Simulation system, simulation method and program

Abstract

To provide a technique of accurately simulating a flow of a production line to which an autonomous carrier machine is introduced.SOLUTION: A simulation system includes: a line simulator that simulates a flow of a virtual object; and a carrier machine simulator that simulates operation of an autonomous virtual carrier machine. The line simulator outputs a first cooperation instruction in response to passage of predetermined time since arrival of the virtual object at a first position. The carrier machine simulator simulates the operation of the virtual carrier machine so as to move from a second position corresponding to the first position to a third position in response to the first cooperation instruction. The carrier machine simulator outputs a second cooperation instruction in response to arrival of the virtual carrier machine at the third position. The line simulator restarts the simulation of the flow of the virtual object from a fourth position corresponding to the third position in response to the second cooperation instruction.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a simulation system, a simulation method, and a program. [Background technology]

[0002] Conventionally, a technology has been developed that constructs a model of a production line on a computer and executes a simulation. For example, Japanese Patent Application Laid-Open Publication No. 2010-282583 (Patent Document 1) discloses a technology that calculates the processing time of materials in each process and the transport time between processes based on production management data, equipment parameters that define the performance of the equipment in the process, and transport equipment parameters that define the performance of the transport equipment that transports the materials. The transport equipment parameters are set in advance according to user input, and indicate the movement speed of the transport equipment and the number of materials that can be transported.

[0003] Japanese Patent Laid-Open Publication No. 2015-32120 (Patent Document 2) discloses a technique for linking a plurality of simulators. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2010-282583 A [Patent Document 2] JP 2015-32120 A Summary of the Invention [Problem to be solved by the invention]

[0005] In recent years, autonomous transport machines are increasingly being introduced into production lines. The autonomous transport machines transport objects while appropriately changing the transport path or transport speed depending on the situation.

[0006] In the technology disclosed in Patent Document 1, the material transport time is calculated based on preset transport equipment parameters. Therefore, the technology disclosed in Patent Document 1 cannot accurately simulate the operation of an autonomous transport machine.

[0007] Therefore, in order to simulate the operation of a production line in which an autonomous conveying machine is introduced, a user must manually input parameters obtained in a simulator that simulates the operation of the autonomous conveying machine into a simulator that simulates the operation of the production line.

[0008] Patent Document 2 discloses a technique for linking a plurality of simulators, but does not consider the linking of a production line simulator and an autonomous transport vehicle simulator.

[0009] The present disclosure has been made in consideration of the above-mentioned problems, and its purpose is to provide a simulation system, a simulation method, and a program capable of accurately simulating the flow of a production line in which an autonomous conveying machine is introduced. [Means for solving the problem]

[0010] According to an example of the present disclosure, a simulation system includes a line simulator that simulates a flow of virtual objects on a virtual production line in a first virtual space, and a transport machine simulator that simulates an operation of an autonomous virtual transport machine in a second virtual space. The line simulator outputs a first cooperation instruction in response to a first predetermined time having elapsed since the virtual object arrived at a first position in the first virtual space. In response to the first cooperation instruction, the transport machine simulator simulates an operation of the virtual transport machine so that the virtual transport machine moves from a second position corresponding to the first position to a third position in the second virtual space. In response to the virtual transport machine arriving at the third position, the transport machine simulator outputs a second cooperation instruction. In response to the second cooperation instruction, the line simulator resumes a simulation of the flow of the virtual objects from a fourth position corresponding to the third position in the first virtual space.

[0011] According to this disclosure, the simulation system can accurately simulate the flow of a production line in which an autonomous transport vehicle is installed.

[0012] In the above disclosure, the simulation system further includes a relay unit that relays a first coordination instruction and a second coordination instruction between the line simulator and the conveyance machine simulator. The relay unit converts the first coordination instruction into a format recognizable by the conveyance machine simulator, and then outputs the first coordination instruction to the conveyance machine simulator. The relay unit converts the second coordination instruction into a format recognizable by the line simulator, and then outputs the second coordination instruction to the line simulator.

[0013] According to this disclosure, even if the interface of the line simulator and the interface of the transport machine simulator are not compatible, the simulation system can relay the first and second coordination instructions between the line simulator and the transport machine simulator.

[0014] In the above disclosure, the line simulator outputs a first virtual screen representing a first virtual space. The simulation system further includes a generator that generates a second virtual screen representing a second virtual space based on a simulation result of the conveyor simulator. One of the first virtual screen and the second virtual screen has a transparent background and is displayed superimposed on the other of the first virtual screen and the second virtual screen.

[0015] According to this disclosure, a user can simultaneously grasp the flow of virtual objects and the operation of the virtual transport vehicle.

[0016] In the above disclosure, the first virtual screen includes a mark representing a fifth position in the first virtual space. The second virtual screen is displayed so that a sixth position corresponding to the fifth position in the second virtual space overlaps with the mark. According to this disclosure, misalignment between the first virtual screen and the second virtual screen is suppressed.

[0017] In the above disclosure, the simulation system further includes a detection unit that detects an obstacle around the virtual conveyor in the second virtual space based on the first virtual screen. In response to the detection of the obstacle, the conveyor simulator simulates the operation of the virtual conveyor so as to avoid interference with the obstacle. The detection unit identifies a first region around the virtual conveyor in the second virtual screen based on the position and attitude of the virtual conveyor. The detection unit identifies a second region that overlaps with the first region in the first virtual screen when the first virtual screen and the second virtual screen are superimposed. The detection unit determines whether or not a pixel of a specific color is present in the second region in the first virtual screen, and in response to the presence of the pixel of the specific color, determines that an obstacle is present in a position that overlaps with the pixel of the specific color in the second virtual screen.

[0018] According to this disclosure, the transport vehicle simulation can simulate the operation of a virtual transport vehicle so as to avoid interference with obstacles that appear in the line simulation.

[0019] In the above disclosure, the line simulator outputs a first time when a first predetermined time has elapsed since the virtual object reached a first position in the first virtual space together with the first coordination instruction. The transport machine simulator rewinds the state of the second virtual space to the first time or to a time when a second predetermined time has elapsed since the first time, and then simulates the operation of the virtual transport machine so that the virtual transport machine moves from the second position to a third position.

[0020] According to this disclosure, delays in the operation of the virtual carrier caused by the transmission of the first cooperation instruction are eliminated.

[0021] In the above disclosure, the transport device simulator outputs a second time when the virtual transport device reaches a third position in the second virtual space together with the second coordination instruction. The line simulator rewinds the state of the first virtual space to the second time or to a time a third predetermined time has elapsed since the second time, and then places a virtual object at a fourth position.

[0022] According to this disclosure, a delay in resuming the simulation of the flow of the virtual object caused by the transmission of the second cooperation instruction is eliminated.

[0023] In the above disclosure, the conveyance machine simulator outputs a third cooperation instruction in response to the virtual conveyance machine reaching the second position. The line simulator outputs a first virtual screen representing the first virtual space. In response to the third cooperation instruction, the line simulator generates the first virtual screen to represent that the virtual object is being conveyed.

[0024] According to this disclosure, the user can recognize that transportation by the virtual transport device has started from the first position.

[0025] According to an example of the present disclosure, a simulation method includes one or more computers simulating a flow of virtual objects on a virtual production line in a first virtual space, and one or more computers simulating an operation of an autonomous virtual transport vehicle in a second virtual space. Simulating the flow of the virtual objects includes outputting a first cooperation instruction in response to a predetermined time having elapsed since the virtual object arrived at a first position in the first virtual space. Simulating the operation of the virtual transport vehicle includes simulating an operation of the virtual transport vehicle to move from a second position corresponding to the first position to a third position in the second virtual space in response to the first cooperation instruction, and outputting a second cooperation instruction in response to the virtual transport vehicle arriving at the third position. Simulating the flow of the virtual objects includes resuming a simulation of the flow of the virtual objects from a fourth position corresponding to the third position in the first virtual space in response to the second cooperation instruction.

[0026] According to yet another example of the present disclosure, a program causes one or more computers to execute the above simulation method.

