JP2024082592A - Information processing device, production facility, method for manufacturing article, information processing method, program, and recording medium - Google Patents

Abstract

To improve workability in changing an operation specification of a virtual apparatus by simplifying the acquisition of simulation information.SOLUTION: In an information processing device provided with a control part for executing simulation for activating at least two virtual apparatuses constructed as a model in a virtual environment, the control part acquires locus information that regulates operations corresponding to the virtual apparatuses (S3), acquires time information including a relation of an execution sequence of operations to be executed in the virtual apparatuses (S4), acquires simulation information from the locus information on the basis of the time information (S5), and executes the simulation on the basis of the simulation information (S6).SELECTED DRAWING: Figure 3

Description

The present invention relates to information processing.

In recent years, in machinery used as production equipment to carry out manufacturing processes such as assembly, transport, and coating, the manufacturing process has been automated using multiple devices such as robots. These devices are required to be placed close to each other to improve production capacity and save space. For this reason, it is necessary to determine the operating specifications of the manufacturing process by considering the operating path (trajectory) and operating timing of each device so that they do not interfere with each other during operation. Furthermore, by using computer simulation for this consideration, it is possible to efficiently change the operating specifications of the production equipment and check its operation.

Therefore, it has been proposed to model such machinery having multiple devices in a virtual space and perform a simulation of operating them in the virtual space (see Patent Document 1). In this Patent Document 1, a command program is created for each of the multiple devices, and these command programs are input into the same calculation processing unit, and the trajectory of each command program is analyzed. It is then proposed to unify these command programs and perform a simulation based on the elapsed time information from the start of the analysis of these command programs.

JP 2003-150218 A

The purpose of performing a simulation using a computer as described above is to change the operating specifications of the production equipment, for example, to avoid interference in the simulation or to review the manufacturing process. However, in the case of unifying multiple command programs created for each device as in Patent Document 1, when changing the operating specifications of the production equipment, multiple command programs corresponding to each device are edited. For example, this editing involves editing the interlock processing information contained in the command programs that specifies device waiting, etc. Then, the multiple command programs that have been edited in this way are input to the arithmetic processing unit and analyzed, and the simulation is performed again after unification. In this way, when changing the operating specifications of the production equipment, for example, when editing the command program of one device to change the operating timing of that device, the operating timing of the command programs of other devices must also be edited accordingly, which is a problem of very poor workability.

The present invention aims to simplify the acquisition of simulation information and improve the ease of use when changing the operating specifications of virtual devices.

One aspect of the present invention is an information processing device having a control unit that executes a simulation of operating at least two virtual devices constructed as models in a virtual environment, the control unit acquires trajectory information that defines operations corresponding to the virtual devices, acquires time information including the relationship of the execution order of operations executed by the virtual devices, acquires simulation information from the trajectory information based on the time information, and executes the simulation based on the simulation information.

One aspect of the present invention is an information processing device having a control unit that executes a simulation of operating at least two virtual devices constructed as models in a virtual environment, the control unit displays a time chart showing the relationship between position and time corresponding to the operation corresponding to the virtual devices on an image display device, the displayed time chart can be edited by operation input from an operation unit, simulation information is obtained from trajectory information that specifies the operation corresponding to the virtual devices based on the time chart, and the simulation is executed based on the simulation information.

One aspect of the present invention is an information processing method in which a control unit executes a simulation in a virtual environment to operate at least two virtual devices constructed as models, the information processing method being characterized in that the control unit acquires trajectory information that defines the operations corresponding to the virtual devices, acquires time information including the relationship of the execution order of the operations executed by the virtual devices, acquires simulation information from the trajectory information based on the time information, and executes the simulation based on the simulation information.

One aspect of the present invention is an information processing method in which a control unit executes a simulation in a virtual environment to operate at least two virtual devices constructed as models, the information processing method being characterized in that the control unit displays, on an image display device, a time chart showing the relationship between position and time according to the operation corresponding to the virtual devices, the displayed time chart can be edited by operation input from an operation unit, simulation information is obtained from trajectory information that specifies the operation corresponding to the virtual devices based on the time chart, and the simulation is executed based on the simulation information.

This invention makes it easier to obtain simulation information and improves the ease of use when changing the operating specifications of virtual devices.

1 is a schematic diagram showing a configuration of a simulation device according to an embodiment of the present invention; 2 is a block diagram showing a configuration of a control system of the simulation device according to the present embodiment. FIG. 4 is a flowchart showing the overall process of a simulation operation according to the present embodiment. 2 is a block diagram showing a functional configuration of a program stored in the simulation device according to the present embodiment; FIG. 1 is a schematic diagram showing a schematic configuration of a virtual machine facility that is a target of a simulation according to an embodiment of the present invention; FIG. 4 is a diagram showing a time chart for displaying an image according to the present embodiment. 4 is a diagram showing an example of trajectory information of a virtual robot A according to the present embodiment. FIG. 4 is a flowchart showing processing steps for generating simulation information according to the present embodiment. FIG. 13 is a diagram showing an example of a selection screen displayed when generating simulation information according to the present embodiment. 10 is a flowchart showing details of a simulation information generating process according to the present embodiment. FIG. 11 is a diagram showing an example of generated simulation information according to the present embodiment. FIG. 2 is a diagram showing a tool display screen of a time chart creating and editing tool according to the present embodiment. 10 is a flowchart showing a work process when interference occurs in the simulation according to the present embodiment. FIG. 11 is a diagram showing an example of interference result information according to the present embodiment. 11 is a diagram showing an example of a case where an interference result of a simulation according to the present embodiment is displayed on a time chart display screen. FIG. FIG. 13 is a diagram showing an example of a case where a simulation interference result is displayed on a time chart display screen in a case where there are three virtual robots. FIG. 13 is a diagram showing an example of a display screen of the time chart after the time chart according to the present embodiment has been edited. FIG. 13 is a perspective view showing an example of a virtual machine facility according to another embodiment. 1 is a flowchart showing the overall work process of a conventional simulation work.

The following describes an embodiment of the present invention with reference to the drawings. Note that the embodiment described below is merely an example, and those skilled in the art may modify the detailed configuration as appropriate without departing from the spirit of the present invention.

