KR20090019112A - System and method for simulation of virtual equipment by 3d image processing - Google Patents

Abstract

A simulation system of the virtual equipment by 3D image processing and method are provided to verify the reliability of the equipment control software by using the virtual equipment. The simulation system of the virtual equipment through 3D image processing comprises the view class processing unit(100), and the model class processing unit(200) and dialog box class processing unit(300). The view class processing unit manages the graphics window in the screen. The model class processing unit is connected to the view class processing unit. The model class processing unit produces or deletes the object and supervises the command mounting actuator or the sensor to the generated object. The virtual equipment simulator is connected to the model class processing unit processes.

Description

System and method for simulation of virtual equipment by 3D image processing}

The present invention relates to the simulation of virtual equipment, and in particular, to verify the reliability of the equipment control software using the virtual machine to be suitable for the development of the equipment control software even before the real equipment is released 3D (Three Dimension And a 3D) image processing system for a virtual machine and a method thereof.

In general, for the purpose of research, in order to develop the equipment control software, the operation and reliability of the developed control software must be verified through real equipment.

The prior art must verify the operation and reliability of the developed control software through real equipment. In this case, the equipment control software development team performs the software verification test until the development of the real equipment is completed even though the first software development is completed. There is a problem that the software through the real equipment may damage the hardware due to the error of the control software, and may cause various difficulties in various unit tests and a series of comprehensive system tests.

Therefore, the present invention has been proposed to solve the conventional problems as described above, and the object of the present invention is to verify the reliability of the equipment control software using a virtual machine to develop the equipment control software even before the actual equipment is released. It is to provide a simulation system and a method of virtual equipment through 3D image processing that can enable this.

2 is a block diagram of a simulation system of a virtual device through 3D image processing according to an embodiment of the present invention.

As shown therein, a view class processing unit 100 which manages a graphics window displayed on the screen; It is connected to the view class processing unit 100, creates or deletes an object, manages an instruction to mount an actuator or a sensor on the generated object, and if there is a part that drives the virtual machine simulator, the driving part is normal. A model class processing unit 200 for processing to operate; And a dialog class processing unit 300 connected to the model class processing unit 200 and managing a dialog window for values that must be directly input by the user.

The view class processing unit 100 may include a modeling unit 110 for generating and deleting a model required for virtual device simulation; A network connection unit (NetworkDlg) 120 for connecting to an external communication unit and processing a control command to enter; A keyboard test unit (Simple Test) (130) for processing so that the operation of the model in advance by using a shortcut key and the keyboard; And a simulation unit (Simulation View) 140 that represents a motion such as a real machine by displaying the input command received on the screen under control by a control command input through an external communication means.

The modeling unit 110 may generate and designate one or more of shape information, ID number, location information, geometry information, name, color, and transparency value of the model.

When the model is deleted, the modeling unit 110 checks whether the group is deleted, deletes the group, and deletes the model. If the model is equipped with a link relationship or an actuator, the model is executed after deleting the link or deleting the actuator. It characterized in that to delete.

The model class 200 processing unit includes: an actuator processing unit 210 for processing a component or an operation of an actuator; An object manager 220 that manages a function of generating an object; A figure generator 230 generating a figure according to a type of a figure set by the object manager 220; And a sensor processor 240 for detecting a collision of a figure generated by the figure generating unit 230 in advance or tracking a position of an object.

The actuator processor 210 receives a drive shaft and a drive speed when the actuator is mounted, uses a D3DXVECTOR4 for internal conversion of the actuator, and uses a D3DXVECTOR3 to set the actuator's operating range. The transformation matrix is characterized by using a frame move function to move an internal frame.

The actuator processor 210 may be implemented in a simple test mode and a simulation mode, and move a hand portion to a designated position with respect to a scara mechanism in the simple test mode. In the simulation mode, the rotation, movement result matrix is calculated when the driving of the actuator is completed by calculating the speed, acceleration, and deceleration.

The object manager 220 may design an STL (Stereo Lithography) import using an index buffer and a vertex buffer.

The figure generator 230 may generate or delete a link relationship between the generated models, and the functions of mounting or deleting an actuator or a sensor may be implemented.

The figure generator 230 implements collision check-related functions, implements picking-related functions using collisions with infinite straight lines, processes collisions between models and collisions with sensors, and performs modeling. Objects colliding at are added to the ignore collision list so that collision is not detected.

The sensor processor 240 displays whether the object moves in an initial state, measures whether the object interferes with the sensor, measures the distance between the surface of the object and the center of the sensor with respect to the set axis. And measuring a relative distance between the centers of the sensors with respect to the center point of the global coordinates.

