Control device, control system, control method, and program for a mold release agent spraying robot.

Abstract

We will teach the mold release agent spraying robot in a simulation environment. [Solution] A control device that controls a mold release agent spraying robot that sprays a mold release agent onto an object and is connected to the mold release agent spraying robot comprises: an input unit for inputting user operations; a first simulation unit that constructs a simulation environment for operating the mold release agent spraying robot based on the operations; a teaching unit that performs teaching in the simulation environment for the mold release agent spraying robot to operate in a real environment when the operations are input; and a second simulation unit that simulates the adhesion state in the simulation environment when the mold release agent is sprayed based on the operations, and the adhesion state in which the mold release agent adheres to the object.

Description

Technical Field

[0001] The present invention relates to a control device, a control system, a control method, and a program for a mold release agent spraying robot.

Background Art

[0002] Efforts are being made to promote the Sustainable Development Goals (SDGs, the 2030 Agenda for Sustainable Development, adopted at the United Nations Summit on September 25, 2015 (2015 in the 27th year of Heisei), hereinafter referred to as "SDGs"). Specifically, in Goal "9", technologies are required to build resilient infrastructure, promote inclusive and sustainable industrialization, and promote innovation.

[0003] Conventionally, in a die-casting machine or the like, there is a work process of spraying a mold release agent onto an object such as a mold. Robots that perform such work processes are known.

[0004] For example, the end effector of a robot used in a die-casting machine includes an operating portion such as a spray nozzle. Then, the end effector corrects the simulation operation programmed using simulation software to fit the mold by operating a teaching pendant. With a configuration using a robot having such an end effector, the user operates the teaching pendant at a safe location that is sufficiently far from the high-temperature mold and has good scaffolding, so it is safe. Thus, a technology for avoiding dangerous work is known (see, for example, Patent Document 1, etc.).

[0005] Furthermore, a method for teaching a mold spray robot to spray a spray agent onto the mold cavity surface in a die-casting machine is known. Specifically, first, the three-dimensional shape of the mold work surface is input to the robot control device. Next, on the screen provided in the robot control device, the necessary single shapes are extracted from single shapes and combined. Then, the three-dimensional shape of the mold work surface is converted into a simple model and input to the robot control device. After input to the robot control device, the model is displayed on the screen, and the spray work path is instructed. In this way, a technique for teaching the robot to perform spray work in a simple, easy, and efficient manner is known (see, for example, Patent Document 2).

[0006] Furthermore, a mold spray robot is known that atomizes a spray agent onto the mold cavity surface in a die-casting machine. Specifically, the mold spray robot has a fluid pressure cylinder in the middle and is equipped with three sets of extendable rods. The mold spray robot controls its posture by controlling the length of the extendable rods. This posture control changes the intersection direction and intersection angle of the flat plates pin-jointed to the extendable rods. In this way, a technology is known that achieves spray atomization at an appropriate angle that suits the actual situation, reduces the consumption of spray agent, and improves the quality of molded products (see, for example, Patent Document 3).

[0007] A method for performing interference checks in similar mold spray robots is known. Specifically, first, the mold spray robot sets the area in which the tip of the spray nozzle can move and the area in which the tip of the robot wrist can move as a three-dimensional coordinate region. Next, the mold spray robot determines whether the movement path of the tip of the spray nozzle and the movement path of the tip of the robot wrist, which indicate the work path, deviate from the area in which the tip of the spray nozzle can move and the area in which the tip of the robot wrist can move. Based on this determination, the mold spray robot prevents interference with the mold and peripheral equipment. In this way, a technology is known that achieves spray spray at an appropriate angle that suits the actual situation, reduces the consumption of spraying agent, and improves the quality of molded products (see, for example, Patent Document 4). [Prior art documents] [Patent Documents]

[0008] [Patent Document 1] Patent No. 7275958 [Patent Document 2] Japanese Patent Application Publication No. 9-182947 [Patent Document 3] Japanese Patent Application Publication No. 9-314305 [Patent Document 4] Japanese Patent Application Publication No. 9-314303 [Overview of the project] [Problems that the invention aims to solve]

[0009] Conventional technologies have the challenge of not being able to teach mold release agent spraying robots in a simulation environment.

[0010] The present invention aims to enable teaching of a mold release agent spraying robot in a simulation environment. [Means for solving the problem]

[0011] To solve the above problems, a control device that controls a mold release agent spraying robot that sprays a mold release agent onto an object, and that is connected to the mold release agent spraying robot, according to one aspect of the present invention, An input section for receiving user input, A first simulation unit constructs a simulation environment for performing a simulation of operating the mold release agent spraying robot based on the above operation, In the aforementioned simulation environment, when the aforementioned operation is input, a teaching unit performs teaching so that the mold release agent spraying robot operates in the actual environment, When the release agent is sprayed based on the above operation, a second simulation unit simulates the adhesion state in which the release agent adheres to the object in the simulation environment. It is characterized by being equipped with [the following features]. [Effects of the Invention]

[0012] According to the present invention, a mold release agent spraying robot can be taught in a simulation environment. [Brief explanation of the drawing]

[0013] [Figure 1] This figure shows an example of a control system for a mold release agent spraying robot. [Figure 2] This figure shows an example of control device hardware. [Figure 3] This figure shows an example of a master-slave configuration environment. [Figure 4] This figure shows an example of a simulation environment. [Figure 5] This figure shows an example of a completed teaching session. [Figure 6] This figure shows an example of a GUI. [Figure 7] This figure shows an example of a spray treatment simulation. [Figure 8] This figure shows an example of a simulation model for spray treatment. [Figure 9] This figure shows an example of a simulation of the concentration of the mold release agent. [Figure 10] It is a figure showing an example of simulating the adhesion range. [Figure 11] It is a figure showing an output example of the nozzle locus and the adhesion state. [Figure 12] It is a figure showing an example of three-dimensional output of the simulation result. [Figure 13] It is a figure showing an example of three-dimensional output of the simulation result from another perspective. <​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​

[0016] Spraying refers to the process from when the release agent is ejected from the nozzle of a release agent spraying robot until it adheres to the target object. For example, when spraying a release agent, the release agent spraying robot applies pressure to the liquid release agent to atomize it and adhere it to the target object. However, various conditions of spraying, such as the direction, strength, distance, range, and fineness of the mist, may be changed by setting or by using different nozzles.

[0017] Spraying is a process performed, for example, by a mold release agent spraying robot equipped with hardware such as a spray gun or airbrush. However, depending on the type of mold release agent or the conditions under which spraying is performed, spraying may be implemented using hardware other than a spray gun.

[0018] The object to which the release agent is sprayed (hereinafter simply referred to as "object") is not limited to molds, but may also be polymer materials such as plastics, wood, fibers, or mixtures containing metals, etc.

[0019] For example, mold release agents are sprayed onto die-casting machine molds and other objects in a spraying process aimed at coloring the molds. Die-casting machines can become hot because they perform processes such as filling molds with high-temperature metal. Therefore, it is desirable that mold release agent spraying robots operating around die-casting machines be heat-resistant (the temperature tolerance varies depending on the metal being handled). In other words, general industrial robots that are not heat-resistant may not be able to operate in the high-temperature environment around die-casting machines and may therefore not be able to be installed. Heat resistance can be achieved by covering the robot with a heat-resistant jacket. For example, if the object contains an aluminum alloy, its melting point is 600-700°C. Therefore, when installing a mold release agent spraying robot near the object, the mold release agent spraying robot may have heat-resistant properties (including cases where part of the mold release agent spraying robot, or the mold release agent spraying robot, temporarily acquires heat-resistant properties) so that it can work even in the high-temperature environment described above.

