JP6677113B2 - Electronic device manufacturing apparatus and cable shape estimation program - Google Patents

Description

  The present invention relates to an electronic device manufacturing apparatus and a cable shape estimation program.

  2. Description of the Related Art An electronic device such as an information processing device includes a large number of components such as a hard disk device, a memory, a CPU, and a power supply device, and a housing for housing the components, and a wiring cable is provided in the housing.

  When manufacturing an electronic device, it is necessary to lay the cable at a predetermined position (for example, near the wall of the housing) so that the cable does not get in the way. This operation is called cable forming. When performing cable forming using a robot, it is necessary to accurately grasp the position and posture of the cable to be gripped by the robot.

  Conventionally, a technique for obtaining 3D data describing the shape of a flexible and long member and a technique for transporting a workpiece by a robot are known (for example, see Patent Documents 1 and 2). Further, a technique related to measurement of a three-dimensional shape is also known (for example, see Patent Documents 3 to 5).

JP 2003-242185 A JP 2008-15683 A International Publication No. 2010/071139 JP 2005258643 A JP 2007-80132 A

  When recognizing the shape of a cable from an image of the cable, since the cable is indefinite, it is difficult to perform a matching process using a straight line, an arc, or the like. For this reason, conventionally, a method of recognizing the shape of a cable by extracting and tracking an edge which is a boundary between the cable and the background from the end of the cable has been adopted.

  However, if another cable intersects the shape-recognition cable or if the shape-recognition cable forms a loop and partially crosses over, the cable Cannot be accurately tracked, and the shape of the cable may be erroneously recognized. Further, when erroneous recognition occurs, there is a high possibility that cable forming using a robot will fail.

  In one aspect, the present invention provides an electronic device manufacturing apparatus capable of accurately performing an operation of transitioning a cable to a predetermined state, and a cable shape estimation program capable of accurately estimating a cable shape. The purpose is to provide.

In one embodiment, the manufacturing apparatus of the electronic device, in a state where the cable is connected to a part of the electronic device, from the image data obtained by shooting the cable, from the image data of the cable corresponding to a lattice point in a two-dimensional plane An acquisition unit that acquires three-dimensional position data of a point on a surface; a setting unit that generates spatial data having a predetermined width in a direction in which the cable extends in the vicinity of one end of the cable; and an acquiring unit that exists in the spatial data. The cross-sectional shape data of the cable is generated from the point at which the three-dimensional position data is obtained, the extending direction of the cable is specified based on the cross-sectional shape data, and a characteristic point satisfying a predetermined condition among the cross-sectional shape data is specified. The spatial data is moved based on the specified feature points and the extending direction, and the process is repeatedly executed. And a control unit that causes a gripping device to grip the cable based on a generation result of the processing unit, and moves the gripping device to move the cable. If the bend radius of the cable which is calculated based on the feature point of the cross-sectional shape data is less than the predetermined threshold, without moving the spatial data based on the drawing direction and the feature point, the spatial data The electronic device manufacturing apparatus moves the spatial data by a predetermined distance along the stretching direction used for the previous movement .

  As one aspect, the operation of transitioning the cable to a predetermined state can be performed accurately.

It is a schematic diagram showing the composition of the manufacturing device of the electronic equipment concerning one embodiment. FIG. 2A is a diagram illustrating a hardware configuration of the cable recognition device, and FIG. 2B is a functional block diagram of the cable recognition device. It is a figure showing a 3D image and 3D point group data. FIGS. 4A to 4C are diagrams (part 1) for describing processing of the cable recognition device. It is FIG. (2) for demonstrating the process of a cable recognition apparatus. 9 is a flowchart illustrating a series of processes performed by the manufacturing apparatus of the electronic device. FIGS. 7A to 7C are diagrams illustrating an outline of a series of processes performed by the electronic device manufacturing apparatus. 7 is a flowchart showing a specific process of step S14 in FIG. 9 is a flowchart showing specific processing of steps S40 and S54 in FIG. FIGS. 10A to 10D are diagrams for explaining the process of FIG. 8 (part 1). FIGS. 11A to 11C are diagrams for explaining the processing in FIG. 9. FIGS. 12A to 12C are diagrams (part 2) for explaining the processing in FIG. FIGS. 13A and 13B are diagrams (part 3) for explaining the processing in FIG. It is a figure which shows cable difference length D (i) typically (in plane). FIG. 15A is a diagram illustrating an example of 3D point group data, and FIG. 15B is a diagram illustrating a part of FIG. 15A cut out. 9 is a flowchart showing a specific process of step S56 in FIG. It is a figure for explaining bending radius r. FIG. 18A is a diagram illustrating a crossing state of the cables, and FIG. 18B is a diagram illustrating a correct tracking direction and an incorrect tracking direction when the cables cross. FIG. 17 is a diagram (part 1) for specifically explaining the processing in FIG. 16; FIGS. 20A to 20D are diagrams (part 2) for specifically explaining the processing of FIG. 16. It is a figure for explaining a predetermined distance. It is a figure for explaining another example of a predetermined distance. FIG. 17 is a diagram (part 1) for specifically describing a modification of the process in FIG. 16; FIGS. 24A to 24E are diagrams (part 2) for specifically describing a modification of the process in FIG.

  Hereinafter, an embodiment of an electronic device manufacturing apparatus will be described in detail with reference to FIGS.

  As shown in FIG. 1, the electronic device manufacturing apparatus 100 according to the present embodiment includes a robot 10 as a gripping device, a 3D camera 12, a cable recognition device 14, and a robot controller 16 as a control unit. ing.

  As an example, the robot 10 is a robot that connects the connectors 46A and 46B provided at one end and the other end of the cable 44 to the connector provided on the printed circuit board 42, and executes cable forming. Cable forming refers to a wiring operation for transitioning the cable 44 to a predetermined state. In the present embodiment, as shown in FIG. 7C, the cable forming is an operation of laying the cable 44 along a part of the outer periphery of the printed circuit board 42. The cable 44 is a flexible string-like member having a constant thickness and a circular cross section, and has an irregular shape and is deformed three-dimensionally as needed. The direction in which the cable 44 extends (stretching direction) has continuity (bending has a certain curvature).

  The 3D camera 12 is, for example, a 3D point cloud camera or a 3D scanner, and captures a 3D image near the cable 44. The 3D image captured by the 3D camera 12 is transmitted to the cable recognition device 14.