8 is a flowchart illustrating a simulation method of a virtual device through 3D image processing according to an embodiment of the present invention, and FIG. 9 is a detailed flowchart of a modeling step in FIG. 8.

As shown therein, a first step (ST1) of performing modeling required for virtual machine simulation; A second step ST2 for simply performing a simulation through a keyboard input after the first step; And a third step (ST3) for performing a simulation on the virtual device by performing a connection with the 3D client, which is a driving request program after the second step.

The first step is to add the model when performing the modeling, or to perform the import (IMPORT) of re-importing a file that has already been modeled and stored in the CNT (Contents) format, or modeled in an external program. An eleventh step (ST11 to ST13) to perform modeling by loading a STL (STereo Lithography) file; A twelfth step ST14 for defining a dependency relationship between the models so as to set a moving part when mounting the actuator after the eleventh step so that a link is performed; And a thirteenth step ST15 for mounting and setting an actuator after the twelfth step.

In the eleventh step, modeling including one or more of ball, box, cylinder, frustum, cone, and polygon may be performed when modeling by adding a model.

The eleventh step may include a name, a type, an initial position, an initial rotation, a geometry, and a color of the model when performing modeling by adding a model. It is characterized in that it is set to include one or more of.

In the eleventh step, when the STL file is loaded, one or more of color information, link information, and actuator information may be set to load the STL file.

In the twelfth step, link setting may be performed using a modeling button.

In the twelfth step, link setting may be performed by using drag and drop in a tree view.

The simulation system and method of the virtual machine through the 3D image processing according to the present invention can verify the reliability of the machine control software using the virtual machine to enable the development of the machine control software even before the real machine is released. It will work.

Referring to the accompanying drawings, a preferred embodiment of a simulation system and a method of a virtual device through the 3D image processing according to the present invention configured as described above are as follows. In the following description of the present invention, detailed descriptions of well-known functions or configurations will be omitted if it is determined that the detailed description of the present invention may unnecessarily obscure the subject matter of the present invention. In addition, terms to be described below are terms defined in consideration of functions in the present invention, which may vary according to intention or precedent of a user or an operator, and thus, the meaning of each term should be interpreted based on the contents throughout the present specification. will be.

First, the present invention is intended to enable the development of equipment control software even before the actual equipment is released by verifying the reliability of the equipment control software using virtual equipment.

The present invention will be described in detail as follows.

In general, in order to develop the equipment control software, the operation and reliability of the developed control software must be verified through real equipment. In this case, the equipment control software development team must wait for the software verification test until the development of the actual equipment is completed even though the primary software development is completed, and the software through the physical equipment may damage the hardware due to the error of the control software. However, various difficulties can occur in various unit tests and a series of comprehensive system tests. Therefore, the present invention proposes a virtual machine simulation system and method for verifying the reliability of equipment control software using virtual equipment in order to enable the development of equipment control software even before the actual equipment is still released. .

1 is a conceptual diagram illustrating an overall example of a simulation system of a virtual device through 3D image processing to which the present invention is applied.

Therefore, when the virtual machine simulator is driven through the API (Application Program Interface) in the driving request unit, the simulation using the virtual machine becomes possible.

2 is a block diagram of a simulation system of a virtual device through 3D image processing according to an embodiment of the present invention.

Thus, the present invention may include a view class processing unit 100, a model class processing unit 200, and a chat window class processing unit 300. In addition, the view class processing unit 100 may be configured as a modeling unit 110, a network connection unit 120, a keyboard test unit 130, a simulation unit 140, the model class processing unit 200 is the actuator processing unit 210 , An object manager 220, a figure generator 230, and a sensor processor 240 may be provided. Detailed description thereof will be given below.

3 is a conceptual diagram illustrating a concept of a 3D image generation and a virtual simulator in a simulation system of a virtual device through 3D image processing according to an embodiment of the present invention.

Therefore, 3D image can be generated by primitive object, CAD data loading, placement, and dynamic characteristics, and it can be simulated by driving it in the simulator, which is a 3D image driving engine, using 3D image information data. Done.

Figure 4 is a conceptual diagram showing an example of the mechanical motion that can be specified in the mechanical motion engine to which the present invention is applied.

4 shows an example of a cylinder rising / falling on the Z axis, and an example of designating characteristics of the cylinder in the Z direction is shown. In addition, the right side of FIG. 4 shows an example in which the head is rotated 90 degrees, moves in the Z direction, and specifies the characteristics of the group that is XY motion with the whole. An example of specifying the linear motion in the XY direction is shown.