[0027] According to these disclosures, the simulation method or program can accurately simulate the flow of a production line in which an autonomous conveying machine is installed. Effect of the Invention

[0028] According to the present disclosure, a simulation system, a simulation method, or a program can accurately simulate the flow of a production line in which an autonomous conveying machine is introduced. [Brief description of the drawings]

[0029] [Figure 1] FIG. 1 is a diagram illustrating an example of a simulation system according to an embodiment; [Diagram 2] FIG. 1 is a diagram showing an example of a production line to be simulated; [Diagram 3] FIG. 11 is a diagram showing the flow of a virtual object at times t1 to t8, simulated by a line simulator. [Figure 4] FIG. 11 is a diagram showing the operation of a virtual transport vehicle at times t1 to t8, which is simulated by a transport vehicle simulator. [Diagram 5] FIG. 2 illustrates an example of a hardware configuration of a simulation system. [Figure 6] FIG. 2 is a block diagram showing an example of a functional configuration of the simulation system. [Figure 7] 1 is a flowchart showing the flow of a first processing example of the simulation system. [Figure 8] 13 is a flowchart showing the flow of a second processing example of the simulation system. [Figure 9] 13 is a flowchart showing the flow of a third processing example of the simulation system. [Figure 10] 13 is a flowchart showing a flow of a generation process of a second virtual screen. [Figure 11] 3A and 3B are diagrams illustrating an example of a first virtual screen and a second virtual screen. [Figure 12]FIG. 13 is a diagram showing a method for detecting an obstacle. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0030] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present disclosure will now be described in detail with reference to the accompanying drawings, in which the same or corresponding parts in the drawings are designated by the same reference characters and will not be described repeatedly.

[0031] §1 Examples of application Fig. 1 is a diagram illustrating an example of a simulation system according to an embodiment. The simulation system 100 illustrated in Fig. 1 may be configured by one or more computers. The simulation system 100 may include a server. Alternatively, the simulation system 100 may include a virtual machine or a container constructed in a cloud environment, or a configuration consisting of at least a part of these.

[0032] As shown in FIG. 1, the simulation system 100 includes a line simulator 10 and a conveyor simulator 20.

[0033] The line simulator 10 simulates the flow of virtual objects on a virtual production line in a first virtual space. The virtual production line is a model of a production line. The virtual objects are models of workpieces flowing through the production line. The workpieces include, for example, products or intermediate products manufactured on the production line.

[0034] The transport machine simulator 20 simulates the operation of an autonomous virtual transport machine in the second virtual space. The virtual transport machine is a model of an autonomous transport machine that transports workpieces in a production line. The autonomous transport machine includes, for example, an autonomous mobile robot (AMR) or an articulated robot.

[0035] The line simulator 10 outputs a first cooperation instruction in response to a predetermined time (first predetermined time) having elapsed since the virtual object reached a first position in the first virtual space. Note that the "predetermined time" may be 0. When the "predetermined time" is set to 0, the line simulator 10 outputs the first cooperation instruction in response to the virtual object reaching the first position in the first virtual space. In other words, outputting the first cooperation instruction in response to the virtual object reaching the first position is included in outputting the first cooperation instruction in response to the predetermined time having elapsed since the virtual object reached the first position.

[0036] In response to the first cooperation instruction, the transport vehicle simulator 20 simulates the operation of the virtual transport vehicle in the second virtual space so as to move from a second position corresponding to the first position to a third position. In response to the virtual transport vehicle reaching the third position, the transport vehicle simulator 20 outputs a second cooperation instruction.

[0037] In response to the second cooperation instruction, the line simulator 10 resumes simulating the flow of the virtual object from a fourth position corresponding to the third position in the first virtual space.

[0038] A specific example of cooperation between the line simulator 10 and the conveyor simulator 20 will be described with reference to FIGS.

[0039] FIG. 2 is a diagram showing an example of a production line to be simulated. The production line 60 shown in FIG. 2 includes a feeder 61, equipment 62, equipment 64, equipment 66, and a discharge device 67. The equipment 62 has an exit 62a for carrying out the work 70. The equipment 64 has an entrance 64a for carrying in the work 70 and an exit 64b for carrying out the work 70. The equipment 66 has an entrance 66a for carrying in the work 70. Furthermore, autonomous mobile robots 68 and 69 are introduced into the production line 60. The equipments 62, 64, and 66 perform, for example, a predetermined process on the work 70. The predetermined process includes, for example, processing, cleaning, assembly, and inspection. The feeder 61 sequentially supplies the work 70 to the equipment 62. The autonomous mobile robot 68 transports the work 70 present at the exit 62a of the equipment 62 to the entrance 64a of the equipment 64. The autonomous mobile robot 69 transports the workpiece 70 present at the carry-out exit 64b of the equipment 64 to the carry-in entrance 66a of the equipment 66. The discharge device 67 discharges the workpiece 70 that has been processed by the equipment 66 to the outside.

[0040] The autonomous mobile robots 68, 69 transport the workpieces 70 while appropriately changing the transport path or transport speed depending on the situation. For example, the autonomous mobile robots 68, 69 change the transport path or transport speed so as to avoid obstacles. Alternatively, the autonomous mobile robots 68, 69 change the transport path or transport speed so as to avoid collisions with each other.

[0041] The line simulator 10 and the conveyor simulator 20 cooperate with each other using the first and second cooperation instructions as described above in order to accurately simulate the flow of workpieces 70 in the production line 60 in which autonomous traveling robots 68, 69 have been introduced.

[0042] Fig. 3 is a diagram showing a flow of a virtual object at times t1 to t8, which is simulated by the line simulator, Fig. 4 is a diagram showing an operation of a virtual conveyance machine at times t1 to t8, which is simulated by the conveyance machine simulator.

[0043] 3, the line simulator 10 places a virtual production line 12 in a virtual space 11 according to a user input. The line simulator 10 simulates the flow of a virtual workpiece 13, which is a model of a workpiece 70, in the virtual production line 12 according to parameters input by the user. The virtual space 11 is an example of a "first virtual space" in the present disclosure. The virtual workpiece 13 is an example of a "virtual object" in the present disclosure.

[0044] The virtual production line 12 is a model of the production line 60 and includes a source 12a, a station 12b, a station 12d, a station 12f, and a drain 12g.

[0045] The stations 12b, 12d, and 12f are models of the equipment 62, 64, and 66, respectively, that constitute the production line 60. The source 12a is a model of the feeder 61, and supplies the virtual work 13 to the station 12b in the virtual space 11. The drain 12g is a model of the discharge device 67 that constitutes the production line 60, and discharges the virtual object output from the station 12f to the outside in the virtual space 11.

[0046] The line simulator 10 does not have a function of simulating the operation of an autonomous transport machine. Therefore, the line simulator 10 arranges buffers 12c and 12e used as substitutes for models of the autonomous traveling robots 68 and 69 as part of the virtual production line 12 according to user input. The buffer 12c is arranged at a fixed position near the station 12b, and holds the virtual workpiece 13 being transported from the station 12b to the station 12d. The buffer 12e is arranged at a fixed position near the station 12d, and holds the virtual workpiece 13 being transported from the station 12b to the station 12d. In other words, the position of the virtual workpiece 13 in the buffers 12c and 12e indicates that the virtual workpiece 13 is being transported.

[0047] In the production line 60, the processing time for the workpiece 70 in the equipment 62, 64, and 66 is approximately constant. In addition, the transport time of the workpiece 70 from the feeder 61 to the equipment 62 and the transport time of the workpiece 70 from the equipment 66 to the discharge device 67 are also approximately constant. Therefore, the line simulator 10 sets parameters that define these times according to user input. Then, the line simulator 10 simulates the flow of the virtual workpiece 13 according to the parameters.

[0048] As shown in FIG. 4, the transport vehicle simulator 20 simulates the operation of the virtual AMRs 22a and 22b in the virtual space 21. The virtual space 21 is an example of the "second virtual space" of the present disclosure. The virtual AMRs 22a and 22b are an example of the "virtual transport vehicle" of the present disclosure, and are models of the autonomous traveling robots 68 and 69. In the virtual space 21, points 23c, 23d, 23e, and 23f corresponding to the exit 62a of the facility 62, the entrance 64a of the facility 64, the exit 64b of the facility 64, and the entrance 66a of the facility 66, respectively, are placed according to a user input. That is, the points 23c, 23d, 23e, and 23f represent the positions of the exit 62a of the facility 62, the entrance 64a of the facility 64, the exit 64b of the facility 64, and the entrance 66a of the facility 66.

[0049] The conveyance machine simulator 20 presets parameters indicating the performance of the autonomous traveling robots 68, 69 in accordance with user input, and simulates the operation of the virtual AMRs 22a, 22b in accordance with the parameters.

