Simulation device and simulation program

Abstract

A simulation device according to the present disclosure comprises: a storage unit for storing data of a plurality of three-dimensional models, each corresponding to a plurality of objects as candidates to be arranged in a simulation space, and data of a plurality of two-dimensional models, each corresponding to the plurality of objects; a display unit for displaying the simulation space; a receiving unit configured to receive a user operation for drawing a freehand line drawing in the simulation space; a two-dimensional model selection unit configured to select from the plurality of two-dimensional models a two-dimensional model that closely approximates the line drawing;a three-dimensional model selection unit configured to select from the multitude of three-dimensional models a three-dimensional model of an object that corresponds to the selected two-dimensional model; and an arrangement unit configured to arrange the selected three-dimensional model based on a position of the line drawing in the simulation space.

Description

TECHNICAL AREA

[0001] The present disclosure relates to a simulation device and a simulation program. STATE OF THE ART

[0002] A simulation device for teaching an operating program to a robot using simulation is known (for example, patent literature 1). A teaching screen for teaching the robot an operating program is displayed on the simulation device. The teaching screen displays a three-dimensional simulation space, and the user must arrange three-dimensional models of objects such as robots, peripherals, and structures in the simulation space so that they are in actual positional relationships. For example, an object menu comprising a variety of object types with different shapes is displayed on the teaching screen, allowing the user to arrange objects in the simulation space.The user selects an object from the object menu, positions the selected object at any desired location in the simulation space, and adjusts its position and size accordingly, thus completing the object's placement within the simulation space. These user tasks are performed using a mouse, keyboard, or similar device and require various operations, such as selecting an object, positioning it, adjusting its position, and resizing it. Therefore, placing an object in the simulation space was a very time-consuming task for users unfamiliar with the interface. QUOTE LIST PATENT LITERATURE

[0003] Patent literature 1: Japanese unexamined patent application, publication number 2008-021092 SUMMARY OF THE INVENTION PROBLEM TO BE SOLVED BY THE INVENTION

[0004] It is desirable to propose a technology that simplifies the arrangement of objects in the simulation space. SOLUTION TO THE PROBLEM

[0005] A simulation device according to the present disclosure comprises: a storage unit for storing data of a plurality of three-dimensional models, each corresponding to a plurality of objects as candidates to be arranged in a simulation space, and data of a plurality of two-dimensional models, each corresponding to the plurality of objects; a display unit for displaying the simulation space; a receiving unit configured to receive a user operation for drawing a freehand line drawing in the simulation space; a two-dimensional model selection unit configured to select from the plurality of two-dimensional models a two-dimensional model that closely approximates the line drawing;a three-dimensional model selection unit configured to select from the multitude of three-dimensional models a three-dimensional model of an object that corresponds to the selected two-dimensional model; and an arrangement unit configured to arrange the selected three-dimensional model based on a position of the line drawing in the simulation space. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 shows a simulation system comprising a simulation device according to the present embodiment. Fig. Figure 2 is a hardware configuration diagram of the simulation device according to the present embodiment. Fig. Figure 3 is a functional block diagram of the simulation device according to the present embodiment. Fig. Figure 4 shows an example of an object information management table, which is located in a Fig. The storage unit shown in section 3 is stored. Fig. Figure 5 shows an example of a simulation screen displayed on a [unclear text] Fig. The display unit shown in section 3 is displayed. Fig. 6 is a supplementary diagram to explain a Fig. 3 two-dimensional model selection unit shown. Fig. Figure 7 is a supplementary diagram to illustrate a three-dimensional model arrangement unit, which is shown in Fig. 3 is shown. Fig. Figure 8 is a flowchart showing an example of the object selection and arrangement processing sequence by the simulation device according to the present embodiment. Fig. Figure 9 is another supplementary diagram to explain the two-dimensional model selection unit, which is described in Fig. 3 is shown. DETAILED DESCRIPTION OF THE INVENTION

[0006] The following describes a simulation device according to the present embodiment with reference to the drawings. In the following description, components that have essentially the same function and configuration are designated by the same reference numerals, and repeated descriptions are given only where necessary.