5 is a conceptual diagram showing an operation principle and a case screen of the virtual machine simulator in the present invention.

Thus, the driving request unit is connected to the API, and the API is connected to the virtual machine simulator. The virtual machine simulation can be implemented through the API in the program of the driving request unit.

The virtual machine simulator, which is a simulation system of the virtual machine, may be configured as a view class processor 100, a model class processor 200, and a dialog class processor 300.

And the development language for the virtual machine simulator can use Microsoft's DirectX.

Microsoft DirectX is an enhanced suite of multimedia APIs (Application Programming Interfaces) built into the Microsoft Windows operating system. DirectX provides a standard development platform for Windows-based PCs that allows developers to access specialized hardware features without writing code specific to specific hardware. DirectX was first introduced in 1995 and is now recognized as a standard for developing multimedia applications on the Windows platform. It provides a standard development platform that can be used on Windows-based personal computers (PCs), enabling general program development that is not limited to specific hardware. Also, since DirectX 7.0 version, extension library is provided. This library contains functions, classes, and interface functions for common 3D graphics tasks such as arithmetic operations, texture and image operations, mesh operations, and shader operations.

The advantages of these Direct X libraries are as follows:

First, it contains functions, classes, and interfaces for common 3D graphics tasks such as arithmetic operations, texture and image operations, mesh operations, and shader operations. This provides a more convenient developer environment when performing repetitive tasks.

Second, in addition to 3D, it also includes a library for keyboards, mice, networks, videos, cameras, sounds, etc., so that various tasks can be conveniently performed.

Third, if only DirectX runtime which is freeware is installed, it can be used on any computer, so it is excellent in generality.

And the mathematical background for understanding of the present invention will be described as follows.

-3D Vector

Since vectors represent both magnitude and direction, they are an appropriate form of representation of physical quantities in space. Since the position is not an attribute of the vector when expressed as a vector, it is treated as the same vector if the size and the direction are the same even if the position is different.

Since the position of the vector does not change the properties of the vector, the vectors can be placed in parallel so that the tail coincides with the origin of the coordinate system. If the tail of the vector coincides with the origin, the vector is located at the standard point.

The DirectX library uses the D3DXVECTOR3 class to represent vectors in 3D space, which inherits components from D3DVECTOR.

-Matrix

When programming a Direct Three Dimension X (D3DX) application, use only 4 * 4 matrices and 1 * 4 row vectors. Create a 1 * 4 row vector by the product of a vector and a matrix, and a 4 * 4 matrix by the product of a matrix and a matrix.

The basic transformation of a vector in a matrix is

The D3DXVECTOR3 and D3DXVECTOR4 classes are used to represent 1 * 4 row vectors in D3DX. The fourth component of D3DXVECTOR3 is expressed as 1 or 0. This is to attempt more various transformations because transformations that cannot be represented by 3 * 3 matrix (for example, transformation, projection, or reflection) can be represented in 4 * 4 matrix. Therefore, to define the product of a vector and a matrix, a 3D point or vector must be supplemented and equalized in a 4D row vector.

The important thing here is that there are differences when you supplement points or vectors. When placing points in a 1 * 4 row vector, specify the 4 row component as 1 to define the movement of the point precisely. However, when placing a vector, set the four-row component to 0 to avoid meaningless movement of the vector. This is because a change in position has no meaning due to the characteristics of the vector described above.

The shift matrix is

To move a vector of (x, y, z, 1) by A unit for each axis, the following matrix is needed.

Equation 1 is a moving matrix.

In D3DX, you can express using the D3DMatrixTranslation () function. This function implements the function by entering Ax, Ay, and Az as float values.

Also, the rotation matrix is

Using the rotation matrix, radians can be rotated on each axis and the angle is measured clockwise relative to the rotated axis when looking down the axis.

6 is a conceptual diagram showing an example of a 30 degree counterclockwise rotation in the Z axis when applying the present invention.

In D3DX, this is expressed using the D3DMatrixRotationX (or Y, Z) () function. This function implements the function by entering the rotation angle as a float value.

Equation 2 is an X-axis rotation matrix, Equation 3 is a Y-axis rotation matrix, and Equation 4 is a Z-axis rotation matrix.

Also, the size transformation matrix is as follows.

When converting the size of an object, you can multiply the size transformation matrix by a vector and convert the size of the vector as desired on each axis. In D3DX, the size is expressed using the D3DMatrix Scaling () function.

Equation 5 is a magnitude transformation matrix.

