JPS639850A - Managing device for curved surface state of three-dimensional body - Google Patents

Abstract

PURPOSE:To grasp quantitatively flaws, etc., in the internal surface in a sealed container and the surface of a three-dimensional body and to know their coordinate positions by composing and displaying an image of a stored three- dimensional model and an actually observed image by utilizing a computer. CONSTITUTION:The three-dimensional model stored in an external storage device is used to compute how an image camera needs to be controlled to observe the internal wall of the sealed container and the three-dimensional body 2, and a controlled variable is sent to a controller 5. The controller 5 sends a control signal to the camera 3 on the basis of the controlled variable to set the camera at a specific position and also feed the current position of the camera 3 back to a computer main body, thereby controlling the position. The computer main body sends vector data on three-dimensional coordinates based upon the shape of the three-dimensional model to a display controller 8, which puts a video signal obtained from the camera 3 and the output of the three-dimensional model together and displays the composite output on a monitor television 9.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a curved surface state management device that synthesizes a model of a three-dimensional object and a captured real image, and manages the coordinates of the state of a three-dimensional object in a sealed container. Regarding.

[Prior art] Conventionally, the mainstream method for checking the surface condition of a three-dimensional object, such as the presence of scratches and changes in shape, especially checking the inside of the sealed 8th base, has been to disassemble and inspect the container. For cases where this is not easy, fluoroscopy using XMkg,
There were methods such as f% inspection using a-sound waves and direct observation of the inside using a fiberscope.

FIG. 7 is a diagram showing the structure of an example of a conventional curved surface state management device of this type.

In the figure, (1) is a closed container, (2) is a closed container (1
), (3) is the image camera, (4) is the guide port of the sealed container (1), (5) is the controller for the image camera (3), and (6) is the monitor TV. be.

Next, the operation will be explained.

The image camera (3) passes through the guide port (4) and observes the surface of the closed container (1) and the three-dimensional object (2) within the closed container (1) under the control of the controller (5), The image is displayed on a monitor television (6).

The operator operates the controller (5) to
Damage to the inside of the FI closed body (1) and the three-dimensional object (2),
It is now possible to observe distortion, qualitatively grasp its degree, and qualitatively know its position.

[Problems to be Solved by the Invention] Since the conventional curved surface condition management device is configured as described above, it is possible to easily detect flaws and distortions in the closed container (1) and on the surface of the three-dimensional object (2). If you can't do it or it's distorted 3
There was a problem in that it was difficult to measure dimensionally and quantitatively. Furthermore, there was also the problem that the coordinates of scratches and distortions could not be easily managed.

This invention was made in order to solve the above-mentioned problems. It is an object of the present invention to provide a curved surface state management device that allows quantitative understanding of distortion and facilitates coordinate management of its position.

[R stage for solving the problem] The curved surface state management device according to the present invention uses a computer,
A 3D model is memorized, and the 3D model and the actual observation image are combined and displayed to quantitatively determine the scratches and distortions on the inner wall surface of the sealed container and the surface of the 3D object, and to determine their coordinate positions. It is C1-cho-1-beard to know.

[Function] The curved PFI management device of the present invention displays a composite display of a 3D model and an actual observed image, and composites a 3D model such as a wire frame model displayed on a 3D display device with an actual image displayed on a monitor TV. and display it on a multi-display device, making it possible to grasp the curved surface condition in real time.

[Example] An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram of a curved surface state management device according to the present invention.

In the figure, (1) is a closed container, (2) is a closed container (1
), (3) is an image camera as an image capture device, (4) is the guide port of the sealed container (1), (
5) is a controller for receiving and receiving video signals from the image camera (3) and controlling the image camera (3); (7) is for storing a three-dimensional model and transmitting control signals from the controller (5); According to the image camera (3
), a computer that outputs a theoretical three-dimensional model that can be seen in (8
) is a display controller of a display device that combines video information and the output of a three-dimensional model, and (9) is a monitor television serving as a display device that performs the combined output.

FIG. 2 is an explanatory diagram showing a schematic signal flow in the above-mentioned curved surface state management device.

In the figure, (lO) is the image camera guide of the image camera (3), (11) is the computer main body, (12) is the external storage device, (13) is the control signal line, and (14) is the video signal line.

In the external storage device (12) of the computer main body (11), all the shapes (dimensions expressed in three-dimensional coordinates) of the sealed container (1) of the three-dimensional object (2) and its internal structure are stored in the external storage device (12) of the computer main body (11). It is stored as a dimensional model.

The basic storage format of the 3D model is circles and lines (vectors), but the coordinates at which the 3D model is finally expressed are X, 7. These are general coordinates expressed in Z-axis coordinates.

