Information processing device, information processing method, production device, method of manufacturing product, and recording medium

Abstract

The present invention discloses an information processing device, an information processing method, a production device, a method for manufacturing a product, and a recording medium. The information processing device is configured to virtually execute the movement of a device including a plurality of devices. The information processing device includes a display section and a control section. The control section is configured to extract a device to be virtually moved from the plurality of devices based on the movement range of the plurality of devices and display the device on the display section as an inspection object.

Description

Technical Field

[0001] The present invention relates to an information processing device and an information processing method. Background Art

[0002] In the field of production equipment, it is desirable to shorten the time period (lead time) taken from the start of the design of the production equipment until the production equipment is actually operated and put into actual use. For this purpose, instead of checking for design errors of the mechanism or failures of the operating procedure by using the production equipment after actually making the production equipment, the design errors or failures are checked by operating the production equipment in a virtual space at the design stage. In addition, even after the production equipment is made, if the operating procedure is changed or modified, it is possible to check for design errors of the mechanism or failures of the operating procedure before actually operating the production equipment.

[0003] For example, Japanese Patent Application Publication No. 2008-234622 discloses a trajectory-interference checking program. The trajectory-interference checking program creates trajectory model data by moving virtual models, and determines whether there is overlap (overlapping models) between one trajectory model and another trajectory model in all combinations of trajectory models. If there is overlap (overlapping models) between trajectory models, the trajectory-interference checking program determines the start time and end time of the interference between each virtual model and the overlapping model. Then, the trajectory-interference checking program determines, for each overlapping model, whether the time period in which the overlapping model interferes with one virtual model overlaps with the time period in which the overlapping model interferes with another virtual model. If the former time period overlaps with the latter time period, the trajectory-interference checking program determines that interference occurs in the virtual model.

[0004] However, in the technology described in Japanese Patent Application Laid-Open No. 2008-234622, since all combinations of trajectory models are checked, the amount of information processing will increase, and when the operator virtually checks the operation of the device, the operator cannot efficiently check the operation of the device.

[0005] In view of the above-mentioned problems, the present invention provides an information processing apparatus which allows an operator to efficiently check the operation of an apparatus when the operator virtually checks the operation of the apparatus. Summary of the invention

[0006] According to a first aspect of the present invention, an information processing apparatus is configured to virtually execute movement of an apparatus including a plurality of devices. The information processing apparatus includes a display section and a control section. The control section is configured to extract a device to be virtually moved from the plurality of devices based on a movement range of the plurality of devices and display the device on the display section as an inspection object.

[0007] According to a second aspect of the present invention, an information processing method for virtually moving an apparatus including a plurality of devices is executed by a control section. The information processing method includes extracting a device to be virtually moved from the plurality of devices based on a moving range of the plurality of devices, and displaying the device as an inspection object on a display section.

[0008] Further features of the present invention will become apparent from the following description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 Schematic diagram of an automatic assembly device 100 according to an embodiment.

[0010] Figure 2 1 is a control block diagram of the production system 1000 according to the embodiment.

[0011] Figure 3 1 is a control block diagram of the production system 1000 according to the embodiment.

[0012] Figure 4 is a control flow diagram for performing simulation according to an embodiment.

[0013] Figure 5A 1 is a diagram illustrating a virtual model of a part of the automatic assembly equipment 100 according to the embodiment.

[0014] Figure 5B 1 is a diagram illustrating a virtual model of a part of the automatic assembly equipment 100 according to the embodiment.

[0015] Figure 6 is an example of a setting screen of the embodiment.

[0016] Figure 7 This is an example of the inspection screen of the embodiment.

[0017] Figure 8 This is an example of an execution screen of the embodiment.

[0018] Fig. 9 This is an example of an execution screen of the embodiment. DETAILED DESCRIPTION

[0019] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. It is noted that since the embodiment described below is only an example, those skilled in the art can appropriately modify its detailed configuration without departing from the spirit of the present invention. In addition, since the numerical values ​​described in the embodiments are only numerical values ​​for reference, they are not intended to limit the present invention. In addition, in the figures to be referred to in the description of the following embodiments and examples, unless otherwise specified, the same functions are given to components with the same reference numbers. In addition, in the figures described below, arrows X, Y, and Z indicate the world coordinate system of the entire device and its surroundings, and the local coordinate system xyz can be appropriately used, for example, to control robots, fingers, joints, etc.

[0020] Figure 1 is a schematic diagram illustrating an example of an automatic assembly apparatus 100 of the system of the embodiment. Figure 1 An automatic assembly apparatus 100 in a real space RS is illustrated. Figure 1 The automatic assembly equipment 100 shown in is installed in, for example, a factory. The automatic assembly equipment 100 is an example of a plurality of automatic machines, and includes three Cartesian coordinate robots 104, 105, and 106. The three Cartesian coordinate robots 104, 105, and 106 are arranged on a stage 20. By using the Cartesian coordinate robots 104, 105, and 106, a workpiece W2 as a second workpiece is assembled to the workpiece W1 as a first workpiece as a material; and a workpiece W3 as an example of a product is produced.

[0021] The rail 103 is arranged on the stage 20, and the conveying stage 111 on which the workpiece W1 or W3 is placed can move on the rail 103. The Cartesian coordinate robot 104 includes a hand 114 and a moving mechanism 124. The hand 114 is an example of a holding portion capable of holding the workpiece W1, and the moving mechanism 124 moves the hand 114 in a translation direction. The Cartesian coordinate robot 105 includes a hand 115 and a moving mechanism 125. The hand 115 is an example of a holding portion capable of holding the workpiece W1, and the moving mechanism 125 moves the hand 115 in a translation direction. The Cartesian coordinate robot 106 includes a hand 116 and a moving mechanism 126. The hand 116 is an example of a holding portion capable of holding the workpiece W2, and the moving mechanism 126 moves the hand 116 in a translation direction. The three Cartesian coordinate robots 104, 105, and 106 are arranged so that the moving range of one robot overlaps the moving range of another robot.

