THREE-DIMENSIONAL MODEL DATA GENERATING METHOD, AND THREE DIMENSIONAL MODEL DATA GENERATING APPARATUS

• US 20090070077A1
• Filed: 08/31/2007
• Published: 03/12/2009
• Est. Priority Date: 09/01/2006
• Status: Active Grant

• Current Assignee: Intelligent Manufacturing Systems International, MORI Seiki Company Limited
• Original Assignee: Intelligent Manufacturing Systems International, MORI Seiki Company Limited
• Inventors: Fujishima, Makoto, Tian, Xiaodong
• Granted Patent: US 8,335,666 B2
• Time in Patent Office: Days
• US Class Current: 703/1
• CPC Class Codes: G05B 2219/35074 Display object, recognition of geometric forms
• CPC Class Codes: G05B 2219/35493 Display workpiece and tool data together
• CPC Class Codes: G05B 2219/37563 Ccd, tv camera
• CPC Class Codes: G06T 2207/30164 Workpiece; Machine component
• CPC Class Codes: G06T 7/593 from stereo images

Abstract

The present invention relates to an apparatus for generating three-dimensional model data or the like, capable of correctly and efficiently generating three-dimensional model data including an attached object attached to a machine tool and a part of the machine tool. A apparatus for generating three-dimensional model data 1 is provided with: two CCD cameras 13 and 14, disposed apart by a predetermined distance from each other, for imaging an attached object attached to a machine tool to generate two-dimensional image data; a first model-data storing section 19 for storing model data of the attached object; a second model-data storing section 21 for storing the model data related to at least a part of the machine tool; an edge detecting section 17 for detecting edges; a shape-feature recognizing section 18 for recognizing a shape feature; an object recognizing section 20 for recognizing the model data of the attached object imparted with the recognized shape feature; and a model-data generating section 22 for generating three-dimensional model data including the attached object and a part of the machine tool, based on the recognized model data of the attached object and the model data of the machine tool.

Claims

1. A method for generating three-dimensional model data including an attached object attached to a machine tool and at least a part of the machine tool, comprising:

a first step of storing model data into a storing section, the model data are related to a three-dimensional model of the at least part of the machine tool and the attached object attached to the machine tool, and include at least shape data that define shapes of the machine tool and the attached object;

a second step, in which imaging means are used to image the attached object attached to the machine tool from two view points, i.e., a first view point and a second view point apart from the first view point, for generating two-dimensional image data at each of the view points;

a third step for recognizing a shape feature of the attached object based on the two two-dimensional image data generated in the second step;

a fourth step for recognizing model data of the attached object imparted with the shape feature, based on the shape feature recognized in the third step and the model data of the attached object stored in the storing section; and

a fifth step for, based on the shape feature and the model data each recognized in the third step and the fourth step, calculating a position and an attitude, of the three-dimensional model of the attached object, on the three-dimensional model of the machine tool, and thereafter, generating the three-dimensional model data including the attached object and at least the part of the machine tool, based on calculated position and attitude, the model data recognized in the fourth step, and the model data, stored in the storing section, related to the at least part of the machine tool, wherein each step is sequentially performed.

2. An apparatus for generating three-dimensional model data including an attached object attached to a machine tool and at least a part of the machine tool, comprising:

first imaging means for imaging the attached object attached to the machine tool to generate two-dimensional image data;

second imaging means, disposed apart from the first imaging means, for imaging the attached object attached to the machine tool to generate two-dimensional image data;

first model-data storing means for storing data related to a three-dimensional model of the attached object attached to the machine tool, the model data including at least shape data that define a shape of the attached object;

second model-data storing means for storing data related to a three-dimensional model about the at least part of the machine tool, the model data including at least shape data that define a shape about at least part of the machine tool;

image processing means, based on the two-dimensional image data, each of which are generated by the first and second imaging means, for recognizing a shape feature of the attached object;

object recognizing means, based on the model data stored in the first model-data storing means and the shape feature recognized by the image processing means, for recognizing model data of an attached object imparted with the shape feature; and

model-data generating means for calculating, based on the model data recognized by the object recognizing means and the shape feature recognized by the image processing means, a position and an attitude, of the three-dimensional model of the attached object, on the three dimensional model of the machine tool, and thereafter, generating, based on the calculated position and attitude, the model data recognized by the object recognizing means, and the model data stored in the second model-data storing means, three-dimensional model data including the attached object and at least the part of the machine tool.

3. The apparatus for generating three-dimensional model data according to claim 2, wherein the second imaging means is disposed such that its optical axis is parallel to an optical axis of the first imaging means, and that it is kept apart by a distance from the first imaging means in a direction perpendicular to the optical axis of the first imaging means.

4. The apparatus for generating three-dimensional model data according to claim 2, wherein the image processing means is comprising:

edge detecting means, by extracting corners of the attached object based on the two-dimensional image data, each of which are generated by the first and second imaging means, and detecting edges that connect between the extracted corners, for detecting the edges of the attached object in each of the two-dimensional images; and

shape-feature recognizing means for evaluating a corresponding relation of the edges between each of the two-dimensional images based on the edges in the two-dimensional images detected by the edge detecting means, and recognizing the shape feature of the attached object based on the edges determined to have the corresponding relation.

5. The apparatus for generating three-dimensional model data according to claim 2, wherein the object recognizing means extracts the shape feature of the attached object related to the model data based on the model data stored in the first model-data storing means to check whether the extracted shape feature and the shape feature recognized by the image processing means match, thereby recognizing the model data of the attached object imparted with the shape feature that matches the shape feature recognized by the image processing means, out of the model data stored in the first model-data storing means.

6. The apparatus for generating three-dimensional model data according to claim 2, wherein the model-data generating means calculates, based on the shape feature of the attached object recognized by the image processing means and the model data of the attached object recognized by the object recognizing means, various components of a matrix indicating a rotational angle and a matrix indicating an amount of translation, which are obtained when a rotational shift and translation are performed so that respectively corresponding portions of a shape specified by the shape feature and the model data overlap to calculate an attitude and a position, of the three-dimensional model of the attached object, on the three-dimensional model of the machine tool, based on the calculated components of each matrix.