JP7180274B2 - Information processing device, display program and display method - Google Patents

Description

The present invention relates to an information processing device, a display program, and a display method.

For example, in order to improve the efficiency of manufacturing in factories, robotization of assembly work is desired. Since the assembly work includes the process of handling linear flexible objects such as cables, deformation simulation of flexible objects is used to verify the validity of robot motions in a short time.

JP 2005-306187 A JP-A-2005-38398

Since flexible objects have tolerances in length, rigidity, and weight, if deformation simulation is performed with these tolerances taken into account, it is possible to indicate a predetermined range as the position of the flexible object.

Also, if it is possible to consider factors other than the tolerances in the deformation simulation, it is possible to simulate the existence position of the flexible object with higher accuracy.

In one aspect, an object of the present invention is to provide an information processing device, a display program, and a display method that can accurately identify and display a range in which a linear flexible object may exist.

In one aspect, an information processing apparatus includes a setting unit that sets a plurality of constraint points on a linear flexible object; The probability distribution of the length error of the flexible linear object is obtained from the probability distribution of the displacement of the two restraint points in the length direction of the flexible linear object, and based on the obtained probability distribution of the length error. a calculator for calculating a shape that the linear flexible object can take between the two constraint points and an index indicating the likelihood of the shape; a display processing unit that identifies and displays a range in which the linear flexible object may exist based on the shape and the index of the shape.

A range in which a linear flexible object may exist can be accurately specified and displayed.

1 is a diagram schematically showing the configuration of an information processing device according to an embodiment; FIG. 3 is a functional block diagram of an information processing device; FIG. FIG. 3(a) is a diagram showing the probability distribution of the cable length manufacturing error, FIG. 3(b) is a diagram showing the probability distribution of the cable stiffness manufacturing error, and FIG. FIG. 4 is a diagram showing the probability distribution of manufacturing errors in cable weight; 4 is a flowchart showing processing of an information processing device; FIGS. 5(a) to 5(d) are diagrams showing a procedure for two robots to lay a cable to an electronic device. FIG. 6(a) is a diagram for explaining gripping, and FIG. 6(b) is a diagram for explaining fixing. FIG. 5 is a flow chart showing detailed processing of step S16 in FIG. 4 ; FIG. It is a figure which shows a calculation area. FIGS. 9(a) to 9(c) are diagrams for explaining a method of calculating the probability distribution of length errors of constraint points. FIGS. 10(a) and 10(b) are diagrams (part 1) showing a method of calculating the spatial likelihood distribution of cables. FIGS. 11(a) and 11(b) are diagrams (part 2) showing a method of calculating a spatial likelihood distribution of cables. FIGS. 12(a) and 12(b) are diagrams (part 3) showing a method of calculating the spatial likelihood distribution of cables. FIGS. 13(a) to 13(c) are diagrams for explaining an example of displaying a range where a cable may exist. FIGS. 14(a) and 14(b) are diagrams for explaining the examination of the construction method, and FIG. 14(c) is a diagram for explaining the understanding of the work failure risk. FIGS. 15(a) to 15(c) are diagrams for explaining the interference check.

An embodiment of an information processing apparatus will be described in detail below with reference to FIGS. 1 to 15. FIG.

FIG. 1 shows the hardware configuration of an information processing device 10 according to one embodiment. In the information processing apparatus 10 of FIG. 1, for example, a robot targets a linear flexible object (here, a cable) such as a cable, wire, thread, hose, rope, tube, catheter (here, a PC (Personal Computer)). It is a device that simulates the range where a cable may exist while laying it in an electronic device such as a cable. The information processing apparatus 10 displays a possible cable existence range obtained by the simulation.

As shown in FIG. 1, the information processing apparatus 10 includes a CPU (Central Processing Unit) 90, a ROM (Read Only Memory) 92, a RAM (Random Access Memory) 94, a storage unit (here, a HDD (Hard Disk Drive)) 96. , a network interface 97, a display unit 93, an input unit 95, a portable storage medium drive 99, and the like. Each component of the information processing apparatus 10 is connected to the bus 98 . The display unit 93 includes a liquid crystal display and the like, and the input unit 95 includes a keyboard, mouse, touch panel and the like. In the information processing apparatus 10, the CPU 90 executes a program (including a display program) stored in the ROM 92 or HDD 96, or a program (including a display program) read from the portable storage medium 91 by the portable storage medium drive 99. By doing so, the function of each part shown in FIG. 2 is realized. Note that the function of each unit in FIG. 2 may be implemented by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

FIG. 2 shows a functional block diagram of the information processing device 10. As shown in FIG. As shown in FIG. 2, the CPU 90 of the information processing apparatus 10 functions as the input receiving section 12, the simulation executing section 14, the processing section 16, and the image generating section 18 by executing programs. FIG. 2 also shows various DBs 30, 32, 34, and 36 stored in the HDD 96 or the like.

