Simulation device and program

Abstract

A simulation device according to one aspect of the present disclosure includes a storage unit for storing a 3D model of a workpiece to be cleaned, a receiving unit for receiving a user operation to cause dirt to be expressed on all or part of the 3D model of the workpiece, a generation unit for generating, based on a user operation, a dirt adhesion model in which dirt is expressed on all or part of the 3D model of the workpiece, and a display unit for displaying the generated dirt adhesion model.

Description

Technical FieldThe present disclosure relates to a simulation device having a cleaning operation simulation function and a program.Background ArtAs a method for teaching a robot a predetermined operation, an online teaching method, an offline teaching method, and the like have been proposed. A simulation-based teaching method is known as the offline teaching method, for example. In the simulation-based offline teaching, 3D models of a robot, an end effector, a workpiece, a peripheral device, and the like are placed in a virtual space displayed on a PC, and an operation program can be generated while these models are being virtually operated. Offline simulation-based teaching is widely used because it is not necessary to operate the actual machine, and a program can be generated and checked by simulation with a PC at all times and anywhere. In the simulation-based offline teaching, for example, the user may create an operation program for causing a robot to execute an operation such as a picking operation, a mounting operation, a welding operation, a coating operation, or the like while actually operating a robot model on a screen and confirming the operation. On the other hand, for example, in generating a cleaning program for a robot to perform a cleaning operation, it is difficult to reproduce the cleaning operation by simulation because "dirt" cannot be reproduced in the simulation. Therefore, the user generates a cleaning program while presenting dirt to the target workpiece, and then actually operates the cleaning robot in accordance with the generated cleaning program to confirm whether the target workpiece is properly cleaned. As described above, since the generation of the cleaning program can be completed not only by simulation, it takes much time. Patent Literature 1 discloses, as a technique related to such a cleaning operation, a technique of creating a fluid jet path to move deposits by ejecting a fluid in a machine tool.List of Citer ListsPatent LiteraturePatent Literature 1: Japanese Patent No. 7083943SUMMARY OF THE INVENTIONProblem to be Solved by the InventionHowever, the cleaning operation still cannot be reproduced by simulation, and it is desirable to propose a technique for reproducing dirt by simulation so that a cleaning program can be generated by simulation.Solution to the ProblemA simulation apparatus according to an aspect of the present disclosure includes a storage unit for storing a 3D model of a workpiece to be cleaned, a receiving unit for receiving a user operation to cause dirt to be expressed on the whole or part of the 3D model of the workpiece, a generating unit for generating, based on a user operation, a dirt adhesion model in which the dirt is expressed on the whole or part of the 3D model of the workpiece, and a display unit for displaying the generated dirt adhesion model.Brief Description of the DrawingsFIG. 1 shows an example of a robot cleaner system. FIG. 2 is a hardware configuration diagram of a simulation device according to the present embodiment. FIG. 3 is a functional block diagram of the simulation device according to the present embodiment. FIG. 4 shows an example of a procedure for generating a cleaning program by the simulation device according to the present embodiment. FIG. 5 shows an example of the procedure of a process for generating a dirt adhesion model in step S 11 of FIG. 4. FIG. 6 shows an example of a setting screen for a method of expressing dirt on a dirt adhesion model. FIG. 7 shows a display example of dirt expressed by a dirt model. FIG. 8 shows a display example of dirt expressed by a change in the surface of a cleaning target model. FIG. 9 is a diagram for explaining a method of setting a dirt area from an image. FIG. 10 shows a reference model for dirt in a corner region. FIG. 11 shows a dirt adhesion model in which the dirt reference model is applied to a corner portion of a cleaning target model. FIG. 12 shows a fluid jet model. FIG. 13 is a diagram for explaining a dirt subtraction process during execution of a simulation. FIG. 14 shows an example of a dirt adhesion model before executing a simulation. FIG. 15 shows an example of a dirt adhesion model after executing a simulation. FIG. 16 shows another example of a dirt adhesion model after executing a simulation. FIG. 17 shows another example of a dirt adhesion model after execution of a simulation. FIG. 18 shows another example of the procedure for generating a cleaning program by the simulation device according to the present embodiment. FIG. 19 is a flowchart showing an example of a procedure of a process of automatically registering a teaching point in step S 26 of FIG. 18. FIG. 20 is a diagram for explaining another example of the process of automatically registering a teaching point.DETAILED DESCRIPTION OF THE INVENTIONHereinafter, a simulation device according to the present embodiment will be described with reference to the drawings. In the following description, constituent elements having substantially the same function and configuration are denoted by the same reference numeral, and repetitive descriptions are given only where necessary.As shown in FIG. 1, a simulation device 1 according to the present embodiment is a computer device having a function of generating a cleaning program by simulation to cause a cleaning robot 40 having a cleaning nozzle 50 to perform a