  The cable recognition device 14 acquires 3D point cloud data from the 3D image captured by the 3D camera 12, recognizes the state of the cable 44 to be subjected to cable forming based on the 3D point cloud data, and outputs a recognition result to the robot controller 16. I do. In this case, the cable recognizing device 14 performs the tracking process of the cable 44 from one end of the cable 44 (near the connector 46A), and recognizes the posture and the existing position (XYZ coordinates) of a predetermined length from one end.

  The robot controller 16 controls the robot 10 to perform an operation of attaching (connecting) the cable 44 to the printed circuit board 42. Further, the robot controller 16 controls the robot 10 based on the recognition result of the cable recognition device 14 and executes cable forming for transitioning the cable 44 to a predetermined state (the state of FIG. 7C).

  Here, the cable recognition device 14 will be described in detail. FIG. 2A shows a hardware configuration of the cable recognition device 14. As shown in FIG. 2A, the cable recognition device 14 includes a CPU (Central Processing Unit) 90, a ROM (Read Only Memory) 92, a RAM (Random Access Memory) 94, and a storage unit (here, an HDD (Hard Disk Drive)). )) 96, a network interface 97, a portable storage medium drive 99, and the like. Each component of the cable recognition device 14 is connected to a bus 98. In the cable recognizing device 14, a program (including a cable shape estimation program) stored in the ROM 92 or the HDD 96 or a program (including the cable shape estimation program) read from the portable storage medium 91 by the portable storage medium drive 99. Is executed by the CPU 90, thereby realizing the function of each unit shown in FIG.

  FIG. 2B shows a functional block diagram of the cable recognition device 14. When the CPU 90 executes the program, the cable recognition device 14 receives the cable 3D data acquisition unit 20 as an acquisition unit, the cable end point extension direction measurement unit 22 as a specific unit, and the setting unit as illustrated in FIG. It functions as a search volume setting unit 24, a cable section / stretching direction calculation unit 26, a point of interest update unit 28, a cable shape estimation unit 30, and a communication unit 32.

  The cable 3D data acquisition unit 20 acquires image data (3D image) captured by the 3D camera 12. Note that the 3D image is obtained by photographing at least the entire cable 44 to be subjected to cable forming (tracking target). In addition, the cable 3D data acquisition unit 20 acquires three-dimensional position data (referred to as “3D point group data”) of a point on the surface of the cable 44 corresponding to a lattice point in a two-dimensional plane from the acquired 3D image. I do. FIG. 3 shows an example of a 3D image. The grid points shown in FIG. 3 are points corresponding to the pixels of the 3D camera 12. The cable 3D data acquisition unit 20 acquires a height position (Z coordinate) on the surface of the cable 44 for each grid point in a two-dimensional plane (XY plane) corresponding to a pixel of the 3D camera 12, as shown in FIG. The three-dimensional data including the XY coordinates of each of the grid points and the acquired Z coordinates is defined as 3D point group data.

  FIG. 15A shows an example of a 3D point group data (an image in which the vicinity of the cable 44 is enlarged). FIG. 15B shows a part of FIG. Alternately, a state in which the cross section of the cable 44 is viewed vertically is shown. As shown by the dotted line in FIG. 15B, it is clear that the 3D point group data includes data of the upper half (arc-shaped portion) of the cross section of the cable 44.

  Returning to FIG. 2B, the cable end point extension direction measuring unit 22 sets a point near one end of the cable 44 as a point of interest from the 3D image data, and specifies a direction in which the cable 44 extends (an extension direction) at the point of interest. The “point of interest” is a point serving as a reference for searching for the shape of the cable 44. The cable end point extension direction measuring unit 22 specifies the position and orientation of the connector 46A from the 3D image by model matching using a 3D CAD model of the connector 46A prepared in advance. Then, the cable end point extension direction measuring unit 22 determines a predetermined position of the cable determined from the position and the posture of the connector 46A (for example, the highest position in the boundary between the cable 44 and the connector 46A as shown in FIG. 4A). This is the point of interest. Also, the cable end point extension direction measuring unit 22 specifies the extension direction of the cable 44 at the point of interest based on the attitude of the connector 46A. Here, a vector having a predetermined length defined by the point of interest and the stretching direction is referred to as a main axis vector (see FIG. 4A).

  The search volume setting unit 24 generates (sets) a search volume as a range to be noted for estimating the cross-sectional shape of the cable 44. The search volume is a rectangular parallelepiped spatial data including a point of interest therein and having a predetermined width in the extending direction of the cable 44. Specifically, the search volume is a space having a predetermined width a having a square surface with one side b as shown by a dotted line in FIG. 4B. Here, the predetermined width a of the search volume (see FIG. 4B) is, for example, about 1.5 times the size of one pixel of the camera (distance between grid points in FIG. 3), and one side of a square surface Is a dimension obtained by adding a predetermined value α to the diameter of the cable 44.

  The cable section / extension direction calculation unit 26 generates section shape data of the cable 44 from the 3D point group data present in the search volume, and newly calculates the extension direction of the cable 44 based on the section shape data ( FIG. 4C). Further, a characteristic point of the cable 44 (a point located at the highest position in the 3D point group data existing in the search volume) is specified. The cable section / stretching direction calculator 26 stores the calculated stretching direction and the information of the specified characteristic point (information of the principal axis vector) in the data storage 36. In addition, the cable section / stretching direction calculation unit 26 determines whether another cable or the tracking cable 44 itself crosses the cable forming target cable (tracking cable) 44. Then, when it is determined that they intersect, the cable section / extension direction calculation unit 26 executes processing in cooperation with the search volume setting unit 24 so as not to be affected by the intersection.

  The point-of-interest update unit 28 sets a new point of interest as shown in FIG. 4C based on the new extension direction and the feature point calculated by the cable cross-section / extension direction calculation unit 26 (the point of interest is Update).

  The cable shape estimating unit 30 generates (estimates) the shape data of the cable 44 based on the result of repeatedly executing the processing by the search volume setting unit 24, the cable section / stretching direction calculating unit 26, and the point of interest updating unit 28. That is, as shown in FIG. 5, the cable shape estimating unit 30 stores, from the data storage unit 36, information on the main axis vector of the cable 44 sequentially calculated using the search volume sequentially set along the extending direction of the cable 44. get. Then, based on the acquired information, the cable shape estimating unit 30 specifies a location that is more than a predetermined length m (see FIG. 7A) from the end of the cable 44. Further, the cable shape estimating unit 30 estimates the position (XYZ coordinates) where the specified location exists and the posture of the cable 44 at the location, that is, the position and posture of the cable 44 to be gripped by the robot 10 in the cable forming.

