressing the contact relationship indicated by the tree information 53 b. For example, a part existing in a lower hierarchy may be expressed as being closer to the base part.

  In the example of FIG. 12, when the part A61 is disassembled, that is, when the part A61 is moved, the connection between the part B62 and the base part disappears on the tree from the same figure, so the part B62 falls. It is easily understood from the tree indicated by the tree information 53b. Further, when each part is removed by disassembling or the like, that is, when the position of the part is updated, if only the part of the part whose position is updated is updated from the tree indicated by the tree information 53b, the contact of all parts Information capable of grasping the relationship can be generated. For this reason, the determination device 50 can determine the fall situation in a faster calculation case by using the tree information 53b as compared with the case of detecting the contact relation of the parts each time the fall situation is determined.

  The detection unit 54e has the same function as the detection unit 34e according to the second embodiment. That is, the detection unit 54e detects a contact state used when determining the rotational drop of the component.

  The determination unit 54f has the same function as the determination unit 34f according to the second embodiment. In other words, the determination unit 54f determines the rotational drop of the component.

  In addition, the determination unit 54f sets the updated component as a component K that is a processing target component of a later-described drop determination process. In addition, the determination unit 54f searches the tree for lower-level contact components that are in contact with the component K, and adds them to the component list k that is a list of components to be processed. In addition, the determination unit 54f selects one unselected component L from the components in the component list k. Then, the determination unit 54f searches the tree information 53b for a component connected to a higher rank of the selected component L on the tree. Then, when a part connected to a higher rank of the part L is obtained as a result of the search, the determination unit 54f adds the obtained part to the part list l.

  Then, the determination unit 54f determines whether or not a part is not included in the parts list l, that is, so-called “empty”. When a part is included in the parts list l, the detection unit 54e and the determination unit 54f determine the rotation drop of the part L as in the second embodiment. When it is determined that the component L is rotated and dropped, the determination unit 54f adds the component L to the component list m and the component list n. Here, the determination unit 54f adds information indicating that the component L is rotationally dropped to the component L and adds the information to the component list n.

  On the other hand, the determination unit 54f determines that the component L is free-falling when no component is included in the component list l. If it is determined that the component L is free-falling, the determination unit 54f adds the component L to the component list m and the component list n. Here, the determination unit 54f adds information indicating that the component L is free-falling to the component L and adds the information to the component list n.

  Further, the determination unit 54f selects an unselected component M among the components in the component list m when the component list k does not include an unselected component. Then, the determination unit 54f sets the selected component M as the component K, adds the component K to the component list k, and performs the above process again. On the other hand, if the unselected part M is not included in the parts list m, the process is terminated. When the process is finished, the list n includes a part to which information indicating that the free fall or the rotary fall is added.

  The correction unit 54g has the same function as the correction unit 14g according to the first embodiment and the correction unit 34g according to the second embodiment. That is, the correction unit 54g corrects the image information so that a part determined to be free-falling freely falls on the display of the output unit 12. In addition, the correction unit 54g corrects the image information so that a part determined to be rotationally dropped falls on the display of the output unit 12.

  13, FIG. 14 and FIG. 15 are diagrams for explaining the processing of the determination apparatus. In the example of FIG. 13, the case where the component A71 is in contact with the ground is shown. Moreover, in the example of FIG. 13, the case where the component A71, the component B72, and the component C73 are contacting is shown. Moreover, in the example of FIG. 13, the case where the components B72 and C73 and the component D74 are contacting is shown. Moreover, in the example of FIG. 13, the case where the component D74 and the component E75, the component F76, and the component G77 are contacting is shown. Moreover, in the example of FIG. 13, the case where the component F76 and the component H78 are contacting is shown.

  In the case of the example of FIG. 13, the tree generation unit 54h generates tree information 53b representing the tree as shown in FIG. In the example of FIG. 14, a relationship indicating that the component A 71 is in contact with the component B 72 and the component C 73 is shown. Moreover, in the example of FIG. 14, the relationship which shows that the components B72 and C73 and the components D74 are contacting is shown. In the example of FIG. 14, a relationship indicating that the part D74 is in contact with the part E75, the part F76, and the part G77 is shown. Moreover, in the example of FIG. 14, the relationship which shows that the components F76 and the components H78 are contacting is shown.