cleaning operation on a workpiece 60 to be cleaned. Specifically, the simulation device 1 has a function of generating a 3D model (dirt adhesion model) in which dirt is reflected on a 3D model (cleaning target model) of a workpiece 60 to be cleaned, a function of arranging the dirt adhesion model and a 3D model (cleaning robot model) of a cleaning robot 40 in a virtual space, a function of teaching the cleaning robot model arranged in the virtual space, a cleaning program, a function of generating a cleaning program that summarizes the contents taught to the cleaning robot model, and a function of causing the cleaning robot model to perform a cleaning operation by simulation in accordance with the generated cleaning program. Typically, the simulation device 1 according to the present embodiment is configured as follows.As shown in FIG. 2, the simulation device 1 according to the present embodiment is configured by connecting hardware such as an operation device 5, a display device 6, a communication device 7, and a storage device 8 to a processor 2 (a CPU, etc.). The simulation device 1 is provided by a general information processing terminal such as a personal computer, a tablet, or a smartphone.The operation device 5 is provided by a keyboard, a mouse, a tap switch, or the like. The operation device 5 may be provided by a touch panel also serving as the display device 6. The user can input various types of information to the simulation device 1 via the operation device 5. The display device 6 is provided by an LCD or the like. A screen generated by a screen generation unit 22 is displayed on the display device 6. The communication device 7 controls transmission and reception of data to and from a controller or the like of a robot. A cleaning program generated by the simulation device 1 is transmitted to a robot controller through the processing of the communication device 7. The storage device 8 is provided by an HDD, an SSD, or the like. A simulation program is stored in the storage device 8.When the simulation program stored in the storage device 8 is executed by the processor 2, as shown in FIG. 3, the simulation device 1 functions as an input unit (receiving unit) 15, a display unit 16, a transmission / receiving unit 17, a storage unit 18, a dirt adhesion model generating unit 21, a screen generating unit 22, a virtual space generating unit 23, a model arranging unit 24, a dirt expression method setting unit 25, an operation condition setting unit 26, a beam condition setting unit 27, a teaching point registering unit 28, a program generating unit 29, and a simulation executing unit (beam amount calculating unit) 30.The input unit 15 is an interface for directly inputting a user operation to the simulation device 1. The display unit 16 has the display device 6 shown in FIG. 2, and displays the screen generated by the screen generation unit 22. The transmission / reception unit 17 is an interface for transmitting and receiving data to and from a device connected thereto in a wired or wireless manner. In the present embodiment, the transmission / reception unit 17 transmits and receives data to and from the robot controller via the communication device 7 shown in FIG. 2. In this case, the transmission / reception unit 17 functions as the reception unit.The storage unit 18 has the storage device 8 shown in FIG. 2, and the data of the 3D models is stored in the storage unit 18 in advance. The data of the 3D models includes a robot cleaner model including a cleaning nozzle model and a cleaning target model.The dirt adhesion model generation unit uses the data of the cleaning target model stored in the storage unit 18 to generate a dirt adhesion model in which the dirt is reflected on the cleaning target model.The screen generation unit 22 generates various screens related to the generation of the cleaning program. The various screens include a teaching screen for teaching a robot cleaner model with a cleaning program, a setting screen for setting a dirt squeezing method, a setting screen for setting an operation condition, a setting screen for setting a jet condition of the fluid ejected from a cleaning nozzle, a generation screen for generating a dirt adhesion model, and the like.The virtual space generation unit 23 generates a virtual space in software that three-dimensionally represents the operation space of the robot cleaner. The virtual space generated by the virtual space generation unit 23 is displayed on the teaching screen or the like generated by the screen generation unit 22.The model arrangement unit 24 arranges the robot cleaner model and the dirt adherence model in the virtual space created by the virtual space creation unit 23. The robot cleaner model and the dirt adhesion model are arranged in the virtual space so as to correspond to the positional relationship between the robot cleaner and the dirt adhesion workpiece in the actual work space.The dirt expression method setting unit 25 sets a dirt expression method based on a user operation on the dirt expression method setting screen. Details of the dirt squeezing method will be described later. The operation condition setting unit 26 sets an operation condition of the robot cleaner model on the basis of a user operation on the setting screen for setting an operation condition. As the operating condition of the robot cleaner model, a known parameter such as an operating speed, an interpolation format, or a motion format may be used. The operating condition may be set or changed during the operation of the robot cleaner model. The jet condition setting unit 27 sets a jet condition of the fluid on the basis of a user operation on the jet condition setting screen. The jetting condition may be set during the cleaning operation or varied depending on the cleaning position. Details of the beam condition will be described later.The teaching point registering unit 28 registers the position of the