WO2019092792A1

WO2019092792A1 - Display control device, display control method, and display control program

Info

Publication number: WO2019092792A1
Application number: PCT/JP2017/040132
Authority: WO
Inventors: 高徳三宅; 秀人岩本; 加藤　伸一
Original assignee: 三菱電機株式会社
Priority date: 2017-11-07
Filing date: 2017-11-07
Publication date: 2019-05-16
Also published as: JP6385627B1; JPWO2019092792A1; TW201918807A

Abstract

A display control device provided with: an information-processing unit (103) for generating, in a virtual space stipulated by the three-dimensional data of a structure, three-dimensional data for a sighting coordinate axis comprising a line Z that passes through a control point (A) that is set by a robot (2) on the basis of three-dimensional data for the robot (2) and three-dimensional data for the structure; and an output control unit (104) for generating control information for displaying the sighting coordinate axis on an output device (5) on the basis of the three-dimensional data for the robot (2), the three-dimensional data for the structure, and the three-dimensional data for the sighting coordinate axis generated by the information-processing unit (103).

Description

Display control apparatus, display control method and display control program

The present invention relates to a technique for displaying information for supporting the operation of a device.

Conventionally, there are various robot simulators that simulate and display the operation of a robot based on teaching data for causing a device (hereinafter, the device is a robot to be described as an example) to perform a prescribed operation and the like. Proposed. By using the robot simulator, the operator can create teaching data while verifying whether the robot does not interfere with surrounding structures without actually operating the robot. The operator creates teaching data by designating a point or a trajectory on a three-dimensional space through which the tip of the robot arm passes.

The teaching data is created by moving the robot arm by numerical input, by moving the robot arm by indirect operation using an arrow button or a joystick, etc., and by the operator using the robot arm. There is a method such as grabbing and moving directly.
However, in the case of moving the robot arm by numerical input to create teaching data, it is necessary to repeat the numerical input until the result of the teaching data is as intended by the operator, which takes time.

Further, in the case of creating the teaching data by moving the arm of the robot by the indirect operation, it is necessary for the operator to operate in such a manner that the upper, lower, left, and right directions with respect to itself and the upper, lower, left, and right directions with respect to the arm of the robot match. Therefore, the operator can not intuitively operate the arm of the robot, and there is a problem that an erroneous operation may be induced.
Also, when the operator creates teaching data by grasping and directly moving the arm of the robot, it is an operation dependent on the ability of each operator, so the created teaching data will vary, and high precision teaching data can be obtained. There was a problem that it was difficult. Further, there is a problem that the operator can not perform the operation of creating the teaching data when the robot is operating or when the entry to the peripheral area of the robot is prohibited.

As a technique for solving this problem, in a robot simulator, there is a technique for creating teaching data by displaying a virtual space on the screen and operating and driving an arm of the robot located in the virtual space. Do. For example, the device disclosed in Patent Document 1 is a device for visualizing computer-aided information into an image of a real environment detected by an image receiving device on a vision device. In the device disclosed in Patent Document 1, determination about position and orientation of an image receiving device or pose is performed, and robot-specific information corresponding to the determination, for example, a coordinate system unique to at least one robot Information, including a display, is displayed superimposed on the image of the real environment on the visual device.

JP, 2004-243516, A

In the device described in Patent Document 1 described above, since the information is displayed superimposed on the image of the real environment, the arm of the robot can be intuitively operated. However, there is a problem that it is difficult to grasp the relationship between the current position of the robot and the target position to move the robot.

This invention was made in order to solve the above subjects, and presents the information which can grasp visually the relation between the present position of the apparatus to operate, and the object position which moves the apparatus to operate. With the goal.

A display control device according to the present invention is a control point set as a drive target device in a virtual space defined by three-dimensional data of a structure based on three-dimensional data of the drive target device and three-dimensional data of the structure. Information processing unit that generates three-dimensional data of the aiming coordinate axis including the first straight line passing through the three-dimensional data of the device to be driven, three-dimensional data of the structure, and three-dimensional data of the aiming coordinate axis generated by the information processing unit And an output control unit that generates control information for displaying the aiming coordinate axis on the output device.

According to the present invention, it is possible to present information capable of visually grasping the relationship between the current position of the device to be operated and the target position to which the device to be operated is moved.

FIG. 1 is a diagram showing a configuration of a teaching system provided with a display control device according to Embodiment 1. It is a figure showing an example of composition of a robot applied to a teaching system. It is a figure which shows the example of attachment of the tool to the flange part of a robot. FIG. 1 is a block diagram showing a configuration of a display control device according to Embodiment 1. 5A and 5B are diagrams showing an example of the hardware configuration of the display control apparatus according to the first embodiment. FIG. 6 is a diagram showing an example of setting of a aiming coordinate axis by the display control apparatus according to the first embodiment. FIG. 6 is a diagram showing an example of setting of a aiming coordinate axis by the display control apparatus according to the first embodiment. FIG. 6 is a diagram showing an example of setting of a aiming coordinate axis by the display control apparatus according to the first embodiment. FIG. 7 is a view showing a display example of aiming coordinate axes by the display control device according to the first embodiment. FIG. 7 is a view showing a display example of aiming coordinate axes by the display control device according to the first embodiment. FIG. 7 is a view showing a display example of aiming coordinate axes by the display control device according to the first embodiment. 5 is a flowchart showing an operation of the display control device according to the first embodiment. 5 is a flowchart showing an operation of an information processing unit of the display control device according to Embodiment 1. 5 is a flowchart showing an operation of an information processing unit of the display control device according to Embodiment 1. 11A and 11B are diagrams showing other display examples of the aiming coordinate axes by the display control apparatus according to the first embodiment. FIG. 7 is a block diagram showing a configuration of a display control device according to Embodiment 2. FIG. 16 is a diagram showing a drivable area of a robot and an aiming coordinate axis in a display control device according to a second embodiment. FIG. 16 is a diagram showing a drivable area of a robot and an aiming coordinate axis in a display control device according to a second embodiment. 15 is a flowchart showing an operation of an information processing unit of a display control device according to Embodiment 2. FIG. 16 is a block diagram showing a configuration of a display control device according to Embodiment 3. FIG. 17A, FIG. 17B, and FIG. 17C are diagrams showing the types of drive tracks generated by the track generation unit of the display control apparatus according to Embodiment 3. FIG. 16 is a flowchart showing an operation of a trajectory generation unit of the display control device according to Embodiment 3. FIG. FIG. 16 is a flowchart showing the operation of the reproduction processing unit of the display control device according to Embodiment 3. FIG. FIG. 17 is a view showing a display example of an interference point by the display control device of the invention according to Embodiment 3. FIG. 17 is a diagram showing a display example when control information of the display control apparatus shown in Embodiments 1 to 3 is output to an output device of the augmented reality space.

Hereinafter, in order to explain the present invention in more detail, a mode for carrying out the present invention will be described according to the attached drawings.
Embodiment 1
FIG. 1 is a diagram showing the configuration of a teaching system provided with a display control device 1 according to the first embodiment. FIG. 1 shows an example in which the display control device 1 is applied to a teaching system for creating teaching data of a robot (device to be driven). The display control device 1 is not limited to the application to a teaching system of a robot, and can be applied to various systems for operating equipment.

Further, the display control device 1 is used for the purpose of superposing and displaying the generated teaching data on three-dimensional data or augmented reality (AR) content displayed on the display means. Specifically, the display control device 1 displays teaching data superimposed on three-dimensional data displayed on a personal computer, a tablet, a smartphone, a dedicated teaching device, or the like, or on augmented reality content displayed on augmented reality glasses. Control to The augmented reality glasses are head mounted displays (HMDs) mounted on the user's head and displaying an image in front of the user's eyes. The head mounted display may be non-transmissive or transmissive. The display control device 1 is mounted as, for example, a processing circuit or chip or the like such as the personal computer, tablet, smartphone, dedicated teaching device, and augmented reality glasses described above.

The teaching system includes a display control device 1, a robot 2, a peripheral information acquisition device 3, a teaching device 4 and a robot control device 7. The teaching device 4 includes an output device 5 and an input device 6.
The robot 2 is a device that operates in accordance with a control program and performs a target operation. The control program is information for instructing the operation of the robot 2. The information instructing the operation of the robot 2 includes information such as a passing point, a trajectory, a velocity, and the number of times of operation when the robot 2 is driven. An operation in which the operator inputs or corrects the control program is called robot teaching. Also, data obtained by robot teaching is called teaching data.

The peripheral information acquisition device 3 acquires three-dimensional data of the robot 2 and three-dimensional data of the surrounding environment of the robot 2 and outputs the three-dimensional data to the display control device 1. The three-dimensional data is data in which the outline, position and movement of the robot 2 and the surrounding environment are numerically indicated. The peripheral information acquisition device 3 is configured of a camera, a three-dimensional scanner, a server or the like. For example, when the peripheral information acquisition device 3 is configured by a camera or a three-dimensional scanner, the robot 2 and the peripheral environment in the real environment are photographed or scanned, and three-dimensional data of the robot 2 and the peripheral environment are acquired. Output to Further, when the peripheral information acquisition device 3 is configured by, for example, a server, three-dimensional data of the robot 2 and peripheral environment stored in advance in a storage device or the like is acquired and output to the display control device 1.
The surrounding environment is a floor, a wall, a pillar, a stand, related devices, wiring, work, and the like (hereinafter referred to as a structure) in a space where the robot 2 is installed. Here, the work refers to a work target of the robot 2. In the case where the robot 2 is, for example, an apparatus for assembling or transporting, the workpiece is an object to be gripped by a gripping tool attached to the robot 2. When the robot 2 is, for example, a deburring device, the workpiece is an object to be pressed against the deburring tool attached to the robot 2. The details of the tool will be described later.