  The communication unit 32 transmits an instruction based on the estimation result of the cable shape estimation unit 30 to the robot controller 16. The robot controller 16 controls the robot 10 to cause the robot 10 to grip the cable 44 and move the robot 10 gripping the cable 44, thereby causing the cable 44 to transition to a predetermined state (execute cable forming). .

(Process of Electronic Equipment Manufacturing Apparatus 100)
Next, the processing executed by the electronic device manufacturing apparatus 100 of the present embodiment will be described in detail.

  FIG. 6 is a flowchart illustrating a series of processes performed by the electronic device manufacturing apparatus 100. Hereinafter, an outline of the processing of the electronic device manufacturing apparatus 100 will be described with reference to FIG.

  In the process of FIG. 6, first, in step S10, the robot controller 16 drives the robot 10 according to a predetermined procedure, and inserts the connectors 46A and 46B at both ends of the cable 44 into the connectors on the printed circuit board 42. Thus, the cable 44 is connected to the printed circuit board 42. The operation of connecting the cable 44 to the printed circuit board 42 may be performed by a robot different from the robot performing the cable forming, or may be performed by a person (operator). FIG. 7A shows a state where the cable 44 is connected to the printed circuit board 42.

  Next, in step S14, the cable recognition device 14 executes a cable recognition process. The cable recognition process is executed according to the flowchart of FIG. 8, and details will be described later.

  Next, in step S16, the cable recognizing device 14 obtains information on the position and orientation of a location having a predetermined length (m) from one end of the cable 44 (specifically, the vector V (n) shown in FIG. Information). The cable recognition device 14 transmits the acquired information on the position and posture of the cable 44 to the robot controller 16.

  Next, in step S18, the robot controller 16 moves the hand of the robot 10 to a location of a predetermined length (m) from one end of the cable 44 based on the information received from the cable recognition device 14. Next, in step S20, the robot controller 16 holds the cable 44 with the hand of the robot 10. FIG. 7B shows a state where the hand of the robot 10 holds the cable 44. Note that the robot controller 16 controls the posture of the robot 10 so that the hand of the robot 10 is opened in a direction substantially orthogonal to the vector V (n) when gripping the cable 44.

  Next, in step S22, the robot controller 16 drives the robot 10 to the position shown in FIG. 7C, and hooks the cable 44 on the corner of the printed circuit board 42.

  Next, in step S24, the robot controller 16 controls the robot 10, releases the grip of the cable 44, and retreats the robot 10 from the printed circuit board 42.

  Thus, a series of processes by the electronic device manufacturing apparatus 100 is completed.

(About the process of step S14)
Next, the process of step S14 (cable recognition process) will be described in detail along the flowcharts of FIGS. 8, 9, and 16 while appropriately referring to other drawings.

  In the process of FIG. 8, first, in step S30, the cable end point extension direction measuring unit 22 acquires a 3D image from the 3D camera 12, and estimates the shape of the connector (tracking target cable). 3D posture is measured. In this case, the position and orientation of the connector 46A are specified by model matching using a 3D CAD model of the connector 46A prepared in advance.

  Next, in step S32, the cable end point extension direction measuring unit 22 acquires a main axis vector of the cable end. Specifically, the cable end point extension direction measuring unit 22 regards the highest position in the boundary between the cable 44 and the connector 46A as shown in FIG. The extension direction of the cable 44 is specified from the information, and a vector defined by the point of interest and the extension direction is defined as a main axis vector of the cable end. The cable end point extension direction measuring unit 22 can specify, for example, a direction in which a specific side of the connector 46A extends as an extension direction of the cable 44.

  Next, in step S34, the cable 3D data acquisition unit 20 acquires 3D point cloud data from the 3D camera 12.

  Next, in step S36, the search volume setting unit 24 sets a search volume using the main shaft vector at the cable end. The search volume setting unit 24 sets a rectangular parallelepiped search volume including the cable end (point of interest) and having a predetermined width a in the direction of the main axis vector, as shown in FIG. In FIG. 10A, white circles indicate 3D point group data.

  Next, in step S38, the cable section / stretching direction calculator 26 sets the counter i to 0.

  Next, in step S40, the cable section / extension direction calculation unit 26 performs a section search process. In step S40, processing according to the flowchart in FIG. 9 is performed.

  In the process of FIG. 9, the cable section / extension direction calculation unit 26 first extracts points in the search volume from the 3D point group data in step S70. In the example of FIG. 10A, as shown in FIG. 10B, it is assumed that 3D point group data indicated by black circles included in the search volume has been extracted.

  Next, in step S72, the cable cross-section / extension direction calculation unit 26 performs elliptical fitting using the extracted points as shown by the dashed line in FIG. 10C, and converts the cross-sectional shape data (elliptical shape data) of the cable. obtain. FIG. 11A shows an example of a 3D image of the cable 44. For example, it is assumed that the points extracted in step S70 are indicated by black circles. In this case, since a cross section including the extracted points (a cross section taken along the line AA and a YZ cross section) is shifted from a vertical cross section (a cross section taken along the line BB) of the cable 44, as shown in FIG. Then, it becomes elliptical. On the other hand, the vertical cross section is a perfect circle as shown in FIG.

  Next, in step S74, the cable section / extending direction calculation unit 26 extracts the point at the highest position among the extracted points as a feature point P (i) (here, P (0)). In FIG. 10D, the feature point P (0) is indicated by a black circle.

  Next, in step S76, the cable section / stretching direction calculation unit 26 calculates a vertical section of the cable 44 from the distortion of the obtained elliptical shape data. Next, in step S78, the cable section / extension direction calculation unit 26 sets the normal vector of the vertical section of the cable 44 to the main axis vector V (i) (here, V (0)). In these steps S76 and S78, the cable section / stretching direction calculator 26 calculates the ratio of the major axis to the minor axis and the normal vector of the elliptical surface from the major axis and minor axis directions obtained in step S72, The difference (angle θ in FIG. 11A) from the vertical cross section (the perfect circular surface) is calculated. Then, the cable section / extension direction calculation unit 26 sets a vector obtained by shifting the vector extending in the grid direction (the X direction in FIG. 11A) by the difference (θ) as the main axis vector V (i). Note that the cable section / stretching direction calculation unit 26 stores the information of the feature point extracted in step S74 and the information of the spindle vector extracted in step S78 in the data storage unit 36. After step S78, the process proceeds to step S46 in FIG.