[0022] Each of the Cartesian coordinate robots 104 and 105 holds the workpiece W1 that has been transferred by the transfer stage 111. The Cartesian coordinate robot 106 holds the workpiece W2 that has been transferred by a transfer device (not shown). The Cartesian coordinate robots 104 and 105 transfer the workpiece W1 from the position where the Cartesian coordinate robots 104 and 105 hold the workpiece W1 to the position where the workpiece W2 is assembled to the workpiece W1. The Cartesian coordinate robot 106 holds the workpiece W2 and assembles the workpiece W2 to the workpiece W1 held by the Cartesian coordinate robot 104 or 105. The Cartesian coordinate robots 104 and 105 transfer the workpiece W3 composed of the workpieces W1 and W2 to the transfer stage 111. The Cartesian coordinate robots 104 and 105 repeat a series of movements in an alternating manner.

[0023] Figure 2 1 is a control block diagram of a production system 1000 as an example of a system of an embodiment. The production system 1000 includes the above-mentioned automatic assembly equipment 100, the diagnostic equipment 200, the simulation equipment 300, and the management equipment 400. In addition, the production system 1000 includes a programmable logic controller (PLC) 500 as an example of a first control section and a PLC 600 as an example of a second control section. As described later, the diagnostic equipment 200 and the simulation equipment 300 are computers (information processing equipment).

[0024] Diagnostic device 200 is a computer and includes a central processing unit (CPU) 201 as a processor. CPU 201 is used as a diagnostic part described later. In addition, diagnostic device 200 includes a read-only memory (ROM) 202, a random access memory (RAM) 203 and a hard disk drive (HDD) 204 used as a storage part. In addition, diagnostic device 200 includes an I / O 205 and a disk drive 206 as an input / output interface. CPU 201, ROM 202, RAM 203, HDD 204, I / O 205 and disk drive 206 are connected to each other via bus 210.

[0025] ROM 202 is a non-transitory storage device. ROM 202 stores a basic program, which is read by CPU 201 when the computer is started. RAM 203 is a temporary storage device for the calculation process performed by CPU 201. HDD 204 is a non-transitory storage device that stores various types of data (such as the result of the calculation process performed by CPU 201). In the present embodiment, HDD 204 stores a diagnostic program 211, which enables CPU 201 to be used as a diagnostic part described later and to perform a part of the simulation method. Disk drive 206 can read various types of data and programs stored in recording disk 212. I / O 205 is used as a communication module for communicating with external devices. I / O 205 is connected to display device 221, input device 222, management device 400 and PLC 500. CPU 201 of diagnostic device 200 can communicate with management device 400 and PLC 500 via I / O 205. The display device 221 is a display that displays various images. The input device 222 is a device through which an operator can input data, such as a keyboard and a mouse.

[0026] The simulation device 300 is a computer and includes a CPU 301 as a processor. The CPU 301 is used as a simulation part described later. In addition, the simulation device 300 includes a ROM 302, a RAM 303, and a HDD 304 used as a storage part. In addition, the simulation device 300 includes an I / O 305 and a disk drive 306 as an input / output interface. The CPU 301, the ROM 302, the RAM 303, the HDD 304, the I / O 305, and the disk drive 306 are connected to each other via a bus 310.

[0027] ROM 302 is a non-transitory storage device. ROM 302 stores a basic program, which is read by CPU 301 when the computer is started. RAM 303 is a temporary storage device for the calculation process performed by CPU 301. HDD 304 is a non-transitory storage device that stores various types of data (such as the result of the calculation process performed by CPU 301). In the present embodiment, HDD 304 stores a simulation program 311, which enables CPU 301 to be used as a simulation part described later and to perform a part of the simulation method. Disk drive 306 can read various types of data and programs stored in recording disk 312. I / O 305 is used as a communication module for communicating with external devices. I / O 305 is connected to display device 3210, input device 3220, management device 400 and PLC 500. CPU 301 of simulation device 300 can communicate with management device 400 and PLC 500 via I / O 305. The display device 3210 is a display that displays various images. The input device 3220 is a device through which an operator can input data, such as a keyboard and a mouse.

[0028] The management device 400 is a computer and includes a CPU 401 as a processor. The CPU 401 serves as a management section described later. In addition, the management device 400 includes a ROM 402, a RAM 403, and a HDD 404 serving as a storage section. In addition, the management device 400 includes an I / O 405 and a disk drive 406 as an input / output interface. The CPU 401, the ROM 402, the RAM 403, the HDD 404, the I / O 405, and the disk drive 406 are connected to each other in a communication manner via a bus 410.

[0029] ROM 402 is a non-temporary storage device. ROM 402 stores a basic program, which is read by CPU 401 when the computer is started. RAM 403 is a temporary storage device for the calculation process performed by CPU 401. HDD 404 is a non-temporary storage device that stores various types of data (such as the results of the calculation process performed by CPU 401). HDD 404 stores a management program 411 that enables CPU 401 to function as a management part described later. Disk drive 406 can read various types of data and programs stored in recording disk 412. I / O 405 is used as a communication module for communicating with external devices. I / O 405 is connected to display device 421, input device 422, diagnostic device 200, simulation device 300, PLC 500 and PLC 600. The CPU 401 of the management device 400 can communicate with the diagnostic device 200, the simulation device 300, the PLC 500, and the PLC 600 via the I / O 405. The display device 421 is a display that displays various images. The input device 422 is a device through which an operator can input data, such as a keyboard and a mouse. The PLC 600 is connected to the automatic assembly device 100.

[0030] PLC 600 outputs control signals to automatic assembly equipment 100 according to ladder program 800. Ladder program 800 can be obtained by diagnosis of ladder program 800A. Using the control signals, sequence control can be performed on Cartesian coordinate robots 104, 105 and 106 of automatic assembly equipment 100 in real space. PLC 500 has the same configuration as PLC600. By outputting control signals to simulation device 300, PLC 500 can perform sequence control on virtual machines in virtual space.