The display control device 1 acquires three-dimensional data of the robot 2 and three-dimensional data of a structure from the peripheral information acquisition device 3. A space virtually constructed in the information processing in the display control device 1 and defined by three-dimensional data of a structure is referred to as a virtual space. The display control device 1 performs control for causing the output device 5 to display a structure that defines a virtual space based on three-dimensional data of the structure. In addition, the display control device 1 performs control for causing the output device 5 to display an image indicating the robot 2 disposed in the virtual space and operation support information. The display control device 1 outputs control information to the teaching device 4.

The output device 5 of the teaching device 4 is configured of, for example, a display such as a personal computer or a tablet terminal, or a head mounted display. The output device 5 displays the virtual space, the robot 2, the operation support information, and the like based on the control information input from the display control device 1. Further, the output device 5 may display a control program of the robot 2 based on a command from the display control device 1.

The input device 6 of the teaching device 4 includes, for example, a mouse, a touch panel, a dedicated teaching terminal, or an input unit of a head mounted display, and receives an operation input to information displayed by the output device 5. The input device 6 outputs the operation information corresponding to the received operation input to the display control device 1. The display control device 1 generates control information according to the state of the robot 2 after the operation based on the operation information input from the input device 6.
Further, when the control program is displayed on the output device 5, the input device 6 receives an operation input such as correction of the displayed control program. The display control device 1 corrects the control program of the robot 2 based on the operation information input from the input device 6.

When the operation input by the operator is completed, the display control device 1 determines the control program of the robot 2. The display control device 1 outputs the determined control program to the robot control device 7. The robot control device 7 saves the control program input from the display control device 1, converts the saved control program into a drive signal of the robot 2, and transmits it to the robot 2. The robot 2 is driven based on the drive signal received from the robot control device 7 and performs a predetermined operation or the like.

Next, the configuration of the robot 2 will be described.
FIG. 2 is a view showing a configuration example of the robot 2 applied to the teaching system.
The robot 2 illustrated in FIG. 2 is a so-called vertical articulated robot having six degrees of freedom, and includes a mounting unit 2a, a first arm 2b, a second arm 2c, a third arm 2d, and a fourth arm 2e. , A fifth arm 2f and a flange portion 2g.
The mounting portion 2a is fixed to the floor. The first arm 2b pivots with respect to the mounting portion 2a with the axis J1 as a rotation axis. The second arm 2c rotates with respect to the first arm 2b with the axis line J2 as a rotation axis. The third arm 2 d rotates with respect to the second arm 2 c with the axis line J 3 as a rotation axis. The fourth arm 2e rotates with respect to the third arm 2d with the axis line J4 as a rotation axis. The fifth arm 2 f rotates with respect to the fourth arm 2 e with the axis line J 5 as a rotation axis. The flange portion 2g rotates with respect to the fifth arm 2f with the axis line J6 as a rotation axis. The flange portion 2g has a mechanism for attaching and fixing various tools at the end opposite to the connection side with the fifth arm 2f. The tool is selected according to the work content of the robot 2. The tool is a tool for holding a work and a tool such as a grinder for polishing the work.

FIG. 3 is a view showing an example of attachment of the tool 8 to the flange 2 g of the robot 2.
FIG. 3A is a view showing a case where an instrument 8a for gripping a workpiece is attached as a tool 8 to the flange portion 2g. FIG. 3B is a view showing a case where a grinder 8 b is attached as a tool 8 to the flange portion 2 g. Point A shown in FIG. 3A and FIG. 3B indicates a control point set according to the tool 8 (hereinafter referred to as a control point A). The control point A indicates which position on the displayed robot 2 or in the vicinity of the robot 2 should be operated when the operator moves the robot 2 in the virtual space displayed on the output device 5. The control point A is displayed in, for example, a circular or rectangular shape in the virtual space displayed on the output device 5. When the tool 8 is the tool 8a for gripping the work shown in FIG. 3A, the control point A is set to a point at which the tool 8a grips the work. When the tool 8 is the grinder 8b shown in FIG. 3B, the control point A is set to the grinding point of the grinder 8b. As in the example of FIG. 3B, when the tool 8 is a tool that performs machining on a workpiece, the control point A is set to the machining point or machining area of the tool.

Next, the internal configuration of the display control device 1 will be described.
FIG. 4 is a block diagram showing the configuration of the display control device 1 according to the first embodiment.
The display control device 1 includes a three-dimensional data acquisition unit 101, an operation information acquisition unit 102, an information processing unit 103, and an output control unit 104. Further, the display control device 1 shown in FIG. 4 is connected to the peripheral information acquisition device 3, the input device 6 and the output device 5.

The three-dimensional data acquisition unit 101 acquires three-dimensional data of the robot 2 and three-dimensional data of a structure from the peripheral information acquisition device 3. The three-dimensional data acquisition unit 101 outputs the acquired three-dimensional data to the information processing unit 103. The operation information acquisition unit 102 acquires operation information of the operator via the input device 6. The operation information acquisition unit 102 outputs the acquired operation information to the information processing unit 103.

The information processing unit 103 acquires the position coordinates of the control point A of the robot 2 in the virtual space from the three-dimensional data input from the three-dimensional data acquisition unit 101. The information processing unit 103 calculates the position and direction of the aiming coordinate axis to be set in the virtual space from the acquired position coordinates of the control point A and the three-dimensional data of the structure, and generates three-dimensional data of the aiming coordinate axis. . The aiming coordinate axes are coordinate axes constituted by three axes of a straight line X (second straight line), a straight line Y (third straight line) and a straight line Z (first straight line). The aiming coordinate axis is operation support information that the operator refers to when creating teaching data of the robot 2. The details of the aiming coordinate axis will be described later.

Further, according to the operation information acquired by the operation information acquisition unit 102, the information processing unit 103 causes the robot 2 in the virtual space to follow the operation input of the operator and drives the three-dimensional data of the robot 2 and Generate three-dimensional data of aiming coordinate axes. It is assumed that the information processing unit 103 acquires specification data of the robot 2 necessary for calculating the movement of the robot 2 in the virtual space in advance by an appropriate method. The information processing unit 103 outputs the three-dimensional data of the structure, the three-dimensional data of the robot 2 and the three-dimensional data of the aiming coordinate axes to the output control unit 104.

The output control unit 104 displays control information for displaying the structure, the robot 2 and the aiming coordinate axis based on the three-dimensional data of the structure acquired from the information processing unit 103, the three-dimensional data of the robot 2 and the three-dimensional data of the aiming coordinate axis. Generate The control information is information for causing the output device 5 to display an image when the structure in the virtual space, the robot 2 and the aiming coordinate axes are viewed from a specific position in the virtual space. The specific position in the virtual space is, for example, a position in the virtual space corresponding to the position of the viewpoint of the user in the real environment. The output control unit 104 outputs the generated control information to the output device 5.

Next, a hardware configuration example of the display control device 1 will be described.
5A and 5B are diagrams showing an example of the hardware configuration of the display control device 1 according to the first embodiment.
Each function of the three-dimensional data acquisition unit 101, the operation information acquisition unit 102, the information processing unit 103, and the output control unit 104 in the display control device 1 is realized by a processing circuit. That is, the three-dimensional data acquisition unit 101, the operation information acquisition unit 102, the information processing unit 103, and the output control unit 104 include processing circuits for realizing the respective functions. The processing circuit may be the processing circuit 1a which is dedicated hardware as shown in FIG. 5A, or may be the processor 1b which executes a program stored in the memory 1c as shown in FIG. 5B. Good.

As shown in FIG. 5A, when the three-dimensional data acquisition unit 101, the operation information acquisition unit 102, the information processing unit 103, and the output control unit 104 are dedicated hardware, the processing circuit 1a may be, for example, a single circuit or a complex. A circuit, a programmed processor, a processor programmed in parallel, an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a combination of these is applicable. Each function of each unit of the three-dimensional data acquisition unit 101, the operation information acquisition unit 102, the information processing unit 103, and the output control unit 104 may be realized by a processing circuit, or the functions of each unit are realized by one processing circuit. You may

As shown in FIG. 5B, when the three-dimensional data acquisition unit 101, the operation information acquisition unit 102, the information processing unit 103, and the output control unit 104 are the processor 1b, the functions of each unit are software, firmware, or software and firmware and It is realized by the combination of The software or firmware is described as a program and stored in the memory 1c. The processor 1b implements the functions of the three-dimensional data acquisition unit 101, the operation information acquisition unit 102, the information processing unit 103, and the output control unit 104 by reading and executing the program stored in the memory 1c. That is, the three-dimensional data acquisition unit 101, the operation information acquisition unit 102, the information processing unit 103, and the output control unit 104 of the display control device 1 execute the processes shown in FIG. 8 to FIG. A memory 1c is provided for storing a program that results in the steps being executed. In addition, it can be said that these programs cause a computer to execute the procedure or method of the three-dimensional data acquisition unit 101, the operation information acquisition unit 102, the information processing unit 103, and the output control unit 104.

Here, the processor 1 b is, for example, a central processing unit (CPU), a processing device, an arithmetic device, a processor, a microprocessor, a microcomputer, or a digital signal processor (DSP).
The memory 1c may be, for example, a nonvolatile or volatile semiconductor memory such as a random access memory (RAM), a read only memory (ROM), a flash memory, an erasable programmable ROM (EPROM), or an electrically EPROM (EEPROM). It may be a hard disk, a magnetic disk such as a flexible disk, or an optical disk such as a mini disk, a CD (Compact Disc), a DVD (Digital Versatile Disc), or the like.