  In step S46, the point of interest updating unit 28 increments i by one (i = i + 1).

  Next, in step S48, the point-of-interest update unit 28 sets a small search volume centered on the main axis vector V (i-1) (here, V (0)). As shown in FIG. 12 (a), the small search volume is a rectangular parallelepiped space having a square (or rectangular) cross section centered on the principal axis vector V (0) extending from the feature point P (0). . The small search volume may be, for example, cylindrical spatial data.

  Next, in step S50, the point of interest updating unit 28 searches for a point (a new point of interest) included in the small search volume. Here, it is assumed that a point indicated by a black circle in FIG. 12B has been searched as a new point of interest. Note that the size of the small search volume is preferably a size that does not include a plurality of points. However, the present invention is not limited to this. When a plurality of points are included in the small search volume, for example, a point closest to the feature point P (i) may be searched for among the plurality of points and set as a new point of interest. .

  Next, in step S52, the search volume setting unit 24 sets a search volume including the searched point of interest and having a predetermined width in the direction of the main axis vector V (i-1) (here, V (0)). . FIG. 12B shows a newly set search volume.

  Next, in step S54, the cable section / extension direction calculation unit 26 executes a section search process (FIG. 9). Note that the cross-section search processing is executed in the same procedure as described above. Therefore, the points in the search volume are extracted by the cross-section search processing as indicated by the black circles in FIG. 12C, and the feature point P (i) and the main axis vector V (i) are obtained. The point of interest (the black circle point in FIG. 12B) searched in step S50 and the feature point P (i) may be the same or different. FIG. 13A shows a state in which feature points P (i) (= P (1)) indicated by black circles have been acquired based on the elliptical shape data, and FIG. The state where the main axis vector V (i) (= V (1)) is obtained based on the elliptical shape data is shown.

  Next, in step S55 of FIG. 8, the cable section / stretching direction calculation unit 26 determines whether two feature points have been obtained before the current feature point (P (i)). If the determination in step S55 is denied, that is, if i <2, the bending radius of the cable that needs to be calculated in step S56 described below cannot be calculated, and it is not possible to determine the presence or absence of intersection of the cables. The cable section / stretching direction calculator 26 skips step S56 and proceeds to step S57.

In step S57, the cable shape estimating unit 30 calculates a cable difference length D (i) between the immediately preceding feature point P (i-1) and the current feature point P (i). In this case, the XYZ coordinates of the feature point P (i-1) are (x (i-1), y (i-1), z (i-1)), and the XYZ coordinates of the feature point P (i) are (x (i), y (i), z (i)), D (i) can be calculated using the following equation (1).
D (i) = {(x (i-1) -x (i)) ² + (y (i-1) -y (i)) ² + (z (i-1) -z (i)) ² } ^1/2 … (1)

  In FIG. 14, the cable differential length D (i) is schematically (in plan view).

  Next, in step S58, the cable shape estimating unit 30 obtains the sum of the cable difference lengths from the cable end (feature point P (0)) to the i-th feature point (P (i)), and calculates L (i) and L (i). I do. That is, the cable shape estimating unit 30 calculates the sum of D (1), D (2),..., D (i) and sets the sum to L (i).

  Next, in step S60, the cable shape estimating unit 30 determines whether or not the value of the length L (i) is larger than the value of the length m. Here, the length m is the length of one side (the short side in FIG. 7A) of the printed circuit board 42 as shown in FIG. 7A. That is, in step S60, as shown in FIG. 7C, it can be said that it is determined whether or not the shape of the cable 44 has been traced to a position located at a corner of the printed circuit board 42 at the time of cable forming. If the determination in step S60 is negative, the cable shape estimating unit 30 returns to step S46 and repeatedly executes the processing and determination in steps S46 to S60.

(About the process of step S56)
Next, the processing of step S56 executed when the determination of step S55 is affirmed will be described in detail with reference to the flowchart of FIG. In this step S56, the cable section / extending direction calculation unit 26 and the search volume setting unit 24 execute a cable intersection recognition process. In this processing, it is determined whether or not the cables intersect based on the result of calculating the bending radius of the cable being tracked, and when the cables intersect, processing is performed in consideration of the intersection.

  In the process of FIG. 16, first, in step S102, the cable section / stretch direction calculation unit 26 calculates the current feature point P (i) and the two immediately preceding feature points P (i-1) and P (i-2). The bending radius r is calculated from the three points. In this case, as shown in FIG. 17, a circle equation is obtained from the coordinates of the three feature points P (i) to P (i-2), and the radius of the circle indicated by the obtained equation is defined as a bending radius r.

  Next, in step S104, the cable section / stretching direction calculator 26 determines whether or not the bending radius r is equal to or larger than the minimum bending radius R of the cable (r ≧ R). If the determination in step S104 is affirmative, it means that there is a low possibility that the cables cross. In this case, the processing in FIG. 16 ends, and the flow shifts to step S57 in FIG.

  On the other hand, if the determination in step S104 is negative, that is, if the bending radius r is smaller than the minimum bending radius R, the cable section / stretching direction calculation unit 26 proceeds to step S106. Moving to step S106 means that there is a high possibility that the cable crosses the tracked cable (the cable whose shape is being estimated) as shown in FIG. I have. When the cables intersect, the cable should be tracked (the search volume should be moved) in the correct tracking direction indicated by the solid arrow in FIG. 18B, but along the wrong tracking direction (the direction of the broken arrow). Cable may be tracked. Therefore, in the present embodiment, when cables intersect, the processes of steps S106 to S110 in FIG. 16 are executed to correctly track the cables.

  In step S106, the cable section / stretch direction calculation unit 26 discards the latest spindle vector (not stored in the data storage unit 36) and sets the immediately preceding spindle vector as the latest spindle vector. That is, the cable section / stretching direction calculation unit 26 does not update the latest main axis vector with the main axis vector V (i) obtained immediately before.

  Next, in step S108, the cable section / stretching direction calculator 26 determines whether or not the determination in step S104 is continuously negative. If the determination in step S108 is denied, the process proceeds to step S110. If the determination is affirmative, the process in FIG. 16 ends, and the process proceeds to step S57 in FIG.

  When the determination in step S108 is denied and the process proceeds to step S110, the search volume setting unit 24 skips the search volume by a predetermined distance in the direction of the latest main axis vector under the instruction of the cable section / stretching direction calculation unit 26. A specific example of the predetermined distance will be described later.