[0031] In the present embodiment, the computer-readable non-temporary recording medium is the HDD 204, and the diagnostic program 211 is stored in the HDD 204. However, the present disclosure is not limited thereto. The diagnostic program 211 may be stored in any recording medium as long as the recording medium is a computer-readable recording medium. This also holds true for the simulation program 311 and the management program 411. Specifically, the recording medium for providing the diagnostic program 211, the simulation program 311, and the management program 411 to the computer may be a floppy disk, an optical disk, a magneto-optical disk, a magnetic tape, a non-volatile memory, or the like.

[0032] Figure 3 1 is a functional block diagram of the production system 1000 of the embodiment. Figure 3 The functional block diagram of the production system 1000 is illustrated so as to conceptually show the functions of the components, and thus the production system 1000 may not necessarily be as Figure 3For example, the specific configuration of the distribution and integration of functional blocks is not limited to Figure 3 Therefore, some or all of the functional blocks may be functionally or physically distributed or integrated in any unit according to the usage conditions, etc. When a production device is designed or debugged, for example, Figure 3 The system shown in can be used as a supporting device (supporting system).

[0033] By executing the diagnostic procedure 211, Figure 2 The CPU 201 of the diagnostic device 200 shown in FIG. Figure 3 The diagnostic part 250 is shown in FIG. The diagnostic part 250 performs simulation of operation according to the ladder program 800A stored in the PLC 500. The diagnostic device 200 includes a first communication module 270.

[0034] The diagnostic device 200 is connected to the simulation device 300 via the first communication module 270. Therefore, the diagnostic device 200 performs communication (regarding information) via the first communication module 270. The diagnostic part 250 instructs the PLC 500 to perform simulation of operation according to the ladder program 800A. The state of the diagnostic device 200 is displayed on the display device 221.

[0035] By executing the simulation program 311, Figure 2 The CPU 301 of the simulation device 300 shown in FIG. Figure 3 In addition, the simulation module 350 of the simulation device 300 Figure 2 A portion of the HDD 304 shown in FIG. Figure 3 The model registration portion 360 is shown in FIG.

[0036] The simulation device 300 including a CPU and a memory is an information processing device that performs simulation of the operation of an automatic machine such as a production device. The display device 3210 is a display. The input device 3220 includes a keyboard and a mouse. The simulation device 300 includes a simulation module 350 and a second communication module 3700. The state of the simulation device 300 is displayed on the display device 3210. The simulation device 300 is connected to the PLC 500 via the second communication module 3700. Therefore, the simulation device 300 communicates with the PLC 500 via the second communication module 3700.

[0037] The simulation module 350 includes a stem module 351, a virtual movement range calculation module 352, and an interference check module 353. The simulation module 350 simulates the movement of the 3D model virtual machine according to the control signal from the PLC 500 based on the 3D model virtual machine registered in the model registration part 360 and the ladder program 800A. Note that, although each of the diagnostic device 200 and the simulation device 300 has a display device and an input device in the present embodiment, the diagnostic device 200 and the simulation device 300 may be implemented by a single PC, and the single PC may have a single display device and a single input device.

[0038] By executing the hypervisor 411, Figure 2 The CPU 401 of the management device 400 shown in FIG. Figure 3 The management section 450 shown in FIG. The management section 450 performs ladder program management 451, 3D model management 452, diagnosis range management 453, and 3DCAD conversion processing 454. In the diagnosis range management 453, the maximum movement range of each mechanism of the automatic assembly apparatus 100 is used.

[0039] The management section 450 performs 3D model management 452 to manage the 3D model of the mechanism of the automatic assembly apparatus 100. The 3D model of the mechanism is input into the management section 450 through the input device 422 operated by the operator, and is displayed, for example, in Figure 2 The 3D model of the mechanism is diagnosed by the diagnosis section 250 of the diagnosis device 200. The management section 450 obtains the diagnosis result of the mechanism from the diagnosis section 250 and causes the display device 421 to display an image corresponding to the diagnosis result.

[0040] The management part 450 performs a 3D CAD conversion process 454. In the 3D CAD conversion process 454, the 3D model of the mechanism of the automatic machine managed in the 3D model management 452 is converted into a model having a format in which the model can be simulated by the simulation module 350, and the converted model is sent to the simulation device 300. The 3D model sent by the management part 450 is registered in the model registration part 360 of the simulation device 300.

[0041] As described later, the movement of the 3D model is checked by the diagnostic device 200 and the simulation device 300; and the ladder program 800A is modified as needed to the ladder program 800. The management device 400 then outputs the ladder program 800 to the PLC 600. The PLC 600 controls the automatic assembly device 100 in the real space according to the ladder program 800.

[0042] In the diagnosis part 250, the relationship between the guide rod that moves in the automatic machine (e.g., production equipment) and the switch that moves the guide rod is registered according to the ladder program 800A. The guide rod is a component to be simulated, and the relationship between the guide rod and the switch indicates how each guide rod moves in the maximum movement range. When the movement of the specified guide rod of the automatic machine is to be checked (simulated) with this relationship, the operator specifies the guide rod in the screen displayed on the display device 221 by using the input device 222.

[0043] When the movement of the guide rod to be simulated is selected by using the input device 222, a switch signal is output from the diagnosis device 200 to move the guide rod. The switch signal to move the guide rod is transmitted to the PLC 500 via the first communication module 270.

[0044] Upon receiving the switch signal for moving the guide rod, the PLC 500 calculates a signal for moving the guide rod and outputs the signal. The signal for moving the guide rod is transmitted to the simulation module 350 via the second communication module 3700 .

[0045] The simulation module 350 determines the guide rod to be virtually moved in the virtual space by using the signal sent from the PLC 500 and used to move the guide rod. The guide rod module 351 stores information (eg, point, speed, acceleration, stroke) required to move the guide rod under virtual control.

