JP2018063592A - Design plan generation apparatus, design plan generation program, and method therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a design plan generation apparatus in which an appropriate mechanism element is selectable for a motion desired by a user.SOLUTION: A design plan generation apparatus 1 comprises a storage part 11, a user locus data acquisition part 31, a cluster search part 34, a design plan generation part 35, and a design plan output part 36. The storage part 11 stores registered locus data indicating a locus of a point of action and a mechanism element realizing the locus of a point of action according to rotation of a main spindle in association with a cluster indicating a division of the locus of the point of action. The user locus data acquisition part 31 acquires user locus data indicating a user locus, which is a locus input by a user. The cluster search part 34 searches a cluster corresponding to a division of the user locus. The design plan generation part 35 optimizes a measurement of the mechanism element associated with the found cluster so that the locus of the point of action associated with the found cluster resembles the user locus, and generates a design plan. The design plan output part 36 outputs the design plan.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a design plan generation apparatus, a design plan generation program, and a method thereof.

  There are known various methods for assisting an operator who designs a mechanism of a product using a computer (see, for example, Patent Documents 1 to 3). There is also known a design support system that supports the design of a mechanism for moving a doll on the top of a box by manually turning a handle on a main shaft. Specifically, a method for generating a mechanism that realizes a motion selectively input by a user by defining the relationship between the motion of the mechanism mechanism and the parts that realize the motion such as gears, cranks, and cams is known. (For example, see Non-Patent Document 1). In addition, a method is known in which several mechanisms that realize planar circular motion combining a gear and a link mechanism are stored as a library, and a desired movement is realized using the mechanism stored in the library ( For example, refer nonpatent literature 2.).

Japanese Patent Laid-Open No. 9-10231 JP 2009-50632 A Special table 2014-512891 gazette

L. Zhu et al., "Motion-Guided Mechanical Toy Modeling" November, 2012 S Coros al., "Computational Design of Mechanical Characters" November, 2013 Niloy J al., "ILLUSTRATING HOW MECHANICAL ASSEMBLIES WORK", ACM SIGGRAPH 2010 "November, 2013 MacQueen, J. B., "Some Methods for classification and Analysis of Multivariate Observations" Proceedings of 5th Berkeley Symposium on Mathematical Statistics and Probability, University of California Press, pp. 281-297, 2013

  However, in the method of generating a mechanism that realizes a motion selectively input by the user, the motion that can be selected by the user is limited, and thus there is a possibility that the motion desired by the user cannot be selected. Further, in the method of realizing a desired movement using a mechanism stored in the library, usable mechanisms are limited to the mechanisms stored in the library, and therefore there is a possibility that the mechanism desired by the user cannot be selected.

  In one embodiment, an object of the present invention is to provide a design plan generation apparatus capable of selecting an appropriate mechanism element for a user's desired movement.

  In one aspect, the design plan generation apparatus includes a storage unit, a user trajectory data acquisition unit, a cluster search unit, a design plan generation unit, and a design plan output unit. The storage unit stores the registered trajectory data indicating the trajectory of the action point and the mechanism element that realizes the trajectory of the action point in accordance with the rotation of the main spindle in association with the cluster indicating the division of the trajectory of the action point. The user track data acquisition unit acquires user track data indicating a user track that is a track input by the user. The cluster search unit searches for a cluster corresponding to the segment of the user trajectory. The design plan generation unit generates a design plan by optimizing the size of the mechanism element associated with the searched cluster so that the locus of the action point associated with the searched cluster is similar to the user track. The design plan output unit outputs the design plan.

  In one embodiment, an appropriate mechanism element can be selected for the movement desired by the user.

It is a block diagram of the design plan production | generation apparatus which concerns on embodiment. It is a figure which shows the design drawing of a mechanism element, (a) shows the 1st example of a mechanism element, (b) shows the 2nd example of a mechanism element, (c) shows the 3rd example of a mechanism element, (D) shows a fourth example of the mechanism element, (e) shows a fifth example of the mechanism element, and (f) shows a sixth example of the mechanism element. It is a figure which shows the relationship between a component and a component element model, (a) shows the 3rd example of the mechanism element shown in FIG.2 (c), (b) is a mechanism corresponding to the mechanism element shown in (a). Indicates the element model. It is a figure which shows an example of kinematic simulation, (a) shows the 3rd example of the mechanism element shown in FIG.2 (c), (b) is the mechanism element model corresponding to the mechanism element shown in FIG.4 (a). Indicates. It is a flowchart of the design plan registration process by the design plan generation apparatus shown in FIG. It is a flowchart of the design plan production | generation process by the design plan production | generation apparatus shown in FIG. It is a figure which shows an example of the user trace data which the user trace data acquisition part shown in FIG. 1 acquires, and the housing | casing information which the housing | casing information acquisition part shown in FIG. 1 acquires. It is a figure which shows an example of a process of S207 shown in FIG. It is a figure for demonstrating the process of S211 shown in FIG. It is a figure which shows operation | movement of an example of the design plan produced | generated by the design plan production | generation apparatus shown in FIG. 1, (a) shows a 1st state, (b) shows the 2nd state following a 1st state, (C) shows the 3rd state following the 2nd state. (D) shows a fourth state after the third state, (e) shows a fifth state after the fourth state, and (f) shows a sixth state after the fifth state.

