Simulation device and simulation method

Abstract

To provide a simulation device that improves efficiency of designing a floor layout for a production floor and reduces need to make correction or redesign after floor construction.SOLUTION: A simulation device 1 includes: a floor layout generation unit 12 that generates a three-dimensional floor layout of a production floor in which a plurality of production devices 101 including a target production device 101A and a storage area 103 in which materials used by the target production device 101A are stored are placed in a three-dimensional virtual space; and a simulation unit 32 that performs, on the basis of production plan information related to a production plan on the production floor and setup plan information related to a setup plan for the first robot to transport a member to the target production device 101A, simulation of an operation of the first robot that transports a material taken out from the storage area to the target production device 101A in the three-dimensional floor layout.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a simulation device that simulates the operation of a robot. [Background technology]

[0002] 2. Description of the Related Art Conventionally, there is known a floor layout generating device that generates a floor layout in which production equipment, storage areas for storing materials used by the production equipment, and the like are arranged on a production floor (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-123056 A Summary of the Invention [Problem to be solved by the invention]

[0004] After arranging production equipment, storage areas, etc. on a production floor based on a floor layout of a production floor that has been manually designed by a production engineer or the like, or a floor layout generated by a floor layout generation device, it may become clear that production cannot be carried out according to the production plan on that production floor.

[0005] In such cases, the floor layout needs to be revised or even redesigned, which can cause delays in the production plan.

[0006] Therefore, an object of the present application is to provide a simulation device and a simulation method that can reduce the need for rework to modify or redesign a floor layout after production equipment, storage areas, etc. have been arranged on a production floor based on the floor layout. [Means for solving the problem]

[0007] A simulation device according to one embodiment of the present disclosure includes a floor layout generation unit that generates a three-dimensional floor layout of a production floor on which a plurality of production devices including a target production device and a storage area in which materials used by the target production device are stored are arranged within a three-dimensional virtual space, and a simulation unit that performs a simulation to simulate the operation of the first robot transporting the materials taken out of the storage area to the target production device in the three-dimensional floor layout based on production plan information related to a production plan of the production floor and setup plan information related to a setup plan for a first robot to transport the materials to the target production device.

[0008] A simulation method according to one embodiment of the present disclosure generates a three-dimensional floor layout of a production floor in a three-dimensional virtual space in which a plurality of production devices including a target production device and a storage area in which materials used by the target production device are stored are arranged, and performs a simulation to simulate the operation of the first robot transporting the materials taken out of the storage area to the target production device in the three-dimensional floor layout based on production plan information related to a production plan for the production floor and setup plan information related to a setup plan for a first robot to transport the materials to the target production device. Effect of the Invention

[0009] According to the simulation device and simulation method according to an embodiment of the present disclosure, it is possible to reduce the occurrence of rework required to modify or redesign the floor layout after the production equipment, storage areas, and the like are arranged on the production floor based on the floor layout. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram showing a configuration of a simulation device according to an embodiment. [Diagram 2] FIG. 2 is a schematic diagram showing an example of a three-dimensional layout of a production floor generated by the floor layout generating unit according to the embodiment. [Diagram 3] FIG. 3 is a schematic diagram illustrating an example of a layout warning list image according to the embodiment. [Figure 4] FIG. 4 is a schematic diagram illustrating an example of a three-dimensional image generated by a first three-dimensional image generating unit according to the embodiment. [Diagram 5] FIG. 5 is a schematic diagram showing an example of a setup warning list image according to the embodiment. [Figure 6] FIG. 6 is a schematic diagram illustrating an example of a three-dimensional image generated by a second three-dimensional image generating unit according to the embodiment. [Figure 7] FIG. 7 is a schematic diagram showing an example of a viewing spot selection image generated by a viewing spot selection section according to the embodiment. [Figure 8] FIG. 8 is a schematic diagram of a simulation process according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] (How one aspect of the present disclosure was achieved) As described above, if it turns out that production cannot be carried out according to the production plan on a production floor after production equipment, storage areas, etc. have been arranged on the production floor, production losses will occur due to the need to re-create the floor layout.

[0012] In order to eliminate such production losses, the inventors repeatedly conducted experiments and studies to find a way to prevent the occurrence of a situation in which, after production equipment, storage areas, etc. have been arranged on a production floor, it is discovered that production cannot be carried out according to the production plan on that production floor.

[0013] As a result, the inventors came up with the simulation device and simulation method according to the present disclosure described below.

[0014] A simulation device according to one embodiment of the present disclosure includes a floor layout generation unit that generates a three-dimensional floor layout of a production floor on which a plurality of production devices including a target production device and a storage area in which materials used by the target production device are stored are arranged within a three-dimensional virtual space, and a simulation unit that performs a simulation to simulate the operation of the first robot transporting the materials taken out of the storage area to the target production device in the three-dimensional floor layout based on production plan information related to a production plan of the production floor and setup plan information related to a setup plan for a first robot to transport the materials to the target production device.

[0015] With the simulation device configured as described above, a user of the simulation device can check the operation of the first robot in the simulation and identify problems in the three-dimensional floor layout of the production floor before actually placing production equipment, storage areas, etc. on the production floor.

