Simulation device, simulation method, and simulation program

Abstract

This invention provides a simulation device, a simulation method, and a simulation program that perform simulations that take into account the bounce of the object being simulated. [Solution] The simulation device 100 includes an acquisition unit 111 that acquires the bounce behavior of an object based on imaging the way the object to be simulated collides with an object to be hit and bounces back, an estimation unit 112 that estimates the coefficient of restitution based on the bounce behavior of the object acquired by the acquisition unit 111, and a simulation unit 115 that performs a simulation of the discharge behavior when the object is discharged through the object to be hit, including the process of the object colliding with the object to be hit and bouncing back, based on the coefficient of restitution estimated by the estimation unit 112.

Description

Technical Field

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[0001] The present disclosure relates to a simulation device, a simulation method, and a simulation program.

Background Art

[0002] Conventionally, there is a simulation method for predicting the state of scrap generated from a workpiece processed by a press die when guiding the scrap to the outside through a scrap chute.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When discharging the scrap to the outside, depending on the injection conditions of the scrap, etc., the scrap may collide with the scrap chute and bounce back, and in some cases, the scrap may get caught on the scrap chute due to the bounce back. The simulation method described in Patent Document 1 does not consider the bounce back of the scrap, etc., and there are cases where a simulation close to the actual situation cannot be performed.

[0005] The present disclosure provides a simulation device, a simulation method, and a simulation program that perform a simulation considering the bounce back of an object to be simulated.

Means for Solving the Problems

[0006] One embodiment of the simulation apparatus includes: an acquisition unit that acquires the bounce behavior of an object to be simulated based on imaging the object as it collides with an object to be hit and bounces back; an estimation unit that estimates the coefficient of restitution based on the bounce behavior of the object acquired by the acquisition unit; and a simulation unit that performs a simulation of the discharge behavior when the object is discharged through the object to be hit, including the object colliding with the object and bouncing back, based on the coefficient of restitution estimated by the estimation unit. [Effects of the Invention]

[0007] The simulation apparatus, simulation method, and simulation program of this disclosure can perform simulations that take into account the bounce of the object being simulated. [Brief explanation of the drawing]

[0008] [Figure 1] This is a diagram illustrating a simulation device according to one embodiment. [Figure 2] This is a block diagram illustrating a simulation device according to one embodiment. [Figure 3] This is a flowchart illustrating a simulation method according to one embodiment. [Figure 4] This figure illustrates a simulation relating to one embodiment. [Modes for carrying out the invention]

[0009] One embodiment will be described below.

[0010] [Overview of Simulation Device 100] First, an overview of the simulation apparatus 100 according to one embodiment will be described. Figure 1 is a diagram illustrating a simulation apparatus 100 according to one embodiment.

[0011] The simulation device 100 may be configured, for example, as a device that performs simulations of the behavior of object 201 and the ejection of object 201 from object 202 that is hit. The simulation device 100 is not limited to the example device described above, but may be configured as various other devices. The simulation device 100 may be a computer (information processing device) such as a server, desktop, laptop, tablet, or smartphone.

[0012] First, the simulation device 100 acquires the bounce behavior of the object 201 by imaging it with the camera 141 as the object 201 collides with the object 202 and bounces back. The object 201 is an elastic body. Therefore, there is a range in the bounce behavior of the object 201 when it collides with the object 202 and bounces back (the bounce behavior is not constant). Therefore, the simulation device 100 acquires the bounce behavior of the object 201 with a certain range by imaging the bounce of the object 201 multiple times. An example of the bounce behavior may be the bounce height of the object 201 after it collides with the object 202. Alternatively, an example of the bounce behavior may be the velocity of the object 201 before it collides with the object 202 and the velocity of the object 201 when it collides with the object 202 and bounces back (after the collision). The simulation device 100, for example, if a camera 141 is fixed to a support (not shown) such as a tripod and captures video with the camera 141 at a preset frame rate, can acquire the velocity of an object 201 based on the video (image information) if the relationship of distances to subjects within a frame (video capture range) is acquired in advance.