The functions of the three-dimensional data acquisition unit 101, the operation information acquisition unit 102, the information processing unit 103, and the output control unit 104 may be partially realized by dedicated hardware and partially realized by software or firmware. You may Thus, the processing circuit in the display control device 1 can realize each of the functions described above by hardware, software, firmware, or a combination thereof.

Next, aiming coordinate axes at which the information processing unit 103 generates three-dimensional data will be described with reference to FIGS. 6A, 6B, 6C, 7A, 7B, and 7C.
6A to 6C are diagrams showing setting examples of the aiming coordinate axes by the display control device 1 according to the first embodiment.
Specifically, in FIGS. 6A to 6C, the display control device 1 performs control to display the robot 2, the tool 8, and the installation surface B of the robot 2, and further performs control to display the control point A and the aiming coordinate axis. An example of the case is shown.
6A to 6C, the aiming coordinate axes are coordinate axes constituted by a straight line Z passing the control point A and a straight line X and a straight line Y orthogonal to each other at the aiming point C on the straight line Z. The aiming point C is a point at which the straight line Z intersects the surface of the structure in the virtual space. Therefore, when there is no point at which the straight line Z intersects the structure, the information processing unit 103 determines that the aim point C does not exist, and generates three-dimensional data of only the straight line Z.

The straight line X and the straight line Y in the present invention include a straight line according to a general definition (hereinafter referred to as a straight line) and a line along the surface shape of the structure including the aiming point C. It includes lines that are linear in shape and orthogonal to each other when viewed from the direction. That is, when the straight line X and the straight line Y are lines along the surface shape of the structure as described above, the three-dimensional shape of both straight lines does not necessarily become a straight line because it depends on the surface shape of the structure . Similarly, when the straight line X and the straight line Y are lines along the surface shape of the structure as described above, the angle at which the straight line X and the straight line Y intersect in the three-dimensional virtual space is Because they depend on the shape of the surface, they are not necessarily at right angles. Note that the specific one direction is, for example, the direction of z-coordinates of global coordinates or local coordinates described later.

The direction of the straight line Z is set according to the tool 8 attached to the flange portion 2g. Tool 8, for example, if an instrument 8a for holding the workpiece shown in FIG. 3A, as shown in FIGS. 6A and 6B, the linear Z is the opening and closing direction of the gripping portion of the device 8a shown by an arrow 8a ₁ It is a straight line that is orthogonal and parallel to the direction in which the grip extends (for example, the direction of the axis J6 in FIG. 2) and that passes through the control point A. Tool 8, for example, if a grinder 8b shown in FIG. 3B, as shown in FIG. 6C, the straight line Z is the same direction as the direction of pressing the grinder 8b in a work such as indicated by the arrows 8b _1, and It becomes a straight line passing through the control point A. Thus, the direction of the straight line Z is appropriately set based on what kind of work the tool 8 attached to the flange portion 2g performs on the work.

The directions of the straight line X and the straight line Y when viewed from the direction of the straight line Z are set based on global coordinates or local coordinates. The global coordinate is a coordinate set with respect to the three-dimensional space itself, and is a coordinate of the robot 2 main body fixedly set in the three-dimensional space or any structure fixed in the three-dimensional space . The local coordinates are coordinates based on an object movable in a three-dimensional space, and are coordinates set based on, for example, the tool 8 attached to the flange portion 2 g of the robot 2. FIG. 6A shows aiming coordinate axes according to the straight lines X and Y whose directions are set based on the global coordinates, and FIGS. 6B and 6C show aiming coordinate axes according to the straight lines X and Y whose directions are set based on the local coordinates. ing.

FIG. 6A shows an example in which the directions of the straight line X and the straight line Y of the aiming coordinate axes are set based on the global coordinates with the x axis, y axis and z axis of the robot 2 as global coordinates. The z axis of the global coordinates is a coordinate axis at a position and direction overlapping with the axis line J1 of the robot 2, and the intersection point of the z axis and the installation surface B of the robot 2 is an origin O. The y-axis of the global coordinates is a coordinate axis passing through the origin O, parallel to the installation surface B of the robot 2 and parallel to the front direction of the robot 2 determined in advance. The x-axis of the global coordinates is a coordinate axis orthogonal to the z-axis and the y-axis at the origin O. The straight line X and the straight line Y of the aiming coordinate axes are set to coincide with the axial directions of the x axis and the y axis of the global coordinate, respectively.

FIG. 6B shows the case where the x-axis, y-axis and z-axis set in the instrument 8a attached to the flange portion 2g are local coordinates, and the directions of straight line X and straight line Y of the aiming coordinate axis are set based on the local coordinates An example is shown. Z axis of the local coordinates, and perpendicular to the closing direction of the grip portion of the instrument 8a (see arrow 8a _1), a and (direction of the axis J6 of Figure 2) directions gripper extends parallel to the direction, and the control point It is a coordinate axis passing through A. The origin in this case is the control point A. X-axis of the local coordinates are the same direction as the closing direction of the grip portion of the instrument 8a (see arrow 8a _1), which is a coordinate axis and passing through the control points A. The y-axis of the local coordinates is a coordinate axis orthogonal to the x-axis and the z-axis at the control point A. The straight line X and the straight line Y of the aiming coordinate axes are set to coincide with the axial directions of the x axis and the y axis of the local coordinates, respectively.

FIG. 6C shows an example in which the x axis, the y axis and the z axis set in the grinder 8b attached to the flange portion 2g are local coordinates, and the straight line X and the straight line Y of the aiming coordinate axis are set based on the local coordinates. Is shown. The z-axis of the local coordinates is a coordinate axis which extends in the direction (see arrow 8 b ₁ ) to press the grinder 8 b against the work or the like and passes through the control point A. The local coordinate x-axis is a coordinate axis passing through the control point A and orthogonal to the z-axis. The y-axis of the local coordinates is a coordinate axis orthogonal to the x-axis and the z-axis at the control point A. The straight line X and the straight line Y of the aiming coordinate axes are set to coincide with the axial directions of the x and y axes of the local coordinates, respectively.

6A to 6C show the cases where the directions of the straight line X and the straight line Y of the aiming coordinate axes are the same as the axial directions of the x axis and the y axis of the global coordinates or the local coordinates. However, the axial directions of the straight line X and the straight line Y of the aiming coordinate axes do not have to be the same direction as the x-axis and y-axis axes of the global coordinates or the local coordinates. That is, the directions of the straight line X and the straight line Y are rotated by an arbitrary angle with the straight line Z as the rotation axis with respect to the state in which the directions of the straight line X and the straight line Y are the same direction as the x axis and the y axis It may be set in the same direction.

7A to 7C are diagrams showing display examples of aiming coordinate axes by the display control device 1 according to the first embodiment.
7A and 7B show display examples of the aiming coordinate axes in the output device 5. FIG. The information processing unit 103 calculates the direction of the straight line Z in the virtual space and the aiming point C on the straight line Z using the position information of the control point A of the robot 2 in the virtual space and the three-dimensional data of the structure. In addition, the information processing unit 103 calculates, for the straight line X and the straight line Y, directions and shapes and the like in the virtual space. Furthermore, the information processing unit 103 generates three-dimensional data by referring to the three-dimensional data of the structure with respect to the calculated aiming coordinate axis. Thereby, as shown in FIG. 7A and FIG. 7B, straight line X and straight line Y of the aiming coordinate axes are the surface shape of work Da or structure Db existing in the virtual space and the surface shape of installation surface B of robot 2 It is displayed on the output device 5 along the line.

The straight line X and the straight line Y may not have a shape along the surface shape of the structure. FIG. 7C shows a display example in the case where the straight line X and the straight line Y of the aiming coordinate axes are straight lines. When the straight line X and the straight line Y of the aiming coordinate axes are straight lines, both straight lines of the aiming coordinate axes are displayed on the output device 5 as straight lines passing through the aiming point C as shown in FIG. 7C.
The display control device 1 may be configured to allow the operator to select whether to display the straight line X and the straight line Y of the aiming coordinate axes as a shape along the structure or a straight line. Thus, the display control device 1 can perform display control of the aiming coordinate axes according to the display method selected by the operator.

In the above description, the straight line Z shows the case where the tool 8 attached to the flange portion 2g of the robot 2 is appropriately set based on what kind of work the work is to be performed. However, the method of setting the straight line Z is not limited to the method described above, and the straight line Z may be set to a straight line extending vertically downward or vertically upward from the control point A. The straight line Z may be set as a straight line extending in a direction arbitrarily set from the control point A.

Next, the operation of the display control device 1 will be described with reference to the flowchart of FIG.
FIG. 8 is a flowchart showing the operation of the display control device 1 according to the first embodiment.
The three-dimensional data acquisition unit 101 acquires three-dimensional data of the robot 2 and the structure from the peripheral information acquisition device 3 (step ST1). The three-dimensional data acquisition unit 101 outputs the acquired three-dimensional data to the information processing unit 103. The information processing unit 103 calculates the position, the direction, and the like of the aiming coordinate axis based on the three-dimensional data acquired in step ST1 (step ST2). The information processing unit 103 generates three-dimensional data of the aiming coordinate axis based on the calculated position, direction, and the like of the aiming coordinate axis (step ST3). The information processing unit 103 outputs the three-dimensional data generated in step ST3 and the three-dimensional data of the robot 2 and the structure to the output control unit 104.