[Information Processing System]
First, an information processing system 10 including a calculation processing unit 1 as an information processing device capable of executing a simulation according to the present embodiment will be described with reference to Figures 1 and 2. Figure 1 is a schematic diagram showing the configuration of the simulation device according to the present embodiment. Figure 2 is a block diagram showing the configuration of a control system of the simulation device according to the present embodiment.

1, the information processing system 10 is configured with a calculation processing unit 1 as an information processing device, a keyboard 11 and a mouse 12 as operation units, a display 13 as an image display device, and an external storage device 14. The calculation processing unit 1 can be configured using hardware such as a PC (personal computer). The calculation processing unit 1 is connected to a keyboard 11 and a mouse 12 for a user to input various commands. The calculation processing unit 1 is also connected to a display 13 for checking the commands input by the operator and the information generated (obtained) based on them. Furthermore, the calculation processing unit 1 is connected to an external storage device 14 for storing and backing up various information (data). Note that if the memory area built into the PC as the calculation processing unit 1 is sufficient, the external storage device 14 does not need to be connected. Also, the calculation processing unit 1 may be connected to a network (LAN, Internet, etc.) not shown in the figure, and a program may be downloaded, information (data) may be stored in a server not shown in the figure, or part or all of the calculation may be performed by a server not shown in the figure.

As shown in FIG. 2, the arithmetic processing unit 1 has a CPU 20 as a control unit, a ROM 21, a RAM 22, a HDD 23, a recording disk drive 24, and various interfaces 25 to 28, which are connected via a bus 29. Basic programs such as the BIOS are stored in the ROM 21. The RAM 22 is a storage device that temporarily stores various data, such as the results of arithmetic processing by the CPU 20.

The HDD 23 is a storage device that stores the results of the calculations performed by the CPU 20 and various data acquired from the outside, and also records the program 30 that causes the CPU 20 to execute each process. The CPU 20 executes each process based on the program 30 recorded (stored) in the HDD 23.

The recording disk drive 24 can read various data and programs recorded on the recording disk 31. The keyboard 11 is connected to the interface 25, and the mouse 12 is connected to the interface 26. The display 13 is connected to the interface 27, and the display 13 can display various images under the control of the CPU 20. The external storage device 14 is connected to the interface 28. This external storage device 14 can be composed of a storage unit such as a rewritable non-volatile memory or an external HDD.

In the present embodiment, the computer-readable recording medium is the HDD 23, and the program 30 is stored in the HDD 23; however, this is not limiting. The program 30 may be recorded in any computer-readable recording medium. For example, the ROM 21, recording disk 31, external storage device 14, etc. shown in FIG. 2 may be used as a recording medium for supplying the program 30. To give specific examples, the recording medium may be a flexible disk, a hard disk, an optical disk, a magneto-optical disk, a DVD-ROM, a CD-ROM, a CD-R, a magnetic tape, a non-volatile memory, a HDD, a ROM, etc.

[Outline of the overall simulation work process]
Next, an outline of the overall work process of the simulation work according to this embodiment will be explained while comparing it with the overall work process of the conventional simulation work. Fig. 3 is a flowchart showing the overall work process of the simulation work according to this embodiment. Fig. 19 is a flowchart showing the overall work process of the conventional simulation work.

(The entire work process of conventional simulation work)
First, the overall work process of a conventional simulation work will be described with reference to Fig. 19. When starting a simulation work, first, an operator creates all the movements of each robot using a trajectory calculation program for each of a plurality of robots (see Fig. 6, for example) (S101).

For example, multiple robots installed as machinery on a production line are not necessarily made by the same manufacturer, and may be made by different manufacturers. This trajectory calculation program is generally created by the manufacturer that designed the robot, so if the machinery has multiple robots, multiple types of trajectory calculation programs may be used.

Here, workers use a trajectory calculation program to determine all the movements of each robot in accordance with the work of each robot (the manufacturing work of each robot) on the manufacturing line where the machinery and equipment is installed. That is, a number of movements are determined in a composite manner, such as the movement of receiving parts from a parts box or robot upstream on the manufacturing line, the movement of working on the parts, the movement of transporting to a robot or a storage box for finished products downstream on the manufacturing line, and the movement of waiting with an adjacent robot. Then, the position and posture of the robot arm in the composite movement thus determined are determined. That is, in this conventional simulation work, for example, information for stopping the robot as a waiting time while the adjacent robot is operating so as not to interfere with the adjacent robot must be entered at the time of creating all the movements. The information for stopping the robot is also called interlock processing information that specifies the waiting time of the adjacent robot.

Once all the movements of each robot have been determined in this way, each computer (computing device) running a trajectory calculation program calculates the trajectory of the robot to perform that movement (S102). Once the calculation of the trajectory of each robot is complete, the individual trajectory information calculated for each robot is acquired by the computation processing unit 1 (see FIG. 1) that performs the simulation (S103). Next, the computation processing unit 1 analyzes these multiple individual trajectory information, integrating them over the course of the analysis time, and unifying them into one piece of simulation information (S105). Then, the computation processing unit 1 performs a simulation by operating multiple virtual robot models (virtual machine equipment models) in a virtual space based on this unified simulation information (S106).

If, for example, it is desired to shorten the work time as a result of performing the simulation, a decision is made to change the operation specifications and a decision is made to modify the virtual robot's operation. Alternatively, if the result of performing the simulation is that there is interference between virtual robots (virtual devices), a decision is made to modify the virtual robot's operation (S107). In this case, the process returns to step S101 above, and all of the robot's operations are revised and re-determined using the trajectory calculation programs created by each manufacturer. In particular, by modifying information related to waiting times on the trajectory of all operations (interlock processing information), consideration is given to shortening the work time and avoiding interference.

(Overall Work Process of Simulation Work in This Embodiment)
Next, the overall operation steps of the simulation work according to this embodiment will be described with reference to Fig. 3. The overall operation steps of this simulation work are executed by the arithmetic processing unit 1 (CPU 20), and each step constitutes an information processing method.

When starting the simulation work, the worker first creates each motion of each robot using a trajectory calculation program for each of multiple robots (see FIG. 6, for example) (S1). As in the past, the trajectory calculation program used is one made by each manufacturer that corresponds to each robot.