The input reception unit 12 receives information input by the user via the input unit 95 and stores the received information in the work movement information DB 30 and the physical property value DB 32 . Further, when the input reception unit 12 receives the information of the simulation start instruction input by the user, the input reception unit 12 notifies the simulation execution unit 14 to that effect. Here, the work motion information DB 30 stores information on the movement trajectory and posture of the robot hand, motion speed, and work information (information on gripping, fixing, etc.) at each time. In addition, the physical property value DB 32 stores information such as cable length, cable rigidity, and cable weight.

When the simulation execution unit 14 receives the simulation start instruction from the input reception unit 12, the simulation execution unit 14 notifies the processing unit 16 of simulation time information (information indicating how many seconds after the start of the simulation). Run the simulation.

Based on the time information received from the simulation execution unit 14, the processing unit 16 simulates the possible cable existence range at the received time. Here, as shown in FIG. 2 , the processing unit 16 has a constraint calculation unit 22 as a setting unit, a cable shape calculation unit 24 as a calculation unit, and a likelihood distribution calculation unit 26 .

The constraint calculation unit 22 calculates the cable constraint at the time received from the simulation execution unit 14 . Restriction of a cable means, for example, that a part of the cable is restricted or unrestricted. Cable restraint includes a portion of the cable being fixed to the electronic device and a portion of the cable being held by the robot hand.

The cable shape calculation unit 24 considers the variation in the length of the cable between the restraint points due to the displacement of the restraint points of the cable in the length direction of the cable, and determines the shape that the cable can take between the restraint points and the shape. Calculate the likelihood of Specifically, the cable shape calculation unit 24 calculates information stored in the physical property value DB 32, the probability distribution DB 34 based on manufacturing errors, and the probability distribution DB 36 of positional deviation based on the cable constraints calculated by the constraint calculation unit 22. Then, the shape (shape sample) that the cable can take and its likelihood are calculated. Here, the probability distribution DB 34 based on the manufacturing error contains the probability distribution of the manufacturing error of the cable length (Fig. 3(a)), the probability distribution of the manufacturing error of the cable stiffness (Fig. 3(b)), and the weight of the cable. Each piece of information on the probability distribution of manufacturing errors (FIG. 3(c)) is stored. Further, the probability distribution DB 36 of positional deviation stores the probability distribution of positional deviation (Fig. 9 (c)) is stored.

The likelihood distribution calculator 26 calculates a spatial distribution of likelihoods based on the shapes (shape samples) that the cable can take calculated by the cable shape calculator 24 and the likelihoods thereof. The likelihood distribution calculator 26 transmits the calculated likelihood distribution to the image generator 18 via the simulation execution unit 14 .

The image generator 18 generates an image representing the spatial distribution of likelihoods calculated by the likelihood distribution calculator 26 . The image generation unit 18 causes the display unit 93 to display the generated image.

(Processing of information processing device 10)
Next, the processing of the information processing apparatus 10 will be described in detail along the flowchart of FIG. 4 and with appropriate reference to other drawings.

Here, in this embodiment, two robots are used to lay (assemble) the cable 50 to the electronic device 100 in the procedure shown in FIGS. 5(a) to 5(d). Specifically, the first robot connects one connector of the cable 50 to the connector connection point A, as shown in FIG. 5(a). Next, as shown in FIG. 5B, the first robot moves away from the connector connecting point A, and the second robot fixes part of the cable 50 to the electronic device 100 at the point B. As shown in FIG. Next, as shown in FIG. 5C, the first robot moves further away from the connector connection point A, and the second robot fixes a portion of the cable 50 to the electronic device 100 at point C. Then, as shown in FIG. Then, the first robot connects the other connector of the cable 50 to the connector connection point D, as shown in FIG. 5(d). The information processing apparatus 10 performs the process of FIG. 4 to determine the possible existence range of the cable 50 during the work shown in FIGS. 5A to 5D by the first robot and the second robot. is simulated, and the result is displayed on the display unit 93 .