[0016] Therefore, a user who uses a simulation device configured as described above can recreate an improved three-dimensional floor layout of a production floor that resolves the identified problems based on the identified problems, prior to actually placing production equipment, storage areas, etc. on the production floor.

[0017] Therefore, according to the simulation device having the above configuration, it is possible to reduce the need to go back and modify or redesign the floor layout after the production equipment, storage areas, etc. have been arranged on the production floor based on the floor layout.

[0018] The system may further include a layout determination unit that makes a first determination based on the three-dimensional floor layout to determine whether or not the first robot is capable of transporting the material taken out of the storage area to the target production equipment, and the simulator unit may perform the simulation only if the layout determination unit determines in the first determination that the first robot is capable of transporting the material taken out of the storage area to the target production equipment.

[0019] Generally, in a three-dimensional floor plan layout of a production floor in which parts taken out of a storage area cannot be transported to the target production equipment, it is clear that production will not be possible according to the production plan on that production floor, even without running a simulation.

[0020] According to the simulation device having the above configuration, it is possible to prevent a simulation from being performed for a three-dimensional floor layout of the production floor where it is clear that production cannot be performed according to the production plan even without performing a simulation.

[0021] In addition, the layout determination unit may make the first determination based on whether or not the first robot is able to pass between the multiple production devices and transport the part removed from the storage area to the target production device.

[0022] This makes it possible to determine that, when the first robot is unable to pass between multiple production devices and transport the component to the target production device, the first robot is unable to transport the component to the target production device.

[0023] The layout determination unit may make the first determination based on at least one of intervals between the production devices in the three-dimensional floor layout.

[0024] This makes it possible to determine, based on at least one of the intervals between the multiple production devices, whether or not the first robot can pass between the multiple production devices and transport the component material to the target production device.

[0025] In addition, in the three-dimensional floor layout, a storage shelf for storing the material is arranged in the storage area, and the layout determination unit further makes a second determination based on the three-dimensional floor layout to determine whether or not a second robot can take out the material from the storage shelf, and the simulation unit may perform the simulation only if the layout determination unit determines in the second determination that the second robot can take out the material from the storage shelf.

[0026] In general, in a three-dimensional floor plan layout of a production floor where parts cannot be taken out from storage shelves, it is clear that production cannot be carried out according to the production plan of that production floor, even without running a simulation.

[0027] According to the simulation device having the above configuration, it is possible to prevent a simulation from being performed for a three-dimensional floor layout of the production floor where it is clear that production cannot be performed according to the production plan even without performing a simulation.

[0028] The layout determination unit may make the second determination based on a height of the components stored in the storage shelf in the three-dimensional floor layout.

[0029] This makes it possible to determine whether or not the second robot can take out a material from the management shelf, based on the height of the material stored on the storage shelf.

[0030] In addition, in the three-dimensional floor layout, storage shelves for storing the materials are arranged in the storage area, and the layout determination unit further makes a second determination based on the three-dimensional floor layout to determine whether the first robot can take out the materials from the storage shelves, and the simulation unit may perform the simulation only if the layout determination unit determines in the second determination that the first robot can take out the materials from the storage shelves.

[0031] In general, in a three-dimensional floor plan layout of a production floor where parts cannot be taken out from storage shelves, it is clear that production cannot be carried out according to the production plan of that production floor, even without running a simulation.

[0032] According to the simulation device having the above configuration, it is possible to prevent a simulation from being performed for a three-dimensional floor layout of the production floor where it is clear that production cannot be performed according to the production plan even without performing a simulation.

[0033] The layout determination unit may make the second determination based on a height of the components stored in the storage shelf in the three-dimensional floor layout.

[0034] This makes it possible to determine whether or not the first robot can take out a material from the management shelf based on the height of the material stored on the storage shelf.

[0035] Furthermore, the layout determination unit may further include a three-dimensional image generation unit that generates a three-dimensional image indicating a situation in which the first robot is unable to transport the material taken out of the storage area to the target production equipment when the layout determination unit determines in the first determination that the first robot is unable to transport the material taken out of the storage area to the target production equipment, and an output unit that outputs the three-dimensional image to a display.

[0036] This allows a user using the simulation device having the above configuration to visually confirm a situation in which the first robot is unable to transport the part to the target production device.

[0037] The simulation unit may further perform a third determination based on a result of the simulation to determine whether or not a delay will occur in production on the production floor with respect to the production plan.

[0038] This allows a user of the simulation device having the above configuration to know whether or not there will be a delay in production on the production floor compared to the production plan before actually arranging production equipment, storage areas, etc. on the production floor.

[0039] Furthermore, when the simulation unit determines in the third judgment that a delay will occur in production on the production floor compared to the production plan, the simulation unit may further include a three-dimensional image generation unit that generates a three-dimensional image showing a situation in which a delay will occur in production on the production floor compared to the production plan, and an output unit that outputs the three-dimensional image to a display.

[0040] This allows a user of the simulation device having the above configuration to visually grasp a situation in which a delay occurs in production on the production floor with respect to the production plan.