hand reference point and the hand posture of the robot cleaner model as a teaching point by a user condition on the teaching screen including the virtual space in which the robot cleaner model and the dirt adhesion model are arranged. For example, the position of the hand reference point is set to the tip position of the cleaning nozzle model of the cleaning robot model.The program generation unit 29 generates a cleaning program on the basis of the operation condition set by the operation condition setting unit 26, the beam condition set by the beam condition setting unit 27, and the plurality of teaching points registered by the teaching point registration unit 28.The simulation execution unit 30 performs a simulation operation for simulatively operating the robot cleaner model disposed in the virtual space according to the cleaning program or according to a user operation input via the operation device 5. Specifically, the simulation executing unit 30 executes a motion simulation of the robot cleaner model 70 and a fluid jet simulation. In the fluid jet simulation, the simulation executing unit 30 calculates the amount of fluid ejected to each part of the dirt adhesion model and subtracts the amount of fluid ejected from the dirt degree of the dirt model or the dirt area of the dirt adhesion model, thereby calculating the dirt degree removed from the dirt model or the dirt area and the dirt degree remaining thereon.A procedure for generating the cleaning program using the simulation device 1 according to the present embodiment will be described below with reference to FIG. 4.As shown in FIG. 4, the simulation device 1 generates a dirt adherence model based on a user operation (S 11), and arranges the generated dirt adherence model and the robot cleaner model in the virtual space displayed on the teaching screen (S 12). Next, the simulation device 1 sets the jet condition of the fluid ejected from the cleaning nozzle model provided in the cleaning robot model (S 13), and sets the operation condition of the cleaning robot model (S 14) based on a user operation. Next, the simulation device 1 registers a teaching point based on a user operation on the teaching screen (S 15). The simulation device 1 generates a cleaning program based on the jet condition set in step S 13, the operation condition set in step S 14, and the teaching point registered in step S 15 (S 16). Then, the simulation device 1 causes the robot cleaner model disposed in the virtual space to perform a simulation of a cleaning operation based on the cleaning program generated in step S 16 (S 17). The processes of steps S 13 to S 17 are repeatedly executed until the user completes a modification operation of the cleaning program (S 18; YES). When the user completes the modification operation of the cleaning program, the generation of the cleaning program is completed (S 18; No).The process of generating the dirt adhesion model of step S 11 in FIG. 4 will be described below with reference to FIG. 5. The dirt adhesion model is generated by the dirt adhesion model generation unit 21. As shown in FIG. 5, the simulation device 1 sets the cleaning target model and the dirt expression method based on a user operation (S 111, S 112). Next, the simulation device 1 sets the range in which dirt is reflected and the degree of dirt on the basis of a user operation on the cleaning target model (S 113, S 114). Then, the simulation device 1 generates (S 115) and displays (S 116) a dirt adherence model in which the dirt of the degree of dirt set in step S 114 in the range set in step S 113 is reflected on the cleaning target model using the expression method set in step S 112. The processes of steps S 112 to S 116 are repeatedly executed until the user completes the modification operation of the dirt adhesion model (S 117; YES). When the user completes the modification operation of the dirt adhesion model, the generation of the dirt adhesion model is completed (S 117; No).The dirt squeezing process of step S 112 in FIG. 5 will be described below with reference to FIG. 6. FIG. 6 shows an example of the setting screen of the dirt expression method. The dirt expression method setting screen is configured so that the user can set the dirt expression method of the cleaning target model in the simulation. As shown in FIG. 6, a plurality of options for selecting the dirt expression method are displayed on the setting screen. The options for the dirt expression method include "adding a dirt model to the cleaning target model" and "changing the surface of the cleaning target model". "adding a dirt model to the cleaning target model" is a method for expressing the dirt of the cleaning target model by superimposing a dirt model modeled on dirt on the surface of the cleaning target model as a unit separated from the cleaning target model. The "change in the surface of the cleaning target model" is a method of expressing the dirt as a change in the surface of the cleaning target model, not as an object like the dirt model.In order to set the details of the dirt expression method "add a dirt model to the cleaning target model", a plurality of options for selecting the shape of the dirt model and a plurality of options for selecting the expression method of the degree of dirt are displayed on the setting screen. The options for the shape of the dirt model include "spherical" and "cubic" shapes. However, the shape of the dust model is not limited to these shapes, but any shape such as a rectangular parallelepiped shape, an ellipsoidal shape, or a spread spheroidal shape may be adopted. The options for the expression method of the degree of dirt include "color of dirt model", "number of dirt models", and "attachment of a numerical value". The expression method of the degree of dirt is not limited to these options, and patterns and the like may also be used.In order to set the details of the dirt expression method "changing the