Simulation device, simulation method, and simulation program

Abstract

This invention provides a simulation device, a simulation method, and a simulation program for generating the movement trajectory of a robot. [Solution] The simulation device comprises: an acquisition unit that acquires the characteristics of a moving object at each of multiple time points; a generation unit that associates identical characteristics of a moving object at adjacent time points among the multiple time points acquired by the acquisition unit and generates a movement trajectory of those identical characteristics; an association unit that associates a time point that can be specified by a user interface with the characteristics of the moving object at each of the multiple time points and the movement trajectory of the identical characteristics; and an output control unit that outputs the characteristics of a moving object according to the time point specified by the user interface.

Description

Technical Field

[0001] The present disclosure relates to a simulation device, a simulation method, and a simulation program.

Background Art

[0002] Conventionally, there is a robot control device that displays the locus of the action point on the surface of a workpiece on a display unit (see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The robot control device described in Patent Document 1 displays the locus of the action point of the workpiece and does not display the movement locus of the robot. That is, the robot control device described in Patent Document 1 cannot perform a simulation of the operation of the robot.

[0005] The present disclosure provides a simulation device, a simulation method, and a simulation program for generating the movement locus of a robot.

Means for Solving the Problems

[0006] One embodiment of the simulation apparatus includes: an acquisition unit that acquires the characteristics of a moving object at each of multiple time points; a generation unit that associates identical characteristics of the moving object at adjacent time points among the multiple time points acquired by the acquisition unit and generates a movement trajectory of those identical characteristics; an association unit that associates a time point that can be specified by a user interface with the characteristics of the moving object at each of the multiple time points and the movement trajectory of the identical characteristics; and an output control unit that outputs the characteristics of the moving object according to the time point specified by the user interface. [Effects of the Invention]

[0007] The simulation apparatus, simulation method, and simulation program of this disclosure can generate a robot's movement trajectory. [Brief explanation of the drawing]

[0008] [Figure 1] This is a diagram illustrating an example of a moving object. [Figure 2] This diagram illustrates an example of the general characteristics and trajectory of the movement of a moving object. [Figure 3] This is a block diagram illustrating a simulation device according to one embodiment. [Figure 4] This is a diagram illustrating an example of a user interface. [Figure 5] This is a flowchart illustrating a simulation method according to one embodiment. [Figure 6] This figure illustrates one embodiment. (A) shows the position of a moving object at several points in time, (B) shows the case where a slider is used to specify a point in time (a range between multiple points in time), (C) shows the movement of the moving object (movement of features) within the specified range, and (D) shows an example of outputting features (feature points) and movement trajectories. [Modes for carrying out the invention]

[0009] One embodiment will be described below.

[0010] [Overview of Simulation Device 100] First, an overview of the simulation apparatus 100 according to one embodiment will be described. Figure 1 is a diagram illustrating an example of a moving object 200. Figure 2 is a diagram illustrating an example of the general movement (characteristics and movement trajectory) of the moving object 200.

[0011] The simulation device 100 (see Figure 3) may be configured as a device that performs simulations of the movement of a moving object 200, such as a robot (for example, a multi-joint robot), including the movement position and movement trajectory. The simulation device 100 is not limited to the example device described above, but may be configured as a device that performs simulations of various moving objects 200. The simulation device 100 may be a computer (information processing device) such as a server, desktop, laptop, tablet, or smartphone.

[0012] The simulation device 100 acquires the features of the moving object 200 at each of several time points. An example of the moving object 200 is a three-dimensionally movable object (device) such as a multi-joint robot. Features may be rephrased as "feature object," "feature part," and "feature location." As illustrated in Figure 1, the features of the moving object 200 may include, for example, various feature points 211 (multiple feature points 211) of the moving object 200 and lines 212 connecting adjacent feature points 211. Feature points 211 may be, for example, the rotation axis of the moving object 200, as well as the tip and base ends of the moving object 200. Feature points 211 may also be, for example, convex (or concave, etc.) parts and side end parts at the external shape (e.g., surface position) of the moving object 200.