[0020] Additionally, a cover that protects against stains caused by splashes of mold release agent would be beneficial.

[0021] Release agent spraying robots should ideally be explosion-proof.

[0022] As described above, it is desirable that the mold release agent spraying robot be heat-resistant and explosion-proof. Therefore, it is desirable that the mold release agent spraying robot be equipped with environmentally resistant materials such as a heat-resistant jacket or cover. The environmentally resistant materials may be added later or be removable.

[0023] Furthermore, mold release agent spraying robots may handle liquid mold release agents. Therefore, it is desirable for mold release agent spraying robots to be liquid-resistant.

[0024] The objects come in a variety of shapes. Therefore, in order to spray the release agent, the release agent spraying robot changes its posture by translating and rotating in accordance with the shape of the object. Specifically, the release agent spraying robot has degrees of freedom (DOF) that allow the nozzle to be translated in the left-right direction, translated in the up-down direction, translated in the depth direction (including diagonal movement by combining translation of two or more axes), rotate on the Roll axis, rotate on the Pitch axis, and rotate on the Yaw axis. In other words, the release agent spraying robot is a mechanism with at least 6DOF.

[0025] [Example System Configuration] Figure 1 shows an example of a control system for a mold release agent spraying robot. For example, the control system for a mold release agent spraying robot (hereinafter referred to as "control system 100") includes a mold release agent spraying robot 11, a control panel 12, and a control device 10, etc.

[0026] The control system 100 may have a PLC 13 (Programmable Logic Controller) or the like, either internally or externally. Furthermore, the control system 100 may be connected to external systems such as a higher-level system 14.

[0027] The mold release agent spraying robot 11 is the robot controlled by the control panel 12 and the control device 10. There may be multiple mold release agent spraying robots 11. For simplicity, the following explanation will use a single mold release agent spraying robot 11 as an example.

[0028] Furthermore, the control system 100 may also control robots other than the mold release agent spraying robot 11. However, the robots controlled by the control system 100 will operate in harsh environments such as the surrounding environment of the die-casting machine. Therefore, they will be robots that can withstand the surrounding environment, such as high heat resistance.

[0029] In addition, the control system 100 may have other devices externally or internally. Furthermore, each of the above devices may be composed of multiple devices. Moreover, each of the above devices may be, for example, an integrated release agent spraying robot 11 and control panel 12.

[0030] In the control system 100, for example, when a user 101 inputs an operation to the control device 10, the mold release agent spraying robot 11 operates based on the operation. In other words, in the control system 100, the mold release agent spraying robot 11 is the slave and the control device 10 is the master, forming a master-slave configuration.

[0031] However, the mold release agent spraying robot 11 does not necessarily need user 101 to operate (including partial operation, not the entire operation). For example, the mold release agent spraying robot 11 may operate based on a program or the like, even without user 101's input.

[0032] [Example of hardware configuration of control device 10] Figure 2 shows an example of the control device hardware. For example, the control device 10 has a hardware configuration that includes a CPU (Central Processing Unit, hereinafter referred to as "CPU10H1"), a storage device 10H2, an input device 10H3, an output device 10H4, and a communication device 10H5. In other words, the control device 10 is an information processing device such as a PC (Personal Computer) or a server. Note that the control device 10 may consist of multiple information processing devices.

[0033] The CPU 10H1 is an arithmetic unit and control unit. Therefore, the CPU 10H1 performs calculations in cooperation with the memory device 10H2 and other components to execute processing and control.

[0034] The storage device 10H2 is a memory device, etc. Therefore, the storage device 10H2 stores data, etc. The storage device 10H2 may also have an auxiliary storage device.

[0035] The input device 10H3 is, for example, a keyboard or a mouse. Thus, the input device 10H3 is a device that receives data from an external device or from human input.

[0036] The output device 10H4 is, for example, a display. Thus, the output device 10H4 is a device that outputs data to an external device or displays information to a person.

[0037] The communication device 10H5 is a device that transmits and receives data to and from external devices via wired or wireless communication.

[0038] The control device 10 may further include sensors, computing devices, control devices, input devices, output devices, memory devices, communication devices, or auxiliary devices, either internally or externally.

[0039] [Example of a master-slave configuration environment] Figure 3 shows an example of a master-slave configuration environment. The following explanation will use mold 102 as the object. Note that in the following system configuration example, PLC 13 and other components will be omitted.

[0040] In mold 102, the plane to which the sprayed release agent adheres is defined as the "XY plane." Therefore, with respect to mold 102, the left-right direction (i.e., the horizontal direction) is defined as the "X-axis direction." Conversely, the up-down direction (i.e., the vertical direction) is defined as the "Y-axis direction." And the depth direction is defined as the "Z-axis direction."

[0041] The mold release agent spraying robot 11 has two nozzles 15. However, there may be one or three or more nozzles 15 instead of two.

[0042] Hereinafter, the environment in which the mold release agent spraying robot 11 and the mold 102 actually exist as hardware, rather than in a virtual environment, will be referred to as the "real environment 201". Therefore, in the real environment 201, the mold release agent spraying robot 11 and the mold 102 are actually installed, and the mold release agent spraying robot 11 is actually in operation.

[0043] In the actual environment 201, the control device 10 is the master side, and the mold release agent spraying robot 11 is the slave side. Furthermore, it is desirable that the master and slave are separated by distance, meaning the mold release agent spraying robot 11 is operated remotely by inputting commands to the control device 10.

[0044] In a real-world environment 201, the mold release agent spraying robot 11 is installed around the mold 102. Therefore, the mold release agent spraying robot 11 is often subjected to harsh environments such as high temperatures that are unsuitable for humans. For this reason, it is desirable that the control device 10, i.e., the user 101, be able to remotely operate the mold release agent spraying robot 11 from a location away from it.

[0045] For example, in the control device 10, the user 101 inputs an operation to instruct the mold release agent spraying robot 11 to perform actions such as translation, rotation, or spraying. Based on such input, the mold release agent spraying robot 11 performs the spraying process and other operations, as well as translation and other movements.

[0046] [First simulation and example simulation environment] Figure 4 shows an example of a simulation environment. For example, the control device 10 virtualizes the mold release agent spraying robot 11 in the actual environment 201 to construct the simulation environment 202.

[0047] The simulation environment 202 is a virtual space that virtualizes the surrounding environment and a virtual model of the mold release agent spraying robot 11 in the actual environment 201, performing the same operations in the simulation environment 202. Note that the virtual model and virtual space may differ from those in the actual environment 201.

[0048] Hereinafter, the virtual model of the mold release agent spraying robot 11 in the actual environment 201 will be referred to as "virtual robot 21". Similarly, the virtual model of the mold 102 in the actual environment 201 will be referred to as "virtual mold 112". Note that the simulation environment 202 may also include other devices, etc., that are virtualized in addition to the virtual robot 21 and the virtual mold 112.

[0049] Furthermore, in the simulation environment 202, virtual models such as the virtual robot 21, which are displayed on the simulation environment 202 and operate based on user input, are sometimes referred to as "virtual operating entities."

[0050] Once the simulation environment 202 is established, just like in the actual environment 201, when an operation to operate the mold release agent spraying robot 11 is input to the control device 10, the virtual robot 21 and other components will operate in the simulation environment 202 based on that operation. Therefore, even without the actual environment 201, the user 101 can input an operation to operate the virtual robot 21 in the simulation environment 202 and confirm what kind of operation will be performed based on that operation.