In D3DX, we use the D3DMATRIX class to represent 4 * 4 matrices and inherit the components from the D3DMATRIX structure. The D3DMATRIX class contains various operators for matrices.

-Flat

A plane consists of a vector and points on that plane. The vector is perpendicular to the plane because it is a normal vector of planes. In D3DX, the implementation is done using the D3DXPLANE structure, which consists of a normal vector and a point, a 4D vector. The normal vector n and the point p are required to represent a plane, and the following equation 6 is satisfied when the point p ₀ is a point representing a specific plane.

n * (p-p ₀ ) = 0

When expressing a specific plane, it is common to express Equation 6 as Equation 7 below.

n * p + d = 0

Where d =-n * p ₀

Equation 7 may be useful for tracking the relative position of the plane and the point.

If n * p + d = 0, p is on the same plane as the plane.

If n * p + d> 0, p is in front of the plane.

If n * p + d <0, p is behind the plane.

In addition, the plane consists of two vectors using three points, and calculates the normal vector of the plane by obtaining the cross product of the two vectors.

Meanwhile, the structure of the simulator will be described in detail as follows.

First, the virtual machine simulator design was done based on the basic knowledge described earlier. We designed the program to model primitive objects (balls, boxes, cylinders, polygons, frustums, cones) and mesh models for easy modeling. Mesh model supports files in STL (Stereo Lithography) format, so it is possible to model complex shaped objects that cannot be done only with primitive model in this program.

Thus, the view class processing unit 100 is a part of the overall graphics window that is visible on the screen, the modeling unit (Model List) 110 which is an initial modeling stage, a network connection unit (NetworkDlg) (which is connected to a communication program) ( 120), after the modeling is completed, the actuator (actuator) is mounted, the keyboard test unit (Simple Test 130) to check the normal operation with a predetermined key (Key) (130), and the operation according to the external command after connecting to the communication program Consists of a total of four parts, such as a simulation view (140) showing the situation.

The modeling unit 110 implements code for overall modeling such as creating and deleting a model. Primitive objects are assigned a unique identification number to each shape and created or deleted in the program according to the identification number. When creating a model, the model's shape information, ID number, location information, geometry information, name, color, and transparency values are specified. Therefore, by setting the location information and the color information of the object in the model generation step, modeling can be made faster.

If you add a model, you can use objects modeled by external programs in addition to primitive objects. The import type uses STL. The format includes only the outer vertex information of the shape and the normal vector, so the capacity is small.

When deleting a model, make sure that it is grouped, then delete the group and delete the model. If the model is equipped with a link relationship or an actuator, delete the model after deleting the link or actuator in the program. When the user deletes only the model, the internal components such as link relationship, actuator and sensor are automatically deleted.

The actuator can be mounted after the link relationship is established, which clearly indicates the reference of the moving part. It is designed to set the direction and speed of operation when actuator is installed.

Sensors help move objects move more accurately. By detecting location information and notifying the user, fine control is possible.

As the model was added, the model components were represented as a tree on the left side of the screen so that the user could easily recognize them. It is also designed to facilitate modeling by enabling the link relationship in the tree using drag & drop.

Network connection unit (NetworkDlg) (120) is a part for connecting with an external communication program through the control command comes through this part.

When the actuator is mounted during the modeling process, the keyboard test unit (SimpleTest) 130 sets a shortcut key so that the keyboard can be operated by using the keyboard. The model is equipped with an actuator and a sensor. During the keyboard test, information about the actuator and sensor is displayed on the left side of the program. The user can numerically check for collision or interference by checking this.

Basic operations of the simulation unit 140 are the same as the keyboard test unit 130. The difference is that motion control is done by entering commands in an external program rather than on the keyboard. In order to use the control software of the virtual machine, the most important part is to display the input command on the screen to express the movement like a real machine.

The model class processor 200 manages a command for generating or deleting an object and mounting an actuator or a sensor to the generated object. The presence of the driven part also allows the drive to operate normally. When the object is selected using the mouse on the screen, picking is performed by checking collision with an infinite straight line. Therefore, collision or interference checking between objects is also implemented here.

The model class processor 200 may be implemented by an actuator processor 210, an object manager 220, a figure part 230, and a sensor 240. have.

Actuator 210 implements the components or operation of the actuator. When installed, the drive shaft and drive speed can be input. D3DXVECTOR4 is used for internal conversion and D3DXVECTOR3 is used to set the operating range. The conversion matrix by the input value uses the Frame Move function to move the internal frame. This function is divided into rotation and translation. In addition, it is implemented by distinguishing between Simple test mode and Simulation mode. In the simple test mode, the scaffolding mechanism is designed to move the hand to the designated position. In simulation mode, speed, acceleration, deceleration, etc. are calculated, and when the drive is completed, the rotation and movement result matrix is calculated.