In this embodiment, a trajectory calculation program is used to determine the actions corresponding to each robot in accordance with the work of each robot (the manufacturing work of an item performed by each robot) on the manufacturing line where the machinery and equipment is installed. That is, each action that actually drives the robot is determined, such as the action of receiving parts from a parts box or robot upstream on the manufacturing line, the action of some manufacturing process performed on the parts, and the action of transporting to a robot or a storage box for finished products downstream on the manufacturing line. Then, the position and posture of the robot arm in all the actions, which are the composite actions determined in this way, are determined. That is, in this embodiment, the action of rendezvous with an adjacent robot, that is, the part where the robot is stopped as a waiting time (interlock processing information), is not taken into consideration at this stage, and only the actual work action to be performed by each robot is determined.

Once the movements of each robot have been determined in this way, each computer (arithmetic device) running a trajectory calculation program calculates the trajectory of the robot to perform that movement (S2). When the calculation of the trajectory of each robot is complete, the individual trajectory information calculated for each robot is acquired by the calculation processing unit 1 (see Figure 1) that performs the simulation (S3).

In this embodiment, the worker operates the information processing system 10 to create a time chart showing the positions and elapsed time for all robots in the machinery equipment using the acquired individual trajectory information corresponding to each robot (S4). That is, when creating this time chart, the worker specifies in the time chart the waiting time for rendezvous with adjacent robots, the relationship (relationship in the order of execution of operations) between the robots that will operate during this waiting time and the waiting (stopped) robots, etc. Note that the completion of the operation of the robot that is operating during the waiting time is used as a trigger to start the operation of the stopped robot, and this relationship is also called a subordinate relationship in the sense that the latter robot is subordinate to the former robot.

When the time chart is created in this way, the calculation processing unit 1 analyzes these multiple individual trajectory information, integrates them as the analysis time progresses, and centralizes processing into one simulation information (S5). Then, based on this centralized simulation information, the calculation processing unit 1 performs a simulation by operating multiple virtual robot models (virtual machine equipment models) in a virtual space (S6).

If, as a result of the simulation, it is desired to shorten the work time, for example, a change in the operation specifications is determined, and a decision is made to modify the virtual robot's operation. Alternatively, if, as a result of the simulation, there is interference between virtual robots, a decision is made to modify the virtual robot's operation (S7). In this embodiment, the process returns to step S4, and the time chart is edited, and in particular, the trajectory of each operation of each robot is left as is and the waiting time between each operation is corrected. Furthermore, between interfering virtual robots, based on the relationship of the order of execution of the operations, corrections may be made by having one virtual robot wait independently and operating the other robot. This makes it possible to shorten work time and avoid interference without modifying the trajectory of all operations as in the past.

When editing the time chart, it is not limited to modifying the standby time, but it is also possible to modify the relationship of the execution order of the operations (subordinate relationships). For example, if there are three or more robots, it is possible to modify the relationship of the execution order of the operations so that while one robot is stopped (on standby), the robot adjacent to one robot operates while the other adjacent robot also operates. Modifications such as changing the order in the manufacturing process are also possible. For example, a process in which part A is assembled to part B and then to part C can be changed to a manufacturing process in which part C is assembled to part A and then part B can be assembled.

As described above, in this embodiment, by creating a time chart, it is possible to make partial corrections to the movements of each robot rather than correcting the entire operation, making it easier to generate and modify simulation information. Below, the generation of this time chart, the generation of simulation information, and the editing of the time chart (user interface using the time chart display screen) are described in detail.

[Functional configuration of programs in information processing system]
Next, among the overall operation steps of the simulation work in this embodiment (see FIG. 3), the functional configuration of the program 30 that realizes the operation steps (S3 to S7) performed by the information processing system 10 shown in FIG. 1 will be described with reference to FIG. 4. FIG. 4 is a block diagram showing the functional configuration of the program stored in the simulation device according to this embodiment.

The program 30 shown in FIG. 1 is configured to function as a time chart generation unit 100, a simulation information generation unit 200, and a simulation execution unit 300 as shown in FIG. 4, by being executed by the CPU 20. The time chart generation unit 100 creates time chart information 201, which is information for a time chart 500 (see FIG. 6), which will be described in detail later, based on operation input from the keyboard 11 or mouse 12 by the worker. In addition, based on interference result information 301 acquired from the simulation execution unit 300, it displays the interference results between the robots on the time chart 500 (see FIG. 15), which will be described later.

The simulation information generation unit 200 executes the simulation information generation program 203 in response to a command from the operator. The simulation information generation program 203 acquires trajectory information 202 (see S3 in FIG. 3 ), which is the individual trajectory information of each robot as described above, and time chart information 201 (S4 in FIG. 3 ), which is information on the time chart generated as described above. Next, it generates simulation information 204 based on the subordinate relationships, which are the relationships of the execution order of the operations of each robot in the time chart information 201, and each trajectory information 202.

The simulation execution unit 300 displays on the display 13, based on the simulation information 204 generated by the simulation information generation unit 200, each robot being constructed as a three-dimensional virtual model in a virtual space as shown in FIG. 5 and operated. The simulation execution unit 300 also determines whether or not multiple robots have interfered with each other in the virtual environment, and the operator can obtain the result as interference result information 301.

The simulation execution unit 300 is not limited to being executed by the calculation processing unit 1 of the information processing system 10. For example, a simulator may be implemented or installed in an external computer, and the simulation information 204 created by the worker may be read into the simulator of the external computer and executed.

[Virtual model of a robot]
Here, the virtual model of the robot constructed when the simulation execution unit 300 executes the simulation will be described with reference to Fig. 5. Fig. 5 is a schematic diagram showing a schematic configuration of a virtual machine facility that is the subject of the simulation according to this embodiment. In the following description, the virtual model of the robot constructed in the virtual space will be simply referred to as a virtual robot, and the virtual model of the machine facility (production facility) will be simply referred to as a virtual machine facility.

As shown in FIG. 5, the virtual machine equipment 400, which is constructed as a virtual model of an actual machine equipment in a virtual space, has a virtual robot 410 (hereinafter also referred to as virtual robot A) and a virtual robot 420 (hereinafter also referred to as virtual robot B) arranged adjacently (closely). These virtual robots 410 and 420 are arranged in a common working area in the manufacturing process and work simultaneously or in cooperation. Note that such a virtual machine equipment 400 is one example, and the virtual machine equipment on which the simulation is performed may be one in which a single robot or three or more robots work. Also, the virtual robots 410 and 420 shown in FIG. 5 are shown diagrammatically, and in the following explanation, they are described as six-axis articulated robots.