[0041] The system may further include a three-dimensional image generation unit that generates a three-dimensional image showing the movement of the first robot in the simulation as observed from one viewing spot selected from a plurality of predetermined viewing spots in the three-dimensional virtual space based on a result of the simulation, and an output unit that outputs the three-dimensional image to a display.

[0042] This allows a user using the simulation device having the above configuration to visually grasp the operation of the first robot as if he or she were actually in the virtual three-dimensional space and observing it.

[0043] The system may further include a three-dimensional image generation unit that generates a three-dimensional image showing the movement of the first robot in the simulation as observed from a view spot overlooking the production floor based on the results of the simulation, and an output unit that outputs the three-dimensional image to a display.

[0044] This allows a user using the simulation device having the above configuration to visually grasp the operation of the first robot as if he or she were actually in the virtual three-dimensional space and observing it.

[0045] The display may be a head-mounted display, and the three-dimensional video generation unit may generate the three-dimensional video based on an orientation of the head-mounted display.

[0046] This allows a user using the simulation device having the above configuration to visually grasp the movement of the first robot as if he or she were observing the movement while moving his or her head.

[0047] The three-dimensional image may also include an image of an avatar of a person wearing the head mounted display.

[0048] This allows a user who uses the simulation device having the above configuration to visually grasp the operation of the first robot with greater reality.

[0049] A simulation method according to one embodiment of the present disclosure generates a three-dimensional floor layout of a production floor in a three-dimensional virtual space in which a plurality of production devices including a target production device and a storage area in which materials used by the target production device are stored are arranged, and performs a simulation to simulate the operation of the first robot transporting the materials taken out of the storage area to the target production device in the three-dimensional floor layout based on production plan information related to a production plan for the production floor and setup plan information related to a setup plan for a first robot to transport the materials to the target production device.

[0050] According to the above-described simulation method, a user using the simulation method can check the operation of the first robot in the simulation and identify problems in the three-dimensional floor layout of the production floor before actually placing production equipment, storage areas, etc. on the production floor.

[0051] Therefore, a user who utilizes the above-mentioned simulation method can regenerate an improved three-dimensional floor layout of a production floor that resolves the identified problems based on the identified problems, before actually placing production equipment, storage areas, etc. on the production floor.

[0052] Therefore, according to the above simulation method, it is possible to reduce the need to go back and modify or redesign the floor layout after the production equipment, storage areas, etc. have been arranged on the production floor based on the floor layout.

[0053] A specific example of a simulation device according to one aspect of the present disclosure will be described below with reference to the drawings. Each embodiment shown here shows one specific example of the present disclosure. Therefore, the numerical values, shapes, components, arrangement and connection of the components, steps (processes) and the order of steps shown in the following embodiments are merely examples and are not intended to limit the present disclosure. In addition, each figure is a schematic diagram and is not necessarily a precise illustration. In each figure, the same reference numerals are given to substantially the same configurations, and duplicated explanations are omitted or simplified.

[0054] (Embodiment) <Configuration> FIG. 1 is a block diagram showing a configuration of a simulation device 1 according to an embodiment.

[0055] As shown in FIG. 1, the simulation device 1 includes a floor layout editor 10, an operation scenario editor 20, a virtual floor simulator 30, and an output unit 40.

[0056] The simulation device 1 is realized, for example, by a computer device including a CPU (Central Processing Unit), a memory, and an input / output interface, in which the CPU executes a program stored in the memory.

[0057] The floor layout editor 10 is an editor for constructing a three-dimensional floor layout of a production floor in a three-dimensional virtual space.

[0058] As shown in FIG. 1, the floor layout editor 10 includes a model storage unit 11, a floor layout generation unit 12, a layout determination unit 13, and a first three-dimensional image generation unit 14.

[0059] The model storage unit 11 stores three-dimensional models of objects to be placed in the three-dimensional virtual space. The three-dimensional models stored in the model storage unit 11 include, for example, three-dimensional models of facilities placed on the production floor, production equipment placed on the production floor, materials used by the production equipment, storage shelves for storing materials, robots for taking out materials from the storage shelves, robots for transporting materials taken out from the storage shelves to the production equipment, etc. Here, the robots include, for example, AMRs (Autonomous Mobile Robots) and robot arms.

[0060] Furthermore, the model storage unit 11 may store a three-dimensional model of a human operator in addition to the three-dimensional model of the robot.

[0061] In this embodiment, the following operation methods of the robots are assumed: a first operation method in which one robot (first robot) both picks up parts from the storage shelf and transports the parts picked up from the storage shelf, and a second operation method in which one robot (second robot) picks up parts from the storage shelf and another robot (first robot) transports the parts picked up from the storage shelf.

[0062] In the second operation method, for example, the take-out robot (second robot) may have a robot arm and be configured to be mobile, take out components (e.g., reels), move the taken-out components by itself and collect them at a relay point, and the transport robot (first robot) may transport the components collected at the relay point to the production equipment. Here, for example, the take-out robot (second robot) may not be mobile. In this case, the take-out robot (second robot) may only perform take-out, and the transport robot (first robot) may be responsible for all transport.