[0007] Fig. Figure 1 shows a simulation system comprising a simulation device according to the present embodiment. As in Fig. As shown in Figure 1, in a simulation system 1, a simulation device 2 is connected to a control unit 7, which controls a robot 6 via a network 90, for example, the Internet. A control program for the robot 6, generated by the simulation device 2, is sent by the simulation device 2 to the control unit 7 and executed by the latter, so that the robot 6 performs a predetermined operation.

[0008] Simulation Device 2 is a computer device with a function for displaying a simulation space, a function for receiving user input to create a freehand line drawing in the simulation space, a function for selecting a two-dimensional model that approximates the line drawing from a variety of two-dimensional models, a function for selecting a three-dimensional model of an object that corresponds to the two-dimensional model selected by the selection function from a variety of three-dimensional models, and a function for arranging the selected three-dimensional model in the simulation space based on the position of the line drawing. Simulation Device 2 is implemented using a PC, a tablet, or a smartphone. Simulation Device 2 can be a standalone device that is not connected to other devices.

[0009] In the present embodiment, the "freehand line drawing" is created by the user using only lines to form an approximate shape of the object to be positioned. Here, "freehand" means that the user draws freely and is not restricted to the tool used to draw the line drawing. The user can use a tool capable of drawing lines freely, a tool capable of drawing a predetermined shape such as a circle, rectangle, or elliptical shape, or a combination of these tools to create a line drawing. In the present embodiment, the information captured from the line drawing is its shape, size, and position. Therefore, what is drawn is not limited to line drawings but can also include, for example, images, as long as they can be captured.

[0010] Fig. Figure 2 is a hardware configuration diagram of simulation device 2. As shown in Fig. As shown in Figure 2, a RAM12, a ROM13, a storage device 14, an input controller 15, a display controller 16, and a communication device 17 are connected to a processor 11 via a data / control bus 10. Any input device 18, such as a keyboard, a mouse, a control button, or the like, is connected to the input controller 15. Any display device 19, such as an organic EL display device, is connected to the display controller 16.

[0011] The processor 11 is implemented by a CPU, a GPU, or the like. The RAM 12 functions as the main memory, working area, or the like of the processor 11. A BIOS, an operating system, or the like is stored in the ROM 13. A simulation program is stored in the memory device 14. The communication device 17 is implemented by a communication module that conforms to any communication standard and, under the control of the processor 11, sends and receives various types of data to and from an external device, such as the control unit 7.

[0012] Fig. Figure 3 is a functional block diagram of the simulation device 2. When the simulation program loaded into RAM 12 from storage device 14 is executed by processor 11, the simulation device 2 functions as a receiver unit 21, display unit 22, transmit / receive unit 23, storage unit 24, screen generation unit 25, simulation space creation unit 26, projection processing unit 27, two-dimensional model selection unit 28, three-dimensional model selection unit 29, and three-dimensional model arrangement unit 30.

[0013] The receiving unit 21 receives a user operation via the input device 18. In particular, the receiving unit 21 receives a user operation to draw a freehand line drawing on the simulation space displayed on the simulation screen.

[0014] The display unit 22 is operated by the function of the in Fig. The display device 19 shown in section 2 is implemented. The display unit 22 shows a simulation screen generated by the screen generation unit 25.

[0015] The transmission / receiving unit 23 is operated by the function of the in Fig. The communication device 17 shown in Figure 2 is implemented. The transmission / receiving unit 23 sends data to the control unit 7 and receives data from it.

[0016] The storage unit 24 is defined by the function of the in Fig. The storage device 14 shown in Figure 2 is implemented. The storage unit 24 stores data from an object information management table for managing object information, a variety of two-dimensional models relating to a variety of objects managed by the object information management table, and a variety of three-dimensional models relating to the variety of objects managed by the object information management table.

