CN106003025A - Method and device for creating three-dimensional robot model - Google Patents
Method and device for creating three-dimensional robot model Download PDFInfo
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- CN106003025A CN106003025A CN201610377462.4A CN201610377462A CN106003025A CN 106003025 A CN106003025 A CN 106003025A CN 201610377462 A CN201610377462 A CN 201610377462A CN 106003025 A CN106003025 A CN 106003025A
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- Prior art keywords
- standard module
- joint face
- steering wheel
- module
- standard
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
Abstract
The invention discloses a method and a device for creating a three-dimensional robot model. The method for creating the three-dimensional robot model comprises: displaying a model creating interface and providing at least one standard module for a user to select, wherein each standard module is preset with at least one connecting surface; according to selection operation carried out by the user on the standard module, displaying the selected standard module in the model creating interface in a three-dimensional graphic mode; according to selection made by the user on connecting surfaces in at least two standard modules, connecting all standard modules at the part of the selected connecting surface, and displaying a connecting effect in a three-dimensional graphic mode; and recording a father-son linkage relationship established by the connected standard modules through the connecting surface. According to the technical scheme provided by the method and device, time spent on building a three-dimensional robot is greatly reduced, the building process of the robot with a plurality of parts is greatly simplified, and the simulated building of the three-dimensional robot model can even be efficiently and conveniently finished by common users.
Description
Technical field
The present embodiments relate to computer processing technology, particularly relate to a kind of three-dimensional robot model creation side
Method and device.
Background technology
The application of robot is the most universal now, not only plays weight in every profession and trades such as industry, service and military affairs
The effect wanted, it also plays the most important effect in terms of education, research and toy.Robot
It is one to be integrated with machinery, electronics, software, sense and the comprehensive the strongest product of the technology such as control, its
It is well suited for for teaching to excite student to the interest of these technology and the ability of raising student's each side, machine
People itself is also a good carrier for the various technology used by research robot, and particularly some are bionical
Robot additionally aids the research of bionical behavior, and the interest of robot makes it also will capture more at toy art
Come the most important position.
Wherein, modularization robot external member, to simplify the work utilizing modularization robot external member to build robot
Sequence, facilitates the fixing connection of steering wheel and output to connect, reduces and build the man-hour spent by robot, so that
Obtain robot build process to be greatly simplified.
But building with robot in kind and conveniently compare, corresponding modularization robot three-dimensional artificial is soft
Part needs to carry out model buildings with code, and difficulty is very big, and model is changeless, it is impossible to existing
It is modified on model.The 3 d modeling softwares such as employing Solidworks, UG, ProE and Catia can be with mould
The three-dimensional modeling of massing robot, but number of parts is numerous, is required to draw one by one, and works out code,
Building the relation between each part, kinesiology therein and dynamics simulation are the most professional, for typically building
For person, it is impossible to realize.
Summary of the invention
The present invention provides a kind of three-dimensional robot model creation method and apparatus, to simplify robot simulation model
Establishment mode, reduce create difficulty.
First aspect, embodiments provides a kind of three-dimensional robot model creation method, including:
Display model creates interface, and provides at least one standard module to select for user, wherein, and Mei Gesuo
State standard module and preset at least one joint face；
According to user, the selection of standard module is operated, the standard module chosen is shown in the way of 3-D graphic
Show in described model creation interface；
According to user to the selection of joint face at least two standard module, by each standard module in the company chosen
It is attached at junction, in the way of 3-D graphic, shows connection effect；
Father and son's interaction relation that the standard module that record connects is set up by described joint face.
Second aspect, embodiments provides a kind of three-dimensional robot model creation device, including:
Standard module selects unit, creates interface for display model, and provides at least one standard module to supply
User selects, and wherein, each described standard module presets at least one joint face；
Standard module display unit, for the selection of standard module being operated according to user, the standard that will choose
Module shows in the way of 3-D graphic in described model creation interface；
Standard module connects unit, is used for according to user the selection of joint face at least two standard module,
Each standard module is attached at the joint face chosen, in the way of 3-D graphic, shows connection effect；
Interaction relation record unit, for recording the father that the standard module of connection is set up by described joint face
Sub-interaction relation.
Technical scheme provided by the present invention, at least one standard module presetting joint face is available for user's choosing
Select, and standard module user chosen show in the way of 3-D graphic in described model creation interface,
Each standard module is attached by the joint face chosen, and records the standard module of connection by described connection
Face and father and son's interaction relation of setting up.Create model owing to user may select standard module rather than draw one by one
Required part, so greatly reducing the man-hour built spent by three-dimensional robot.Each standard module can pass through
The joint face chosen is attached so that robot build process is greatly simplified.And, record various standard
Father and son's interaction relation of module, it is possible to achieve kinesiology and dynamics simulation, the technology that the present embodiment is provided
Scheme solves prior art and builds robotic part's Numerous, is required to draw one by one, the longest,
And code need to be worked out, and building the relation between each part, kinesiology therein and dynamics simulation are the most professional,
And typically do not build the problems such as person often cannot realize, it is achieved that even if domestic consumer also can complete the most easily
The emulation of three-dimensional machine human model is built.