[0051] The state in which the simulation environment 202 is constructed is equivalent to the state in which the release agent spraying robot 11, etc., is connected, even if the equipment of the actual environment 201, i.e., the release agent spraying robot 11, etc., is not present (however, even if the release agent spraying robot 11 actually exists and is connected to the control device 10 via a network, etc., it is sufficient if the power is not turned on or it is not accepting operations, etc.).

[0052] In simulation environment 202, teaching (also known as "robot teaching," "instruction," or "teaching operation") is performed.

[0053] Teaching is the process of inputting in advance how the mold release agent spraying robot 11 should operate in the actual environment 201. For example, teaching is performed by operating a virtual robot 21 in the simulation environment 202. In other words, teaching is the process of reproducing how the mold release agent spraying robot 11 should operate in the actual environment 201 under the simulation environment 202.

[0054] Figure 5 shows an example of completed teaching. Hereafter, it is assumed that "teaching data 103" is generated when teaching is performed. That is, if teaching data 103 is available, the mold release agent spraying robot 11 will perform the actions indicated by the teaching data 103 in the actual environment 201.

[0055] Therefore, by using the teaching data 103, the mold release agent spraying robot 11 can reproduce the same operation in the actual environment 201 as the result of the simulation in the simulation environment 202.

[0056] The teaching data 103 (including cases where only a portion is generated or modified) may be generated in a format such as code input. For example, the teaching data 103 shows the position, velocity, acceleration, angle (such as changes in posture due to rotation), and processing details of the mold release agent spraying robot 11 in the actual environment 201 in a time series. Therefore, the teaching data 103 may be a collection of data showing coordinate positions, etc. However, the format of the teaching data 103 is not limited as long as it can instruct the mold release agent spraying robot 11 on what to do. In addition, the teaching data 103 may be converted in format and optimized using conversion software, etc.

[0057] Therefore, by considering how to operate the mold release agent spraying robot 11 in the actual environment 201 in the simulation environment 202 and generating teaching data 103, the mold release agent spraying robot 11 can operate without any operation by the user 101. For example, when performing similar tasks repeatedly, the user 101 does not need to repeatedly input information for each task.

[0058] Furthermore, in the actual environment 201, the mold release agent spraying robot 11 does not need to be connected to the control device 10 if teaching data 103 is available. In other words, after teaching, the mold release agent spraying robot 11 can operate unmanned and automatically in the actual environment 201.

[0059] However, even if the mold release agent spraying robot 11 is operating based on the teaching data 103, if the mold release agent spraying robot 11 receives an operation from the control device 10, it may be configured to prioritize and execute instructions from the control device 10.

[0060] [Example of GUI (Graphical User Interface)] Figure 6 shows an example of a GUI. For example, it is desirable for the control device 10 to output the operation of the mold release agent spraying robot 11 or the virtual robot 21 using a GUI such as a timeline 300.

[0061] The timeline 300 is a graph that shows various parameters or states in the operation of the virtual robot 21 against time (the horizontal axis in Figure 6).

[0062] For example, timeline 300 is composed of multiple graphs. However, there is no limit to the number of graphs that make up timeline 300. For example, the number of graphs may be increased or decreased according to the number of nozzles, or the degrees of freedom of the release agent spraying robot 11 or the virtual robot 21.

[0063] Specifically, the graphs are Graph 1 301, Graph 2 302, Graph 3 303, Graph 4 304, and Graph 5 305, etc.

[0064] Graphs 1 (301), 2 (302), 3 (303), 4 (304), and 5 (305) all use time on the horizontal axis.

[0065] On the other hand, the vertical axes of Graph 1 301, Graph 2 302, Graph 3 303, Graph 4 304, and Graph 5 305 are different. Specifically, the vertical axis of Graph 1 301 is the speed at which the mold release agent spraying robot 11 or the virtual robot 21 moves in parallel (including diagonal or curved movements). Hereafter, this will simply be referred to as "robot speed".

[0066] Graphs 302 (2nd), 303 (3rd), and 4 (4th) show examples where three nozzles, a first nozzle, a second nozzle, and a third nozzle, are provided on the mold release agent spraying robot 11 or virtual robot 21. Furthermore, it is assumed that the first nozzle, the second nozzle, and the third nozzle are capable of independent and different operations.

[0067] The vertical axis of Graph 2 (302), Graph 3 (303), and Graph 4 (304) shows either the "ON" or "OFF" state as a binary value.

[0068] In this example, Graphs 302, 303, and 304 are examples of high-activity ("High" indicates "ON"). Therefore, when "ON" is displayed in Graphs 302, 303, and 4, each nozzle is performing the spraying process.

[0069] In this example, we assume that the amount of release agent sprayed from each nozzle per unit time is constant. Therefore, since the amount of release agent sprayed from each nozzle per unit time is constant, the amount of release agent sprayed is proportional to the time the device is "ON".

[0070] However, the amount of release agent sprayed from each nozzle per unit time during the spraying process may be specified. For example, the amount of release agent may be set as a numerical value. When such a specification is made, the second graph 302, the third graph 303, and the fourth graph 304 will have information on the amount of release agent sprayed from each nozzle per unit time, in addition to the "ON" or "OFF" information. Thus, the timeline 300 may accept not only binary switching information such as "ON" or "OFF," but also setting values ​​(for example, upper and lower limits may be set, and setting values ​​including format may be set in advance). Similarly, parameters such as speed, acceleration, and position may be set as numerical values.

[0071] Furthermore, the vertical axes of the second graph 302, the third graph 303, and the fourth graph 304 may differ depending on the type of processing performed by each nozzle.

[0072] The vertical axis of Graph 5, 305, represents the rotational speed of the nozzle. Specifically, in configurations where the base supporting the nozzle has the freedom to rotate around the Roll axis, the vertical axis of Graph 5, 305, shows clockwise rotation as a "+" (plus) value and counterclockwise rotation as a "-" (minus) value.

[0073] In the example graphs shown in Timeline 300, the graph that shows the speed at which the mold release agent spraying robot 11 (which may also be the virtual robot 21 in the simulation environment 202) moves or rotates relative to time, such as the first graph 301 or the fifth graph 305, is called the "first timeline."

[0074] Furthermore, timeline 300 may also include a timeline where the vertical axis is either position (or angle in the case of rotation) or acceleration (or angular acceleration in the case of rotation) relative to the time axis.

[0075] In the example graphs shown in Timeline 300, graphs that show the nozzle processing execution over time, such as Graph 2 302, Graph 303, and Graph 4 304, are called the "Second Timeline."

[0076] Having a GUI for the first and second timelines makes it easier for user 101 to understand the speed, processing time, etc.

[0077] As shown in Graph 1, 301, the mold release agent spraying robot 11 starts at point PS1. In this example, the mold release agent spraying robot 11 accelerates after starting from point PS1. After that, the mold release agent spraying robot 11 moves in parallel while maintaining a constant speed. Next, as the mold release agent spraying robot 11 approaches point PS2, it decelerates and stops at point PS2. However, stopping is not required.

[0078] Similarly, when moving parallel from the second point PS2 to the third point PS3, the mold release agent spraying robot 11 operates in the following order: increasing speed, moving at a constant speed, decelerating, and stopping.

