JP2021096504A - Information processing method, information processing device and program - Google Patents

Abstract

To provide an information processing method capable of evaluating assemblability of components in which tactile sense felt by a worker is considered.SOLUTION: An information processing method for evaluating assemblability of components by using a system including an operation unit, a detection unit and a tactile sense generation unit includes: acquiring positions and poses of a first virtual component and a second virtual component calculated from a position and pose of the operation unit detected by the detection unit (S13); generating tactile sense information related to the tactile sense given to a worker, based on a contact state with the first virtual component and the second virtual component estimated from the acquired positions and poses of the first virtual component and the second virtual component (S15); and outputting the generated tactile sense information to the tactile sense generation unit (S16).SELECTED DRAWING: Figure 3

Description

The present disclosure relates to information processing methods, information processing devices and programs.

As a system for evaluating the assemblability of parts, a system using a virtual part or the like which is a virtual image of an actual part is known (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2012-11418

However, since the system disclosed in Patent Document 1 uses virtual parts and the like, it is not possible to evaluate the assembleability of parts in consideration of the tactile sensation felt by the operator in reality.

Therefore, an object of the present disclosure is to provide an information processing method, an information processing device, and a program capable of evaluating the assemblability of parts in consideration of the tactile sensation felt by an operator.

The information processing method according to one aspect of the present disclosure is a first virtual component and a second virtual image which are virtual images of the first component and the second component generated by using the design data of the first component and the second component. Assembling parts using a system including an operation unit for manipulating the position and posture of a part, a detection unit for detecting the position and posture of the operation unit, and a tactile generation unit for giving a tactile sensation to an operator who operates the operation unit. It is an information processing method for evaluating the property, and acquires the positions and postures of the first virtual component and the second virtual component calculated from the positions and postures of the operation unit detected by the detection unit. Tactile information related to the tactile sensation given to the worker based on the contact state between the first virtual component and the second virtual component estimated from the acquired positions and postures of the first virtual component and the second virtual component. Is generated, and the generated tactile information is output to the tactile generation unit.

The information processing unit according to one aspect of the present disclosure is a first virtual component and a second virtual image which are virtual images of the first component and the second component generated by using the design data of the first component and the second component. Assembly of parts using a system including an operation unit for manipulating the position and orientation of parts, a detection unit for detecting the position and orientation of the operation unit, and a tactile generation unit for giving a tactile sensation to an operator who operates the operation unit. An information processing device for evaluating sex, which includes a processor and a memory in which a program that can be executed by the processor is stored, and the processor uses the program stored in the memory to perform the above-mentioned. The positions and orientations of the first virtual component and the second virtual component calculated from the position and orientation of the operation unit detected by the detection unit are acquired, and the acquired first virtual component and the second virtual component Based on the contact state between the first virtual component and the second virtual component estimated from the position and posture, tactile information related to the tactile sensation given to the worker is generated, and the generated tactile sensation information is used as the tactile sensation generating unit. Output to.

The program according to one aspect of the present disclosure is a program for causing a computer to execute the above information processing method.

The present disclosure can provide an information processing method, an information processing device, and a program capable of evaluating the assemblability of parts in consideration of the tactile sensation felt by an operator.

FIG. 1 is a schematic diagram showing an outline of an evaluation system according to an embodiment. FIG. 2 is a block diagram showing a configuration example of the evaluation system according to the embodiment. FIG. 3 is a flowchart showing an example of the operation of the server according to the embodiment. FIG. 4A is a diagram showing images of a first virtual component and a second virtual component displayed on the headset according to the embodiment. FIG. 4B is a diagram showing images of the first virtual component and the second virtual component in contact, which are displayed in the headset according to the embodiment. FIG. 4C is a diagram showing images of the first virtual component and the second virtual component that are fitted to each other, which are displayed in the headset according to the embodiment. FIG. 5 is a table showing an example of the fitting resistance stored in advance in the storage portion according to the embodiment.

The information processing method according to one aspect of the present disclosure is a first virtual component and a second virtual image which are virtual images of the first component and the second component generated by using the design data of the first component and the second component. Assembling parts using a system including an operation unit for manipulating the position and posture of a part, a detection unit for detecting the position and posture of the operation unit, and a tactile generation unit for giving a tactile sensation to an operator who operates the operation unit. It is an information processing method for evaluating the property, and acquires the positions and postures of the first virtual component and the second virtual component calculated from the positions and postures of the operation unit detected by the detection unit. Tactile information related to the tactile sensation given to the worker based on the contact state between the first virtual component and the second virtual component estimated from the acquired positions and postures of the first virtual component and the second virtual component. Is generated, and the generated tactile information is output to the tactile generation unit.