[0017] The screen generation unit 25 creates various screens related to the simulation program. Specifically, screen generation unit 25 creates a simulation screen. A simulation space created by the simulation space generation unit 26 is displayed on the simulation screen. Note that the simulation space displayed on the simulation screen is shown as a two-dimensional simulation space image, obtained by projecting a three-dimensional simulation space from an arbitrary direction.

[0018] The simulation space creation unit 26 creates a simulation space (virtual space) on software that represents the movement space of the robot 6 in three dimensions.

[0019] The projection processing unit 27 generates data for the two-dimensional simulation space image, which is obtained by projecting the three-dimensional simulation space generated by the simulation space creation unit 26 from any direction with any position on the simulation space as the projection center. The simulation space image is displayed on the simulation screen. The projection direction is also referred to as the viewing direction. The projection method can be a parallel projection or a far-sighted projection. The viewing direction and the projection center position can be changed at will by the user directly on the simulation space image.The projection processing unit 27 repeatedly generates a simulation space image each time either the viewing direction or the projection center position is changed, and the simulation space image displayed on the simulation screen is repeatedly updated.

[0020] The two-dimensional model selection unit 28 selects from the multitude of two-dimensional models a two-dimensional model that closely approximates the two-dimensional line drawing drawn by the user on the simulation space image (displayed simulation space).

[0021] The three-dimensional model selection unit 29 selects from the multitude of three-dimensional models a three-dimensional model whose object is common to the two-dimensional model selected by the two-dimensional model selection unit 28.

[0022] The three-dimensional model arrangement unit 30 arranges the three-dimensional model selected by the three-dimensional model selection unit 29 in the simulation space. In particular, the three-dimensional model arrangement unit 30 arranges the three-dimensional model in the simulation space based on the position of the line drawing drawn by the user on the simulation space image.

[0023] The object information management table stored in storage unit 24 is referred to below with reference to Fig. 4 described. Fig. Figure 4 shows an example of the object information management table. As in Fig. As shown in Figure 4, the object information management table contains an object's name, a two-dimensional model of the object, a three-dimensional model of the object, and an arrangement condition linked to an ID for object identification. The two-dimensional model of the object, for example, is a projection of the three-dimensional model of the object from a specific viewing angle. Two-dimensional models with different positions are distinguished from one another, even if they represent the same object. For example, in Fig. 4. The ID “001” is an ID for identifying a roller conveyor (high), and a two-dimensional model of the horizontally arranged roller conveyor (high) and a two-dimensional model of the vertically arranged roller conveyor (high) are distinguished from each other and are each assigned the IDs “001-1” and “001-2”.

[0024] The following describes the simulation screen displayed on display unit 22 with reference to Fig. 5 described. Fig. Figure 5 shows an example of the simulation screen. As in Fig. As shown in Figure 5, the simulation screen 100 displays a simulation space image 110, which is obtained by projecting the three-dimensional simulation space from the viewing direction with an arbitrary position on the three-dimensional simulation space as the projection center position. Here, it is assumed that a three-dimensional model of the robot 6 is arranged in the three-dimensional simulation space. Therefore, the simulation space image 110 displayed on the simulation screen 100 includes a robot model image 120, which is obtained by projecting the three-dimensional model of the robot 6 from the viewing direction.

[0025] When the start button 190 is clicked, a simulation space image 110 is displayed, obtained by projecting the three-dimensional simulation space from a predefined viewing direction (hereinafter referred to as the specific viewing direction). A user input is received to draw a freehand line drawing 130 on the simulation space image 110 according to the specific viewing direction. Typically, the specific viewing direction is determined such that it is not parallel to each of the three axes defined in the simulation space (X-axis, Y-axis, and Z-axis). In other words, the specific viewing direction is determined to be inclined with respect to each of the three axes defined in the simulation space (X-axis, Y-axis, and Z-axis).This allows the line drawing 130, drawn by the user on the simulation space image 110 and corresponding to the specific viewing direction, to take into account the length, width, and height (three axis directions) of the object, thereby improving the accuracy when selecting an object that approximates the line drawing. It should be noted that the projection magnification (display magnification) and the projection center position can be predefined in the same way as the specific viewing direction or set arbitrarily by the user.