[0079] Next, at the third location PS3, the mold release agent spraying robot 11 stops for a certain period of time. After that, the mold release agent spraying robot 11 moves in parallel from the third location PS3 to the fourth location PS4. Compared to the parallel movement from the second location PS2 to the third location PS3, the parallel movement from the third location PS3 to the fourth location PS4 is different in that it moves in parallel at a faster speed than the parallel movement from the second location PS2 to the third location PS3.

[0080] As shown in Graph 302, the first nozzle turns "ON" when it reaches the second point PS2 and begins continuous processing. After that, the first nozzle continues processing at the second point PS2 for a certain period of time, then turns "OFF" and terminates. Next, after moving to the third point PS3, the first nozzle turns "ON" when it reaches the third point PS3 and begins processing. Subsequently, while moving parallel from the third point PS3 to the fourth point PS4, the first nozzle performs processing while switching between "ON" and "OFF". When processing is performed while switching between "ON" and "OFF", the first nozzle alternates between spraying and stopping. This intermittent processing results in a smaller amount of spray from the nozzle 15 compared to continuous processing (i.e., being in the "ON" state for a certain period of time).

[0081] As shown in Graph 303, the second nozzle performs processing by switching between "ON" and "OFF" from the moment it starts moving from the first point PS1 until it reaches the second point PS2. After reaching the second point PS2, the second nozzle turns "OFF" and terminates. Next, it performs processing by switching between "ON" and "OFF" from the moment it starts moving from the second point PS2 until it reaches the third point PS3. Then, upon reaching the third point PS3, the second nozzle turns "OFF" and terminates again. Subsequently, the second nozzle performs processing continuously from the moment it starts moving from the third point PS3 until it reaches the fourth point PS4.

[0082] As shown in Graph 4, 304, the fourth nozzle continuously performs processing from the moment it starts moving from the first point PS1 until it reaches the fourth point PS4.

[0083] As shown in Graph 5, 305, the mold release agent spraying robot 11 rotates in the "-" (minus) direction at the first point PS1. After that, when it starts moving away from the first point PS1, the mold release agent spraying robot 11 rotates in the "+" (plus) direction, that is, in the opposite direction to before. After that, the mold release agent spraying robot 11 rotates at a constant speed. Next, as the mold release agent spraying robot 11 approaches the second point PS2, it rotates in the "-" (minus) direction, that is, in the opposite direction to before.

[0084] Next, when the mold release agent spraying robot 11 reaches the second point PS2, it rotates at a constant speed. Then, as it moves from the second point PS2 to the third point PS3, it rotates in the "+" (plus) direction, rotates at a constant speed, and as it approaches the third point PS3, it moves in the "-" (minus) direction.

[0085] Subsequently, the mold release agent spraying robot 11 moves from the third point PS3 to the fourth point PS4, rotating in the "+" (plus) direction (faster than when moving from the second point PS2 to the third point PS3), rotating at a constant speed, and then moving in the "-" (minus) direction as it approaches the fourth point PS4.

[0086] For example, the timeline 300 is generated when an instruction is given to the control device 10 to perform a translation, rotation, or process execution. In other words, the timeline 300 is output as a result of operating the release agent spraying robot 11 or the virtual robot 21.

[0087] The timeline 300 may be generated based on instructions to the control device 10 to perform translation, rotation, or execution of a process, or the timeline 300 may be generated by the user 101 operating on the screen.

[0088] When the timing indicated on the timeline 300, or the operation content such as "ON," is manipulated on the GUI, the timing or operation content is changed. From then on, the release agent spraying robot 11 or virtual robot 21 operates based on the timeline 300 that reflects this change.

[0089] Alternatively, timeline 300 (which is initially completely blank) can be generated by entering timings, actions, etc., onto it.

[0090] Furthermore, it would be desirable for Timeline 300 to allow for color settings and other adjustments.

[0091] As described above, by using the timeline 300 to display, set, and modify the operation of the mold release agent spraying robot 11 or the virtual robot 21, it becomes easy to make fine changes to the timing or operation content when teaching the mold release agent spraying robot 11 or the virtual robot 21.

[0092] [Example of a spray treatment simulation] Figure 7 shows an example of a spray treatment simulation. Below, we will explain using an example where a release agent is sprayed from nozzle 15 toward a virtual mold 112 (for the purposes of this explanation, the surface to which the release agent is sprayed is assumed to be a flat surface) and adheres to the virtual mold 112.

[0093] In the simulation environment 202, when the spraying process is executed, the adhesion state after the release agent adheres to the virtual mold 112 is simulated and output based on execution conditions such as the type of release agent, the viscosity of the release agent, the shape of the nozzle 15, the residence time of the nozzle 15 that sprays the release agent, the distance between the nozzle 15 and the virtual mold 112, the concentration of the release agent, the amount of release agent sprayed, and the angle of the nozzle 15.

[0094] The adhesion state includes whether or not the release agent is attached, the thickness of the release agent attached to the virtual mold 112, and the area on the virtual mold 112 where the release agent is attached. The area where the release agent is attached is often determined mainly by the distance between the object and the nozzle 15. Specifically, as the distance from the nozzle 15 to the object increases, the area where the release agent is attached tends to widen. On the other hand, as the distance from the nozzle 15 to the object decreases, the area where the release agent is attached tends to narrow. Therefore, determining the distance between the object and the nozzle 15 determines the area where the release agent is attached. However, the area where the release agent is attached may also be determined by considering other conditions.

[0095] On the other hand, when the nozzle 15 moves while spraying, the speed of movement and the amount sprayed per unit time often mainly affect the increase or decrease in the amount of adhesive per unit area on the target object, and often have little effect on the extent of the area to which the release agent adheres.

[0096] Figure 8 shows an example of a simulation model for spray treatment. Specifically, it is desirable to perform the simulation using a "particle model," which calculates the release agent sprayed from the nozzle 15 during the spray treatment as particles. By simulating with such a particle model, the adhesion state can be simulated with high accuracy.

[0097] On the other hand, simulations using approximate models can be displayed quickly. Therefore, if you want to output simulation results immediately, simulations using approximate models are preferable. It would be good to have a setting to switch between different models used for simulations.

[0098] Figure 9 shows an example of a simulation of the density of the release agent. For example, the density of the release agent is simulated in four stages, from the weakest coloring by the release agent (represented by "light" in the figure) to the strongest coloring by the release agent (represented by "dark" in the figure). However, the number of stages is not limited to four; there may be fewer than four stages or five or more stages. When such density levels are output on the output screen, user 101 can intuitively understand the degree of density to which the release agent is sprayed.

[0099] Figure 10 shows an example of a simulation of the adhesion area. For example, the shape of the area to which the release agent adheres changes through the simulation.

[0100] Figure 10(A) shows an example of a circular attachment shape. Figure 10(B) shows an example of an elliptical attachment shape. Figure 10(C) shows an example of a combination of a circular and elliptical attachment shape. Figure 10(D) shows an example of a hyperbolic attachment shape.

[0101] The shape of the adhesion is simulated considering the shape of the object, the angle of the nozzle 15, the angle of the object, and the presence or absence of obstacles between the nozzle 15 and the object. Initially, for the state before optimizing how the nozzle 15 operates (the so-called "initial setting"), it is desirable to focus the simulation on the shape and range of adhesion, considering the distance between the nozzle 15 and the object, and the type of nozzle 15, in order to position the nozzle 15. Initial settings are often repeatedly optimized after observing a certain degree of adhesion shape and range. Therefore, it is desirable to prioritize high output speed over accuracy in a single simulation.

[0102] After positioning is complete, that is, after optimization from the initial settings and when the system is highly refined, it is desirable to be able to perform simulations that include thickness and other parameters. Being able to use different types of simulations in this way allows for more efficient teaching.