[0013] The simulation device 100 estimates the coefficient of restitution (coefficient of restitution) based on the rebound behavior of the object 201. The simulation device 100 may, for example, drop an object 201 from a predetermined height and obtain a coefficient of restitution based on the height at which it bounces back after colliding with the object 202. As a specific example, if the simulation device 100 drops object 201 from a height of 10 cm and it bounces back from colliding with the object 202 to a height of 2 cm, it may obtain a coefficient of restitution of 0.2. Similarly, as a specific example, if the simulation device 100 drops object 201 from a height of 10 cm and it bounces back from colliding with the object 202 to a height of 6 cm, it may obtain a coefficient of restitution of 0.6.

[0014] Alternatively, the simulation device 100 can obtain the coefficient of restitution based, for example, on the velocity of object 201 before it collides with object 202 and the velocity of object 201 after it collides with object 202. The coefficient of restitution e can be calculated, for example, by equation (1) below, where V1 (absolute value) is the velocity of object 201 before the collision and V2 (absolute value) is the velocity of object 201 after it collides with object 202. e = V2 / V1 ... (1)

[0015] The simulation device 100 uses the acquired coefficient of restitution to simulate the ejection behavior of object 201 as it collides with the object being hit and is ejected from the object being hit 202. In this case, the simulation device 100 uses a physics engine to perform the simulation. The physics engine only simulates rigid bodies, but by varying the value of the coefficient of restitution over a range, it becomes possible to simulate elastic bodies as well.

[0016] There are CAE (Computer-Aided Engineering) tools that can simulate elastic bodies. However, CAE requires longer computation times compared to physics engines, and may be unsuitable depending on the nature of the simulation.

[0017] [Details of Simulation Device 100] Next, the simulation device 100 according to an embodiment will be described in detail. FIG. 2 is a block diagram for explaining the simulation device 100 according to an embodiment.

[0018] The simulation device 100 includes, for example, an input unit 121, a communication unit 131, a storage unit 132, a display unit 133, a control unit 110, and the like. The communication unit 131, the storage unit 132, and the display unit 133 may be an embodiment of an output unit. The control unit 110 includes, for example, an acquisition unit 111, an estimation unit 112, a modification unit 113, an imparting unit 114, a simulation unit 115, and the like. The control unit 110 may be configured by, for example, an arithmetic processing device of the simulation device 100. The control unit 110 (for example, an arithmetic processing device, etc.) may realize the functions of each unit (for example, the acquisition unit 111, the estimation unit 112, the modification unit 113, the imparting unit 114, and the simulation unit 115) by appropriately reading and executing various programs and the like stored in the storage unit 132 and the like. That is, the functions of each unit may be realized by computer implementation.

[0019] The communication unit 131 is, for example, a communication interface capable of transmitting and receiving various information to and from a device (external device) outside the simulation device 100.

[0020] The storage unit 132 may store, for example, various information and programs. An example of the storage unit 132 may be a memory, a solid state drive, a hard disk drive, and the like. Note that the storage unit 132 may be, for example, a storage area and a server on the cloud.

[0021] The display unit 133 is, for example, a display capable of displaying various characters, symbols, images, and the like.

[0022] The acquisition unit 111 acquires the bounce behavior of the object 201 based on imaging the object 201 being simulated to collide with the object 202 and bounce back.

[0023] Here, as an example, object 201 may be an elastic body rather than a rigid body. The collision between object 201 and the object being hit 202 may be captured as a video using camera 141. In this case, the collision between object 201 and the object being hit 202 may be captured using camera 141 by changing various conditions, for example, by oriented object 201 in various directions to collide with the object being hit 202, and by changing the initial velocity of object 201 (the velocity of object 201 before it collides with the object being hit 202). Camera 141 captures a video at a predetermined number of frames per unit time, i.e., a preset frame rate, and generates image information.

[0024] The acquisition unit 111 acquires image information, for example, via the communication unit 131. Alternatively, the acquisition unit 111 may acquire image information from an external memory (not shown) that stores image information, if that external memory is connected to the interface (not shown) of the simulation device 100.

[0025] The acquisition unit 111 acquires the bounce behavior of the object 201 recorded in the image information based on the image information. One example of the rebound behavior is the height at which an object 201 bounces back when it is dropped from a predetermined height (a mold 211 at a predetermined height (see Figure 1)) and collides with the object to be hit 202. In other words, the acquisition unit 111 acquires the rebound height of the object 201 as the rebound behavior.