[0026] The processing by the two-dimensional model selection unit 28 is described below with reference to Fig. 6 described in detail. Fig. 6 is a supplementary diagram to explain the in Fig. Figure 3 shows the two-dimensional model selection unit 28. Here, it is assumed that the line drawing 130 is drawn on the simulation space image 110 according to the specific viewing direction. For example, the two-dimensional model selection unit 28 calculates the score, which represents the degree to which each of the plurality of two-dimensional models approximates the line drawing 130. For example, the score is calculated based on the ratio of the area of ​​the two-dimensional model to the area defined by the line drawing 130. The two-dimensional model selection unit 28 repeatedly calculates the score while scaling up, down, and shifting the two-dimensional model relative to the line drawing 130, and the maximum value of the score is determined as the score of the two-dimensional model.The two-dimensional model selection unit 28 selects from the multitude of two-dimensional models a two-dimensional model 200 with the highest score. That is, the two-dimensional model selection unit 28 selects the two-dimensional model 200 of the object whose approximate shape most closely matches the frame shape represented by the line drawing 130.

[0027] It should be noted that the two-dimensional model selection unit 28, in order to allow the user to make the final selection of a two-dimensional model, can narrow down the two-dimensional models presented to the user from the multitude of two-dimensional models. For example, the two-dimensional model selection unit 28 can select two or three two-dimensional models from the multitude of two-dimensional models in descending order of their scores as candidates to be presented to the user, or it can select all two-dimensional models with scores higher than a predetermined value as candidates to be presented to the user. Of course, some users are good at drawing line drawings, while others are not.In this way, it is possible to accommodate the different drawing abilities of users by presenting several candidates that are relatively close to the line drawing drawn by the user and accepting the user's selection of a two-dimensional model.

[0028] The procedure for calculating the score is not limited to the above, as long as the score represents the degree of approximation between the two-dimensional model and the line drawing. For example, the score can be calculated based on the ratio of the area where the two-dimensional model's surface overlaps with the area defined by line drawing 130 to the area where these two-dimensional surfaces do not overlap. Alternatively, a two-dimensional model corresponding to user-drawn line drawing 130 can be selected using a selection model that has been trained using a line drawing and a two-dimensional model selected based on that line drawing as training data.

[0029] The processing by the three-dimensional model arrangement unit 30 is described below with reference to Fig. 7 described in detail. Fig. 7 is a supplementary diagram to explain the in Fig. 3 three-dimensional model arrangement unit 30 shown. Here it is assumed that the three-dimensional model selection unit 29 has selected the three-dimensional model 300, whose object (ID “002” in Fig. 4) is common to the two-dimensional model 200, which most closely resembles the line drawing 130. The three-dimensional model arrangement unit 30 defines the orientation in which the three-dimensional model 300 is arranged in the three-dimensional simulation space as follows. That is, the three-dimensional model arrangement unit 30 defines the position (orientation) of the two-dimensional model 200 as the position of the three-dimensional model 300. The three-dimensional model arrangement unit 30 defines the position at which the three-dimensional model 300 is arranged in the three-dimensional simulation space as follows.For example, the three-dimensional model arrangement unit 30 defines the position of the three-dimensional model 300 in the three-dimensional simulation space such that the barycentric position 300g of the projection model, obtained by projecting the three-dimensional model 300 from the specific viewing direction, coincides with the barycentric position 130g of the area defined by the line drawing 130. Furthermore, the three-dimensional model arrangement unit 30 defines the position of the three-dimensional model 300 in the three-dimensional simulation space.a position is determined at which the projection model obtained by projecting the three-dimensional model 300 from the specific viewing direction fits into the area defined by the line drawing 130, or a position that overlaps the area defined by the line drawing 130, according to the arrangement condition of the object corresponding to the three-dimensional model 300. As in . Fig. As shown in Figure 4, the arrangement condition is linked to the object. As in Fig. As shown in Figure 4, the object "conveyor belt" is associated with the arrangement condition "to be placed on the floor surface," and the object "workpiece (box)" is associated with the arrangement condition "to be placed on the conveyor belt or table." Therefore, the "position according to the arrangement condition" means a position in which the three-dimensional model of the conveyor is in contact with the floor surface in the three-dimensional simulation space if the object is a conveyor, and a position in which the three-dimensional model of the workpiece is in contact with the conveyor in the three-dimensional simulation space if the object is a workpiece.