[Time chart details]
Next, the time chart generated by the time chart generating unit 100 will be described with reference to Fig. 6. Fig. 6 is a diagram showing a time chart displayed as an image according to the present embodiment.

Generally, a time chart is a diagram created for the purpose of examining the operation specifications such as the operation time and operation timing of each robot, and is used as an output of the device design work, regardless of whether a simulation is performed. The time chart 500 shown in FIG. 6 is drawn based on the time chart information 201 generated by the time chart generation unit 100, and is displayed as an image on the display 13. That is, the time chart 500 is a diagram explaining the operation specifications of the virtual robot A and virtual robot B shown in FIG. 5. In other words, the time chart 500 is a diagram showing the relationship between position and time according to the operation of each of multiple virtual robots.

As shown in FIG. 6, the time chart 500 is composed of a setting section 510, a time display section 520, and a figure drawing section 530. The setting section 510 also includes information on an equipment name 511 and a point name 512. The equipment name 511 includes name information on virtual robot A and virtual robot B that configure the virtual machine equipment 400, and the point name 512 includes information indicating the names of the positions (teaching points) where virtual robot A and virtual robot B operate.

The time display section 520 includes time information as time information that is the elapsed time from the start of the operation. The figure drawing section 530 includes a diagonal line 531 indicating the operating state of virtual robot A, a horizontal line 532 indicating the standby state of virtual robot A, and a diagonal line 534 indicating the operating state of virtual robot A. Furthermore, the figure drawing section 530 includes a horizontal line 535 indicating the standby state of virtual robot B, and a diagonal line 536 indicating the operating state of virtual robot B. The figure drawing section 530 also includes an arc arrow 533 indicating that the diagonal line 536, which is the operation of virtual robot B, is subordinate to the diagonal line 531, which is the operation of virtual robot A, in terms of the order of operation execution.

The contents of the time chart shown in FIG. 6 will be explained in detail. Diagonal line 531 indicates that virtual robot A (410) moves from position P11 to position P12 in 4 seconds, horizontal line 532 indicates that virtual robot A waits at position P12 for 6 seconds, and diagonal line 534 indicates that virtual robot B (420) moves from position P2 to position P13 in 5 seconds. Horizontal line 535 indicates that virtual robot B (420) waits at position P21 for 4 seconds, diagonal line 536 indicates that virtual robot B moves from position P21 to position P22 in 6 seconds, and diagonal line 538 indicates that virtual robot B moves from position P22 to position P23 in 5 seconds.

The circular arrow 533 indicates that the action of virtual robot A moving from position P11 to position P12 is subordinate to the action of virtual robot B (420) moving from position P22 to position P23. In other words, the circular arrow 533 indicates the relationship in the order of execution of the actions in which the end of the action of diagonal line 531 is used as a trigger to start the action of diagonal line 536. In other words, the waiting time from 0 seconds to 4 seconds at the start time of virtual robot B depends on the timing of the completion of the action of virtual robot A moving from position P11 to position P12.

Similarly, the arc arrow 537 indicates that the action of virtual robot A (420) moving from position P12 to position P13 is dependent on the action of virtual robot B moving from position P21 to position P22. In other words, the arc arrow 537 indicates the relationship in the execution order of the actions in which the end of the action of diagonal line 536 is used as a trigger to start the action of diagonal line 534. In other words, the waiting time from 4 seconds to 9 seconds at the start time of virtual robot A depends on the timing of the completion of the action of moving from position P21 to position P22 by virtual robot B.

In this way, defining the dependency between the actions of different virtual robots and providing standby states is used as one way to prevent the virtual robots from interfering with each other.

[Details of virtual robot trajectory information]
Next, details of the trajectory information of the virtual robot generated using the above-mentioned trajectory calculation program will be described with reference to Fig. 7. Fig. 7 is a diagram showing an example of the trajectory information of the virtual robot A according to this embodiment.

The trajectory information 202 of the virtual robot A shown in FIG. 7 is generated by calculation using a trajectory calculation program or the like installed in a system other than the information processing system 10 as described above, and is acquired by the arithmetic processing unit 1. The trajectory calculation program is, for example, a robot operation program or an equivalent program, or a program that can acquire trajectory information by analyzing set parameters (it may be a simulator or an actual robot controller). As described above, the trajectory calculation program may differ depending on the manufacturer and model of each robot. Note that a trajectory calculation program of each manufacturer corresponding to each virtual robot may be installed in the arithmetic processing unit 1 of the information processing system 10, and calculations may be performed by the arithmetic processing unit 1. In the following explanation, the trajectory (values of each axis) of the virtual robot is described, but when calculated by the trajectory calculation program, it may be calculated as the trajectory of an actual robot and used for simulation.

As shown in FIG. 7, trajectory information 202 (see FIG. 4) includes time and each axis value of virtual robot A at each time. From 0 seconds to 4 seconds, values that define the positions of the first to sixth axes of virtual robot A are stored as the trajectory of movement from position P11 to position P12. From 4 seconds to 9 seconds, values that define the positions of the first to sixth axes of virtual robot A are stored as the trajectory of movement from position P12 to position P13. Note that the trajectory information of virtual robot B (another virtual robot) is configured in a similar manner, so a description thereof will be omitted.

In this way, the trajectory information 202 of each virtual robot acquired by the calculation processing unit 1 of the information processing system 10 does not include the values of each axis for the waiting period during which the operation is stopped between each operation, that is, it is sufficient for it to only include information on the sequential movement between teaching points in the operation of the virtual robot. In short, in this embodiment, there is no need to include information (interlock processing information) on the waiting time for controlling the relationship (subordinate relationship) of the execution order of the operations with other robot operations in the trajectory information 202 calculated by the trajectory calculation program.

[Processing steps for generating simulation information]
Next, the processing steps executed by the simulation information generating unit 200 (arithmetic processing unit 1) when generating simulation information will be described with reference to Figs. 8 to 11. Fig. 8 is a flowchart showing the processing steps when generating simulation information according to this embodiment. Fig. 9 is a diagram showing an example of a selection screen displayed when generating simulation information according to this embodiment. Fig. 10 is a flowchart showing details of the simulation information generating process according to this embodiment. Fig. 11 is a diagram showing an example of generated simulation information according to this embodiment.