Accompanying drawing explanation
The flow process signal of a kind of three-dimensional robot model creation method that Fig. 1 provides for the embodiment of the present invention one
Figure；
Fig. 2 is the establishment interface of a kind of three-dimensional robot model creation method that the embodiment of the present invention one provides
Schematic diagram；
Fig. 3 A is the selection standard of a kind of three-dimensional robot model creation method that the embodiment of the present invention one provides
The first view during module；
Fig. 3 B is the selection standard of a kind of three-dimensional robot model creation method that the embodiment of the present invention one provides
The second view during module；
Fig. 4 is the connection standard mould of a kind of three-dimensional robot model creation method that the embodiment of the present invention one provides
The schematic diagram of block；
Fig. 5 is each standard module of a kind of three-dimensional robot model creation method that the embodiment of the present invention one provides
Motion simulation schematic diagram；
Fig. 6 is the flow process signal of a kind of three-dimensional robot model creation method that the embodiment of the present invention two provides
Figure；
Fig. 7 is that the standard module of a kind of three-dimensional robot model creation method that the embodiment of the present invention two provides is sent out
View during raw interference；
Fig. 8 is the flow process signal of a kind of three-dimensional robot model creation method that the embodiment of the present invention three provides
Figure；
Fig. 9 is that a kind of three-dimensional module robot model that the embodiment of the present invention three provides creates and store method
Structural representation；
Figure 10 is that the one that the embodiment of the present invention four provides is created based on three-dimensional robot model creation method
Excavator model；
Figure 11 is a kind of the establishment based on three-dimensional robot model creation method of the embodiment of the present invention four offer
Anthropomorphic robot model；
Figure 12 is the structure chart of a kind of three-dimensional robot model creation device that the embodiment of the present invention five provides.
Detailed description of the invention
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.It is understood that this
Specific embodiment described by place is used only for explaining the present invention, rather than limitation of the invention.The most also need
It is noted that for the ease of describing, accompanying drawing illustrate only part related to the present invention and not all knot
Structure.
Embodiment one
The flow chart of a kind of three-dimensional robot model creation method that Fig. 1 provides for the embodiment of the present invention one, should
Method can performing by a kind of three-dimensional robot model creation device, this device can be by hardware and/or soft
The mode of part realizes, and typically can independence or be integrated in be arranged in the application end of user terminal in realize this reality
The method executing example.
The method of the present embodiment specifically includes following steps:
Step 110, display model create interface, and provide at least one standard module to select for user, its
In, each described standard module presets at least one joint face.
Create three-dimensional machine human model and typically require each part of composition three-dimensional robot, in order to simplify establishment
Process, the embodiment of the present invention can provide at least one standard module to select for user, and user can root
According to the standard module required for the shape of standard module, function selecting, generate and show each standard module, use
Each ingredient in emulated robot.Specifically, standard module includes base, steering wheel assembly and Dan Lian
Fitting etc..Exemplarily, as in figure 2 it is shown, each standard module shows at mould in the way of 3-D graphic icon
Type creates in the toolbar on the left of interface, selects for user.The establishment of three-dimensional machine human model typically requires many
Individual standard module is attached, and the most each described standard module presets joint face.It is understood that
Each standard module presets one or more joint face, such as, for the mark in emulated robot centre
Quasi-mode block typically requires threshold value by multiple joint faces, and the standard module for emulated robot foot may be preset
There is a joint face.The quantity of the joint face of described standard module can be set according to the actual requirements,
Do not limit at this.
Step 120, according to user, the selection of standard module is operated, by the standard module chosen with graphics
The mode of shape shows in described model creation interface.
Specifically, user can be by being dragged to standard module to be selected to the selection operation of standard module
Specify region；Or, by mouse-click or double-click described standard module；Or, by input master die
The title of block selects the modes such as required standard module to realize.Exemplarily, as shown in Figure 3 A and Figure 3 B, use
Family can select corresponding master die by 3-D graphic icon corresponding with each standard module in click tools hurdle
Block, the standard module chosen can show the view of at least one angle in wicket, and user can be according to need
Click is asked to select the corresponding view of standard module.The standard module chosen can show in the way of 3-D graphic
In model creation interface.
According to user, the selection of standard module is operated, the standard module chosen is shown in the way of 3-D graphic
Show preferably may include that in described model creation interface according to user in standard module storehouse to standard module
Selection, create corresponding 3-D graphic according to the standard module selected, aobvious in described model creation interface
Showing, wherein, user chooses angle, size, position or the attitude that the standard module of establishment can be preset, with
The mode of 3-D graphic shows in described model creation interface；According to user in described model creation interface
Translation to described standard module 3-D graphic drags or rotates and drags, and translates accordingly or rotates described master die
Block 3-D graphic；According to user's selection to described standard module 3-D graphic in described model creation interface
And deletion action, cancel the standard module threedimensional model that display is corresponding, and the standard module that unerases and father
Father and son's interaction relation between module and submodule.