[0030] It should be noted that the position of the three-dimensional model 210, which is arranged in the three-dimensional simulation space, does not have to be exact, as it can be fine-tuned after arrangement. For example, the three-dimensional model arrangement unit 30 can define a position of the three-dimensional model in the three-dimensional simulation space such that, when the three-dimensional model 300 is projected from the specific viewing direction, the projected model fits into the area defined by the line drawing 130.

[0031] The object selection and arrangement processing by the simulation device 2 according to the present embodiment is described below with reference to Fig. 8 described. Fig. Figure 8 is a flowchart showing an example of object selection and arrangement processing by the simulation device 2 according to the present embodiment. For example, an object setup process is started when a start button 190 becomes operable, which is displayed on the simulation screen 100. Fig. 5 is displayed.

[0032] As in Fig. As shown in Figure 5, when the object setup process starts, the simulation device 2 displays a simulation screen that includes a simulation space image obtained by projecting a three-dimensional simulation space from a specific viewing direction (S11). It then receives a user operation to draw a freehand line drawing on the displayed simulation space image (S12). Step S12 inputs information regarding the user-drawn line drawing. This information includes the shape, size, and position of the line drawing on the simulation space image.

[0033] Next, the simulation device 2 selects from the multitude of two-dimensional models a two-dimensional model that most closely resembles the line drawing based on shape and size (S13). If two or more two-dimensional models are selected in step S13 (S14; Yes), the simulation device 2 displays the two or more two-dimensional models to receive a selection operation from the user (S15) and selects one two-dimensional model from the two or more two-dimensional models based on the user's operation (S16). Then, the simulation device 2 selects from the multitude of three-dimensional models a three-dimensional model whose object is common to a two-dimensional model (S17) and positions the selected three-dimensional model in the simulation space based on the position of the line drawing (S18).

[0034] According to the simulation device of the present embodiment, the user can arrange a three-dimensional model of an object, resembling a line drawing, in a three-dimensional simulation space by simply drawing the line drawing in a simulation space displayed on a simulation screen, without having to perform a series of tasks such as selecting an object from a multitude of objects, arranging the selected object in the simulation space, and correcting the orientation and position of the arranged object, as is the case with the previous method. Since only the simple task of drawing a line drawing is required, it is possible to simplify the arrangement of an object in the simulation space.Since the user does not need to draw the line drawing in three dimensions, but only in two dimensions, while imagining the general shape of the object from a particular viewing direction, the user can save time and effort in drawing the line drawing and suppress variations in the quality of the user's drawing.

[0035] Since no three-dimensional model data is required for object selection and arrangement until the three-dimensional model is finally arranged in the simulation space, object selection and arrangement can be performed during a lower computational load.