[0026] Alternatively, an example of the rebound behavior may be the velocity of object 201 before it collides with object 202, and the velocity of object 201 when it collides with object 202 and bounces back (after the collision). The acquisition unit 111 can, for example, acquire the velocity of object 201 based on the video (image information) if the camera 141 is fixed to a support part (not shown) such as a tripod and the camera 141 captures video at a preset frame rate, provided that the relationship of the distance of the subject within the frame (the range of video capture) is acquired in advance. That is, the acquisition unit 111 estimates the velocity of object 201 from the distance traveled per unit time of object 201, for example. In other words, the acquisition unit 111 may acquire, for example, the velocity of object 201 before it collides with object 202, and the velocity of object 201 after it collides with object 202, as a rebound behavior.

[0027] The estimation unit 112 estimates the coefficient of restitution based on the rebound behavior of the object 201 acquired by the acquisition unit 111. The estimation unit 112 estimates the coefficient of restitution based, for example, on the rebound height of the object 201. Alternatively, the estimation unit 112 may estimate the coefficient of restitution (coefficient of restitution) based, for example, on the velocity of the object 201 before it collides with the object 202 and the velocity of the object 201 after it collides with the object 202. Since object 201 is an elastic body, it is necessary to estimate the actual coefficient of restitution (the range of values ​​for that coefficient of restitution) of object 201 (the elastic body). As described above, the estimation unit 112 estimates the coefficient of restitution based on image information (rebound behavior based on image information) generated by changing various conditions of the object 201, that is, for example, by changing the attitude of the object 201 and the initial velocity of the object 201. Therefore, the estimated value of the coefficient of restitution has a range. In other words, the estimation unit 112 estimates a coefficient of restitution whose value falls within a predetermined range.

[0028] The simulation unit 115, described later, performs a simulation of the ejection behavior of object 201 when it is ejected through the object 202, including when object 201 collides with and bounces off the object 202, based on the coefficient of restitution estimated by the estimation unit 112. At this time, the modification unit 113 changes the values ​​of the simulation conditions (ejection conditions for object 201) performed by the simulation unit 115.

[0029] The modification unit 113 may change the values ​​of the ejection conditions for object 201 based on the coefficient of restitution estimated by the estimation unit 112. That is, the modification unit 113 changes the values ​​of the ejection conditions, including the ejection velocity of object 201, the attitude of object 201, and the coefficient of restitution estimated by the estimation unit 112, when ejecting object 201 toward the object to be hit 202. The ejection velocity of object 201 corresponds, for example, to the initial velocity of object 201 (the velocity of object 201 before it collides with the object to be hit 202) when acquiring the bounce behavior of object 201 as described above. The attitude of object 201 corresponds, for example, to the various orientations of object 201 when it collides with the object to be hit 202, when acquiring the bounce behavior of object 201 as described above. The modification unit 113 may change the ejection velocity and orientation of the object 201, while also setting (changing) the coefficient of restitution corresponding to the ejection velocity and orientation of the object 201.

[0030] The input unit 121 may be capable of receiving values ​​for the modification unit 113. The input unit 121 may be an input interface such as a keyboard and mouse. The modification unit 113 may, for example, be capable of changing the values ​​of the ejection velocity of the object 201, the attitude of the object 201, and the coefficient of restitution (values ​​of the ejection conditions) based on the operation of the input unit 121 by the user.

[0031] The assignment unit 114 assigns a different identification number each time the injection condition value is changed. The assignment unit 114 assigns a different identification number for each set injection condition, that is, for each simulation.

[0032] The simulation unit 115 may use the values ​​of the injection conditions changed by the modification unit 113 to perform a simulation of the ejection behavior of the elastic body as object 201 using a physics engine. Physical engines cannot perform calculations for elastic bodies. On the other hand, while CAE can perform calculations for elastic body collisions, the simulation takes much longer than that of physical engines, making it impractical depending on the nature of the simulation due to the time cost. Therefore, the simulation unit 115, when using a physics engine, changes the ejection conditions to assume an elastic body and performs a simulation of the ejection behavior of object 201.