  Hereinafter, a design plan generation apparatus, a design plan generation program, and a method thereof will be described with reference to the drawings. However, it should be noted that the technical scope of the present invention is not limited to these embodiments, and extends to equivalents to the invention described in the claims.

(Overview of design plan generation apparatus according to embodiment)
The design plan generation apparatus according to the embodiment realizes the locus of the action point associated with the cluster that classifies the locus by optimizing the size of the mechanism element associated with the cluster so as to be similar to the locus input by the user. As a result, the optimum mechanism element for the trajectory desired by the user is selected.

(Configuration and function of design plan generation apparatus according to embodiment)
FIG. 1 is a block diagram of a design plan generation apparatus according to an embodiment.

  The design plan generation apparatus 1 includes a communication unit 10, a storage unit 11, an input unit 12, an output unit 13, and a processing unit 20, and an appropriate mechanism based on user track data indicating a track input by a user. Generate a design proposal with elements. In one example, the design plan generation apparatus 1 is a personal computer.

  The communication unit 10 communicates with a server or the like (not shown) via the Internet according to an HTTP (Hypertext Transfer Protocol) protocol. Then, the communication unit 10 supplies data received from a server or the like (not shown) to the processing unit 20. Further, the communication unit 10 transmits the data supplied from the processing unit 20 to a server (not shown) or the like.

  The storage unit 11 includes, for example, at least one of a semiconductor device, a magnetic tape device, a magnetic disk device, or an optical disk device. The storage unit 11 stores an operating system program, a driver program, an application program, data, and the like used for processing in the processing unit 20. For example, the storage unit 11 registers, as an application program, a design plan for registering a design plan for causing the processing unit 20 to execute a design plan registration process for generating and registering a design plan including a mechanism element acquired from a design drawing. Memorize the registration program. The storage unit 11 also has a design plan for causing the processing unit 20 to execute a design plan generation process for generating a design plan having an appropriate mechanism element from user track data indicating a track input by the user as an application program. Store the generation program. The design plan registration program and the design plan generation program may be installed in the storage unit 11 using a known setup program or the like from a computer-readable portable recording medium such as a CD-ROM or DVD-ROM.

  The storage unit 11 also stores data used in the design plan registration process and the design plan generation process as data. For example, the storage unit 11 includes a mechanism element model database 111 including a design drawing of each of a plurality of mechanism elements and a plurality of mechanism element models obtained by modeling each of the plurality of mechanism elements. In one example, the design drawing data is three-dimensional CAD (Computer-Aided Design) data.

  FIG. 2 is a diagram showing a design drawing of the mechanism element. 2A shows a first example of the mechanism element, FIG. 2B shows a second example of the mechanism element, FIG. 2C shows a third example of the mechanism element, and FIG. Shows a fourth example of a mechanism element, FIG. 2 (e) shows a fifth example of the mechanism element, and FIG. 2 (f) shows a sixth example of the mechanism element.

  The first example shown in FIG. 2A is an ellipse cam type mechanism element, and the second example shown in FIG. 2B is a snail cam type mechanism element. The third example shown in c) is a crank link (Crank + Link) type mechanism element. The fourth example shown in FIG. 2D is a quick return type mechanism element, and the fifth example shown in FIG. 2E is a horizontal link type mechanism element. The sixth example shown in (f) is a mechanism element of a plurality of gear units.

  FIG. 3 is a diagram showing the relationship between the constituent elements and the constituent element model. FIG. 3 (a) shows a third example of the mechanism element shown in FIG. 2 (c), and FIG. The mechanism element model corresponding to the mechanism element shown in FIG.

  The mechanism element 100 includes a handle 101, a handle arm portion 102, a main shaft 103, a crank arm portion 104, a link 105, a rod 106, and a pin 107. The handle 101, the handle arm portion 102, the main shaft 103, and the crank arm portion 104 form a crank. In response to the rotational movement of the handle 101 on a plane perpendicular to the extending direction of the main shaft 103, the action point 108 located at the end of the rod connected to the crank arm 104 via the link 105 rotates.

The mechanism element model 110 includes a phase θ, a crank movable range R, a link position J ₁ , a pin position J _2, and a rod length L. The crank movable range R, the link position J ₁ , the pin position J _2, and the rod length L are parameters used in the optimization process executed when the design plan is generated.

  The storage unit 11 also includes a trajectory data indicating the trajectory of the action point, a mechanism element type in which the mechanism elements are classified based on the shape, a cluster indicating the trajectory classification of the action point, and cluster information. A plan database 112; Each of the trajectory data, the mechanism element type, the cluster, and the appearance frequency included in the design plan database 112 is associated with the mechanism element design drawing and the mechanism element model included in the mechanism element model database 111.

  The trajectory data is acquired by executing a kinematic simulation using a kinematic simulator for each of the mechanism element models corresponding to the mechanism elements. The kinematic simulator is, for example, general-purpose kinematic analysis software or general-purpose arm robot motion planning software. General-purpose kinematic analysis software includes, for example, Adams manufactured by MSC Software, USA, RecurDyn manufactured by FunctionBay, and the like. The motion planning software for general-purpose arm robots is, for example, MoveIt! And OpenRAVE.

  FIG. 4 is a diagram illustrating an example of a kinematic simulation, FIG. 4 (a) illustrates a third example of the mechanism element illustrated in FIG. 2 (c), and FIG. 4 (b) illustrates the mechanism illustrated in FIG. 4 (a). The mechanism element model corresponding to an element is shown.