The output control unit 104 generates control information for displaying the structure in the virtual space, the robot 2 and the aiming coordinate axes based on the three-dimensional data input from the information processing unit 103 (step ST4). The output control unit 104 outputs the control information generated in step ST4 to the output device 5 (step ST5). Subsequently, the information processing unit 103 determines whether or not operation information is input from the operation information acquisition unit 102 (step ST6). When the operation information is input (step ST6; YES), the information processing unit 103 corrects the three-dimensional data of the robot 2 and aiming coordinate axes generated previously based on the position information indicated by the input operation information ((step ST6) Step ST7). The information processing unit 103 outputs the three-dimensional data corrected in step ST7 to the output control unit 104.

The output control unit 104 generates control information for displaying the robot 2 and the aiming coordinate axes in the virtual space based on the three-dimensional data corrected in step ST7 (step ST8). The output control unit 104 outputs the control information generated in step ST8 to the output device 5 (step ST9). Thereafter, the flowchart returns to the process of step ST6. On the other hand, when the operation information is not input (step ST6; NO), it is determined whether a predetermined time has elapsed since the previous operation information was input (step ST10). If the predetermined time has elapsed (step ST10; YES), the process ends. On the other hand, when the predetermined time has not elapsed (step ST10; NO), the process returns to the determination process of step ST6.

Next, the details of the process of step ST3 of the flowchart of FIG. 8 will be described with reference to the flowchart of FIG.
FIG. 9 is a flowchart showing an operation of the information processing unit 103 of the display control device 1 according to the first embodiment.
In the following description, it is assumed that the information processing unit 103 recognizes in advance the type of the tool 8 attached to the flange 2g. In addition, in the information processing unit 103, it is assumed that straight line X and straight line Y of the aiming coordinate axes are set in advance based on either global coordinates or local coordinates. Furthermore, in the information processing unit 103, it is assumed that the aiming coordinate axis is displayed as a line along the surface shape of the structure, displayed as a straight line, or set in advance.

When the information processing unit 103 generates three-dimensional data of the robot 2 and the structure in step ST2, according to the type of the tool 8 attached to the flange portion 2g, the control point A of the tool 8 and the control point A The straight line Z passing through is determined to generate three-dimensional data (step ST11). The information processing unit 103 determines, for example, the control point A and the straight line Z with reference to a database (not shown) that stores the type of tool 8 and the information indicating the position of the control point A and the direction of the straight line Z in association. Do. Here, information indicating the direction of the straight line Z means, for example, when the tool 8 is the tool 8a, a straight line that is orthogonal to the opening and closing direction of the grip portion of the tool 8a and passes through the control point A is the straight line Z It is information indicating that.

The information processing unit 103 refers to the three-dimensional data of the straight line Z determined in step ST11 and the three-dimensional data of the structure, and determines whether there is a point where the straight line Z intersects the surface of the structure in virtual space. It is determined whether or not (step ST12). If there is no point at which the straight line Z intersects the surface of the structure (step ST12; NO), the information processing unit 103 generates three-dimensional data of the control point A (step ST13), and proceeds to the process of step ST21.

On the other hand, when there is a point at which the straight line Z intersects the surface of the structure (step ST12; YES), the information processing unit 103 calculates all points at which the straight line Z intersects the surface of the structure (step ST14).
For example, when the work Da is placed on the installation surface B of the robot 2 as shown in FIG. 7A, in the process of step ST14, the information processing unit 103 determines that the straight line Z intersects the surface of the work Da and A point at which the straight line Z intersects with the surface of the installation surface B of the robot 2 is calculated.

The information processing section 103 calculates the distance to the control point A from the point calculated in step ST14, and sets the point at which the calculated distance is shortest as the aiming point C (step ST15). The information processing unit 103 determines the directions of the straight line X and the straight line Y orthogonal to each other at the aiming point C set in step ST15, using the global coordinates or the local coordinates (step ST16). The information processing unit 103 determines whether or not the straight line X and the straight line Y are lines along the surface shape of the structure with reference to the conditions set in advance (step ST17). When the straight line X and the straight line Y are lines along the surface shape of the structure (step ST17; YES), the information processing unit 103 refers to the three-dimensional data of the structure, and the straight line Z determined in step ST11 is the aiming point Three-dimensional data of a aiming coordinate axis is generated, which has a length up to C and the straight line X and the straight line Y whose directions are determined in step ST16 are lines along the surface shape of the structure (step ST18).

On the other hand, when the straight line X and the straight line Y are not lines along the surface shape of the structure (step ST17; NO), that is, when the straight line X and the straight line Y are straight lines, the information processing unit 103 determines in step ST11. While making the straight line Z the length to the aiming point C, three-dimensional data of the aiming coordinate axes that make the straight line X whose direction is determined in step ST16 and the straight line Y be straight lines are generated (step ST19). The information processing unit 103 generates three-dimensional data of the control point A (step ST20). The information processing unit 103 performs the three-dimensional data of the aiming coordinate axes and the control point A generated in steps ST18 to ST20, the three-dimensional data of the straight line Z generated in step ST11, and the three-dimensional data of the control point A generated in step 13 Are output to the output control unit 104 (step ST21). Thereafter, the flowchart proceeds to the process of step ST4 of the flowchart of FIG.

Next, the details of the process of step ST7 of the flowchart of FIG. 8 will be described with reference to the flowchart of FIG.
FIG. 10 is a flowchart showing an operation of the information processing unit 103 of the display control device 1 according to the first embodiment.
In the following, as an operation for moving the robot 2 displayed in the virtual space, a case where an operation for moving the pointer displayed superimposed on the control point A is input will be described as an example.
When the operation information for moving the pointer is input (step ST6; YES), the information processing unit 103 refers to the input operation information and the three-dimensional data input from the three-dimensional data acquisition unit 101 to be virtual. Position information of the pointer in space is acquired (step ST31). The information processing unit 103 moves the movement direction and movement of the pointer along the straight line X, the straight line Y, and the straight line Z from the position information of the control point A of the previous time stored in the buffer etc. and the position information of the pointer acquired in step ST31. The amount is calculated (step ST32).

The information processing unit 103 moves the aiming coordinate axis calculated last time using the movement direction and the movement amount calculated in step ST32, calculates the position and direction of the new aiming coordinate axis, etc. Data is generated (step ST33). When the straight line X and the straight line Y are set to be a line along the surface shape of the structure, the information processing unit 103 also refers to the three-dimensional data of the structure to determine the straight line X of the aiming coordinate axis and the straight line Three-dimensional data in which Y is a line along the surface shape of the structure is generated. The information processing unit 103 generates three-dimensional data of the new control point A (step ST34).

The information processing unit 103 performs the following processes of step ST35 and step ST36 in parallel with the processes of steps ST32 to ST34. The information processing unit 103 calculates the movement direction and movement amount of the robot 2 from the position information of the pointer acquired in step ST31 and the three-dimensional data of the robot 2 (step ST35). The information processing unit 103 generates three-dimensional data of the robot 2 after movement using the movement direction and movement amount of the robot 2 calculated in step ST35 (step ST36). Next, the information processing unit 103 causes the three-dimensional data of the new aiming coordinate axis generated in step ST33, the three-dimensional data of the new control point A generated in step ST34, and the moved robot 2 generated in step ST36. The three-dimensional data is output to the output control unit 104 (step ST37). After that, the flowchart proceeds to the process of step ST8 in the flowchart of FIG.

The operator superimposes the cursor on the control point A to make it in a selected state, and moves it to a target position with a jog lever, an operation key, a mouse or the like. When the teaching device 4 is a tablet terminal, the operator superimposes a finger on the control point A displayed on the touch panel to make it in a selected state, and moves the finger to a target position. When the operator selects the control point A, the output control unit 104 performs highlighting such as enlarging the shape of the control point A or changing the color of the control point A, and indicates that the control point A is being selected. Perform display control to notify. Further, the output control unit 104 may perform control to output sound effects when the control point A is selected or when the control point A is moved. The information processing unit 103 performs the process shown in the flowchart of FIG. 10 according to the movement of the control point A, thereby performing a process of interactively changing the robot shape. The operator moves the control point A to drive the robot 2 in the virtual space while referring to the aiming coordinate axis, and performs registration etc. of the passing point of the robot 2.

The output control unit 104 displays the display method as shown in FIG. 11 with respect to the aiming coordinate axis with the straight line X and the straight line Y along the surface shape of the structure or with the straight line X and the straight line Y with the straight line. May apply.
FIG. 11 is a view showing another display example of the aiming coordinate axes of the display control device 1 according to the first embodiment.
FIG. 11A shows a case where the output control unit 104 performs display control in which the aiming coordinate axis in the direction in which the drive of the robot 2 is restricted is indicated by a broken line. When the operator operates the jog lever to drive the robot 2 displayed on the output device 5, the display control device 1 drives the robot 2 in order to make it easy to recognize the linear drive of the robot 2 in only one direction. After restricting the direction to one direction, an operation on the jog lever may be accepted. In that case, the output control unit 104 generates control information that displays a straight line in a direction in which the robot's drive is restricted among the straight line X, the straight line Y, and the straight line Z in a broken line, non-display or semi-transparent. Thus, the display control device 1 can perform display control to clearly indicate to the operator the directions in which the robot 2 can be driven. The operator can operate while intuitively recognizing the direction in which the robot 2 can be driven, by operating the jog lever while referring to the display shown in FIG. 11A.