[0013] The simulation device 100 may, for example, acquire the characteristics of the moving object 200 by capturing an image of the moving object 200 with a camera to generate image information, and then identifying the characteristics of the moving object 200 on the image based on that image information. Alternatively, the simulation device 100 may acquire the characteristics of the moving object 200 by identifying the characteristics of the moving object 200 on a computer based on information about the moving object 200, i.e., three-dimensional information of the moving object 200. The simulation device 100 acquires the movement of features as the moving object 200 moves (operates) and identifies the position of the features at multiple points in time.

[0014] The simulation device 100 connects the positions at multiple time points t1, t2, and t3 for the same feature (feature point 211 and line 212) (in the case shown in Figure 2, the same feature points 211a, 211b, and 211c) with lines 221a, 221b, and 221c (see Figure 2). That is, the simulation device 100 associates the positions at each time point t1, t2, and t3 (adjacent time points t1t2 and t2t3) of the moving object 200 for the same feature with lines 221 (for example, lines 221a, 221b, and 221c). This makes it possible for the simulation device 100 to generate a movement trajectory 220 for the same feature. Furthermore, the simulation device 100 can associate the features (positions of features) of the moving object 200 at each of the multiple time points t1, t2, and t3 with the movement trajectory 220 for the same feature.

[0015] Based on the operation of a user interface such as a slider 300 (see Figure 4) that allows specifying a time point, the simulation device 100 accepts the designation of multiple points (for example, two points) from among the multiple time points described above, and identifies the features (location of features) of the moving object 200 at each of the designated multiple points, as well as the features (location of features) of the moving object 200 in the area between those multiple points. Furthermore, the simulation device 100 uses the results of the correspondence as described above to identify the movement trajectory 220 between the identified features (location of features) of the moving object 200. The simulation device 100 outputs the features (the positions of the feature points 211 and the line 212) identified between multiple time points and the movement trajectory 220. An example of the output may be display on the display unit 133 (see FIG. 3) or the like.

[0016] [Details of the Simulation Device 100] Next, the simulation device 100 according to an embodiment will be described in detail. FIG. 3 is a block diagram for explaining the simulation device 100 according to an embodiment.

[0017] The simulation device 100 includes, for example, an input unit 121, a communication unit 131, a storage unit 132, a display unit 133, and a control unit 110, etc. The communication unit 131, the storage unit 132, and the display unit 133 may be an embodiment of the output unit. The control unit 110 includes, for example, an acquisition unit 111, a generation unit 112, an association unit 113, and an output control unit 114, etc. The control unit 110 may be configured by, for example, an arithmetic processing device of the simulation device 100 or the like. The control unit 110 (for example, an arithmetic processing device or the like) may realize the functions of each unit (for example, the acquisition unit 111, the generation unit 112, the association unit 113, and the output control unit 114, etc.) by appropriately reading and executing various programs stored in the storage unit 132 or the like. That is, the functions of each unit may be realized by computer implementation.

[0018] The input unit 121 is, for example, an input interface such as a mouse and a keyboard.

[0019] The communication unit 131 is, for example, a communication interface capable of transmitting and receiving various information with a device (external device) (not shown) outside the simulation device 100. The external device may be, for example, a camera, a server, a user terminal, or the like.

[0020] The storage unit 132 may store, for example, various information and programs. Examples of the storage unit 132 include memory, solid-state drives, and hard disk drives. The storage unit 132 may also be, for example, a storage area and server located in the cloud.

[0021] The display unit 133 is a display capable of displaying, for example, various characters, symbols, and images.

[0022] The acquisition unit 111 acquires the characteristics of the moving object 200 at each of multiple time points. An example of the moving object 200 may be a three-dimensionally movable object (device) such as a multi-joint robot.

