Three-dimensional model data generating method, and three dimensional model data generating apparatus

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 three-dimensional model data related to a three-dimensional model of the attached object attached to the machine tool, the three-dimensional model data including at least shape data that define a shape of the attached object;
• second model-data storing means for storing three-dimensional model data related to a three-dimensional model of the at least part of the machine tool, the three-dimensional model data including at least shape data that define a shape of the at least part of the machine tool;
• image processing means, based on the two-dimensional image data generated by the first and second imaging means, for recognizing a shape feature of the attached object;
• object recognizing means for extracting, based on the three-dimensional model data stored in the first model-data storing means, a shape feature of the attached object of the three-dimensional model data, and checking whether the extracted shape feature matches the shape feature recognized by the image processing means, and thereby recognizing, out of the three-dimensional model data stored in the first model-data storing means, three-dimensional model data of the attached object imparted with the shape feature matching the shape feature recognized by the image processing means;
• and
• model-data generating means for calculating, based on the three-dimensional 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, combining the three-dimensional model data of the attached object recognized by the object recognizing means with the three-dimensional model data, stored in the second model-data storing means, related to the at least part of the machine tool and thereby generating three-dimensional model data including the attached object and at least the part of the machine tool, based on the calculated position and attitude, the three-dimensional model data recognized by the object recognizing means, and the three-dimensional model data stored in the second model-data storing means.

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:

• a first imaging camera for imaging the attached object attached to the machine tool to generate two-dimensional image data;
• a second imaging camera, disposed apart from the first imaging camera, for imaging the attached object attached to the machine tool to generate two-dimensional image data;
• a first model-data storage for storing three-dimensional model data related to a three-dimensional model of the attached object attached to the machine tool, the three-dimension model data including at least shape data that define a shape of the attached object;
• a second model-data storage for storing three-dimensional model data related to a three-dimensional model of the at least part of the machine tool, the three-dimensional model data including at least shape data that define a shape of the at least part of the machine tool;
• an image processor, based on the two-dimensional image data generated by the first and second imaging cameras, for recognizing a shape feature of the attached object;
• an object recognizing processor for extracting, based on the three-dimensional model data stored in the first model-data storage, a shape feature of the attached object of the three-dimensional model data, and checking whether the extracted shape feature matches the shape feature recognized by the image processor, and thereby recognizing, out of the three-dimensional model data stored in the first model-data storage, three-dimensional model data of the attached object imparted with the shape feature matching the shape feature recognized by the image processor;
• and
• a model-data generator for calculating, based on the three-dimensional model data recognized by the object recognizing processor and the shape feature recognized by the image processor, 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, combining the three-dimensional model data of the attached object recognized by the object recognizing processor with the three-dimensional model data, stored in the second model-data storage, related to the at least part of the machine tool and thereby generating three-dimensional model data including the attached object and at least the part of the machine tool, based on the calculated position and attitude, the three-dimensional model data recognized by the object recognizing processor, and the three-dimensional model data stored in the second model-data storage.