  In the example of FIGS. 13 and 14, when the part C73 is disassembled and removed, that is, when the position of the part C is updated, the determination device 50 performs free fall and rotation drop of each part as follows. Determine. In other words, the determination device 50 searches for a lower-order component that is in contact with the component C73 on the tree. In the example of FIG. 14, the determination device 50 searches for the component D74 as a lower component that is in contact with the component C73. This part D74 becomes a part subject to drop determination processing. Further, the example of FIG. 15 shows a case where the part C73 is removed.

  The determination device 50 determines whether or not there is a component that contacts the upper part of the component D74. If there is no part in contact with the upper part of the part D74, it is determined that the part D74 falls freely. In the example of FIG. 15, since there is a part B72 in contact with the upper part of the part D74, the determination device 50 determines that the part D74 does not fall freely. However, since there is a possibility that the component D74 may fall down, the determination device 50 next determines whether or not the component D74 will fall down. This rotational drop determination method is the same as the rotational drop determination method in the second embodiment.

  Then, the determination device 50 performs the above-described determination of the free fall and the rotation drop for the parts lower than the part D74, and determines whether the lower part falls due to the drop of the part D74.

  The control unit 54 is an integrated circuit such as an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA), or an electronic circuit such as a central processing unit (CPU) or a micro processing unit (MPU).

[Process flow]
Next, the process flow of the determination apparatus 50 according to the present embodiment will be described. FIG. 16 is a flowchart illustrating the procedure of the tree generation process according to the third embodiment. This tree generation process is executed when the control unit 54 receives an instruction to execute the tree generation process from the input unit 11.

  As illustrated in FIG. 16, the tree generation unit 54h sets the ground defined in the component information 13a as a moving component (step S301). The tree generation unit 54h moves the moving component in the direction opposite to the direction of gravity (step S302).

  The tree generation unit 54h determines whether or not the moving part interferes with another part (step S303). When the moving part interferes with another part (Yes at Step S303), the tree generation unit 54h sets the part that interferes with the ground as a base part (Step S304). The tree generation unit 54h sets the interfered component as a moving component (step S305). The tree generation unit 54h moves the moving component by a small amount in the direction opposite to the gravity direction (step S306).

  The tree generation unit 54h determines whether or not the moving part interferes with other parts (step S307). When the moving part interferes with another part (Yes at Step S307), the tree generation unit 54h adds a relationship indicating that the moving part and the other part that has interfered with each other to the tree information 53b (Step S307). S308), the process returns to step S305. On the other hand, when the moving part does not interfere with other parts (No at Step S307) and when the moving part does not interfere with other parts (No at Step S303), the process ends.

  FIG. 17 is a flowchart illustrating a procedure of a fall state determination process according to the third embodiment. This fall situation determination process is executed when the control unit 54 receives an instruction to execute the fall situation process from the input unit 11.

  As shown in FIG. 17, when receiving the identification information of the part whose position is to be updated (Yes at Step S401), the first specifying unit 14b specifies the updated part from the parts (Step S402).

  The determination unit 54f sets the updated component as the component K (step S403). The determination unit 54f searches the tree for lower-level contact components that are in contact with the component K and adds them to the component list k, which is a list of components to be processed (step S404). The determination unit 54f determines whether or not there is an unselected component L among the components in the component list k (step S405). When there is an unselected part L (Yes at Step S405), the determination unit 54f selects one unselected part L (Step S406). The determination unit 54f searches the tree information 53b for a component connected to the upper part of the selected part L on the tree, and when a part connected to the upper part of the part L is obtained as a result of the search. Adds the obtained parts to the parts list l (step S407).

  The determination unit 54f determines whether or not a part is not included in the parts list 1, that is, so-called “empty” (step S408). When a part is included in the parts list l (No at Step S408), the detection unit 54e and the determination unit 54f determine the rotational drop of the part L as in the second embodiment (Step S409). The determination unit 54f determines whether or not it is determined in step S409 that the component L is rotated and dropped (step S410). When it is determined that the component L is rotated and dropped (Yes at Step S410), the determination unit 54f adds the component L to the component list m and the component list n. Here, the determination unit 54f adds information indicating that the component L is rotated and dropped to the component L and adds the information to the component list n (step S411). On the other hand, when it is not determined that the part L is rotated and dropped (No at Step S410), the process returns to Step S405.