The object manager 220 is a part that manages a function for generating an object. First, we designed STL import using index buffer and vertex buffer to implement various models. STL is designed to be able to use 62535 meshes so that the modeling can be sophisticated. The STL information is initially loaded in text mode and, if text mode fails, in binary mode.

The primitive model implements a function by variableizing components required for each shape, and the content of the parameterization is shown in FIG. 7. 7 is a table showing examples of primitive function names and variables used in the present invention.

You can also adjust the transparency of the selected object using the Render Alpha function. This function is used to model objects with transparent properties, such as glass and transparent acrylic materials.

We also implement a collision and interference check by creating a bounding box containing the Object. At initial modeling, models with contact or collision are not checked for collision in the simulation.

The figure generator 230 generates a figure in accordance with the shape of the figure set by the model object 220. The mesh model is also imported in this section. You can create or delete the link relationship between the created models and implement functions to install or delete actuators or sensors. The driving part is driven by using the Frame Move function, and the child part is implemented to operate simultaneously through the if statement.

After running, the render function is used to separate models, sensors, and actuators to execute the render.

In this part, the ability to select objects in real time and add and remove them as children in the simulation is implemented. In the present invention, this function is used to control the flow of the wafer to enable realistic simulation.

Collision check functions are also implemented here. Picking-related functions are implemented using collisions with infinite straight lines, dispatch between models, and collisions with sensors. The criterion for collision is based on the bounding box of the figure. In this case, we design details of the case of ignoring collisions. In the modeling stage, objects colliding are added to the collision ignore list so that collisions are not detected.

In case of Translation and Rotation, each function is implemented to distinguish between the case of child and the case of no child. If there is a child, the relative coordinates of the child are obtained again according to the movement of the parent. Otherwise, if only the child is moved, the coordinates are independently obtained. After that is done, setpose calculates the new position.

There are two options for finding the shortest distance between two selected objects. There is a function to find the shortest distance between two objects and to find the shortest distance for each axis. The criterion for measuring distance is to measure the shortest distance between bounding boxes surrounding an object's appearance.

The sensor 240 is useful when detecting a collision in advance or tracking the position of an object.

Laser indicates false when the object is not moving in the initial state and true when it starts moving.

Contact measures the interference between the object and the sensor. True if the object is colliding with the surface of the object without distinguishing the direction of travel or the center. The collision between the object surface and the sensor surface is checked separately from the collision of the bounding boxes of the two objects.

Calc.dist measures the distance between the surface of the object and the center of the sensor with respect to the axis you set. If you go through the center position based on the direction of the sensor will display infinity. It also displays infinity if there is no object to measure in the direction of travel.

Calc.position measures the relative distance between the centers of the sensors with respect to the center point of the global coordinates.

The other class is a dialog class 300.

The dialog class 300 manages a dialog window for values that a user must input directly in a program. Since the main program configuration is designed to receive input directly, various settings are possible. Create dialogs, such as creating a model, mounting actuators, and mounting sensors. For example, the setting for the rotation matrix is as follows. The rotation angle can be set to radian and degree, and the rotation order can be selected in three ways: XYZ, ZYX, and XYX.

On the other hand, since the purpose of the program operation implemented by the present invention is to verify the reliability of the control software, it must be possible to operate like an actual device and a collision and interference check should be made. There are three ways to run the program. First, it consists of a model list that manages modeling, a keyboard test that can be easily simulated through keyboard input, and a simulation that can be connected to a 3D client, a driving request program.

8 is a flowchart illustrating a simulation method of a virtual device through 3D image processing according to an embodiment of the present invention.

Model list (ST1)

First, modeling is in charge of modeling, which is an important part of program operation.

FIG. 9 is a detailed flowchart of a modeling step in FIG. 8.

In addition, when the program is driven, it starts as shown in FIG.

FIG. 10 is a diagram illustrating an example of a program initial screen upon application of FIG. 8.

Modeling can be done in three ways.

That is, ADD MODEL (ST11), IMPORT (ST12), and STL (Sereo Lithography) import (ST13).

ADD MODEL (ST11) is a method for modeling with the basic figure provided by the present invention can model ball, box, cylinder, frustum, cone, polygon. You can also set the model name, type, initial position, initial rotation, geometry and color at this stage. Mesh model is used to import STL file and INCLUDE MESH is used to import CNT file containing STL file.