However, the general coordinate system is not necessarily the best way to represent the entire three-dimensional coordinate system, and it may be easier to represent each part using object coordinates, such as cylindrical coordinates or spherical coordinates.

Therefore, the three-dimensional object (3) is first expressed using object coordinates.

Conversion between three-dimensional coordinates is expressed mathematically by a coordinate conversion formula.

For example, the coordinate transformation formula between orthogonal coordinates and spherical calibration is as follows.

u= rsin 0cosφ v= rsin 0sinφ w=rcosO Also, general coordinates and three-dimensional object coordinates are a matter of how the origin was moved and how the coordinate system was taken, so simply general It can be converted into coordinates.

Next, when defining a three-dimensional object from the object coordinate system, the structure of the object is defined by the edges of the surfaces and curves.

This actually uses the dimensions etc. included in the design drawings. However, it is necessary to first determine the origin in one drawing, and to indicate the corresponding points in three views (flat, vertical, and side views). / Therefore, a three-dimensional object is divided into ■components. (
@For each component, convert dimensions, curvature, etc. into general coordinates, which expresses its shape in object coordinates. (D~
According to the procedure (2), the actual dimensions are stored in the external storage device (2) of calculation a (7) while being ranked based on the general coordinates.

Note that the above-mentioned components have a hierarchical structure, and since the curved surface state management device of the present invention is not a three-dimensional CAD, all coordinates are eventually managed using general coordinates.

Next, the operation of the above embodiment will be explained.

First, the external storage device (1) of the computer main body (11) shown in Fig.
From the 3D model stored in 2), calculate how to control the image camera (3) to observe the inner wall of the sealed container (1) and the 3D object (2), and send the information to the controller (5). Send control t;-.

That is, the image camera (3) is attached to the robot arm of a multi-articulated robot (not shown), and controls the robot arm by issuing on/off operation commands for each axis of the robot arm and specifying the on/off times. Controlled by a signal.

Therefore, the controller (5) sends a control signal to the image camera (3) based on the control amount, sets the image camera (3) to a predetermined position, and calculates the current position of the image camera (3) using a computer. Feedback to the main body (11) to control precise position.

In addition, the computer main body (11) has one display controller (8)
The three-dimensional object (2) is displayed by sending vector data in three-dimensional coordinates based on the shape of the three-dimensional model to the object.

This vector data consists of (1) a vector representing the robot arm in general coordinates, and (2) a vector representing a three-dimensional object in general coordinates.

In this case, the signal format is, for example, a binary code using an escape sequence, or an R9422 interface signal line system 'a7.

This is the same as drawing figures on a regular graphic CRT.

The display of the three-dimensional object (2) is a mesh display based on a three-dimensional wire frame model, and the display controller (8) outputs the video signal obtained from the image camera (3) and the three-dimensional model. Combine and display.

The synthesis method in this case is to synthesize an NTSC signal as a video signal and a frame memory of binary vector data of a three-dimensional model using a view memory. Furthermore, in terms of software, it can be synthesized as follows.

That is, for example, an image camera (3
) Find out where the viewpoint center of the three-dimensional object is. In this case, the coordinates Ao (to
+ to, zo), the coordinates of the image camera (3) are set to AM (1w + !w+ zw), the vector from the coordinate Ay to the coordinate Ao is obtained, and the distance dt- in the figure is
calculate.

Further, in order to match the three-dimensional models displayed on the multi-display device, a window is set so that the viewpoint position matches the position of the image camera (3).

The display size in the above case is expressed by the following equation.

ds (!II -to)2+ (t. -yo
)? + (zw −zo)2r = dtanlo.

CR on the screen of a multi-display device
By determining the window so that the distance to the T end is r, the image captured by the image camera (3) and the three-dimensional model can be combined.

Here, if the captured image and the 3D model are displayed at the same time, the mesh of the 3D model and the video signal will not match completely, but the computer main body (11) is equipped with an image camera (3). , since it knows where it is located, at what angle from that position, and which plane it is viewing, it sends correction information to the display controller (8), and theoretically the two images are corrected. Make sure there is an exact match.

Furthermore, the computer main body (11) can rotate the three-dimensional model and the video, similar to 8i, and synthesize images seen from different angles.

Note that the above image camera (3) is attached to the robot arm of a multi-articulated robot, but the attachment of the image camera (3) to the robot arm depends on the position,
The mounting angle is a fixed pattern and is specified by the operator when mounting the image camera (3) on the robot arm.

Therefore, when the position of each axis of the robot arm is known, the viewpoint position of the image camera (3) can be uniquely determined.

