System research assistance device and system research assistance program

Abstract

The purpose of the present invention is to easily confirm the appearance of a system viewed from an on-site observer in a stage of discussing a layout relating to a system that performs a predetermined work. The system research support device includes a system information input unit, a layout display unit, an observer information input unit, a model generation unit, a model arrangement input unit, and a model viewpoint display unit. The layout display unit displays the layout of the system on the basis of the information input to the system information input unit. The model generation unit generates an observer model on the basis of the information input to the observer information input unit. The model arrangement input unit is configured so as to be able to arrange the generated observer model with respect to the layout of the system. The model viewpoint display unit displays a system that is viewed at the viewpoint of the arranged observer model.

Description

Technical Field

[0001] This invention relates to an apparatus for studying the layout of a system that assists in performing predetermined tasks. Background Technology

[0002] In systems that use industrial robots to perform predetermined tasks, there are studies on the layout of the system, generation of robot programs, simulation of actions within the system, and teaching of industrial robots, all conducted on computers.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2021-47623 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] In computer work, the viewpoint can be changed appropriately. Specifically, for example, when wanting to view the overall configuration of the system layout from a distance, a display from a farther viewpoint can be selected; when making minor adjustments, a display from a closer viewpoint can be selected. This allows for efficient computer work.

[0008] However, on the other hand, the inventors of this invention considered the potential problems described below. That is, it is difficult to know what the system looks like from the perspective of an observer in the actual field. Therefore, there are situations where the appearance of the system from the perspective of an observer in the field cannot be confirmed until the system is actually constructed.

[0009] The present invention was made in view of the above circumstances, and its object is to make it easy to confirm the appearance of the system as seen from the field observer during the research phase of the layout related to the system for performing the predetermined operation.

[0010] Methods for solving problems

[0011] The first disclosure is a system research aid device that assists in the study of the layout of a system related to performing a predetermined task, wherein the system research aid device comprises:

[0012] The system information input unit is configured to input information related to the system.

[0013] A layout display unit displays the layout of the system based on information input to the system information input unit;

[0014] An observer information input unit is configured to input information related to the observer observing the system.

[0015] The model generation unit generates an observer model based on the information input to the observer information input unit.

[0016] The model configuration input unit is configured to configure the layout of the generated observer model relative to the system.

[0017] The display computing unit calculates the appearance of the system from the viewpoint of the configured observer model; and

[0018] A model viewpoint display unit that displays the system as seen from the viewpoint.

[0019] The second disclosure is a system research support program that enables a computer to function as a device for assisting in the research of the layout of a system related to performing predetermined tasks, wherein the computer functions as the following components:

[0020] The system information input unit is configured to input information related to the system.

[0021] A layout display unit displays the layout of the system based on information input to the system information input unit;

[0022] An observer information input unit is configured to input information related to the observer observing the system.

[0023] The model generation unit generates an observer model based on the information input to the observer information input unit.

[0024] The model configuration input unit is configured to configure the layout of the generated observer model relative to the system.

[0025] The display computing unit calculates the appearance of the system from the viewpoint of the configured observer model; and

[0026] A model viewpoint display unit that displays the system as seen from the viewpoint. Attached Figure Description

[0027] Figure 1 This is a block diagram illustrating the system research support device of the first embodiment.

[0028] Figure 2 It is a diagram representing a layout-based display.

[0029] Figure 3 This is a diagram representing the display of the model-based viewpoint display unit. Detailed Implementation

[0030] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, the present invention is not limited to the following embodiments, and appropriate modifications and implementations can be made without departing from the spirit of the present invention.

[0031] [First Implementation]

[0032] Figure 1 The system research auxiliary device 50 shown is, for example, an auxiliary device for... Figure 2 The layout of the system S shown is studied. The system S performs a predetermined operation. Specifically, the system S in this embodiment includes an industrial robot Rb, which is used to process workpiece W. The robot Rb can also be read as "industrial robot".