FIG. 11 is a diagram illustrating an example of a setting window when the model adding step is performed in FIG. 9.

IMPORT (ST12) is a method of reloading files that have been modeled and saved in CNT format. When modeling for the first time, after inputting position, rotation, color information, etc., the setting window like the ADD model does not appear, and the general file open window appears.

You can import files modeled by external programs using STL (Sereo Lithography) Import (ST13). After sophisticated modeling in a commercial CAD program such as CATIA or SOLID EDGE, save this file in STL format and set the color information, link information, and actuator information in the same order as primitive modeling. Can also be modeled.

FIG. 12 is a conceptual diagram illustrating an example of a wafer transfer when the STL import step is performed in FIG. 9.

STL divides all faces into triangles, storing the normals of the faces and the coordinates of the three vertices. STL Translator is supported by software such as SolidWorks, AutoCAD, Pro / Engineer, and CATIA. Software is also being developed to convert CAD interchange data such as IGES, VDAFS, STEP, and PDES into STL files. Since the STL format only contains the shape information, it is easy to handle due to its small capacity. Because of the simplicity of the information, this format is often used for compatibility with other programs.

FIG. 13 is a conceptual diagram illustrating an example of STL format information when the STL import step is performed in FIG. 9. Thus, the outline information included is composed of three vertex information and a normal vector of a plane formed by three vertices as shown in FIG. 13.

Link establishment (LINK) (ST14) is to perform a link link to define the dependency relationship between the models. This is to set the moving part when mounting the actuator. In a Link connection, the parent object is the base of the movement, and the child object is the moving part.

A parent object can have multiple child objects, but a child object can't have multiple parent objects.

In the present invention, the link relationship can be established in two ways.

First, use modeling button

Click the Link model button on the left side of the program and set the link by clicking parent and child in the pop-up tree view.

FIG. 14 is a diagram illustrating an example of a setting window when performing a link setting step in FIG. 9. Thus, the setting window is as shown in FIG.

Second, using drag & drop in tree view

In the tree view on the left side of the program, click and drag the child object and drop it on the parent object's name to set the link relationship. If you drag after selecting the child object, the name to be selected as the parent object is activated and can be easily recognized.

FIG. 15 is a diagram for describing an example of using drag and drop in a tree view when performing a link setting step in FIG. 9.

Actuator setting (ST15) is to mount the actuator after link setting is completed between models. There are three actuators, translation and rotation are the same as the mounting method, scara is similar but there are some differences. Scara selects scara1 and scara2, where scara1 is an object close to the axis of rotation and scara2 is the hand part. The Scara2 is equipped with a sensor so the hand is placed in the correct position.

FIG. 16 is a diagram illustrating an example of a setting window when an actuator setting step is performed in FIG. 9. Thus, the mounting method of the actuator is shown in FIG. In FIG. 16, Axis is a part for setting an operating axis, and Anchor is a part for setting an operation reference point.

In this way, after performing modeling ST1, a keyboard test ST2 is performed.

That is, when modeling is completed, the keyboard test is performed to check whether each driving part operates normally before connecting to the driving request program. Real-time simulation can be performed using the keys already set when the actuator is mounted, and collision checking is possible at this stage. For the actual simulation, this step is tested for operation and the simulation with the external program is performed in the simulation mode.

Simulation (ST13) is to connect with the driving request program if the driving part is working properly as a result of keyboard test. Switch to the simulation mode, run the 3D client program and click the connect button at the bottom center of the program. If the state view shows CONN STATE CHANGED [1-> 3] with the current time, the connection was successful. If you go to 3D client program and see the communication connection status, Pair connect is displayed. Click the get version button on the upper right of the program to read the version information, and then click the Update model info button to collect the model information. When the driving command is given through the 3D client, the object shown in this program can be seen running.

Meanwhile, in the production of prototypes, attempts have been made to identify problems in advance before producing products. As a way to check the problems before the prototype is produced, there is a digital mock-up that generates 3D models and checks the interference and free space of various parts. Recently, research on the rapid prototyping (RP) system has been actively conducted, and attempts to simulate three-dimensionally in Virtual Reality through the Internet are being studied.

The present invention is to develop a three-dimensional image processing software driving program that can verify the operation and reliability of the developed equipment control software through a virtual device on a computer. Currently, the equipment control software development team has to wait for the software verification test until the development of the real equipment is completed even though the first software development is completed, and the software through the real equipment may damage the hardware due to the error of the control software, Difficulties can arise with unit testing and a series of comprehensive system tests. In addition to the simulation of machine control, the efficient placement of multiple instrument devices can be simulated in advance, which can lead to significant development cost savings. In the present invention, in order to enable the development of equipment control software even before the actual equipment is still released, a virtual equipment simulator for verifying the reliability of the equipment control software using virtual equipment was developed as follows.

