JP2913283B2 - Three-dimensional computer graphic display method and apparatus - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to an operating system (abbreviated as O) used for a robot controller.
In S), the present invention relates to a three-dimensional computer graphic display method and apparatus which can be suitably implemented for real-time animation display of a three-dimensional computer graphic image indicating the state of a robot.

[0002]

2. Description of the Related Art In order to increase efficiency of teaching work such as off-line programming and operation simulation of an industrial robot, a display screen of an operator console displays an animation image of the robot in a state display and an event display. I have. On the other hand, as the ability of the robot is improved and a complicated operation can be performed, the teaching operation becomes complicated, and the burden on the operator increases. In particular, in the above-mentioned offline programming and operation simulation, since the animation image of the robot drawn three-dimensionally on the display screen is displayed as a wire frame model (line drawing), the operator has a complicated posture and operation of the robot on the screen. Many situations, such as arm movement, movement range and presence or absence of interference with peripheral devices, and evaluation of the optimal route, to check whether or not the information specified by the robot is faithfully reproduced while visually observing etc. Must be accurately grasped by the animation image, and the visual and mental burden on the operator increases.

In order to make it easy for an operator to grasp the operation of the robot, a locus of a specific part on the image of the robot may be displayed. Such locus data is stored in a storage device and stored. The read data is read and displayed for each scan. Therefore, a large number of storage areas must be secured, and data read from this storage area must be calculated and drawn for each scan, which increases the storage area for displaying the trajectory and the amount of calculation. There is a problem.

[0004]

SUMMARY OF THE INVENTION An object of the present invention is to reduce the amount of information and the amount of calculation that must be stored, thereby reducing the visual and mental burden on the operator. An object of the present invention is to provide a three-dimensional computer graphic display method and apparatus.

[0005]

According to a first aspect of the present invention, a rotation axis and a shape of each part of an object which are individually displaced from each other are read, and a predetermined first position in the entire screen is read. First image information to be displayed in the display area is obtained, the first image information is bitmap-enlarged for each pixel to a predetermined magnification, and second image information is obtained. This is a three-dimensional computer graphic display method characterized by displaying in a predetermined second display area.

According to the present invention, a predetermined first image of the entire screen is provided.
The first image information to be displayed in the display area is bitmap-enlarged to a predetermined magnification for each pixel to obtain second image information, and the second image information is stored in a predetermined second display area in the entire screen. Is displayed. As described above, the first image information is information to be displayed in the first display area that is a part of the entire screen, and the image information corresponding to the partial display area that is less than the entire screen is set to a predetermined magnification. Since the bit map is enlarged and displayed in the second display area, a storage area having a size corresponding to each pixel is allocated, the screen can be controlled in pixel units, and the second area is controlled based on the first image information. The amount of calculation for obtaining image information can be reduced.

[0007] In this way, the amount of calculation can be reduced, and the visual and mental burdens of the operator performing the teaching operation while watching the screen can be reduced.

According to a second aspect of the present invention, the coordinate axis of each part is defined as a virtual straight line connecting a predetermined coordinate value on the rotation axis and the origin of the coordinate value such that the rotation axis passes through the origin. Move in parallel, rotate the coordinate axis by the rotation amount of each part around a direction vector indicating the shape of each part, and rotate this coordinate axis in parallel to the virtual straight line by the parallel movement amount in the direction opposite to the movement direction. It is characterized by being moved to return to the original coordinate position.

According to the present invention, the coordinate axis of each part of the object is set such that the rotation axis of each member passes through the origin of the coordinate axis.
After moving to a virtual straight line connecting a predetermined coordinate value on the rotation axis and the origin of the coordinate system where this coordinate value exists, the coordinate axis is rotated around a direction vector that specifies the shape of each part, and then the coordinate axis is Since the position is returned to the original position, the amount of calculation can be reduced as compared with a case where the rotation axis of each part is rotated to a position shifted from the coordinate axis.