[0050] In FIG. 4, the points 23c, 23d, 23e, and 23f are shown in solid color when they are set as the destinations of the virtual AMRs 22a and 22b, and are shown in white color when they are not set as the destinations.

[0051] The line simulator 10 does not have a function of simulating the operation of an autonomous transport vehicle. Therefore, the line simulator 10 simulates the flow of the virtual workpiece 13 from the station 12b to the station 12d and the flow of the virtual workpiece 13 from the station 12d to the station 12f in cooperation with the transport vehicle simulator 20.

[0052] Specifically, the line simulator 10 sets the positions of the stations 12b and 12d as a "first position" related to the first coordination instruction in accordance with the user input. The line simulator 10 sets the processing time for the workpiece 70 in the equipment 62 and 64 as a "predetermined time (first predetermined time)" related to the first coordination instruction in accordance with the user input. Furthermore, the line simulator 10 sets the positions of the stations 12d and 12f as a "fourth position" related to the second coordination instruction in accordance with the user input.

[0053] Furthermore, the transport machine simulator 20 sets the points 23c and 23e as a "second position" related to the first cooperation instruction according to the user input. The transport machine simulator 20 sets the points 23d and 23f as a "third position" related to the second cooperation instruction according to the user input.

[0054] 3 and 4 is the timing when a predetermined time (the processing time for the workpiece 70 in the equipment 62) has elapsed since the virtual workpiece 13a arrived at the station 12b. Therefore, at time t1, the line simulator 10 outputs a first cooperation instruction. Hereinafter, the first cooperation instruction output in response to the elapse of a predetermined time since the virtual workpiece 13 arrived at the station 12b is referred to as a "first cooperation instruction I1a."

[0055] In response to the first cooperation instruction I1a, the conveyance machine simulator 20 simulates the operation of the virtual AMR 22a so as to move from point 23c, which corresponds to the position of the exit of the station 12b (i.e., the exit 62a of the facility 62), to point 23d in the virtual space 21. As shown in Fig. 4, since the virtual AMR 22a is not located at point 23c at time t1, the conveyance machine simulator 20 sets point 23c as the destination of the virtual AMR 22a and moves the virtual AMR 22a toward point 23c.

[0056] At a later time t2, as shown in Fig. 4, the virtual AMR 22a reaches the point 23c. In response to the virtual AMR 22a reaching the point 23c, the conveyance simulator 20 sets the destination of the virtual AMR 22a to the point 23d, and moves the virtual AMR 22a toward the point 23d.

[0057] Furthermore, at time t2, the conveyor simulator 20 may output a third cooperation instruction in response to the virtual AMR 22a reaching the point 23c. Hereinafter, the third cooperation instruction output in response to the virtual AMR 22a reaching the point 23c is referred to as a "third cooperation instruction I3a." As shown in FIG. 3, the line simulator 10 may move the virtual workpiece 13a to the buffer 12c in response to the third cooperation instruction I3a at time t2.

[0058] 3, at a later time t3, the line simulator 10 outputs a first coordination instruction in response to a predetermined time (the processing time for the workpiece 70 in the equipment 64) having elapsed since the virtual workpiece 13b arrived at the station 12d. Hereinafter, the first coordination instruction output in response to a predetermined time having elapsed since the virtual workpiece 13 arrived at the station 12d is referred to as a "first coordination instruction I1b."

[0059] In response to the first cooperation instruction I1b, the conveyance machine simulator 20 simulates the operation of the virtual AMR 22b to move from point 23e, which corresponds to the position of the exit of the station 12d (i.e., the exit 62a of the facility 62), to point 23f in the virtual space 21. As shown in Fig. 4, since the virtual AMR 22b is not located at point 23e at time t3, the conveyance machine simulator 20 sets point 23e as the destination of the virtual AMR 22b and moves the virtual AMR 22b toward point 23e.

[0060] During the period from time t2 to time t3, the line simulator 10 moves a new virtual workpiece 13c from the source 12a to the station 12b.

[0061] At a later time t4, the line simulator 10 outputs a first cooperation instruction I1a in response to the passage of a predetermined time (the processing time for the workpiece 70 in the equipment 62) since the virtual workpiece 13c arrived at the station 12b.

[0062] At time t4, the transport machine simulator 20 holds the newly received first cooperation command I1a in the queue because the operation of the virtual AMR 22a in response to the previously received first cooperation command I1a has not been completed. Therefore, the destination of the virtual AMR 22a is maintained at point 23d.

[0063] At a later time t5, as shown in FIG. 4, the virtual AMR 22a reaches the point 23d. The transport machine simulator 20 outputs a second cooperation instruction in response to the virtual AMR 22a reaching the point 23d. Hereinafter, the second cooperation instruction output in response to the virtual AMR 22a reaching the point 23d is referred to as the "second cooperation instruction I2a." As shown in FIG. 3, the line simulator 10 moves the virtual workpiece 13a to the position of the station 12d in response to the second cooperation instruction I2a at time t5. Then, the line simulator 10 resumes simulating the flow of the virtual workpiece 13a from the position of the station 12d in response to the second cooperation instruction I2a.

[0064] After time t5, the transport vehicle simulator 20 simulates the operation of the virtual AMR 22a to move from point 23c to point 23d in accordance with the first cooperation instruction I1a held in the queue. As shown in Fig. 4, the virtual AMR 22a is located at point 23d at time t5. Therefore, the transport vehicle simulator 20 sets the destination of the virtual AMR 22a to point 23c and moves the virtual AMR 22a toward point 23c.

[0065] At a later time t6, as shown in Fig. 4, the virtual AMR 22b reaches the point 23e. In response to the virtual AMR 22b reaching the point 23e, the conveyance simulator 20 sets the destination of the virtual AMR 22b to the point 23f, and moves the virtual AMR 22b toward the point 23f.

[0066] Furthermore, at time t6, the conveyor simulator 20 may output a third cooperation instruction in response to the virtual AMR 22b reaching the point 23e. Hereinafter, the third cooperation instruction output in response to the virtual AMR 22b reaching the point 23e is referred to as a "third cooperation instruction I3b." As shown in FIG. 3, at time t6, the line simulator 10 moves the virtual workpiece 13b to the buffer 12e in response to the third cooperation instruction I3b.

[0067] At a later time t7, as shown in FIG. 4, the virtual AMR 22a reaches the point 23c. In response to the virtual AMR 22a reaching the point 23c, the conveyor simulator 20 sets the destination of the virtual AMR 22a to the point 23d and moves the virtual AMR 22a toward the point 23d. Furthermore, in response to the virtual AMR 22a reaching the point 23c, the conveyor simulator 20 outputs a third cooperation instruction I3a. As shown in FIG. 3, the line simulator 10 moves the virtual work 13c to the buffer 12c in response to the third cooperation instruction I3a.

[0068] Furthermore, at time t7, the line simulator 10 outputs a first cooperation instruction I1b in response to the passage of a predetermined time (the processing time for the workpiece 70 in the equipment 64) since the virtual workpiece 13a arrived at the station 12d.

[0069] At time t7, the transport machine simulator 20 holds the newly received first cooperation command I1b in the queue because the operation of the virtual AMR 22b in response to the previously received first cooperation command I1b has not been completed. Therefore, the destination of the virtual AMR 22b is maintained at point 23f.

[0070] At a later time t8, as shown in FIG. 4, the virtual AMR 22b reaches the point 23f. The transport machine simulator 20 outputs a second cooperation instruction in response to the virtual AMR 22b reaching the point 23f. Hereinafter, the second cooperation instruction output in response to the virtual AMR 22b reaching the point 23f is referred to as the "second cooperation instruction I2b". As shown in FIG. 3, the line simulator 10 moves the virtual work 13b to the position of the station 12f in response to the second cooperation instruction I2b at time t8. Then, the line simulator 10 resumes simulating the flow of the virtual work 13b from the position of the station 12f in response to the second cooperation instruction I2b. For example, the line simulator 10 moves the virtual work 13b from the station 12f to the drain 13g at a timing when the total time of the processing time in the equipment 66 and the transport time from the equipment 66 to the discharge device 67 has elapsed from the time t8.

[0071] After time t8, the conveyance simulator 20 simulates the operation of the virtual AMR 22b to move from point 23e to point 23f in accordance with the first cooperation instruction I1b held in the queue. As shown in Fig. 4, the virtual AMR 22b is located at point 23f at time t8. Therefore, the conveyance simulator 20 sets the destination of the virtual AMR 22b to point 23e and moves the virtual AMR 22b toward point 23e.