In the process of FIG. 4, the simulation execution unit 14 first initializes the time t to 0 in step S10.

Next, in step S12, the simulation execution unit 14 advances the time t by δt (t←t+δt).

Next, in step S14, the constraint calculation unit 22 refers to the work motion information DB 30 to generate or eliminate constraint conditions. In this process, the constraint calculation unit 22 obtains the following work motion information stored in the work motion information DB 30 as motions of the two robots.
(Work movement information 1)
Time-series information of the movement trajectory of the tip of the robot hand during work and the posture of the robot at each position.
(Work motion information 2)
Change information (ON/OFF) of the restraint state (holding, fixing) of the cable at time δt.

Here, the restrained state includes grasping and fixing. Grasping represents the state in which the robot hand holds the cable. As shown in FIG. , means to match at later times as well. On the other hand, fixation expresses assembly or temporary fixation (temporary fixation with tape or the like). When the cable is fixed at time δt as shown in FIG. 6(b), the point on the cable at the fixed position (the tip position of the robot hand if held by the robot, or the pin position if pinned) to match the fixed position at a later time. In the following description, the points on the cable that are constrained as described above will be referred to as "constraint points."

Next, in step S16, the cable shape calculator 24 executes a process of calculating the shape of the cable. In this step S16, the process according to the flowchart of FIG. 7 is executed. Here, as an example, the process of FIG. 7 (the process of step S16) will be described while transitioning from the state of FIG. 5B to the state of FIG. 5C. In the process of FIG. 7, not only the shape of the cable without error but also the shape (shape sample) of the cable when considering the error (when there is an error) is calculated.

In the process of FIG. 7, first, in step S50, the cable shape calculation unit 24 calculates the length error in the calculation section according to the probability distribution of the positional deviation of the restraint points at both ends of the cable in the length direction of the cable and the manufacturing error of the cable length. and calculate the probability density. 5(b) to FIG. 5(c) is the interval before and after the grip constraint point shown in FIG. 8 (calculation intervals 1 and 2). be.

(Regarding calculation interval 1)
When calculating the length error and the probability density in the calculation interval 1, the probability distribution of the positional deviation in the length direction of the cable due to the work at the point B and the probability distribution of the positional deviation in the length direction of the cable due to the work at the grip constraint point , and the probability distribution of the manufacturing error on the length.

Specifically, the length error T ₁ in the calculation interval 1 is defined as T B , the displacement in the length direction of the cable due to work at point B, and T _G , the displacement in the length direction of the cable due to work _at the gripping constraint point. , and the manufacturing error related to the length is T _M , it is obtained from the following equation (1). In addition, L1 means the length of the calculation section 1, and L means the total length of the cable.
_T1 = _TB + _TG +(L1/L)× _TM (1)

Also, the probability density function P(T ₁ ) of the length error T ₁ is a composite product of functions representing the respective probability distributions of T _B , T _G , and T _M . Here, the probability density function P(T ₁ ) of the length error T ₁ expresses the probability distribution of the error as a function of continuous values. distribution. Note that the probability distribution of the manufacturing error T _M related to the length is shown in FIG. 3(a), and is stored in the probability distribution DB 34 (see FIG. 2) based on the manufacturing error. The probability distribution of the positional displacement of the restraint point in the length direction of the cable is stored in the positional displacement probability distribution DB 36 (see FIG. 2), and the calculation method thereof will be described later.

(Regarding calculation interval 2)
When obtaining the length error and probability distribution in calculation interval 2, the probability distribution of positional displacement in the length direction of the cable due to work at the grip restraint point and the probability of positional displacement in the length direction of the cable due to work at the unfixed end point distribution and the probability distribution of the manufacturing error with respect to length.