When generating simulation information, first, the operator uses the keyboard 11, mouse 12, etc. to display the simulation information generation screen (GUI) displayed on the display 13. Then, via this simulation information generation screen, the operator specifies, for example, the trajectory information 202 of the virtual robot A and virtual robot B to be used, and the time chart information 201 (S11). Specifically, for example, a screen of a dialogue 600 as shown in FIG. 9 is displayed on the display 13, and the operator inputs via the dialogue 600. The dialogue 600 has an area 601 for selecting a folder that stores each piece of trajectory information 202, and an area 602 for selecting the time chart information 201. The dialogue 600 also has an area 603 for selecting the output destination of the simulation information 204, and an execute button 604 for executing the generation of the simulation information 204.

When the output destinations of the trajectory information 202, time chart information 201, and simulation information 204 are determined in the above dialogue 600 and the execute button 604 is operated, the trajectory information 202 calculated by another system as described above is first acquired by the calculation processing unit 1 (S12). The calculation processing unit 1 also acquires the time chart information 201 generated as described above (S13). Furthermore, the output destination selected by the area 603 is set as the output destination of the simulation information 204 (S14). Then, the simulation information 204 is generated based on the acquired trajectory information 202 of each robot and the acquired time chart information 201 (S15).

The details of the processing content of step S15 will be described with reference to FIG. 10. As shown in FIG. 10, first, each figure of the time chart information 201 of the virtual robot corresponding to each acquired piece of trajectory information 202 is acquired (S21). For example, in the case of virtual robot A, the diagonal line 531, horizontal line 532, and diagonal line 534 shown in FIG. 6 are acquired.

Next, it is determined whether each acquired figure is a diagonal line indicating a movement action or a horizontal line indicating a waiting action (S22). If it is a diagonal line, it is not a waiting action (no in S22), so it is determined whether all figures have been processed (S24). If not all figures have been processed (no in S24), it returns to step S22. On the other hand, if the acquired figure is a horizontal line (a waiting action) (yes in S22), the values of each axis at the start of the waiting state are obtained, and the same values of each axis are generated for the waiting time (S23).

For example, in the case of the horizontal line 532 of the virtual robot A in FIG. 6, the same values of each axis when the time in the trajectory information 202 in FIG. 7 is 4 seconds are generated for 6 seconds, and the same values of each axis as the generated waiting period are inserted into the position of the trajectory information 202 from 4 seconds to 10 seconds. That is, in the trajectory information 202, when the time is 4 seconds as shown in FIG. 7, the axis values of the first axis to the sixth axis at the position P12 are inserted into the position from 4 seconds to 10 seconds as shown in FIG. 11, and this is constructed as the simulation information 204. This process is similarly performed for the virtual robot B. In addition, in step S23, if there is no action immediately before the waiting state, the values of each axis of the waiting period are generated based on the values of each axis at the start time of the action immediately after the waiting state. For example, in the case of the horizontal line 535 of virtual robot B in FIG. 6, the values of each axis at the start time of the movement indicated by the diagonal line 536 (at 4 seconds) are generated as the values of each axis for the waiting time.

When the processing of all figures has been completed (yes in S24), the simulation information constructed as described above is generated and saved as simulation information 204 at the output destination (S25), and the processing steps for generating the simulation information are completed. The simulation information 204 generated in this manner is used when performing a simulation by the simulation execution unit 300. In other words, the simulation execution unit 300 drives a 3D virtual model in a virtual environment based on the simulation information 204, and displays it as an animation on the display 13.

[Time chart creation and editing tool]
Next, a time chart creating/editing tool for creating or editing the above-mentioned time chart 500 will be described with reference to Figs. 12 to 17. Fig. 12 is a diagram showing a tool display screen in the time chart creating/editing tool according to this embodiment. Fig. 13 is a flowchart showing the work process when interference occurs in the simulation according to this embodiment. Fig. 14 is a diagram showing an example of interference result information according to this embodiment. Fig. 15 is a diagram showing an example of the case where the interference result of the simulation according to this embodiment is displayed on the display screen of the time chart. Fig. 16 is a diagram showing an example of the case where the interference result of the simulation is displayed on the display screen of the time chart when there are three virtual robots. Fig. 17 is a diagram showing an example of the display screen of the time chart after editing the time chart according to this embodiment.

In the information processing system 10 according to the present embodiment, the calculation processing unit 1 (see FIG. 1) executes the program 30 to cause the time chart generating unit 100 (see FIG. 4) to function, and executes a time chart editing tool for creating or editing the time chart 500. The time chart creating and editing tool is configured so that an operator can operate it using the keyboard 11 or the mouse 12. In other words, the time chart 500 can be edited by an operator performing input operations using the keyboard 11 or the mouse 12 to select, add, delete, or move the figures of each part. The time chart creating and editing tool may also be installed in an external computer other than the calculation processing unit 1, and the calculation processing unit 1 may acquire a time chart created by an operator using the external computer. Editing the time chart 500 is synonymous with editing the time chart information 201.

(Tool display screen)
As shown in FIG. 12, when the time chart creating/editing tool is executed, a tool display screen 800 including a screen of the time chart 500 is displayed. In this tool display screen 800, a display button F1 is a button used when an operator specifies a file to be worked on when performing work such as creating, opening, saving, and restoring a time chart file. A display button F2 is a button used when reading a file from an external source, for example, reading the interference result information 301 acquired by the simulation execution unit 300. A display button F3 is a button used when an operator adds or selects each figure constituting the time chart 500, and each figure can be selected and edited with a mouse, such as deleting, moving, expanding, and contracting the figure. An area F4 is a display area for the time chart 500, and text can be directly input and figures can be edited in this area F4.

In this way, the time chart editing tool can be executed, and the time chart 500 can be created, edited, checked, etc., using the tool display screen 800. Note that the image on the tool display screen 800 need only be convenient for the worker to perform tasks such as creating, editing, and checking the contents of a time chart, and is not necessarily limited to the example shown in the figure, and the display items, display format, screen configuration, etc. can be changed as appropriate. In addition, when editing the time chart 500, the waiting time, which is the interval between operations of the virtual robot, can be edited, as will be described in detail later, and further, the relationship between the order in which operations are performed can also be edited.