[0072] According to this embodiment, as shown in Figs. 3 and 4, the simulation system 100 can accurately simulate the flow of a production line 60 in which autonomous mobile robots 68, 69 have been introduced.

[0073] §2 Specific examples <Simulation system hardware configuration> Fig. 5 is a diagram showing an example of a hardware configuration of a simulation system. The simulation system 100 is typically configured by a computer having a general-purpose architecture. As shown in Fig. 2, the simulation system 100 includes a CPU (Central Processing Unit) 110, a memory 112 configured as a volatile storage device such as a DRAM (Dynamic Random Access Memory), a hard disk 114 configured as a non-volatile storage device, an input interface 118, a display controller 120, a communication interface 124, and a data reader / writer 126. These components are connected to each other via a bus 128 so as to be able to communicate data with each other.

[0074] The CPU 110 reads out a program stored in the hard disk 114 and loads it in the memory 112. The CPU 110 executes the loaded program. The CPU 110 is, for example, a multi-core processor, and is capable of executing a plurality of processes in parallel. Note that, instead of the hard disk 114, another non-volatile storage device (for example, an SSD (Solid State Drive)) may be used.

[0075] The hard disk 114 stores a line simulation program 115 , a conveyor simulation program 116 , and a linkage program 117 .

[0076] The input interface 118 mediates data transmission between the CPU 110 and an input device 132 such as a keyboard, a mouse, or a touch panel. That is, the input interface 118 receives data indicating various user inputs described later from the input device 132, and transmits the received data to the CPU 110. The display controller 120 is connected to a display 122, and displays the results of processing in the CPU 110 on the display 122. The communication interface 124 communicates with an external device. The data reader / writer 126 mediates data transmission between the CPU 110 and an external storage medium 130. The storage medium 130 includes a volatile storage medium, a non-volatile storage medium, a general-purpose semiconductor storage device such as a CF (Compact Flash) or an SD (Secure Digital), a magnetic storage medium such as a flexible disk, or an optical storage medium such as a CD-ROM (Compact Disk Read Only Memory).

[0077] Each of the line simulation program 115, the conveyor simulation program 116, and the linking program 117 may be provided not as a standalone program but as part of an arbitrary program. In this case, the processing according to the present embodiment is realized in cooperation with the arbitrary program. Also, some or all of the functions provided by each of the line simulation program 115, the conveyor simulation program 116, and the linking program 117 may be realized by a dedicated hardware circuit (for example, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array)).

[0078] <Functional configuration> Fig. 6 is a block diagram showing an example of a functional configuration of a simulation system. As shown in Fig. 6, the simulation system 100 includes a line simulator 10, a conveyor simulator 20, and a cooperation processing unit 30. The line simulator 10 is realized by the CPU 110 shown in Fig. 5 executing a line simulation program 115. The conveyor simulator 20 is realized by the CPU 110 executing a conveyor simulation program 116. The cooperation processing unit 30 is realized by the CPU 110 executing a cooperation program 117.

[0079] The line simulator 10 includes a setting unit 15, a calculation unit 16, a cooperation instruction unit 17, and a screen output unit 18.

[0080] The setting unit 15 sets the first parameter set in response to a user input. For example, the setting unit 15 may display a setting screen on the display 122 to prompt the user to input the first parameter set, and set the first parameter set in accordance with the input on the setting screen.

[0081] The first parameter set includes first configuration parameters indicating the type and location of each of a plurality of components of the virtual production line. For example, the plurality of components of the virtual production line 12 shown in FIG. 3 include a source 12a, stations 12b, 12d, and 12f, buffers 12c and 12e, and a drain 12g.

[0082] The first parameter set includes first definition parameters that define the movement of the virtual object, such as a supply interval of the virtual object from a component that supplies the virtual object (e.g., source 12a), a transport time between specific components (e.g., between station 12f and drain 12g), and a residence time at a specific component (e.g., station 12f).

[0083] The first parameter set further includes a first cooperation parameter. The first cooperation parameter indicates a first set of a first position related to the first cooperation instruction, a predetermined time (first predetermined time) related to the first cooperation instruction, a fourth position related to the second cooperation instruction, and a temporary waiting position of the virtual object being transported. The waiting position is, for example, the position of buffers 12c and 12e shown in FIG. 3. The first cooperation parameter may indicate a plurality of first sets.

[0084] The first parameter set may include a third definition parameter that defines a movement of a virtual worker. The virtual worker is a model of a worker on a production line. The third definition parameter defines, for example, a relative positional relationship between the virtual object and the virtual worker.

[0085] The calculation unit 16 constructs a virtual production line in a first virtual space (for example, the virtual space 11 shown in FIG. 3) based on the first placement parameters. Then, the calculation unit 16 calculates the positions of the virtual objects in the virtual production line at each time based on the first definition parameters.

[0086] In response to receiving the third cooperation instruction described above with reference to FIGS. 3 and 4, the calculation unit 16 may move the virtual object to the first set of waiting positions.

[0087] In response to receiving the second cooperation instruction, the calculation unit 16 moves the virtual object to the fourth position. After that, the calculation unit 16 resumes the calculation process for the position of the virtual object moved to the fourth position.

[0088] When the first cooperation parameter indicates a plurality of first sets, the calculation unit 16 moves the virtual object to a fourth position of the first set corresponding to the task number added to the second cooperation instruction. The task number is used to specify a transport task from the transport source of the virtual object to the transport destination. The task number and the first set are associated in advance. The line simulator 10 recognizes the first position of the first set corresponding to the task number as the transport source of the virtual object, and recognizes the fourth position of the first set corresponding to the task number as the transport destination of the virtual object. The line simulator 10 recognizes the waiting position of the first set corresponding to the task number as a temporary waiting position of the virtual object being transported.

[0089] If the first parameter set includes a third definition parameter, the calculation unit 16 calculates the position of the virtual worker at each time based on the third definition parameter. The calculation unit 16 places the virtual worker at the calculated position in the first virtual space.

[0090] The cooperation instruction unit 17 outputs a first cooperation instruction in response to the passage of the first set of predetermined time since the virtual object reaches a first position of the first set indicated by the first cooperation parameter.

[0091] The cooperation instruction unit 17 adds a task number corresponding to the first set including the first position where the virtual object has arrived to the first cooperation instruction. For example, a task number corresponding to the first set in which the station 12b is the first position, the processing time for the work 70 in the equipment 62 is the predetermined time, the station 12d is the fourth position, and the buffer 12c is the standby position is added to the first cooperation instruction I1a described above with reference to FIG. 3. A task number corresponding to the first set in which the station 12d is the first position, the processing time for the work 70 in the equipment 64 is the predetermined time, the station 12f is the fourth position, and the buffer 12e is the standby position is added to the first cooperation instruction I1b.

[0092] The screen output unit 18 generates a first virtual screen representing the first virtual space and outputs first screen data showing the first virtual screen. Based on the first screen data, the first virtual screen is displayed on the display 122. The first virtual screen shows, for example, a plan view of the virtual production line seen from above.

[0093] In the first virtual screen, a plurality of components constituting the virtual production line are displayed in a display format corresponding to the type indicated by the first placement parameter. In addition, when a virtual worker is placed in the first virtual space, the virtual worker is displayed in a specific color in the first virtual screen.

[0094] The conveyance machine simulator 20 includes a setting unit 25, a calculation unit 26, and a cooperation instruction unit 27. The setting unit 25 sets the second parameter set in response to a user input. For example, the setting unit 25 may display a setting screen on the display 122 to prompt the user to input the second parameter set, and set the second parameter set in accordance with the input on the setting screen.

[0095] The second parameter set includes second placement parameters that indicate the positions of the point representing the origin and the point representing the destination of the virtual object. For example, the second placement parameters indicate the positions of each of the points 23c to 23f shown in FIG.

[0096] The second parameter set includes second definition parameters that define the operation of the virtual transport vehicle. The second definition parameters define, for example, a method for calculating a transport path of the virtual transport vehicle and a method for avoiding interference with an obstacle. The second definition parameters are set so that the operation of the virtual transport vehicle coincides with the operation of the actual transport vehicle.

[0097] Furthermore, the second parameter set includes a second coordination parameter indicating a second set of a second position related to the first coordination command and a third position related to the second coordination command. The second coordination parameter may indicate a plurality of second sets.