Wherein, drag according to user's translation to described standard module 3-D graphic in described model creation interface
Dynamic or rotate and drag, translate accordingly or rotate described standard module 3-D graphic and include: according to user described
To described standard module 3-D graphic itself or the translation dragging of intraware or rotary mop in model creation interface
Dynamic, translate accordingly or rotate described standard module 3-D graphic itself or intraware, specifically, Ke Yiping
Moving or rotating standard module makes described standard module present different angles or annexation, thus depression
Different positions or attitude, such as, as a example by two adjacent steering wheel assemblies, choose it by mouse-click
In after a steering wheel assembly, this assembly is shown as translucent in three-dimensional software view, and displaing coordinate axle.
Being clicked on by left mouse button after selecting coordinate axes X, coordinate axes X is shown as overstriking arrow in three-dimensional software view
Head, now can be dragged by left mouse button and make the steering wheel assembly currently chosen translate along X-direction.Simultaneously
The steering wheel assembly currently chosen can also rotate along X-direction, rotate along Y direction or revolve along Z-direction
Turn, each 90-degree rotation；The outside translation dragging shown or rotary mop to described standard module 3-D graphic
Dynamic, concrete, the 3-D graphic of the standard module in interface can be created by translation or rotating model, real
The now rotation to whole interface view, it is possible to present the mark model creation interface from different visual angles for user
The 3-D graphic of quasi-mode block, such as, if it is three-dimensional machine human model that "current" model creates in interface, permissible
Created the 3-D graphic of the standard module in interface by translation or rotating model, present robot front,
Side and the back side etc..
It is understood that according to user in described model creation interface to described standard module 3-D graphic
Selection and operation is set, standard module threedimensional model corresponding to parameter that display inputs with user, Qi Zhongsuo
Parameter includes the size of standard module, color and angle etc..
Step 130, according to user to the selection of joint face at least two standard module, by each standard module
It is attached at the joint face chosen, in the way of 3-D graphic, shows connection effect.
In modeling, user typically requires and is attached by least two standard module, to be created to meet
The shape of three-dimensional robot, position, the demand such as attitude.Exemplarily, according to user at least two mark
In quasi-mode block, the click of joint face selects operation, is attached by each standard module at the joint face chosen；
According to annexation, adjust the position of described standard module 3-D graphic and attitude to the joint face by selecting
It is attached.Or, the joint face of one of them standard module can be dragged to another standard module
Joint face is attached.
Specifically, as shown in Figure 4, user can choose, by forms such as mouse-click, two marks needing to connect
After quasi-mode block, can be clicked by left mouse button or the mode such as double-click chooses the connection on two standard modules successively
Face, then can be by modes such as the connection buttons on click tools hurdle so that two standard modules are according to selected
Joint face be attached, in the way of 3-D graphic, show connection effect.In order to increase the identification of user,
Convenient operation, the joint face chosen can present the color different from adjacent surface, as being shown as white, red
Color etc..
Father and son's interaction relation that the standard module that step 140, record connect is set up by described joint face.
In this operation, father and son's interaction relation that the standard module that record connects is set up by described joint face
Preferably according to the standard module connected, determine the father's module between standard module and submodule relation, add
In the threedimensional model set up；Joint face according to the standard module connected and the motion of described standard module
Feature, sets up kinesiology and dynamic (dynamical) interaction relation between father's module and submodule.Such as, according to mark
The establishment order of quasi-mode block and the order of connection, the standard module that record connects, previous standard module is recorded as
Father's standard module, later standard module is recorded as substandard module, and substandard module depends on father's standard module
Motion；It is also understood that the bio-robot built in three-dimensional artificial environment, described joint face
After mating and being connected, the node of functional parts motion can be formed.Arbitrary neighborhood two node, previous joint
Point is the father node of later node, and later node is the child node of previous node.Described father node is certainly
Determine the starting point coordinate of child node running orbit.Wherein, described "front", "rear" corresponds to standard module
Build order.Exemplarily, as it is shown in figure 5, connection can be recorded during three-dimensional robot creates
The order of standard module, and the father and son that set up by described joint face of the standard module recording connection linked pass
System, and then realize the motion simulation of three-dimensional robot.
Technical scheme provided by the present invention, at least one standard module presetting joint face is available for user's choosing
Select, and standard module user chosen show in the way of 3-D graphic in described model creation interface,
Each standard module is attached by the joint face chosen, and records the standard module of connection by described connection
Face and father and son's interaction relation of setting up.Create model owing to user may select standard module rather than draw one by one
Required part, so greatly reducing the man-hour built spent by three-dimensional robot.Each standard module can pass through
The joint face chosen is attached, and simplifies assembling and the linked manner of robot so that robot was built
Journey is greatly simplified.And, record father and son's interaction relation of various standard module, it is possible to achieve kinesiology is with dynamic
Mechanics Simulation, the technical scheme that the present embodiment is provided solves prior art and builds robotic part's number crowd
Many, it is required to draw one by one, the longest, and code need to be worked out, build the relation between each part, its
In kinesiology and dynamics simulation the most professional, and typically do not build the problems such as person often cannot realize, be not required to
Carrying out model buildings with code, greatly reduce number of parts, and model is changeable, minimizing is taken
Build the man-hour spent by robot, simplify the difficulty built, improve the efficiency that emulation is built, it is achieved that i.e.
The emulation making domestic consumer also can complete three-dimensional machine human model the most easily is built.