[0036] In the present embodiment, the two-dimensional model selection unit 28 selects a two-dimensional model from a plurality of two-dimensional models that closely resembles a line drawing. The selection processing can take into account the arrangement constraint associated with the object. For example, if, as in Fig. As shown in Figure 9(a), when a line drawing 140 is drawn onto a two-dimensional model (conveyor belt model) 400 of a conveyor belt, the two-dimensional model selection unit 28 accesses the object information management table of Fig. 4 selects as arrangement candidates two-dimensional models of two objects (IDs "005" and "006") that have the arrangement condition "arrangement on the conveyor belt" and calculates the score that indicates the degree to which each of the selected two-dimensional models approximates the line drawing 140. That is, the two-dimensional model selection unit 28 limits the multitude of two-dimensional models based on the objects around the line drawing 140. If the scores are equal, as in Fig. As shown in Figure 9(b), a selection window 500 is displayed on the simulation screen 100 to receive a selection operation from the user. Then the two-dimensional model selection unit 28 selects, as shown in Figure 9(b). Fig.Figure 9(c) shows that the two-dimensional model selected by the user in the selection window 500 is identified as the two-dimensional model 220 to be positioned in the simulation space image 110. The selected two-dimensional model 220 is then positioned in the simulation space image 110 based on the position of the line drawing 140. In this way, by considering the positioning condition at the time of the two-dimensional model selection, two-dimensional models that do not meet the positioning condition can be excluded from the target point calculation. This reduces the overall point calculation time and improves object selection accuracy simply by reducing the population. Note that the two-dimensional model selection unit 28 can determine whether the line drawing 140 was drawn on the conveyor belt model 400, based on whether at least part of the line drawing 140 overlaps the conveyor belt model 400.Furthermore, the two-dimensional model selection unit 28 can also identify a two-dimensional model (including the floor) that was named as the object on which an object corresponding to the line drawing is to be placed by a click operation prior to drawing a line drawing. For example, if the line drawing 140 is drawn after the conveyor belt model 400 was named by a click operation or the like, the two-dimensional model selection unit 28 can determine that the object corresponding to the line drawing 140 is an object to be placed on the conveyor belt.

[0037] In the present embodiment, the three-dimensional model arrangement unit 30 arranges the three-dimensional model selected by the three-dimensional model selection unit 29 in the simulation space based on the position of the line drawing created by the user on the simulation space image. During this arrangement process, a rule for limiting the arrangement position of the three-dimensional model of the object corresponding to the line drawing can be defined in advance. For example, before a line drawing is created, the three-dimensional model arrangement unit 30 determines an object selected by the user via a click or similar action as the object on which a three-dimensional model of an object corresponding to the line drawing is to be arranged.In particular, the three-dimensional model arrangement unit 30 positions the three-dimensional model of the object corresponding to the line drawing at a location that is in contact with the conveying surface of the three-dimensional model of the conveyor in the simulation space, based on the naming of the two-dimensional model of the conveyor by a click or the like before the line drawing is drawn. Similarly, the three-dimensional model arrangement unit 30 positions the three-dimensional model of the object corresponding to the line drawing at a location that is in contact with the floor surface in the simulation space, based on the naming of the floor by a click or the like before the line drawing is drawn.By defining the rules described above in the three-dimensional model arrangement by the three-dimensional model arrangement unit 30, the three-dimensional model of the object corresponding to the line drawing can be positioned at a user-desired position in the three-dimensional simulation space, even if the two-dimensional models overlap in the simulation space image on which the line drawing is drawn.

[0038] In the present embodiment, the three-dimensional model is ultimately arranged in the simulation space, but in a case of a simple investigation of the arrangement of the individual devices comprising the robot system, a sufficient investigation can only be carried out using the two-dimensional simulation space image that corresponds to the specific viewing direction.That is, a simulation device 2' according to a modification of the present embodiment can comprise a storage unit 24 that stores data of a plurality of two-dimensional models, each corresponding to a plurality of objects as candidates to be arranged in the simulation space, a display unit 22 that displays the simulation space, a receiver unit 21 that receives a user input for drawing a freehand line drawing in the simulation space, a two-dimensional model selection unit 28 that selects from the plurality of two-dimensional models a two-dimensional model that is close to the line drawing, and a two-dimensional model arrangement unit 31 that arranges the two-dimensional model selected by the two-dimensional model selection unit 28 based on the position of the line drawing in the simulation space displayed on the display unit 22.The two-dimensional model arrangement unit 31 corresponds to the three-dimensional model arrangement unit 30 of the simulation device 2 according to the present embodiment. That is, the two-dimensional model arrangement unit 31 arranges the two-dimensional model on the simulation space image such that the positional relationship is such that the score is highest.