surface of the cleaning target model", a plurality of options for selecting the expression method of the degree of dirt are displayed on the setting screen. The options for the expression method of the degree of dirt include "color of dirt model" and "attach numerical value.". Note that the amount of dirt is expressed by the amount of fluid required to remove the dirt. The dirt assumed to be removed at a jet amount of 3 ml is worse than the dirt assumed to be removed at a jet amount of 1 ml. Of course, the degree of dirt may involve not only the jet amount of the fluid, but also other parameters such as the jet pressure. Since the cleaning performance varies depending on the type of the fluid, the type of the fluid may also be involved in the degree of dirt.Referring to FIG. 7, the dust expression method "add a dust model to the cleaning target model" will be described below. In FIG. 7, the dirt model is generated together with the cleaning target model. Here, it is assumed that the dust model 100 has a cubic shape. The size of the dirt model 100 (the area of a face of a cube) corresponds to the dirt area represented by a dirt model 100. The center position of the dirt model 100 corresponds to the center position of the dirt area represented by the dirt model 100. As shown in FIG. 7, in the dirt expression method "add a dirt model to the cleaning target model", the dirt model 100 is displayed on the surface of the cleaning target model 90. The dirt models 100 aand 100 brespectively represent the degree of dirt by a numerical value. The dirt model 100 awith the attached numerical value "1" represents dirt assumed to be removed by ejecting 1 ml of fluid to the place where the dirt model 100 ais placed. Similarly, the debris model 100 bwith the appended numerical value "3" represents debris that is assumed to be removed by expelling 3 ml of fluid to the location where the debris model 100 bis placed. Each of the dirt models 100 aand 100 bwhich represent the degree of dirt by a numerical value enables the user to quantitatively grasp the degree of dirt removed and the amount of dirt remaining, because the manner in which the dirt is removed is expressed by a countdown of the degree of dirt by ejecting fluid through the cleaning simulation.The dirt models 100 cand 100 drespectively represent the degree of dirt by color. For example, the debris model 100 crepresents the debris believed to be removed by expelling 1 ml of fluid at the location where the debris model 100 cis placed, and the debris model 100 drepresents the debris believed to be removed by expelling 3 ml of fluid at the location where the debris model 100 dis placed. Each of the dirt models 100 cand 100 drepresenting the degree of dirt by color enables the user to quantitatively grasp the degree of dirt removed and the amount of dirt remaining, because the manner in which the dirt is removed is expressed by a change in the color by ejecting fluid through the cleaning simulation. Note that the transparency of the dirt model may be changed depending on the degree of dirt. The transparency degree is defined, for example, such that the higher the dirt degree is, the lower the transparency degree is, and the lower or equal to zero the dirt degree is, the higher the transparency degree is.The dirt models 100 eand 100 frepresent the degree of dirt by the number of models. The debris model 100 ecomprising a debris model 100 hper reference region 100 grepresents debris that is considered to be removed by expelling 1 ml of fluid at the location where the reference region is located. The debris model 100 f, which has three debris models 100 hper reference region 100 g, represents debris that is assumed to be removed by expelling 3 ml of fluid at the location where the reference region is located. The dirt models 100 eand 100 fallow the user to quantitatively grasp the degree of dirt removed and the remaining amount of dirt, because the manner in which the dirt is removed is expressed by a change in the number of the dirt models 100 hby ejecting fluid through the cleaning simulation.The user can select a dirt expression method according to his / her preferences.With reference to FIG. 8, the dust expression method "changing the surface of the cleaning target model" will be described below. FIG. 8 is a diagram showing the dirt model together with the cleaning target model. As shown in FIG. 8, in the dirt expression method "changing the surface of the cleaning target model", the dirt area in which the dirt is to be reflected on the surface of the cleaning target model is set. The dirt area is divided into a plurality of sub-areas. The shape of each portion is set to a square shape, for example. For example, when the area of the dirt area is 15 cm 2 and the area of the partial area is 1 cm 2 the dirt area is divided into 15 partial areas. Each of the dirt portions 200 aand 200 bthat expresses the degree of dirt in a numerical value enables the user to quantitatively grasp the degree of the removed dirt and the remaining amount of dirt, because the manner in which the dirt is removed is expressed by a count-down of the degree of dirt by ejecting fluid through the cleaning simulation.Each of the dirt partial areas 200 aand 200 brepresents dirt whose dirt degree is expressed by a numerical value. The dirt area 200 aaccounted by the numerical value "1" represents dirt that is assumed to be removed by ejecting 1 ml of fluid to the center position of the dirt portion. The debris portion 200 b, denoted by the numerical value "3" similarly represents debris that is assumed to be removed by ejecting 1 ml of fluid to the center position of the debris portion. The dirt subareas 200 cand 200 deach represent a dirt model, the degree of dirt of which is expressed by a color. Thus, the debris portion 200c represents debris that is assumed to be removed by expelling 1 ml of fluid to the center position of the debris portion, and