[0098] The calculation unit 26 places points representing the source of the virtual object (e.g., points 23c, 23e) and points representing the destination of the virtual object (e.g., points 23d, 23f) in a second virtual space (e.g., virtual space 21 shown in FIG. 4) based on the second placement parameters.

[0099] Furthermore, the calculation unit 26 calculates the position of the virtual conveyance at each time based on the second definition parameters. For example, the calculation unit 26 determines the transport conditions of the virtual conveyance so that the virtual conveyance reaches the destination while avoiding interference with obstacles in the second virtual space. The obstacles include other virtual conveyances. The transport conditions include, for example, a transport path and a transport speed. The calculation unit 26 calculates the position of the virtual conveyance at each time according to the determined transport conditions.

[0100] In response to receiving the first cooperation instruction, the calculation unit 26 calculates the position of the virtual transport machine at each time so as to perform the transport task corresponding to the task number added to the first cooperation instruction. As described above, the task number is used to specify the transport task from the transport source to the transport destination of the virtual object. The transport machine simulator 20 recognizes the second position of the second set corresponding to the task number as the transport source of the virtual object, and recognizes the third position of the second set corresponding to the task number as the transport destination of the virtual object. Therefore, the calculation unit 26 simulates the operation of the virtual transport machine so as to move from the second position to the third position in order to transport the virtual object from the second position of the second set corresponding to the task number to the third position. The task number and the second set are associated in advance.

[0101] 3 and 4, a first set in which station 12b is the first position and station 12d is the fourth position, and a second set in which point 23c is the second position and point 23d is the third position are associated with the same task number. As a result, in response to a first cooperation instruction output when a predetermined time has elapsed since the arrival of the virtual workpiece 13 at station 12b, the calculation unit 26 calculates the position of the virtual AMR 22a at each time so as to move from point 23c to point 23d.

[0102] When the calculation unit 26 has not received the first cooperation instruction or when the transport task corresponding to the task number added to the first cooperation instruction is completed, the calculation unit 26 calculates the position of the virtual transport machine at each time according to a preset condition. The preset condition is, for example, a condition that the virtual transport machine waits at the current position. Alternatively, the preset condition is a condition that the virtual transport machine returns to the initial position and waits at the initial position.

[0103] The coordination instruction unit 27 outputs a second coordination instruction in response to the virtual carrier reaching the third position of the second set indicated by the second coordination parameter. The coordination instruction unit 27 adds a task number corresponding to the second set including the third position reached by the virtual carrier to the second coordination instruction.

[0104] Furthermore, the cooperation instruction unit 27 may output a third cooperation instruction in response to the virtual carrier reaching the second position. The cooperation instruction unit 27 adds a task number corresponding to the second set including the second position reached by the virtual carrier to the third cooperation instruction.

[0105] The cooperation processing unit 30 includes a relay unit 35, a generation unit 36, and a detection unit 37. The relay unit 35 functions when the interface of the line simulator 10 is not compatible with the interface of the conveyance machine simulator 20. Therefore, when the interface of the line simulator 10 is compatible with the interface of the conveyance machine simulator 20, the relay unit 35 can be omitted.

[0106] The relay unit 35 relays a first coordination instruction and a second coordination instruction between the line simulator 10 and the conveyance machine simulator 20. Furthermore, the relay unit 35 may relay a third coordination instruction between the line simulator 10 and the conveyance machine simulator 20. The relay unit 35 converts the first coordination instruction output from the line simulator 10 into a format recognizable by the conveyance machine simulator 20, and outputs the converted first coordination instruction to the conveyance machine simulator 20. The relay unit 35 converts the second coordination instruction and the third coordination instruction output from the conveyance machine simulator 20 into a format recognizable by the line simulator 10, and outputs the converted second coordination instruction and the third coordination instruction to the line simulator 10.

[0107] The generation unit 36 ​​generates a second virtual screen representing the second virtual space based on the simulation result of the transport machine simulator 20, and outputs second screen data showing the second virtual screen. Based on the second screen data, the second virtual screen is displayed on the display 122. The second virtual screen has a transparent background and is displayed superimposed on the first virtual screen. The second virtual screen shows, for example, a plan view of the virtual transport machine as seen from above.

[0108] The detection unit 37 detects obstacles around the virtual conveyance machine in the second virtual space based on the first virtual screen. In response to detecting an obstacle, the detection unit 37 notifies the conveyance machine simulator 20 of obstacle information indicating the location occupied by the obstacle. As a result, the calculation unit 26 of the conveyance machine simulator 20 places the obstacle in the location indicated by the obstacle information, and simulates the operation of the virtual conveyance machine so as to avoid interference with the obstacle.

[0109] <Processing flow of the simulation system> (First processing example) FIG. 7 is a flowchart showing the flow of a first processing example of the simulation system. The first processing example corresponds to a case where the interface of the line simulator 10 is compatible with the interface of the transport machine simulator 20. The flow shown in FIG. 7 is executed after the initial settings of the line simulator 10 and the transport machine simulator 20 are performed. In the initial settings, the line simulator 10 arranges a virtual production line in a first virtual space, and the transport machine simulator 20 arranges a plurality of points indicating the transport source and the transport destination of the virtual transport machine in a second virtual space. Furthermore, in the initial settings, the time of the line simulator 10 and the transport machine simulator 20 are synchronized.

[0110] In step S11, the line simulator 10 advances the movement of the virtual object by one cycle time. The cycle time is determined in advance. In the next step S12, the line simulator 10 determines whether a predetermined time has elapsed since the virtual object reached the first position.

[0111] If a predetermined time has elapsed since the virtual object reached the first position (YES in step S12), in step S13, the line simulator 10 pauses the flow of the virtual object for which the predetermined time has elapsed since the virtual object reached the first position. In the next step S14, the line simulator 10 outputs a first coordination instruction.

[0112] After step S14, the process of the line simulator 10 proceeds to step S15. If a predetermined time has not elapsed since the virtual object reached the first position (NO in step S12), the process of the line simulator 10 also proceeds to step S15. In step S15, the line simulator 10 determines whether or not a second cooperation instruction has been received.

[0113] When the second cooperation instruction is received (YES in step S15), in step S16, the line simulator resumes the simulation of the flow of the virtual object from the fourth position.

[0114] After step S16, the process of the line simulator 10 proceeds to step S17. If the second cooperation instruction has not been received (NO in step S15), the process of the line simulator 10 also proceeds to step S17. In step S17, the line simulator 10 determines whether or not to end the simulation. Typically, the line simulator 10 determines to end the simulation in response to receiving an end instruction from the user. Alternatively, the line simulator 10 may determine to end the simulation in response to completion of the simulation of the flow of a predetermined number of virtual objects.

[0115] If the simulation is to be ended (YES in step S17), the processing of the line simulator 10 is ended. At this time, the line simulator 10 may output an end instruction to the conveyance machine simulator 20. If the simulation is not to be ended (NO in step S17), the processing of the line simulator 10 returns to step S11.

[0116] The flow of steps S21 to S26 by the conveyor simulator 20 is executed in parallel with the flow of steps S11 to S17 by the line simulator 10.

[0117] In step S21, the transport device simulator 20 advances the movement of the virtual transport device for one cycle time. In the next step S22, the transport device simulator 20 determines whether or not a first cooperation instruction has been received.

[0118] When the first cooperation instruction is received (YES in step S22), in step S23, the transport machine simulator 20 starts a transport task corresponding to the first cooperation instruction. That is, the transport machine simulator 20 starts a simulation of the operation of the virtual transport machine to move from the second position to the third position in order to transport the virtual object from the second position to the third position.

[0119] After step S23, the process of the transport machine simulator 20 proceeds to step S24. If the first cooperation instruction has not been received (NO in step S22), the process of the transport machine simulator 20 also proceeds to step S24. In step S24, the transport machine simulator 20 determines whether the virtual transport machine has reached the third position.

[0120] When the virtual transport device has reached the third position (YES in step S24), in step S25, the transport device simulator 20 outputs a second cooperation instruction.

[0121] After step S25, the process of the conveyance machine simulator 20 proceeds to step S26. If the virtual conveyance machine has not reached the third position (NO in step S24), the process of the conveyance machine simulator 20 also proceeds to step S26. In step S26, the conveyance machine simulator 20 determines whether or not to end the simulation. Typically, the conveyance machine simulator 20 determines to end the simulation in response to receiving an end instruction from the user. Alternatively, the conveyance machine simulator 20 may determine to end the simulation in response to receiving an end instruction from the line simulator 10.