FIG. 11B illustrates a display example in the case where the output control unit 104 performs control of displaying the coordinate value of the control point A and the coordinate value of the aiming point C in addition to the display of the aiming coordinate axis.
The output control unit 104 acquires coordinate values of the control point A and the aiming point C from the three-dimensional data input from the information processing unit 103. The output control unit 104 generates control information for displaying the display area Ea and the display area Eb displaying the acquired coordinate values in the vicinity of the control point A and the aiming point C. In addition, the output control unit 104 may generate control information for displaying the numerical values of the coordinate values of the control point A and the aiming point C so as to be correctable. In this case, the operator selects a display area for which correction of coordinate values is desired, and inputs a new coordinate value. When the operation information acquisition unit 102 acquires the operation information for correcting the coordinate value, the information processing unit 103 determines the new aiming coordinate axis, the new control point A, and the three-dimensional data of the robot 2 after driving based on the operation information. Generate Thereby, the operator can drive the robot 2 by inputting coordinate values.

As described above, according to the first embodiment, the robot 2 is set in the virtual space defined by the three-dimensional data of the structure based on the three-dimensional data of the robot 2 and the three-dimensional data of the structure. 3 of the information processing unit 103 for generating 3D data of the aiming coordinate axis including the straight line Z passing through the control point A, 3D data of the robot 2, 3D data of the structure and 3 of the aiming coordinate axis generated by the information processing unit 103 Since the output control unit 104 generates control information for displaying the aiming coordinate axes on the output device 5 based on the dimensional data, the present position of the device to be operated and the purpose of moving the device to be operated It is possible to present information capable of visually grasping the relationship with the position.

Further, according to the first embodiment, the aiming coordinate axes are added to the straight line Z, and are constituted by the straight line X and the straight line Y passing through the aiming point C located on the straight line Z, respectively. It is possible to present information that can be easily grasped in space.

Further, according to the first embodiment, since the straight line Z is a straight line extending in a direction set according to the tool 8 attached to the robot 2, how the tool attached to the robot is with respect to the work It is possible to determine the straight line of the aiming coordinate axis according to what kind of operation is performed or what kind of processing is performed on the work. This makes it possible to display aiming coordinate axes suitable for the work performed by the robot.

Further, according to the first embodiment, since the straight line Z is a straight line extending in the vertical direction, the axial direction of the straight line Z of the aiming coordinate axis is always constant, and the operator recognizes the vertical direction relative to himself and the vertical direction relative to the robot. Can be easily matched and operated.

Further, according to the first embodiment, since the aiming point C is a point at which the first straight line intersects with the surface of the structure in the virtual space, the aiming point becomes a point on the structure, and the operator Can present the target point of the operation.

Further, according to the first embodiment, the straight lines X and Y are lines along the surface shape of the structure, and are straight lines having shapes that are straight and orthogonal to each other when viewed from a specific direction. Because of this, it is possible to present coordinate axes that move in accordance with the shape of the structure.

Further, according to the first embodiment, the straight line X and the straight line Y are configured to be straight lines extending in the virtual space, so that coordinate axes are provided to move the robot so as not to collide with the structure. be able to.

Further, according to the first embodiment, the output control unit 104 changes the display form of the straight line extending in the same direction as the direction in which the drive of the robot 2 is restricted among the straight line Z, the straight line X and the straight line Y. Since the control information for displaying is generated, the operator can operate while intuitively recognizing the direction in which the robot can be driven.

Further, according to the first embodiment, the output control unit 104 is configured to generate the control information for displaying the coordinate value of the control point A and the coordinate value of the aiming point C. The operation can be performed while confirming the

Second Embodiment
The second embodiment shows a configuration in which the aiming coordinate axes are displayed in consideration of the drive limit of the robot 2.
FIG. 12 is a block diagram showing a configuration of a display control device 1A according to the second embodiment.
The display control device 1A is configured by adding a drive area setting unit 105 to the information processing unit 103 of the display control device 1 of the first embodiment shown in FIG. In the following, parts identical to or corresponding to the constituent elements of display control apparatus 1 according to Embodiment 1 will be assigned the same codes as those used in Embodiment 1 to omit or simplify the description.

The drive area setting unit 105 acquires information (hereinafter referred to as drive limit information) indicating the position of the limit at which the robot 2 can drive. The drive area setting unit 105 may acquire the drive limit information from a storage area (not shown) in the display control device 1A, or may acquire it from the outside of the display control device 1A. The drive area setting unit 105 sets an area in which the robot 2 can be driven (hereinafter referred to as a drivable area) in the virtual space based on the acquired drive limit information. The information processing unit 103 a generates three-dimensional data of the aiming coordinate axis based on the drivable region set by the driving region setting unit 105. The information processing unit 103 a outputs the corrected three-dimensional data of the aiming coordinate axis, the control point A, the robot 2, and the structure to the output control unit 104.

Next, a hardware configuration example of the display control device 100A will be described. Description of the same configuration as that of the first embodiment is omitted.
The information processing unit 103a and the drive area setting unit 105 in the display control device 100A are a processor 1b that executes a program stored in the processing circuit 1a shown in FIG. 5A or the memory 1c shown in FIG. 5B.

13 and 14 are diagrams showing the drivable area and the aiming coordinate axis of the robot 2 in the display control device 1A according to the second embodiment.
The drivable area F is an area inside an area surrounded by the first curved surface G, the second curved surface H, and a part of the installation surface B of the robot 2. The first curved surface G is a surface indicated by the drive limit information, and is a curved surface indicating the outermost area in which the robot 2 can drive. The second curved surface H is a surface indicated by the drive limit information, and is a curved surface indicating the innermost region in which the robot 2 can be driven. The control point A of the robot 2 is outside the first curved surface G, that is, in the region where the robot 2 does not exist, and in the second curved surface, that is, the region where the mounting portion 2a of the robot 2 is located. Can not be located. The surface Ba is an outer surface of the first circle Ga formed when the first curved surface G and the installation surface B of the robot 2 intersect in the installation surface B, and the second curved surface H and the installation surface B of the robot 2 And the inner area of the second circle Ha formed at the intersection.

The drive area setting unit 105 generates three-dimensional data indicating the drivable area F in the virtual space from the drive limit information described above and the three-dimensional data of the structure. The information processing unit 103 a is configured to generate a three-dimensional aiming coordinate axis (see FIG. 6) including the straight line X, the straight line Y, and the straight line Z which has been generated based on the three-dimensional data of the drivable area F generated by the drive area setting unit 105 The data is corrected to three-dimensional data of a aiming coordinate axis composed of a line segment Xa, a line segment Ya and a line segment Za in the drivable area F (see FIG. 13A).
As shown in FIG. 13A, the display control device 1A displays only the aiming coordinate axes in the drivable area F, whereby the robot 2 is driven by the straight line lengths of the line segment Xa, the line segment Ya, and the line segment Za. The possible range can be displayed.

In FIG. 13A, a line segment Za indicates how much the robot 2 can be driven in the direction of the line segment Za from the current state of the robot 2. Further, in FIG. 13A, line segment Xa and line segment Ya respectively drive robot 2 in the direction of line segment Za from the current state of robot 2 and when control point A and sight point C are closest to each other. It shows how much driving can be performed in the line segment Xa direction and the line segment Ya direction. The operator can easily recognize how much the robot 2 can be driven in the direction of the line segment Za from the current state by visually recognizing the display example of FIG. 13A, for example. Also, for example, when the robot 2 is driven in the line segment Za direction from the current state and the control point A and the aiming point C are brought closest to each other, the operator moves the robot 2 in the line segment Xa direction and the line segment Ya direction. It can be recognized how much it can be driven.

Further, as shown in FIG. 13B, the information processing unit 103a sets a line segment Za, which is a aiming coordinate axis after correction, as a line segment Zb extended to a point passing through the control point A and intersecting the first curved surface G. The three-dimensional data of the aiming coordinate axes consisting of the generated straight line X, straight line Y and straight line Z may be corrected to the aiming coordinate axes consisting of line segment Xa, line segment Ya and line segment Zb.
As shown in FIG. 13B, by displaying only the aiming coordinate axes in the drivable area F and displaying the line segment Zb, the operator recognizes how much the robot 2 can be driven in the direction of the line segment Zb. can do.

Further, as shown in FIG. 14, when the aiming point C of the aiming coordinate axis is not located within the drivable area F as shown in FIG. 14, an aiming made up of the generated straight line X, straight line Y and straight line Z A correction is performed to convert three-dimensional data of coordinate axes into three-dimensional data of only the line segment Zc present in the drivable area F.
As shown in FIG. 14, by displaying only the line segment Zc in the drivable area F, the operator does not have a structure such as a work or the like in the drivable area F in the direction of the current line segment Zc. And how much the robot 2 can be driven in the direction of the line segment Zc.
In addition, the information processing unit 103a sets an arbitrary virtual plane in contact with a point at which the line segment Zc intersects the first curved surface G, and generates three-dimensional data of the line segment X and the line segment Y on the virtual plane. Then, three-dimensional data of the aiming coordinate axes including the line segment X, the line segment Y, and the line segment Zc may be generated.

The output control unit 104 performs control to display the structure, the robot 2, the aiming coordinate axis after correction, and the control point A on the output device 5 based on the three-dimensional data input from the information processing unit 103a. . In addition, the output control unit 104 may perform control to display the drivable area F on the output device 5.

Next, the operation of the display control device 1A will be described.
FIG. 15 is a flowchart showing an operation of the information processing unit 103a of the display control device 1A according to the second embodiment.
Hereinafter, the same steps as those of the display control device 1 according to the first embodiment are denoted by the same reference numerals as the reference numerals shown in FIG. 9, and the description will be omitted or simplified.
When three-dimensional data of control point A is generated in step ST13 or step ST20, drive area setting unit 105 generates three-dimensional data of drivable area F from the drive limit information (step ST41).