[0063] The floor layout generation unit 12 generates a three-dimensional floor layout of a production floor in which a plurality of production devices including a target production device and a storage area in which materials used by the target production device are stored are arranged within a three-dimensional virtual space, based on operations on the floor layout editor 10 by a user using the floor layout editor 10.

[0064] The three-dimensional floor layout of the production floor generated by the floor layout generation unit 12 is output as a three-dimensional viewer image to a display 100, which is an external device, by an output unit 40, which will be described later, for example.

[0065] FIG. 2 is a schematic diagram showing an example of a three-dimensional floor layout of a production floor generated by the floor layout generating unit 12. As shown in FIG.

[0066] 2, the floor layout generation unit 12 generates a three-dimensional floor layout of a production floor in which, for example, a target production equipment 101A, a production equipment 101B that is a production equipment other than the target production equipment 101A, and a storage area 103 in which materials used by the target production equipment 101A and the production equipment 101B are stored. For example, in the storage area 103, storage shelves for storing materials are arranged.

[0067] In the following description, when there is no need to distinguish between the target production equipment 101A and the production equipment 101B, the target production equipment 101A and the production equipment 101B may be referred to as the production equipment 101.

[0068] Returning to FIG. 1 again, the explanation of the simulation device 1 will be continued.

[0069] The layout determination unit 13 determines whether or not there is spatial interference in the three-dimensional floor layout of the production floor generated by the floor layout generation unit 12.

[0070] The layout determination unit 13 determines the presence or absence of static interference in the three-dimensional virtual space based on, for example, the shapes, positions, and specifications of objects placed in the three-dimensional virtual space.

[0071] The layout determination unit 13 determines, for example, based on the three-dimensional floor layout of the production floor generated by the floor layout generation unit 12, whether or not a robot arranged in the three-dimensional floor layout of the production floor can take out a part stored in a storage shelf arranged in the three-dimensional floor layout of the production floor and used by the target production device (in the present application, this determination is also referred to as a "second determination"). Then, when the layout determination unit 13 determines, for example, that a part cannot be taken out, it determines that there is interference in the three-dimensional virtual space.

[0072] Here, for example, when the first robot takes a component from a storage shelf and transports the component taken out from the storage shelf to the target production equipment 101A, the layout determination unit 13 may determine whether or not the first robot can take the component from the storage shelf.

[0073] In addition, for example, when the second robot takes a part from a storage shelf and the first robot transports the part taken from the storage shelf by the second robot to the target production equipment 101A, the layout determination unit 13 may determine whether or not the second robot can take the part from the storage shelf.

[0074] The layout determination unit 13 may determine whether or not the robot can take out a component from a storage shelf based on, for example, the height of the component stored on the storage shelf.

[0075] The layout determination unit 13 determines whether or not the robot can transport the member taken out of the storage area 103 to the target production equipment 101A based on, for example, the three-dimensional floor layout of the production floor generated by the floor layout generation unit 12 (in the present application, this determination is also referred to as "first determination"). Then, when the layout determination unit 13 determines that, for example, the robot transporting the member taken out of the storage area 103 to the target production equipment 101A cannot pass between the multiple production equipment 101 to transport the member to the target production equipment 101A, it determines that there is interference in the three-dimensional virtual space.

[0076] Here, the layout determination unit 13 may make a first determination based on, for example, whether or not a robot that transports a part taken out of the storage area 103 to the target production equipment 101A is able to pass between the multiple production equipment 101 and transport the part to the target production equipment 101A.

[0077] At this time, the layout determination unit 13 may determine, for example, based on at least one of the intervals between the multiple production devices 101 in the three-dimensional floor layout of the production floor generated by the floor layout editor 10, whether or not a robot that transports a material taken out from the storage area 103 to the target production device 101A can transport the material to the target production device 101A by passing between the multiple production devices 101. More specifically, the layout determination unit 13 may make the above determination based on the smallest interval among the intervals between the multiple production devices 101.

[0078] When the layout determination unit 13 determines that there is static interference in the three-dimensional virtual space, it generates a layout warning list image that itemizes and displays each of the determined interferences in a list.

[0079] FIG. 3 is a schematic diagram showing an example of a layout warning list image generated by the layout determination unit 13. As shown in FIG.

[0080] As shown in FIG. 3, the layout warning list image is an image that displays a list of one or more items 110 (corresponding to the first item 110A, the second item 110B, the third item 110C, the fourth item 110D, the fifth item 110E, and the sixth item 110F in the figure) indicating each of the interferences determined by the layout determination unit 13.

[0081] Returning to FIG. 1 again, the explanation of the simulation device 1 will be continued.

[0082] When a user using the floor layout editor 10 selects one of one or more items 110 displayed on the layout warning screen, the first three-dimensional image generation unit 14 generates a three-dimensional image showing the static interference state in the three-dimensional virtual space corresponding to the selected item.

[0083] The three-dimensional image generated by the first three-dimensional image generating unit 14 is output, for example, by the output unit 40 described later, so as to be displayed on the display 100, which is an external device, superimposed on the three-dimensional viewer image.

[0084] FIG. 4 is a schematic diagram showing an example of a three-dimensional image generated by the first three-dimensional image generating section 14. As shown in FIG.