[0023] The acquisition unit 111 may, for example, acquire image information generated by imaging the moving object 200 with a camera via the communication unit 131 from an external device (not shown). The external device may be a camera and a server, etc. The camera may transmit the image information generated by imaging the moving object 200 to the simulation device 100 or the server. In this case, the acquisition unit 111 may, for example, acquire the features of the moving object 200 by identifying the features of the moving object 200 on the image based on the image information.

[0024] Alternatively, the acquisition unit 111 may acquire, for example, three-dimensional information of the moving object 200 (various types of information, such as CAD information) for use in simulating the moving object 200. For example, the acquisition unit 111 may acquire three-dimensional information from a server (not shown) via the communication unit 131, or it may acquire three-dimensional information stored in the storage unit 132. In this case, the acquisition unit 111 may acquire the characteristics of the moving object 200 by, for example, identifying the characteristics of the moving object 200 using the shape of the moving object 200 based on the three-dimensional information.

[0025] The acquisition unit 111 may acquire the position of the moving object 200 based on multiple still images (image information) or video (image information) taken at different times, or the position of the moving object 200 at different points in time (the position of the moving object 200 at multiple points in time), and identify the position of the features of the moving object 200 at each point in time.

[0026] The acquisition unit 111 may acquire, as features of the moving object 200 described above, a plurality of feature points 211 of the moving object 200 and lines 212 connecting adjacent feature points 211. The acquisition unit 111 may acquire a plurality of feature points 211 as the plurality of feature points 211, which are located at positions of the outer shape of the moving object 200. The feature points 211 may be, for example, the rotation axis of the moving object 200 (for example, an arm), and the tip and base ends of the moving object 200 (for example, an arm). Alternatively, the feature points 211 may be, for example, convex parts (projections) (or concave parts, etc.) and side ends (side edges) at positions of the outer shape of the moving object 200 (for example, an arm) (for example, surface positions).

[0027] The generation unit 112 associates identical features of the moving object 200 at adjacent time points among multiple time points acquired by the acquisition unit 111, and generates a movement trajectory 220 of those identical features. When the moving object 200 moves (operates), the generation unit 112 identifies identical features (identical feature points 211 and identical lines 212) at multiple time points of movement and associates identical features at adjacent time points. The generation unit 112 connects the associated identical features with lines 221, and uses these lines 221 as the movement trajectory 220.

[0028] The mapping unit 113 associates a time point that can be specified by the user interface with the characteristics of the moving object 200 at each of the multiple time points and with the movement trajectory 220 of the same characteristics. In other words, the mapping unit 113 associates each of the multiple time points when the moving object 200 moves (operates) with the position of the characteristics of the moving object 200 at each time point and with the movement trajectory 220 of the same characteristics between each time point and adjacent time points. In other words, when the mapping unit 113 receives a specification of a certain point in time via the user interface, it performs the above-described mapping to identify the position of the features of the moving object 200 and the movement trajectory 220 at the time the specification was received. Furthermore, when the mapping unit 113 receives a specification of multiple points in time (for example, two points in time) via the user interface, it performs the above-described mapping to identify the position of the features of the moving object 200 and the movement trajectory 220 between the two points in time for which the specification was received.

[0029] Figure 4 is a diagram illustrating an example of a user interface.

[0030] The user interface may be a graphical user interface such as a slider 300 that can be operated by a user of the simulation device 100. The user interface may be operable using an input unit 121 such as a mouse and keyboard. The slider 300 illustrated in Figure 4 may include an index 311 indicating the current step (current time), a start slider 321 specifying the start step (start time), and an end slider 322 specifying the end step (end time). The range of the output movement trajectory 220 may be specified by moving the start slider 321 and the end slider 322 by dragging, etc. The index 311 may, for example, identify the features (location of features) of the moving object 200 at the current step, the features (location of features) of the moving object 200 at the step immediately preceding the current step, and the features (location of features) of the moving object 200 at the step immediately following the current step, based on the correspondence described above, and output the identified features as described later. Furthermore, as index 311 is slid, the step of the characteristics of the moving object 200 in the current step, the previous step, and the next step may change.