[0103] Furthermore, the shape of the adhesion is not limited to the above, and various shapes can be simulated.

[0104] [Example output of nozzle trajectory and adhesion status] Figure 11 shows an example of the output of the nozzle trajectory and adhesion state. For example, when user 101 inputs an operation to instruct the spraying work, it is desirable that the simulation results be output on an output screen like the one shown.

[0105] The output screen displays the points that the nozzle 15 passes through. The following explanation uses an example where the nozzle 15 moves in parallel from the starting point, passing through the following points in order: 1st point P1, 2nd point P2, 3rd point P3, 4th point P4, 5th point P5, 6th point P6, and 7th point P7. However, the nozzle trajectory may also be represented in three dimensions, including changes in the Z-axis direction.

[0106] For example, the nozzle trajectory is shown by connecting each passing point and adding the actions performed before and after each passing point, indicating the location of the nozzle 15 with lines and points.

[0107] The simulation results, i.e., the output screen, show the areas where the release agent adheres. For example, the areas where the release agent adheres are represented in the form of colored areas. Specifically, when the system is instructed to perform spraying at the first passing point P1, the second passing point P2, and the vicinity of the first passing point P1, the adhesion area (hereinafter, the adhesion area near the first passing point P1 and the second passing point P2 is referred to as the "first adhesion area E1") is displayed, indicating the areas where the release agent will adhere.

[0108] For example, if the conditions are such that the nozzle 15 moves at a constant speed from the first passing point P1 to the second passing point P2, the amount of spray per unit time is constant, and the distance between the nozzle 15 and the object is fixed, then the first adhesion area E1 can be described as having a uniform area and a constant density of the release agent. Therefore, the first adhesion area E1 can be described as having a constant width.

[0109] The adhesion area can be widened by operations such as increasing the distance between the nozzle 15 and the object. Furthermore, it is desirable that the density of the release agent be expressed in steps, for example, as shown in Figure 9.

[0110] For example, if the distance from the nozzle 15 to the object is increased at the positions of the 5th passing point P5 and the 6th passing point P6 compared to the positions of the 1st passing points P1 to the 4th passing points P4, a simulation result like the 2nd adhesion area E2 is output. Specifically, the 2nd adhesion area E2 is a larger area centered around the 5th passing point P5 and the 6th passing point P6 compared to the 1st adhesion area E1. In other words, the simulation results show that the area where the release agent adheres is wider near the 5th passing point P5 and the 6th passing point P6 than at other positions, and the amount of release agent adhered per unit area is smaller.

[0111] Figure 11 shows areas with a high amount of mold release agent per unit area in color. Conversely, in Figure 11, areas shown with dotted lines have a low amount of mold release agent per unit area compared to areas shown with solid lines. Note that the amount of mold release agent per unit area is not limited to a two-level indication of "high" or "low," but may have further levels.

[0112] Furthermore, the output screen displays arrows or other indicators showing the direction in which the nozzle 15 is instructed to move next. For example, an arrow indicating the next direction the nozzle 15 will move is output for each passing point. Specifically, for the second passing point P2, it is represented on the output screen as arrow 16.

[0113] The starting point of arrow 16 indicates the position where the operation was input (in this example, the position of the second passing point P2). The length of arrow 16 indicates the force, velocity, or acceleration applied to the nozzle 15. Furthermore, the ending point of the arrow indicates the indicated direction.

[0114] In this way, when the simulation results are output on the output screen based on conditions such as the nozzle trajectory and adhesion state, the user 101 can intuitively understand the results of the spraying process.

[0115] [Example of 3D output of simulation results] Figure 12 shows an example of a 3D output of the simulation results. For example, the simulation results may be represented in three dimensions.

[0116] The following explanation will use an example where the object has a protrusion M1. Specifically, the virtual mold 112 is composed of a combination of a flat plate portion M2 that is constant with respect to the Z-axis direction and a protrusion M1 that protrudes from the surface of the flat plate portion M2 in the Z-axis direction. For example, the protrusion M1 is cylindrical in shape. The protrusion M1 is either formed integrally with the flat plate portion M2 or is an object that is added later as a part.

[0117] As shown in Figure 12, when spraying is performed on the virtual mold 112 so as to span the flat plate portion M2 and the protrusion M1, that is, when spraying is performed while moving the nozzle 15 in parallel in the X-axis direction, the area to which the release agent adheres is represented as the third adhesion area E3.

[0118] Figure 13 shows an example of the 3D output of the simulation results from a different perspective. Specifically, Figure 13(A) is a perspective view showing the same simulation results as in Figure 12. Figure 13(B) is a plan view showing the same simulation results as in Figure 12.

[0119] As shown in Figure 13(B), when spraying across the boundary between the flat plate portion M2 and the protrusion M1 (hereinafter simply referred to as "boundary 17"), and when the width of the third adhesion range E3 in the Y-axis direction is kept constant, the conditions will differ between the position below the protrusion M1 (hereinafter referred to as "first range 171") and the position where the protrusion M1 is located (hereinafter referred to as "second range 172").

[0120] Since the first range 171 is a range without protrusions M1, the distance from the nozzle 15 to the area where the release agent is sprayed, i.e., the flat plate portion M2, is longer than that of the second range 172. On the other hand, since the second range 172 is a range with protrusions M1, the distance from the nozzle 15 to the area where the release agent is sprayed, i.e., the protrusions M1, is shorter than that of the first range 171.

[0121] If the nozzle 15 is moved parallel to the X-axis at a constant speed, and conditions such as the amount of spray per unit time are set to be the same, the width of the third adhesion range E3 in the Y-axis direction will not be constant in the first range 171 and the second range 172 because the distance between the nozzle 15 and the target object is different. Therefore, in order to make the width of the third adhesion range E3 in the Y-axis direction constant, operations such as adjusting the position of the nozzle 15 in the Z-axis direction are performed in the first range 171 and the second range 172. In this way, it is possible to simulate whether the adhesion state is constant even if there are protrusions M1, etc.

[0122] Furthermore, it is desirable that error ranges such as E4 be represented in the simulation results. For example, error range E4 is a region where the amount of adhesive is small compared to adjacent regions, or where the amount of adhesive changes rapidly. Regions with small or rapidly changing amounts of adhesive result in so-called "unevenness," which can lead to defects such as the release agent not functioning properly. Therefore, outputting error range E4 can help suppress defects.

[0123] Furthermore, as shown in Figure 13, when the nozzle 15 etc. are not outputting, the user 101 can see more easily compared to the actual environment 201 etc., because there are no obstacles such as the nozzle 15 etc.

[0124] [Example of virtual area] Figure 14 shows an example of virtual area configuration. For example, the virtual area is configured as follows: Virtual Area 1 V1.

[0125] The virtual domain is defined in the simulation environment 202 and does not exist in the real environment 201. Furthermore, access to the virtual domain is restricted for virtual entities.

[0126] The following explanation will describe an example where the first virtual region V1 is set such that the distance from the object to the nozzle 15 is constant in the Y-axis direction. In the following example, we will consider the case where, at the second passing point P2, the nozzle 15 is operated to move in the direction indicated by arrow 16.

[0127] The instruction for arrow 16, that is, to move further in the Y-axis direction and the X-axis direction from the position of the second passing point P2, is an example of instructing a translation that includes a directional component in the direction restricted by the first virtual region V1 (hereinafter referred to as "first directional component 161") and a directional component in the direction along the surface of the first virtual region V1 (hereinafter referred to as "second directional component 162").