[0085] As shown in Figure 4, the first three-dimensional image generation unit 14 generates a three-dimensional image showing, for example, a situation in which a robot arranged in the three-dimensional floor layout of a production floor is unable to retrieve a part to be used by a target production device that is stored in a storage shelf arranged in the three-dimensional floor layout of the production floor.

[0086] As shown in FIG. 4, the three-dimensional image generated by the first three-dimensional image generating unit 14 may have text added thereto explaining the state in which interference is occurring, for example.

[0087] A user who uses the floor layout editor 10 can change the three-dimensional floor layout of the production floor to be generated based on the results of the determination made by the layout determination unit 13.

[0088] Alternatively, a user using floor layout editor 10 may change the robot to be placed without changing the three-dimensional floor layout of the production floor to be generated based on the result of the judgment made by layout judgment unit 13. In this case, floor layout generation unit 12 may perform processing that allows the user to change the robot to be placed from a list of robot manufacturer names or model numbers, or may perform processing that allows the user to change the robot to be placed from a list of robot specifications (e.g., movement speed, robot arm length, etc.), may perform processing that allows the user to compare judgment results between different robots, or may perform processing that allows the user to register a robot with new specifications and change the robot to the newly registered robot.

[0089] Returning to FIG. 1 again, the explanation of the simulation device 1 will be continued.

[0090] The operation scenario editor 20 is an editor for determining the movement path, gripping operation, etc. of each robot based on production plan information indicating the production plan for the production floor that was the subject of generation by the floor layout editor 10 and setup plan information indicating a setup plan for one or more robots to be placed on that production floor to transport parts stored in a storage area on that production floor to each of a plurality of production devices.

[0091] Production plan information is, for example, information regarding which production equipment (e.g., production line) will be used to produce which lots, in what order, and by when, as well as information regarding how many of each component are needed to produce each lot.

[0092] The setup plan information is, for example, information on which robot will supply which part to which production device, by when, and in how many pieces.

[0093] The operation scenario editor 20 determines the movement paths, gripping operations, etc. of each robot based on the production plan information and the setup plan information, limited to the three-dimensional floor layout of the production floor where the layout determination unit 13 has determined that there is no spatial interference.

[0094] As shown in FIG. 1, the operation scenario editor 20 includes a scenario generating unit 22, a simulating unit 23, and a second three-dimensional image generating unit 24.

[0095] The scenario generation unit 22 acquires production plan information and setup plan information based on operations on the operation scenario editor 20 by a user who uses the operation scenario editor 20 .

[0096] The simulator 23 performs a simulation based on the production plan information and setup plan information acquired by the scenario generator 22 to simulate the operation of a robot that transports parts taken out of the storage area 103 to the target production equipment 101A in the three-dimensional floor layout of the production floor generated by the floor layout generator 12.

[0097] Here, the simulator 23 does not necessarily have to be limited to a configuration that simulates all steps of the operation performed by the robot. For example, the simulator 23 may be configured to simulate, among all steps of the operation performed by the robot, the step of the operation performed by the robot after a member is taken out of a storage shelf in the storage area 103.

[0098] The simulating unit 23 further judges, based on the result of the simulation, whether or not production can be performed on the production floor according to the production plan indicated by the production plan information, that is, whether or not a delay in production will occur with respect to the production plan (in the present application, this judgment is also referred to as "third judgment"). Here, the result of the simulation performed by the simulating unit 23 may include, for example, time-series data indicating the operation of the robot in the simulation. In this case, the simulating unit 23 judges, based on the time-series data indicating the operation of the robot in the simulation, whether or not a delay in production will occur with respect to the production plan.

[0099] The simulating unit 23 may further determine the validity of the production plan and / or the validity of the setup plan.

[0100] The simulator 23 may further determine the validity of the production plan and / or the validity of the setup plan for each type of equipment and / or robot when there are multiple types of equipment and / or robots that can be placed on the three-dimensional floor layout of the production floor.

[0101] When the simulation unit 23 determines that a delay will occur in production relative to the production plan, the second three-dimensional image generation unit 24 generates a three-dimensional image showing a situation in which a delay will occur in production on the production floor relative to the production plan.

[0102] The second three-dimensional image generating unit 24 may generate, for example, a setup warning list image that displays a list of each of the situations that may cause a production delay by itemizing them.

[0103] FIG. 5 is a schematic diagram showing an example of a setup warning list image generated by the second three-dimensional image generating unit 24. As shown in FIG.

[0104] As shown in FIG. 5, the setup warning list image is an image that displays a list of one or more items 210 (corresponding to the first item 210A, the second item 210B, the third item 210C, the fourth item 210D, the fifth item 210E, and the sixth item 210F in the figure) that indicate each of the situations that may cause a production delay.

[0105] For example, when a user using the floor layout editor 10 selects one of the one or more items 210 displayed on the setup warning screen, the second three-dimensional image generation unit 24 generates a three-dimensional image corresponding to the selected item, showing the cause of the determination that production will be delayed.