  Here, the processing of FIG. 16 will be specifically described based on FIGS. 19 and 20. 19 and 20 show a state in which the extending direction of the tracked cable coincides with the Y-axis direction for simplification of the description.

  For example, in FIG. 19, when there is a search volume at the position indicated by (1) (S52), all of the 3D point group data in the search volume is data of points on the tracked cable. Therefore, in this case, elliptical shape data that reflects the shape of the cable being tracked as shown by the broken line in FIG. 20A is obtained (S72). The main axis vector in this case is a main axis vector V (s) starting from the feature point P (s) as shown in FIGS. 19 and 20 (a) (S74 to S78). The cable section / stretching direction calculator 26 stores the acquired data of the spindle vector (including the data of the feature points) in the data storage 36.

  Next, when the search volume moves to the position indicated by (2) in FIG. 19 (S52), the 3D point group data in the search volume intersects with the data (●) of the point on the tracked cable. Data (点) of the point on the cable that is connected. In this case, when the 3D point group data is subjected to elliptic fitting, elliptical shape data that does not reflect the shape of the tracked cable as shown by the broken line in FIG. 20B is obtained (S72), and the feature point P (s + 1) ) Is obtained as the base axis vector V (s + 1) (S74 to S78). However, in this case, the direction of the main axis vector V (s + 1) is extremely different from V (s), and the bending radius r becomes smaller than the minimum bending radius R (S104: No). (S + 1) and the feature point P (s + 1) are discarded (not stored in the data storage unit 36), and V (s) remains as the latest main axis vector (S106). The search volume is skipped by a predetermined distance along the direction of the main axis vector V (s), and is moved to the position indicated by (3) in FIG. 19 (S110).

  Next, when the search volume moves to the position indicated by (3) in FIG. 19, the 3D point group data in the search volume includes the data (●) of the point on the tracked cable and the crossing cable. The data of the upper point (△) is included. In this case, when the 3D point group data is subjected to elliptic fitting, elliptical shape data that does not reflect the shape of the cable being tracked as shown by a broken line in FIG. 20C is obtained, and the feature point P (s + 2) is used as the base point. Is obtained as the main axis vector V (s + 2). However, in this case, the direction of the main axis vector V (s + 2) is extremely different from V (s), and the bending radius r becomes smaller than the minimum bending radius R (S104: No). (S + 2) and the feature point P (s + 2) are discarded (not stored in the data storage unit 36), and V (s) remains as the latest main axis vector (S106). At this stage, since the determination in step S104 is continuously denied, the process proceeds to step S57 in FIG. 8 without skipping the search volume by the predetermined distance.

  Next, when the search volume moves to the position indicated by (4) in FIG. 19 (S52), all of the 3D point group data in the search volume is data of points on the tracked cable, and therefore, FIG. In (d), elliptical shape data reflecting the shape of the tracked cable as indicated by the broken line is obtained (S72). In this case, a main axis vector V (s + 3) starting from the feature point P (s + 3) is obtained. Here, the direction of the main axis vector V (s + 3) is approximated to V (s), and the bending radius r is equal to or larger than the minimum bending radius R (S104: Yes), so the latest main axis vector is set to the main axis vector V (s + 3). (Stored in the data storage unit 36).

  When the search volume is skipped as shown in FIG. 19, in step S57 of FIG. 8, the cable shape estimating unit 30 determines whether the feature point P (s + 3) and the immediately before stored in the data storage unit 36 are present. It is assumed that the difference length from the feature point P (s) is calculated.

  Here, an example of the distance (predetermined distance) at which the search volume is skipped in step S110 will be described with reference to FIGS.

  As shown in FIG. 21, when the cables cross each other, the overlapping width in the Y-axis direction is minimized when the cables are orthogonal. The width at that time is the same value as the width (diameter if the cross section of the cable is circular) Q of the intersecting cable (the cable located on the upper side). Therefore, the cable cross-section / extension direction calculation unit 26 sets the predetermined distance for skipping the search volume as Q. This makes it possible to reduce the amount of processing (the number of times of processing using the search volume) while maintaining the cable shape estimation accuracy. The intersecting cable may be another cable located in the vicinity, or may be the cable itself being tracked. When there are a plurality of cables that may intersect, the search volume may be skipped by the smallest value among the diameters of the plurality of cables.

  As a method of skipping the search volume, a method as shown in FIG. 22 may be adopted. That is, the cable section / stretching direction calculation unit 26 first sets an edge extraction area extending in the direction of the latest main axis vector near the current search volume, as shown in FIG. Then, the cable cross-section / direction-of-extension calculation unit 26 extracts an edge candidate of the intersecting cable in the edge extraction area of the image data. Here, the edge candidate means a portion estimated as a boundary portion between the cable and the background, and can be estimated based on a change in brightness or a change in color of image data. Next, the cable section / extending direction calculation unit 26 extracts parallel edge candidates separated by the width (diameter) Q of the intersecting cable from the edge candidates as two edges. In FIG. 22B, the two extracted edges are indicated by thick lines. Next, the cable section / extending direction calculation unit 26 skips the search volume through the search volume setting unit 24 until the latest main axis vector intersects with the edge farther from the current search volume. By skipping the search volume in this way, the processing amount (the number of processes using the search volume) can be reduced while maintaining the cable shape estimation accuracy, as in the case of FIG.

  Returning to FIG. 8, the processes and determinations of steps S46 to S60 are repeatedly performed, and when the determination of step S60 is affirmative, that is, the cable 44 can be traced to a position further than the length m from one end of the cable 44. In this case, the process proceeds to step S62. Here, as an example, it is assumed that the value of i at the stage when L (i) exceeds m is n. In step S62, the communication unit 32 transmits the spindle vector V (i) (here, V (n)) to the robot controller 16 under the instruction of the cable shape estimation unit 30. The data of the main axis vector V (n) also includes the coordinate value of the feature point P (n).

  Thus, the cable recognition processing in step S14 ends.

  Note that the robot controller 16 that has acquired the data of the spindle vector V (n) executes the processing after step S16 in FIG. Thereby, the robot 10 can accurately perform the process (cable forming) of transitioning the cable 44 to the state illustrated in FIG. 7C based on the accurately estimated position and posture of the cable.

  In the above embodiment, the function as a processing unit for generating cable shape data including the search volume setting unit 24, the cable section / stretching direction calculating unit 26, the point of interest updating unit 28, and the cable shape estimating unit 30 is included. Has been realized.