the debris portion 200d represents debris that is assumed to be removed by expelling 3 ml of fluid to the center position of the debris portion. Each of the dirt portions 200 cand 200 dexpresing the degree of dirt by color enables the user to quantitatively grasp the degree of dirt removed and the amount of dirt remaining, because the manner in which the dirt is removed is expressed by a change in the color by ejecting fluid through the cleaning simulation. For example, when the surface color of the cleaning target model is the first color and the color of the dirt portion 200 is the second color, the color of the dirt portion 200 is changed from the second color to gradually approach the first color based on the amount of the beam to the dirt portion. The color change at this time is preferably expressed by gradation. This allows the user to intuitively grasp how the dirt is removed.For example, the user determines the dirt area and the degree of dirt by an operation on the cleaning target model, thereby generating a dirt adhesion model in which the surface of the cleaning target model corresponding to the determined dirt area has been changed to a mode representing the determined dirt degree.Note that, as the method for determining the dirt area, any method such as a point, a line, or a band may be used. It is also possible to collectively determine the entire cleaning target model as the dirt area. For example, an icon of a pen, a brush, or the like may be displayed as a tool for determining the dirt area on the screen for generating the dirt adhesion model. Accordingly, the user can determine the dirt area in which the dirt is to be reflected on the cleaning target model by an intuitive operation with the tool.As shown in FIG. 9, a difference image S 3 is also generated by image processing (difference processing) of an image S 1 before the contamination of the cleaning target workpiece and an image S 2 after the contamination, dirt areas D 1 to D 4 are extracted, and the extracted dirt areas D 1 to D 4 may be set as the dirt areas of the cleaning target model. Of course, the degree of dirt may be identified based on the pixel value etc. of the dirt area by image processing on the image S 1 before the dirt on the cleaning target workpiece and the image S 2 after the dirt, and the identified degree of dirt may be adopted as the degree of dirt on the cleaning target model.It is also possible to generate a reference model corresponding to each section in which dirt is to be reflected, and automatically reflect, in a section determined by the user, the reference model corresponding to the section. FIG. 10 is a diagram showing a reference model for dirt in a corner portion. FIG. 11 is a diagram showing a state in which the reference model is reflected in a corner portion of the cleaning target model. As shown in FIG. 11, the reference model of the dirt in the corner portion shown in FIG. 10 is read and applied to the entire corner portion when a corner portion of the cleaning target model 90 is determined by a user operation. As described above, by creating a reference model of dirt for each part to which dirt is to be reflected and for each type of workpiece to which dirt is to be reflected, the user can reflect dirt on the cleaning target model 90 through a simple operation, so that the time required for creating the dirt adhesion model 95 can be shortened.The beam condition in step S 13 of FIG. 3 will be described below with reference to FIG. 12. FIG. 12 shows a state in which a fluid is ejected from the jet nozzle model. As the fluid, compressed air, water, cleaning liquid or the like can be used. As shown in FIG. 12, the jetting condition includes a distance D 1 from the nozzle tip to the cleaning surface, and the fluid jet amount distribution at the distance D 1. By adjusting the jet condition, a fluid jet model can be generated. The beam amount distribution can be set by, for example, a graph having the distance from the beam center as a horizontal axis and the beam amount as a vertical axis. As shown in FIG. 12, the beam amount distribution is set such that the beam amount per unit area of the circular region from the beam center to the distance R 1 is A 3, the beam amount per unit area of the annular region is between the distances R 1 and R 2 from the beam center A 2, and the beam amount per unit area of the annular region is between the distances R 2 and R 3 from the beam center A 1. In the present embodiment, the beam condition is set by the user in the simulation device 1, but a condition received from another device connected to the simulation device 1 may be set as the beam condition. By moving the jet model through the cleaning robot model, fluid can be ejected virtually to each part of the dirt adhesion model.The change of the dirt display mode in the execution of the cleaning simulation will be described below with reference to FIG. 13. In FIG. 13, the fluid jet model 300 is shown together with the debris model 100. FIG. 13( a) shows the model of dirt 100 at the start of cleaning, and FIG. 13( b) shows the model of dirt 100 one second after the start of cleaning. Here, the soil model 100 is assumed to be soil that is assumed to be removed by expelling 3 ml of fluid. As shown in Figure 13(a), fluid is ejected onto six dirt models 100 with which the jet model interferes. Of the six dirt models 100, the two central dirt models 100 are irradiated with fluid at 3 ml per second, the outer dirt models 100 are irradiated with fluid at 2 ml per second, and the further outer dirt models 100 are irradiated with fluid at 1 ml per second. Therefore, when the robot cleaner model is at rest at the position P 1 and fluid is injected for 1 second, 3 ml of fluid is ejected onto the dirt assumed to be removed by ejecting 3 ml of fluid, so that the dirt degrees of the two central dirt models 100 are subtracted and become 0 and the two central dirt models 100 