[0033] Figure 1 The system research support device 50 shown is embodied through the coordinated operation of a computer and a system research support program. The computer includes a computer body, a display, and an operating unit. The computer body includes a CPU, ROM, RAM, etc. The system research support program is loaded into the computer body. The operating unit includes a keyboard, mouse, etc. The system research support program enables the computer to function as the system research support device 50.

[0034] like Figure 1 As shown, the system research auxiliary device 50 includes a system information input unit 11, a layout generation unit 12, and a layout display unit 13.

[0035] The system information input unit 11 is configured to input information related to system S. The system information input unit 11 is embodied primarily in the computer body, display, and operation unit. The user U, while viewing the display, operates the operation unit to input information related to system S, used in layout analysis, into the computer body.

[0036] The layout generation unit 12 generates a CAD model representing the layout of system S based on the information input to the system information input unit 11. The layout generation unit 12 is embodied in the computer body.

[0037] The layout display unit 13 displays, for example, the CAD model generated by the layout generation unit 12. Figure 2 The layout of system S is shown. The layout display unit 13 is embodied in the computer body and the monitor.

[0038] like Figure 1 As shown, the system research auxiliary device 50 also includes an observer information input unit 21, a field of view information input unit 22, a model generation unit 23, and a model storage unit 24.

[0039] The observer information input unit 21 is configured to input model parameters that are information related to an observer in the on-site observation system S. The observer could be, for example, a worker using the system S at a work site, or a visitor at a demonstration showcasing the system S. The model parameters include at least the height of the person assumed to be the observer. The observer information input unit 21 is embodied primarily in a computer body, a display, and an operating unit. The user U operates the operating unit while viewing the display, inputting the model parameters related to the person assumed to be the observer into the computer body.

[0040] The field of vision information input unit 22 is configured to input field of vision information, which is related to the observer's field of vision. Field of vision information includes, for example, whether the observer is wearing protective goggles, whether the observer has color blindness, or whether the observer has cataracts. The field of vision information input unit 22 is embodied primarily in the computer body, display, and operation unit. The user U inputs the field of vision information into the computer body while viewing the display and operating the operation unit.

[0041] The model generation unit 23 generates, for example, a model based on the information input to the observer information input unit 21 and the information input to the field of view information input unit 22. Figure 2 The observer model M shown is the CAD model that acts as the observer. The model generation unit 23 is embodied in the computer itself.

[0042] Figure 1 The model storage unit 24 shown is configured to sequentially store observer models M generated by the model generation unit 23, that is, it can store multiple observer models M. The model storage unit 24 is embodied in the computer body.

[0043] like Figure 1 As shown, the system research auxiliary device 50 also includes a model configuration input unit 31, a display and calculation unit 32, and a model viewpoint display unit 33.

[0044] like Figure 2 As shown, the model configuration input unit 31 is configured to generate an observer model M from the model generation unit 23 based on the layout configuration of the system S displayed by the layout display unit 13. The model configuration input unit 31 is embodied primarily in a computer body, a display, and an operation unit. The user U operates the operation unit while viewing the display, performing the following operations on the computer body. First, from the stored... Figure 1 From the multiple observer models M in the model storage unit 24 shown, any one observer model M is selected. Then, as... Figure 2 As shown, the observer model M is configured within the screen displayed by the layout display unit 13.

[0045] Figure 1The display calculation unit 32, as shown, calculates the appearance of the system S from the viewpoint of the observer model M based on the CAD model of the system S layout generated by the layout generation unit 12 and the configuration of the observer model M input to the model configuration input unit 31. Specifically, for example, the display calculation unit 32 calculates the height of the viewpoint of the observer model M based on the height of the configured observer model M. The height of the viewpoint is, for example, the result obtained by multiplying the height of the observer model M by 0.9. The display calculation unit 32 is embodied in the computer body.

[0046] like Figure 3 As shown, the model viewpoint display unit 33 displays the system S calculated by the display calculation unit 32, that is, the system S seen from the viewpoint of the observer model M. The model viewpoint display unit 33 is embodied in the computer body and the display. The model viewpoint display unit 33 changes the display according to the field of view information in the observer model M. Specifically, for example, if the selected observer model M is set to be wearing goggles, the system S under the field of view of the goggles is displayed. In addition, if the selected observer model M is set to have color weakness, the color contrast is reduced, or the system S is displayed in grayscale. Furthermore, if the observer model M is set to have cataracts, the system S under the field of view reproducing cataracts is displayed.