According to a third aspect of the present invention, a portion of the first image information where a locus of each part is to be displayed is displayed in a predetermined third display area in the entire screen with a black background. Image information is obtained, and the third image information and the first
The logical sum with the image information is enlarged to a predetermined magnification and
It is characterized in that it is displayed in a display area.

According to the present invention, third image information for displaying a portion in which the locus of each part is to be displayed in the third display area with a black background is obtained, and the third image information and the second image information are obtained.
The logical sum with the image information is enlarged and displayed in the second display area. As a result, in the second display area, the image based on the second image information and the image based on the third image, that is, the trajectory are overwritten, so that the amount of information to be stored and the amount of calculation are reduced, and the image of the object and each part Of the movement of the robot can be simultaneously displayed, whereby the operator can easily recognize the movement of the robot, and can reduce the visual load and the mental load.

[0012]

[0013]

According to a fourth aspect of the present invention, the first and third image information are shifted in the vertical scanning direction for each horizontal scanning line in the first and third display areas while shifting the first and third image information. After writing into each of the three display areas and calculating the logical sum of the first and third image information, the image data is enlarged to a predetermined magnification and the remaining second and third display areas except the first and third display areas are enlarged.
It is characterized in that it is displayed in a display area.

According to the present invention, the remaining display area other than the first and third display areas in the entire screen is defined as the second display area,
An image based on the first image information is displayed in the first display area, an image based on the third image information is displayed in the third display area, and a logic of the first and third image information is displayed in the second display area. The sum can be enlarged and displayed individually. In this way, different images are displayed on the screen depending on the first to third display areas, so that the movement of an object such as a robot can be controlled by the first display area.
Since it is possible to confirm or judge by the three display contents respectively corresponding to the third display area, it is possible to support the teaching work such as the offline programming and the operation simulation by the operator.

According to a fifth aspect of the present invention, there is provided a storage means for storing a rotation axis of each part displaced mutually and a shape of each part of the object, and a rotation axis of each part stored in the storage means. Image information generating means for obtaining image information corresponding to a part of the entire screen based on the shape of each part and generating enlarged image information obtained by enlarging the image information to a predetermined magnification. And display means for displaying an enlarged image of the object based on the enlarged image information from the computer.

According to the present invention, the storage means stores the rotation axis of each part displaced from each other of the object and the shape of each part, and the image information generating means stores each of the objects stored in the storage means. Image information corresponding to a part of the entire screen is obtained based on the rotation axis of the part and the shape of each part, and this image information is enlarged to generate enlarged image information. The display unit displays an enlarged image of the object based on such enlarged image information. In this way, the image information generating means is configured to enlarge the image information after obtaining a part of the image information of the entire screen, so that the amount of calculation can be reduced. Instead of a model, it can be displayed by a solid model with a large amount of computation and memory,
This makes it possible to reduce the visual and mental burden on the operator.

According to a sixth aspect of the present invention, the image information generating means includes a first image information and a first image information based on the rotation axis of each part and the shape of each part read from the storage means. And the second image information obtained by enlarging the image information to a predetermined magnification, and displaying the first and second image information in the first and second display areas at mutually different positions in the entire screen of the display means. Features.

According to the invention, the image information generating means obtains the first image information based on the rotation axis of each part and the shape of each part read from the storage means, and then obtains the first image information. Is enlarged to obtain second image information, and the first and second image information are respectively displayed in the first and second display areas at mutually different positions in the entire screen of the display means. In this way, the first image information having a small amount of information is enlarged and the second image information is obtained and displayed, so that the amount of calculation can be reduced and the second image information of the enlarged second image information can be reduced. The visual load and the mental load on the operator can be reduced by the display in the display area.

[0020]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows an embodiment 3 of the present invention.
FIG. 1 is a block diagram illustrating a three-dimensional computer graphic display device 1.