are deleted. On the other hand, since 2 ml of fluid is ejected onto the dirt assumed to be removed by ejecting 3 ml of fluid, the dirt degrees of the dirt models 100 outside the two central dirt models 100 are subtracted, and as a result, the displays are changed from the display mode of the dirt assumed to be removed by ejecting 3 ml of fluid to the display mode of the dirt assumed to be removed by ejecting 1 ml of fluid. Similarly, since 1 ml of fluid is ejected onto dirt believed to be removed by ejecting 3 ml of fluid, the dirt levels of the exterior dirt models 100 are further subtracted, and as a result, the indicators are changed from the indicator mode of dirt believed to be removed by ejecting 3 ml of fluid to the indicator mode of dirt believed to be removed by ejecting 2 ml of fluid. As described above, in the simulation of the cleaning operation, the dirt model 100 may be deleted or the display mode thereof may be changed based on the jet amount of fluid to each part of the dirt adhesion model. In particular, it is possible to calculate how much dirt has been removed by subtracting the beam amount on the dirt model 100 from the numerical value representing the degree of dirt of the dirt model 100, and express the degree of removed dirt and the degree of remaining dirt by deleting the dirt model 100 or changing the display mode.An example of executing a simulation using the robot cleaner model 70 will be described below with reference to FIGS. 14, 15, 16, and 17. FIG. 14 shows the state before the execution of the simulation, and FIGS. 15, 16, and 17 show the state after the execution of the simulation. Here, it is assumed that a dirt model 100 assumed to be removed by expelling 3 ml of fluid adheres to the dirt adhesion model 95. In addition, P 1 to P 6 represent teaching points, and it is assumed that the hand reference point of the robot cleaner model 70, in other words, the beam model is sequentially moved from P 1 to P 6. Note that, as shown in FIG. 14, it is desirable to display the beam model 300 when the simulation of the robot cleaner model 70 is executed or a teaching point is taught. Accordingly, it is possible to intuitively grasp whether or not the fluid is ejected onto the dirt model 100.As shown in FIG. 15, as a result of executing the simulation, when some of the dirt models 100 adhering to the dirt adhering model 95 remain unchanged in the display mode, it means that the fluid is not ejected to a part of the dirt. By confirming that some of the debris models 100 remain unchanged in the display mode, the user may take action, such as modifying the teaching point, to permit the fluid to be ejected onto these some debris models 100.As shown in FIG. 16, when all the dirt models 100 adhered to the dirt adhesion model 95 only change their display modes and remain as a result of executing the simulation, this means that the fluid is ejected onto the dirt but the amount of jet is insufficient. The user can recognize the need for an increase in the jet amount by confirming the change of the display mode of the dirt model 100, and can take measures such as modifying the cleaning program to slow the moving speed or use a cleaning nozzle that increases the jet amount.As shown in FIG. 17, it means that the cleaning has been properly performed when all the dirt models 100 adhered to the dirt adhesion model 95 have been deleted as a result of the execution of the simulation. By confirming that all the dirt models 100 have been deleted, the user can recognize that the cleaning program has been properly generated.According to the simulation device 1 of the present embodiment, it is possible to generate and display a dirt adhesion model in which dirt is reflected on a cleaning target model. In the dirt adhesion model, dirt is expressed by, for example, adding a dirt model to a cleaning target model, and dirt is expressed by changing the display mode of the surface of the cleaning target model. The dirt represented by the dirt adhesion model is displayed such that the dirt degree can be recognized based on the color. In the simulation, the jet amount of the fluid to be ejected onto the dirt represented by the dirt adhesion model is calculated, the jet amount is subtracted from the dirt degree, the display mode of the dirt expressed on the cleaning target model is changed according to the dirt degree after the subtraction, or the dirt expressed on the cleaning target model may be deleted when the dirt degree becomes 0. Since the dirt reflected on the dirt adhesion model is visually detectable, the user can intuitively grasp the teaching point. Moreover, changing the display mode of the dirt reflected on the dirt adherence model and erasing the dirt allow the user to see the dirt actually disappear, making it possible to generate a cleaning program with the same procedures and sensations as when actually tried on the actual machine.An example of a procedure for automatically generating the cleaning program using the simulation device 1 according to the present embodiment will be described below with reference to FIG. 18. FIG. 18 is a flowchart showing a procedure for automatically generating the cleaning program using the simulation device 1 according to the present embodiment. Steps S 21 to S 24 in FIG. 18 correspond to steps S 11 to S 14 in FIG. 4, and descriptions thereof are omitted.As shown in FIG. 18, when the generation of the dirt adhesion model (S 21), the arrangement of the model in the virtual space (S 22), and the setting of various conditions (S 23, S 24) are completed, the simulation device 1 registers the operation start position and the posture of the robot cleaner on the basis of a user operation on the teaching screen (S 25). Next, the simulation device 1 automatically registers one teaching point after another (S 26). Then, the simulation device 1 generates a cleaning program using the jet condition set in step S 23, the operation