[0031] Furthermore, the user interface is not limited to a slider; it may be a pull-down menu that allows specifying the start step (start time) and end step (end time), or an input field that allows direct numerical input for the start step (start time) and end step (end time), or any other form of user interface that allows specifying the start step (start time) and end step (end time), etc.

[0032] The output control unit 114 outputs the characteristics of the moving object 200 according to the time point specified by the user interface. When the output control unit 114 receives a specification of a specific point in time via the user interface, it outputs the position of the features of the moving object 200 associated with that point in time. Furthermore, when the output control unit 114 receives a specification of several points in time (for example, two points in time) via the user interface, it identifies the position of the features of the moving object 200 associated with those two points in time, and the position of the features of the moving object 200 associated with a point in time between those two points in time. In addition, the output control unit 114 identifies a line 221 (movement trajectory 220) connecting identical features (positions of identical features) between those two points in time. The output control unit 114 outputs the identified features (positions of features) and the movement trajectory 220. That is, if the user interface specifies a time range from the first point in time to the second point in time, the output control unit 114 may output the movement trajectory 220 of the features of the moving object 200 during that time range.

[0033] For example, when displaying the features of the moving object 200 at multiple time points (steps), the output control unit 114 may use feature points 211 (vertices) of the cross-section of the moving object 200 (robot) (specifically, robot links, feature points 211 obtained by a two-dimensional convex method of the robot cross-section, and bounding boxes that divide each part (arm, etc.) into three-dimensional regions) to draw the moving object 200 with lines 212 connecting each feature point 211 (vertex).

[0034] The output control unit 114 may control the output unit as an example of the output described above. An example of the output unit may be the communication unit 131, the storage unit 132, and the display unit 133, etc. In other words, the output control unit 114 may control the communication unit 131 to transmit information about the characteristics of the moving object 200 (at least one of the feature points 211 and the line 212) and the movement trajectory 220 to an external device (not shown) according to a time point specified by the user interface. The external device here may be a server and a user terminal, etc. The user terminal may be a desktop, laptop, tablet, smartphone, etc., used by the user of the simulation device 100. The output control unit 114 may, for example, control the storage unit 132 to store information about the features of the moving object 200 (at least one of the feature points 211 and the line 212) and the movement trajectory 220 according to a point in time specified by the user interface. The output control unit 114 may, for example, control the display unit 133 to display the features (at least one of the feature points 211 and the line 212) and the movement trajectory 220 of the moving object 200 according to the time point specified by the user interface.

[0035] [Simulation Method] Next, a simulation method according to one embodiment will be described. Figure 5 is a flowchart illustrating a simulation method according to one embodiment.

[0036] In step ST101, the acquisition unit 111 acquires the features of the moving object 200 at each of multiple time points. The acquisition unit 111 may acquire multiple feature points 211 of the moving object 200 and lines 212 connecting adjacent feature points 211 as features of the moving object 200. The acquisition unit 111 may acquire multiple feature points 211 at the positions of the outer shape of the moving object 200 as multiple feature points 211. An example of the moving object 200 may be a multi-joint robot or the like.

[0037] In step ST102, the generation unit 112 associates identical features of the moving object 200 at adjacent time points among the multiple time points acquired in step ST101, and generates a movement trajectory 220 of those identical features.

[0038] In step ST103, the correspondence unit 113 associates a time point that can be specified by the user interface with the characteristics of the moving object 200 at each of the multiple time points and with the movement trajectory 220 having the same characteristics.

[0039] In step ST104, the output control unit 114 outputs the characteristics of the moving object 200 according to the time point specified by the user interface. In this case, if the user interface specifies a time range from the first time point to the second time point, the output control unit 114 may output the movement trajectory 220 of the characteristics of the moving object 200 during that time range.

[0040] [Examples] Next, we will describe one embodiment.

[0041] In this embodiment, for the sake of simplification, the movement of the tip of the arm of the moving object 200 (for example, a multi-jointed arm) when viewed from above (when the multi-jointed arm rotates in a planar direction) will be described. Also for the sake of simplification, the characteristics of the moving object 200 will be illustrated by setting a single point (one characteristic point 211) at the tip of the arm.