Specifically, the length error T ₂ in the calculation interval 2 is the positional deviation in the length direction of the cable due to work at the grip restraint point, and the positional deviation in the length direction of the cable due to work _at the unfixed end point. T _end (where T _end =0), and T _M being the manufacturing error related to the length, can be obtained from the following equation (2). Note that L2 means the length of calculation interval 2 .
T ₂ =T _end +T _G +(L2/L)×T _M (2)

Moreover, the probability density function P(T ₂ ) of the length error T ₂ is a composite product of functions representing the probability distributions of T _end , T _G , and T _M , and this probability density function is the length of the calculation interval 2 It corresponds to the probability distribution of the error.

Returning to FIG. 7, in the next step S52, the cable shape calculator 24 calculates stiffness errors and probability densities according to the probability distribution of manufacturing errors relating to stiffness. For example, the cable shape calculator 24 calculates the stiffness error G1 of the calculation section 1 and its probability density PG1 from FIG. 3(b).

Next, in step S54, the cable shape calculation unit 24 calculates the weight error and the probability density in the calculation interval according to the probability distribution of the weight-related manufacturing error. For example, the cable shape calculator 24 calculates the weight error M1 in the calculation section 1 and its probability density PM1 from FIG. 3(c).

Next, in step S56, the cable shape calculator 24 updates the length, stiffness, and weight, multiplies the probability density of each value, and calculates the likelihood. Assuming that the length error in calculation interval 1 calculated in step S50 is L1 and the probability density of this length error L1 is PL1, the likelihood X can be obtained from the following equation (3).
X=PL1×PG1×PM1 (3)

Note that the likelihood for calculation interval 2 can also be obtained in the same manner.

Next, in step S58, the cable shape calculator 24 calculates the shape of the shape sample with the updated length, stiffness, and weight, and stores it with the likelihood.

Here, the shape of each section can be calculated by approximating the cable with a parametric curve and determining the curve shape that minimizes the potential energy under the condition that the constraints of the constraint points are satisfied. Regarding the calculation method of the shape, the method described in "Deformation simulation of wire harness and design support system, Information Processing Society of Japan 48(2), 909-917, 2007-02-15" is adopted. can do.

Next, in step S60, the cable shape calculator 24 determines whether or not the number of times has reached the upper limit, that is, whether or not the necessary number of shape samples have been obtained. If the determination in step S60 is negative, the process returns to step S50 and repeats the above-described processing. On the other hand, if the determination in step S60 is affirmative, the entire process (step S16) in FIG. 7 is terminated, and the process proceeds to step S20 in FIG. Note that when the process proceeds to step S20, the shape of the cable without error and its likelihood, and the shape of the cable with an error (shape sample) and its likelihood are stored.

Here, the cable shape calculation unit 24 calculates the probability distribution of positional deviation in the length direction of the cable at the constraint point each time fixation or gripping occurs at the constraint point, and stores the probability distribution in the positional deviation probability distribution DB 36. back. A method of calculating the probability distribution of the positional deviation of the restraint point in the length direction of the cable will be described below with reference to FIGS. 9(a) to 9(c).

(a) The cable shape calculator 24 sets Z as a constraint point on a cable with no error, and extracts each point on each shape sample corresponding to the constraint point Z. FIG. In FIG. 9A, the thick solid line indicates the shape of the cable with no error, and the other line types indicate shape samples with errors. Also, the points shown on the shape sample indicate points corresponding to the constraint point Z (points at the same position from the starting point).

(b) Next, the cable shape calculator 24 calculates the positional deviation amount E of each point corresponding to the constraint point Z by the following method.
(i) As shown in FIG. 9(b), determine the inner product of the movement vector v connecting the constraint point Z and each point and the tangent line to the constraint point Z, and if the value is 0 or less, the displacement amount Let the sign of E be negative, otherwise positive.
(ii) The absolute value of the displacement amount is the length of the movement vector v.

(c) Next, the cable shape calculator 24 sets the likelihood X at the point corresponding to the constraint point Z to the same value as the likelihood of each shape sample.

(d) Next, the cable shape calculation unit 24 plots the x-axis (horizontal axis) as the positional deviation amount E and the y-axis (vertical axis) as the likelihood for each point corresponding to the restraint point Z. Calculate the distribution function F(E) as shown in c). The distribution obtained by appropriately scaling this distribution function F(E) is used as the probability distribution of the positional deviation in the length direction of the cable at the restraint point generated by the work.

For example, as shown in the following equation (4), the normal distribution can be multiplied by a constant (k) to obtain a function F(E).