The three-dimensional computer graphic display device 1 has a central processing unit (abbreviated CPU) as image information generating unit, a main storage unit 3 realized by a random access memory (abbreviated RAM), and a hard disk drive (abbreviated HDD). Auxiliary storage means 4 realized by
And a cathode ray tube (CRT) or liquid crystal display (LCD)
The main storage means 3, the auxiliary storage means 4, and the display means 5
And a bus 6 for electrically connecting the two.

The three-dimensional computer graphic display device 1 controls the operation of the robot in real time in response to a control signal from a robot control means 7 called a robot controller for controlling the operation of the robot as an object. In order to monitor the state of the robot by displaying an animation image in three dimensions on the display means 5 of the robot, to instruct the operation of the robot, to perform offline programming, and to simulate the operation of the robot, etc. Used for

FIG. 2 is a diagram showing the contents stored in the main storage means 4, and FIG. 3 is a side view showing the structure of the robot 8. First, the configuration of the robot 8 will be described with reference to FIG. The robot 8 is a six-axis robot, and its operation is controlled by the robot control means 7. The robot 8 rotates around a first axis J1 which is a rotation axis perpendicular to the surface of the floor 9 at a top end of the base 10 fixed to a floor 9 on which a manufacturing line or a processing line is installed. A turntable 11 that is freely connected, a first arm 12 that is a part of an object that is connected to the turntable 11 such that one end thereof is angularly displaceable about a horizontal second axis J2, and a free end of the first arm 12. Arm 13 whose base end is connected to a portion so as to be angularly displaceable about a third axis J3 parallel to the second axis J2, and a fourth axis parallel to the center axis of the free end of the second arm 13 A third arm 14 having one end connected to be angularly displaceable around J4;
The free end of the third arm 14 includes a second axis J2 and a third axis J3.
Arm 15 whose base end is connected so as to be angularly displaceable about a fifth axis J5 parallel to the axis, and is angularly displaceable about a sixth axis J6 parallel to its central axis at the free end of the fourth arm 15. And a hand 16 connected to the

Referring to FIG. 2, the auxiliary storage means 4 comprises:
A display program storage area 21 in which a display-related program is stored; a rotation axis data storage area 22 in which data relating to a first axis J1 to a sixth axis J6 is stored;
The shape data storage area 23a in which shape data relating to the base 10, the rotary table 11, the first arm 12, the second arm 13, the third arm 14, the fourth arm 15, and the hand 16 which are the respective parts are individually stored. ２３23 g and locus display site designation data. In this manner, the display-related program, the data on the first to sixth axes, the data on each part, and the data specifying the trajectory display part are individually stored in the auxiliary storage means 4, so that the data can be easily changed. Can be done.

FIG. 4 is a diagram for explaining the display contents of the screen 27 of the display means 5. On the screen 27, a first display area 28 for displaying the whole image of the robot 8 as an object is provided at the upper left corner of the screen 27 in FIG.
A second display area 29 for displaying the display content displayed in the first display area 28 at a predetermined magnification.
4 is provided on the right side of FIG. 4 with respect to the first display area 28, and further below the first display area 28 of the screen 27, a portion of the display content displayed in the first display area, in which a locus is to be displayed. Is provided with a third display area 30 that displays a black background. The first display region 28 and the third display region 30 are selected to have the same area in the present embodiment.

FIG. 5 is a flowchart for explaining a display operation on the screen 27 by the three-dimensional computer graphic display device 1. First, the display operation is started in step a1, and in step a2, the central processing unit 2 obtains data on the first axis J1 to sixth axis J6 from the rotation axis data storage area 22 and the trajectory display site designation data 24 of the auxiliary storage means 4. Data for designating the part for which the locus is to be displayed is called and written into the main storage means 3, and the data of the first axis J1 to the sixth axis J6 and the data for designating the part for which the locus is to be displayed are read from the main storage means 3. . After the reading operation of the data of the first axis J1 to the sixth axis J6, a flag f = 0 indicating that the drawing is being performed in the first display area 28 is set in step a3, and the first display is performed in step a4. Drawing is performed in the area 28. At step a5, a flag f = 1 indicating that drawing is being performed on the third display area 30 is set, at step a6, drawing is performed on the third display area 30, and at step a7, the first display displayed on the first display area 28 is performed. The logical sum of the image information and the third image information displayed in the third display area 30 is magnified n times vertically and horizontally and drawn in the second display area 29. At step a8, it is determined whether or not an instruction to end the program has been issued. If an end instruction has been issued, the process ends.
And animation display is realized by repeatedly performing drawing.