According to this, tactile information related to the tactile sensation given to the operator is generated and output to the tactile sensation generating unit based on the contact state between the first virtual component and the second virtual component which is a virtual image. Therefore, the operator can virtually feel the tactile sensation felt during the actual assembly work of the first component and the second component through the tactile sensation generating unit. Therefore, it is possible to evaluate the assembleability of parts in consideration of the tactile sensation felt by the operator. For example, the work may vary depending on the worker, or the dimensions may vary depending on the part. According to this embodiment, before making a prototype of the part, the tactile sensation felt by the worker is taken into consideration by using the virtual part. It is possible to easily simulate repetitive assembly work. Therefore, it is possible to evaluate the assembling property of the parts in consideration of the tactile sensation felt by the operator. Then, the process design and the component design can be effectively performed by using the evaluation result.

For example, in the generation of the tactile information, the tactile information may be generated when the first virtual component and the second virtual component are in contact with each other.

According to this, when the first virtual part and the second virtual part are in contact with each other, the operator can perform the actual assembly work of the first part and the second part with the first part and the second part. You can virtually feel the tactile sensation that you feel when you come into contact with the tactile sensation through the tactile sensation generator.

For example, in the generation of the tactile information, when the first virtual component and the second virtual component interfere with each other, the operator is given a tactile sensation generated when the first component and the second component interfere with each other. The tactile information including the information to be given may be generated.

According to this, the operator virtually feels the tactile sensation when the first component and the second component interfere with each other during the actual assembly work of the first component and the second component through the tactile sensation generator. Can be felt.

For example, the generation of the tactile information and the output of the tactile information may be performed for each of the different design data.

When trying to evaluate the assemblability with actual parts when the design data is changed, it costs money to prepare parts with different design data. On the other hand, according to this aspect, it is possible to easily evaluate the assemblability of parts by using various virtual parts generated by using different design data.

For example, in the generation of the tactile information, the tactile information may be generated based on the contact state and the design data including the design tolerances or materials of the first component and the second component.

Depending on the design tolerance or material of the part, the tactile sensation that the operator feels when assembling the part differs. On the other hand, according to this aspect, the operator can virtually feel the tactile sensation that differs depending on the design tolerance or the material of the part through the tactile sensation generating portion.

For example, the second virtual component has a recess in which at least a part of the first virtual component is fitted, and in the generation of the tactile information, when the first virtual component is fitted in the recess, the first virtual component is said. The tactile information including information for giving the operator a tactile sensation generated when one component is fitted in the recess of the second component may be generated.

According to this, the operator virtually feels the tactile sensation when fitting the first component into the recess of the second component in the actual assembly work of the first component and the second component through the tactile sensation generator. be able to.

For example, the tactile information may be generated and the tactile information may be output for each of the design tolerances or the design data having different materials.

When the design tolerance or material of a part is changed as design data, if an attempt is made to evaluate the assemblability with an actual part, it is costly to prepare a part with a different design tolerance or material. On the other hand, according to this aspect, it is possible to easily evaluate the assemblability of parts by using various virtual parts generated by using design data having different design tolerances or materials.

The information processing unit according to one aspect of the present disclosure is a first virtual component and a second virtual image which are virtual images of the first component and the second component generated by using the design data of the first component and the second component. Assembly of parts using a system including an operation unit for manipulating the position and orientation of parts, a detection unit for detecting the position and orientation of the operation unit, and a tactile generation unit for giving a tactile sensation to an operator who operates the operation unit. An information processing device for evaluating sex, which includes a processor and a memory in which a program that can be executed by the processor is stored, and the processor uses the program stored in the memory to perform the above-mentioned. The positions and orientations of the first virtual component and the second virtual component calculated from the position and orientation of the operation unit detected by the detection unit are acquired, and the acquired first virtual component and the second virtual component Based on the contact state between the first virtual component and the second virtual component estimated from the position and posture, tactile information related to the tactile sensation given to the worker is generated, and the generated tactile sensation information is used as the tactile sensation generating unit. Output to.

According to this, it is possible to provide an information processing device capable of evaluating the assemblability of parts in consideration of the tactile sensation felt by an operator.

The program according to one aspect of the present disclosure is a program for causing a computer to execute the above information processing method.

According to this, it is possible to provide a program capable of evaluating the assemblability of parts in consideration of the tactile sensation felt by the operator.

It should be noted that these comprehensive or specific embodiments may be realized in a recording medium such as a system, method, integrated circuit, computer program or computer-readable CD-ROM, and the system, method, integrated circuit, computer program. And any combination of recording media may be realized.

Hereinafter, embodiments will be specifically described with reference to the drawings.

