PHYSICAL CONFIGURATION DETECTOR, PHYSICAL CONFIGURATION DETECTING PROGRAM, AND PHYSICAL CONFIGURATION DETECTING METHOD
First Claim
1. A posture grasping apparatus for grasping a posture of a target part on a basis of output from a directional sensor that detects a direction in space and is attached to the target part among a plurality of target parts of a target object, comprising:
- a shape data storage means that stores shape data of the target part to which the directional sensor is attached;
a sensor output acquisition means that acquires an output value from the directional sensor;
a posture data calculation means that uses the output value from the directional sensor to calculate posture data indicating a direction of the target part to which the directional sensor is attached with reference to reference axes directed in predetermined directions;
a positional data generation means that generates positional data on a position of the target part in space by using the target part'"'"'s shape data stored in the shape data storage means and the target part'"'"'s posture data calculated by the posture data calculation means, and by obtaining in space positional data of at least two representative points of the target part indicated in the shape data with reference to a connecting point with another target part connected with the target part in question;
a two-dimensional image generation means that generates two-dimensional image data indicating the target part by using the positional data, which are generated by the positional data generation means, on the position of the target part in space and the target part'"'"'s shape data stored in the shape data storage means; and
an output means that outputs a two-dimensional image of the target part on a basis of the target parts'"'"' two-dimensional image data generated by the two-dimensional image generation means.
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Accused Products
Abstract
Disclosed is a physical configuration detector, a physical configuration detecting program, and a physical configuration detecting method, which can detect the physical configuration of an object, regardless of whether the object is in motion or not, and which can also decrease the amount of work necessary to prepare for dictionaries and the like. A physical configuration detector comprises: a sensor data acquisition unit (121) that acquires sensor data from directional sensors (10) attached to various points on the body a worker; a physical configuration calculator (122) that uses sensor data (113) to calculate the physical configuration which indicate the direction s the various points face; a positional data generator (123) that generates position data for the various points within a space, by using pre-stored shape data (111) and the physical configuration data (114) of the various points; a two-dimensional image generator (124) that generates two-dimensional image data indicating the various points by using position data (115) and shape data (111) for the various points; and a display controller (128) that displays the two-dimensional image data for the various points on a display (103).
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Citations
15 Claims
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1. A posture grasping apparatus for grasping a posture of a target part on a basis of output from a directional sensor that detects a direction in space and is attached to the target part among a plurality of target parts of a target object, comprising:
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a shape data storage means that stores shape data of the target part to which the directional sensor is attached; a sensor output acquisition means that acquires an output value from the directional sensor; a posture data calculation means that uses the output value from the directional sensor to calculate posture data indicating a direction of the target part to which the directional sensor is attached with reference to reference axes directed in predetermined directions; a positional data generation means that generates positional data on a position of the target part in space by using the target part'"'"'s shape data stored in the shape data storage means and the target part'"'"'s posture data calculated by the posture data calculation means, and by obtaining in space positional data of at least two representative points of the target part indicated in the shape data with reference to a connecting point with another target part connected with the target part in question; a two-dimensional image generation means that generates two-dimensional image data indicating the target part by using the positional data, which are generated by the positional data generation means, on the position of the target part in space and the target part'"'"'s shape data stored in the shape data storage means; and an output means that outputs a two-dimensional image of the target part on a basis of the target parts'"'"' two-dimensional image data generated by the two-dimensional image generation means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A posture grasping program for grasping a posture of a target part among a plurality of target parts of a target object, on a basis of an output from a directional sensor for detecting a direction in space, the directional sensor being attached to the target part in question, wherein:
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the posture grasping program makes a computer execute; a sensor output acquisition step, in which a communication means of the computer acquires an output value from the directional sensor; a posture data calculation step, in which posture data indicating a direction of the target part, to which the directional sensor is attached, with reference to reference axes that are directed in previously-determined directions are calculated by using the output value from the directional sensor; a positional data generation step, in which positional data of the target part in space are generated by using shape data of the target part previously stored in a storage unit of the computer and the posture data of the target part calculated in the posture data calculation step, and by obtaining positional data in space of at least two representative points in the target part indicated in the shape data, with reference to a connecting point with another target part connected with the target part in question; a two-dimensional image generation step, in which two-dimensional image data indicating the target part are generated by using the positional data in space of the target part, which are generated in the positional data generation step, and the shape data of the target part stored in the storage unit; and an output step, in which a two-dimensional image of the target part is outputted on a basis of the two-dimensional image data of the target part generated in the two-dimensional image generation step.
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15. A posture grasping method for grasping a posture of at least one target part among a plurality of target parts of a target object, wherein:
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a directional sensor for detecting a direction in space is attached to the at least one target part; and a computer execute; a sensor output acquisition step, in which a communication means of the computer acquires an output value from the directional sensor; a posture data calculation step, in which posture data indicating a direction of the target part, to which the directional sensor is attached, with reference to reference axes that are directed in previously-determined directions are calculated by using the output value from the directional sensor; a positional data generation step, in which positional data of the target part in space are generated by using shape data of the target part previously stored in a storage unit of the computer and the posture data of the target part calculated in the posture data calculation step, and by obtaining positional data in space of at least two representative points in the target part indicated in the shape data, with reference to a connecting point with another target part connected with the target part in question; a two-dimensional image generation step, in which two-dimensional image data indicating the target part are generated by using the positional data in space of the target part, which are generated in the positional data generation step, and the shape data of the target part stored in the storage unit; and an output step, in which a two-dimensional image of the target part is outputted on a basis of the two-dimensional image data of the target part generated in the two-dimensional image generation step.
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Specification