In this case, the distribution function F(E) can be determined by obtaining the variance σ and the constant k that minimize the sum of the distances between the constraint point Z and the corresponding points.

Since F(E) is a function of likelihood, P(E) (=F(E)/k) scaled to be 1 when F(E) is integrated over the entire interval is used as the displacement Let the probability distribution of quantity E be

It should be noted that the probability distribution of the positional displacement of the restraint point in the length direction of the cable calculated as described above is stored in the positional displacement probability distribution DB 36 . On the other hand, when the constraint in the constraint state is released (turned OFF), the positional deviation probability distribution in the length direction of the constraint point is updated to 0 and stored in the positional deviation probability distribution DB 36 .

Returning to FIG. 4, in the next step S20, the likelihood distribution calculator 26 calculates the spatial likelihood distribution of the cable. A method of calculating the spatial likelihood distribution of cables will be described in detail below with reference to FIGS. 10 to 13. FIG.

(Calculation method of spatial likelihood distribution of cables)
First, the likelihood distribution calculator 26 extracts shape samples (including shapes without errors) having a predetermined likelihood X or more from shape samples without errors shown in FIG. 10(a). . Then, the likelihood distribution calculator 26 calculates a closed curved surface S(X) (polyhedral mesh) including all the extracted shape samples, as shown in FIG. 10(b). At this time, points on the closed surface S(X) (points indicated by black circles) are treated as likelihood X.

FIG. 11(a) shows a state in which a region defined by a spheroid is superimposed on the closed curved surface S(X). The area defined by this spheroid is the maximum area that the cable can reach. That is, the range reached by a curve of a certain length with fixed endpoints of the calculation interval is an area defined by the spheroid. Points on the surface of this spheroid (points indicated by white circles) have a likelihood of zero.

The likelihood distribution calculator 26 spatially interpolates the likelihood at any point inside the spheroid, the likelihood at points on the shape without error, the closed surface S(X), and the surface of the spheroid. Calculate by doing Note that the arbitrary points mean the number of points corresponding to the resolution required when an image is generated (visualized) by the image generation unit 18, which will be described later.

The interpolation calculation of the likelihood at arbitrary points will now be described in detail. In this embodiment, a scalar field having the likelihood of a closed surface at each vertex position of a spheroid and a closed surface is considered. When this vertex group is subjected to three-dimensional Delaunay triangulation, the inside of the spheroid is represented by a set of tetrahedrons. In this case, the likelihood is 0 when an arbitrary point p is on the surface (or outside) of the spheroid indicated by the white circle ◯ in FIG. 11(a). On the other hand, if an arbitrary point p is inside the spheroid, as shown in FIG. divide it into four tetrahedrons. Then, let the volumes of the divided tetrahedrons be V ₀ , V ₁ , V ₂ , and V ₃ and the volume of the original tetrahedron be V, and obtain the likelihood X _p of the point p from the following equation (5).

The likelihood distribution calculator 26 can calculate two or more closed surfaces S(X). For example, as shown in FIG. 12(a), the likelihood distribution calculator 26 calculates a closed surface (space) S(Xa) containing all shape samples with a likelihood of Xa or more and a surface (space) S(Xa) with a likelihood of Xb (>Xa). A closed curved surface S(Xb) including all the above shape samples is calculated. In this case, the closed curved surface S(Xb) is included inside the closed curved surface S(Xa). Even when a plurality of closed surfaces are calculated in this way, the above equation (5 ) to find the likelihood of an arbitrary point.

Here, when calculating the spatial likelihood of the cable as described above, the likelihood distribution calculator 26 calculates all the likelihoods of positions necessary for image generation.

For example, as shown in FIG. 13(a), when expressing a range in which a cable may exist as a contour diagram of multiple cross sections, each cross section is divided into a grid as shown in FIG. 13(b). Calculate the likelihood of the location of the center of each possible quadrangle. In addition, as shown in FIG. 13C, when representing a shape with a lower transmittance as the likelihood is higher, the visualization region is represented by a rectangular parallelepiped, and the rectangular parallelepiped is divided into small rectangles as an orthogonal mesh. , compute the likelihood of the location of the center of the small rectangle.

The likelihood distribution calculator 26 transmits the information obtained by the processing described above to the image generator 18 via the simulation execution unit 14 .