It should be noted that all of the embodiments described below show comprehensive or specific examples. Numerical values, shapes, materials, components, arrangement positions and connection forms of components, steps, order of steps, etc. shown in the following embodiments are examples, and are not intended to limit the present disclosure.

(Embodiment)
FIG. 1 is a schematic diagram showing an outline of the evaluation system 100 according to the embodiment. The evaluation system 100 is, for example, a system that evaluates the ease of work (specifically, the assembleability of parts) when the worker 101 performs the work of assembling two parts. In the following, while explaining the evaluation system 100, an information processing method for evaluating the assemblability of parts using the evaluation system 100 and an information processing device will be described.

The evaluation system 100 includes a server 102, a headset 103, a controller 104, and a sensor 105. Here, the evaluation system 100 includes two controllers 104 and two sensors 105. In the evaluation system 100, xR (for example, VR (Virtual Reality), AR (Augmented Reality), MR (Mixed Reality), etc.) is used.

The headset 103 is attached to the head of the worker 101. The two controllers 104 are held by both hands of the operator 101. The two sensors 105 are used to detect the position of the headset 103 and the position and orientation of the controller 104 (specifically, the operation unit 141 described later). The controller 104 has a function of detecting the position and posture of the hand of the worker 101 by communicating with the sensor 105. Further, the controller 104 has a function of giving a tactile sensation to the operator 101 by using the tactile sensation information related to the tactile sensation received from the server 102.

FIG. 2 is a block diagram showing a configuration example of the evaluation system 100 according to the embodiment.

As shown in FIG. 2, the server 102 is connected to the headset 103 via the network 106. The server 102 is an information processing device for evaluating the assembling property of parts by using a system including an operation unit 141, a detection unit 144, and a tactile sensation generation unit 143, which will be described later. The server 102 generates an image (for example, a video) to be reproduced by the headset 103 based on the position of the headset 103 and the operation content of the operation unit 141 by the operator 101, and outputs the generated image to the headset 103.

The server 102 includes a storage unit 121, an acquisition unit 122, a generation unit 123, an output unit 124, and an NW (network) communication unit 125. The server 102 is a computer including a processor, a memory, a communication interface, and the like. The memory is a ROM (Read Only Memory), a RAM (Random Access Memory), or the like, and a program that can be executed by the processor is stored. Although the storage unit 121 is an example of the memory, it may be a memory different from the memory for storing the program. The processor executes the functions of the acquisition unit 122, the generation unit 123, and the output unit 124 by using the program stored in the memory. The NW communication unit 125 is realized by a communication interface including a connector, an antenna, or the like to which a communication circuit, a communication line, or the like is connected.

The storage unit 121 stores three-dimensional information indicating design data of parts. Here, the storage unit 121 stores the design data of at least two parts (for example, the first part and the second part). For example, the server 102 uses the design data of the component to generate a virtual component which is a virtual image of the component. Here, the server 102 uses the design data of the first component and the second component to generate the first virtual component and the second virtual component which are virtual images of the first component and the second component. Further, the storage unit 121 may store three-dimensional information indicating a virtual space in which the first virtual component and the second virtual component are arranged. Further, the storage unit 121 stores in advance data (for example, a table) representing the fitting resistance for each size of the first component and the second component and for each material.

The acquisition unit 122 acquires the position and posture of the operation unit 141 and the operation content to the operation unit 141 from the headset 103. Since the positions and orientations of the first virtual component and the second virtual component can be calculated from the positions and orientations of the operation unit 141 detected by the detection unit 144, which will be described later, the acquisition unit 122 was detected by the detection unit 144. The positions and orientations of the first virtual component and the second virtual component calculated from the position and orientation of the operation unit 141 will be acquired. Further, the acquisition unit 122 acquires the position of the headset 103.

The generation unit 123 is viewed from the viewpoint of the worker 101 corresponding to the position of the headset 103 in the virtual space based on the position of the headset 103, the position and posture of the operation unit 141, and the operation content to the operation unit 141. A stereoscopic image of the parts (specifically, the first virtual part and the second virtual part) and a stereoscopic image of the worker 101's hand (also referred to as a virtual hand) viewed from the viewpoint of the worker 101 are generated. Further, the generation unit 123 gives the operator 101 a tactile sensation based on the contact state between the first virtual component and the second virtual component estimated from the acquired positions and postures of the first virtual component and the second virtual component. Generates tactile information related to.

The output unit 124 outputs the stereoscopic image of the generated parts and the stereoscopic image of the hand of the worker 101 toward the headset 103 (specifically, the display unit 133 described later). Further, the output unit 124 outputs the generated tactile information to the controller 104 (specifically, the tactile generation unit 143 described later).