  If no part is included in the parts list l (Yes in step S408), the determination unit 54f determines that the part L is free-falling (step S412). In step S411, the part L is changed to the part list m. Add to parts list n. Here, the determination unit 54f adds information indicating that the component L is free-falling to the component L and adds the information to the component list n.

  When the unselected part is not included in the parts list k (No at Step S405), the determination unit 54f determines whether the unselected part M is included in the parts list m (Step S405). S413). When the unselected part M is included (Yes at Step S413), the determination unit 54f selects the unselected part M among the parts in the part list m (Step S414). The determination unit 54f sets the selected component M as the component K, adds the component K to the component list k (step S415), and returns to step S404.

  On the other hand, when the unselected part M is not included in the parts list m (No at step S413), the process is terminated.

[Effect of Example 3]
As described above, the determination apparatus 50 according to the present embodiment reads the component information 13a from the storage unit 53 that stores the component information including the shape and position of the component, and generates image information. Further, the determination apparatus 50 according to the present embodiment identifies an update component, which is a component whose position is to be updated, from the components. Moreover, the determination apparatus 50 according to the present embodiment identifies a contact component that is a component that contacts the update component. Moreover, the determination apparatus 50 according to the present embodiment updates the position of the update component. Moreover, the determination apparatus 50 according to the present embodiment detects the contact state of the contact component in the gravity direction. Further, the determination device 50 according to the present embodiment determines the fall state of the contact component from the detected contact state. Therefore, according to the determination apparatus 50 according to the present embodiment, it is possible to automatically determine the drop of the component.

  Moreover, the determination apparatus 50 according to the present embodiment determines that the contact component is free-falling when there is no component that contacts the contact component in the direction of gravity. Therefore, according to the determination apparatus 50 according to the present embodiment, it is possible to automatically determine the free fall of the component.

  In addition, the determination device 50 according to the present embodiment has a center of gravity within the smallest polygon surrounded by the contact portion when the contact portion of the component that contacts the contact component and the center of gravity of the contact component are projected on a horizontal plane. When not included, it is determined that the contact component is rotated and dropped. Therefore, according to the determination apparatus 50 according to the present embodiment, it is possible to automatically determine the rotational drop of the component.

  Further, the determination apparatus 50 according to the present embodiment repeatedly performs the process of detecting the contact state until the contact component becomes a base component that is a component that contacts the ground, with the component that contacts the contact component as a new contact component. Moreover, the determination apparatus 50 according to the present embodiment determines the fall state of the new contact component from the contact state of the new contact component in the gravity direction. Thereby, a fall situation can be judged about all the parts which exist between an update part and the ground.

  Further, the determination device 50 according to the present embodiment extracts the contact relationship between the components, and determines the fall state of the contact component based on the extracted contact relationship between the components. Therefore, according to the determination apparatus 50 according to the present embodiment, in order to determine the falling state of the component using the contact relationship of the component, in comparison with the case where the contact relationship of the individual components is detected each time, It is possible to determine the fall state of a part at a faster calculation speed.

  Although the embodiments related to the disclosed apparatus have been described above, the present invention may be implemented in various different forms other than the above-described embodiments. Therefore, another embodiment included in the present invention will be described below.

  For example, all or some of the processes described as being automatically performed among the processes described in the first to third embodiments can be manually performed. In addition, among the processes described in this embodiment, all or a part of the processes described as being performed manually can be automatically performed by a known method.

  In addition, the processing at each step of each processing described in each embodiment can be arbitrarily finely divided or combined according to various loads and usage conditions. Also, the steps can be omitted. For example, steps S409 and S410 shown in FIG. 17 can be combined.

  Further, the order of processing at each step of each processing described in each embodiment can be changed according to various loads and usage conditions.

  Further, each component of each illustrated apparatus is functionally conceptual, and does not necessarily need to be physically configured as illustrated. In other words, the specific state of distribution / integration of each device is not limited to the one shown in the figure, and all or a part thereof may be functionally or physically distributed or arbitrarily distributed in arbitrary units according to various loads or usage conditions. Can be integrated and configured. For example, the determination unit and the correction unit illustrated in FIGS. 1, 5, and 10 may be integrated.