[0106] The three-dimensional image generated by the second three-dimensional image generating unit 24 is output, for example, by the output unit 40 described later, so as to be displayed on the display 100, which is an external device, superimposed on the three-dimensional viewer image.

[0107] FIG. 6 is a schematic diagram showing an example of a three-dimensional image generated by the second three-dimensional image generating section 24. As shown in FIG.

[0108] As shown in FIG. 6, the second three-dimensional image generation unit 24 generates a three-dimensional image showing, for example, a situation in which production is delayed due to an insufficient number of robots arranged in the three-dimensional floor layout of the production floor.

[0109] As shown in FIG. 6, the three-dimensional image generated by the second three-dimensional image generating unit 24 may include, for example, text that explains the reason why it has been determined that production will be delayed.

[0110] In addition, when a user using the floor layout editor 10 selects one of the one or more items 210 displayed on the setup warning screen, the second three-dimensional image generation unit 24 may generate a three-dimensional image or three-dimensional video corresponding to the selected item, indicating a situation in which production is delayed.

[0111] For example, the second 3D image generating unit 24 may generate a 3D video showing a situation in which an alarm of the production device 101 is flashing because a part has not arrived.

[0112] A user who uses the operation scenario editor 20 can change the production plan information and / or the setup plan information based on the result of the judgment made by the simulation unit 23.

[0113] Returning to FIG. 1 again, the explanation of the simulation device 1 will be continued.

[0114] The virtual floor simulator 30 generates a three-dimensional image based on the result of the simulation by the simulator 23 .

[0115] As shown in FIG. 1, the virtual floor simulator 30 includes a view spot selection unit 33 and a three-dimensional image generation unit .

[0116] The viewing spot selection unit 33 selects one viewing spot from a plurality of viewing spots determined in advance in the three-dimensional virtual space, based on an operation on the virtual floor simulator by a user who uses the virtual floor simulator 30.

[0117] The viewing spot selection unit 33 may, for example, generate a viewing spot selection image for allowing a user to select one viewing spot from a plurality of viewing spots, and the generated viewing spot selection image may be output by the output unit 40 described later to be displayed on the display 100, which is an external device.

[0118] FIG. 7 is a schematic diagram showing an example of a viewing spot selection image generated by the viewing spot selection unit 33. As shown in FIG.

[0119] As shown in FIG. 7, the viewing spot selection unit 33 generates a viewing spot selection image for allowing the user to select one viewing spot 200 from, for example, eleven viewing spots 200 determined in advance.

[0120] Returning to FIG. 1 again, the explanation of the simulation device 1 will be continued.

[0121] Based on the result of the simulation performed by simulating unit 23, 3D image generating unit 34 generates a 3D image showing the movement of the robot in the simulation, observed from the viewing spot selected by viewing spot selecting unit 33. Here, the result of the simulation performed by simulating unit 23 may include, for example, time series data showing the movement of the robot in the simulation. In this case, 3D image generating unit 34 generates a 3D image showing the movement of the robot in the simulation, based on the time series data showing the movement of the robot in the simulation output from simulating unit 23.

[0122] In addition, the three-dimensional image generation unit 34 may generate a three-dimensional image showing the movement of the robot in the simulation, as observed from a view spot overlooking the production floor, based on the results of the simulation performed by the simulation unit 23.

[0123] The three-dimensional video generated by the three-dimensional video generating unit 34 is output to a display 100, which is an external device, by an output unit 40, which will be described later.

[0124] If the display 100 is a head-mounted display, the three-dimensional video generation unit 34 may generate a three-dimensional video based on, for example, the orientation of the head-mounted display, or may generate a three-dimensional image including, for example, an avatar image of a person wearing the head-mounted display.

[0125] Also, for example, if a movable range is set for the viewing spot selected by the viewing spot selection unit 33, the three-dimensional image generation unit 34 may include an image indicating the set movable range in the generated three-dimensional image, or may include an image warning of deviation from the movable range when there is a danger of deviation from the set movable range.

[0126] This reduces the risk of a person wearing a head-mounted display moving into an unsafe area in the real-world space (for example, if the real-world space is an indoor room, an area where the walls of the room are present).

[0127] Furthermore, for example, when there are multiple robots to be simulated, the 3D image generator 34 may generate multiple 3D images corresponding to each of the multiple robots. In this case, the viewing spot selector 33 may display a list of 3D images from which the robot's movements can be observed for each of the multiple viewing spots superimposed on the generated viewing spot selection image.

[0128] The output unit 40 outputs the result of the simulation performed by the simulator 23. More specifically, the output unit 40 outputs the three-dimensional video generated by the three-dimensional video generator 34 to be displayed on a display 100, which is an external device.

[0129] The output unit 40 further outputs a three-dimensional viewer image showing the three-dimensional floor layout of the production floor generated by the floor layout generation unit 12 to be displayed on the display 100.

[0130] Furthermore, when the first three-dimensional image generating section 14 generates a three-dimensional image, the output section 40 outputs the three-dimensional image to the display 100 so as to display the three-dimensional image superimposed on the three-dimensional viewer image.

[0131] Furthermore, when the second three-dimensional image generating section 24 generates a three-dimensional image, the output section 40 outputs the three-dimensional image to the display 100 so as to display the three-dimensional image superimposed on the three-dimensional viewer image.