Therefore, for the 3D model, the image camera (3)
If the point where the center lines of the two collide is found, it will be combined with the video signal.

Generally, it is difficult to solve this problem analytically, but an analytical solution can be obtained if the geometry is simple.

In addition, in the case of a complex shape, the line of sight is numerically extended to find a numerical solution.

The image is displayed on the monitor television (9) in the manner described above, and the manner in which it is displayed is shown in FIG.

In the figure, (15) shows the video display area, (16) shows the outline of the image camera (3), and (17) shows the flaw detected by r&.

In addition, the computer main body (11) outputs the ml control to the controller (5), and at the same time calculates how it would look theoretically, and displays the coordinates of the three-dimensional model on the monitor television (9). The situation is shown in Figure 5.

In the figure, (18) is the three-dimensional graphic display area, (
19) are coordinates.

Further, FIG. 6 shows how the video image and the three-dimensional model are combined and displayed using the display controller (5).

In the figure, (20) shows the composite display area. From this figure, it can be seen at which coordinates of the three-dimensional model the flaw is located and what its size is. By registering these coordinates, the curved surface state can be easily managed.

Although the operator visually checks for scratches, even in cases where the surface film of a three-dimensional object is divided into many layers, such as in nuclear reactors and nuclear fusion reactors, it is possible to check the damage in units of lm. This can be confirmed from the depth of the scratch. In addition, this scratch is registered for each mesh area, and the size and area of the scratch are
The degree of damage will be known.

Furthermore, the above-mentioned flaw management can be performed by registering the flaw registration date and repair date on a mesh-by-mesh basis to manage its history.

Similarly, when distortion occurs on the observation target plane, the display coordinates and the image do not match, so it is possible to easily know where the distortion is occurring, and also to control the image camera and adjust the coordinate plane. By matching, it becomes possible to accurately grasp the distortion.

In the above embodiment, the image camera (3) was used to synthesize the video signal and the three-dimensional model, but it is also possible to synthesize the video signal and the three-dimensional model using an infrared sensor, change the sensor, or use multiple sensors. By using and compositing individual objects, it is possible to grasp even more complex surface conditions.

Furthermore, in the above embodiment, the surface condition changing or moving in real time is observed according to the control amount, but it is also possible to know the change over time by observing the heat Δt from a certain position over time. .

Furthermore, by displaying not only the coordinates but also simulation results such as temperature changes as output from the rxa, it becomes possible to grasp how the actual changes differ from the theoretical changes.

[Effect of IJ'N] As shown in 1- below, according to this invention, a computer is used to
Memorize a dimensional model, synthesize and display the 3D model and actual observation images, accurately grasp scratches and distortions on the inner wall surface of a sealed container and the surface of a 3D object, and know their coordinate positions. Since the structure is configured so that the complex state of a three-dimensional curved surface can be easily displayed with good visibility, it is also possible to easily manage the coordinates of scratches and distortions.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a curved surface state management device showing an embodiment of the present invention, FIG. 2 is an explanatory diagram showing a general signal flow in the above curved surface state management device, and FIG. An explanatory diagram of the method of combining a model and a video signal, Figure 4 is a video display diagram when photographed with an image camera, Figure 5 is a graphic display diagram of a three-dimensional model output from the computer main body, and Figure 6 is a composite diagram of a video signal and a graphic display of a three-dimensional model, and FIG. 7 is a configuration diagram of a conventional curved surface state management device. (1)...Airtight container, (2)...3 Dimensional object, (3)...Image camera, (4)...Guidance gate, (5)...Control controller, (7)...Calculator, (8)...Display controller. (9) ...Monitor TV, (10)...Image camera guide, (11)...
The main body of the computer. (12)--external storage device, (13)--control signal line, (14)--video signal line. In each figure, the same reference numerals indicate the same or corresponding parts. Agent: Masuo Oiwa Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Procedural amendment (voluntary) Title of invention Curved surface state management of three-dimensional objects Device 3, person making the correction Representative Moriya Shiki 4, agent 5, subject of correction 6, description of the contents of the correction, page 10, line 20 to page 11, line 1, ``The position...roller ( 8)” should be amended as follows. ``The display controller (8) digitizes the angle from which the object is observed and the distance from which point it is observed.''

Claims (1)

[Claims] a computer that stores a model of a three-dimensional object and calculates how it looks depending on the displacement of a viewpoint; an image input device that captures a display state of the model of the three-dimensional object; a graphic display of the model of the three-dimensional object; 1. A curved surface state management device for a three-dimensional object, comprising a display device that simultaneously synthesizes images captured by an image input device and displays the synthesized images on a screen.