[0122] If the simulation is to be ended (YES in step S26), the process ends with the transport machine simulator 20. If the simulation is not to be ended (NO in step S26), the process with the transport machine simulator 20 returns to step S21.

[0123] (Second processing example) Fig. 8 is a flowchart showing the flow of a second processing example of the simulation system. The second processing example corresponds to a case where the interface of the line simulator 10 is not compatible with the interface of the conveyor simulator 20. The flow shown in Fig. 8 differs from the flow shown in Fig. 7 in that it includes steps S31 and S32. Steps S31 and S32 are executed by the relay unit 35 of the cooperation processing unit 30.

[0124] In step S31, the relay unit 35 converts the first cooperation instruction output in step S14 into a format that the interface of the conveyance machine simulator 20 can recognize.

[0125] In step S32, the relay unit 35 converts the second coordination instruction output in step S25 into a format that the interface of the line simulator 10 can recognize.

[0126] For example, when the interface of the line simulator 10 outputs a file including a first coordination instruction and the conveyance machine simulator 20 receives an input of a digital signal, the relay unit 35 converts the file including the first coordination instruction into a digital signal and transmits the digital signal to the conveyance machine simulator 20. When the interface of the line simulator 10 receives an input of a file and the conveyance machine simulator 20 outputs a digital signal indicating a second coordination instruction, the relay unit 35 converts the digital signal indicating the second coordination instruction into a file and sends the file to the line simulator 10.

[0127] (Third processing example) It takes a certain amount of time to transmit the first cooperation instruction between the line simulator 10 and the conveyance machine simulator 20. Therefore, a delay may occur in starting the execution of the conveyance task of the virtual conveyance machine. Similarly, it takes a certain amount of time to transmit the second cooperation instruction between the conveyance machine simulator 20 and the line simulator 10. Therefore, a delay may occur in starting the simulation of the flow of the virtual object from the fourth position. The third processing example eliminates such a delay.

[0128] Fig. 9 is a flowchart showing the flow of the third processing example of the simulation system. The flow shown in Fig. 9 differs from the flow shown in Fig. 7 in that it includes steps S14a and S25a instead of steps S14 and S25, and further includes steps S18 and S27.

[0129] In step S14a, the line simulator 10 outputs the first cooperation instruction, together with the first time when a predetermined time has elapsed since the virtual object reached the first position.

[0130] Step S27 is executed by the transport machine simulator 20 when the transport machine simulator 20 receives the first cooperation instruction (YES in step S22). In step S27, the transport machine simulator 20 rewinds the state of the second virtual space to the first time. After step S27, step S23 is executed. This allows the transport machine simulator 20 to start the transport task corresponding to the first cooperation instruction after once rewinding the second virtual space to the state at the first time when the virtual object reached the first position in the first virtual space. As a result, the delay due to the transmission of the first cooperation instruction is eliminated.

[0131] In step S27, the transport machine simulator 20 may rewind the state of the second virtual space to a time advanced by a second predetermined time from the first time. The second predetermined time is determined in advance according to a user input. Specifically, the user sets the time from when the workpiece 70 is ready to be carried out in the real space until a transport instruction is transmitted to the autonomous transport machine as the second predetermined time. For example, in the case of the production line 60 shown in FIG. 2, the user sets the time from when the workpiece 70 arrives at the carry-out exit 62a of the equipment 62 until when the autonomous traveling robot 68 receives the transport instruction as the second predetermined time. This makes the operation of the virtual transport machine by the transport machine simulator 20 closer to the operation of the autonomous transport machine in the real space.

[0132] Similarly, in step S25a, the transport device simulator 20 outputs the second time when the virtual transport device reaches the third position, together with the second cooperation instruction.

[0133] Step S18 is executed by the line simulator 10 when the line simulator 10 receives the second coordination instruction (YES in step S15). In step S18, the line simulator 10 rewinds the state of the first virtual space to the second time. After step S18, step S16 is executed. This allows the line simulator 10 to start simulating the flow of the virtual object from the fourth position after once rewinding the first virtual space to the state at the second time when the virtual carrier reaches the third position in the second virtual space. As a result, the delay due to the transmission of the second coordination instruction is eliminated.

[0134] Note that, in step S18, the line simulator 10 may also rewind the state of the first virtual space to a time advanced by a third predetermined time from the second time. The third predetermined time is determined in advance according to a user input. Specifically, the user sets the third predetermined time as the time from when the autonomous transport device completes transporting the workpiece 70 in the real space to when the production line recognizes the completion of transport. This makes the operation of the virtual production line by the line simulator 10 closer to the operation of the production line in the real space.

[0135] (Screen drawing process flow) The generation process of the second virtual screen will be described with reference to Fig. 10 and Fig. 11. Fig. 10 is a flowchart showing the flow of the generation process of the second virtual screen. The flow shown in Fig. 10 is executed by the generation unit 36 ​​of the cooperation processing unit 30. Fig. 11 is a diagram showing an example of the first virtual screen and the second virtual screen.

[0136] In step S41, the generation unit 36 ​​matches the scale of the second virtual screen to the scale of the first virtual screen.

[0137] 11, the first virtual screen 40 shows a top view of a partial space 11A in the virtual space 11 (first virtual space) that includes the virtual production line 12. Meanwhile, the second virtual screen 50 shows a top view of a partial space 21A in the virtual space 21 (second virtual space) that corresponds to the partial space 11A. In this case, the generation unit 36 ​​can match the scale of the second virtual screen 50 to the scale of the first virtual screen 40 by matching the size of the second virtual screen 50 to the size of the first virtual screen 40.

[0138] In the next step S42, the generation unit 36 ​​aligns the position of the first virtual screen with the position of the second virtual screen on the display 122. For example, if the first virtual screen includes a mark representing a fifth position in the first virtual space, the generation unit 36 ​​adjusts the position of the second virtual screen so that a sixth position corresponding to the fifth position in the second virtual space overlaps with the mark. As a result, the second virtual screen is displayed superimposed on the first virtual screen so that the sixth position in the second virtual space overlaps with the mark.

[0139] For example, the generation unit 36 ​​may determine the position of a component corresponding to a certain facility in the first virtual space as the fifth position, and may determine the position of the certain facility in the second virtual space as the sixth position. In the example shown in FIG. 11, the generation unit 36 ​​determines the exit of the station 12b in the virtual space 11 as the fifth position, and the point 23c in the virtual space 21 as the sixth position. In this case, the station 12b is an example of a "mark" in the present disclosure. Both the station 12b and the point 23c correspond to the facility 62 of the production line 60 shown in FIG. 2. The generation unit 36 ​​controls the display 122 to display the second virtual screen 50 superimposed on the first virtual screen 40 so that the point 23c overlaps with the exit of the station 12b.

[0140] The generation unit 36 ​​may adjust the position of the second virtual screen so that a plurality of sixth positions corresponding to a plurality of fifth positions overlap with a plurality of marks representing a plurality of fifth positions. For example, in the example shown in Fig. 11, the generation unit 36 ​​determines the positions of the exits of the stations 12b and 12d in the virtual space 11 as the fifth positions, and determines the points 23c and 23e in the virtual space 21 as the sixth positions. This reduces the positional deviation between the first virtual screen 40 and the second virtual screen 50.

[0141] In the next step S43, the generation unit 36 ​​acquires from the conveyance machine simulator 20 position and posture information indicating the position and posture of one or more virtual conveyance machines at the same time as the time of the first virtual space shown on the first virtual screen output from the line simulator 10.

[0142] In the next step S44, the generation unit 36 ​​selects one virtual carrier from among the one or more virtual carriers.

[0143] In the next step S45, the generation unit 36 ​​renders the selected virtual transport vehicle on the second virtual screen so as to assume the position and orientation indicated by the position and orientation information of the selected virtual transport vehicle.

[0144] In the next step S46, the generation unit 36 ​​determines whether or not the drawing of all of the one or more virtual carriers has been completed.

[0145] If the drawing of all of the one or more virtual transport vehicles has not been completed (NO in step S46), the process of generating the second virtual screen returns to step S44, whereby all of the one or more virtual transport vehicles are drawn on the second virtual screen.