Returning to FIG. 4, in the next step S22, the image generation unit 18 creates an image for display and displays it on the display unit 93. FIG. In this case, based on the information received from the likelihood distribution calculation unit 26, the image generation unit 18 colors the likelihood distribution with respect to the shape of the cable when there is no error, and superimposes it in FIG. 13(c) is created and displayed on the display unit 93. FIG.

Next, in step S24, the simulation execution unit 14 determines whether or not the simulation is finished. That is, it is determined whether or not the time t has reached a predetermined time (simulation end time). If the determination in step S24 is negative, the process returns to step S12, and steps S12 to S24 are executed to execute the simulation for δt seconds after the previous time. By repeatedly executing steps S12 to S24 in this manner, the range in which the cable may exist can be displayed on the display unit 93. FIG. On the other hand, if the determination in step S24 is affirmative, all the processing in FIG. 4 ends.

(Use scene)
Here, the use scene of the image displayed on the display unit 93 by the image generation unit 18 will be described.

(a) Examination of construction methods Figures 14(a) and 14(b) show how the work can be performed by visualizing the possible range of existence of cables when two procedures for performing the same work are adopted. High success rate can be estimated. In the example of FIG. 14(a), the cable 50 is laid by one robot hand. In this case, the user who saw the image of FIG. 14( a ) thinks that the slack of the cable 50 increases and the variation in the position of the cable 50 increases, so that the cable 50 may not be properly assembled at the target position. can judge. On the other hand, in the example of FIG. 14B, two robot hands are used, one of which holds down the cable 50 and the other of which stretches the cable 50 for laying. In this case, the user who sees the image in FIG. 14(b) can judge that the cable 50 can be appropriately assembled at the target position because the variation in the position of the cable 50 is small.

(b) Ascertaining work failure risk When laying the cable 50 as shown in FIG. That is, if the range indicating the possibility of existence of a cable is narrow, the length of the cable may be insufficient. Therefore, a user who sees the image as shown in FIG. 14(c) can determine that there is a possibility that the operation will fail due to the short length of the cable 50 because the range indicating the possibility of existence of the cable 50 is narrow.

(c) Interference check As shown in FIG. 15(a), when there is a peripheral component 52 in the range where the possibility of cable existence is high, the user is aware that the cable 50 and the component 52 may interfere with each other. can be determined to be viable.

15(b), when the cable needs to be accommodated in the groove 54, the user checks the relationship between the range where the cable 50 is likely to exist and the groove 54. FIG. In this case, the user can determine that there is a high possibility that the cable 50 will not fit in the groove when the range where the cable 50 is likely to exist protrudes largely from the groove 54 .

Also, as shown in FIG. 15(c), when the cable 50 needs to be housed in the hook 56, the user can make a decision in the same manner as in FIG. 15(b).

As is clear from the description so far, in this embodiment, the likelihood distribution calculator 26 and the image generator 18 operate based on the shape that the cable between the restraint points can take and the likelihood of the shape. A function as a display processing unit that identifies and displays a range where a cable may exist is realized.

As described above in detail, according to the present embodiment, the constraint calculator 22 sets the cable constraint point by generating or eliminating the cable constraint at time t (S14). In addition, the cable shape calculator 24 calculates the probability distribution of the cable length error between two constraint points on the cable from the probability distribution of the positional deviation of the constraint points in the length direction of the cable (Fig. 9(c)). Ask. Further, the cable shape calculator 24 calculates the shape that the cable can take between the two restraint points and the likelihood of that shape based on the calculated probability distribution of the length error (S16). Then, the likelihood distribution calculation unit 26 identifies a range in which the cable may exist based on the shape that the cable can take and the likelihood of the shape, and the image generation unit 18 uses the likelihood distribution calculation unit The image of the range specified by 26 is displayed on the display unit 93 . Here, when the robot handles the cable, the position of the cable to be gripped by the robot shifts due to slack in the cable or slipping when the robot grips the cable, and the position of the cable to be fixed to the electronic device etc. deviate. On the other hand, in the present embodiment, the probability distribution of the cable length error between two constraint points on the cable, which is obtained from the probability distribution of the displacement of the constraint points as described above, is used to determine the possibility of the existence of the cable. Identify and display a certain range. As a result, it is possible to accurately identify and display the range in which the cable may exist, taking into consideration the positional deviation of the cable when the robot handles the cable.