[0046] The guide rod module 351 moves each guide rod in the virtual space. The virtual movement range calculation module 352 uses the setting of the stroke (movement range) of each guide rod stored in the guide rod module 351; and calculates the movement range (of the maximum movement range) of the guide rod. While the guide rod module 351 simulates the movement of each guide rod, the interference check module 353 checks in real time whether each guide rod interferes with another component. Therefore, the operator can view the movement of each guide rod in the virtual space displayed on the display device 3210.

[0047] Since the ladder program 800A is provided to the diagnosis part 250 to check the operation of the ladder program 800A, a test for moving the guide rod using the switch can be automatically performed. The display device 3210 displays information about the simulation device 300. Therefore, the operator can view the information displayed on the display device 3210, and can input the information into the simulation device 300 by using the designer's machine connected to the input device 3220. That is, the operator can select a mechanism to be simulated from among a plurality of mechanisms of an automatic machine (e.g., a production device); and input information about the mechanism into the simulation device 300.

[0048] If the PLC 500 is simulated, the PLC 500 and the diagnosis part 250 may be included in the simulation device 300. In this case, the first communication module 270 and the second communication module 3700 may not be used.

[0049] As described above, information about the diagnostic device 200 is displayed on the display device 221, and information about the simulation device 300 is displayed on the display device 3210. However, since the diagnostic device 200 and the simulation device 300 are communicatively connected to each other via the respective communication modules and the PLC 500, the information about the diagnostic device 200 can be displayed on the display device 3210, and the information about the simulation device 300 can be displayed on the display device 221.

[0050] Next, refer to Figure 3 Functional block diagram and Figure 4 The algorithm of the interference check function of this embodiment will be described in detail with reference to the flowchart of FIG.

[0051] exist Figure 4 In step 201 of the flowchart, the stroke of each guide rod is set. In this embodiment, while watching the screen of the display device 3210, the operator sets the stroke of each guide rod by using the input device 3220. The setting data of the stroke of each guide rod is stored in the guide rod module 351 of the simulation module 350.

[0052] In step 202 , the movement range of each guide rod in the virtual space is calculated by the virtual movement range calculation module 352 by using the stroke of each guide rod stored in the guide rod module 351 .

[0053] In step 203, by using the calculated moving range of each guide rod in the virtual space, a region where the moving range of one guide rod overlaps with the moving range of another guide rod is extracted (or calculated) as an interference check object.

[0054] In step 204 , the interference check object extracted (or calculated) for each guide rod is registered in the interference check module 353 as the interference check object for each guide rod.

[0055] In step 205, simulation using the virtual machine is started. In step 206, calculations are performed to determine whether interference is occurring in the virtual machine, and in step 207, the process determines whether interference is occurring.

[0056] If the process determines that interference is occurring (step 207: YES), the process obtains information about the state of PLC 500 via second communication module 3700 in step 208, and outputs information about the state of PLC 500 and information about the area where interference is occurring (the process outputs these multiple pieces of information as interference information).

[0057] If the process determines that interference is not occurring (step 207 : NO), the process determines in step 209 whether a request to end the simulation has been input by the input device 3220 .

[0058] If a request to end the simulation has been input (step 209: Yes), the process ends the simulation. If a request to end the simulation has not been input (step 209: No), the process proceeds to step 210, and determines whether there is a guide rod currently moving in the virtual machine. If there is no guide rod currently moving in the virtual machine (step 210: No), the process repeats step 210 until a guide rod currently moving in the virtual machine is detected.

[0059] If there is a guide bar currently being moved in the virtual machine (step 210: Yes), the process proceeds to step 211, and performs setting to enable interference check according to the registration of the interference check object of the guide bar being moved. Then, the process performs calculation to determine whether interference is occurring between the guide bar being moved and the interference check object, and determines whether interference is occurring in step 212.

[0060] If the process determines that interference is occurring (step 212: Yes), the process obtains information about the state of PLC 500 via second communication module 3700 in step 213; and outputs information about the state of PLC 500 and information about the area where interference is occurring (the process outputs these multiple pieces of information as interference information).

[0061] If the process determines that interference is not occurring (step 212: NO), the process determines in step 214 whether a request to end the simulation has been input via input device 3220 and all moves have been checked.

[0062] If a request to end the simulation has been input, or all moves have been checked (step 214: yes), the process ends the simulation. If a request to end the simulation has not been input, or all moves have not been checked (step 214: no), the process returns to step 210 and determines again whether there is a guide rod currently moving in the virtual machine.

[0063] In the present embodiment, the simulation device 300 simulates the operation of an automatic machine such as a production device in the virtual space VS. Figure 5A and5B In the virtual space VS is shown Figure 1 A part of an automatic assembly device 100. Figure 5A is a perspective view of a portion of the automated assembly apparatus 100, and Figure 5B is a front view of a portion of the automatic assembly equipment 100 .

[0064] like Figure 5A and 5B As shown in FIG. 361 (guide rod 1) is a NC (numerical control object) that moves vertically, and has a finger portion 362 formed at the front end of NC 361. NC 365 (guide rod 2) is a NC (numerical control object) that moves vertically, and has a finger portion 366 formed at the front end of NC 365. NC 369 (guide rod 3) is a NC (numerical control object) that moves horizontally, and has a stage 370 formed on the top surface of NC 369.

[0065] Figure 5A and 5B A portion of the virtual automatic assembly apparatus 100 shown in FIG. 1 is simulated by moving a virtual model in a virtual space. Figure 4 , 6 , 7, 8 and 9, examples of simulation will be described in detail.

[0066] Figure 6 is when Figure 4 This is an example of a setting screen displayed on the display device 221 or 3210 when setting the stroke (movement range) of each guide rod in step 201. Figure 6 , a stroke setting portion 330, a virtual model display portion 340, an interference check button 334, and an automatic movement range setting button 335 are illustrated. The stroke setting portion 330 is a portion for setting the stroke of each guide rod. The virtual model display portion 340 displays Figure 5A and 5B . The stroke setting part 330 displays the components such as the guide rod and the finger part constituting the device in a tree diagram form. When the part "device 1" is clicked, detailed information about the component is expanded and displayed. The guide rod 1 is fixed to the fixed part 390. When the part "fixed part 390 of the guide rod 1" is clicked, the items of "NC 361" and "finger part 362" are expanded and displayed.