(When interference occurs)
Next, the work process when interference occurs between virtual robots will be described. First, a simulation is executed by the simulation execution unit 300. When it is determined in the simulation that interference has occurred between virtual robots, the simulation execution unit 300 generates interference result information 301 (see FIG. 4). In response to this, as shown in FIG. 13, the worker obtains the interference result information 301 from the simulation execution unit 300 to the calculation processing unit 1 (S31).

An example of interference result information 301 is shown in FIG. 14. The interference result information 301 includes information on the time and the name of the device that interfered at each time. If the interfering device name is blank, this indicates that no interference occurred. In this example, it shows that virtual robot A and virtual robot B interfered at time 12 seconds, for example.

Then, the worker starts the time chart editing tool described above, and selects and specifies the interference result information 301 by pressing the display button F2 (see FIG. 12) on the tool display screen. The time chart editing tool reads the specified interference result information 301, and displays the interference result in a band display 110 as an interference display image, superimposed on the time chart 500 on the tool display screen 800, as shown in FIG. 15 (S32). The band display 110 indicates that interference occurred at time 12 seconds during the movement of virtual robot A from position P12 to position P13, and the movement of virtual robot B from position P22 to position P23.

In other words, when interference occurs between virtual robots, a band display 110 showing the state of the interference is generated in the time chart 500 so as to overlap the timing at which the interference occurred, and is displayed on the display 13. In addition, the band display 110 is generated in a display format that makes it possible to distinguish the combination of interfering virtual robots among the multiple virtual robots. This allows the worker to easily determine where interference occurred in the simulation.

Note that the display may be made in a different display format depending on the combination or number of interfering robots. For example, as an embodiment different from the present embodiment, FIG. 16 shows a display example when each virtual robot interferes with another virtual robot in an environment in which virtual robot A, virtual robot B, and virtual robot C are operating. As shown in FIG. 16, a time chart 550 showing the time and positions of three virtual robots A, B, and C is displayed on the tool display screen 850. Then, superimposed on this time chart 550, a band display 110 in the case where virtual robot A and virtual robot B interfere with each other at the time of 12 seconds, and a band display 111 as an interference display image in the case where virtual robot A, virtual robot B, and virtual robot C interfere with each other at the same time are displayed. That is, the occurrence of interference is displayed in different display formats such as the band display 110 and the band display 111. In other words, the band display 110 and the band display 111 are generated in a display format in which the number of interfering virtual robots among a plurality of virtual robots can be distinguished. This allows interference that occurs at different times and locations to be displayed on a single screen, allowing workers to easily understand when different interferences occur.

Next, the worker looks at the band display 110 of the interference results and edits the time chart 500 (S33 (S4 in FIG. 3)). Specifically, the worker changes the operation timing of the target operations in the time chart, taking into account the interference results. The worker considers the dependency relationships (relationships in the order of execution of operations) that can avoid interference by operating the keyboard 11 and mouse 12, including pressing the display button F3, and edits each figure.

A specific example of the editing result is shown in FIG. 17. As shown in FIG. 15, interference occurs between the movement (diagonal line 534) of virtual robot A from position P12 to position P13 and the movement (diagonal line 538) of virtual robot B from position P22 to position P23. In this example, the operator changes the movement (diagonal line 538) of virtual robot B to a standby state until the movement (diagonal line 534) of virtual robot A is completed. That is, as shown in FIG. 17, an arc arrow 539 is added to subordinate the movement of diagonal line 538 to the movement of diagonal line 534, and a horizontal line 540 is added to indicate the standby time. As a result, virtual robot B stops operating and waits during the movement (diagonal line 534) of virtual robot A from position P12 to position P13, from 9 seconds to 14 seconds. Then, the waiting time in the time chart 500 was edited so that at 14 seconds, virtual robot A reaches position P13 (the movement of diagonal line 534 is completed), which serves as a trigger for virtual robot B to start moving from position P22 to position P23.

Once editing of the time chart has been completed in this manner, the process of generating the simulation information shown in FIG. 8 (S5 in FIG. 3) is executed again (S34). At this time, the time chart information acquired in step S13 in FIG. 8 is the time chart information edited in step S33 in FIG. 13 above. Meanwhile, the trajectory information acquired in step S12 in FIG. 8 is the same as the original. Then, as shown in FIG. 13, the simulation is re-performed based on the simulation information 204 generated using the newly edited time chart information shown in FIG. 17 (S35).

In this way, the simulation information 204 based on the changed operation specifications can be easily generated by simply editing the time chart with a time chart creation and editing tool or the like and changing the relationship (subordinate relationship) of the execution order of the operations. Therefore, the operator can easily re-run the simulation. In this embodiment, the operator edits the time chart to avoid interference, but this is not limited to this. For example, the calculation processing unit 1 may automatically change the operation of each device (the diagonal line 534 of virtual robot A and the diagonal line 538 of virtual robot B) at the point where interference occurs on the time chart to a standby state and display the changed time chart. In addition, the operation of each device at the point where interference occurs on the time chart may be automatically rearranged (subordinated) in the order of the names of each device and displayed. For example, a time chart in which the diagonal line 538 of virtual robot B is placed after the diagonal line 534 of virtual robot A is automatically displayed. In the above, the order is the order of names, but this is not limited to this, and for example, the order of virtual devices that the operator prioritizes may be set. This can be used as a guide when the operator edits the time chart to avoid interference.

As described above, in this embodiment, the trajectory information is automatically integrated and edited based on a time chart that specifies the relationship (subordinate relationship) of the execution order of operations when the virtual robots operate, and simulation information is generated. Therefore, when changing the timing of some of the operations of each virtual robot and re-running the simulation, it is possible to eliminate the need to modify each trajectory information or the trajectory calculation program for acquiring it. In other words, since simulation information can be easily regenerated just by editing the time chart, it is possible to greatly improve the ease of use when changing the operation of virtual machinery and equipment.

[Another embodiment of the virtual machine facility]
In the present embodiment described above, the virtual mechanical equipment 400 having the virtual robots 410 and 420 has been described with reference to Fig. 5. However, the present invention is not limited to this, and other mechanical equipment may be constructed as a virtual model in a virtual space. Here, a virtual mechanical equipment 700 will be described as another embodiment with reference to Fig. 18. Fig. 18 is a perspective view showing an example of a virtual mechanical equipment according to another embodiment.