FIG. 6 is a flowchart for explaining a specific procedure for the first display area 28 by the three-dimensional computer graphic display device 1, and FIG. 7 is a flowchart for explaining the calculation procedure of steps b5 to b7 in FIG. FIG. 7A shows a state in which a member M arbitrarily assumed is arranged in coordinate axes X, Y, and Z, and FIG. 7B shows a state in which the coordinate axes X, Y, and Z are translated. 7 (3) shows a state in which the coordinate axes X, Y, Z are rotated by an angle −θk, and FIG. 7 (4) shows a state in which the coordinate axes X, Y, Z are rotated by an angle −θk.
This shows a state in which YZ has been returned to the original state.

At step b1, the display operation on the first display area 28 is started. At step b2, it is determined whether or not the first member number j = 1 in the base 10, and the member number j = 1.
If so, the process proceeds to step b9, where the central processing unit 2 reads the shape data relating to the base 10 from the shape data storage area 23a of the auxiliary storage means 4, and calculates the first image information based on the shape data j. In step b10, the first image information is displayed in the first display area 28, j is increased by 1 in step b11, and the process returns to step b2.

If the member number j is not equal to 1 in the step b3, the process proceeds to a step b4, where the member number j-1 is rewritten to the value k and the process proceeds to a step b5. In this step b5,
As shown in FIG. 7A, the coordinate axes X, Y, and Z are
The axis G1 moves parallel to an imaginary straight line connecting arbitrary points (xk, yk, zk) on the axis G1, and moves so that the first axis G1, which is the rotation axis, passes through the origin as shown in FIG. Then, in step b6, the coordinate axes X, Y, and Z are passed through the coordinates (xk, yk, zk) as shown in FIG. 7 (3), and the rotation of each part indicated by the direction vector (ak, bk, ck) is performed. Is rotated around the axis by -θk, and the coordinate axes X,
As shown in FIG. 7 (4), Y and Z are set to the origin and the origin within the system of the coordinate axes X ', Y' and Z 'after the movement and (-xk, y
(k, zk) in parallel with a virtual straight line connecting the coordinate axes X, Y, and Z.

Next, in step b8, a flag f = 0 indicating that drawing is being performed in the first display area 28 or a flag f indicating that drawing is being performed in the second display area 29.
= 1 and it is determined whether or not one of the second conditions of whether or not it is specified in the locus display region specification data is satisfied,
If the condition is satisfied, the process proceeds to step b9. If the condition is not satisfied, the process returns to step b2 through step b11. In this manner, all the members, that is, the base 10, the turntable 11, the first arm 12, the second arm 13, the third arm 14, the fourth arm 15, and the hand 16 are displayed in the first display area 28, and FIG. The drawing in the first display area 28 in step a4 is completed. In the display procedure in the first display area 28 shown in FIG. 6 as described above, in the display procedure in the third display area 30 in the step a6, a part where the trajectory is to be displayed, for example, the hand 16 is displayed with a black background. Other than the above, the calculation is performed in a similar procedure, and a portion where a trajectory is to be generated in the third display area 30, for example, the hand 16
Is displayed with a black background.

Next, the operation in step a7 in FIG. 5 and the operation in step b10 in FIG. 6 will be described with reference to FIGS.