[0146] 11, the virtual AMRs 22a and 22b are drawn on the second virtual screen 50. The second virtual screen 50 is displayed superimposed on the first virtual screen 40. This allows the user to grasp the flow of the virtual work 13 on the virtual production line 12 as well as the movement of the virtual AMRs 22a and 22b transporting the virtual work 13.

[0147] When all the drawings of one or more virtual transport machines are completed (YES in step S46), in step S47, the generation unit 36 ​​determines whether or not to end the simulation. The process of step S47 is the same as the process of step S26. Therefore, the description of the process of step S47 is omitted.

[0148] If the simulation is not to be ended (NO in step S47), the process of generating the second virtual screen proceeds to step S43. As a result, the second virtual space displayed on the second virtual screen 50 changes in synchronization with the first virtual space displayed on the first virtual screen 40.

[0149] When the simulation is to be ended (YES in step S47), the process of generating the second virtual screen ends.

[0150] <How to detect obstacles> 12 is a diagram illustrating a method for detecting an obstacle. The detection unit 37 specifies a first region 51 around the virtual AMR 22 in the second virtual screen 50 based on the position and attitude of the virtual AMR 22. For example, the detection unit 37 specifies an area of ​​a predetermined size in front of the virtual AMR 22 as the first region 51.

[0151] When the first virtual screen 40 and the second virtual screen 50 are overlapped, the detection unit 37 identifies the second area 41 that overlaps with the first area 51 in the first virtual screen 40 .

[0152] The detection unit 37 determines whether or not a pixel of a specific color is present in the second region 41 in the first virtual screen 40. As described above, the virtual worker 14 who may become an obstacle is displayed in a specific color in the first virtual screen 40. Therefore, the presence of a pixel of a specific color in the second region 41 means that the virtual worker 14 is present in the second region 41.

[0153] In response to the presence of pixels of the specific color in the second region 41, the detection unit 37 determines that an obstacle is present in the second virtual screen 50 at a position overlapping with the pixels of the specific color.

[0154] Thus, the conveyance machine simulator 20 simulates the operation of the virtual AMR 22 so as to avoid interference with the obstacle, which is the virtual worker. As a result, the second virtual screen 50 is displayed superimposed on the first virtual screen 40, allowing the user to visually confirm that the virtual AMR 22 is operating as if to avoid interference with the virtual worker 14. In this way, the operation of the virtual AMR 22 becomes closer to the operation of a real conveyance machine.

[0155] <Modification> In the above description, task numbers are added to the first, second, and third coordination instructions to identify the transport task. However, the information added to the first, second, and third coordination instructions is not limited to the task number. For example, the information added to the first coordination instruction may include information for identifying the transport source (e.g., the name or identification number of the second location) and information for identifying the transport destination (e.g., the name or identification number of the third location). The information added to the second coordination instruction may include information for identifying the destination of the virtual transport vehicle (e.g., the name or identification number of the fourth location). The information added to the third coordination instruction may include information for identifying the destination of the virtual transport vehicle (e.g., the name or identification number of the first location).

[0156] The simulation system 100 may be configured by a plurality of computers. For example, the line simulator 10, the conveyor simulator 20, and the cooperative processing unit 30 may be mounted on different devices.

[0157] In the above description, the second virtual screen is displayed superimposed on the first virtual screen. However, the line simulator 10 may generate a first virtual screen having a transparent background. In this case, the first virtual screen may be displayed superimposed on the second virtual screen.

[0158] §3 Supplementary Note As described above, the present embodiment includes the following disclosure.

[0159] (Configuration 1) A simulation system (100), a line simulator (10, 110) that simulates a flow of virtual objects (13, 13a to 13c) on a virtual production line (12) in a first virtual space (11); a transport vehicle simulator (20, 110) for simulating an operation of an autonomous virtual transport vehicle (22, 22a, 22b) in a second virtual space (21); The line simulator includes: outputting a first cooperation instruction in response to a first predetermined time having elapsed since the virtual object (13, 13a to 13c) reached a first position in the first virtual space (11); The transport machine simulator (20, 110) simulating an operation of the virtual transport vehicle (22, 22a, 22b) in response to the first cooperation instruction so as to move from a second position corresponding to the first position to a third position in the second virtual space (21); outputting a second cooperation instruction in response to the virtual carrier (22, 22a, 22b) reaching the third position; The line simulator (10, 110) The simulation system (100) resumes, in response to the second cooperation instruction, a simulation of the flow of the virtual object (13, 13a to 13c) from a fourth position corresponding to the third position in the first virtual space (11).

[0160] (Configuration 2) a relay unit (35, 110) that relays the first and second coordination instructions between the line simulator (10, 110) and the conveyor simulator (20, 110), The relay portion (35, 110) is converting the first coordination instruction into a format recognizable by the transport machine simulator (20, 110), and then outputting the first coordination instruction to the transport machine simulator (20, 110); 2. The simulation system (100) according to configuration 1, wherein the second coordination instruction is output to the line simulator (10, 110) after converting the second coordination instruction into a format recognizable by the line simulator (10, 110).

[0161] (Configuration 3) the line simulator (10, 110) outputs a first virtual screen (40) representing the first virtual space (11); The simulation system (100) a generating unit (36, 110) that generates a second virtual screen (50) representing the second virtual space based on a simulation result of the transport machine simulator (20, 110), A simulation system (100) according to configuration 1 or 2, wherein one of the first virtual screen (40) and the second virtual screen (50) has a transparent background and is displayed superimposed on the other of the first virtual screen (40) and the second virtual screen (50).

[0162] (Configuration 4) the first virtual screen (40) includes a mark representing a fifth position in the first virtual space (11); 4. The simulation system (100) according to configuration 3, wherein the second virtual screen (50) is displayed so that a sixth position corresponding to the fifth position in the second virtual space overlaps with the mark.

[0163] (Configuration 5) a detection unit (37, 110) that detects an obstacle (14) around the virtual transport vehicle (22, 22a, 22b) in the second virtual space (21) based on the first virtual screen (40), the transport vehicle simulator (20, 110) simulates an operation of the virtual transport vehicle (22, 22a, 22b) in response to the detection of the obstacle (14) so ​​as to avoid interference with the obstacle (14); The detection unit (37, 110) specifying a first area (51) around the virtual transport vehicle (22, 22a, 22b) on the second virtual screen (50) based on the position and attitude of the virtual transport vehicle (22, 22a, 22b); specifying a second area (41) that overlaps with the first area (51) in the first virtual screen (40) when the first virtual screen (40) and the second virtual screen (50) are overlapped; determining whether or not a pixel of a specific color is present in the second area (41) on the first virtual screen (40); A simulation system (100) according to configuration 3 or 4, which determines that the obstacle (14) is present in the second virtual screen (50) at a position overlapping with the pixel of the specific color in response to the presence of the pixel of the specific color.

[0164] (Configuration 6) the line simulator (10, 110) outputs, together with the first cooperation instruction, a first time that is a first predetermined time that has elapsed since the virtual object (13, 13a to 13c) reached the first position in the first virtual space (11); The simulation system (100) of any one of configurations 1 to 5, wherein the transport machine simulator (20, 110) rewinds the state of the second virtual space (21) to the first time or a time a second predetermined time has elapsed from the first time, and then simulates the operation of the virtual transport machine (22, 22a, 22b) to move from the second position to the third position.

[0165] (Configuration 7) the transport vehicle simulator (20, 110) outputs, together with the second cooperation instruction, a second time when the virtual transport vehicle (22, 22a, 22b) reaches the third position in the second virtual space (21); The simulation system (100) according to any one of configurations 1 to 6, wherein the line simulator (10, 110) rewinds the state of the first virtual space (11) to the second time or to a time a third predetermined time has elapsed since the second time, and then places the virtual object (13, 13a to 13c) at the fourth position.

[0166] (Configuration 8) the transfer device simulator (20, 110) outputs a third cooperation instruction in response to the virtual transfer device (22, 22a, 22b) reaching the second position; The line simulator (10, 110) outputting a first virtual screen (40) representing the first virtual space; The simulation system (100) according to any one of configurations 1 to 7, wherein the first virtual screen (40) is generated in response to the third cooperation instruction so as to indicate that the virtual object (13, 13a to 13c) is being transported.