[0067] Similarly, the guide rod 2 is fixed to the fixing portion 391. When the portion "fixing portion 391 of the guide rod 2" is clicked, the items of "NC 365" and "finger portion 366" are expanded and displayed. The guide rod 3 is fixed to the fixing portion 392. When the portion "fixing portion 392 of the guide rod 3" is clicked, the items of "NC 369" and "stage 370" are expanded and displayed.

[0068] When the item of "NC 361" is clicked, an item for setting a specific value of the stroke of the guide rod 1 is expanded and displayed. When the item of "Upper position" or the item of "Lower position" is clicked, the name "Guide rod 1" is displayed in the column 331 indicating the guide rod number, a cell for setting the upper position is displayed in the column 332, and a cell for setting the lower position is displayed in the column 333. In the present embodiment, by using a keyboard or the like, a freely selected position P1 in the XYZ coordinate system is set as the upper position of the guide rod 1, and a freely selected position P2 in the XYZ coordinate system is set as the lower position of the guide rod 1. Columns 332 and 333 are position input portions.

[0069] Also in guide rod 2 or 3, when the item of "NC 365" or "NC 369" is clicked, the item for setting the specific value of the stroke is expanded and displayed. When the item of "upper (upstream) position" or the item of "lower (downstream) position" is clicked, the name "guide rod 2" or "guide rod 3" is displayed in column 331 indicating the guide rod number, the cell for setting the upper (upstream) position is displayed in column 332, and the cell for setting the lower (downstream) position is displayed in column 333. In the present embodiment, by using a keyboard or the like, a freely selected position P3 in the XYZ coordinate system is set as the upper position of guide rod 2, and a freely selected position P4 in the XYZ coordinate system is set as the lower position of guide rod 2. Furthermore, by using a keyboard or the like, a freely selected position P5 in the XYZ coordinate system is set as the upstream position of guide rod 3, and a freely selected position P6 in the XYZ coordinate system is set as the downstream position of guide rod 3.

[0070] Note that, although the position is set using the keyboard in the above example, the position can be set in a different manner. For example, the cell to set the position can be selected first, and then the position can be set by specifying a freely selectable position in the virtual model display portion 340 using the mouse.

[0071] If the designated guide rod moves in its maximum range of movement, the operator presses the automatic range of movement setting button 335. If the automatic range of movement setting button 335 is pressed, the simulation device 300 refers to the diagnosis range management 453 and automatically sets the maximum range of movement of the guide rod to the range of movement of the guide rod. With this operation, the range of movement of each guide rod can be easily set. However, if the maximum range of movement is set to the range of movement, the number of interference check objects will increase. Therefore, it is preferred to set an appropriate range of movement. The automatic range of movement setting button 335 is the first automatic setting button.

[0072] exist Figure 4In step 202, the virtual movement range calculation module 352 calculates the virtual movement range of the guide rod and the virtual movement range of the parts that move with the guide rod in the virtual space by using the stroke (movement range) of each guide rod set as described above; and schematically displays the virtual movement range in the virtual model display part 340.

[0073] The virtual moving range of NC 361 (guide rod 1) is schematically illustrated by a dotted line as a virtual moving range 363 of guide rod 1. In the virtual moving range of NC 361 (guide rod 1), the position of the finger portion 362 at the lowest position is schematically illustrated by a dotted line as a position 364.

[0074] The virtual moving range of NC 365 (guide bar 2) is schematically illustrated as virtual moving range 367 of guide bar 2. In the virtual moving range of NC 365 (guide bar 2), the position of the finger portion 366 at the lowest position is schematically illustrated as position 368 by a dotted line.

[0075] The virtual movement range of NC 369 (guide rod 3 ) is schematically illustrated by a dotted line as a virtual movement range 371 of the guide rod 3 .

[0076] exist Figure 4 In step 203, the virtual movement range calculation module 352 extracts an area where the virtual movement range of one guide rod overlaps with the virtual movement range of another guide rod as an interference check area by using the virtual movement range of each guide rod in the virtual space. That is, the virtual movement range calculation module 352 uses the virtual movement range of each guide rod calculated in step 202; and extracts guide rods that may interfere with each other when moving according to the ladder program 800A.

[0077] Figure 7 When the operator Figure 4 An example of a check screen displayed on the display device 221 or 3210 when checking guide rods that may interfere with each other in step 203 of FIG. Figure 6 When the interference check button 334 is clicked on the screen, Figure 6 The screen changes to Figure 7 screen.

[0078] exist Figure 7 , there are illustrated an automatic interference object setting button 341, a delete button 342, an edit button 343, a register button 344, and a simulation check button 349. In addition, columns 345, 346, 347, and 348 are illustrated.

[0079] like Figure 5BAs shown in FIG. 3 , the virtual movement ranges 363, 367, and 371 overlap with each other in a region 380 in which the virtual movement range 363 and the virtual movement range 371 overlap with each other and in a region 381 in which the virtual movement range 367 and the virtual movement range 371 overlap with each other. However, there is no region (overlapping region) in which the virtual movement range 363 of NC 361 (guide rod 1) and the virtual movement range 367 of NC 365 (guide rod 2) overlap with each other.

[0080] If the operator presses Figure 7 , the virtual movement range calculation module 352 performs calculation by using the virtual movement range of each guide rod, and displays the areas (overlapping areas) 380 and 381 in grayscale in the virtual model display part 340. In addition, the parts corresponding to the interference check objects are displayed in column 347, and the interference possibility objects are displayed in column 348. The interference possibility objects are objects that may interfere with the interference check objects displayed in column 347. In column 346, the guide rod numbers of the guide rods including the interference check objects are displayed. In column 345, the registration numbers are displayed. The registration numbers are automatically assigned according to the combination of the interference check objects and the interference possibility objects. The automatic interference object setting button 341 is the second automatic setting button.