  The coordinate Pw of the action point indicated by the arrow A in FIG.

Indicated by Here, O is the coordinate of the origin, R is the crank movable range, θ is the phase of the handle 101, and θ ₂ is the phase of the link 105.

  The type of mechanism element indicates a classification based on the shape of the mechanism element. The type | mold of a mechanism element contains the type | mold corresponding to each shape of the component shown by Fig.2 (a)-2 (f). The elliptic cam shown in FIG. 2A differs in shape due to, for example, the ratio of the major axis and minor axis of the ellipse being different, but the configuration and function of the components include various components that are similar. The type of the mechanism element includes a group of components having similar configurations and functions, although the shapes of the ellipse are different due to the ratio of the major axis to the minor axis of the ellipse.

  The cluster indicates the division of the locus of the action point such as the locus of the linear motion in the horizontal direction, the locus of the linear motion in the vertical direction, and the locus of the rotational motion. For example, in both the elliptical cam shown in FIG. 2 (a) and the snail cam shown in FIG. 2 (b), the locus of the action point indicated by the arrow A is a locus of linear motion in the vertical direction. Are divided into the same cluster.

  The cluster information includes the appearance frequency of the mechanism element. The appearance frequency of the mechanism element indicates the number of appearances of the type of each mechanism element with respect to the number of appearances of all the mechanism elements associated with the same cluster. In one example, the number of appearances is the number of mechanism elements stored in the storage unit 11. When there are only two types of components divided into clusters that are trajectories of vertical linear motion, the elliptical cam and the snail cam, and the elliptic cam and the snail cam appear 4 times and 6 times, respectively, the elliptical cam The appearance frequency of the type is 0.4 (= 4 / (4 + 6)).

  Furthermore, the action point storage unit 11 obtained by simulating a plurality of mechanism element models with a kinematic simulator may temporarily store data temporarily used in processing such as input processing.

  The input unit 12 may be any device that can input data, such as a touch panel and a key button. The operator can input characters, numbers, symbols, and the like using the input unit 12. When operated by the operator, the input unit 12 generates a signal corresponding to the operation. Then, the generated signal is supplied to the processing unit 20 as an instruction from the operator.

  The output unit 13 may be any device as long as it can display images, frames, and the like, and is, for example, a liquid crystal display or an organic EL (Electro-Luminescence) display. The output unit 13 displays a video corresponding to the video data supplied from the processing unit 20, a frame corresponding to the moving image data, and the like. The output unit 13 may be an output device that prints video, frames, characters, or the like on a display medium such as paper.

  The processing unit 20 includes one or a plurality of processors and their peripheral circuits. The processing unit 20 controls the overall operation of the design plan generation apparatus 1 and is, for example, a CPU. The processing unit 20 executes processing based on programs (driver program, operating system program, application program, etc.) stored in the storage unit 11. The processing unit 20 can execute a plurality of programs (such as application programs) in parallel.

  The processing unit 20 includes a design drawing acquisition unit 21, a mechanism element model acquisition unit 22, a design drawing normalization unit 23, a mechanism element model registration processing unit 24, a design plan registration processing unit 25, a clustering unit 26, An appearance frequency calculation unit 27 and a cluster information update unit 28 are included. The processing unit 20 includes a user trajectory data acquisition unit 31, a case information acquisition unit 32, an input data processing unit 33, a cluster search unit 34, a design plan generation unit 35, and a design plan output unit 36. Have. The mechanism element model registration processing unit 24 includes a model normalization unit 241, a mechanism element type determination unit 242, a mechanism element type registration determination unit 243, and a model registration unit 244. The design plan registration processing unit 25 includes a trajectory data acquisition unit 251 and a design plan registration 252. The input data processing unit 33 includes a data resampling unit 331 and a mechanism arrangement determining unit 332. The cluster search unit 34 includes a cluster selection unit 341 and an appearance frequency acquisition unit 342, and searches for a cluster corresponding to a user track segment that is a track input by the user. The design plan generation unit 35 includes a mechanism element type selection unit 351, a gear mechanism optimization unit 352, an initial design plan generation unit 353, an individual design plan generation unit 354, and a gear mechanism rearrangement unit 355 evaluation value calculation unit 356. And a design plan registration unit 357 and a design plan registration determination unit 358. The design plan generation unit 35 generates a design plan by optimizing the size of the mechanism element associated with the searched cluster so that the locus of the action point associated with the searched cluster is similar to the user track. To do. Each of these units is a functional module realized by a program executed by a processor included in the processing unit 20. Alternatively, these units may be implemented in the design plan generation apparatus 1 as firmware.

(Operation of the design plan generation apparatus according to the embodiment)
FIG. 5 is a flowchart of the design plan registration process performed by the design plan generation apparatus 1. The design plan registration process illustrated in FIG. 5 is executed mainly by the processing unit 20 in cooperation with each element of the design plan generation apparatus 1 based on a program stored in the storage unit 11 in advance.

  First, the design drawing acquisition unit 21 acquires design drawing data indicating the design drawing of the mechanism element (S101) and stores it in the storage unit 11. The design drawing acquisition unit 21 may acquire design drawing data from an external device such as a server (not shown) via the communication unit 10.