Further, in this embodiment, the cable shape calculation unit 24 calculates the probability distribution of the length error of the cable between the two constraint points, the probability distribution of the positional deviation in the length direction of the cable at each of the two constraint points, and the probability distribution of the cable. It is determined based on the manufacturing error of the length (see the above formula (1)). As a result, it is possible to accurately specify and display the range in which the cable may exist, taking into consideration manufacturing errors in the length of the cable.

In addition, in this embodiment, the cable shape calculator 24 calculates the possible length of the cable based on the probability distribution of the length error between the restraint points, the manufacturing error of the weight of the cable, and the manufacturing error of the stiffness of the cable. Compute shape and likelihood. As a result, considering the probability distribution of cable length error between restraint points and the manufacturing error of cable weight and stiffness, it is possible to accurately identify and display the range where the cable may exist. .

Further, in the present embodiment, the image generation unit 18 displays, in a range in which a cable may exist, areas with a high possibility of existence and areas with a low possibility of existence in different modes (for example, different transmittances). As a result, the user can examine the construction method, grasp the risk of work failure, and check for interference based on the possibility that the cable exists. Although the image generating unit 18 has described the case where the locations where the cable is likely to exist and the locations where the cable is unlikely to exist are represented by different colors or different transmittances, the present invention is not limited to this. For example, the image generation unit 18 may display a location with a high possibility of a cable being present and a location with a low possibility of the presence of a cable so as to be distinguishable from each other by means of differences in patterns, differences in brightness, and the like.

In the above embodiment, the cable shape calculation unit 24 calculates the shape and likelihood that the cable can take based on the probability distribution of the length error between the restraint points and the manufacturing error of the weight and stiffness of the cable. However, it is not limited to this. For example, in calculating the shape and likelihood that the cable can take, at least one of the cable weight manufacturing error and stiffness manufacturing error may not be used.

Note that the processing functions described above can be realized by a computer. In that case, a program is provided that describes the processing contents of the functions that the processing device should have. By executing the program on a computer, the above processing functions are realized on the computer. A program describing the processing content can be recorded in a computer-readable storage medium (excluding carrier waves).

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

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

The embodiments described above are examples of preferred implementations of the present invention. However, the present invention is not limited to this, and various modifications can be made without departing from the spirit of the present invention.

In addition, the following additional remarks will be disclosed with respect to the above description of the embodiment.
(Appendix 1) A setting unit that sets constraint points on a linear flexible object;
The probability distribution of the length error of the linear flexible object between two restraint points on the linear flexible object is obtained from the probability distribution of the positional deviation of the constraint points in the length direction of the linear flexible object. a calculation unit that calculates a shape that the linear flexible object can take between the two restraint points and an index that indicates the likelihood of the shape, based on the probability distribution of the length error;
a display processing unit that identifies and displays a range in which the flexible linear object may exist based on the shape that the flexible linear object can take between the two constraint points and the index of the shape; ,
Information processing device.
(Supplementary note 2) The calculation unit calculates the probability distribution of the length error by combining the probability distribution of the positional deviation of the two restraint points in the length direction of the flexible linear object with the length of the flexible linear object. The information processing apparatus according to Supplementary Note 1, wherein the information processing apparatus is obtained based on a manufacturing error of .
(Supplementary Note 3) The calculation unit calculates the distance between the two restraint points based on the obtained probability distribution of the length error and at least one of the weight manufacturing error and the rigidity manufacturing error of the linear flexible object. 3. The information processing apparatus according to appendix 1 or 2, wherein the shape that the linear flexible object can take and the likelihood of the shape are calculated.
(Supplementary Note 4) The display processing unit according to any one of Supplementary Notes 1 to 3, wherein the display processing unit displays a location with a high possibility of existence of the linear flexible object and a location with a low possibility of existence in the range in different manners. information processing equipment.
(Appendix 5) Set a constraint point on the linear flexible object,
The probability distribution of the length error of the linear flexible object between two restraint points on the linear flexible object is obtained from the probability distribution of the positional deviation of the constraint points in the length direction of the linear flexible object. Based on the probability distribution of the length error, calculating a shape that the linear flexible object can take between the two restraint points and an index indicating the likelihood of the shape,
identifying and displaying a range in which the linear flexible object may exist based on the shape that the linear flexible object can take between the two constraint points and the index of the shape;
A display program for executing processing on a computer.
(Supplementary Note 6) In the calculation process, the probability distribution of the length error is determined by combining the probability distribution of the positional deviation of the two constraint points in the length direction of the flexible linear object with the length of the flexible linear object. The display program according to appendix 5, wherein the display program is obtained based on the manufacturing error of the thickness.
(Appendix 7) In the calculating process, the two constraint points are determined based on the obtained probability distribution of the length error and at least one of the weight manufacturing error and the stiffness manufacturing error of the linear flexible object. 7. The display program according to appendix 5 or 6, wherein the shape that the linear flexible object can take in between and the likelihood of the shape are calculated.
(Additional remark 8) According to any one of additional remarks 5 to 7, characterized in that, in the displaying process, a location with a high possibility of existence of the linear flexible object and a location with a low possibility of existence of the linear flexible object are displayed in different manners. display program.
(Appendix 9) Set a constraint point on the linear flexible object,
The probability distribution of the length error of the linear flexible object between two restraint points on the linear flexible object is obtained from the probability distribution of the positional deviation of the constraint points in the length direction of the linear flexible object. Based on the probability distribution of the length error, calculating a shape that the linear flexible object can take between the two restraint points and an index indicating the likelihood of the shape,
identifying and displaying a range in which the linear flexible object may exist based on the shape that the linear flexible object can take between the two constraint points and the index of the shape;
A display method characterized in that processing is executed by a computer.