condition set in step S 24, the start point recorded in step S 25, and the teaching points automatically registered in step S 26 (S 26), and completes the automatic generation processing of the cleaning program.Referring to FIG. 19, the procedure of the automatic teaching point registration process in step S 26 of FIG. 18 will be described below. FIG. 19 is a flowchart showing an example of a procedure of the automatic registration process of the teaching point using the simulation device 1 according to the present embodiment.As shown in FIG. 19, the beam model is moved to the operation start position and the posture registered in step S 25 of FIG. 18 by simulation (S 261). Next, a dirt model closest to the current position is searched (S262). When a dust model is present (S263; Yes), the jet model is moved to a position and posture in which fluid can be ejected onto the dust model (S264), and the current position and posture after moving the jet model are registered as a teaching point (S265). When the beam simulation is executed (S266), then the display mode of the dirt model is changed (S267). Specifically, a process is executed in which the jet amount of the fluid ejected from the jet model is subtracted from the dirt degree of the dirt model hit by the fluid ejected from the jet model, and in parallel with this, the display mode of the dirt model is changed according to the dirt degree. The beam simulation is executed until the dirt degree of the dirt model becomes 0 (S268; No). When the dirt level of the dirt model becomes 0 (S268; Yes), the dirt model is deleted (S269). The processes of steps S 262 to S 269 are repeatedly executed until there is no longer any dirt model, i.e., until the cleaning of the dirt adhesion model is completed, and the same number of teaching items as the number of repetitions are registered. Based on all the dirt models added to the dirt adherence model having been deleted, the automatic teaching point registration process is completed in step S 26 of FIG. 18.The automatic generation of the cleaning program described with reference to FIG. 19 is highly flexible and can be applied to the generation of cleaning programs for various dirt adherence models. On the other hand, teaching points can be automatically registered in accordance with the shape and size of the dirt area. FIG. 20 is a diagram for explaining another example of the automatic teaching point registration process using the simulation device 1 according to the present embodiment. As shown in FIG. 20, when the dirt adhesion model 95 has a circular dirt area 200, a plurality of teaching points P 1 to P 8 from which fluid can be ejected to the dirt area 200 and which are along the circumference of a circle having a similar shape to the dirt area 200 are automatically registered. In this way, the movement path of the beam model 300 may be registered in accordance with the shape of the dirt area 200 reflected on the dirt adhesion model 95, thereby allowing the movement path to be automatically determined in accordance with the shape of the dirt area 200.The following attachments will be explained in more detail with respect to the present embodiments and modifications.(Appendix 1)A simulation device 1 includes a storage unit 18 for storing a 3D model 90 of a workpiece to be cleaned, a receiving unit 15 for receiving a user operation to cause dirt to be expressed on the whole or part of the 3D model of the workpiece, a model generating unit 21 for generating, based on a user operation, a dirt adhesion model 95 in which dirt is expressed on the whole or part of the 3D model 90 of the workpiece, and a display unit 16 for displaying the generated dirt adhesion model 95.(Appendix 2)The debris described in Appendix 1 is added to the 3D model 90 of the workpiece as a debris model 100 and is displayed on the 3D model 90 of the workpiece.(Appendix 3)The dirt model 100 described in Appendix 2 contains information on a degree of dirt, and a display mode of the dirt model 100 is changed depending on the degree of dirt.(Appendix 4)The dirt model 100 described in Appendix 2 contains information on a degree of dirt and is displayed with the added information on the degree of dirt.(Appendix 5)The soil model 100 described in any one of the appendices 2 to 4 is represented by a spherical or cubic shape.(Appendix 6)The simulation device 1 described in Appendix 2 further includes a jet model moving unit 70 for moving a fluid jet model with respect to the 3D model 90 of the workpiece, and a jet amount calculating unit 30 for calculating a jet amount of the jet model 300 for each part of the 3D model 90 of the workpiece, and the model generating unit 21 individually removes the dirt model 100 added to the whole or the part of the 3D model 90 of the workpiece on the basis of the calculated jet amount.(Appendix 7)In the simulation device 1 described in Appendix 6, the beam model moving unit 70 further includes a program generating unit 29 for moving the beam model 300 to arrange the dirt model 100 in a beam distribution of the beam model 300 and generate a cleaning program based on a position of the beam model 300 after the movement.(Appendix 8)In the simulation device 1 described in Appendix 1, a surface color of the whole or part of the 3D model 90 of the workpiece as dirt is changed from a first color to a second color.(Appendix 9)The second color described in Appendix 8 is changed depending on the degree of dirt.(Appendix 10)The simulation device 1 described in Appendix 8 or Appendix 9 further includes a jet model moving unit 70 for moving a fluid jet model to the 3D model 90 of the workpiece, and a jet amount calculating unit 30 for calculating a jet amount of the jet model for each part of the 3D model 90 of the workpiece, and the surface color of the whole or part of the 3D model 90 of the workpiece is approximated from the second color to the first color based on the calculated jet amount.