[0167] (Configuration 9) 1. A simulation method, comprising: One or more computers (110) simulate a flow of virtual objects (13, 13a to 13c) on a virtual production line (12) in a first virtual space (11); The one or more computers (110) simulate the operation of an autonomous virtual carrier (22, 22a, 22b) in a second virtual space (21); Simulating the flow of the virtual objects (13, 13a to 13c) outputting a first coordination instruction in response to a predetermined time having elapsed since the virtual object (13, 13a to 13c) reached a first position in the first virtual space (11); Simulating the operation of the virtual carrier (22, 22a, 22b) includes: simulating an operation of the virtual transport vehicle (22, 22a, 22b) in response to the first cooperation instruction so as to move from a second position corresponding to the first position to a third position in the second virtual space (21); outputting a second cooperation instruction in response to the virtual carrier (22, 22a, 22b) reaching the third position; The simulation method includes resuming, in response to the second coordination instruction, a simulation of the flow of the virtual objects (13, 13a to 13c) from a fourth position corresponding to the third position in the first virtual space (11).

[0168] (Configuration 10) A program (115, 116, 117) for causing one or more computers (110) to execute a simulation method, The simulation method includes: simulating a flow of virtual objects (13, 13a to 13c) on a virtual production line (12) in a first virtual space (11); simulating an operation of an autonomous virtual carrier (22, 22a, 22b) in a second virtual space (21); Simulating the flow of the virtual objects (13, 13a to 13c) outputting a first coordination instruction in response to a predetermined time having elapsed since the virtual object (13, 13a to 13c) reached a first position in the first virtual space (11); Simulating the operation of the virtual carrier (22, 22a, 22b) includes: simulating an operation of the virtual transport vehicle (22, 22a, 22b) in response to the first cooperation instruction so as to move from a second position corresponding to the first position to a third position in the second virtual space (21); outputting a second cooperation instruction in response to the virtual carrier (22, 22a, 22b) reaching the third position; The program, in which simulating the flow of the virtual objects (13, 13a to 13c) includes resuming, in response to the second coordination instruction, a simulation of the flow of the virtual objects (13, 13a to 13c) from a fourth position corresponding to the third position in the first virtual space (11).

[0169] Although the embodiment of the present invention has been described, the embodiment disclosed herein should be considered as illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, and it is intended to include all modifications within the scope and meaning equivalent to the claims. [Explanation of symbols]

[0170] 10 line simulator, 11 virtual space, 11A partial space, 12 virtual production line, 12a source, 12b, 12d, 12f station, 12c, 12e buffer, 12g drain, 13, 13a to 13c virtual work, 14 virtual worker, 15 setting unit, 16 calculation unit, 17 linkage instruction unit, 18 screen output unit, 20 conveyor simulator, 21 virtual space, 21A partial space, 22, 22a, 22b virtual AMR, 23c to 23f point, 25 setting unit, 26 calculation unit, 27 linkage instruction unit, 30 linkage processing unit, 35 relay unit, 36 generation unit, 37 detection unit, 40 first virtual screen, 41 second area, 50 second virtual screen, 51 first area, 60 production line, 61 feeder, 62, 64, 66 Equipment, 63, 65 Storage shelf, 67 Discharge device, 68, 69 Autonomous mobile robot, 70 Work, 100 Simulation system, 110 CPU, 112 Memory, 114 Hard disk, 115 Line simulation program, 116 Transport machine simulation program, 117 Linkage program, 118 Input interface, 120 Display controller, 122 Display, 124 Communication interface, 126 Data reader / writer, 128 Bus, 130 Storage medium, 132 Input device.

Claims

1. 1. A simulation system comprising: a line simulator that simulates a flow of virtual objects on a virtual production line in a first virtual space; a transport vehicle simulator that simulates an operation of the autonomous virtual transport vehicle in the second virtual space; The line simulator includes: outputting a first cooperation instruction in response to a first predetermined time having elapsed since the virtual object reached a first position in the first virtual space; The conveyor simulator includes: simulating an operation of the virtual carrier in the second virtual space in response to the first coordination command so as to move from a second position corresponding to the first position to a third position; outputting a second coordination instruction in response to the virtual carrier reaching the third position; The line simulator includes: and in response to the second cooperation instruction, restarting a simulation of the flow of the virtual object from a fourth position corresponding to the third position in the first virtual space.

2. a relay unit that relays the first cooperation instruction and the second cooperation instruction between the line simulator and the conveyance machine simulator, The relay unit includes: converting the first cooperation instruction into a format recognizable by the transport machine simulator, and then outputting the first cooperation instruction to the transport machine simulator; The simulation system according to claim 1 , further comprising: a processor configured to convert the second coordination instruction into a format recognizable by the line simulator, and then output the second coordination instruction to the line simulator.

3. the line simulator outputs a first virtual screen representing the first virtual space; The simulation system includes: A generating unit that generates a second virtual screen representing the second virtual space based on a simulation result of the conveyance machine simulator, 2. The simulation system according to claim 1, wherein one of the first virtual screen and the second virtual screen has a transparent background and is displayed superimposed on the other of the first virtual screen and the second virtual screen.

4. the first virtual screen includes a mark representing a fifth position in the first virtual space; The simulation system according to claim 3 , wherein the second virtual screen is displayed so that a sixth position corresponding to the fifth position in the second virtual space overlaps with the mark.

5. a detection unit that detects an obstacle around the virtual conveyor in the second virtual space based on the first virtual screen, the transport vehicle simulator simulates an operation of the virtual transport vehicle so as to avoid interference with the obstacle in response to the detection of the obstacle; The detection unit is identifying a first area around the virtual transport vehicle on the second virtual screen based on the position and attitude of the virtual transport vehicle; identifying a second area that overlaps with the first area on the first virtual screen when the first virtual screen and the second virtual screen are overlapped; determining whether or not a pixel of a specific color is present in the second area on the first virtual screen; 4. The simulation system according to claim 3, further comprising: a determining unit that determines, in response to the presence of a pixel of the specific color, that the obstacle is present in a position overlapping the pixel of the specific color on the second virtual screen.

6. the line simulator outputs, together with the first cooperation instruction, a first time that is a first predetermined time that has elapsed since the virtual object reached the first position in the first virtual space; A simulation system according to any one of claims 1 to 5, wherein the transport machine simulator rewinds the state of the second virtual space to the first time or to a time a second predetermined time has elapsed from the first time, and then simulates the operation of the virtual transport machine so as to move from the second position to the third position.

7. the transport vehicle simulator outputs, together with the second cooperation instruction, a second time when the virtual transport vehicle reaches the third position in the second virtual space; 6. The simulation system according to claim 1, wherein the line simulator rewinds a state of the first virtual space to the second time or to a time that is a third predetermined time after the second time, and then places the virtual object at the fourth position.

8. the transport device simulator outputs a third cooperation instruction in response to the virtual transport device reaching the second position; The line simulator includes: outputting a first virtual screen representing the first virtual space; The simulation system according to claim 1 , wherein the first virtual screen is generated in response to the third cooperation instruction so as to indicate that the virtual object is being transported.

9. 1. A simulation method, comprising: one or more computers simulating, in a first virtual space, a flow of virtual objects on a virtual production line; The one or more computers simulate an operation of the autonomous virtual transport vehicle in a second virtual space; simulating the flow of the virtual object outputting a first cooperation instruction in response to a predetermined time having elapsed since the virtual object reached a first position in the first virtual space; Simulating the operation of the virtual transport vehicle includes: simulating an operation of the virtual transport vehicle in the second virtual space in response to the first coordination command, so as to move from a second position corresponding to the first position to a third position; outputting a second coordination command in response to the virtual transport vehicle reaching the third position; The simulation method, in which simulating the flow of the virtual object includes resuming, in response to the second coordination instruction, a simulation of the flow of the virtual object from a fourth position corresponding to the third position, in the first virtual space.

10. A program for causing one or more computers to execute a simulation method, The simulation method includes: simulating a flow of virtual objects on a virtual production line in a first virtual space; and simulating operation of the autonomous virtual carrier in the second virtual space; simulating a flow of the virtual object outputting a first cooperation instruction in response to a predetermined time having elapsed since the virtual object reached a first position in the first virtual space; Simulating the operation of the virtual transport vehicle includes: simulating an operation of the virtual transport vehicle in the second virtual space in response to the first coordination command, so as to move from a second position corresponding to the first position to a third position; outputting a second coordination command in response to the virtual transport vehicle reaching the third position; simulating the flow of the virtual object includes resuming, in response to the second coordination instruction, simulation of the flow of the virtual object from a fourth position corresponding to the third position in the first virtual space.

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