[0081] Since there is region 380, if finger 362 of guide bar 1 is the interference check object, stand 370 of guide bar 3 is extracted as an object (interference possible object) with which finger 362 of guide bar 1 may interfere. Also, since there is region 381, if finger 366 of guide bar 2 is the interference check object, stand 370 of guide bar 3 is extracted as an object (interference possible object) with which finger 366 of guide bar 2 may interfere. Also, since there are regions 380 and 381, if stand 370 of guide bar 3 is the interference check object, finger 362 of guide bar 1 and finger 366 of guide bar 2 are extracted as objects (interference possible objects) with which stand 370 of guide bar 3 may interfere.

[0082] If the edit button 343 is pressed, the interference check objects and interference potential objects currently displayed in the columns 345 to 348 can be changed to other objects. In addition, a combination of objects that has not been extracted in the automatic interference object setting process can be added and assigned a new registration number.

[0083] If the delete button 342 is pressed and then any registration number is pressed, the combination of the interference check object and the interference possibility object corresponding to the registration number can be deleted.

[0084] If the registration button 344 is pressed, the objects displayed in the columns 345 to 348 are registered as objects to be simulated. Figure 4 Step 204 . In step 204 , the interference check object and the corresponding interference possibility object extracted (or calculated) for each guide rod are associated with the guide rod and registered in the interference check module 353 .

[0085] If the simulation check button 349 is pressed, the check screen shifts to a screen for checking a simulation of the operation of the objects displayed in columns 345 to 348 , which will be described later.

[0086] After registering the interference check object, Figure 4 In step 205, the interference check module 353 and the guide rod module 351 start simulation and interference check. Then, the process Figure 4 In step 206 of performing a calculation to determine whether interference is occurring in the virtual machine; and Figure 4 In step 207, it is determined whether interference is occurring.

[0087] Figure 8 is when Figure 4 An example of an operation screen displayed on the display device 221 or 3210 when checking the simulation of the operation in step 205. Figure 8 , an execution button 320, a pause button 328, a stop button 329 and a time display 321 are illustrated. The execution button 320 is used to execute the simulation, the pause button 328 is used to pause the simulation, and the stop button 329 is used to stop the simulation. The time display 321 displays the elapsed time of the simulation. In addition, columns 322, 323, 324, 325 and 326 and a scroll bar 320a are illustrated. Columns 322 to 326 indicate detailed information about the inspection object. Column 322 indicates the movement number, column 323 indicates the signal type, column 324 indicates a tag, column 325 indicates an address, and column 326 indicates a current value. These multiple pieces of information are used by PLC500 to move each guide rod in the virtual space.

[0088] Column 322 indicates the number assigned to the unit of the interference check movement according to the ladder program 800A, the interference check object, and the interference possibility object. For example, guide rod 1 performs a monotonous up-and-down movement, including an up-and-down movement at time 1 and an up-and-down movement at time 2. Since the up-and-down movement at time 1 and the up-and-down movement at time 2 must be checked separately for interference with guide rod 3, different movement numbers are assigned to the up-and-down movement at time 1 and the up-and-down movement at time 2. Column 327 indicates an interference log. The interference log will be described later.

[0089] If the execution button 320 is pressed, the interference check module 353 and the guide rod module 351 perform simulation by using the PLC 500 and information about the ladder program 800A, the virtual moving range, the interference check object, and the interference possibility object. The time display 321 measures the time that has passed since the execution button 320 was pressed and displays the time.

[0090] Then, the interference check module 353 and the guide rod module 351 check the occurrence of interference by simulation in the movement number 1 (each movement number indicates the unit of the interference check movement); and indicate the result in the form of a table. Thereafter, the interference check module 353 and the guide rod module 351 similarly check the occurrence of interference in the order of movement numbers 2, 3, 4, ..., 106 in sequence and indicate the result in the form of a table. Any piece of information about the movement can be checked by scrolling the screen using the scroll bar 320a.

[0091] If the process determines that interference is occurring (step 207: Yes), the process obtains information about the state of the PLC 500 via the second communication module 3700 in step 208. Then, the process outputs the information about the state of the PLC 500 and the information about the area where interference is occurring (the process outputs these pieces of information as interference information) to the display device 221 or 3210. Specifically, if interference is occurring in the movement, the area included in the image is filled in black. Figure 8 327 and a check box for the interference log corresponding to the move number of the move. Figure 8 , interference is occurring in the move with move number 4, and the check box of the interference log corresponding to move number 4 is filled in black.

[0092] exist Figure 4 In step 209, the process determines whether to continue the simulation or end the simulation. Specifically, the process determines whether the stop button 329 described later has been pressed. If the stop button 329 has not been pressed, and the process continues the simulation, the process proceeds to step 210, and determines whether there is still a guide rod to be moved in the virtual space.

[0093] If there are still guide rods to be moved in the virtual space, the process proceeds to Figure 4Step 211 is performed, and the simulation and interference check of the operation are continued according to the registration information about the interference check object and the interference possibility object. For example, if NC 361 (guide rod 1) is to be moved, the processing continues to perform the interference check on the gantry 370 of NC 369 (guide rod 3) according to the registration information. If NC 365 (guide rod 2) is to be moved, the processing continues to perform the interference check on the gantry 370 of NC 369 (guide rod 3) according to the registration information. In addition, if NC 369 (guide rod 3) is to be moved, the processing continues to perform the interference check on NC 361 (guide rod 1) and NC 365 (guide rod 2) according to the registration information.

[0094] If multiple guide rods are moving in parallel with each other, for example, if NC 361 (guide rod 1) and NC 365 (guide rod 2) are moving in parallel with each other, the process continues to perform interference checking for each of guide rods 1 and 2 according to the registration information.