First, since the program was designed using Direct X, this program was designed to have general purpose.

Second, in order to use 3D CAD data easily, STL format provided by CATIA, Solid Edge, etc. can be used and verified through simulation using actual equipment model data.

Third, since the three-dimensional image processing software simulation program developed in the present invention has a general purpose, it is possible to model various devices as virtual devices on a computer, and apply the control software to the reliability and validity of the software developed by interworking with a communication program. Can be.

The function of the program implemented by the present invention is summarized as follows.

-Create and delete primitive objects

-Translation, Rotation actuator installed

-4 function sensor

-Drag & drop function

-Redo & undo function

-Link with external control program

-Automatic deletion of internal components when deleting a model

-Grouping function

-STL format support

-Send modeling information to control program via network

Collision Detection

-Hide / Show function

-Transparent property designation function

-Measure the shortest distance between objects and the shortest distance for each axis

-6 view modes

-Real time link connection

Using the program implemented by the present invention, the equipment control software development team can perform software verification tests with or without hardware development and can simulate various changes. In addition, software control through real equipment can be more stably performed.

As such, the present invention enables the development of equipment control software even before the actual equipment is released by verifying the reliability of the equipment control software using virtual equipment.

Although the above has been described as being limited to the preferred embodiment of the present invention, the present invention is not limited thereto and various changes, modifications, and equivalents may be used. Therefore, the present invention can be applied by appropriately modifying the above embodiments, it will be obvious that such application also belongs to the scope of the present invention based on the technical idea described in the claims below.

1 is a conceptual diagram illustrating an overall example of a simulation system of a virtual device through 3D image processing to which the present invention is applied.

2 is a block diagram of a simulation system of a virtual device through 3D image processing according to an embodiment of the present invention.

3 is a conceptual diagram illustrating a concept of a 3D image generation and a virtual simulator in a simulation system of a virtual device through 3D image processing according to an embodiment of the present invention.

Figure 4 is a conceptual diagram showing an example of the mechanical motion that can be specified in the mechanical motion engine to which the present invention is applied.

5 is a conceptual diagram showing an operating circle and a case screen of the virtual machine simulator in the present invention.

6 is a conceptual diagram showing an example of a 30 degree counterclockwise rotation in the Z axis when applying the present invention.

7 is a table showing examples of primitive function names and variables used in the present invention.

8 is a flowchart illustrating a simulation method of a virtual device through 3D image processing according to an embodiment of the present invention.

FIG. 9 is a detailed flowchart of a modeling step in FIG. 8.

FIG. 10 is a diagram illustrating an example of a program initial screen upon application of FIG. 8.

FIG. 11 is a diagram illustrating an example of a setting window when the model adding step is performed in FIG. 9.

FIG. 12 is a conceptual diagram illustrating an example of a wafer transfer when the STL import step is performed in FIG. 9.

FIG. 13 is a conceptual diagram illustrating an example of STL format information when the STL import step is performed in FIG. 9.

FIG. 14 is a diagram illustrating an example of a setting window when performing a link setting step in FIG. 9.

FIG. 15 is a diagram for describing an example of using drag and drop in a tree view when performing a link setting step in FIG. 9.

FIG. 16 is a diagram illustrating an example of a setting window when an actuator setting step is performed in FIG. 9.

Explanation of symbols on the main parts of the drawings

100: view class processing unit

110: Model List

120: network connection unit (NetworkDlg)

130: keyboard test unit (Simple Test)

140: simulation view

200: model class processing unit

210: Actuator processing unit

220: object management unit (Model Object)

230: Shape generation unit (Model Part)

240: sensor processing unit (Sensor)

300: Dialog class processing unit

Claims (18)