FIG. 8 is a flowchart for explaining the procedure for enlarging the logical sum of the first image information and the third image information in step a7 in FIG. The operation is started in step c1, the addition loop x = 0 is read in step c2 to make it clear, and in step c3, y =
0 is read to clear the state, and s is set in step c4.
= 0 is read to be in the clear state. Next, step c5
The second image information to be displayed in the second display area 29 by u
= X × n + s. Here, n indicates the magnification.

At step c6, t = 0 is set to a clear state. At step c7, the coordinate value v = y × n + t in the y-axis direction of the second display area 29 is calculated and obtained. At step c8, the first display area is obtained. The logical sum C (u, v) of the image information A (x, y) of each pixel 28 and the image information B (x, y) of each pixel of the third display area 30 is obtained by calculating At c9, it is determined whether or not the second image information C (u, v) exceeds the display value 0xFFFFFF. If it exceeds, the second image information C (u, v) for each pixel in the second display area 29 is set to the maximum display value 0xFFFFFF in step c10, and if it does not exceed it, the above-mentioned step c6 is performed in step c11. Then, the count is incremented, and t = 1 is set.
Thereafter, the steps c7 to c11 are repeated,
When t = n-1, the process proceeds to the next step c12. In step c12, the process returns to step c4 and s = 1.
, And the operations of steps c5 to c12 are repeated again.

If s = n-1, the next step c13
Then, the coordinate value y is set to 1 in step c3, and the operations in steps c4 to c13 are repeated. y
When the processing of step c4 to step c13 is completed with Y = Y-1, the process proceeds to the next step c14, and the coordinate value x is set to 1 again in step c2, and the operation of step c3 to step c14 is performed by x = X− After repeating the processing until it becomes 1, when the processing from step c3 to step c14 is completed,
In step c15, the operation of enlarging the logical sum of the first image information and the third image information and displaying it on the screen 27 ends.

FIG. 9 is a diagram for explaining the principle of converting the three-dimensional image information of the object M supposed arbitrarily into two-dimensional image information. FIG. 10 shows the screen of each shape data in step b10 of FIG. 27 is a flowchart for describing a specific procedure for displaying the information on a display 27. Step b in FIG.
In FIG. 10, the central processing unit 2 reads the base data from each of the shape data storage areas 23a to 23g of the auxiliary storage unit 4.
Each shape data of the turntable 11, the first to fourth arms 12 to 15, and the hand 16 is called and temporarily written into the main storage means 2, and the next operation is executed while sequentially reading data from the main storage means 3. I do. The operation is started in step d1, and in step d2, a one-dimensional array T (x) having x elements of 0, 1,.
In step 3, all values of T (x) are initialized with values representing infinity, in step d4, coordinate values on the Y-axis are initialized as l = 0, and in step b5, a plane perpendicular to the projection plane 31, that is, y The object M is cut at the cutting plane 32 at = 1.

Next, at step d6, the cut 33 of the object M is obtained as a line segment group, and at step d7, each of the line segments 33a to 33d of the line segment group is repeated, and at step b8, the line segment 3 is obtained.
The process is repeated for each point on 3a to 33d. In step d9, the distance from each point 35 on the cut 33 of each line segment 34 to the projection surface 31 is d, and the point at which each point 35 is projected on the projection surface 31 is (x, l). At step d10, it is determined whether the third display area 30 is being drawn and each pixel B (x, l) in the third display area 30 is larger than the display signal 0x000000. Moves to step d8 by the repetition instruction of step d14, and y =
The projection operation of step d9 is repeated for the cutting plane 32 next to l + 1.