The NW communication unit 125 receives the position of the headset 103, the position and posture of the operation unit 141, and the operation content to the operation unit 141 from the headset 103 via the network 106. Further, the NW communication unit 125 transmits the stereoscopic image of the component output from the output unit 124, the stereoscopic image of the hand of the worker 101, and the tactile information to the headset 103 via the network 106.

The headset 103 displays a stereoscopic image transmitted from the server 102. The headset 103 includes a NW communication unit 131, a communication unit 132, a display unit 133, and a detection unit 134.

The NW communication unit 131 receives the stereoscopic image, the tactile information, and the like transmitted from the server 102. Further, the NW communication unit 131 transmits the position of the headset 103, the position and posture of the operation unit 141, and the operation content of the worker 101 to the operation unit 141 to the server 102 via the network 106. The communication method between the server 102 and the headset 103 is not particularly limited, and any method such as wired or wireless may be used.

The communication unit 132 communicates with the controller 104. Specifically, the communication unit 132 transmits the tactile information transmitted from the server 102 to the controller 104 (specifically, the tactile generation unit 143 described later). Further, the communication unit 132 receives the position and posture of the operation unit 141 transmitted from the controller 104 and the operation content to the operation unit 141, and outputs the received information to the NW communication unit 131.

The display unit 133 displays the stereoscopic image transmitted from the server 102.

The detection unit 134 detects the position of the headset 103 (worker 101). Specifically, the detection unit 134 detects the position of the headset 103 as follows. In the following, the sensor 105 will be an infrared sensor, and the detection unit 151 included in the sensor 105 will be an infrared light emitting unit that scans and irradiates an infrared laser.

First, the detection unit 151 scans and irradiates an infrared laser. The detection unit 134 of the headset 103 includes a plurality of light receiving units provided on the headset 103, and each light receiving unit receives infrared light lasers emitted from the two sensors 105. The detection unit 134 detects the position of the headset 103 based on the irradiation direction in the laser detection unit 151 received by each light receiving unit and the time from the laser irradiation to the reception. The detected position of the headset 103 is output to the NW communication unit 131.

The controller 104 includes an operation unit 141, a communication unit 142, a tactile sensation generation unit 143, and a detection unit 144.

The operation unit 141 is the main body of the controller 104, and is attached to the hand of the operator 101 or the like. When the worker 101 moves his / her hand, the position and posture of the operation unit 141 are operated. Since the positions and postures of the first virtual component and the second virtual component are operated in conjunction with the position and posture of the operation unit 141, the operation unit 141 determines the positions and postures of the first virtual component and the second virtual component. It is a component to operate.

Further, the operation unit 141 is an input interface for the worker 101 to grasp the virtual component with a virtual hand, and accepts the operation of the worker 101. For example, the operation unit 141 has one or more operation buttons. For example, in the image displayed on the display unit 133, when the virtual hand is near the virtual part, the virtual part is grasped by the virtual hand by operating (for example, pressing) the operation button, and then the virtual hand is used. The virtual part moves accordingly.

The communication unit 142 communicates with the headset 103. Specifically, the communication unit 142 transmits the operation content for the operation unit 141 and the position and posture of the operation unit 141 to the headset 103. In addition, the communication unit 142 receives the tactile information transmitted from the headset 103. The tactile sensation generator 143 is controlled based on the tactile sensation information.

The communication method between the headset 103 and the controller 104 is not particularly limited, and any method such as wired or wireless may be used. Further, the controller 104 may communicate with the server 102 without going through the headset 103. That is, the communication unit 142 may transmit the operation content for the operation unit 141 and the position and posture of the controller 104 to the server 102, or may receive tactile information from the server 102.

The tactile sensation unit 143 gives the operator 101 a tactile sensation according to the position and posture of the parts. The method by which the tactile sensation unit 143 gives the operator 101 a tactile sensation is not particularly limited. For example, the tactile generator 143 has the shape of a glove. The tactile sensation unit 143 may apply pressure to the fingertip portion of the hand attached to the glove to give the operator 101 a tactile sensation, or vibrate the fingertip portion to give the operator 101 a tactile sensation. It may be given, or the worker 101 may be given a tactile sensation by giving an electrical stimulus to the muscles of the worker 101.

The detection unit 144 detects the position and orientation of the operation unit 141. Since the detection method in the detection unit 144 is the same as the detection method in the detection unit 134, the description thereof will be omitted.

The sensor 105 is a sensor that detects the position of the headset 103 and the position and posture of the operation unit 141. As described above, the sensor 105 is, for example, an infrared sensor.

Here, an example in which a method using an infrared laser is used as a method for detecting a position or the like is shown, but the detection method is not limited to this, and any known method may be used. .. For example, the headset 103 and the operation unit 141 are provided with a plurality of light emitting units that emit infrared or visible light, and the headset 103 is based on an image obtained by an infrared or visible light camera provided on the sensor 105. The position of may be detected.

