3D models are designed using 3D CAD software, but 3D direct modeling method using sensor or image processing is still developing research. In this paper, we suggest the 3D direct drawing and modeling system with ARToolKit, and develop the required solid creating method and drawing support tools. The method is creating solid algorithm using projective methods, and the algorithm is converting from intersection of multiple drawing polygonal prisms into the solid model. The support tools are straight segment absorbing ruler and plane absorbing ruler. They make the drawing trajectories (point clouds) absorbed to themselves, because the polygonal surfaces should be drawn from over 2 directions. After that, we investigate the functionality of the solid modeling methods and drawing tools using the Taguchi method (quality engineering), and estimate the optimal condition of the solid modeling methods and drawing tools.

Work in the fields of agriculture, forestry, civil engineering, and disaster relief requires the ability to move on irregular terrain including slopes, and a vehicle-type robot is required to achieve a certain payload. Since the vehicle has a stable movement function on the slope direction and contour line direction, it is possible to generate an arbitrary trajectory on uneven terrain, and the traveling work performance can be improved even in an environment where there are many objects such as obstacles to avoid. The purpose of our study is to establish a vehicle-type robot technology that can move in such an environment. We propose a vehicle-type robot that can move on side slope, which can move along the contour line, just like the switchback of a mountain railway. In order to secure an enough stability margin on the lower side of side slope, a 4-axis link mechanism was applied to the suspension mechanism of each wheel. Adapting on rough surface, couples of diagonal wheels are moved opposite direction with passive mechanism. In this paper, we will discuss the principle of mechanism, the mechanical design, the control, and the results of our experiments.