[0128] In this example, the first virtual region V1 is configured to restrict translation in the Y-axis direction from the position of the second passing point P2. Therefore, once the first virtual region V1 is established, the nozzle 15, etc., is restricted from translation in the Y-axis direction from the position of the second passing point P2. On the other hand, the second directional component 162 is the directional component in the direction along the surface of the first virtual region V1, that is, in this example, the second directional component 162 coincides with the X-axis direction.

[0129] Note that the first directional component 161 and the second directional component 162 are not limited to the examples above. That is, the first directional component 161 and the second directional component 162 can be arbitrarily set by the virtual region settings, determining which direction is the first directional component 161 or the second directional component 162. Therefore, the settings of the virtual region will determine which position and in which direction translation is restricted.

[0130] The direction indicated by arrow 16 can be decomposed into a first directional component 161 and a second directional component 162. Of the first directional component 161 and the second directional component 162, translation of the first directional component 161 is restricted. On the other hand, translation of the second directional component 162 is indicated.

[0131] As a result, once the first virtual region V1 is established and the arrow 16 is indicated, the nozzle 15 moves in a parallel direction along the surface of the first virtual region V1. Specifically, even when the arrow 16 is indicated, the nozzle 15 maintains a constant position in both the Y-axis and Z-axis directions, while only its position in the X-axis direction changes through parallel movement.

[0132] Thus, once a virtual region is created, it becomes possible to perform translation along any object (in this example, the surface of the first virtual region V1), a so-called "following motion".

[0133] Furthermore, the creation of a virtual region restricts the nozzle 15 and other components from entering the virtual region, thereby preventing them from coming into contact with other objects.

[0134] For example, when moving in the X-axis direction while maintaining the position in the Y-axis direction from the second passing point P2 to the fourth passing point P4, even if the user 101 inputs an unintended instruction for the first directional component 161 during operation, the movement of the first directional component 161 is restricted, allowing for linear movement while maintaining the position in the Y-axis direction from the second passing point P2 to the fourth passing point P4.

[0135] Furthermore, inputs that cause noise during user 101's operation, such as camera shake, can be canceled out.

[0136] Furthermore, during operation, the control device 10 may receive feedback when it is determined that it is in contact with the surface of the first virtual region V1. For example, if the input device 10H3 is equipped with an actuator, tactile feedback may be provided indicating that it is in contact with the surface of the first virtual region V1.

[0137] Figure 15 shows an example of a limitation imposed by a virtual domain. For example, let's explain using an example where a second virtual domain V2 is set. Next, let's assume that the virtual operating object is moved in parallel to the second virtual domain V2 in the first movement direction D1.

[0138] For such operations, the virtual operating body is not restricted in translation by the second virtual region V2 until it reaches a position where it contacts the surface of the second virtual region V2 (hereinafter, the position where the virtual operating body contacts the surface of the second virtual region V2 is referred to as the "contact point TP"). It moves in the first movement direction D1. Next, once the virtual operating body has moved to the contact point TP, that is, once it has come into contact with the surface of the second virtual region V2, it moves in the second movement direction D2 along the surface of the second virtual region V2. Hereinafter, the corrected direction is referred to as the "corrected direction". In this example, the corrected direction is the second movement direction D2. That is, initially it was the first movement direction D1, but after correction, it becomes the corrected direction of the second movement direction D2.

[0139] In this example, the first movement direction D1 includes the directional component of the second movement direction D2 as its second directional component. Therefore, based on the shape of the second virtual region V2 and the position it is set at, the virtual moving body is corrected so that the translation of the first movement direction D1 is translated parallel to the second movement direction D2 from the contact point TP. In this way, the virtual region can be set to various shapes and positions.

[0140] Figure 16 shows a first example of a three-dimensional configuration of the virtual domain. The following explanation will use a virtual mold 112, a virtual model with a shape similar to that shown in Figure 12, as an example.

[0141] Under the condition that the spray volume per unit time and the speed at which the nozzle 15 is moved in parallel are both constant, if a uniform amount of material is to be applied to the protrusion M1 and the flat plate portion M2 of the virtual mold 112, for example, a third virtual region V3 is set.

[0142] Figure 17 is a cross-sectional view showing a first example of a three-dimensional configuration of a virtual domain. Figure 17 is a cross-sectional view of A-A' shown in Figure 16.

[0143] The third virtual region V3 is set to cover the protrusion M1 and the flat plate portion M2. Furthermore, the third virtual region V3 is set so that the distance between the nozzle 15 and the protrusion M1 and the flat plate portion M2 remains constant. Therefore, if the nozzle 15 moves parallel along the third virtual region V3, it will move while maintaining a constant distance, and if other conditions such as the amount of spray per unit time remain the same (in this example, it is assumed that the amount of adhesion is constant even if the spray direction 18 is oblique to the surface to which it adheres), then an operation to make the adhesion state uniform can be easily input.

[0144] Furthermore, the angle of the nozzle 15 at each position is not restricted, and can be freely changed. For example, by changing the spray direction 18, the release agent can also be sprayed onto the side of the protrusion M1 (which is the XZ plane in the diagram). Therefore, as indicated by the spray direction 18, the nozzle 15 can be operated to spray in various orientations.

[0145] Furthermore, the nozzle 15, etc., can be prevented from approaching the protrusion M1 and the flat plate portion M2, etc., by the third virtual region V3. Therefore, contact between the nozzle 15, etc., and the protrusion M1 and the flat plate portion M2, etc., can be prevented.

[0146] Figure 18 shows a second example of a three-dimensional virtual domain configuration. The following explanation uses the same object as in the first configuration example. Compared to the first configuration example, the second configuration example has a different virtual domain shape. The following explanation will focus on the differences, omitting redundant explanations.

[0147] In the second configuration example, the fourth virtual region V4 is configured to cover the protrusion M1 and the flat plate portion M2.

[0148] Figure 19 is a cross-sectional view showing a second example of a three-dimensional configuration of the virtual domain. Figure 19 is a cross-sectional view of A-A' shown in Figure 17.

[0149] For example, if the angle of the spray direction 18 relative to the object changes, the amount of coating applied may change. In this example, let's assume it's an oblique direction 19. While the spray direction 18 is the same as the Z-axis direction, the oblique direction 19 is a direction that is at an angle to the Z-axis direction.

[0150] When the nozzle 15 is at an angle 19, the amount of material deposited decreases. Therefore, to make the amount of material deposited uniform at other positions, for example, the nozzle 15 can be brought closer to the object, shortening the distance between the nozzle 15 and the object. Thus, the fourth virtual region V4 has a shape with a recess compared to the third virtual region V3 in order to shorten the distance to the object. In this way, a virtual region may be set in which the amount of material deposited is uniform depending on the distance between the nozzle 15 and the object.

[0151] By setting up a virtual area as described above, it is possible to achieve a uniform adhesion amount through copy-based operation and improve the quality of the spraying process.

[0152] [Overall processing example] Figure 20 shows an example of the overall process. Note that the overall process is not limited to what is shown below, and other processes may be added.

[0153] In step S01, the control device 10 constructs a simulation environment. For example, the simulation environment 202 is constructed as shown in Figure 4. In constructing the simulation environment 202, parameters such as the mold, end effector, robot, interfering objects, virtual region, nozzle 15, etc., or conditions related to the spraying process may be set. The simulation environment 202 is constructed with these settings reflected.