The information processing section 103 a is three-dimensional data of a straight line X, a straight line Y and a straight line Z which constitute the aiming coordinate axis generated at step ST18 or step ST19 based on the three-dimensional data of the drivable area F generated at step ST41. Alternatively, the three-dimensional data of the straight line Z generated at step ST11 is corrected to three-dimensional data of a line segment in the drivable area F (step ST42). The information processing unit 103a outputs the three-dimensional data of the aiming coordinate axis corrected at step ST42 and the three-dimensional data of the control point A generated at step ST20 or step ST13 to the output control unit 104 (step ST43). Thereafter, the flowchart proceeds to the process of step ST4 of the flowchart of FIG.

As described above, according to the second embodiment, the drive area setting unit 105 for setting the drivable area F of the robot 2 based on the drive limit of the robot 2 is provided. Since the line segment of the located portion is used, the drivable range of the robot 2 can be displayed by the length of the straight line of the line segment Z that constitutes the aiming coordinate axis. Thereby, the operator can easily recognize how much the robot 2 can be driven in the direction of the line segment Z.

Further, according to the second embodiment, the drive area setting unit 105 for setting the drivable area F of the robot 2 based on the drive limit of the robot 2 is provided to drive the straight line Z, the straight line X, and the straight line Y Since it is a line segment of the part located in the possible area F, the range in which the robot can be driven can be displayed by the length of the straight line of the line segment. As a result, the operator can easily recognize how much the robot 2 can be driven in the direction of each line segment.

Third Embodiment
The third embodiment shows a configuration for creating teaching data of the robot 2.
FIG. 16 is a block diagram showing a configuration of a display control device 1B according to the third embodiment.
The display control device 1B is configured by adding a position information storage unit 106, a trajectory generation unit 107, and a reproduction processing unit 108 to the display control device 1 of the first embodiment shown in FIG. Further, in place of the information processing unit 103 and the output control unit 104 of the display control device 1 of the first embodiment shown in FIG. 4, an information processing unit 103 b and an output control unit 104 a are provided.
In the following, parts identical to or corresponding to the constituent elements of display control apparatus 1 according to Embodiment 1 will be assigned the same codes as those used in Embodiment 1 to omit or simplify the description.

The operation information acquisition unit 102 acquires the following operation information in addition to the operation information for moving the pointer displayed superimposed on the control point A as the operator's operation information described in the first embodiment. When creating the teaching data of the robot 2 as the operator's operation information, the operation information acquisition unit 102 acquires operation information specifying a passing point to which the control point A set in the robot 2 should pass. Further, the operation information acquisition unit 102 acquires, as operation information of the operator, operation information instructing generation of a drive track of the robot 2 and operation information instructing simulation reproduction of the robot 2 generated.

When the operation information acquisition unit 102 receives the operation information specifying the passing point, the information processing unit 103 b uses the position information of the control point A when the operation information is input as the position information of the passing point. It is stored in the information storage unit 106. The information processing unit 103 b also generates three-dimensional data of the passing point based on the position information of the passing point. The information processing unit 103 b outputs three-dimensional data of the passing point to the output control unit 104 a in addition to the three-dimensional data of the robot 2, the structure, and the aiming coordinate axis. The information processing unit 103 b also outputs three-dimensional data of the robot 2 to the reproduction processing unit 108.

When an instruction to generate a drive trajectory of the robot 2 is input from the operation information acquisition unit 102, the trajectory generation unit 107 acquires position information of the passing point stored in the position information storage unit 106. The trajectory generation unit 107 generates a drive trajectory which is a group of position coordinates indicating a trajectory passing through the passing point, using the acquired position information of the passing point. Details of the method of generating the drive trajectory will be described later. The trajectory generation unit 107 outputs the generated drive trajectory to the output control unit 104 a and the reproduction processing unit 108.

When the operation information acquisition unit 102 receives the operation information for instructing the simulation reproduction of the robot 2 from the operation information acquisition unit 102, the reproduction processing unit 108 receives the drive trajectory input from the trajectory generation unit 107 and the robot input from the information processing unit 103b. Based on the two-dimensional data, an operation of driving the robot 2 along the drive trajectory is calculated. The reproduction processing unit 108 generates simulation information indicating the movement of the robot 2 from the calculated operation. The reproduction processing unit 108 outputs the generated simulation information to the output control unit 104a. Further, the reproduction processing unit 108 collates the generated simulation information with the three-dimensional data of the structure input from the information processing unit 103 b, and determines whether the robot 2 interferes with the structure in the virtual space. Do. If the reproduction processing unit 108 determines that the robot 2 and the structure interfere with each other in the virtual space, the reproduction processing unit 108 also outputs positional information of the portion where the interference occurs to the output control unit 104 a.

The output control unit 104a generates control information for displaying the robot 2, the structure, the aiming coordinate axis, and the passing point in the virtual space based on the three-dimensional data input from the information processing unit 103b. Further, the output control unit 104 a generates control information to display the drive trajectory generated by the trajectory generation unit 107 on the output device 5. Further, the output control unit 104 a generates control information for reproducing and displaying the simulation information input from the reproduction processing unit 108 on the output device 5. In addition, the output control unit 104a generates control information that highlights a point where interference occurs with a point or a line. Further, the output control unit 104a may generate control information for notifying the operator by voice that the occurrence of the interference occurs.

The teaching device 4 from which the output control unit 104a outputs control information is configured of the output device 5 and the input device 6 as shown in FIG. The teaching device 4 is a device capable of displaying the robot 2 and the structure based on the control information input from the output control unit 104 a and performing operation input to the displayed robot 2. The teaching device 4 is applicable to a general purpose personal computer, a tablet terminal operated by a touch panel, a head mounted display, and the like.
The robot 2 and a structure are displayed on the display 51 of the output device 5, and a graphic interface such as a teaching button for receiving an operation input is displayed. The teaching button may be a button provided on the teaching device 4 or a button of hardware such as a keyboard of a personal computer. There are a plurality of teaching buttons, a button for inputting start or end of teaching processing, a button for inputting determination or deletion of passing points, a button for inputting reproduction or stop of simulation for confirming generated drive path, operation It consists of buttons for advancing or returning the procedure.

Next, a hardware configuration example of the display control device 100B will be described. Description of the same configuration as that of the first embodiment is omitted.
The information processing unit 103b, the trajectory generation unit 107, the reproduction processing unit 108, and the output control unit 104a in the display control device 100B execute the program stored in the processing circuit 1a shown in FIG. 5A or the memory 1c shown in FIG. 5B. Processor 1b.

Next, details of the trajectory generation unit 107 will be described.
The trajectory generation unit 107 generates a drive trajectory of the robot 2 connecting the drive start point of the robot 2, the passing point, and the drive end point of the robot 2 which is the destination point. The drive start point and the drive end point may be points set in advance, or may be points arbitrarily set by the operator. The trajectory generation unit 107 can generate a drive trajectory of the robot 2 if at least one passing point is stored in the position information storage unit 106. The drive start point of the robot 2 may be a start point of the control program.

The trajectory generation unit 107 generates a drive trajectory by, for example, a linear motion trajectory, a tangential trajectory or a manual trajectory.
FIG. 17 is a diagram showing the type of drive trajectory generated by the trajectory generation unit 107 of the display control device 1B according to the third embodiment. FIG. 17A shows an example of a linear motion track, FIG. 17B shows an example of a tangential track, and FIG. 17C shows an example of a manual track.
The linear motion trajectory is a drive trajectory obtained by connecting two passing points in a straight line. Specifically, as shown in FIG. 17A, the first passing point P1 and the second passing point P2 are connected by a straight line, and the second passing point P2 and the third passing point P3 are connected by a straight line. It is a trajectory Qa obtained.
The tangent trajectory is a drive trajectory obtained by connecting the start point and the first passing point by a straight line, and connecting the second and subsequent passing points smoothly by maintaining the continuity of the tangent. Specifically, as shown in FIG. 17B, the first passing point P1 and the second passing point P2 are connected by a straight line, and the continuity of the contacts at the second passing point P2 and the third passing point P3 is determined. It is a trajectory Qb obtained by maintaining and connecting smoothly.

The manual trajectory is a trajectory generated by operating the jog lever, the operation key, the mouse or the like as the drive trajectory as it is. Specifically, as shown in FIG. 17C, the first passing point P1 and the second passing point P2 are connected by the line segment drawn by the operator on the display 51 of the output device 5, and the second passing point P2 is obtained. And the third passing point P3 by a line segment drawn by the operator.
The trajectory generation unit 107 outputs the generated drive trajectory and position information of the passing point on the drive trajectory to the output control unit 104 a and the reproduction processing unit 108.

The passing points are highlighted in a shape such as a circle or a rectangle shown in FIGS. 17A to 17C. Thereby, the operator can easily recognize the passing point. The output control unit 104a may generate control information for displaying a character indicating the identification of the passing point, for example, “passing point 1”, “Point 1” or “P1” in the vicinity of the passing point to be displayed. When the operator determines the passing point, the output control unit 104a may perform control to output a sound effect that impresses the determination of the passing point. When the operator determines a plurality of passing points, each passing point is given a letter indicating the identification in the determined order, for example, a serial number such as "passing point 1", "passing point 2" and "passing point 3" Is displayed.

When the operation information for moving the passing point on the drive trajectory displayed on the display 51 is input, the trajectory generation unit 107 corrects the position information of the passing point according to the operation information. Further, the trajectory generation unit 107 corrects the drive trajectory to a trajectory connecting the corrected passing points. The trajectory generation unit 107 deletes the position information of the passing point when the operation information for selecting and deleting the passing point on the driving trajectory displayed on the display 51 is input through the output control unit 104a. Further, the trajectory generation unit 107 corrects the passing point from which the drive trajectory is deleted to a trajectory not passing, and corrects a character indicating the identification given to each passing point. The trajectory generation unit 107 outputs the corrected drive trajectory and the position information of the passing point on the corrected drive trajectory to the output control unit 104 a and the reproduction processing unit 108. The track generation unit 107 may receive an input of operation information for selecting and moving the drive track displayed on the display 51, and may perform correction to move the drive track.