[0132] Furthermore, when the viewing spot selection section 33 generates a viewing spot selection image, the output section 40 outputs the viewing spot selection image to the display 100 so as to display the viewing spot selection image superimposed on the three-dimensional viewer image.

[0133] <Operation> The operation of the simulation device 1 having the above configuration will be described below.

[0134] The simulation device 1 generates a three-dimensional floor layout of the production floor in a three-dimensional virtual space based on operations by a user using the simulation device 1, and performs a simulation process based on the generated three-dimensional floor layout of the production floor.

[0135] The simulation process is started, for example, when a user who uses the simulation device performs an operation on the simulation device 1 to start the simulation process.

[0136] FIG. 8 is a flowchart of the simulation process.

[0137] As shown in FIG. 8, when the simulation process is started, the floor layout generation unit 12 generates a three-dimensional floor layout of a production floor in which multiple production devices including a target production device and a storage area in which materials used by the target production device are stored are arranged within a three-dimensional virtual space based on operations on the floor layout editor 10 by a user using the floor layout editor 10 (step S100).

[0138] When the three-dimensional floor layout of the production floor is generated, the layout determination unit 13 determines whether or not there is spatial interference in the generated three-dimensional floor layout of the production floor (step S110). That is, the layout determination unit 13 performs a first determination and / or a second determination.

[0139] If the layout determination unit 13 determines that there is spatial interference (step S120: Yes), the process proceeds to step S100 again.

[0140] If the layout determination unit 13 determines that there is no spatial interference (step S120: No), the scenario generation unit 22 acquires production plan information and setup plan information based on operations on the operation scenario editor 20 by a user using the operation scenario editor 20 (step S130).

[0141] When the production plan information and the setup plan information are acquired, the simulator 23 performs a simulation to simulate the operation of a robot that transports the parts taken out from the storage area 103 to the target production equipment 101A in the three-dimensional floor layout of the production floor generated by the floor layout generator 12 based on the production plan information and the setup plan information acquired by the scenario generator 22, and judges whether or not the production can be performed according to the production plan indicated by the production plan information on that production floor, that is, judges whether or not a delay will occur in production with respect to the production plan (step S140). That is, the simulator 23 performs a third judgment.

[0142] If the simulation unit 23 determines that a delay will occur in production compared to the production plan (step S150: Yes), the second three-dimensional image generation unit 24 generates a three-dimensional image showing a situation in which a delay will occur in production on the production floor compared to the production plan (step S160).

[0143] When the three-dimensional image is generated, the output unit 40 outputs the generated three-dimensional image to be displayed on the display 100.

[0144] Once the output unit 40 has output the three-dimensional image, the process again proceeds to step S130.

[0145] When the simulating unit 23 determines that there will be no delay in production relative to the production plan (step S150: No), the viewing spot selecting unit 33 selects one of a plurality of viewing spots predefined in the three-dimensional virtual space based on an operation on the virtual floor simulator by a user using the virtual floor simulator 30, and the three-dimensional image generating unit 34 generates a three-dimensional image showing the robot's operation in the simulation as observed from the viewing spot selected by the viewing spot selecting unit 33 based on the result of the simulation performed by the simulating unit 23 (step S170). Note that in the processing of step S170, the viewing spot selecting unit 33 may generate a three-dimensional image showing the robot's operation as observed from a fixed viewing spot overlooking the production floor, instead of the selected viewing spot.

[0146] When the three-dimensional video is generated, the output unit 40 outputs the generated three-dimensional video to be displayed on the display 100 (step S180).

[0147] <Consideration> With the simulation device 1 configured as described above, a user of the simulation device 1 can check the operation of the robot in the simulation and identify problems in the three-dimensional floor layout of the production floor before actually placing production equipment, storage areas, and the like on the production floor.

[0148] Therefore, a user who uses the simulation device 1 configured as described above can regenerate an improved three-dimensional floor layout of the production floor that resolves the identified problems based on the identified problems, before actually placing production equipment, storage areas, etc. on the production floor.

[0149] Therefore, according to the simulation device 1 having the above configuration, it is possible to prevent the occurrence of rework for modifying or redesigning the floor layout after the production equipment, storage areas, etc. have been arranged on the production floor based on the floor layout.

[0150] (supplement) As described above, the present disclosure has been described based on the embodiments as examples of the technology disclosed in the present application. However, the present disclosure is not limited to the embodiments. As long as it does not deviate from the gist of the present disclosure, various modifications conceived by a person skilled in the art to the present embodiment, or forms constructed by combining components in the embodiments or modifications, may also be included within the scope of one or more aspects of the present disclosure.