[0095] Then, if processing Figure 4 If it is determined in step 212 that interference is occurring in the moving guide rod (step 212 : YES), the process performs the same operation as step 208 in step 213 .

[0096] The process repeats the above simulation. If the stop button 329 is pressed, or all interference check objects of the guide rod have been checked (S214: Yes), the process ends. Figure 4 The simulation is stopped and the stop button 329 is highlighted. If the execution button 320 is pressed again after the simulation ends, the process displays the simulation results again in sequence from operation number 1 to replay the simulation results. In addition, the elapsed time is measured again from 00:00:00 and displayed.

[0097] When the operator desires to pause the simulation or playback, the pause button 328 is used. If the pause button 328 is pressed, the time displayed by the time display 321 is paused, and the display of detailed information about the movement in the form of a table and the display of the interference log are also paused. If the execution button 320 is pressed again in the paused state, the simulation and the measurement of the time displayed by the time display 321 are resumed, and the display of detailed information about the movement in the form of a table and the display of the interference log are also resumed.

[0098] If the stop button 329 is pressed, then if a simulation is being executed, an interrupt occurs to stop the simulation, and the process ends the simulation regardless of whether Figure 4Whether all the movements of the guide rod including the interference check object have been checked in steps 209 and 214. If an interruption occurs while the simulation result is being replayed, the replay returns to operation number 1, and the time displayed by the time display 321 is reset to 00:00:00.

[0099] In another embodiment of the inspection simulation, the execution screen can be displayed on the display device 3210, such as Fig. 9 As shown in Fig. 9 , the virtual model display part 340 is displayed in the execution screen. If the execution button 320 is pressed, the display of detailed information about the movement displayed in a table form and the display of the interference log are displayed; and the guide rod moves in synchronization with the corresponding operation number in the virtual model display part 340. Therefore, the execution of the simulation can be displayed so as to be visually and easily understood. If the pause button 328 is pressed, the time displayed by the time display 321, the display of detailed information about the movement displayed in a table form, the display of the interference log, and the operation of the virtual model display part 340 are paused.

[0100] If the execution button 320 is pressed again after the simulation ends, the process displays the simulation results again in sequence from operation number 1 to replay the simulation results. In the replay, the process measures the time from 00:00:00; and highlights the components corresponding to the operation numbers in sequence from operation number 1 in the virtual model display part 340.

[0101] With this operation, the operator can visually and easily check the simulation of the operation, and can easily understand which guide rod and which movement causes interference.

[0102] exist Fig. 9 In the embodiment of the present invention, a forward button 328a and a back button 328b are provided in addition. If the forward button 328a is pressed in the state where the movement corresponding to any one of the operation numbers is displayed in the virtual model display part 340 and is paused, the movement corresponding to the next movement number of the movement number displayed is displayed in the virtual model display part 340 while circulating (repeating). On the contrary, if the back button 328b is pressed in the state where the movement corresponding to any one of the operation numbers is displayed in the virtual model display part 340 and is paused, the movement corresponding to the previous movement number of the movement number displayed is displayed in the virtual model display part 340 while circulating. Therefore, if the forward button 328a or the back button 328b is pressed continuously, the movement corresponding to the operation number can be checked one by one. In addition, in this case, each movement is displayed in the virtual model display part 340 while circulating.

[0103] Furthermore, the display style of the row including the movement number corresponding to the movement displayed in the virtual model display section 340 is made different from the display style of other rows. Fig. 9 In the example, the row including the movement number 5 is displayed in grayscale, and it is made different from other rows in display style. If the forward button 328a is pressed in this state, the row including the movement number 6 is displayed in grayscale, and the movement corresponding to the movement number 6 is displayed in a loop in the virtual model display part 340. On the contrary, if the back button 328b is pressed, the row including the movement number 4 is displayed in grayscale, and the movement corresponding to the movement number 4 is displayed in a loop in the virtual model display part 340.

[0104] Therefore, since the forward button 328a and the backward button 328b are provided and the display style of the row including the movement number corresponding to the movement displayed in the virtual model display part 340 is made different from the display style of other rows, the operator can easily check each movement unit. Therefore, the operability of the operator can be improved.

[0105] As described above, in the present embodiment, by using the stroke (moving range) of each guide rod, the object of the guide rod whose virtual moving range overlaps with each other is determined as the inspection object; and the inspection object is displayed so as to be recognized by the operator. With this operation, the guide rod that may cause interference when moving through the ladder program can be efficiently simulated. In addition, since the number of inspection objects can be reduced, the amount of information processing can be reduced. In addition, since the guide rod actually moves in the virtual space, the operator can perform offline debugging while checking interference in real time.

[0106] The present invention is not limited to the above-mentioned embodiments and examples, and various modifications can be made within the technical concept of the present invention. For example, the object such as a production device on which the simulation of the operation is performed in the virtual space is not limited to the transmission device of the embodiment, and can be any of various automatic machines, such as a robot. The simulation of the operation can be an offline simulation. In addition, the present disclosure can be applied to any automatic machine that can automatically perform telescopic movement, bending and extension movement, up and down movement, left and right movement, pivoting movement or a combination thereof, depending on the information data stored in the storage device of the control device.

[0107] In addition, an automatic machine designed by using the simulation device or simulation method of the present embodiment can be actually made and connected to the simulation device of the present embodiment. In this case, the simulation operation performed by the simulation device of the embodiment in the virtual space can be performed online by using the actual automatic machine, or the product can be manufactured by operating the actual automatic machine using the debugged operation program. In this case, the simulation device of the embodiment can be used as a control device of the automatic machine, and the simulation device can be operated according to the simulation method using the test mode of the embodiment and used as the control method of the automatic machine.

[0108] The functions of the above-mentioned diagnostic device 200, simulation device 300, management device 400 and PLC 500 can be realized by one or more computers (information processing devices). For example, the functions of the diagnostic part, simulation part and management part can be realized not only by three computers, but also by one, two or four or more computers. In addition, the function of PLC 500 can be realized by a computer (information processing device) having the functions of the diagnostic part, simulation part or management part.