A view class processing unit which manages the graphics window displayed on the screen; Model class connected to the view class processing unit, creates or deletes an object, manages an instruction to mount an actuator or a sensor on the generated object, and processes the driving unit to operate normally if there is a part driving the virtual machine simulator. A processing unit; A dialog class processing unit connected to the model class processing unit and managing a dialog window for values to be input by a user; Simulation system of a virtual device through 3D image processing, characterized in that configured to include. The method according to claim 1, The view class processing unit, A modeling unit which generates and deletes a model required for virtual machine simulation; A network connection unit connected to an external communication unit to process a control command; A keyboard test unit configured to check whether the model operates in advance by using a shortcut key and a keyboard; A simulation unit which is controlled by a control command input through an external communication means and displays an input command on a screen and expresses a movement like a real machine; Simulation system of a virtual device through 3D image processing, characterized in that configured to include. The method according to claim 2, The modeling unit, When the model is generated, the simulation system of the virtual machine through 3D image processing, characterized in that the generation of at least one of the shape information, ID number, position information, geometry information, name, color, transparency values of the model. The method according to claim 2, The modeling unit, When deleting a model, check if it is grouped, delete the group, and delete the model.If the model is equipped with a link relationship or an actuator, the 3D image processing may be performed after deleting the link or deleting the actuator. Virtual machine simulation system. The method according to any one of claims 1 to 4, The model class processing unit, An actuator processing unit for processing a component or an operation of the actuator; An object manager that manages a function that creates an object; A figure generating unit generating a figure according to a type of a figure set by the object manager; A sensor processor for detecting a collision of a figure generated by the figure generating unit in advance or tracking a position of an object; Simulation system of a virtual device through 3D image processing, characterized in that configured to include. The method according to claim 5, The actuator processing unit, When the actuator is mounted, the drive shaft and the drive speed are input, D3DXVECTOR4 is used for the internal conversion of the actuator, D3DXVECTOR3 is used for setting the actuator's operating range, and the conversion matrix based on the input value moves the internal frame. Simulation system of a virtual machine through 3D image processing, characterized in that using a frame shift function. The method according to claim 5, The actuator processing unit, Implemented in the simple test mode and the simulation mode, the hand part can be moved to the designated position with respect to the SCARA device in the simple test mode, and the simulation mode includes the speed, acceleration, and deceleration to complete the operation of the actuator. And a simulation system of the virtual machine through 3D image processing, characterized in that for calculating the resultant rotation and movement matrix. The method according to claim 5, The object management unit, Virtual machine simulation system using 3D image processing, characterized in that STL import can be designed using index buffer and vertex buffer. The method according to claim 5, The figure generating unit, A simulation system of a virtual machine through 3D image processing, which can generate or delete a link relationship between generated models and implements functions of mounting or deleting an actuator or a sensor. The method according to claim 5, The figure generating unit, Collision check-related functions are implemented, picking-related functions are implemented using collisions with infinite straight lines, collisions between models and collisions with sensors are handled, and objects that are collided during modeling are added to the collision ignore list. Virtual system simulation system through the 3D image processing, characterized in that the collision is not detected. The method according to claim 5, The sensor processing unit, Indicates whether the object is moving in the initial state, measures whether the object interferes with the sensor, measures the distance between the object's surface and the sensor's center with respect to the axis you set, and measures the sensor based on the center of global coordinates. Simulation system of the virtual machine through the 3D image processing, characterized in that comprising the step of measuring the relative distance between the center of the. A first step of performing modeling necessary for virtual machine simulation; A second step of performing a simulation simply through a keyboard input after the first step; A third step of performing a connection to a 3D client which is a driving request program after the second step so that a simulation of a virtual device is performed; Simulation method of a virtual device through 3D image processing, characterized in that configured to include. The method according to claim 12, The first step is, The eleventh step of modeling by adding a model, importing a file that has already been modeled and saved in CNT format, or importing an STL file modeled by an external program. Wow; A twelfth step of allowing linkage to be performed by defining a dependency relationship between the models so as to set a moving part when mounting the actuator after the eleventh step; A thirteenth step to mount and set an actuator after the twelfth step; Simulation method of a virtual device through 3D image processing, characterized in that configured to include. The method according to claim 13, The eleventh step, Simulation method of a virtual machine through 3D image processing, characterized in that when performing the modeling by adding the model including one or more of the ball, box, cylinder, frustum, cone, polygon. The method according to claim 13, The eleventh step, When performing modeling by adding a model, the simulation method of the virtual machine through the 3D image processing, characterized in that it is set to include one or more of the model name, shape, initial position, initial rotation angle, geometric arrangement, color. The method according to claim 13, The eleventh step, When importing an STL file, at least one of color information, link information, and actuator information is set so that the STL file is loaded. The method according to any one of claims 13 to 16, The twelfth step, Simulation method of a virtual machine through 3D image processing, characterized in that the link setting is performed using a modeling button. The method according to any one of claims 13 to 16, The twelfth step, A simulation method of a virtual device through 3D image processing, characterized in that the link setting is performed using drag and drop in the tree view.

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