[0154] In step S02, the control device 10 performs teaching on the mold release agent spraying robot 11. For example, the control device 10 receives input from the user 101 for operations on the mold release agent spraying robot 11, such as translation, rotation, or execution of various processes. Based on such input operations, teaching data 103 is generated.

[0155] In step S03, the control device 10 simulates the adhesion state, etc. For example, the nozzle trajectory, etc., is output as a simulation result, as shown in Figure 11. Various settings, such as the simulation time, are set in advance. In addition, simulations using a timeline 300, 3D video, or demonstration operations in the actual environment 201 may also be performed.

[0156] Furthermore, the simulation results may be modified by inputting operations to correct the behavior. If such modifications are made, the simulation results will be output again, reflecting the modifications.

[0157] Through the overall processing described above, once teaching data 103 is generated, the mold release agent spraying robot 11 can be operated in the actual environment 201 based on the teaching data 103. The user 101 can pre-verify how it will operate based on the teaching data 103 through simulation.

[0158] Once the simulation environment 202 is established, user 101 can teach the mold release agent spraying robot 11 in the simulation environment 202. Therefore, user 101 can perform teaching remotely, or without operating the mold release agent spraying robot 11 in the actual environment 201.

[0159] [Example of Functional Configuration] Figure 21 shows an example of a functional configuration. For example, the control system 100 has a functional configuration that includes an input unit 100F1, a first simulation unit 100F2, a teaching unit 100F3, and a second simulation unit 100F4, etc. However, the control system 100 may have other functions as well.

[0160] The input unit 100F1 performs an input procedure to receive operations from the user 101. For example, the input unit 100F1 can be implemented using an input device 10H3 or the like.

[0161] The first simulation unit 100F2 performs the first simulation procedure to construct the simulation environment 202. For example, the first simulation unit 100F2 is implemented using a CPU 10H1 or the like.

[0162] The teaching unit 100F3 performs a teaching procedure in the simulation environment 202 to generate teaching data 103, etc., for operating the mold release agent spraying robot 11 in the actual environment, based on the input operations. For example, the teaching unit 100F3 is implemented by a CPU 10H1, etc.

[0163] The second simulation unit 100F4 performs a second simulation procedure in the simulation environment 202, simulating the adhesion state and other factors based on the operation. For example, the second simulation unit 100F4 is implemented by a CPU 10H1 or the like.

[0164] With the above configuration, once the simulation environment 202 is established, user 101 can teach the mold release agent spraying robot 11 in the simulation environment 202.

[0165] [Calibration example] The simulation environment 202 and the actual environment 201 may differ in terms of the nozzle 15, the target object, or the surrounding environment. Therefore, it is desirable to perform calibration to match the simulation environment 202 and the actual environment 201 and modify the teaching data 103, etc. For example, the dimensions of the target object or mechanical positional deviations such as the orientation of the nozzle 15 may differ between the simulation environment 202 and the actual environment 201. These differences can be detected, for example, by sensors. Specifically, if dimensions are measured by a sensor, the dimensions of the target object, etc., in the teaching data 103 will be corrected according to the measurement results. It is also desirable that related processes (for example, the range for spraying or the range for setting the virtual area) are modified in conjunction with this correction. When such calibration is performed, the differences between the simulation environment 202 and the actual environment 201 are adjusted, enabling highly accurate teaching.

[0166] [Variations of input devices] For teaching and other purposes, the input device 10H3 should preferably be hardware with a switch that toggles between position information and specific processing (e.g., spraying from a nozzle). Specifically, the input device 10H3 may be pen-shaped or similar, and the user 101 may hold it in their hand and move it in three dimensions. Alternatively, the input device 10H3 could be a VIVE™ tracker. In this way, the input device 10H3 should preferably be able to input three-dimensional position in real time and have buttons that make it easy to input "ON / OFF" for processing such as spraying. Such an input device 10H3 would allow for intuitive operation.

[0167] Then, when the orientation of the input device 10H3 changes in three dimensions due to the operation of the user 101, the mold release agent spraying robot 11 performs a synchronized translation or rotation in the real environment 201 or the simulation environment 202. The input device 10H3 measures its position and angle in three dimensions in real time using a position sensor (for example, a gyro sensor).

[0168] Furthermore, the input device 10H3 starts or stops spraying (i.e., switches ON / OFF) when the user 101 presses a switch.

[0169] Thus, it is desirable that the input device 10H3 has hardware that indicates a three-dimensional position and a switch that indicates the switching of processing. With such hardware, the user 101 can operate it intuitively, improving usability.

[0170] For example, the input device 10H3 should preferably be a Mimic™ from NORDBO ROBOTICS™.

[0171] Furthermore, the input device 10H3 may be integrated with or used in conjunction with an HMD (Head Mounted Display), etc. For example, a virtual space may be represented by the HMD, and when the user 101 moves their arms or legs, the movement is detected by a sensor and reflected on the displayed virtual space.

[0172] Furthermore, the input device 10H3 is not limited to the above, and it is desirable that a game controller or touch panel be applicable. Thus, it is desirable that the control device 10 be able to support multiple types of input devices 10H3.

[0173] Teaching the spraying process involves actions that are not commonly performed in other work processes. For example, it frequently requires special actions such as maintaining a certain distance from the target object while spraying a release agent, or parallel movement while maintaining that distance. An input device 10H3 that facilitates the instruction of such actions is desirable.

[0174] [Other embodiments] This embodiment may also take the following forms.

[0175] [About AI (Artificial Intelligence)] AI may be applied to this invention. For example, a trained model is generated by training a learning model with processes that are executed repeatedly. The training data used for training includes data that indicates the content of the process as the correct answer, and also includes data that indicates the target of the process. A learning model that performs deep learning is trained using such training data. When unknown data with an unknown correct answer is input, based on the correlations learned from the training data, the trained model can execute the process based on the correlations it has learned in advance. In this way, using AI can improve the efficiency of processing. AI may also be applied to various areas such as image recognition or input assistance.

[0176] [About the metaverse] The virtual space can also be what is known as the metaverse. The term "metaverse" is a combination of "meta" (transcendence) and "universe" (cosmos, world). The metaverse refers to a three-dimensional virtual space on a computer network that can accommodate many participants and allow them to act freely within it.

[0177] In the metaverse, multiple people can participate using avatars, for example. Within the metaverse space, transactions or processing may also occur within a space that utilizes three-dimensional image processing.

[0178] Transactions on the metaverse often utilize arbitrary tokens. These transactions can encompass a wide variety of activities, such as online games, virtual concerts, or e-commerce.

[0179] Furthermore, the metaverse can sometimes be realized using "XR" technologies such as AR (Augmented Reality) or VR (Virtual Reality). In addition, the metaverse can also be realized using technologies such as 3DCG, high-speed communication technology, AI, and blockchain.

[0180] Furthermore, each device does not necessarily have to be a single device. In other words, each device may be a combination of multiple devices.

[0181] The present invention may be implemented by a process for realizing the control method exemplified above, or by a program (including firmware and things equivalent to a program; hereinafter simply referred to as "program") that performs a process equivalent to the process described above.

[0182] In other words, the present invention may be implemented by a program written in a programming language or the like, which issues commands to a computer to obtain a predetermined result. The program may also be configured so that a part of the processing is executed by hardware such as an IC (integrated circuit).

[0183] A program causes the computer to perform the above-mentioned processes by having its arithmetic unit, control unit, and memory device work together. In other words, a program is loaded into main memory, issues commands to the arithmetic unit to perform calculations, and operates the computer.

[0184] Furthermore, the program may be provided on a computer-readable recording medium or via telecommunication lines such as a network.