(Appendix 11)The beam model moving unit 70 described in Appendix 10 further includes a program generating unit 29 for moving the beam model 300 to arrange all or part of the 3D model 90 of the workpiece expressed by the second color in a beam distribution of the beam model 300 and generating a cleaning program based on a position of the beam model 300 after the movement.(Appendix 12)A program causes a computer storing a 3D model 90 of a workpiece to be cleaned to implement: means 15 for receiving a user operation to cause dirt to be expressed on the whole or part of the 3D model 90 of the workpiece; means 21 for generating a dirt adhesion model 95 in which the dirt is expressed on the whole or part of the 3D model 90 of the workpiece based on a user operation; and means 16 for displaying the generated dirt adhesion model 95.While embodiments of the present disclosure have been described in detail, the present disclosure is not limited to the individual embodiments described above. These embodiments can be subjected to various additions, substitutions, modifications, partial deletions, etc. without departing from the gist of the invention or the spirit and spirit of the present invention as derived from the contents described in the claims and their equivalents. For example, in the above-described embodiments, the order of operations and the order of processes are shown as examples, and the present invention is not limited thereto. The same applies to the case where numerical values or formulae are used in the description of the above-described embodiments.Explanation of Reference Numerals1: Simulation device, 2: processor, 5: operation device, 6: display device, 7: communication device, 8: storage device, 15: input unit (reception unit), 16: display unit, 17: transmission / reception unit, 18: storage unit, 21: dirt adhesion model generation unit, 22: screen generation unit, 23: virtual space generation unit, 24: model arrangement unit, 25: dirt expression method setting unit, 26: operation condition setting unit, 27: beam condition setting unit, 28: teaching point registration unit, 29: program generation unit, 30: simulation execution unit (beam amount calculation unit), 70: cleaning robot model (beam model movement unit), 80: cleaning nozzle model, 90: cleaning target model, 95: dirt adhesion model, 100: dirt model, 200: dirt area, 300: beam model.

Claims

A simulation device, comprising: a storage unit for storing a 3D model of a workpiece to be cleaned; a receiving unit for receiving a user operation that causes dirt to be expressed on an entirety or part of the 3D model of the workpiece; a model generating unit for generating a dirt adhesion model in which the dirt is expressed on the entirety or part of the 3D model of the workpiece based on a user operation; and a display unit for displaying the generated dirt adhesion model.The simulation device according to claim 1, wherein the dirt is added to the 3D model of the workpiece as a dirt model and is displayed on the 3D model of the workpiece.The simulation device according to claim 2, wherein the dirt model includes information on a degree of dirt, and a display mode of the dirt model is changed depending on the degree of dirt.The simulation device according to claim 2, wherein the dirt model includes information on a degree of dirt and is displayed with the added information on the degree of dirt.The simulation device according to any one of claims 2 to 4, wherein the model of dirt is represented by a spherical or cubic shape.The simulation device according to any one of claims 2 to 5, further comprising: a jet model moving unit for moving a fluid jet model with respect to the 3D model of the workpiece; and a jet amount calculating unit for calculating a jet amount of the jet model for each part of the 3D model of the workpiece, wherein the model generating unit individually removes the dirt model added to the whole or the part of the 3D model of the workpiece based on the calculated jet amount.The simulation device according to claim 6, wherein the beam model moving unit further includes a program generating unit for moving the beam model to arrange the dirt model in a beam distribution of the beam model, and generating a cleaning program based on a position of the beam model after the movement.The simulation device according to claim 1, wherein a surface color of the whole or part of the 3D model of the workpiece is changed from a first color to a second color as the dirt.The simulation device according to claim 8, wherein the second color is changed depending on a degree of dirt.The simulation device according to claim 8 or 9, further comprising: a jet model moving unit for moving a fluid jet model with respect to the 3D model of the workpiece; and a jet amount calculating unit for calculating a jet amount of the jet model for each part of the 3D model of the workpiece, wherein the surface color of the whole or the part of the 3D model of the workpiece is approximated from the second color to the first color based on the calculated jet amount.The simulation device according to claim 10, wherein the beam model moving unit further includes a program generating unit for moving the beam model to arrange all or part of the 3D model of the workpiece expressed by the second color in a beam distribution of the beam model and generate a cleaning program based on a position of the beam model after the movement.A program that causes a computer storing a 3D model of a workpiece to be cleaned to implement: means for receiving a user operation to cause dirt to be expressed on an entirety or part of the 3D model of the workpiece; means for generating a dirt adhesion model in which the dirt is expressed on the entirety or part of the 3D model of the workpiece based on a user operation; and means for displaying the generated dirt adhesion model.

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