  Next, the mechanism element model acquisition unit 22 acquires mechanism element model data indicating a mechanism element model obtained by modeling the mechanism element (S102) and stores it in the storage unit 11. The mechanism element model acquisition unit 22 may acquire the mechanism element model data from an external device such as a server (not shown) via the communication unit 10.

  Next, the design drawing normalization unit 23 scales the design drawing so that the size of the design drawing corresponding to the design drawing data acquired by the design drawing acquisition unit 21 matches a predetermined reference drawing size (S103).

  Next, the model normalization unit 241 expands or contracts the mechanism element so that the size of the mechanism element model corresponding to the mechanism element model data acquired by the mechanism element model acquisition unit 22 matches a predetermined reference element size (S104). ).

  Next, the mechanism element type determination unit 242 determines the type of the mechanism element associated with the mechanism element model normalized by the model normalization unit 241 (S105). In one example, the mechanism element type determination unit 242 displays a character string indicating the type of the mechanism element on the output unit 13 by displaying an image including an input box that can be input via the input unit 12 and indicates that the character string is input to the input box. The string is determined as the mechanism element type.

  Next, the mechanism element type registration determination unit 243 determines whether or not the mechanism element type determined by the mechanism element type determination unit 242 has been registered in the design plan database 112 (S106). In one example, the mechanism element type registration determination unit 243 creates a graph diagram showing the connection between the mechanism components forming the mechanism element by the method described in Non-Patent Document 3, and the created graph diagram is a registered mechanism. When the structure is the same as the element type, it is determined that the mechanism element type is already registered. If the mechanism element type registration determination unit 243 determines that the mechanism element type determined by the mechanism element type determination unit 242 has not been registered in the design plan database 112 (S106: YES), the mechanism element type registration determination unit 243 designs the determined mechanism element type. It registers in the plan database 112 (S107).

  Next, the model registration unit 244 receives the design drawing data indicating the design drawing normalized by the design drawing normalization unit 23 and the mechanism element model data indicating the mechanism element model normalized by the model normalization unit 241 from the mechanism element model. Register in the database 111 (S108).

  Next, the trajectory data acquisition unit 251 acquires registered trajectory data indicating the trajectory of the action point by executing a kinematic simulation using a kinematic simulator for the mechanism element model normalized by the model normalization unit 241. (S109).

  Next, the design plan registration 252 is a design plan including the design drawing data normalized by the design drawing normalization unit 23, the type of mechanism element determined by the mechanism element type determination unit 242 and the registered trajectory data acquired by the trajectory data acquisition unit 251. Register in the database 112 (S110).

  Next, the clustering unit 26 clusters the trajectory indicated by the trajectory data acquired by the trajectory data acquisition unit 251 and determines which of the clusters the trajectory indicated by the trajectory data acquired by the trajectory data acquisition unit 251 is classified into. (S111). In one example, the clustering unit 26 categorizes the trajectory indicated by the trajectory data acquired by the trajectory data acquisition unit 251 into a cluster by the K-means described in Non-Patent Document 4. To decide.

  Next, the appearance frequency calculation unit 27 calculates the registered mechanism from the number of appearances of all the mechanism elements associated with the cluster divided by the clustering unit 26 and the number of appearances of the type of the mechanism element registered by the design plan registration 252. The appearance frequency of each element type is calculated (S112).

  Then, the cluster information update unit 28 updates the cluster information including the appearance frequency (S113).

  FIG. 6 is a flowchart of the design plan generation process performed by the design plan generation apparatus 1. The design plan generation process shown in FIG. 6 is executed mainly by the processing unit 20 in cooperation with each element of the design plan generation apparatus 1 based on a program stored in the storage unit 11 in advance.

  First, the user trajectory data acquisition unit 31 acquires user trajectory data indicating the trajectory and relative speed of the action point input by the user (S201). Next, the case information acquisition unit 32 acquires related information related to the case (S202). The case information includes the size and shape of the case, the position and shape of the main shaft including the handle, the shape of the doll placed at the action point, and the like.

  FIG. 7 is a diagram illustrating an example of user trajectory data acquired by the user trajectory data acquisition unit 31 and case information acquired by the case information acquisition unit 32.

  The user trajectory data includes a first trajectory 201 of a quadrangular rotational motion, a second trajectory 202 of a horizontal linear motion, and a third trajectory 203 of a vertical linear motion. The user trajectory data includes a relative speed “1.0” of the first trajectory 201, a relative speed “0.5” of the second trajectory 202, and a relative speed “0.8” of the third trajectory 203. The case information includes case size information, case shape information, main shaft position information indicating the position of the main shaft 211, main shaft shape information indicating the position of the handle 212, and shape information of the doll arranged at the action point. When the shape of the casing 210 is a rectangular parallelepiped, the casing dimension information includes the horizontal width, the depth width, and the height of the casing 210, and the casing shape information indicates that the casing 210 is a rectangular parallelepiped. The shape information is arranged at the action point of the first trajectory 201, the shape of the first doll 221 arranged at the action point of the first trajectory 201, the shape of the second doll 222 arranged at the action point of the second trajectory 202, and the action point of the third trajectory 403. The shape of the third doll 223 is included.