[0039] In the simulation device 2 according to the present embodiment, the data of the three-dimensional model are pre-stored in the storage unit 24. However, the simulation device can also function as a three-dimensional modeling unit that generates the data of the three-dimensional model.For example, the storage unit stores information about a standard object shape (reference object shape) and dimensions in conjunction with the object information. When the two-dimensional model selection unit 28 determines an object that closely resembles a line drawing, the three-dimensional model creation unit, based on the shape and size of the drawn object and the reference object shape, creates a simple three-dimensional model of the object by combining basic three-dimensional models such as a cube, a rectangular parallelepiped, a sphere, and a cylinder according to the object's dimensional information. This eliminates the need to store three-dimensional models of objects in advance and reduces the preparation time before using the simulation device.Furthermore, the barrier to using the simulation device is lowered, as no three-dimensional models need to be stored. Additionally, even if the three-dimensional model is not created, the arrangement of the individual components of the robot system can be checked in advance in a simplified manner.

[0040] The following annexes are further disclosed with regard to the present embodiment and modification. (Annex 1)

[0041] A simulation device 2 comprises: a storage unit 24 for storing data of a plurality of three-dimensional models, each corresponding to a plurality of objects as candidates to be arranged in a simulation space, and data of a plurality of two-dimensional models, each corresponding to the plurality of objects; a display unit 22 for displaying the simulation space; a receiver unit 21 configured to receive a user input for drawing a freehand line drawing in the simulation space; a two-dimensional model selection unit 28 configured to select from the plurality of two-dimensional models a two-dimensional model that approximates the line;a three-dimensional model selection unit 29, configured to select a three-dimensional model of an object corresponding to the selected two-dimensional model from the multitude of three-dimensional models; and an arrangement unit 30, configured to arrange the selected three-dimensional model based on a position of the line drawing in the simulation space. (Annex 2)

[0042] The simulation device 2 according to Annex 1, wherein the two-dimensional model selection unit 28 selects two or more two-dimensional models that closely approximate the line drawing from the multitude of two-dimensional models, and selects one two-dimensional model from the two or more two-dimensional models based on user operation. (Annex 3)

[0043] In the simulation device 2 according to Annex 1 or 2, the two-dimensional model selection unit 28 limits the multitude of two-dimensional models based on object information about an object arranged around the line drawing and selects from the limited two-dimensional models a two-dimensional model that is close to the line drawing. (Annex 4)

[0044] In the simulation device 2 according to one of Annexes 1 to 3, the multitude of two-dimensional models comprises several types of two-dimensional models of the same object in different positions. (Annex 5)

[0045] In the simulation device 2 according to one of Annexes 1 to 4, the display unit 22 shows the simulation space by projecting the simulation space from a predetermined viewing direction, and the two-dimensional model is a model obtained by projecting the three-dimensional model of a common object from the viewing direction. (Annex 6)

[0046] A simulation device 2 comprises: a storage unit 24 for storing data of a plurality of two-dimensional models, each corresponding to a plurality of objects that are candidates for arrangement in a simulation space; a display unit 22 for displaying the simulation space; a receiver unit 21 configured to receive a user input for drawing a freehand line drawing in the simulation space; a two-dimensional model selection unit 28 configured to select from the plurality of two-dimensional models a two-dimensional model that closely approximates the line drawing; and a two-dimensional model arrangement unit configured to arrange the selected two-dimensional model based on the position of the line drawing in the simulation space displayed on the display unit 22. (Annex 7)

[0047] A simulation program causes a computer to store data of a multitude of three-dimensional models, each corresponding to a multitude of objects as candidates to be arranged in a simulation space, and data of a multitude of two-dimensional models, each corresponding to the multitude of objects, in order to accomplish the following: means of displaying the simulation space; means of receiving a user input for freehand line drawing in the simulation space; means of selecting a two-dimensional model from the multitude of two-dimensional models that closely approximates the line drawing; means of selecting a three-dimensional model of an object that corresponds to the selected two-dimensional model from the multitude of three-dimensional models; and means of arranging the selected three-dimensional model in the simulation space based on a position of the line drawing.