On the basis of above-described embodiment, described standard module includes base, when display model creates interface,
Also include: adding base in described model creation interface, wherein, described base includes joint face, and with
Described base is root node, arranges described father and son linkage from neighbouring described base to the direction away from described base
Relation.The technical program so that three-dimensional robot completes set action and behavior on the basis of base,
The action of robot is the most steady and smooth.
On the basis of the various embodiments described above, described standard module can also include: steering wheel assembly and single connection
Part, wherein, described steering wheel assembly is made up of steering wheel and connector.Specifically, described steering wheel assembly can comprise
Steering wheel short U assembly, steering wheel oblique U assembly, steering wheel long U assembly, steering wheel output panel assembly, double steering engine assembly
With steering wheel wheel assembly etc..Described single connection comprise integrated sensor, single steering engine, steering wheel extension device,
Sole, short hand and long hands etc..
Further, steering wheel short U assembly includes steering wheel and is rotatably connected on the short U connector outside steering wheel,
Described steering wheel long U assembly includes steering wheel and is rotatably connected on the long U connector outside steering wheel, and described short U is even
For fitting and long U connector are relative size.Described steering wheel oblique U assembly includes steering wheel and is rotatably connected on
Oblique U connector outside steering wheel.Described double steering engine assembly includes two steering wheels linked together, and each
All being rotatably connected to connector on steering wheel, the connector rotation direction of two steering wheels is different, concrete, one
Connector rotates in perpendicular, and another connector rotates in horizontal plane.Described steering wheel wheel subgroup
Part includes steering wheel and is rotatably connected on the rotation dish outside steering wheel.
Embodiment two
The flow chart of a kind of three-dimensional robot model creation method that Fig. 6 provides for the embodiment of the present invention two, this
Embodiment, preferably will be " according to user at least two standard module on the basis of the various embodiments described above
The selection of joint face, is attached each standard module at the joint face chosen, in the way of 3-D graphic
Display connects effect " it is optimized for further: according to user to the click of joint face at least two standard module
Select operation, each standard module is attached at the joint face chosen；According to annexation, adjust institute
Position and the attitude of stating standard module 3-D graphic are attached to the joint face by selecting.
Accordingly, the method for the present embodiment specifically includes:
Step 110, display model create interface, and provide at least one standard module to select for user, its
In, each described standard module presets at least one joint face.
Step 120, according to user, the selection of standard module is operated, by the standard module chosen with graphics
The mode of shape shows in described model creation interface.
Step 131, according to user, the click of joint face at least two standard module is selected operation, will be each
Standard module is attached at the joint face chosen.
Exemplarily, complete when building of three-dimensional robot at least two standard module needing connection, use
Family according to the shape of three-dimensional robot to be created, can determine that the position relationship level of each standard module connects
Relation, and select the joint face needing to connect in two standard modules, and then can be by least two mark
In quasi-mode block, the click of joint face selects operation to be attached by two standard modules.
Step 132, according to the annexation between described standard module, adjust described standard module graphics
Display position and the attitude of shape are attached to the joint face by selecting.
Exemplarily, adjust display position and the attitude of described standard module 3-D graphic, can be such as by
The joint face of the standard module chosen moves to the joint face of standard module to be connected；Or, will mark
Quasi-mode block rotates to the angle set；Or, standard module is carried out reversion etc..During creating, logical
Often need to connect each standard module so that the standard module connected presents preliminary position and attitude,
Can more vivid and vivo emulate three-dimensional robot.In the present embodiment, user can be closed according to connecting
System, drags or rotates the modes such as dragging by translation, adjusts display position and the appearance of standard module 3-D graphic
State, and then be attached by the joint face selected, so that position and attitude after standard module connection meet
User's request.
Father and son's interaction relation that the standard module that step 140, record connect is set up by described joint face.
Use the technical program, user by least two standard module joint face click select operation,
Connecting each standard module, parts connect more direct, and assembly and disassembly are more convenient, simple to operate.And,
The position of standard module 3-D graphic described in adjustable and attitude, it is possible to present different attitudes so that wound
The demand of the model adaptation development in pluralism of the three-dimensional robot built, and greatly meet the individual demand of user,
The effect of emulation is more lively, is greatly promoted the visual experience of user, and minimizing is built spent by robot
In man-hour, simplify the difficulty built.
On the basis of the various embodiments described above, described three-dimensional robot model creation method preferably also includes:
Monitoring user's operation to described standard module, if monitoring the space interference produced between each standard module
During operation, standard module or position that space interference occurs are pointed out.
Exemplary, as it is shown in fig. 7, in translation or rotary course, if monitoring base, steering wheel assembly
Or the Existential Space such as single connection interferes and have interference prompting, there is standard module or the position of space interference in prompting
Put, as at the steering wheel assembly currently chosen along X-direction translation motion, three-dimensional artificial builds software detection
Arrive steering wheel assembly and another adjacent steering wheel assembly there occurs space interference, warning can have been sent and use line frame graph
Indicate standard module or the position of interference, such as the end, arm position, right side of the three-dimensional robot in Fig. 7
Two standard modules connected.Meanwhile, also can monitor when moving based on father and son's interaction relation each standard module it
Between other analogues such as space interference.Use the technical program, by monitoring between each standard module
Space interference, it is possible to prevent occurring that the phenomenon of component interference is caused during modeling, assembling or run
Mistake and fault, accelerate work efficiency, it is ensured that work quality.