  Next, the data resampling unit 331 resamples each of the one or a plurality of user trajectory data acquired by the user trajectory data acquisition unit 31 (S203). The user trajectory data acquisition unit 31 resamples the user trajectory data, thereby matching the data points of the user trajectory data acquired by the user trajectory data acquisition unit 31 with the data points of the registered trajectory data registered in the design plan database 112. Let

  Next, the mechanism arrangement determining unit 332 calculates the number and position of other axes that rotate according to the rotation of the main axis from the positional relationship between the main axis of the housing and the trajectory corresponding to the user trajectory data, and avoids mutual interference. The arrangement area where the mechanism element is arranged is calculated (S204).

  Next, the cluster selection unit 341 searches for a cluster corresponding to the segment of the trajectory corresponding to each of the single or plural user trajectory data acquired by the user trajectory data acquisition unit 31 (S205). In one example, the cluster selection unit 341 registers the trajectory indicated by the trajectory data resampled by the data resampling unit 331 in the design plan database 112 by the K-means described in Non-Patent Document 4. It is searched for which of the divided clusters.

  Next, the appearance frequency acquisition unit 342 acquires the appearance frequency of each type of mechanism element included in one or more clusters searched by the cluster selection unit 341 from the design plan database 112 (S206).

  Next, the mechanism element type selection unit 351 probabilistically selects a mechanism element type based on the appearance frequency of the mechanism element types included in the searched cluster or clusters (S207).

  FIG. 8 is a diagram illustrating an example of the process of S207. FIG. 8 shows an example of processing for selecting the type of the mechanism element of the second locus 202 of the horizontal linear motion.

  In the example shown in FIG. 8, the mechanism element types include four types of first to fourth types. The first mold rotates counterclockwise (A) in accordance with the counterclockwise rotation of the main shaft 211, and moves the action point horizontally in the first direction (+). The second mold rotates in the counterclockwise direction (A) in response to the counterclockwise rotation of the main shaft 211, and moves the action point horizontally in the second direction (-) opposite to the first direction. The third mold rotates clockwise (B) in accordance with the counterclockwise rotation of the main shaft 211, and moves the action point horizontally in the first direction (+). The fourth mold rotates clockwise (B) in accordance with the counterclockwise rotation of the main shaft 211, and moves the action point horizontally in the second direction (-).

  In the example illustrated in FIG. 8, the appearance frequency of the first type is approximately 28% indicated by the region 301, and the appearance frequency of the second type is approximately 30% indicated by the region 302. The appearance frequency of the third type is approximately 20% indicated by the region 303, and the appearance frequency of the fourth type is approximately 22% indicated by the region 304.

The mechanism element type selection unit 351 regards the appearance frequency information as the probability mass function f (x), generates a random number based on the probability mass function f (x), and selects the type of the mechanism element. In the example shown in FIG. 8, the first type probability mass function f ₁ (x) corresponds to the region 301, the second type probability mass function f ₂ (x) corresponds to the region 302, and the third type The type stochastic mass function f ₃ (x) corresponds to the region 303, and the fourth type probabilistic mass function f ₄ (x) corresponds to the region 304. In the example shown in FIG. 8, the first type is selected with a probability of approximately 28%, the second type is selected with a probability of approximately 30%, the third type is selected with a probability of approximately 20%, Type 4 is selected with a probability of approximately 22%.

  Next, the gear mechanism optimizing unit 352 generates a gear mechanism in which the gear pitch and the number of teeth are optimized so as to transmit the rotation of the main shaft to the other shaft in a desired rotation direction and rotation speed (S208). The gear mechanism optimization unit 352 generates a gear mechanism according to the relative speed corresponding to the user locus data acquired by the user locus data acquisition unit 31. In the example illustrated in FIG. 7, the gear mechanism optimizing unit 352 has a relative speed “1.0” of the first trajectory 201, a relative speed “0.5” of the second trajectory 202, and a third trajectory. The gear mechanism is generated such that the relative speed of 203 is “0.8”. The gear mechanism optimization unit 352 may move the position of another shaft that rotates in accordance with the rotation of the main shaft, depending on the shape of the gear mechanism to be generated.

  Next, the initial design plan generation unit 353 arranges the dimension of the mechanism element having the highest similarity among the types of mechanism elements selected by the mechanism element type selection unit 351 in the arrangement area calculated by the mechanism arrangement determination unit 332. The initial design plan is generated with corrections as possible (S209). The initial design plan generation unit 353 uses the gear mechanism generated by the gear mechanism optimization unit 352 when generating the initial design plan.

  Next, the individual design plan generator 354 changes the dimensions of the initial design plan so that the similarity between the locus of the action point realized by the initial design plan and the locus of the action point corresponding to the user locus data is minimized. Then, a design plan is generated (S210). The dimensions of the initial design plan are changed by changing the parameters of the mechanism element model corresponding to the initial design plan stored in the mechanism element model database 111. In one example, the determination as to whether or not the degree of similarity by the individual design plan generator 354 is minimum is as follows:

Is used to determine the similarity d (i, j) between the locus of the action point realized by the initial design plan and the locus of the action point corresponding to the user locus data. Equation (2) is obtained by calculating the similarity between two trajectories based on a total value obtained by weighting each of the six similarity functions of the first similarity function f ₀ to the sixth similarity function f ₅ with the weighting coefficients w _{0 to} w _5. Indicates to determine the degree.