[0151] (A comprehensive or specific aspect of the present disclosure may be realized in a system, an apparatus, a method, an integrated circuit, a program, or a non-transitory recording medium such as a computer-readable CD-ROM. Also, the present disclosure may be realized in any combination of a system, an apparatus, a method, an integrated circuit, a program, and a non-transitory recording medium. For example, the present disclosure may be realized as a program for causing a computer device to execute the processing performed by the simulation apparatus 1. [Industrial Applicability]

[0152] The present disclosure is widely applicable to simulation devices that simulate the operation of robots, etc. [Explanation of symbols]

[0153] 1 Simulation device 10. Floor Layout Editor 11 Model storage section 12 Floor layout generation section 13 Layout Judgment Section 14 First three-dimensional image generating unit 20 Operation Scenario Editor 22 Scenario Generation Section 23 Simulator 24 Second 3D image generator 30 Virtual Floor Simulator 33 View Spot Selection Section 34 3D image generation section 40 Output section 100 Display 101, 101B Production equipment 101A Target Production Equipment 103 Storage Area 110, 210 items 110A, 210A 1st item 110B, 210B, second item 110C, 210C 3rd item 110D, 210D, Item 4 110E, 210E, item 5 110F, 210F Item 6 200 View Spot

Claims

1. a floor layout generation unit that generates a three-dimensional floor layout of a production floor in which a plurality of production devices including a target production device and a storage area in which materials used by the target production devices are stored are arranged within a three-dimensional virtual space; a simulation unit that performs a simulation of an operation of the first robot transporting the material taken out from the storage area to the target production device in the three-dimensional floor layout based on production plan information related to a production plan for the production floor and setup plan information related to a setup plan for a first robot to transport the material to the target production device. Simulation device.

2. further comprising a layout determination unit that performs a first determination based on the three-dimensional floor layout to determine whether or not the first robot can transport the member taken out of the storage area to the target production device; The simulation unit performs the simulation only when the layout determination unit determines in the first determination that the first robot can transport the member taken out from the storage area to the target production device. The simulation device according to claim 1 .

3. The layout determination unit makes the first determination based on whether the first robot can pass between the plurality of production devices and transport the member taken out of the storage area to the target production device. The simulation device according to claim 2 .

4. The layout determination unit makes the first determination based on at least one of intervals between the plurality of production devices in the three-dimensional floor layout. The simulation device according to claim 3 .

5. In the three-dimensional floor layout, a storage shelf for storing the component is arranged in the storage area; the layout determination unit further performs a second determination based on the three-dimensional floor layout to determine whether a second robot can take out the member from the storage shelf; The simulation unit performs the simulation only when the layout determination unit determines in the second determination that the second robot can take out the member from the storage shelf. The simulation device according to claim 2 .

6. The layout determination unit performs the second determination based on the height of the components stored on the storage shelf in the three-dimensional floor layout. The simulation device according to claim 5 .

7. In the three-dimensional floor layout, a storage shelf for storing the component is arranged in the storage area; the layout determination unit further performs a second determination based on the three-dimensional floor layout to determine whether the first robot can take out the member from the storage shelf; The simulation unit performs the simulation only when the layout determination unit determines in the second determination that the first robot can take out the member from the storage shelf. The simulation device according to claim 2 .

8. The layout determination unit performs the second determination based on the height of the components stored on the storage shelf in the three-dimensional floor layout. The simulation device according to claim 7.

9. moreover, a three-dimensional image generation unit that generates a three-dimensional image showing a situation in which the first robot is unable to transport the component taken out of the storage area to the target production device when the layout determination unit determines in the first determination that the first robot is unable to transport the component taken out of the storage area to the target production device; an output unit that outputs the three-dimensional image to a display; The simulation device according to claim 2 .

10. The simulation unit further performs a third determination based on the result of the simulation to determine whether or not a delay will occur in the production performed on the production floor with respect to the production plan. The simulation device according to claim 1 .

11. moreover, a three-dimensional image generating unit that generates a three-dimensional image showing a situation in which a delay will occur in production on the production floor with respect to the production plan when the simulating unit determines in the third determination that a delay will occur in production on the production floor with respect to the production plan; an output unit that outputs the three-dimensional image to a display; The simulation device according to claim 10.

12. moreover, a three-dimensional image generation unit that generates a three-dimensional image showing the movement of the first robot in the simulation, the three-dimensional image being observed from one view spot selected from a plurality of predetermined view spots in the three-dimensional virtual space, based on a result of the simulation; an output unit that outputs the three-dimensional video to a display. The simulation device according to claim 1 .

13. moreover, a three-dimensional image generating unit that generates a three-dimensional image showing the operation of the first robot in the simulation, observed from a view spot overlooking the production floor, based on the results of the simulation; and an output unit that outputs the three-dimensional video to a display. The simulation device according to claim 1 .

14. the display is a head-mounted display, The three-dimensional image generating unit generates the three-dimensional image based on the orientation of the head-mounted display. The simulation device according to claim 13.

15. The three-dimensional image includes an image of an avatar of a person wearing the head-mounted display. The simulation device according to claim 14.

16. A three-dimensional floor layout of a production floor is generated in a three-dimensional virtual space, in which a plurality of production devices including a target production device and a storage area in which materials used by the target production device are stored are arranged; A simulation is performed to simulate the operation of the first robot transporting the material taken out from the storage area to the target production device in the three-dimensional floor layout based on production plan information related to the production plan of the production floor and setup plan information related to the setup plan for the first robot to transport the material to the target production device. Simulation method.

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