[Judgment program]
Various processes of each determination apparatus described in the above embodiments can be realized by executing a program prepared in advance on a computer system such as a personal computer or a workstation. Therefore, in the following, an example of a computer that executes a determination program having the same function as the determination apparatus described in the above embodiment will be described with reference to FIG. FIG. 18 is a diagram illustrating a computer that executes a determination program.

  As illustrated in FIG. 18, the computer according to the fourth embodiment includes a CPU (Central Processing Unit) 310, a ROM (Read Only Memory) 320, an HDD (Hard Disk Drive) 330, and a RAM (Random Access Memory) 340. These units 310 to 340 are connected via a bus 350.

  The ROM 320 includes a determination program that exhibits the same functions as the generation unit, tree generation unit, first specification unit, second specification unit, update unit, detection unit, determination unit, and correction unit shown in the above embodiments. 320a is stored in advance. Note that the determination program 320a may be separated as appropriate.

  Then, the CPU 310 reads the determination program 320a from the ROM 320 and executes it.

  The HDD 330 is provided with component information and tree information. Each of the component information and the tree information corresponds to the component information 13a and the tree information 53b.

  Then, the CPU 310 reads out component information and tree information and stores them in the RAM 340. Further, the CPU 310 executes a determination program using the component information and tree information stored in the RAM 340. Each data stored in the RAM 340 does not always need to be stored in the RAM 340, and only the data necessary for the process may be stored in the RAM 340.

  Note that the above-described determination program is not necessarily stored in the ROM 320 from the beginning.

  For example, the program is stored in a “portable physical medium” such as a flexible disk (FD), a CD-ROM, a DVD disk, a magneto-optical disk, or an IC card inserted into the computer 300. Then, the computer 300 may read and execute the program from these.

  Furthermore, the program is stored in “another computer (or server)” connected to the computer 300 via a public line, the Internet, a LAN, a WAN, or the like. Then, the computer 300 may read and execute the program from these.

  The following supplementary notes are further disclosed regarding the embodiment described above and its modifications.

(Supplementary note 1)
Read the component information from the storage unit that stores the component information including the shape and position of the component,
An update part whose position is to be updated is identified from the parts,
Identify a contact part that contacts the updated part from the parts,
Update the location of the update part,
Detecting the contact state of the contact component in the direction of gravity;
A determination program for executing a process for determining a fall state of the contact component from a detected contact state.

(Supplementary note 2) The determination program according to supplementary note 1, wherein the process of determining the fall state determines that the contact component is free-falling when there is no component in contact with the contact component in the gravity direction.

(Additional remark 3) The process which determines the said fall condition is the minimum polygon enclosed by the said contact part, when the contact part of the part which contacts the said contact part, and the gravity center of the said contact part are projected on a horizontal surface The determination program according to claim 1, wherein the contact part is determined to rotate and drop when the center of gravity is not included therein.

(Additional remark 4) The process which detects the contact state of the said contact component of the gravity direction detects the said contact state until it becomes a component which contacts the said contact component by making the component which contacts the said contact component into a new contact component. Repeat the process,
The determination program according to any one of appendices 1 to 3, wherein the process of determining the fall state determines a fall state of the new contact part from a contact state of the new contact part in a gravity direction.

(Additional remark 5) Furthermore, let a computer perform the process which extracts the contact relationship of components,
The determination program according to any one of appendices 1 to 4, wherein the process of determining the drop state determines a drop state of the contact component based on a contact relationship of the component.

(Supplementary Note 6) A generation unit that reads out component information from a storage unit that stores component information including the shape and position of the component;
A first specifying unit for specifying an update part for updating the position from the parts;
A second identifying unit that identifies a contact component that contacts the updated component from the components;
An update unit for updating the position of the update part;
A detection unit for detecting a contact state in a gravity direction of the contact component;
A determination unit for determining a fall state of the contact component from the detected contact state;
The determination apparatus characterized by having.

(Supplementary note 7) The determination device according to supplementary note 6, wherein the determination unit determines that the contact component is free-falling when there is no component in contact with the contact component in the gravity direction.

(Additional remark 8) When the said determination part projects the contact part of the component which contacts the said contact component, and the gravity center of the said contact component on a horizontal surface, the said gravity center is in the minimum polygon enclosed by the said contact part. The determination apparatus according to appendix 6, wherein the contact component is determined to rotate and fall when no is included.