In step d10, the third display area 3
When 0 is being drawn and B (x, l)> 0x000000, the process proceeds to the next step d11, where the distance d> T (x) in order to perform a so-called hidden line process that does not display an invisible line. It is determined whether or not. d> T (x)
If not, the process proceeds to step d14, where d> T (x)
In step d12, d = T (x) is set in the next step d12, each point 35 is drawn in the first display area 28 of the screen 27 in step d13, and the process proceeds to step d8 by a repetition command in step d14. Repeat for each point on line segment 33a. When all the points on the line segment 33a are completed, the line segment 33 is executed by the repetition instruction in step d15.
The operations of steps d8 to d14 are repeated for all the line segments included in the line segment group 33 which repeats b, 33c, 33d. In the next step d16, the process proceeds to step d4, and the position of the cut surface 32 is repeated from l = 0 to 1 = Y-1 in steps d5 to d16. In step d17, the object M is projected onto the projection surface 31. End the operation.
An image of the robot 8 is drawn in the first display area 28 by executing such an object M on the base 10, the turntable 11, the first to fourth arms 12 to 15 and the hand 16 of the robot 8 in the same manner. can do.

In the third display area 30, a portion where the trajectory of the robot 8 is to be displayed, for example, only the hand 16, is drawn by superimposing the background in black, that is, the condition of step d10 is applied only to the hand 16. By not drawing the remaining base 10, the rotary table 11, and the first to fourth arms 12 to 15, it is possible to obtain an image indicating the trajectory of the hand 16 that has drawn the image that was superimposed on the previously drawn image. it can.

The trajectory of the hand 16 does not necessarily need to be displayed in the third display area 30, but is displayed using the third image information and the first image information to be drawn in the third display area 30. An image magnified n times may be drawn in the second display area 29. When the second display area 29 is not drawn in the first and third display areas 28 and 30, the entire screen 27 can be used as the second display area.

As described above, (1) First, the area 28
Next, the computer graphic of the current state of the robot is drawn after erasing the area. (2) Next, area 3
At 0, the computer graphic of the portion where the trajectory is to be displayed is overlaid with the background being black without erasing the area. Thus, the locus is displayed in the area 30. Next, (3) a bit map logical sum of the areas 28 and 30 is calculated. Since the background of the region 30 is black, if the logical sum is taken, the trajectory is drawn over the current state of the robot. (4) Further area 29
, And a computer graphic is displayed in the area 29.

Thus, (1), (2), (3),
By repeating (4) at regular time intervals, animation display is realized.

Since the amount of calculation in each of the bit map logical sum and enlargement is much smaller than that in the case of performing computer graphic calculations, this method can drastically reduce the amount of calculation when drawing computer graphics.
This method has a feature that the computer graphic accuracy and the calculation load can be adjusted by changing the size ratio between the areas 28 and 30 and the area 29.

In the case where the area 29 has nine times the area of the areas 28 and 30, the present system can draw with a little more than 2/9 the amount of calculation as compared with the case where the area 29 is drawn directly. If the trajectory display is not performed, the calculation amount can be reduced to just over 1/9. In this method, the trajectory display is realized by performing the overwriting without erasing, and there is an advantage that a special method for displaying the trajectory is not required. That is, in order to monitor the state of the robot, the first axis j1 to the sixth axis j
6 to give the first to third display areas 2
Images of the robot 8 can be drawn in three-dimensional graphics on 8, 29, and 30, respectively. When displaying such a three-dimensional computer graphic, the first
And reduce the amount of calculation for the software device by using the sub-screens of the third and third display areas 28 and 30 or by using the first and third image information to be displayed in the first and third display areas 28 and 30. be able to. Further, when displaying a three-dimensional computer graphic, only the trajectory of a predetermined part can be displayed in the third display area 30, so that teaching work such as offline programming and operation simulation of the robot 8 can be confirmed with good visibility. It is possible to reduce the visual and mental burden on the operator during the teaching operation.

[0044]

According to the first aspect of the present invention, the first image information to be displayed in the predetermined first display area of the entire screen is bitmap-enlarged to a predetermined magnification for each pixel, and the second image information is expanded to the second image.
Image information is obtained, and the second image information is displayed in a predetermined second display area in the entire screen. As described above, the first image information is information to be displayed in the first display area that is a part of the entire screen, and the image information corresponding to the partial display area that is less than the entire screen is set to a predetermined magnification. Since the bit map is enlarged and displayed in the second display area, a storage area having a size corresponding to each pixel is allocated, the screen can be controlled in pixel units, and the second area is controlled based on the first image information. The amount of calculation for obtaining image information can be reduced.