[0042] Figure 6 is a diagram illustrating one embodiment. Figure 6(A) shows the position of the moving object 200 at several points in time, Figure 6(B) shows the case where a slider is used to specify a point in time (a range between multiple points in time), Figure 6(C) shows the movement of the moving object 200 (movement of features) within the specified range, and Figure 6(D) shows an example of outputting features (feature points 211) and a movement trajectory 220.

[0043] The simulation device 100 receives the movement (operation) step numbers when the moving object 200 moves (operates). For example, by receiving the "start step" and "end step" numbers when performing the simulation, the simulation device 100 obtains the position of the moving object 200 at each step as the moving object 200 moves between the start step and the end step. "Step" can also be rephrased as "point in time" or "time".

[0044] As illustrated in Figure 6(A), the simulation device 100 acquires the position of the moving object 200 at each point in time (each time) in response to the movement (operation) of the moving object 200. In the example shown in Figure 6(A), the simulation device 100 may move the moving object 200 within a time range of 0 seconds to 30 seconds and acquire the positions of the moving object 200 at 0 seconds, 13 seconds, 14 seconds, 15 seconds, 16 seconds, and 30 seconds. The simulation device 100 may acquire the position of the moving object 200 at predetermined time intervals (for example, at various time intervals such as 1 second, 3 seconds, 5 seconds, and 10 seconds), or it may acquire the position of the moving object 200 at a timing (point in time) specified via the input unit 121. The simulation device 100 acquires the features of the moving object 200 at each acquired position (each time point) (in the example shown in Figure 6(A), feature points 211), and generates a movement trajectory 220 based on the positions of the same features at each time point and adjacent time points. The simulation device 100 associates each of the multiple time points with the position of the features at each of those multiple time points and the movement trajectory 220 between adjacent time points.

[0045] As illustrated in Figure 6(B), when multiple time points (e.g., two time points) are specified via the user interface (e.g., slider 300, etc.) through the input unit 121, the simulation device 100 accepts the specification of a range of those multiple time points (13 seconds to 19 seconds in the example shown in Figure 6(B)). Within the range of time points for which the specification was accepted (here, the range from 13 seconds to 19 seconds), the simulation device 100 identifies the corresponding time points (here, 13 seconds, 14 seconds, 15 seconds, and 16 seconds) as described above, and the position and movement trajectory 220 of the features (feature points 211) at those time points (here, 13 seconds, 14 seconds, 15 seconds, and 16 seconds). In other words, as illustrated in Figure 6(C), the simulation device 100 identifies the specified time points (here, 13 seconds, 14 seconds, 15 seconds, and 16 seconds), the positions of the features (feature points 211 in Figure 6(C)) at each of those time points (here, 13 seconds, 14 seconds, 15 seconds, and 16 seconds), and the movement trajectories 220 between adjacent time points at those time points (here, 13 seconds, 14 seconds, 15 seconds, and 16 seconds). In this embodiment, for the sake of simplification, a single feature point 211 is set at the tip of the arm, and the movement trajectory 220 of that feature point 211 is generated.

[0046] As illustrated in Figure 6(D), the simulation device 100 outputs the position of the feature (feature point 211) at each of the multiple time points identified as described above (here, 13 seconds, 14 seconds, 15 seconds, and 16 seconds), and the movement trajectory 220 of the feature (feature point 211) at adjacent time points.