The first similarity function f ₀ is

Indicated by Here, X _i indicates n pieces of time-series discrete data {x _{i (0)} ,... X _{i (n−1)} } indicating the locus of the action point corresponding to the user locus data, and X _j is an initial value. N time-series discrete data {x _{j (0)} , _... X _{j (n−1)} } indicating the locus of action points realized by the design plan are shown. R (X _i ) indicates the number of dimensions of the locus of the action point corresponding to the user locus data, and R (X _j ) indicates the dimension of the locus of the action point corresponding to the user locus data. The first similarity function f ₀ represented by the equation (3) indicates a difference in dimension between the locus of the action point corresponding to the user locus data and the locus of the action point realized by the initial design plan.

The second similarity function f ₁ is

Indicated by Here, σ _i indicates the variance of _n time-series discrete data {x _{i (0)} ,... X _{i (n−1)} } indicating the locus of the action point corresponding to the user locus data, and σ _j Indicates the variance of _n time-series discrete data {x _{j (0)} , _... X _{j (n−1)} } indicating the locus of action points realized by the initial design plan. Max (σ _i , σ _j ) indicates the larger value of σ _i and σ _j, and min (σ _i , σ _j ) indicates the smaller value of σ _i and σ _j. Show. The second similarity function f ₁ represented by the equation (4) indicates a difference in size between the locus of the action point corresponding to the user locus data and the locus of the action point realized by the initial design plan.

The third similarity function f ₂ is

Indicated by Here, / X _i represents an average value of _n time-series discrete data {x _{i (0)} ,... X _{i (n−1)} } indicating the locus of the action point corresponding to the user locus data, X _j represents an average value of _n time-series discrete data {x _{j (0)} , _... X _{j (n−1)} } indicating the locus of the action point realized by the initial design plan. The third similarity function f ₂ represented by Expression (5) indicates the difference in the center of gravity position of the locus between the locus of the action point corresponding to the user locus data and the action point realized by the initial design plan.

The fourth similarity function f ₃ is

Indicated by Here, b _i ^h is the h-th main vector of n pieces of time-series discrete data {x _{i (0)} ,... X _{i (n−1)} } indicating the locus of the action point corresponding to the user locus data. Indicates. B _i ^h is the h-th main vector of _n time-series discrete data {x _{j (0)} , _... X _{j (n−1)} } indicating the locus of the action point realized by the initial design proposal. Indicates. The fourth similarity function f ₃ represented by the equation (6) indicates a difference in posture between the action point corresponding to the user locus data and the action point locus realized by the initial design plan.

The fifth similarity function f ₄ is

Indicated by Here, min (hε [0, n−1]) indicates the minimum value that the expression in Σ takes when the number h is changed in the range of 0 ≦ h ≦ n−1. The fifth similarity function f ₄ represented by Expression (7) indicates the difference in the shape of the trajectory between the action point corresponding to the user trajectory data and the action point trajectory realized by the initial design plan.

The sixth similarity function f ₅ is

Indicated by The sixth similarity function f ₅ represented by the equation (8) represents the difference in trajectory shape in consideration of the phase between the action point corresponding to the user trajectory data and the action point trajectory realized by the initial design plan. Show.

  Next, the individual design plan generation unit 354 determines whether or not a design plan corresponding to the trajectory corresponding to all the user trajectory data acquired by the user trajectory data acquisition unit 31 has been generated (S211). The processes in S209 to S211 are performed until it is determined that the individual design plan generation unit 354 has generated the design plan corresponding to the trajectory corresponding to all the user trajectory data acquired by the user trajectory data acquisition unit 31 (S211—YES). Repeated. In the example illustrated in FIG. 7, the processes of S209 to S211 are repeated until it is determined that the individual design plan generation unit 354 has generated the design plans corresponding to all of the first trajectory 201 to the third trajectory 203.

  If it is determined that the individual design plan generation unit 354 has generated the design plans corresponding to all the trajectories (S211—YES), the gear mechanism rearrangement unit 355 does not interfere with each of the arranged mechanism elements and The gear mechanism is rearranged so that the total length becomes the shortest (S212).

  FIG. 9 is a diagram for explaining the processing of S211.

  The pre-correction design plan 400 includes a first mechanism element 410, a second mechanism element 420, a third mechanism element 430, a first gear 441, and a second gear 442. The 1st mechanism element 410 has the 1st axis | shaft 411 which is a main axis | shaft connected to the handle 401, the 1st drive part 412, and the 1st doll 413 arrange | positioned at an action point. The first shaft 411 rotates in accordance with the rotation of the handle 401, and the first drive unit 412 realizes an operation having a desired locus on the first doll 413 arranged at the operating point according to the rotation of the first shaft 411. Let

  The 2nd mechanism element 420 has the 2nd axis | shaft 421 connected to the 1st axis | shaft 411 via the 1st gear 441, the 2nd drive part 422, and the 2nd doll 423 arrange | positioned at an action point. The second shaft 421 extends from one side surface of the housing of the design plan 400 before correction to the other side surface. The second drive unit 422 rotates at the operating point according to the rotation of the second shaft 421 and rotates according to the rotation of the first shaft 411 extending from one side surface to the other side surface of the casing of the design plan 400 before correction. The operation | movement which has a desired locus | trajectory is implement | achieved by the 2nd doll 423 to be performed.