  As described above in detail, according to the present embodiment, the cable 3D data acquisition unit 20 acquires 3D point group data of points on the surface of the cable 44 from the 3D image obtained by capturing the cable 44, and sets the search volume. The setting unit 24 sets (generates) a search volume in the vicinity of one end of the cable 44 from the 3D image. Further, the cable shape estimating unit 30 is based on the repetition result of the processing of the cable section / stretching direction calculating unit 26 (main axis vector updating processing) and the processing of the search volume setting unit 24 (processing of moving the search volume). The shape data of the cable 44 is generated (shape is estimated). In this case, the cable section / stretching direction calculation unit 26 calculates the bending radius r of the cable based on the characteristic points, and when the bending radius r is smaller than a predetermined threshold (minimum bending radius R), the latest spindle. The search volume is skipped by a predetermined distance in the direction of the latest main axis vector via the search volume setting unit 24 without updating the vector. As described above, when the bending radius r of the cable is smaller than the minimum bending radius R, the latest main axis vector is not updated. Therefore, even if the cables intersect, the tracked cable can be accurately tracked and the shape can be determined. Can be estimated. Further, by skipping the search volume, it is possible to reduce the processing amount (the number of elliptical fittings using the search volume) when tracking the cable. Further, in the present embodiment, by performing the elliptical fitting using the 3D point cloud data, the shape of the cable 44 can be tracked from the vicinity of one end in the extending direction without using the edge portion of the cable 44. Therefore, the shape of the cable 44 can be accurately specified without being affected by noise or the like. Further, by using a shape specified with high accuracy, cable forming can be performed accurately.

  In the present embodiment, the distance for skipping the search volume is the same as the diameter Q of the intersecting cables. This makes it possible to reduce the amount of processing without lowering the accuracy of estimating the shape of the cable.

  In the present embodiment, a connector 46A is provided at one end of the cable 44, and the cable end point extension direction measuring unit 22 determines a point of interest near one end of the cable based on the position and orientation of the connector 46A specified from the 3D image. And the stretching direction. In this way, by using the position and orientation of the connector 46A, which is a fixed object, the point of interest near the one end of the indefinite cable 44 and the extension direction can be accurately specified.

  Further, in the present embodiment, the cable shape estimating unit 30 estimates the posture and the position of a portion exceeding a predetermined length (m) from one end of the cable 44. This makes it possible to estimate information required for cable forming.

  Further, in the present embodiment, the point of interest updating unit 28 uses a small search volume as shown in FIG. 12A when updating the point of interest. This makes it possible to set a new point of interest by simple processing compared to a case where a point through which the main axis vector passes or a point at which the distance from the main axis vector is the shortest is set as a new point of interest.

  In the above embodiment, the case where the 3D camera 12 is used has been described. However, the present invention is not limited to this, and a camera capable of capturing a two-dimensional image may be used. In this case, the 3D point group data may be generated by detecting the height position of the point on the cable surface corresponding to the grid point based on the color density, brightness, and the like of the two-dimensional image.

  In the above embodiment, the case where the connectors 46A and 46B are provided at both ends of the cable 44 has been described, but the present invention is not limited to this. That is, both ends of the cable 44 may be soldered to the printed circuit board 42 or the like. In this case, when the end of the cable 44 is connected substantially perpendicularly to the surface of the printed circuit board 42, in step S32 of FIG. The direction may be set to the normal direction of the printed circuit board 42.

  In the above embodiment, as shown in FIG. 20, the case where the elliptic fitting is performed using all the 3D point group data in the search volume has been described, but the present invention is not limited to this. For example, elliptical fitting may be performed by a method as shown in FIGS.

  FIG. 23 shows search volumes (1) to (5), and FIGS. 24 (a) to (e) show examples of elliptic fitting corresponding to search volumes (1) to (5). I have.

  In FIG. 23, when the search volume is located at the position indicated by (1), the 3D point group data in the search volume is data of points on the tracked cable, and is indicated by a broken line in FIG. Such elliptical shape data is obtained. The main axis vector in this case is indicated by V (s) in FIG. Next, when the search volume moves to the position indicated by (2) in FIG. 23, the 3D point group data in the search volume includes the data (●) of the point on the tracked cable and the crossing cable. The data of the upper point (△) is included. In this case, by performing noise removal processing or the like at the time of the elliptical fitting, as shown in FIG. 24B, the elliptical fitting of the track cross section and the elliptical fitting of the intersecting cable cross section are performed. Can be. In FIG. 24 (b), among the two elliptical feature points, the principal axis vector V (s + 1) of the ellipse having the feature point with the larger cable bending radius is set as the latest principal axis vector, and the other principal axis vectors V (K + 1) is discarded.

  Next, when the search volume moves to the position indicated by (3) in FIG. 23, the 3D point group data in the search volume includes only data (△) of points on the intersecting cable. In this case, when the 3D point group data is subjected to elliptic fitting, elliptical shape data as indicated by a broken line in FIG. 24C is obtained, and a main axis vector V (k + 2) is obtained. However, in this case, the direction of the main axis vector V (k + 2) is extremely different from the latest main axis vector V (s + 1), and the bending radius r becomes smaller than the minimum bending radius R (S104: No). , The main axis vector V (k + 2) is discarded, and V (s + 1) is set as the latest main axis vector (S106). Further, the search volume is skipped by a predetermined distance along the direction of the main axis vector V (s + 1), and is moved to the position indicated by (4) in FIG. 23 (S110).

  Next, when the search volume moves to the position indicated by (4) in FIG. 23, the 3D point group data in the search volume includes the data (●) of the point on the tracked cable and the crossing cable. The data of the upper point (△) is included. In this case, by performing noise removal processing or the like at the time of the elliptical fitting, as shown in FIG. 24D, the elliptical fitting of the track cross section and the elliptical fitting of the crossing cable cross section are performed. Can be. In FIG. 24D, among the two elliptical feature points, the principal axis vector V (s + 3) of the ellipse having the feature point with the larger cable bending radius is set as the latest principal axis vector, and the other principal axis vectors V (K + 3) is discarded.

  Next, when the search volume moves to the position indicated by (5) in FIG. 23, the 3D point group data in the search volume is data of a point on the tracked cable, and thus the broken line in FIG. The elliptical shape data as shown by is obtained. The main axis vector in this case is indicated by V (s + 4) in FIG. In this case, the direction of the main axis vector V (s + 4) is close to V (s + 3), and the bending radius r is equal to or larger than the minimum bending radius R (S104: Yes). I do.