As shown in FIG. 18, the virtual machine equipment 700 has a virtual NC equipment 710, a virtual NC equipment 720, and a virtual NC equipment 730, which are constructed in a virtual environment using an actual NC equipment as a model. The virtual NC equipment 710 and the virtual NC equipment 720 are equipment that is numerically controlled (NC) in the vertical direction, and the virtual NC equipment 710 has a finger 711 at the lower end, and the virtual NC equipment 720 has a finger 721 at the lower end. The virtual NC equipment 730 is equipment that is numerically controlled (NC) in the horizontal direction, and has a base 731 at the top. Even in such a virtual machine equipment 700, the trajectory information of each virtual NC equipment can be automatically integrated and edited based on the time chart to generate simulation information. In particular, in the simulation, for example, interference between the virtual NC equipment 710 and the virtual NC equipment 730, or interference between the virtual NC equipment 720 and the virtual NC equipment 730 occurs. Even in this case, the simulation information can be easily regenerated by simply editing the time chart.

[Possible other embodiments]
In the above-described embodiment, the worker creates or edits a time chart to set the relationship between the execution order of operations performed by different virtual robots. However, the present invention is not limited to this, and the worker may create or edit time information that specifies the time and the position of the virtual robot, for example, in the form of a data string such as a table, and in other words, it is not necessary to create a time chart. However, creating or editing a time chart is easier and more straightforward for the worker than simply creating or editing time information in a data string, and is considered to improve operability.

In addition, in this embodiment, the standby time is edited in the time chart. However, this is not limiting, and only the execution order of the operations in the time chart may be edited. For example, it is possible to avoid interference by switching the execution order of the operations of virtual robot A and virtual robot B.

In addition, in this embodiment, the virtual machinery and equipment has been described as having two virtual robots, three virtual robots, and three virtual NC devices. However, these numbers of virtual devices are merely examples, and the virtual machinery and equipment may have any number of virtual devices.

The various embodiments described above can also be applied to machines that can automatically perform movements such as stretching, bending, moving up and down, moving left and right, or rotating, or a combination of these movements, based on information stored in a storage device provided in the control device.

The present invention is not limited to the above-described embodiments, and many modifications are possible within the technical concept of the present invention. The effects described in the embodiments of the present invention are merely a list of the most favorable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention. Furthermore, at least two of the various embodiments and modifications described above may be combined and implemented.

The present disclosure can also be realized by supplying a program that realizes one or more of the functions of the above-described embodiments to a system or device via a network or a storage medium, and having one or more processors in the computer of the system or device read and execute the program. It can also be realized by a circuit (e.g., an ASIC) that realizes one or more of the functions.

[Summary of the present embodiment]
(Configuration 1)
An information processing device including a control unit that executes a simulation of operating at least two virtual devices constructed as models in a virtual environment,
The control unit is
acquiring trajectory information defining a motion corresponding to the virtual device;
obtaining time information including a relationship of an execution order of operations to be executed by the virtual device;
acquiring simulation information from the trajectory information based on the time information, and executing the simulation based on the simulation information;
23. An information processing apparatus comprising:
(Configuration 2)
the time information includes a waiting time that is an interval between operations corresponding to the virtual device;
The control unit is
acquiring the simulation information from the trajectory information based on the relationship of the execution order of the operations and the waiting time;
2. The information processing device according to configuration 1.
(Configuration 3)
The control unit is
and acquiring the simulation information by unifying the trajectory information based on the relationship of the execution order of the operations and the waiting time.
3. The information processing apparatus according to claim 2.
(Configuration 4)
the time information is configured as a time chart showing a relationship between a position and a time according to an operation corresponding to the virtual device;
4. The information processing device according to configuration 2 or 3.
(Configuration 5)
The control unit is
Displaying the time chart on an image display device;
The displayed time chart can be edited by inputting operations on an operation unit.
5. The information processing device according to configuration 4.
(Configuration 6)
The control unit is
The waiting time in the displayed time chart is editable.
6. The information processing device according to configuration 5.
(Configuration 7)
The control unit is
The relationship of the execution order of the operations in the displayed time chart can be edited.
7. The information processing device according to configuration 5 or 6.
(Configuration 8)
The control unit is
The graphics of each part in the displayed time chart can be edited by performing at least one of selecting, adding, deleting, and moving.
8. The information processing device according to any one of configurations 5 to 7.
(Configuration 9)
The control unit is
executing the simulation, and when interference occurs between the virtual devices, displaying an interference display image showing a state of the interference that has occurred on the time chart on the image display device so as to be superimposed on the timing at which the interference occurred.
9. The information processing device according to any one of configurations 5 to 8.
(Configuration 10)
the interference display image is displayed in a display format in which a combination of interfering virtual devices among the virtual devices can be distinguished.
10. The information processing device according to configuration 9.
(Configuration 11)
the interference display image is displayed in a display format in which the number of interfering virtual devices among the virtual devices can be distinguished.
11. The information processing device according to configuration 9 or 10.
(Configuration 12)
The execution order of the operations is a dependency relationship defined such that an operation that is a downstream process is dependent on an operation that is an upstream process.
12. The information processing device according to any one of configurations 1 to 11.
(Configuration 13)
The trajectory information is calculated by a different calculation device corresponding to each of the virtual machines.
13. The information processing device according to any one of configurations 1 to 12.
(Configuration 14)
The virtual machine is a model of a robot having at least one joint.
13. The information processing device according to any one of configurations 1 to 12.
(Configuration 15)
The control unit is
executing the simulation, and when interference occurs between the virtual devices, displaying on the image display device a time chart in which the waiting time and/or the execution order of the interfering virtual devices is changed in the time chart;
12. The information processing apparatus according to claim 5, wherein the information processing apparatus further comprises:
(Configuration 16)
A production system configured to correspond to the virtual machine and driven based on simulation information acquired by the information processing device according to any one of configurations 1 to 15.
A production facility characterized by:
(Method 17)
Based on the simulation information acquired by the information processing device according to any one of configurations 1 to 15, a machine equipment configured to correspond to the virtual device is driven to manufacture an article.
A method for producing an article.
(Configuration 18)
An information processing device including a control unit that executes a simulation of operating at least two virtual devices constructed as models in a virtual environment,
The control unit is
displaying on an image display device a time chart showing the relationship between a position and time according to an operation corresponding to the virtual device;
The displayed time chart can be edited by inputting an operation on an operation unit,
acquiring simulation information from trajectory information that defines an operation corresponding to the virtual device based on the time chart, and executing the simulation based on the simulation information;
23. An information processing apparatus comprising:
(Method 19)
1. An information processing method for executing a simulation in which a control unit operates at least two virtual devices constructed as models in a virtual environment, comprising:
The control unit:
acquiring trajectory information defining a motion corresponding to the virtual device;
obtaining time information including a relationship of an execution order of operations to be executed by the virtual device;
acquiring simulation information from the trajectory information based on the time information, and executing the simulation based on the simulation information;
23. An information processing method comprising:
(Method 20)
1. An information processing method for executing a simulation in which a control unit operates at least two virtual devices constructed as models in a virtual environment, comprising:
The control unit is
displaying on an image display device a time chart showing the relationship between position and time according to the operation corresponding to the virtual device;
The displayed time chart can be edited by inputting an operation on an operation unit,
acquiring simulation information from trajectory information that defines an operation corresponding to the virtual device based on the time chart, and executing the simulation based on the simulation information;
23. An information processing method comprising:
(Configuration 21)
A program for causing a computer to execute the information processing method according to Method 19 or 20.
(Configuration 22)
A computer-readable recording medium having the program according to configuration 21 recorded thereon.