[0047] The following is a summary of the structure and effects of this implementation method.

[0048] Figure 1 The layout generation unit 12 generates the layout of system S based on information related to system S input to system information input unit 11. The model generation unit 23 generates an observer model M based on observer-related information input to observer information input unit 21. The model configuration input unit 31 is configured to configure the generated observer model M. The display calculation unit 32 calculates the appearance of system S from the viewpoint of the configured observer model M. The model viewpoint display unit 33 displays system S as seen from the viewpoint of observer model M. Therefore, during the layout study phase related to system S, the user U can confirm the appearance of system S from the perspective of an on-site observer by the display performed by the model viewpoint display unit 33.

[0049] More specifically, for example, when operators demonstrate on-site. Figure 2 In the case of the robot Rb shown, the following problem can be solved. That is, if there are many obstructions between the operator's standing position and the robot Rb, the operator must move from the current standing position to a position where the robot Rb can be seen, in accordance with the robot Rb's movements. From this point of view, according to this embodiment, during the research phase of the layout related to such a system S, it can be confirmed whether such a layout of system S has not yet been achieved, that is, whether the robot Rb is easy to teach from the operator's perspective.

[0050] Furthermore, in exhibitions and other settings, there are situations where visitors want to see the overall appearance of System S. From this perspective, according to this embodiment, during the layout study phase related to System S, it can be confirmed whether objects overlap from the visitor's viewpoint, that is, whether the entire object area of ​​System S can be visually identified from the visitor's viewpoint.

[0051] According to the input Figure 1 The field of view information is input by the field of view information input unit 22, and the model viewpoint display unit 33 displays the system S. Therefore, the user U can confirm the appearance of the system S, which also takes into account the observer's field of view.

[0052] The model configuration input unit 31 selects a model from the multiple observer models M stored in the model storage unit 24 and configures it relative to the layout of the system S. Therefore, the system research assistance device 50 is easy to use. Specifically, for example, the user U can sequentially check the system S as seen from the viewpoints of various observer models M with different heights or field of vision conditions by sequentially switching the selection of observer models M.

[0053] [Other Implementation Methods]

[0054] The embodiments described above can be modified, for example, as follows. In system S, an industrial robot Rb may be substituted, or alternatively, an industrial machine such as a machine tool may be included. In this case, the system research support device 50 may also be configured to primarily consist of a numerical control device.

[0055] Furthermore, system S can also include collaborative robots that work together to perform predetermined tasks. In this case, the appearance of the robots as seen from the observer becomes more complex, thus maximizing the effectiveness of the implementation method.

[0056] The model parameters may also include the observer's age. In this case, the model viewpoint display unit 33 may also adjust the display resolution of the system S according to the observer's age, for example.

[0057] Based on the above embodiments, the system research auxiliary device 50 shown in Appendix 1 to 4 and the system research auxiliary program shown in Appendix 5 can be implemented.

[0058] [Postscript 1]

[0059] A system research aid (50) assists in the study of the layout of a system (S) performing a predetermined task, wherein the system research aid (50) comprises:

[0060] The system information input unit (11) is configured to input information related to the system (S);

[0061] The layout display unit (13) displays the layout of the system (S) based on the information input to the system information input unit (11);

[0062] The observer information input unit (21) is configured to input information related to the observer observing the system (S);

[0063] The model generation unit (23) generates an observer model (M) based on the information input to the observer information input unit (21);

[0064] The model configuration input unit (31) is configured to configure the layout of the generated observer model (M) relative to the system (S);

[0065] Display computing unit (32) calculates the appearance of the system (S) from the viewpoint of the configured observer model (M); and

[0066] The model viewpoint display unit (33) displays the system (S) as seen from the viewpoint.