(Additional remark 9) The said detection part repeats the process which detects the said contact state until it becomes a component which contacts the said contact component by making the component which contacts the said contact component into a new contact component,
The determination apparatus according to any one of appendices 6 to 8, wherein the process of determining the fall state determines a fall state of the new contact part from a contact state of the new contact part in a gravity direction.

(Additional remark 10) Furthermore, it has the extraction part which extracts the contact relationship of components,
The determination device according to any one of appendices 6 to 9, wherein the determination unit determines a fall state of the contact component based on a contact relationship of the component.

(Supplementary Note 11) A determination method executed by a computer,
Read the component information from the storage unit that stores the component information including the shape and position of the component,
An update part whose position is to be updated is identified from the parts,
Identify a contact part that contacts the updated part from the parts,
Update the location of the update part,
Detecting the contact state of the contact component in the direction of gravity;
A determination method comprising: determining a fall state of the contact component from a detected contact state.

(Supplementary note 12) The determination method according to supplementary note 11, wherein the method of determining the fall state determines that the contact component is free-falling when there is no component in contact with the contact component in the direction of gravity.

(Additional remark 13) The method of determining the said fall condition is the minimum polygon enclosed by the said contact part, when the contact part of the part which contacts the said contact part, and the gravity center of the said contact part are projected on a horizontal surface The determination method according to claim 11, wherein the contact part is determined to rotate and drop when the center of gravity is not included therein.

(Additional remark 14) The method of detecting the contact state of the said contact component of the gravitational direction detects the said contact state until the contact component becomes a component which contacts the ground by making the component which contacts the said contact component into a new contact component. Repeat the process,
The determination method according to any one of appendices 11 to 13, wherein the method for determining the fall state is to determine the fall state of the new contact component from the contact state of the new contact component in the gravity direction.

(Supplementary note 15) Further, the computer is caused to execute a method of extracting a contact relation between parts,
The determination method according to any one of appendices 11 to 14, wherein the method of determining the drop state is to determine the drop state of the contact component based on a contact relationship of the component.

DESCRIPTION OF SYMBOLS 10 Determination apparatus 11 Input part 12 Output part 13 Storage part 13a Component information 14 Control part 14a Generation part 14b First specific part 14c Second specific part 14d Update part 14e Detection part 14f Determination part 14g Correction part

Claims (7)

On the computer,
Read the component information from the storage unit that stores the component information including the shape and position of the component,
An update part whose position is to be updated is identified from the parts,
Identify a contact part that contacts the updated part from the parts,
Update the location of the update part,
Detecting the contact state of the contact component in the direction of gravity;
A determination program for executing a process for determining a fall state of the contact component from a detected contact state. The determination program according to claim 1, wherein the process of determining the fall state determines that the contact component is free-falling when there is no component in contact with the contact component in the gravity direction. In the process of determining the fall state, when the contact portion of the component that contacts the contact component and the center of gravity of the contact component are projected on a horizontal plane, the center of gravity is within the smallest polygon surrounded by the contact portion. The determination program according to claim 1, wherein it is determined that the contact component is rotated and dropped when no is included. The process of detecting the contact state of the contact component in the gravity direction is performed by repeatedly performing the process of detecting the contact state until the contact component becomes a component in contact with the ground, with the component in contact with the contact component being a new contact component. ,
The determination program according to any one of claims 1 to 3, wherein the process of determining the fall state determines a fall state of the new contact part from a contact state of the new contact part in a gravity direction. In addition, let the computer execute the process of extracting the contact relationship of the parts,
The determination program according to any one of claims 1 to 4, wherein the process of determining the fall status determines a fall status of the contact component based on a contact relationship between the components. A generation unit that reads out component information from a storage unit that stores component information including the shape and position of the component;
A first specifying unit for specifying an update part for updating the position from the parts;
A second identifying unit that identifies a contact component that contacts the updated component from the components;
An update unit for updating the position of the update part;
A detection unit for detecting a contact state in a gravity direction of the contact component;
A determination unit for determining a fall state of the contact component from the detected contact state;
The determination apparatus characterized by having. A determination method executed by a computer,
Read the component information from the storage unit that stores the component information including the shape and position of the component,
An update part whose position is to be updated is identified from the parts,
Identify a contact part that contacts the updated part from the parts,
Update the location of the update part,
Detecting the contact state of the contact component in the direction of gravity;
A determination method comprising: determining a fall state of the contact component from a detected contact state.

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