1... Calculation processing unit (information processing device) / 11... Keyboard (operation unit) / 12... Mouse (operation unit) / 13... Display (image display device) / 20... CPU (control unit) / 30... Program / 110... Band display (interference display image) / 111... Band display (interference display image) / 202... Trajectory information / 204... Simulation information / 400... Virtual machine equipment / 410 (A)... Virtual robot (virtual device) / 420 (B)... Virtual robot (virtual device) / 500... Time chart (time information) / 700... Virtual machine equipment / 710... NC equipment (virtual device) / 720... NC equipment (virtual device) / 730... NC equipment (virtual device)

Claims (22)

An information processing device including a control unit that executes a simulation of operating at least two virtual devices constructed as models in a virtual environment,
The control unit is
acquiring trajectory information defining a motion corresponding to the virtual device;
obtaining time information including a relationship of an execution order of operations to be executed by the virtual device;
acquiring simulation information from the trajectory information based on the time information, and executing the simulation based on the simulation information;
23. An information processing apparatus comprising: the time information includes a waiting time that is an interval between operations corresponding to the virtual device;
The control unit is
acquiring the simulation information from the trajectory information based on the relationship of the execution order of the operations and the waiting time;
2. The information processing apparatus according to claim 1, The control unit is
and acquiring the simulation information by unifying the trajectory information based on the relationship of the execution order of the operations and the waiting time.
3. The information processing apparatus according to claim 2. The time information is configured as a time chart showing a relationship between a position and a time according to an operation corresponding to the virtual device.
3. The information processing apparatus according to claim 2. The control unit is
Displaying the time chart on an image display device;
The displayed time chart can be edited by inputting operations on an operation unit.
5. The information processing apparatus according to claim 4. The control unit is
The waiting time in the displayed time chart is editable.
6. The information processing apparatus according to claim 5, The control unit is
The relationship of the execution order of the operations in the displayed time chart can be edited.
6. The information processing apparatus according to claim 5, The control unit is
The graphics of each part in the displayed time chart can be edited by performing at least one of selecting, adding, deleting, and moving.
6. The information processing apparatus according to claim 5, The control unit is
executing the simulation, and when interference occurs between the virtual devices, displaying an interference display image showing a state of the interference that has occurred on the time chart on the image display device so as to be superimposed on the timing at which the interference occurred.
6. The information processing apparatus according to claim 5, the interference display image is displayed in a display format in which a combination of interfering virtual devices among the virtual devices can be distinguished.
10. The information processing apparatus according to claim 9, the interference display image is displayed in a display format in which the number of interfering virtual devices among the virtual devices can be distinguished.
10. The information processing apparatus according to claim 9, The execution order relationship of the operations is a dependency relationship defined such that an operation that is a downstream process is dependent on an operation that is an upstream process.
2. The information processing apparatus according to claim 1, The trajectory information is calculated by a different calculation device corresponding to each of the virtual machines.
2. The information processing apparatus according to claim 1, The virtual machine is a model of a robot having at least one joint.
2. The information processing apparatus according to claim 1, The control unit is
executing the simulation, and when interference occurs between the virtual devices, displaying on the image display device a time chart in which the waiting time and/or the execution order of the interfering virtual devices is changed in the time chart;
6. The information processing apparatus according to claim 5, a virtual machine configured to correspond to the virtual machine and driven to perform production based on simulation information acquired by the information processing device according to any one of claims 1 to 15;
A production facility characterized by: 16. A method for manufacturing an article by operating a machine configured to correspond to the virtual machine based on simulation information acquired by the information processing device according to claim 1.
A method for producing an article. An information processing device including a control unit that executes a simulation of operating at least two virtual devices constructed as models in a virtual environment,
The control unit is
displaying on an image display device a time chart showing the relationship between a position and time according to an operation corresponding to the virtual device;
The displayed time chart can be edited by inputting an operation on an operation unit,
acquiring simulation information from trajectory information that defines an operation corresponding to the virtual device based on the time chart, and executing the simulation based on the simulation information;
23. An information processing apparatus comprising: 1. An information processing method for executing a simulation in which a control unit operates at least two virtual devices constructed as models in a virtual environment, comprising:
The control unit:
acquiring trajectory information defining a motion corresponding to the virtual device;
obtaining time information including a relationship of an execution order of operations to be executed by the virtual device;
acquiring simulation information from the trajectory information based on the time information, and executing the simulation based on the simulation information;
23. An information processing method comprising: 1. An information processing method for executing a simulation in which a control unit operates at least two virtual devices constructed as models in a virtual environment, comprising:
The control unit is
displaying on an image display device a time chart showing the relationship between a position and time according to an operation corresponding to the virtual device;
The displayed time chart can be edited by inputting an operation on an operation unit,
acquiring simulation information from trajectory information that defines an operation corresponding to the virtual device based on the time chart, and executing the simulation based on the simulation information;
23. An information processing method comprising: A program for causing a computer to execute the information processing method according to claim 19 or 20. A computer-readable recording medium on which the program according to claim 21 is recorded.

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