[0067] [Postscript 2]

[0068] According to the system research auxiliary device (50) described in Appendix 1, wherein,

[0069] The system research auxiliary device also includes: a field of view information input unit (22), which is configured to input information related to the observer's field of view;

[0070] The model viewpoint display unit (33) displays the system (S) as seen from the viewpoint based on the information input to the field of view information input unit (22).

[0071] [Postscript 3]

[0072] According to Appendix 1 or 2, the system research auxiliary device (50) wherein,

[0073] The system research auxiliary device also includes: a model storage unit (24), which is configured to store multiple observer models (M);

[0074] The model configuration input unit (31) is configured to configure the layout of the model selected from the observer model (M) stored in the model storage unit (24) relative to the system (S).

[0075] [Postscript 4]

[0076] According to any one of the appendices 1 to 3, the system research auxiliary device (50) wherein,

[0077] The system (S) includes an industrial robot (Rb) that processes workpieces (W).

[0078] [Postscript 5]

[0079] A system research assistance program (50) that enables a computer to function as a device (50) assisting in the research of the layout of a system (S) related to performing predetermined tasks, wherein the computer functions as a component of:

[0080] The system information input unit (11) is configured to input information related to the system (S);

[0081] The layout display unit (13) displays the layout of the system (S) based on the information input to the system information input unit (11);

[0082] The observer information input unit (21) is configured to input information related to the observer observing the system (S);

[0083] The model generation unit (23) generates an observer model (M) based on the information input to the observer information input unit (21);

[0084] The model configuration input unit (31) is configured to configure the layout of the generated observer model (M) relative to the system (S);

[0085] Display computing unit (32) calculates the appearance of the system (S) from the viewpoint of the configured observer model (M); and

[0086] The model viewpoint display unit (33) displays the system (S) as seen from the viewpoint.

[0087] Symbol Explanation

[0088] 11 System Information Input Department

[0089] 13 Layout Display Section

[0090] 21 Observer Information Input Department

[0091] 22 Visual Information Input Section

[0092] 23 Model Generation Department

[0093] 24 Model Storage Unit

[0094] 31 Model Configuration Input Section

[0095] 32 Display Computing Unit

[0096] 33 Model Viewpoint Display Unit

[0097] 50 System Research Auxiliary Devices

[0098] S System

[0099] M-observer model.

Claims

1. A system research auxiliary device, which assists in the study of the layout related to a system performing a predetermined task, characterized in that, The system research assistance device has: a system information input section configured to input information related to the system; a layout display section configured to display a layout of the system based on the information input to the system information input section; an observer information input section configured to input information related to an observer who observes the system; a model generation section configured to generate an observer model based on the information input to the observer information input section; a model configuration input section configured to configure the generated observer model with respect to the layout of the system; a display calculation section configured to calculate a view of the system from a viewpoint of the configured observer model; and a model viewpoint display section configured to display the system as viewed from the viewpoint.

2. The system research assistance device according to claim 1, further comprising a field of view information input section configured to input information related to a field of view of the observer, wherein the model viewpoint display section displays the system as viewed from the viewpoint based on the information input to the field of view information input section.

3. The system research assistance device according to claim 1 or 2, further comprising a model storage section configured to store a plurality of observer models, wherein the model configuration input section is configured to configure a model selected from the observer models stored in the model storage section with respect to the layout of the system.

4. The system research assistance device according to any one of claims 1 to 3, wherein the system includes an industrial robot that processes a workpiece. The computer functions as the following sections: a system information input section configured to input information related to the system; a layout display section configured to display a layout of the system based on the information input to the system information input section; an observer information input section configured to input information related to an observer who observes the system; a model generation section configured to generate an observer model based on the information input to the observer information input section; a model configuration input section configured to configure the generated observer model with respect to the layout of the system; 5. A system research aid program that enables a computer to function as a device to assist in the research of system-related layouts for performing predetermined tasks, characterized in that, a display calculation section configured to calculate a view of the system from a viewpoint of the configured observer model; and a model viewpoint display section configured to display the system as viewed from the viewpoint. ​ ​ ​ ​ ​ ​ ​

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