[0048] While embodiments of the present disclosure have been described in detail, the present disclosure is not limited to the individual embodiments described above. These embodiments may be subjected to various additions, substitutions, modifications, partial deletions, etc., without departing from the essence of the invention or the idea and spirit of the present invention as derived from the content of the claims and their equivalents. For example, the embodiments described above show the sequence of operations and the sequence of processes as examples, and the sequences are not limited to these. The same applies if numerical values ​​or formulas are used in the description of the embodiments described above. EXPLANATION OF REFERENCE SYMBOLS

[0049] 1: Simulation system, 2: Simulation device, 6: Robot, 7: Control device, 10: Data / control bus, 11: Processor, 12: RAM, 13: ROM, 14: Storage device, 15: Input control, 16: Display control, 17: Communication device, 18: Input device, 19: Display device, 21: Receiver unit, 22: Display unit, 23: Transmit / receive unit, 24: Storage unit, 25: Screen generation unit, 26: Simulation space creation unit, 27: Projection processing unit, 28: Two-dimensional model selection unit, 29: Three-dimensional model selection unit, 30: Three-dimensional model arrangement unit. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2008-021092

[0003]

Claims

[1] Simulation device comprising: a storage unit for storing data of a multitude of three-dimensional models, each corresponding to a multitude of objects as candidates to be arranged in a simulation space, and of data of a multitude of two-dimensional models, each corresponding to the multitude of objects; a display unit for displaying the simulation space; a receiving unit configured to receive user input for drawing a freehand line drawing in the simulation space; a two-dimensional model selection unit configured to select from the multitude of two-dimensional models a two-dimensional model that closely approximates the line drawing; a three-dimensional model selection unit configured to select from the multitude of three-dimensional models a three-dimensional model of an object that corresponds to the selected two-dimensional model; and an arrangement unit configured to arrange the selected three-dimensional model based on the position of the line drawing in the simulation space. [2] Simulation device according to claim 1, wherein the two-dimensional model selection unit selects two or more two-dimensional models that closely approximate the line drawing from the plurality of two-dimensional models, and selects a two-dimensional model from the two or more two-dimensional models based on user operation. [3] Simulation device according to claim 1 or 2, wherein the two-dimensional model selection unit limits the plurality of two-dimensional models based on object information for an object arranged around the line drawing and selects from the limited two-dimensional models a two-dimensional model that approximates the line drawing. [4] Simulation device according to one of claims 1 to 3, wherein the plurality of two-dimensional models comprises a plurality of types of two-dimensional models of the same object in different positions. [5] Simulation device according to any one of claims 1 to 4, wherein The display unit shows the simulation space by projecting the simulation space from a predetermined viewing direction, and The two-dimensional model is a model obtained by projecting the three-dimensional model of a common object from the viewing direction. [6] Simulation device comprising: a storage unit for storing data from a multitude of two-dimensional models, each corresponding to a multitude of objects to be arranged as candidates in a simulation space; a display unit for displaying the simulation space; a receiving unit configured to receive user input for freehand line drawing in the simulation space; a two-dimensional model selection unit configured to select from the multitude of two-dimensional models a two-dimensional model that closely approximates the line drawing; and a two-dimensional model arrangement unit configured to arrange the selected two-dimensional model in the simulation space displayed on the display unit based on the position of the line drawing. [7] Simulation program that causes a computer to store data of a multitude of three-dimensional models, each corresponding to a multitude of objects to be arranged in a simulation space, and data of a multitude of two-dimensional models, each corresponding to the multitude of objects, in order to accomplish the following: Means for displaying the simulation space; Means of receiving user input for drawing a freehand line drawing in the simulation space; Means of selecting a two-dimensional model that closely resembles the line drawing from the multitude of two-dimensional models; Means of selecting a three-dimensional model of an object that corresponds to the selected two-dimensional model from the multitude of three-dimensional models; and Means for arranging the selected three-dimensional model in the simulation space based on the position of the line drawing.

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