Embodiment three
The flow chart of a kind of three-dimensional robot model creation method that Fig. 8 provides for the embodiment of the present invention three, this
Embodiment, on the basis of the various embodiments described above, preferably " will record the standard module connected by described company
Junction and father and son's interaction relation of setting up " it is optimized for further: according to the standard module connected, determine standard
Father's module between module and submodule relation, add in the threedimensional model set up；According to the mark connected
The joint face of quasi-mode block and the motion feature of described standard module, set up motion between father's module and submodule
Learn and dynamic (dynamical) interaction relation.
Accordingly, the method for the present embodiment specifically includes:
Step 110, display model create interface, and provide at least one standard module to select for user, its
In, each described standard module presets at least one joint face.
Step 120, according to user, the selection of standard module is operated, by the standard module chosen with graphics
The mode of shape shows in described model creation interface.
Step 130, according to user to the selection of joint face at least two standard module, by each standard module
It is attached at the joint face chosen, in the way of 3-D graphic, shows connection effect.
Step 141, according to the standard module connected, determine that the father's module between standard module and submodule close
System, adds in the threedimensional model set up.
Exemplarily, when connection standard module, can be according to the standard module connected, and the mark connected
The establishment order of quasi-mode block, specifically, in the standard module of connection, can be by preceding for establishment order master die
Block is as father's module, and the establishment posterior standard module of order is as submodule, so that it is determined that between standard module
Father's module and submodule relation, add in the threedimensional model set up.
Step 142, according to the joint face of standard module connected and the motion feature of described standard module,
Kinesiology and dynamic (dynamical) interaction relation is set up between father's module and submodule.
Exemplarily, between father's module and submodule, kinesiology and dynamic (dynamical) interaction relation can use limited
The method of unit is set up.Specifically, three-dimensional robot is generally made up of multiple standard modules, according to annexation
May determine that father's module and submodule, and between father's module and the face of submodule and face, by kinesiology and
Dynamic (dynamical) algorithm or formula set up interaction relation.Such as, father's module, may be father action when
Certain face of module produces active force, when such as father's module is lifted up, can produce parallel with end face upwards
Active force, act on the joint face of the submodule linked therewith, and then by kinesiology and dynamic (dynamical) public affairs
Formula or algorithm, it can be deduced that the motion feature of submodule.That is, according to connect standard module joint face and
The motion feature of described standard module, sets up kinesiology and dynamic (dynamical) linkage between father's module and submodule
Relation.Wherein, the motion of submodule depend on father's module and move.
Use technique scheme, according to the standard module connected, establish father's module between standard module with
The relation of submodule, establishes the dependence of each intermodule so that submodule can rely on father's module to be carried out
Motion, and then between father's module and submodule, set up kinesiology and dynamic (dynamical) interaction relation, it is possible to pass through
The motion feature of father's module determines the motion feature of submodule so that three-dimensional robot is no longer simple part
Pile up, but can not only build the machine of various different structure with the robot model of relative motion
Human model, it is also possible to be created that the robot model of difference in functionality.
On the basis of the various embodiments described above, described three-dimensional robot model creation method preferably also includes:
After the instruction receiving user and terminating model creation, each standard module selected will be included and by connecting
Father and son's interaction relation between the standard module that face connects, preserves hereof as robot model.Example
Property, can record and preserve annexation and father and son's interaction relation of each standard module, such as, can pass through
First joint face of the second standard module that record is connected with the first joint face of the first standard module, with first
First joint face of the 3rd standard module that second joint face of standard module connects etc.；The most recordable machine
Human model under current pose, the position of each standard module, angle and attitude etc..
As a example by the three-dimensional artificial of modularization robot is built, as it is shown in figure 9, can go out from a base 1
Sending out, overlap joint steering wheel assembly 2, steering wheel assembly 3 and single connection 4, constitute first branch successively；Take successively
Connect steering wheel assembly 5, single connection 6 and steering wheel assembly 7, constitute second branch；Overlap single connection successively
8, steering wheel assembly 9 and steering wheel assembly 10, constitutes the 3rd branch；Overlap joint steering wheel assembly 11 and Dan Lian successively
Fitting 12, constitutes the 4th branch.In each branch, node below depends on joint movements above,
I.e. child node depends on father node motion.Such as, in first branch, steering wheel assembly 3 and single connection
4 depend on steering wheel assembly 2 moves, and single connection 4 depends on steering wheel assembly 3 and moves.And, four points
All relying on base 1 moves it can be understood as constitute a tree structure by base, all
Child node all relies on the father node motion being connected with child node.
During creation module robot, the mapping table corresponding with each standard module can be created, produce
Raw multiple list items, carry out record, thus record whole three-dimensional machine human model each standard module.Wherein,
Contents in table can include the identification number (identification, ID) of each standard module, standard module
Whether type Type, node type (rotation relationship), present node are child node, position relationship, next
Child node and the number etc. of child node.Further, list item can also include delete item, when the standard of deletion
Delete the submodule being connected with this standard module during module accordingly, and change deletion item and next child node and
The association list item such as the number of child node, when model creation is complete, preserves all of list item, as
Robot model preserves hereof.