[0185] The present invention may be implemented in a system composed of multiple devices. That is, an information processing system consisting of multiple computers may execute the above-described processes in a redundant, parallel, distributed, or combination thereof. Therefore, the present invention may be implemented in devices other than those described above, and in systems other than those described above.

[0186] [Regarding contributions to the SDGs] This invention realizes a technology for teaching mold release agent spraying robots in a simulation environment. This provides a technology that contributes to the SDGs by enabling the construction of resilient infrastructure, the promotion of inclusive and sustainable industrialization, and the promotion of innovation, as targeted in Goal 9.

[0187] It should be noted that the present invention is not limited to the embodiments exemplified above. Therefore, the present invention can be modified by adding or changing components without departing from the technical spirit. Thus, all technical matters included in the technical concept described in the claims are covered by the present invention. The embodiments exemplified above are specific examples that are suitable for implementation. Furthermore, those skilled in the art can implement various modifications from the disclosed content, and such modifications are included in the technical scope described in the claims. [Explanation of Symbols]

[0188] 10: Control device 10H1:CPU 10H2: Storage device 10H3: Input device 10H4: Output device 10H5 :Communication device 11: Release agent spraying robot 12: Control Panel 14: Higher-level system 15: Nozzle 16: Arrow 17: Boundary 18: Spray direction 19: Direction 21: Virtual Robot 100: Control System 100F1: Input section 100F2: First Simulation Unit 100F3: Teaching Department 100F4: Second Simulation Department 101: User 102: Mold 103: Teaching Data 112: Virtual mold 161: 1st direction component 162: 2nd direction component 171: First range 172: Second range 201: Real-world environment 202: Simulation Environment 300: Timeline 301: Graph 1 302: Second graph 303: Third Graph 304: Graph 4 305: Graph 5 D1: 1st movement direction D2 :Second movement direction E1: First attachment range E2: Second attachment range E3: Third attachment range E4: Error range M1:Protrusion M2: Flat plate part P1: 1st passing point P2: 2nd passing point P3: 3rd passing point P4: 4th passing point P5: 5th passing point P6: 6th passing point P7: 7th passing point PS1: 1st point PS2: Second location PS3: Third location PS4: 4th point TP:Touch point V1: First virtual domain V2: Second virtual domain V3: 3rd virtual area V4: 4th virtual domain

Claims

1. A control device that controls a mold release agent spraying robot that sprays a mold release agent onto an object, and connects to the mold release agent spraying robot, An input section for receiving user input, A first simulation unit constructs a simulation environment for performing a simulation of operating the mold release agent spraying robot based on the above operation, In the aforementioned simulation environment, when the aforementioned operation is input, a teaching unit performs teaching so that the mold release agent spraying robot operates in the actual environment, When the release agent is sprayed based on the above operation, a second simulation unit simulates the adhesion state in which the release agent adheres to the object in the simulation environment. A control device for a mold release agent spraying robot.

2. The aforementioned object is, It is a mold, The aforementioned mold release agent spraying robot is It has a nozzle for spraying the aforementioned release agent, It is heat-resistant and explosion-proof. The aforementioned release agent spraying robot is located remotely from the control unit. A control device for a mold release agent spraying robot according to claim 1.

3. A first timeline is output showing the speed at which the mold release agent spraying robot moves in parallel or rotates relative to time. A second timeline showing the execution of processing by the nozzle of the mold release agent spraying robot is output for the aforementioned time. The aforementioned input unit is The system has a GUI for inputting the operation to change the first timeline or the second timeline. A control device for a mold release agent spraying robot according to claim 1.

4. The first simulation unit is, The release agent spraying robot is operated by a virtual operator shown in the simulation environment in accordance with the operation. A virtual region is set in the simulation environment that restricts the movement of the virtual moving object, including translation or rotation. When the virtual domain is set in the simulation environment and it is determined that the virtual entity becomes the virtual domain, When the operation instructs a translation that includes a first directional component which is a directional component in the direction that restricts the virtual operating body within the virtual region, and a second directional component which is a directional component in the direction that aligns the virtual operating body with the surface of the virtual region, The direction in which the virtual moving object is translated is corrected based on the surface of the virtual region, and in the simulation environment, the virtual moving object is translated in the corrected direction. A control device for a mold release agent spraying robot according to claim 1.

5. The aforementioned virtual area is The aforementioned adhesion state is set to be constant. A control device for a mold release agent spraying robot according to claim 4.

6. Based on the dwell time of the nozzle spraying the release agent, the distance between the nozzle and the object, the amount of release agent sprayed, and the angle of the nozzle, The aforementioned adhesion state is, The thickness of the release agent adhering to the object and the area over which the release agent is adhering to the object are simulated and output. A control device for a mold release agent spraying robot according to claim 1.

7. Based on the distance between the nozzle and the object, and the type of nozzle, The shape of the adhesion of the mold release agent to the object, and the area to which the mold release agent adheres to the object are simulated and output. A control device for a mold release agent spraying robot according to claim 1.

8. In the aforementioned simulation environment, The system outputs a nozzle trajectory showing the parallel movement of the nozzle spraying the release agent, and an output screen showing the adhesion state. A control device for a mold release agent spraying robot according to claim 1.

9. The system detects the difference between the simulation environment and the actual environment, and performs calibration to correct the teaching data generated by the teaching unit based on the difference. A control device for a mold release agent spraying robot according to claim 1.

10. The mold release agent is sprayed by the mold release agent spraying robot in the aforementioned real environment, and the adhesion state of the mold release agent is detected to determine the difference. A control device for a mold release agent spraying robot according to claim 9.

11. The first simulation unit is, A virtual working body including the mold release agent spraying robot and a virtual model including the object are generated, and the simulation environment is constructed by placing the virtual model in a virtual space. When an instruction is given to the input unit to operate the mold release agent spraying robot, the virtual operating body in the simulation environment performs a translational or rotational movement. The aforementioned teaching unit is, Based on the results of operating the virtual entity in the aforementioned simulation environment, teaching data is generated. Using the aforementioned teaching data, the mold release agent spraying robot operates in the actual environment based on the teaching data, and the simulation results are reproduced in the simulation environment. A control device for a mold release agent spraying robot according to claim 1.

12. A control system comprising a mold release agent spraying robot that sprays a mold release agent onto an object, and a control device that controls the mold release agent spraying robot and is connected to the mold release agent spraying robot, The control device is An input section for receiving user input, A first simulation unit constructs a simulation environment for performing a simulation of operating the mold release agent spraying robot based on the above operation, In the aforementioned simulation environment, when the aforementioned operation is input, a teaching unit performs teaching so that the mold release agent spraying robot operates in the actual environment, When the release agent is sprayed based on the above operation, a second simulation unit simulates the adhesion state in which the release agent adheres to the object in the simulation environment. A control system equipped with the following features.

13. A control method performed by a control device that controls a mold release agent spraying robot that sprays a mold release agent onto an object, and is connected to the mold release agent spraying robot, Input procedure for receiving user input, A first simulation procedure for constructing a simulation environment for performing a simulation of operating the mold release agent spraying robot based on the above operation, In the aforementioned simulation environment, when the aforementioned operation is input, a teaching procedure is performed to teach the mold release agent spraying robot to operate in the actual environment, A second simulation procedure is performed in the simulation environment to simulate the adhesion state of the release agent when it is sprayed based on the above operation, and the state in which the release agent adheres to the object. A control method including

14. A program for causing a computer to execute the control method described in claim 13.

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