Further, the headset 103 and the operation unit 141 may be provided with an acceleration sensor, a gyro sensor, a GPS (Global Positioning System) receiver, or the like, and based on the information obtained by these, the position of the headset 103 and the operation unit The position and orientation of 141 may be detected.

Next, the operation of the server 102 will be described.

FIG. 3 is a flowchart showing an example of the operation of the server 102 according to the embodiment. The information processing method according to the embodiment is a method for evaluating the assembling property of parts by using a system including an operation unit 141, a detection unit 144, and a tactile sensation generation unit 143. Since the information processing method according to the embodiment is a method executed by a computer (specifically, a processor) included in the server 102, FIG. 3 is also a flowchart showing an example of the information processing method according to the embodiment. is there.

First, the generation unit 123 reads the design data of the first component and the second component stored in the storage unit 121, and uses the read design data to create a first virtual image of the first component and the second component. A part and a second virtual part are generated (step S11). For example, the design data includes design tolerances or materials of the first and second parts.

Next, the output unit 124 outputs the generated first virtual component and the second virtual component to the headset 103 (step S12). As a result, the first virtual component and the second virtual component are displayed on the display unit 133.

FIG. 4A is a diagram showing images of the first virtual component 200 and the second virtual component 300 displayed on the headset 103 according to the embodiment.

For example, the first component is a component that is fitted into the second component, and the second component is provided with a recess into which the first component is fitted. Correspondingly, as shown in FIG. 4A, the second virtual component 300 has a recess 301 into which at least a portion of the first virtual component 200 fits.

Although not shown, the output unit 124 displays the virtual hand at a position corresponding to the positional relationship between the headset 103 and the operation unit 141 (that is, the positional relationship between the head and the hand of the worker 101). Output a virtual hand like this.

Then, the worker 101 operates the operation unit 141 while watching the image displayed on the display unit 133. The position and posture of the operation unit 141 are detected by the detection unit 144 and sequentially transmitted to the server 102, and the position and posture of the virtual hand are updated according to the latest position and posture of the operation unit 141. When the virtual hand approaches the first virtual component 200 and the second virtual component 300 by operating the operation unit 141, the operator 101 operates the button of the operation unit 141 to operate the first virtual component 200 and the second virtual hand with the virtual hand. 2 Grasp the virtual component 300. As a result, thereafter, the positions and postures of the first virtual component 200 and the second virtual component 300 held by the virtual hand are also operated in conjunction with each other according to the position and posture of the operation unit 141.

The acquisition unit 122 acquires the positions and postures of the first virtual component 200 and the second virtual component 300 held by the virtual hand (step S13). The positions and orientations of the first virtual component 200 and the second virtual component 300 are calculated from the positions and orientations of the operation unit 141 detected by the detection unit 144.

The generation unit 123 updates the positions and orientations of the latest first virtual component 200 and second virtual component 300 (step S14).

The generation unit 123 tells the worker 101 based on the contact state between the first virtual component 200 and the second virtual component 300 estimated from the acquired positions and postures of the first virtual component 200 and the second virtual component 300. Tactile information related to the given tactile sensation is generated (step S15). Steps S21 to S24 are specific examples of processing for generating tactile information.

The generation unit 123 determines whether or not the first virtual component 200 and the second virtual component 300 are in contact with each other (step S21). The state in which the first virtual component 200 and the second virtual component 300 are in contact with each other will be described with reference to FIGS. 4B and 4C. Note that FIG. 4A shows a state in which the first virtual component 200 and the second virtual component 300 are not in contact with each other.

FIG. 4B is a diagram showing images of interfering first virtual component 200 and second virtual component 300 displayed on the headset 103 according to the embodiment. Note that the interference here means that the parts collide with each other.

FIG. 4C is a diagram showing images of the fitted first virtual component 200 and the second virtual component 300 displayed on the headset 103 according to the embodiment.

4B and 4C show a state in which the first virtual component 200 and the second virtual component 300 are in contact with each other. However, FIG. 4B shows a state in which the first virtual component 200 and the second virtual component 300 interfere with each other in a state where the first virtual component 200 is not fitted in the recess 301 of the second virtual component 300. Further, FIG. 4C shows a state in which the first virtual component 200 and the second virtual component 300 are in contact with each other in a state where the first virtual component 200 is fitted in the recess 301 of the second virtual component 300. Since the first virtual component 200 and the second virtual component 300 are virtual images, they may overlap with each other. Here, it is assumed that the first virtual component 200 and the second virtual component 300 are in contact with each other in this case as well. For example, in FIGS. 4B and 4C, at least a part of the first virtual component 200 and at least a part of the second virtual component 300 may overlap.