Use the technical program, it is only necessary to simply record each standard module and the mark connected by joint face
Father and son's interaction relation between quasi-mode block can realize the preservation of robot model, without with each pixel
Or the more complicated mode such as a large amount of pictures carries out model preservation, operation the most simply saves time, and is effectively increased wound
Build and preserve efficiency.
Embodiment four
The one that Figure 10 and Figure 11 provides for the embodiment of the present invention four is based on three-dimensional machine provided by the present invention
The three-dimensional robot that people's creation method is created.Described three-dimensional robot includes base and is connected on base
At least one functional parts, described functional parts includes at least one single connection and/or at least one rudder
Thermomechanical components.Wherein, steering wheel assembly includes at least one steering wheel and the connector being connected on steering wheel, and each
Individual described steering wheel at least one connector corresponding.
As indicated by 10, described modular robot is excavator, and the lower section of described base 21 connects four
Individual steering wheel wheel assembly 22, the side of described base 21 is also fixedly connected with digging arm, described digging arm bag
Include U assembly 23 long with the steering wheel that base 21 is connected, and be connected to described steering wheel long U assembly 23 in turn
Top steering wheel oblique U assembly 24, steering wheel long U assembly 23 and long hands 25.Described long hands 25 also can be replaced and digs
Pick bucket.
Described base 21 is first under the promotion of four steering wheel wheel assemblies 22, it is achieved the movement of base 21,
After base 21 arrives the excavation site set, the steering wheel connector of steering wheel long U assembly 23 drive steering wheel
Tiltedly U assembly 24, steering wheel long U assembly 23 and long hands 25 rotate to setting height, then, by the oblique U of steering wheel
After excavation angle adjusted by assembly 24 and steering wheel long U assembly 23, by U long with the steering wheel that base 1 is connected
The connector of assembly rotarily drives steering wheel oblique U assembly 24, steering wheel long U assembly 23 and long hands 25 and falls to dig
Pick target, by turning clockwise of the connector of steering wheel long U assembly 23 that is connected with long hands 25, complete
Become excavation action, after completing to excavate, excavator is moved to roach four steering wheel wheel assemblies 22
Rest area, and reverse operating above-mentioned steps can excavate next time.
As shown in figure 11, described modular robot can also be anthropomorphic robot, and the top of described pedestal 1 occupies
Middle connection has head, described head to be single steering engine, and the both sides of described pedestal 1 are connected to arm parts,
The bottom of described pedestal 21 is connected to leg portions.Described arm parts include steering wheel short U assembly 26,
Steering wheel long U assembly 23 and short hand 27, described steering wheel long U assembly 23 connects steering wheel short U assembly 26 respectively
With short hand 27, described leg portions includes steering wheel oblique U assembly 24, double steering engine assembly 28 and sole 29,
Wherein double steering engine assembly 28 connects steering wheel oblique U assembly 24 and sole 29 respectively.
Two arm parts and two leg portions of described anthropomorphic robot all can be independent relative to pedestal 21
Carrying out move, described arm parts need when doing the action stretched, by the connector of steering wheel short U assembly 26
Back rotation is to set angle, and drives steering wheel long U assembly 3 and short hand 7 to realize the action stretched.Described
When arm parts need to embrace action, the connector of steering wheel short U assembly 26 rotate forward to set angle,
And drive steering wheel long U assembly 23 and short hand 27, and when rotating simultaneously or selecting to set angle, by rudder
The connector of captain's U assembly 23 drives short hand 27 inwardly to rotate to set angle, arm during to realize embracing
Presented encircles curve.Short for steering wheel U assembly 26 can also be replaced with double steering engine assembly 28, to realize
The horizontal plane motion of arm and up and down motion.
When described leg portions needs walking, the connector of the steering wheel oblique U assembly 4 of one of them leg portions
Rotate, drive whole double steering engine assembly 28 and sole 29 to rotate forward to set angle, then by
The superposed connector of double steering engine assembly 28 drives sole 29 to bend in setting radian, and by Twin Rudders
Another connector of thermomechanical components 28 adjusts the radian that lands of sole 29, after landing, is reversed above-mentioned step
Suddenly, the like, complete walking action.
Above-mentioned three-dimensional robot is using pedestal, steering wheel assembly and single connection as the composition of modularization robot unit
Element, completes the establishment of corresponding robot by the combination of pedestal and functional parts.Need not come with code
Carry out model buildings, greatly reduce number of parts, and model is changeable, reduce and build institute of robot
In the man-hour expended, simplify the difficulty built, improve the efficiency that emulation is built.
Embodiment five
Figure 12 is the structural frames of a kind of three-dimensional robot model creation device that the embodiment of the present invention five is provided
Figure, as shown in figure 12, described three-dimensional robot model creation device include standard module select unit 1210,
Standard module display unit 1220, standard module connect unit 1230 and interaction relation record unit 1240.