According to the second aspect of the present invention, a predetermined coordinate value on the rotation axis and this coordinate value are set so that the coordinate axis of each part of the object passes through the origin of the coordinate axis. After moving to a virtual straight line connecting the origin of the existing coordinate system, the coordinate axes are rotated around a direction vector that specifies the shape of each part, and then the coordinate axes are returned to their original positions. The amount of calculation can be reduced as compared with the case where the rotation axis is rotated to a position shifted from the coordinate axis.

According to the third aspect of the present invention, the third image information for displaying the portion where the trajectory of each part is to be displayed in the third display area with the background black is obtained. The logical sum with the second image information is enlarged and displayed in the second display area. As a result, in the second display area, the image based on the second image information and the image based on the third image, that is, the trajectory are overwritten, so that the amount of information to be stored and the amount of calculation are reduced, and the image of the object and each part are reduced. Of the movement of the robot can be simultaneously displayed, whereby the operator can easily recognize the movement of the robot, and can reduce the visual load and the mental load.

[0047]

According to the fourth aspect of the present invention, the remaining display area other than the first and third display areas in the entire screen is the second display area, and the first display area has an image based on the first image information. Is displayed, an image based on the third image information is displayed in the third display area, and the logical sum of the first and third image information can be enlarged and individually displayed in the second display area. In this manner, different images are displayed on the screen depending on the first to third display areas, so that the motion of an object such as a robot is confirmed or determined by three display contents corresponding to the first to third display areas, respectively. Therefore, teaching work such as offline programming and operation simulation by the operator can be supported.

According to the fifth aspect of the present invention, the storage means stores the rotation axes of the respective parts of the object which are displaced from each other and the shape of each part, and the image information generating means stores the information in the storage means. Image information corresponding to a part of the entire screen is obtained based on the stored rotation axis of each part and the shape of each part, and this image information is enlarged to generate enlarged image information. The display unit displays an enlarged image of the object based on such enlarged image information. In this way, the image information generating means is configured to enlarge the image information after obtaining a part of the image information of the entire screen, so that the amount of information to be stored and the amount of calculation can be reduced. Instead of the conventional wireframe model, it can be displayed by a solid model having a large amount of calculation and storage, thereby reducing the visual and mental burden on the operator.

According to the present invention, the image information generating means obtains the first image information based on the rotation axis of each part read from the storage means and the shape of each part, and then obtains the first image information. The second image information is obtained by enlarging the first image information, and the first and second image information are displayed in the first and second display areas at mutually different positions in the entire screen of the display means. In this way, the first image information having a small amount of information is enlarged and the second image information is obtained and displayed, so that the amount of calculation can be reduced and the second image information of the enlarged second image information can be reduced. The visual load and the mental load on the operator can be reduced by the display in the display area.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a three-dimensional computer graphic display device 1 according to an embodiment of the present invention.

FIG. 2 is a diagram showing storage contents of an auxiliary storage unit 4;

FIG. 3 is a side view showing the configuration of the robot 8;

FIG. 4 is a diagram for explaining display contents on a screen 27 of the display means 5;

FIG. 5 is a flowchart for explaining a display operation on a screen 27 by the three-dimensional computer graphic display device 1;

FIG. 6 is a flowchart for explaining a specific procedure of a display operation on a first display area 28 by the three-dimensional computer graphic display device.

7A and 7B are diagrams for explaining the calculation procedure of steps b5 to b7 in FIG. 6; FIG. 7A shows a state in which an arbitrarily assumed object M is arranged in coordinate axes X, Y, and Z; 7 (2) shows a state in which the coordinate axes X, Y, Z are translated and overlapped on the rotation axis M1 of the member M, and FIG. 7 (3) shows the coordinate axes X, Y, Z rotated by an angle -θk. FIG. 7D shows a state in which the coordinate axes X, Y, and Z are returned to the original state.