  The third mechanism element 430 includes a third shaft 431 connected to the first shaft 411 via the second gear 442, a third drive unit 432, and a third doll 433 disposed at the operating point. The third shaft 431 extends from one side surface of the housing of the design plan 400 before correction to the other side surface. The third shaft 431 rotates in accordance with the rotation of the first shaft 411, and the third driving unit 432 has a desired locus on the third doll 433 disposed at the operating point in accordance with the rotation of the third shaft 431. Is realized.

  The first gear 441 and the second gear 442 are disposed in contact with the side wall of the design plan 400 before correction. The first gear 441 is fitted to the first shaft 411 and the second shaft 421, and rotates the second shaft 421 in accordance with the rotation of the first shaft 411. The second gear 442 is fitted to the first shaft 411 and the third shaft 431, and rotates the third shaft 431 according to the rotation of the first shaft 411.

  The modified design plan 500 includes a first mechanism element 510, a second mechanism element 520, a third mechanism element 530, a first gear 541, and a second gear 542. The first mechanism element 510 includes a first shaft 511, a first drive unit 512, and a first doll 513. The configurations and functions of the first shaft 511, the first drive unit 512, and the first doll 513 are the same as the configurations and functions of the first shaft 411, the first drive unit 412, and the first doll 413, so detailed description thereof is omitted here. To do.

  The second mechanism element 520 includes a second shaft 521, a second drive unit 522, and a second doll 523. The second shaft 521 is different from the second shaft 421 in that an unnecessary portion between the second driving unit 522 and the side wall is removed. The configurations and functions of the second shaft 521, the second drive unit 522, and the second doll 523 other than the shape of the shaft of the second shaft 521 are the configurations and functions of the second shaft 421, the second drive unit 422, and the second doll 423. Since it is the same, detailed description is abbreviate | omitted here.

  The third mechanism element 530 includes a third shaft 531, a third drive unit 532, and a third doll 533. The third shaft 531 is different from the third shaft 431 in that an unnecessary portion between the third drive unit 532 and the side wall is removed. The configurations and functions of the third shaft 531, the third drive unit 532, and the third doll 533 other than the shape of the shaft of the third shaft 531 are the configurations and functions of the third shaft 431, the third drive unit 432, and the third doll 433. Since it is the same, detailed description is abbreviate | omitted here.

  The positions of the first gear 541 and the second gear 542 are different from those of the first gear 441 and the second gear 442. Since the first gear 541 and the second gear 542 are the same as the first gear 441 and the second gear 442 except for the arrangement positions, detailed description thereof is omitted.

  Next, the evaluation value calculation unit 356 calculates the evaluation value of the design plan in which the gear mechanism is rearranged by the gear mechanism rearrangement unit 355 (S213). In one example, a total value of similarities between the locus of action points corresponding to a plurality of user locus data and the locus of action points realized by the design plan is calculated as an evaluation value of the design plan. The evaluation value calculation unit 356 may calculate the evaluation value using the similarity d (i, j) calculated using the equation (2). In the example shown in FIG. 9, the similarity of the first mechanism element 510, the similarity of the trajectory of the first mechanism element 510, the similarity of the trajectory of the first mechanism element 510 of the second mechanism element 520, and the third mechanism element 530. The total value of the trajectory similarity is calculated as the evaluation value of the design plan.

  Next, the design plan registration unit 357 stores the design plan in which the design plan gear mechanism in which the gear mechanism is rearranged is rearranged in association with the evaluation value calculated by the evaluation value calculation unit 356 in the storage unit 11. It is registered in the design plan registration list (S214).

  Next, the design plan registration determination unit 358 determines whether or not the number of design plans registered in the design plan registration list has reached the maximum number (S215). When the design plan registration determination unit 358 determines that the number of design plans registered in the design plan registration list has reached the maximum number (S215-YES), the design plan with the lowest associated evaluation value is selected. Delete from the design plan registration list (S216).

  Next, the individual design plan generation unit 354 increments the number of design plan generations stored in the storage unit 11 (S217). Next, the individual design plan generation unit 354 determines whether or not the design plan generation count stored in the storage unit 11 has reached the maximum value (S218). If the individual design plan generation unit 354 determines that the design plan generation count has not reached the maximum value (NO in S218), the process returns to S207. The processes of S207 to S218 are repeated until the individual design plan generation unit 354 determines that the design plan generation count has reached the maximum value (S218—YES).

  When the individual design plan generation unit 354 determines that the design plan generation count has reached the maximum value (YES in S218), the design plan output unit 36 outputs the design plan registered in the design plan registration list ( S219).

  FIG. 10 is a diagram illustrating an operation of an example of a design plan generated by the design plan generation apparatus 1. 10A shows the first state, FIG. 10B shows the second state after the first state, and FIG. 10C shows the third state after the second state. FIG. 10D shows the fourth state after the third state, FIG. 10E shows the fifth state after the fourth state, and FIG. 10F shows the sixth state after the fifth state. Indicates the state.

Table 1 shows the relationship between the doll arranged at the action point in FIG. 10 and the mechanism elements that drive the doll. The mechanism element corresponding to a rabbit doll is a crank that rotates clockwise, and the mechanism element that corresponds to a duck doll is a horizontal link that rotates clockwise. The corresponding mechanism element is an elliptical cam that rotates clockwise.

(Operational effect of the design plan generation apparatus according to the embodiment)
The design plan generating device 1 realizes the locus of the action point associated with the cluster that classifies the locus by optimizing the size of the mechanism element associated with the cluster so as to be similar to the locus input by the user, It is possible to select a mechanism element optimal for the locus desired by the user.