10 information processing device 18 image generation unit (part of display processing unit)
22 Constraint calculation part (setting part)
24 cable shape calculator (calculator)
26 Likelihood distribution calculator (part of display processor)

Claims (6)

a setting unit for setting a plurality of constraint points on a linear flexible object;
The probability distribution of the length error of the linear flexible object between two constraint points adjacent to each other on the linear flexible object among the plurality of set constraint points is calculated as follows: Obtained from the probability distribution of positional deviation in the length direction , and based on the obtained probability distribution of the length error, showing the shape that the linear flexible object can take between the two restraint points and the likelihood of the shape a calculation unit that calculates the index;
a display processing unit that identifies and displays a range in which the flexible linear object may exist based on the shape that the flexible linear object can take between the two constraint points and the index of the shape; ,
Information processing device. The calculation unit calculates the probability distribution of the length error by combining the probability distribution of the positional deviation of the two restraint points in the length direction of the flexible linear object and the manufacturing error of the length of the flexible linear object. 2. The information processing apparatus according to claim 1, wherein the calculation is performed based on . Based on the obtained probability distribution of the length error and at least one of the weight manufacturing error and the rigidity manufacturing error of the linear flexible article, the calculation unit calculates the length of the linear flexible article between the two restraint points. 3. The information processing apparatus according to claim 1, wherein the shape that the flexible object can take and the likelihood of the shape are calculated. 4. The display processing unit according to any one of claims 1 to 3, wherein the display processing unit displays a location with a high possibility of existence of the linear flexible object and a location with a low possibility of existence of the linear flexible object in different modes. Information processing equipment. Set multiple constraint points on the linear flexible object,
The probability distribution of the length error of the linear flexible object between two constraint points adjacent to each other on the linear flexible object among the plurality of set constraint points is calculated as follows: Obtained from the probability distribution of positional deviation in the length direction , and based on the obtained probability distribution of the length error, showing the shape that the linear flexible object can take between the two restraint points and the likelihood of the shape Calculate the index and
identifying and displaying a range in which the linear flexible object may exist based on the shape that the linear flexible object can take between the two constraint points and the index of the shape;
A display program for executing processing on a computer. Set multiple constraint points on the linear flexible object,
The probability distribution of the length error of the linear flexible object between two constraint points adjacent to each other on the linear flexible object among the plurality of set constraint points is calculated as follows: Obtained from the probability distribution of positional deviation in the length direction , and based on the obtained probability distribution of the length error, showing the shape that the linear flexible object can take between the two restraint points and the likelihood of the shape Calculate the index and
identifying and displaying a range in which the linear flexible object may exist based on the shape that the linear flexible object can take between the two constraint points and the index of the shape;
A display method characterized in that processing is executed by a computer.

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