[0109] Other embodiments

[0110] Embodiments of the present invention may also be implemented by reading out and executing computer executable instructions (e.g., one or more programs) recorded on a storage medium (which may also be more completely referred to as a 'non-transitory computer-readable storage medium') to perform one or more of the functions of the above-mentioned embodiments and / or a computer of a system or device including one or more circuits (e.g., an application-specific integrated circuit (ASIC)) for performing one or more of the functions of the above-mentioned embodiments, and by a computer of the system or device, for example, reading out and executing computer executable instructions from a storage medium to perform one or more of the functions of the above-mentioned embodiments and / or controlling one or more circuits to perform one or more of the functions of the above-mentioned embodiments. The computer may include one or more processors (e.g., a central processing unit (CPU), a microprocessing unit (MPU)), and may include a network of separate computers or separate processors to read out and execute computer executable instructions. Computer executable instructions may be provided to the computer, for example, from a network or a storage medium. The storage medium may include, for example, a hard disk, a random access memory (RAM), a read-only memory (ROM), a storage device of a distributed computing system, an optical disk (such as a compact disk (CD), a digital versatile disk (DVD), or a Blu-ray disk (BD)) TM ), one or more of flash memory devices, memory cards, etc.

[0111] The embodiments of the present invention may also be implemented by providing software (program) for performing the functions of the above-described embodiments to a system or device via a network or various storage media, and a computer or a central processing unit (CPU) or a microprocessing unit (MPU) of the system or device reads and executes the program.

[0112] While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments.The scope of the following claims is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures and functions.

Claims

1. An information processing device configured to virtually execute a movement of a device including a plurality of devices, the information processing device comprising: Display part; as well as A control section, the control section being configured to: before checking interference of devices in a virtual space, extracting at least two devices whose movement ranges partially or completely overlap with each other from the plurality of devices based on the movement range that has been set for each of the plurality of devices and not extracting devices whose movement ranges do not overlap with each other from the plurality of devices, displaying the at least two devices as inspection objects on the display portion, and Movements of the at least two devices in the virtual space are virtually performed, and it is checked whether the at least two devices interfere with each other within a range in which movement ranges of the at least two devices overlap with each other.

2. The information processing apparatus according to claim 1, wherein the control section is configured to display, on the display section, a setting screen for setting the movement range and a position input section for inputting, on the setting screen, a position to which the device is moved. 3 . The information processing apparatus according to claim 2 , wherein the control section is configured to display the relationship among the apparatus, the plurality of devices, and the location on the setting screen in a tree diagram format.

4. The information processing apparatus according to claim 2, wherein the control section is configured to display a first automatic setting button for automatically setting the movement range on the setting screen, and If the first automatic setting button is pressed, the control portion is configured to automatically set a maximum moving range of the plurality of devices as the moving range. 5 . The information processing apparatus according to claim 1 , wherein the control section is configured to display an inspection screen for inspecting the inspection object on the display section. 6 . The information processing apparatus according to claim 5 , wherein the control section is configured to display, on the check screen, an area in which one movement range overlaps with another movement range based on the movement range.

7. The information processing apparatus according to claim 6, wherein the control section is configured to display a combination of inspection objects to be inspected on the inspection screen according to the area, and wherein the control section is configured to display, on the inspection screen, a second automatic setting button for automatically displaying the combination. 8 . The information processing apparatus according to claim 7 , wherein the control section is configured to display a delete button for deleting the combination and an edit button for editing the combination on the check screen. 9 . The information processing apparatus according to claim 1 , wherein the control section is configured to display, on the display section, an operation screen for displaying a virtual movement of the inspection object.

10. The information processing apparatus according to claim 9, wherein the control section is configured to display the execution status of the virtual movement on the operation screen in a table form including check boxes, and If the at least two devices interfere with each other, the control portion is configured to fill the check box in black.

11. The information processing device according to claim 1, wherein the control section is configured to display a virtual model display section on the display section in which the device is displayed as a virtual model, and The control section is configured to cause the virtual model display section to display virtual movement of the inspection object.

12. The information processing device according to claim 11, wherein the control section is configured to display an execution button, a pause button, a forward button, and a back button on the display section, wherein the execution button causes the virtual model display section to execute virtual movement of the inspection object, wherein the pause button causes the virtual model display section to pause the virtual movement of the inspection object, and The forward button and the backward button enable the virtual model display section to select a virtual movement of the inspection object.

13. The information processing device according to claim 12, wherein the control section is configured to cause the display section displaying detailed information about the virtual movement of the inspection object displayed in the virtual model display section in a table form, and A display style of a row corresponding to a virtual movement of the inspection object displayed in the virtual model display section is made different from display styles of other rows corresponding to other movements.

14. The information processing apparatus according to claim 13, wherein the control section is configured to cause the display section to synchronize a display displayed by the virtual model display section with the detailed information displayed in a table format according to operations of the forward button and the back button. 15 . The information processing apparatus according to claim 11 , wherein when the control section causes the virtual model display section to display the virtual movement of the inspection object, the control section causes the virtual model display section to display the virtual movement of the inspection object such that the virtual movement loops. 16 . A production device comprising the information processing device according to claim 1 .

17. A method of manufacturing a product by using the production apparatus according to claim 16.

18. An information processing method, which causes an apparatus including a plurality of devices to move virtually and is executed by a control section, the information processing method comprising: before checking interference of devices in the virtual space, extracting at least two devices whose movement ranges partially or completely overlap with each other from the plurality of devices based on the movement range that has been set for each of the plurality of devices and not extracting devices whose movement ranges do not overlap with each other from the plurality of devices; displaying the at least two devices as inspection objects on a display section, and Movements of the at least two devices in the virtual space are virtually performed, and it is checked whether the at least two devices interfere with each other within a range in which movement ranges of the at least two devices overlap with each other. 19 . A computer-readable non-transitory recording medium storing a control program for causing a computer to execute the information processing method according to claim 18 .

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