[0047] [Regarding functions and circuitry] Next, the functions and circuitry of the simulation device 100 described above will be explained. Each part of the simulation device 100 may be implemented as a function of a computer's processing unit or the like. That is, the acquisition unit 111, generation unit 112, mapping unit 113, and output control unit 114 (control unit 110) of the simulation device 100 may be implemented as acquisition function, generation function, mapping function, and output control function (control function), respectively, by a computer's processing unit or the like. The simulation program can enable a computer to implement the functions described above. The simulation program may be recorded on a computer-readable, non-temporary storage medium, such as memory, a solid-state drive, a hard disk drive, or an optical disc. The storage medium can also be described as a non-temporary, computer-readable medium for storing the simulation program. Furthermore, the simulation program may be transmitted online. Furthermore, as described above, each part of the simulation device 100 may be implemented as a computer's arithmetic processing unit or the like. This arithmetic processing unit or the like is composed of, for example, an integrated circuit. For this reason, each part of the simulation device 100 may be implemented as a circuit that constitutes an arithmetic processing unit or the like. That is, the acquisition unit 111, generation unit 112, mapping unit 113, and output control unit 114 (control unit 110) of the simulation device 100 may be implemented as an acquisition circuit, generation circuit, mapping circuit, and output control circuit (control circuit) that constitute an arithmetic processing unit or the like of a computer. Furthermore, the input unit 121 of the simulation device 100, as well as the communication unit 131, storage unit 132, and display unit 133 (output unit), may be implemented as, for example, an input function including the functions of a processing unit, as well as a communication function, storage function, and display function (output function). Also, the input unit 121 of the simulation device 100, as well as the communication unit 131, storage unit 132, and display unit 133 (output unit), may be implemented as an input circuit, as well as a communication circuit, storage circuit, and display circuit (output circuit), by being composed of, for example, an integrated circuit. Furthermore, the input unit 121 of the simulation device 100, as well as the communication unit 131, storage unit 132, and display unit 133 (output unit), may be configured as an input device, as well as a communication device, storage device, and display device (output device), by being composed of, for example, multiple devices.

[0048] The simulation device 100 can be configured to combine one or any multiple of the above-described components. In this disclosure, the term "information" is used, but the term "information" can be replaced with "data," and the term "data" can be replaced with "information."

[0049] [Aspects and Effects of This Embodiment] Next, an embodiment of this model and the effects of each embodiment will be described. Note that the embodiments described below are examples as of the time of filing, and this embodiment is not limited to the embodiments described below. In other words, this embodiment is not limited to the embodiments described below, and may be realized by appropriately combining the parts described above. Furthermore, lower-level embodiments may be referenced in any of the higher-level embodiments. Furthermore, the effects of this embodiment described below are merely examples, and the effects achieved by each embodiment are not limited to those described below. Also, each embodiment may achieve, for example, at least one of the effects described below.

[0050] (Aspect 1) One embodiment of the simulation apparatus includes: an acquisition unit that acquires the characteristics of a moving object at each of multiple time points; a generation unit that associates identical characteristics of the moving object at adjacent time points among the multiple time points acquired by the acquisition unit and generates a movement trajectory of those identical characteristics; an association unit that associates a time point that can be specified by a user interface with the characteristics of the moving object at each of the multiple time points and the movement trajectory of the identical characteristics; and an output control unit that outputs the characteristics of the moving object according to the time point specified by the user interface. This allows the simulation device to generate the robot's movement trajectory and output the movement trajectory at a specified point in time (or within a specified range of points in time).

[0051] (Aspect 2) In one embodiment of the simulation apparatus, the output control unit may output the movement trajectory of the moving object's features during a time range from a first time point to a second time point, when this range is specified by the user interface. This allows the simulation device to output the movement trajectory at a point in time (or range of points in time) specified in the user interface.

[0052] (Aspect 3) In one embodiment of the simulation apparatus, the acquisition unit may acquire, as features of the moving object, multiple feature points of the moving object and lines connecting adjacent feature points. As a result, the simulation device outputs a movement trajectory based on the characteristics of the moving object, thus reducing the computational burden compared to performing a simulation (outputting a movement trajectory) using the entire shape of the moving object.

[0053] (Aspect 4) In one embodiment of the simulation apparatus, the acquisition unit may acquire multiple feature points as multiple feature points, which are located at the positions of the outer shape of the moving object. This allows the simulation device to represent the outline of a moving object by lines connecting its characteristic points when outputting the object's movement trajectory.