When the first virtual component 200 and the second virtual component 300 are not in contact with each other as shown in FIG. 4A (No in step S21), steps S13 and until the first virtual component 200 and the second virtual component 300 are in contact with each other. The process in step S14 is repeated.

When the first virtual component 200 and the second virtual component 300 are in contact with each other as shown in FIG. 4B or FIG. 4C (Yes in step S21), the generation unit 123 generates tactile information, but the generation unit 123 generates tactile information. At the time of generating tactile information, it is determined whether or not the first virtual component 200 is fitted in the recess 301 of the second virtual component 300 (step S22). The generation unit 123 determines whether or not the position of the first virtual component 200 is inside the recess 301 and the extending direction of the first virtual component 200 and the extending direction of the recess 301 coincide with each other. It is determined whether or not the first virtual component 200 is fitted in the recess 301 of the second virtual component 300. If the tip portion of the first virtual component 200 (the portion on the back side of the paper surface in FIGS. 4A to 4C) is inserted into the recess 301 as much as possible, the first virtual component 200 is fitted in the recess 301. ..

As shown in FIG. 4B, when the first virtual component 200 does not fit into the recess 301 of the second virtual component 300 and the first virtual component 200 and the second virtual component 300 interfere with each other (No. in step S22). ), The generation unit 123 generates tactile information including information for giving the operator 101 a tactile sensation generated when the first component and the second component interfere with each other (step S23). For example, when the worker 101 grasps the first virtual component 200 with the virtual left hand and the second virtual component 300 with the virtual right hand, the worker 101 moves the first virtual component 200 to the second virtual component 300. As shown in FIG. 4B, when the first virtual component 200 does not fit into the recess 301 and the first virtual component 200 and the second virtual component 300 collide with each other, the first virtual component 200 is placed on the fingertip of the left hand. Tactile information is generated to give a repulsive force in the direction away from the second virtual component 300 and to give a repulsive force in the direction in which the second virtual component 300 moves away from the first virtual component 200 to the fingertip of the right hand.

As shown in FIG. 4C, when the first virtual component 200 is fitted in the recess 301 of the second virtual component 300 (Yes in step S22), the generation unit 123 is placed in the recess of the second component. Tactile information including information for giving the operator 101 the tactile sensation generated when the fitting is performed is generated (step S24). The generation unit 123 includes contact states between the first virtual component 200 and the second virtual component 300 estimated from the positions and orientations of the first virtual component 200 and the second virtual component 300, as well as the first component and the second virtual component 300. Tactile information is generated based on design data including design tolerances or materials of parts. The fitting resistance between the first part and the second part changes depending on the design tolerance or material of the first part and the second part, that is, the tactile sensation that occurs when the first part is fitted in the recess of the second part ( This is because the resistance received when fitting is also changed.

For example, the fitting resistance can be predetermined for each size of the first component and the second component and for each material, and data representing the fitting resistance is stored in the storage unit 121.

FIG. 5 is a table showing an example of the fitting resistance stored in advance in the storage unit 121 according to the embodiment. FIG. 5 shows that when the materials of the first component and the second component are specific materials (for example, resin), the size (for example, the length in the lateral direction) of the first component (axis shown in FIG. 5) is 99 ± 1. The fitting resistance for each size of the first component and the second component is shown when the size (for example, the length in the lateral direction) of the recess (hole shown in FIG. 5) of the second component is set to 100 ± 1. The sizes of the first component and the second component are relative sizes, and the fitting resistance is a relative resistance. For example, when the size of the first component is 98 and the size of the second component is 101 (that is, in the state of clearance fitting), the fitting resistance is 0, whereas the size of the first component is 100 and the first component is the first. It can be seen that when the size of the two parts is 99 (that is, when the two parts are in the tightly fitted state), the fitting resistance is 100.

By collating the material and size of the first component and the material and size of the second component included in the design data used this time with the table as shown in FIG. 5, the generation unit 123 and the first virtual component 200 Information for determining the fitting resistance with the second virtual component 300 and giving the operator 101 a tactile sensation generated when the first component is fitted in the recess of the second component while generating the fitting resistance. Generate tactile information including. For example, when the fitting resistance is large, the operator 101 is given a tactile sensation in which the first virtual component 200 and the second virtual component 300 are relatively difficult to move.

The output unit 124 outputs the generated tactile information to the tactile generation unit 143 (step S16). As a result, the worker 101 is given a tactile sensation according to the contact state between the first virtual component 200 and the second virtual component 300 from the tactile sensation generating unit 143.

Then, the server 102 determines whether or not it has received the information that the assembly work of the first virtual component 200 and the second virtual component 300 has been completed (step S17).