Wherein, standard module selects unit 1210, creates interface for display model, and provides at least one
Standard module selects for user, and wherein, each described standard module presets at least one joint face；Standard
Module display unit 1220, for the selection of standard module being operated according to user, the standard module that will choose
Show in the way of 3-D graphic in described model creation interface；Standard module connects unit 1230, is used for
According to user to the selection of joint face at least two standard module, by each standard module at the joint face chosen
Place is attached, and shows connection effect in the way of 3-D graphic；Interaction relation record unit 1240, is used for
Father and son's interaction relation that the standard module that record connects is set up by described joint face.
On the basis of above-described embodiment, described standard module can include base, accordingly, described master die
Block selects unit to be particularly used in: add base, wherein, described base bag in described model creation interface
Include joint face, and with described base as root node, set to the direction away from described base from neighbouring described base
Put described father and son's interaction relation.
On the basis of the various embodiments described above, described standard module comprises the steps that steering wheel assembly and single connection,
Wherein, described steering wheel assembly is made up of steering wheel and connector.
On the basis of the various embodiments described above, further, described steering wheel assembly specifically can comprise the short U of steering wheel
Assembly, steering wheel oblique U assembly, steering wheel long U assembly, steering wheel output panel assembly, double steering engine assembly and steering wheel wheel
Sub-component etc..
On the basis of the various embodiments described above, exemplarily, described single connection can comprise integrated sensor,
Single steering engine, steering wheel extension device, sole, short hand and long hands etc..
On the basis of the various embodiments described above, described standard module display unit can include that standard module creates son
Unit, standard module drag subelement and standard module deletes subelement.Wherein, standard module creates son list
Unit, for according to user's selection to standard module in standard module storehouse, according to the standard module wound selected
Build the 3-D graphic of correspondence, show in described model creation interface；Standard module drags subelement, is used for
According to user's translation dragging or rotary mop to described standard module 3-D graphic in described model creation interface
Dynamic, translate accordingly or rotate described standard module 3-D graphic；Standard module deletes subelement, for basis
User's selection and deletion action to described standard module 3-D graphic in described model creation interface, cancels
The standard module threedimensional model that display is corresponding, and between standard module and father's module and the submodule unerased
Father and son's interaction relation.
On the basis of the various embodiments described above, described standard module connects unit and includes that joint face selects subelement
And position and pose adjustment subelement.Wherein, joint face selects subelement, is used for according to user at least
In two standard modules, the click of joint face selects operation, is carried out by each standard module at the joint face chosen
Connect；Position and pose adjustment subelement, for according to the annexation between described standard module, adjust
Display position and the attitude of described standard module 3-D graphic are attached to the joint face by selecting.
On the basis of the various embodiments described above, described three-dimensional robot model creation device also includes: space is done
Relate to Tip element, for monitoring user's operation to described standard module, if monitoring each master die of generation
When space interference between block operates, standard module or position that space interference occurs are pointed out.
On the basis of the various embodiments described above, described interaction relation record unit can include that father and son's module determines son
Unit and interaction relation set up subelement.Wherein, father and son's module determines subelement, for according to the mark connected
Quasi-mode block, determines the father's module between standard module and submodule relation, adds the threedimensional model set up to
In；Interaction relation sets up subelement, for the joint face according to the standard module connected and described standard module
Motion feature, between father's module and submodule, set up kinesiology and dynamic (dynamical) interaction relation.
On the basis of the various embodiments described above, described three-dimensional robot model creation device also includes: robot
Model storage unit, for after the instruction receiving user and terminating model creation, will include each mark selected
Father and son's interaction relation between quasi-mode block and the standard module that connected by joint face, as robot model
Preserve hereof.
The three-dimensional robot model creation device provided in above-described embodiment can perform any embodiment of the present invention institute
The three-dimensional robot model creation method provided, possesses the execution corresponding functional module of the method and beneficial effect.
The ins and outs of the most detailed description, can be found in that any embodiment of the present invention is provided three
Dimension robot model's creation method.
Obviously, it will be understood by those skilled in the art that each module or each step of the above-mentioned present invention can be led to
Cross application end as above to implement.Alternatively, the embodiment of the present invention can be executable with computer installation
Program realizes, and performs such that it is able to be stored in storing in device by processor, described program
Can be stored in a kind of computer-readable recording medium, storage medium mentioned above can be read-only storage
Device, disk or CD etc.；Or they to be fabricated to respectively each integrated circuit modules, or by them
Multiple modules or step be fabricated to single integrated circuit module and realize.So, the present invention is not restricted to appoint
The combination of what specific hardware and software.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.Those skilled in the art
It will be appreciated that the invention is not restricted to specific embodiment described here, can enter for a person skilled in the art
Row various obvious changes, readjust and substitute without departing from protection scope of the present invention.Therefore, though
So by above example, the present invention is described in further detail, but the present invention be not limited only to
Upper embodiment, without departing from the inventive concept, it is also possible to include other Equivalent embodiments more,
And the scope of the present invention is determined by scope of the appended claims.
Claims (16)
1. a three-dimensional robot model creation method, it is characterised in that including:
Display model creates interface, and provides at least one standard module to select for user, wherein, and Mei Gesuo
State standard module and preset at least one joint face；
According to user, the selection of standard module is operated, the standard module chosen is shown in the way of 3-D graphic
Show in described model creation interface；
According to user to the selection of joint face at least two standard module, by each standard module in the company chosen
It is attached at junction, in the way of 3-D graphic, shows connection effect；
Father and son's interaction relation that the standard module that record connects is set up by described joint face.