The teaching device 4 receives, for example, a pressing operation of the completion button, which indicates that the correction of the drive trajectory is completed. In addition, when the input of the operation information for moving or deleting the passing point is completed, the teaching device 4 may determine that the correction of the drive trajectory is completed, and the pressing operation of the completion button may be unnecessary. The teaching device 4 notifies the display control device 1 that the correction of the drive trajectory is completed. When notified that the correction of the drive trajectory is completed, the display control device 1 outputs a control program for driving the robot 2 along the generated drive trajectory to the robot control device 7.

Next, the details of the reproduction processing unit 108 will be described.
The reproduction processing unit 108 calculates an operation of driving the robot 2 along the drive trajectory from the information indicating the drive trajectory input from the trajectory generation unit 107 and the three-dimensional data of the robot 2 acquired from the information processing unit 103 b. And generate simulation information. The reproduction processing unit 108 outputs the generated simulation information to the output control unit 104a. The output control unit 104a displays a moving image driven by the robot 2 along a drive trajectory in the virtual space based on the simulation information input from the reproduction processing unit 108 and the three-dimensional data input from the information processing unit 103b. Control information is generated and output to the output device 5.

Further, in parallel with the process of generating the simulation information, the reproduction processing unit 108 collates the simulation information with the three-dimensional data of the structure input from the information processing unit 103 b. The reproduction processing unit 108 determines whether or not the robot 2 and the structure interfere with each other in the virtual space with reference to the comparison result. Here, the interference between the robot 2 and the structure also includes the interference between the tool 8 attached to the flange portion 2g of the robot 2 shown in FIG. 3 and the structure. In detail, when the robot 2 is driven along the drive track, any one of the arm of the robot 2, the shaft member of the robot 2, the flange portion 2g of the robot 2, the tool 8, etc. It is determined whether or not it interferes with the structure. When the reproduction processing unit 108 determines that interference occurs, the reproduction processing unit 108 acquires position information of a portion where the interference occurs and outputs the acquired position information to the output control unit 104 a. When the position information of the location where the interference occurs is input from the reproduction processing unit 108, the output control unit 104a generates control information for clearly indicating the location where the interference occurs.

The output control unit 104a may generate control information that clearly indicates the location where interference occurs when reproducing simulation information, or when displaying the drive trajectory of the robot 2 without reproducing the simulation information. Control information may be generated that clearly indicates where interference occurs. For example, when the trajectory generation unit 107 generates a linear motion trajectory or a tangential trajectory, the reproduction processing unit 108 determines whether the robot 2 interferes with the structure in the virtual space without generating simulation information. Do. The reproduction processing unit 108 outputs the position information of the portion where the interference occurs to the output control unit 104a when it is determined that the interference occurs. As a result, the output control unit 104a can perform control to clearly indicate a location where interference occurs on the drive trajectory.

The output control unit 104a generates a control that displays the control point A of the robot 2 in a posture located at the start point of the drive trajectory, and then displays a moving image driven by the robot 2 along the drive trajectory. When driving of the robot 2 is completed, the output control unit 104a generates control information to be displayed by causing the control point A of the robot 2 to stand still at an end position of the drive track. Further, when the operation information acquisition unit 102 acquires, for example, operation information for pressing the stop button while the robot 2 is performing display driving along the drive trajectory, the output control unit 104a may include the information processing unit 103b and Control information for displaying the robot 2 stopped in the posture when the stop button is pressed is generated via the reproduction processing unit 108. In addition, when the operation information acquisition unit 102 acquires, for example, operation information for pressing the play button while displaying that the robot 2 is stopped in a certain posture, the output control unit 104a can process the information processing unit 103b and Display control is performed to resume driving of the robot 2 again from the stopped posture via the reproduction processing unit 108.

When the position information of the location where the interference occurs is input from the reproduction processing unit 108, the output control unit 104a performs display control to highlight the location of the interference with the robot 2 with a point or a line on the drive track. Further, the output control unit 104a performs display control to highlight the interference location by changing the thickness of the line of the drive track or changing the color of the line. Furthermore, the output control unit 104a may perform control to output a sound effect from the speaker 52 when the robot 2 and a structure interfere with each other in the virtual space.

Next, operations of the trajectory generation unit 107, the reproduction processing unit 108, and the output control unit 104a of the display control device 1B will be described with reference to the flowcharts of FIGS. 18 and 19.
FIG. 18 is a flowchart showing the operation of the trajectory generation unit 107 of the display control device 1B according to the third embodiment. In addition, below, when the positional infomation on a new passing point is memorize | stored in the positional infomation memory | storage part 106, the track | orbit production | generation part 107 demonstrates as what produces | generates a drive track | orbit.
When the position information of the new passing point is stored in the position information storage unit 106 (step ST51), the trajectory generation unit 107 acquires the position information of the passing point stored in the position information storage unit 106 (step ST52). The trajectory generation unit 107 generates a drive trajectory of the robot 2 using the position information of the passing point acquired in step ST52 (step ST53). The trajectory generation unit 107 outputs information indicating the generated drive trajectory to the output control unit 104a.

On the other hand, the output control unit 104a generates control information for displaying the drive track and the passing point on the drive track in the virtual space based on the input information indicating the drive track (step ST54). The output control unit 104 a outputs the generated control information to the output device 5. Thereafter, the trajectory generation unit 107 determines whether or not an instruction to correct the drive trajectory or an instruction to correct the passing point has been input (step ST55). Here, the correction instruction includes correction of the passing point and deletion of the passing point. When the correction instruction is input (step ST55; YES), the trajectory generation unit 107 corrects the previously generated drive trajectory based on the correction instruction (step ST56). The trajectory generation unit 107 outputs information indicating the corrected drive trajectory to the output control unit 104a, and returns to the process of step ST54.

On the other hand, when the correction instruction is not input (step ST55; NO), the trajectory generation unit 107 outputs information indicating the generated or corrected drive trajectory to the reproduction processing unit 108. The reproduction processing unit 108 stores the information indicating the drive trajectory input from the trajectory generation unit 107 in a temporary storage area such as a buffer (step ST57), and ends the processing.

FIG. 19 is a flowchart showing generation of simulation information by the reproduction processing unit 108 of the display control device 1B according to the third embodiment. In the following description, it is assumed that the reproduction processing unit 108 generates simulation information when an instruction to generate simulation information is input.

When a simulation reproduction instruction is input from the operation information acquisition unit 102 (step ST61), the reproduction processing unit 108 receives information indicating the drive track stored in the buffer or the like in step ST57 of the flowchart of FIG. 18 and the information processing unit 103b. From the input three-dimensional data of the robot 2 and the structure, simulation information for driving the robot 2 along a drive path is generated (step ST62).

In addition, the reproduction processing unit 108 determines whether or not the robot 2 and the structure interfere with each other when the robot 2 is driven along the drive path in the virtual space (step ST63). When it is determined that interference does not occur (step ST63; NO), the reproduction processing unit 108 outputs the simulation information generated in step ST62 to the output control unit 104a. The output control unit 104a generates control information for reproducing the simulation information input from the reproduction processing unit 108 (step ST64).

On the other hand, when it is determined that interference occurs (step ST63; YES), the reproduction processing unit 108 acquires position information of the portion where the interference occurs (step ST65). The reproduction processing unit 108 outputs, to the output control unit 104a, the simulation information generated in step ST62 and the position information of the portion where the interference is acquired in step ST63. The output control unit 104a reproduces the simulation information and generates control information for displaying the location where the interference occurs on the drive track (step ST66). The output control unit 104a outputs the control information generated in step ST64 or step ST66 to the output device 5, and ends the process.

FIG. 20 is a diagram showing a display example of an interference point by the display control device 1B of the invention according to the third embodiment.
The drive track Qd is a track through which the control point A of the robot 2 passes the first passing point P1, the second passing point P2, and the third passing point P3. The area Ra is an area indicating a portion where the robot 2 and the structure Dc interfere with each other. The region Rb is a region indicating where on the drive trajectory Qd the control point A is driven when the robot 2 interferes with the structure Dc in the region Ra. Region Ra has a circular shape and clearly indicates the interference point. On the other hand, in the region Rb, a part of the drive trajectory Qd is drawn thickly as the thickness of the line segment to clearly indicate the location of the drive trajectory where interference occurs.

In the output device 5, when the display shown in FIG. 20 is performed, the operator may be configured to input an instruction to correct the drive path Qd via the input device 6 while confirming the display. . In that case, the trajectory generation unit 107 corrects the previously generated drive trajectory based on the input correction instruction. When the robot 2 is driven along the corrected drive path, the reproduction processing unit 108 determines whether interference occurs between the robot 2 and the structure. The output control unit 104 a generates control information according to the determination result, and outputs the control information to the output device 5. Thereby, the operator can correct the drive trajectory while visually recognizing the interference location.

Further, in the above-described simulation reproduction, the operator can set the driving speed of the robot 2, the stationary time at each passing point, the number of repetitions of driving, the control condition of the tool 8, and the like. The reproduction processing unit 108 generates simulation information based on the set conditions.
When the above-described simulation reproduction ends or generation of teaching data ends, the reproduction processing unit 108 outputs a control program for driving the robot 2 along the currently set driving trajectory of the robot 2 to the robot control device 7 .
It should be noted that the end of the simulation reproduction or the end of the teaching data generation may be judged by pressing the end button by the operator, for example, or when the driving track where the robot 2 interferes with the structure is generated. It may be determined that the generation has ended.