If the assembly work is not completed (No in step S17), the process from step S13 is performed again, and if the assembly work is completed (Yes in step S17), the process is completed.

After the assembly work of the first virtual component 200 and the second virtual component 300 is completed, the first virtual component 200 and the second virtual component 300 are returned to the disassembled state, and the process shown in FIG. 3 (specifically, generation of tactile information) is performed using the same design data. And the process of outputting tactile information) may be repeated. It is difficult for the worker 101 to perform the same work every time the assembly work is performed, and the work may vary. The worker 101 repeatedly performs the assembly work to evaluate the assembleability. This is because can be performed more accurately.

Further, the processing shown in FIG. 3 may be performed for each different design data (specifically, for each design data having a different design tolerance or material). For example, each time the sizes of the first virtual component 200 and the second virtual component 300 are changed little by little, the processing shown in FIG. 3 is performed to evaluate how much the design tolerance of the component can be tolerated from the viewpoint of assembling. it can. For example, if it is found from the evaluation result of the assembling property that the assembling property deteriorates when the tolerance between the first component and the second component is large, it can be determined that the design tolerance is reduced although the cost is high. Further, when it is found from the evaluation result of the assembling property that the assembling property does not deteriorate so much even if the tolerance of the first component and the second component is large, the tolerance of the first component and the second component is increased to suppress the cost. You can make the decision to do it. In this way, when design data such as design tolerances or materials are changed and it is attempted to evaluate assemblability with actual parts, it costs money to prepare parts with different design tolerances or materials. According to this aspect, it is possible to easily evaluate the assemblability of parts by using various virtual parts generated by using design data having different design tolerances or materials.

As described above, based on the contact state between the first virtual component 200 and the second virtual component 300, which is a virtual image, tactile information related to the tactile sensation given to the worker 101 is generated and output to the tactile sensation generator 143. .. Therefore, the worker 101 can virtually feel the tactile sensation felt during the actual assembly work of the first component and the second component through the tactile sensation generating unit 143. Therefore, it is possible to evaluate the assembleability of the parts in consideration of the tactile sensation felt by the operator 101. For example, the work may vary depending on the worker 101, or the dimensions may vary depending on the part. However, according to this embodiment, the tactile sensation felt by the worker 101 is taken into consideration by using a virtual part before making a prototype of the part. However, it is possible to easily simulate the repetitive assembly work. Therefore, it is possible to evaluate the assembling property of the parts in consideration of the tactile sensation felt by the operator 101 (that is, the sensation that cannot be judged only from the numerical values such as the design data). Then, the process design and the component design can be effectively performed by using the evaluation result.

Further, when the first virtual component 200 and the second virtual component 300 are in contact with each other, the worker 101 may perform the actual assembly work of the first component and the second component with the first component and the second component. The tactile sensation felt when the person comes into contact with the tactile sensation can be virtually felt through the tactile sensation generator 143. Further, the worker 101 can virtually feel the tactile sensation that differs depending on the design tolerance or the material of the parts through the tactile sensation generating unit 143. Further, the worker 101 virtually feels the tactile sensation felt when fitting the first component into the recess of the second component in the actual assembly work of the first component and the second component through the tactile sensation generator 143. Can be done.

(Other embodiments)
Although the information processing method and the information processing device (server 102) according to the embodiment have been described above, the present disclosure is not limited to the above embodiment.

For example, the configuration of the evaluation system 100 shown in FIG. 2 is an example, and a process executed by one device may be executed by another device, or a plurality of processes executed by one device may be executed by a plurality of devices. It may be divided and processed, or a plurality of processes executed by a plurality of devices may be executed by a single device. For example, some or all of the functions of the server 102 may be included in the headset 103.

For example, although the example in which the operation unit 141 includes a button has been described, the operation unit 141 may not have a button. For example, the virtual hand may be automatically controlled to grab the virtual part when the virtual hand approaches the virtual part more than a certain amount. That is, when the virtual hand approaches the virtual part by a certain amount or more, the virtual part may move following the virtual hand thereafter.

For example, although the example in which the controller 104 includes the tactile generator 143 has been described, the controller 104 may not include the tactile generator 143, and the controller 104 and the tactile generator 143 may be provided separately. ..

For example, the steps in the information processing method may be performed by a computer (computer system). Then, the present disclosure can be realized as a program for causing a computer to execute the steps included in those methods. Further, the present disclosure can be realized as a non-temporary computer-readable recording medium such as a CD-ROM on which the program is recorded.

For example, when the present disclosure is realized by a program (software), each step is executed by executing the program using hardware resources such as a computer CPU, memory, and input / output circuit. .. That is, each step is executed when the CPU acquires data from the memory or the input / output circuit or the like and performs an operation, or outputs the operation result to the memory or the input / output circuit or the like.