Method the most according to claim 1, it is characterised in that described standard module includes base, aobvious
When representation model creates interface, also include:
Adding base in described model creation interface, wherein, described base includes joint face, and with described
Base is root node, arranges described father and son's interaction relation from neighbouring described base to the direction away from described base.
Method the most according to claim 1, it is characterised in that described standard module includes: steering wheel group
Part and single connection, wherein, described steering wheel assembly is made up of steering wheel and connector.
Method the most according to claim 3, it is characterised in that described steering wheel assembly comprises the short U of steering wheel
Assembly, steering wheel oblique U assembly, steering wheel long U assembly, steering wheel output panel assembly, double steering engine assembly and steering wheel wheel
Sub-component.
Method the most according to claim 3, it is characterised in that described single connection comprises integrated biography
Sensor, single steering engine, steering wheel extension device, sole, short hand and long hands.
6. according to the arbitrary described method of claim 1-5, it is characterised in that according to user at least two
The selection of joint face in standard module, is attached each standard module at the joint face chosen, with three-dimensional
The mode of figure shows that connection effect includes:
According to user, the click of joint face at least two standard module is selected operation, each standard module is existed
It is attached at the joint face chosen；
According to the annexation between described standard module, adjust the display position of described standard module 3-D graphic
Put and be attached to the joint face by selecting with attitude.
7. according to the arbitrary described method of claim 1-5, it is characterised in that the standard module that record connects
The father and son's interaction relation set up by described joint face is included:
According to the standard module connected, determine the father's module between standard module and submodule relation, add to
In the threedimensional model set up；
Joint face according to the standard module connected and the motion feature of described standard module, at father's module and son
Kinesiology and dynamic (dynamical) interaction relation is set up between module.
8. according to the arbitrary described method of claim 1-5, it is characterised in that also include:
After the instruction receiving user and terminating model creation, each standard module selected will be included and pass through
Father and son's interaction relation between the standard module that joint face connects, preserves hereof as robot model.
9. a three-dimensional robot model creation device, it is characterised in that including:
Standard module selects unit, creates interface for display model, and provides at least one standard module to supply
User selects, and wherein, each described standard module presets at least one joint face；
Standard module display unit, for the selection of standard module being operated according to user, the standard that will choose
Module shows in the way of 3-D graphic in described model creation interface；
Standard module connects unit, is used for according to user the selection of joint face at least two standard module,
Each standard module is attached at the joint face chosen, in the way of 3-D graphic, shows connection effect；
Interaction relation record unit, for recording the father that the standard module of connection is set up by described joint face
Sub-interaction relation.
Device the most according to claim 9, it is characterised in that described standard module includes base,
Described standard module select unit specifically for:
Adding base in described model creation interface, wherein, described base includes joint face, and with described
Base is root node, arranges described father and son's interaction relation from neighbouring described base to the direction away from described base.
11. devices according to claim 9, it is characterised in that described standard module includes: steering wheel
Assembly and single connection, wherein, described steering wheel assembly is made up of steering wheel and connector.
12. devices according to claim 11, it is characterised in that it is short that described steering wheel assembly comprises steering wheel
U assembly, steering wheel oblique U assembly, steering wheel long U assembly, steering wheel output panel assembly, double steering engine assembly and steering wheel
Wheel assembly.
13. devices according to claim 11, it is characterised in that described single connection comprises integrated
Sensor, single steering engine, steering wheel extension device, sole, short hand and long hands.
14. according to the arbitrary described device of claim 9-13, it is characterised in that described standard module connects
Unit includes:
Joint face selects subelement, for selecting the click of joint face at least two standard module according to user
Select operation, each standard module is attached at the joint face chosen；
Position and pose adjustment subelement, for according to the annexation between described standard module, adjust institute
Display position and the attitude of stating standard module 3-D graphic are attached to the joint face by selecting.
15. according to the arbitrary described device of claim 9-13, it is characterised in that described interaction relation record
Unit includes:
Father and son's module determines subelement, for according to the standard module connected, determining the father between standard module
Module and submodule relation, add in the threedimensional model set up；
Interaction relation sets up subelement, for the joint face according to the standard module connected and described standard module
Motion feature, between father's module and submodule, set up kinesiology and dynamic (dynamical) interaction relation.
16. according to the arbitrary described device of claim 9-13, it is characterised in that also include:
Robot model's storage unit, for, after the instruction receiving user and terminating model creation, including
Father and son's interaction relation between each standard module selected and the standard module connected by joint face, as
Robot model preserves hereof.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610377462.4A CN106003025A (en) | 2016-05-31 | 2016-05-31 | Method and device for creating three-dimensional robot model |
| PCT/CN2017/085978 WO2017206799A1 (en) | 2016-05-31 | 2017-05-25 | Method and device for establishing three-dimensional robot model |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610377462.4A CN106003025A (en) | 2016-05-31 | 2016-05-31 | Method and device for creating three-dimensional robot model |
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| WO (1) | WO2017206799A1 (en) |
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| WO2017206799A1 (en) | 2017-12-07 |
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