  Even when the elliptical fitting using the above-described noise removal processing or the like is performed, similarly to the above-described embodiment, when the cables cross, the cables can be accurately tracked.

  In the above embodiment, the case where the characteristic point is the highest point of the ellipse has been described. However, the present invention is not limited to this. Good.

  Note that the above processing functions can be realized by a computer. In this case, a program describing the processing contents of the functions that the processing device should have is provided. By executing the program on a computer, the processing functions are realized on the computer. The program describing the processing content can be recorded on a computer-readable recording medium (excluding a carrier wave).

  When the program is distributed, it is sold in the form of a portable recording medium such as a DVD (Digital Versatile Disc) or a CD-ROM (Compact Disc Read Only Memory) on which the program is recorded. Alternatively, the program may be stored in a storage device of a server computer, and the program may be transferred from the server computer to another computer via a network.

  The computer that executes the program stores, for example, the program recorded on the portable recording medium or the program transferred from the server computer in its own storage device. Then, the computer reads the program from its own storage device and executes processing according to the program. Note that the computer can also read the program directly from the portable recording medium and execute processing according to the program. Further, the computer can also execute processing in accordance with the received program each time the program is transferred from the server computer.

  The above embodiment is a preferred embodiment of the present invention. However, the present invention is not limited to this, and various modifications can be made without departing from the spirit of the present invention.

In addition, regarding the description of the above embodiments, the following supplementary notes are further disclosed.
(Supplementary Note 1) A three-dimensional position of a point on the surface of the cable corresponding to a lattice point in a two-dimensional plane from image data obtained by photographing the cable in a state where the cable is connected to a part of an electronic device. An acquisition unit for acquiring data;
A setting unit that generates spatial data having a predetermined width in a direction in which the cable extends in the vicinity of one end of the cable,
The cross-sectional shape data of the cable is generated from the point at which the three-dimensional position data present in the spatial data is obtained, and the extending direction of the cable is specified based on the cross-sectional shape data, and A processing unit that specifies a feature point that satisfies a predetermined condition, moves the spatial data based on the specified feature point and the extending direction, repeatedly executes a process, and generates shape data of the cable from a processing result; ,
A control unit that causes the gripping device to grip the cable based on a generation result of the processing unit, and moves the gripping device to move the cable.
With
The processing unit uses the characteristic point and the stretching direction to generate the shape data when the bending radius of the cable calculated based on the characteristic point of the specified cross-sectional shape data is less than a predetermined threshold. Without moving the spatial data a predetermined distance along the latest stretching direction that has not been discarded,
An apparatus for manufacturing an electronic device, comprising:
(Supplementary Note 2) The cable has a circular vertical cross section,
The apparatus according to claim 1, wherein the predetermined distance is the same as a diameter of the vertical section.
(Supplementary Note 3) When the bending radius is smaller than a predetermined threshold, the processing unit specifies an edge portion of the cable that intersects with the cable from the image data, and determines the spatial data by a distance based on the specified edge portion. 3. The apparatus for manufacturing an electronic device according to claim 1, further comprising:
(Supplementary Note 4) The processing unit includes:
The feature point specified when the bending radius is equal to or larger than a predetermined threshold is stored in the storage unit,
Among the feature points stored in the storage unit, the bending radius of the cable is calculated based on two or more feature points stored immediately before and the newly specified feature point, The apparatus for manufacturing an electronic device according to any one of Supplementary Notes 1 to 3.
(Supplementary Note 5) A three-dimensional position of a point on the surface of the cable corresponding to a lattice point in a two-dimensional plane from image data obtained by photographing the cable in a state where the cable is connected to a part of an electronic device. An acquisition unit for acquiring data;
A setting unit that generates spatial data having a predetermined width in a direction in which the cable extends in the vicinity of one end of the cable,
The cross-sectional shape data of the cable is generated from the point at which the three-dimensional position data present in the spatial data is obtained, and the extending direction of the cable is specified based on the cross-sectional shape data, and A processing unit that specifies a feature point that satisfies a predetermined condition, moves the spatial data based on the specified feature point and the extending direction, repeatedly executes a process, and generates shape data of the cable from a processing result; ,
A control unit that causes the gripping device to grip the cable based on a generation result of the processing unit, and moves the gripping device to move the cable.
With
The processing unit, when the bending radius of the cable calculated based on the identified feature point of the cross-sectional shape data is less than a predetermined threshold, the feature point and the stretching direction to generate the shape data do not use,
An apparatus for manufacturing an electronic device, comprising:
(Supplementary Note 6) The processing unit includes:
The feature point specified when the bending radius is equal to or larger than a predetermined threshold is stored in the storage unit,
Among the feature points stored in the storage unit, the bending radius of the cable is calculated based on two or more feature points stored immediately before and the newly specified feature point, 6. The electronic device manufacturing apparatus according to supplementary note 5, wherein
(Supplementary Note 7) Acquiring three-dimensional position data of a point on the surface of the cable corresponding to a lattice point in a two-dimensional plane from image data obtained by photographing the cable;
Generate spatial data having a predetermined width in the extending direction of the cable in the vicinity of one end of the cable,
The cross-sectional shape data of the cable is generated from the point at which the three-dimensional position data present in the spatial data is obtained, and the extending direction of the cable is specified based on the cross-sectional shape data, and Identifying a feature point that satisfies a predetermined condition, moving the spatial data based on the identified feature point and the extending direction, repeatedly executing a process, and generating shape data of the cable from a processing result,
Let the computer execute the process,
In the process of generating the shape data of the cable, when the bending radius of the cable calculated based on the feature point of the identified cross-sectional shape data is less than a predetermined threshold, the feature point and the stretching direction Move a predetermined distance along the latest stretching direction that is not used for generating shape data and the spatial data is not discarded,
A cable shape estimation program characterized by the above-mentioned.
(Supplementary Note 8) The cable has a circular vertical cross section,
The cable shape estimation program according to claim 7, wherein the predetermined distance is the same distance as a diameter of the vertical section.
(Supplementary Note 9) In the process of generating the shape data of the cable, when the bending radius is smaller than a predetermined threshold, an edge portion of the cable intersecting with the cable is specified from the image data, and the specified edge portion is determined. The cable shape estimation program according to claim 7, wherein the space data is moved by a distance based on the distance.
(Supplementary Note 10) In the process of generating the shape data of the cable,
The feature point specified when the bending radius is equal to or larger than a predetermined threshold is stored in the storage unit,
Among the feature points stored in the storage unit, the bending radius of the cable is calculated based on two or more feature points stored immediately before and the newly specified feature point, 10. The cable shape estimation program according to any one of supplementary notes 7 to 9.
(Supplementary Note 11) Acquiring three-dimensional position data of a point on the surface of the cable corresponding to a lattice point in a two-dimensional plane from image data obtained by photographing the cable;
Generate spatial data having a predetermined width in the extending direction of the cable in the vicinity of one end of the cable,
The cross-sectional shape data of the cable is generated from the point at which the three-dimensional position data present in the spatial data is obtained, the extending direction of the cable is specified based on the cross-sectional shape data, and the cross-sectional shape data is included. Identifying a feature point that satisfies a predetermined condition, moving the spatial data based on the identified feature point and the extending direction, repeatedly executing a process, and generating shape data of the cable from a processing result,
Let the computer execute the process,
In the process of generating the shape data of the cable, when the bending radius of the cable calculated based on the feature point of the specified cross-sectional shape data is less than a predetermined threshold, the feature point and the stretching direction Not used to generate the shape data,
A cable shape estimation program characterized by the above-mentioned.