[0054] (Appendix 5) In one embodiment of the simulation apparatus, the moving object may be a multi-jointed robot. This allows the simulation device to output the movement trajectory of a multi-joint robot when it moves (operates).

[0055] (Aspect 6) In one embodiment of the simulation method, the computer performs an acquisition step of acquiring the characteristics of a moving object at each of several time points; a generation step of associating identical characteristics of the moving object at adjacent time points among the multiple time points acquired in the acquisition step and generating a movement trajectory of those identical characteristics; an association step of associating a time point that can be specified by the user interface with the characteristics of the moving object at each of the multiple time points and the movement trajectory of the identical characteristics; and an output control step of outputting the characteristics of the moving object according to the time point specified by the user interface. As a result, the simulation method can achieve the same effects as the simulation apparatus of the aforementioned embodiment.

[0056] (Aspect 7) One embodiment of a simulation program provides a computer with an acquisition function to acquire the characteristics of a moving object at each of multiple time points, a generation function to associate identical characteristics of a moving object at adjacent time points among the multiple time points acquired by the acquisition function and generate a movement trajectory of those identical characteristics, and a matching function to associate time points that can be specified by a user interface with the characteristics of a moving object at each of the multiple time points and the movement trajectory of those identical characteristics. This implements an output control function that outputs the characteristics of a moving object according to a point in time specified by the user interface. As a result, the simulation program can achieve the same effect as the simulation apparatus described in the above-mentioned embodiment. [Explanation of Symbols]

[0057] 100 Simulation devices 110 Control Unit 111 Acquisition Department 112 Generation part 113 Correspondence section 114 Output Control Unit 121 Input section 131 Communications Department 132 Storage section 133 Display section 200 Moving objects 211(211a,211b,211c) Feature points (features) Line 212 (Features) 220 Movement trajectory 221 (221a, 221b, 221c) line (trajectory) 300 Slider 311 indicators 321 Start slider 322 End slider

Claims

1. An acquisition unit that acquires the characteristics of a moving object at each of multiple points in time, A generation unit associates identical features of the moving object at adjacent time points among a plurality of time points acquired by the acquisition unit, and generates a movement trajectory of said identical features. A correspondence unit that associates a time point that can be specified by the user interface with the characteristics of the moving object at each of the multiple time points and the movement trajectory of the same characteristics, An output control unit that outputs the characteristics of the moving object according to the time point specified by the user interface. A simulation device equipped with the following features.

2. When the user interface specifies a time range from the first time point to the second time point, the output control unit outputs the movement trajectory of the moving object's features within that time range. The simulation apparatus according to claim 1.

3. The acquisition unit acquires, as features of the moving object, a plurality of feature points of the moving object and lines connecting adjacent feature points. The simulation apparatus according to claim 1.

4. The acquisition unit acquires a plurality of feature points as the plurality of feature points, which are the positions of the outer shape of the moving object. The simulation apparatus according to claim 3.

5. The aforementioned moving object is a multi-joint robot. A simulation apparatus according to any one of claims 1 to 4.

6. Computers An acquisition step to acquire the characteristics of a moving object at each of multiple points in time, A generation step involves associating identical features of the moving object at adjacent time points among the multiple time points acquired by the acquisition step, and generating a movement trajectory of said identical features, A matching step that associates a time point that can be specified by the user interface with the characteristics of the moving object at each of the multiple time points and the movement trajectory of the same characteristics, An output control step that outputs the characteristics of the moving object according to the time point specified by the user interface. A simulation method for performing this.

7. On the computer, A function to acquire the characteristics of a moving object at multiple points in time, A generation function that associates identical features of the moving object at adjacent time points among multiple time points acquired by the acquisition function, and generates a movement trajectory of said identical features, A mapping function that associates a time point that can be specified by the user interface with the characteristics of the moving object at each of the multiple time points and the movement trajectory of the same characteristics, An output control function that outputs the characteristics of the moving object according to the time point specified by the user interface. A simulation program to achieve this.

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