  Further, the design plan generation apparatus 1 can select a likely mechanism element used in a similar design plan by stochastically selecting the type of the mechanism element based on the appearance frequency.

  In addition, the design plan generation device 1 rearranges at least one of the gears and shafts of the mechanism elements so that the locus of the action point realized by the design plan does not interfere with each other, so that a plurality of components can be operated during operation. Interference with each other can be prevented.

  In addition, the design plan generation device 1 deletes the design plan with the lowest evaluation value from the design plan registration list when the number of design plans registered in the design plan registration list reaches a predetermined number. A plurality of design proposals having relatively high values can be generated.

(Modification of the design plan generation apparatus according to the embodiment)
In the design plan generation apparatus 1, the initial design plan generation unit 353 selects a mechanism element having the highest similarity among the types of mechanism elements selected by the component type selection unit 351 and generates an initial design plan. However, the design plan generation apparatus according to the embodiment may generate an initial design plan using a mechanism element selected by another method.

  For example, in the design plan generation apparatus according to the embodiment, the initial design plan may be selected based on the probability mass function of the component associated with the same cluster as the user trajectory input by the user. The design plan generation apparatus according to the embodiment calculates the probability mass function F (i) based on the similarity d (X, i) between the user trajectory X input by the user and the component D associated with the cluster.

  Stipulate. Here, iεY with respect to the number Y of mechanism elements associated with the same cluster. At this time,

  The relationship holds. The design plan generation apparatus according to the embodiment can select a component having a high degree of similarity at a high angular rate by selecting an initial design plan stochastically using the probability mass function F (i).

DESCRIPTION OF SYMBOLS 1 Design plan production | generation apparatus 31 User locus data acquisition part 32 Case information acquisition part 33 Input data processing part 34 Cluster search part 35 Design plan generation part 36 Design plan output part

Claims (6)

A storage unit that stores registration trajectory data indicating a trajectory of an action point, and a mechanism element that realizes the trajectory of the action point according to rotation of a spindle in association with a cluster that indicates a division of the trajectory of the action point;
A user trajectory data acquisition unit that acquires user trajectory data indicating a user trajectory that is a trajectory input by a user;
A cluster search unit for searching for a cluster corresponding to the classification of the user trajectory;
A design plan generation unit that generates a design plan by optimizing the size of the mechanism element associated with the searched cluster so that the locus of the action point associated with the searched cluster is similar to the user track. When,
A design plan output unit for outputting the design plan;
A design plan generation apparatus. The storage unit is included in each type of a plurality of mechanism elements obtained by classifying a plurality of mechanism elements based on a shape, and in each type of mechanism element for the number of appearances of all the mechanism elements associated with the same cluster. Further storing the appearance frequency indicating the number of appearances of the mechanism element,
The design plan generation unit
A mechanism element type selection unit that stochastically selects a mechanism element type based on the appearance frequency of the mechanism element type;
An initial design plan generation unit that generates an initial design plan from a mechanism element having the highest similarity among the mechanism elements included in the selected type of mechanism element;
An individual design plan generating unit that generates a design plan by changing the dimensions of the initial design plan so that the degree of similarity between the locus of the action point realized by the initial design plan and the user track is minimized;
The design plan generation apparatus according to claim 1, comprising: The user trajectory data acquisition unit acquires a plurality of the user trajectory data,
The said design plan production | generation part further has a gear mechanism rearrangement part which rearranges at least one of the gear of a mechanism element, and an axis | shaft so that the locus | trajectory of the action point implement | achieved by the said design plan may not mutually interfere. 2. The design plan generation apparatus according to 2. The design plan generation unit
Evaluation value calculation for calculating a total value of similarities between the plurality of user trajectories and the locus of action points realized by the design plan generated by the individual design plan generation unit as an evaluation value of the design plan And
A design plan registration unit that registers the design plan in a design plan registration list in association with the evaluation value;
A design plan registration determination unit for deleting the design plan having the lowest evaluation value from the design plan registration list when it is determined that the number of design plans registered in the design plan registration list has reached the maximum number; ,
The design plan generating apparatus according to claim 3, further comprising: Obtaining user trajectory data indicating a user trajectory that is a trajectory input by the user;
The registered trajectory data indicating the trajectory of the action point and the mechanism element that realizes the trajectory of the action point according to the rotation of the spindle are stored in a storage unit that stores them in association with the cluster that indicates the segment of the trajectory of the action point. Search for a cluster corresponding to the user trajectory classification,
Optimizing the dimensions of the mechanism elements associated with the searched cluster so that the trajectory of the action point associated with the searched cluster is similar to the user trajectory to generate a design proposal;
Outputting the design proposal,
A design plan generation method including the above. Obtaining user trajectory data indicating a user trajectory that is a trajectory input by the user;
The registered trajectory data indicating the trajectory of the action point and the mechanism element that realizes the trajectory of the action point according to the rotation of the spindle are stored in a storage unit that stores them in association with the cluster that indicates the segment of the trajectory of the action point. Search for a cluster corresponding to the user trajectory classification,
Optimizing the dimensions of the mechanism elements associated with the searched cluster so that the trajectory of the action point associated with the searched cluster is similar to the user trajectory to generate a design proposal;
Outputting the design proposal,
A design plan generation program that causes a computer to execute processing.

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