10 Robot (gripping device)
16 Robot controller (control unit)
20 Cable 3D data acquisition unit (acquisition unit)
24 Search volume setting section (setting section)
26 Cable section / stretch direction calculation unit (part of processing unit)
28 Point-of-interest update unit (part of the processing unit)
30 Cable shape estimation unit (part of processing unit)
36 Data storage unit (storage unit)
44 Cable 100 Electronic equipment manufacturing equipment

Claims (7)

With a cable connected to a part of an electronic device, three-dimensional position data of a point on the surface of the cable corresponding to a grid point in a two-dimensional plane is obtained from image data obtained by photographing the cable. An acquisition unit;
A setting unit that generates spatial data having a predetermined width in a direction in which the cable extends in the vicinity of one end of the cable,
The cross-sectional shape data of the cable is generated from the point at which the three-dimensional position data present in the spatial data is obtained, and the extending direction of the cable is specified based on the cross-sectional shape data, and A processing unit that specifies a feature point that satisfies a predetermined condition, moves the spatial data based on the specified feature point and the extending direction, repeatedly executes a process, and generates shape data of the cable from a processing result; ,
A control unit that causes the gripping device to grip the cable based on a generation result of the processing unit, and moves the gripping device to move the cable.
With
The processing unit moves the spatial data based on the characteristic point and the extending direction when a bending radius of the cable calculated based on the characteristic point of the specified cross-sectional shape data is less than a predetermined threshold. Without moving the spatial data a predetermined distance along the stretching direction used for the previous movement of the spatial data,
An apparatus for manufacturing an electronic device, comprising: The cable has a circular vertical cross section,
The apparatus according to claim 1, wherein the predetermined distance is the same as a diameter of the vertical cross section.   The processing unit, when the bending radius is less than a predetermined threshold, specifies an edge portion of the cable that intersects with the cable from the image data, moves the spatial data by a distance based on the specified edge portion, The electronic device manufacturing apparatus according to claim 1, wherein: The processing unit includes:
The feature point specified when the bending radius is equal to or larger than a predetermined threshold is stored in the storage unit,
Among the feature points stored in the storage unit, the bending radius of the cable is calculated based on two or more feature points stored immediately before and the newly specified feature point, The apparatus for manufacturing an electronic device according to claim 1. With a cable connected to a part of an electronic device, three-dimensional position data of a point on the surface of the cable corresponding to a grid point in a two-dimensional plane is obtained from image data obtained by photographing the cable. An acquisition unit;
A setting unit that generates spatial data having a predetermined width in a direction in which the cable extends in the vicinity of one end of the cable,
The cross-sectional shape data of the cable is generated from the point at which the three-dimensional position data present in the spatial data is obtained, and the extending direction of the cable is specified based on the cross-sectional shape data, and A processing unit that specifies a feature point that satisfies a predetermined condition, moves the spatial data based on the specified feature point and the extending direction, repeatedly executes a process, and generates shape data of the cable from a processing result; ,
A control unit that causes the gripping device to grip the cable based on a generation result of the processing unit, and moves the gripping device to move the cable.
With
The processing unit, when the bending radius of the cable calculated based on the identified feature point of the cross-sectional shape data is less than a predetermined threshold, the feature point and the stretching direction to generate the shape data do not use,
An apparatus for manufacturing an electronic device, comprising: Acquiring three-dimensional position data of a point on the surface of the cable corresponding to a lattice point in a two-dimensional plane from image data obtained by photographing the cable;
Generate spatial data having a predetermined width in the extending direction of the cable in the vicinity of one end of the cable,
The cross-sectional shape data of the cable is generated from the point at which the three-dimensional position data present in the spatial data is obtained, and the extending direction of the cable is specified based on the cross-sectional shape data, and Identifying a feature point that satisfies a predetermined condition, moving the spatial data based on the identified feature point and the extending direction, repeatedly executing a process, and generating shape data of the cable from a processing result,
Let the computer execute the process,
In the process of generating the shape data of the cable, when the bending radius of the cable calculated based on the feature point of the specified cross-sectional shape data is less than a predetermined threshold, the process is performed based on the feature point and the stretching direction . Move the spatial data a predetermined distance along the stretching direction used for the previous movement of the spatial data without moving the spatial data,
A cable shape estimation program characterized by the above-mentioned. Acquiring three-dimensional position data of a point on the surface of the cable corresponding to a lattice point in a two-dimensional plane from image data obtained by photographing the cable;
Generate spatial data having a predetermined width in the extending direction of the cable in the vicinity of one end of the cable,
The cross-sectional shape data of the cable is generated from the point at which the three-dimensional position data present in the spatial data is obtained, and the extending direction of the cable is specified based on the cross-sectional shape data, and Identifying a feature point that satisfies a predetermined condition, moving the spatial data based on the identified feature point and the extending direction, repeatedly executing a process, and generating shape data of the cable from a processing result,
Let the computer execute the process,
In the process of generating the shape data of the cable, when the bending radius of the cable calculated based on the feature point of the identified cross-sectional shape data is less than a predetermined threshold, the feature point and the stretching direction Not used to generate the shape data,
A cable shape estimation program characterized by the above-mentioned.

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