Further, a part or all of the processing units included in each device included in the evaluation system 100 according to the above embodiment is typically realized as an LSI which is an integrated circuit. These may be individually integrated into one chip, or may be integrated into one chip so as to include a part or all of them.

Further, the integrated circuit is not limited to the LSI, and may be realized by a dedicated circuit or a general-purpose processor. An FPGA (Field Programmable Gate Array) that can be programmed after the LSI is manufactured, or a reconfigurable processor that can reconfigure the connection and settings of circuit cells inside the LSI may be used.

Further, in the above-described embodiment, each component may be configured by dedicated hardware or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.

Further, the division of the functional block in the block diagram is an example, and a plurality of functional blocks can be realized as one functional block, one functional block can be divided into a plurality of functional blocks, and some functions can be transferred to other functional blocks. You may. Further, the functions of a plurality of functional blocks having similar functions may be processed by a single hardware or software in parallel or in a time division manner.

Further, the order in which each step in the flowchart is executed is for exemplifying the present disclosure in detail, and may be an order other than the above. Further, a part of the above steps may be executed at the same time (parallel) as other steps.

Although the display system according to one or more aspects has been described above based on the embodiment, the present invention is not limited to this embodiment. As long as the gist of the present disclosure is not deviated, various modifications that can be conceived by those skilled in the art are applied to the present embodiment, and a form constructed by combining components in different embodiments is also within the scope of one or more embodiments. May be included within.

The present disclosure can be applied to, for example, a system for virtually assembling parts.

100 Evaluation system 101 Worker 102 Server 103 Headset 104 Controller 105 Sensor 106 Network 121 Storage unit 122 Acquisition unit 123 Generation unit 124 Output unit 125, 131 NW communication unit 132, 142 Communication unit 133 Display unit 134, 144, 151 Detection unit 141 Operation unit 143 Tactile generator 200 1st virtual part 300 2nd virtual part 301 Recess

Claims (9)

An operation unit for operating the positions and postures of the first virtual part and the second virtual part, which are virtual images of the first part and the second part generated by using the design data of the first part and the second part. An information processing method for evaluating the assemblability of parts using a system including a detection unit that detects the position and orientation of the operation unit and a tactile generation unit that gives a tactile sensation to an operator who operates the operation unit. ,
Acquire the positions and postures of the first virtual component and the second virtual component calculated from the positions and postures of the operation unit detected by the detection unit.
Tactile information related to the tactile sensation given to the worker based on the contact state between the first virtual component and the second virtual component estimated from the acquired positions and postures of the first virtual component and the second virtual component. To generate
Including that the generated tactile information is output to the tactile generator.
Information processing method. In the generation of the tactile information, the tactile information is generated when the first virtual component and the second virtual component are in contact with each other.
The information processing method according to claim 1. In the generation of the tactile information, when the first virtual component and the second virtual component interfere with each other, the operator is given a tactile sensation generated when the first component and the second component interfere with each other. To generate the tactile information including the information of
The information processing method according to claim 2. The generation of the tactile information and the output of the tactile information are performed for each of the different design data.
The information processing method according to claim 2 or 3. In the generation of the tactile information, the tactile information is generated based on the contact state and the design data including the design tolerances or materials of the first component and the second component.
The information processing method according to any one of claims 2 to 4. The second virtual component has a recess into which at least a part of the first virtual component fits.
In the generation of the tactile information, when the first virtual component is fitted in the recess, the operator is given a tactile sensation generated when the first component is fitted in the recess of the second component. To generate the tactile information including the information of
The information processing method according to claim 5. The generation of the tactile information and the output of the tactile information are performed for each of the design tolerances or the design data having different materials.
The information processing method according to claim 5 or 6. An operation unit for operating the positions and postures of the first virtual part and the second virtual part, which are virtual images of the first part and the second part generated by using the design data of the first part and the second part. An information processing device for evaluating the assemblability of parts using a system including a detection unit that detects the position and orientation of the operation unit and a tactile generation unit that gives a tactile sensation to an operator who operates the operation unit. ,
With the processor
A memory in which a program that can be executed by the processor is stored, and
The processor uses the program stored in the memory.
Acquire the positions and postures of the first virtual component and the second virtual component calculated from the positions and postures of the operation unit detected by the detection unit.
Tactile information related to the tactile sensation given to the worker based on the contact state between the first virtual component and the second virtual component estimated from the acquired positions and postures of the first virtual component and the second virtual component. To generate
The generated tactile information is output to the tactile generator.
Information processing device. A program for causing a computer to execute the information processing method according to any one of claims 1 to 7.

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