8 is an enlarged view of the logical sum of the first image information and the third image information in step a7 of FIG.
6 is a flowchart for explaining the procedure for displaying the information.

FIG. 9 is a diagram for explaining the principle of converting arbitrarily assumed three-dimensional image information of an object M into two-dimensional image information.

FIG. 10 is a flowchart for explaining a specific procedure for displaying each shape data in step b10 of FIG. 6 in a first display area 28 of a screen 27;

[Explanation of symbols]

 Reference Signs List 1 3D computer graphic display device 2 Central processing means 3 Main storage means 4 Auxiliary storage means 5 Display means 6 Bus 7 Robot control means 8 Robot 9 Floor 10 Base 11 Turntable 12 First arm 13 Second arm 14 Third arm 15 fourth arm 16 hand 21 display program storage area 22 rotation axis data storage area 23a to 23g shape data storage area 24 locus display region designation data storage area 27 screen 28 first display area 29 second display area 30 third display area 31 Projection plane 32 Cut plane 33 Cut 33a to 33d Line group of cut 34 Distance from cut 35 to projection plane 35 Point on cut J1 First axis J2 Second axis J3 Third axis J4 Fourth axis J5 Fifth axis J6 6th axis

Continuation of the front page (56) References JP-A-4-137109 (JP, A) JP-A-9-120308 (JP, A) JP-A-2-212219 (JP, A) JP-A-2-236704 (JP) , A) (58) Fields investigated (Int. Cl. ⁶ , DB name) G05B 19/409 B25J 19/04 G05B 19/425 G06T 17/00

Claims (6)

(57) [Claims] 1. A rotation axis of each part displaced from each other of an object and a shape of each part are respectively read to obtain first image information to be displayed in a predetermined first display area in the entire screen. A second image information obtained by bitmap-enlarging the first image information to a predetermined enlargement magnification for each pixel, and displaying the second image information in a predetermined second display area in the entire screen. 3D computer graphic display method. 2. A coordinate axis for each part is moved in parallel with a virtual straight line connecting a predetermined coordinate value on the rotation axis and the origin of the coordinate value so that the rotation axis passes through the origin. Is rotated by a rotation amount of each part around a direction vector indicating the shape of each part, and the coordinate axis is moved in the direction opposite to the movement direction by the parallel movement amount in parallel with the virtual straight line to obtain the original coordinate position. 2. The three-dimensional computer graphic display method according to claim 1, further comprising: 3. A third image information for displaying a portion of the first image information where a trajectory in each part is to be displayed in a predetermined third display area of the entire screen with a black background is obtained. 3. The three-dimensional computer graphic display method according to claim 1, wherein the logical sum of the three image information and the first image information is enlarged to a predetermined magnification and displayed in the second display area. 4. The first and third image information is written to the first and third display areas while being shifted in a vertical scanning direction for each horizontal scanning line in the first and third display areas, respectively. After calculating the logical sum of the first and third image information, the image information is enlarged to a predetermined magnification and displayed in the remaining second display area excluding the first and third display areas. Item 3. The three-dimensional computer graphic display method according to Item 3. 5. A storage means for storing a rotation axis of each part and a shape of each part which are individually displaced from each other, and a rotation axis of each part and a shape of each part stored in the storage means. Based on the image information corresponding to a part of the full screen,
Image information generating means for generating enlarged image information obtained by enlarging the image information to a predetermined magnification, and display means for displaying an enlarged image of the object based on the enlarged image information from the image information generating means. Do 3
3D computer graphic display. 6. An image information generating means, based on a rotation axis of each part and a shape of each part read from the storage means,
Image information and second image information obtained by enlarging the first image information to a predetermined magnification are obtained, and the first and second image information are converted into first and second image information at mutually different positions in the entire screen of the display means. 6. The three-dimensional computer graphic display device according to claim 5, wherein the three-dimensional computer graphic display is performed in two display areas.