As described above, according to the third embodiment, the trajectory generation unit 107 that generates the drive trajectory of the robot 2 passing through the designated passing point is provided based on the operation information that designates the passing point of the robot 2. Since the output control unit 104 a is configured to generate the drive trajectory generated by the trajectory generation unit 107 and the control information for displaying the passing point on the drive trajectory, the drive trajectory passing through the set passing point is confirmed Can present information to

Further, according to the third embodiment, the reproduction processing unit 108 which calculates the operation driven by the robot 2 along the drive trajectory generated by the trajectory generation unit 107 and generates simulation information indicating the motion of the robot 2 is provided. Since the output control unit 104a is configured to generate control information for reproducing the simulation information generated by the reproduction processing unit 108, the output control unit 104a is configured to check the movement of the robot along the drive track. Information can be presented.

Further, according to the third embodiment, the reproduction processing unit 108 determines whether the robot 2 interferes with the structure when the robot 2 is driven along the drive trajectory generated by the trajectory generation unit 107. Since the determination is made and the output control unit 104a determines that the robot 2 and the structure interfere with each other, the output control unit 104a is configured to generate control information for displaying the location where the interference occurs. Information can be presented indicating that interference will occur when the robot is driven along the drive trajectory.

In the above description, an example in which the position information storage unit 106, the trajectory generation unit 107, the reproduction processing unit 108, and the interference determination unit 109 are added to the display control device 1 described in the first embodiment is described. However, the position information storage unit 106, the trajectory generation unit 107, the reproduction processing unit 108, and the interference determination unit 109 may be added to the display control device 1A described in the second embodiment.

It is assumed that the control information output from the

display control devices

1, 1A and 1B of the first to third embodiments described above is displayed in the augmented reality space via the output device 5. In this case, information such as a control point A, an aiming coordinate axis, a passing point, a drive trajectory, and an interference area is superimposed and displayed on the robot 2 in the real environment. When the robot 2 does not exist in the real environment, the information of the robot 2 generated by the

display control devices

1, 1A and 1B is also superimposed and displayed on the information of the real environment.
As described above, when displaying in the augmented reality space, a tablet terminal or a head mounted display provided with a device for three-dimensional scanning and an acceleration sensor is used as the output device 5. The augmented reality space output device 5 scans the shapes of the robot 2 and structures in the real environment using a stereo camera or depth sensor or the like to generate three-dimensional data. The output device 5 of the augmented reality space detects common feature points in the generated three-dimensional data and the three-dimensional data of the robot 2 and the structure for inputting teaching data inputted in advance, Match the position of the dimensional data.

When a tablet terminal or an enclosed head mounted display is applied as the output device 5 of the augmented reality space, the robot 2 of the reality environment captured by the camera for image input provided in the vicinity of the device for three-dimensional scanning On the image, three-dimensional data of the robot 2 and a structure for inputting teaching data inputted in advance are superimposed and displayed.
On the other hand, when a transmissive head mounted display is applied as the output device 5 of the augmented reality space, the robot 2 for inputting teaching data inputted in advance into the real robot 2 and peripheral environment seen through the lens for display Display the structure superimposed.

The output device 5 of the augmented reality space periodically performs three-dimensional scanning, performs calculations in accordance with the detection result of the movement of the operator by the acceleration sensor, and updates the superimposed display of the robot 2 and the structure described above in real time. In addition, the information which scanned the shape of the real robot 2 and a structure is not displayed.
Data in which three-dimensional data is superimposed and displayed can be superimposed on a passing point, a drive track, an operation button, and the like, as in the generation of teaching data and the generation of simulation information in virtual reality space.

Further, the augmented reality space output device 5 may be set so as not to display the robot 2 and the structure for inputting the teaching data input in advance. As a result, when the interference between the robot 2 and the structure is confirmed, the operator can be made to feel as if the actual structure and the robot 2 of the three-dimensional data actually interfere with each other.

FIG. 21 is a diagram showing a display example when the control information of the display control devices 100, 100A, 100B shown in the first to third embodiments is output to the output device 5 of the augmented reality space.
In FIG. 21, a display example in the case where three-dimensional data 2B of the robot 2, the control point A, the aiming coordinate axis, the first passing point P1 and the drive trajectory Qe are superimposed on the robot 2A of the real environment and the surrounding environment of the real environment. Is shown.
In the above description, the control information generated by the output control unit 104 is information for causing the output device 5 to display an image when the robot 2 and the aiming coordinate axes are viewed from a specific position in the virtual space. showed that. However, as shown in FIG. 21, the control information may be information for causing the output device 5 to display an image when at least the aiming coordinate axes are viewed from a specific position in the virtual space.

The

display control devices

1, 1A, and 1B described in the first to third embodiments described above can also be applied as a device for generating a control program for remotely operating a device.

In addition to the above, within the scope of the invention, the present invention allows free combination of each embodiment, modification of any component of each embodiment, or omission of any component of each embodiment. It is.

The display control apparatus according to the present invention can be applied to an apparatus for generating a control program of a robot for performing work or the like, or an apparatus for generating a control program for remotely operating the apparatus.

1, 1A, 1B display control device, 101 three-dimensional data acquisition unit, 102 operation information acquisition unit, 103, 103a, 103b information processing unit, 104, 104a output control unit, 105 drive area setting unit, 106 position information storage unit, 107 Trajectory generation unit, 108 reproduction processing unit.

Claims

In a virtual space defined by three-dimensional data of the structure based on three-dimensional data of the device to be driven and three-dimensional data of the structure, a first straight line passing through the control point set for the device to be driven is An information processing unit that generates three-dimensional data of the aiming coordinate axes including;
The control information for displaying the aiming coordinate axis on the output device is generated based on the three-dimensional data of the driven device, the three-dimensional data of the structure, and the three-dimensional data of the aiming coordinate axis generated by the information processing unit. A display control device comprising an output control unit.
The said aiming coordinate axis is constituted by a second straight line and a third straight line passing through the aiming point respectively located on the first straight line in addition to the first straight line. Display control device.
The display control device according to claim 1, wherein the first straight line is a straight line extending in a direction set according to a tool attached to the drive target device.
The display control device according to claim 1, wherein the first straight line is a straight line extending in the vertical direction.
The second straight line and the third straight line are straight lines extending in the same direction as the x axis and the y axis in global coordinates including the x axis and the y axis orthogonal to each other and the z axis in the vertical direction The display control apparatus according to claim 2, wherein
The second straight line and the third straight line are straight lines extending in the same direction as the x axis and the y axis at local coordinates including the x axis, the y axis, and the z axis orthogonal to one another. The display control device according to claim 2.
The display control device according to claim 2, wherein the aiming point is a point at which the first straight line intersects with the surface of the structure in the virtual space.
The second straight line and the third straight line are lines along the surface shape of the structure, and when viewed from a specific direction, the straight lines are shapes that are straight and orthogonal to each other. The display control device according to claim 2.
The display control device according to claim 2, wherein the second straight line and the third straight line are straight lines extending in the virtual space.
The output control unit changes a display mode of a straight line extending in the same direction as the direction in which the drive of the drive target device is limited among the first straight line, the second straight line, and the third straight line. 3. The display control apparatus according to claim 2, wherein control information for display is generated.
The display control device according to claim 1, wherein the output control unit generates control information for displaying coordinate values of the control point.
The display control device according to claim 2, wherein the output control unit generates control information for displaying coordinate values of the aiming point.
And a drive region setting unit configured to set a drivable region of the drive target device based on the drive limit of the drive target device.
The display control device according to claim 1, wherein the first straight line is a line segment of a portion located in the drivable area.
And a drive region setting unit configured to set a drivable region of the drive target device based on the drive limit of the drive target device.
The display control device according to claim 2, wherein the first straight line, the second straight line, and the third straight line are line segments of a portion located in the drivable area.
The trajectory generation unit is configured to generate a drive trajectory of the drive target device passing through the specified pass point based on operation information specifying the pass point of the drive target device.
The display control device according to claim 1, wherein the output control unit generates control information for displaying the drive trajectory generated by the trajectory generation unit and a passing point on the drive trajectory.
The reproduction processing unit is configured to calculate an operation to be driven by the drive target device along the drive track generated by the track generation unit, and generate simulation information indicating a motion of the drive target device.
The display control device according to claim 15, wherein the output control unit generates control information for reproducing the simulation information generated by the reproduction processing unit.
The reproduction processing unit determines whether the drive target device and the structure interfere with each other when the drive target device is driven along the drive track generated by the track generation unit.
The output control unit generates control information for displaying a portion where the interference occurs when the reproduction processing unit determines that the drive target device and the structure interfere with each other. The display control apparatus of Claim 16.
The information processing unit passes control points set in the drive target device in a virtual space defined by the three-dimensional data of the structure based on the three-dimensional data of the drive target device and the three-dimensional data of the structure. Generating three-dimensional data of aiming coordinate axes including the first straight line;
Control information for displaying the aiming coordinate axis on the output device based on the three-dimensional data of the driven device, the three-dimensional data of the structure, and the generated three-dimensional data of the aiming coordinate axis of the output control unit And generating a display control method.
In a virtual space defined by three-dimensional data of the structure based on three-dimensional data of the device to be driven and three-dimensional data of the structure, a first straight line passing through the control point set for the device to be driven is Generating three-dimensional data of the aiming coordinate axes including
A procedure of generating control information for displaying the aiming coordinate axis on an output device based on the three-dimensional data of the drive target device, the three-dimensional data of the structure, and the generated three-dimensional data of the aiming coordinate axis; Display control program to make a computer execute.