[0033] The simulation unit 115 may, as a simulation of the ejection behavior of object 201, set the position of the exit 203 (see Figure 4) from which object 201 is ejected in the object being hit 202, and determine that object 201 has been ejected when it moves below that position, and determine that object 201 has not been ejected when it does not move below the position after a predetermined time has elapsed since it was ejected. In other words, the simulation unit 115 may perform a simulation in which object 201 is ejected from above the object being hit 202, and the object 201 slides down the object being hit 202 while colliding with (bouncing off) the object being hit 202 and is ejected from the bottom of the object being hit 202 (exit 203). If the simulation result shows that object 201 is ejected from the exit 203 of the object being hit 202 before a predetermined time has elapsed since it was ejected from the object being hit 202, the simulation unit 115 estimates that object 201 has been ejected (determined as ejected (OK)). On the other hand, if the simulation results show that the object 201 is not ejected from the exit 203 of the object 202 even after a predetermined time has elapsed since it was launched at the object 202, the simulation unit 115 estimates that the object 201 stopped somewhere between the upper and lower parts of the object 202 (i.e., the object 201 got stuck on the object 202) (determining that it was not ejected (NG)).

[0034] The simulation unit 115 may perform simulations of the ejection behavior of object 201 for each identification number. That is, the simulation unit 115 may perform simulations of the ejection behavior for various ejection conditions (multiple ejection conditions).

[0035] The simulation unit 115 may control the output unit to output the simulation results. The output unit may be a communication unit 131, a storage unit 132, a display unit 133, etc. In other words, the simulation unit 115 may control the communication unit 131 to transmit the simulation results to an external device (not shown). The external device here may be a server and a user terminal. The user terminal is a terminal used by the user of the simulation device 100, and specific examples include a desktop computer, laptop computer, tablet, and smartphone. The simulation unit 115 may, for example, control the storage unit 132 to store the simulation results. The simulation unit 115 may, for example, control the display unit 133 to display the simulation results.

[0036] [Simulation Method] Next, a simulation method according to one embodiment will be described. Figure 3 is a flowchart illustrating a simulation method according to one embodiment.

[0037] In step ST101, the acquisition unit 111 acquires the bounce behavior of the object 201 based on imaging the object 201 being simulated to collide with the object 202 and bounce back.

[0038] In step ST102, the estimation unit 112 estimates the coefficient of restitution based on the rebound behavior of the object 201 acquired in step ST101.

[0039] In step ST103, the modification unit 113 modifies the values ​​of the ejection conditions, including the ejection velocity of object 201, the attitude of object 201, and the coefficient of restitution estimated in step ST102, when ejecting object 201 toward object 202. In this case, the input unit 121 may be able to input values ​​for the modification unit 113.

[0040] In step ST104, the assigning unit 114 assigns a different identification number each time the value of the injection condition is changed in step ST103.

[0041] In step ST105, the simulation unit 115 performs a simulation of the ejection behavior from the collided object 202, including the rebound of object 201, based on the coefficient of restitution estimated in step ST102. In this case, the simulation unit 115 may use the values ​​of the ejection conditions changed in step ST103 and perform a simulation of the ejection behavior of the elastic body as object 201 using a physics engine. The simulation unit 115 may also perform a simulation of the ejection behavior of object 201 for each identification number assigned in step ST104. The simulation unit 115 may, as part of the simulation of the ejection behavior of the object 201, set the position of the exit 203 from which the object 201 is ejected in the collided object 202, determine that the object 201 has been ejected when it moves below that position, and determine that the object 201 has not been ejected when it does not move below that position after a predetermined time has elapsed since it was launched.

[0042] [Examples] Next, an embodiment of this design will be described. Figure 4 is a diagram illustrating a simulation according to one embodiment.

[0043] The manufacturing process of a product includes, for example, a pressing process. In this pressing process, for example, a roll of sheet metal is placed in a mold 211 (see Figure 1) and shaped by pressing. In the shearing process of the pressing, unwanted material (scrap 201a) (object 201) is generated when the sheet metal is shaped into the product shape. The scrap 201a is discarded by a slide-shaped scrap chute 202a (object 202). However, the scrap 201a can get stuck and jammed in the scrap chute 202a. A scrap chute 202a that suppresses this jamming is required, and simulation of the scrap 201a (object 201) is necessary for the design of such a scrap chute 202a.

[0044] When simulating whether or not scrap 201a will cause a blockage, for example, a physics engine and CAE can be used. A key feature of this physics engine is its ability to perform high-speed simulations, but it cannot simulate elastic bodies. On the other hand, while CAE has the advantage of being able to simulate elastic bodies, it requires a lot of time for simulation setup and calculations, sometimes taking around 8 hours for a single simulation. Therefore, CAE is not practical when simulating multiple patterns, as it would take many days.

[0045] Therefore, the simulation unit 115 uses a physics engine to simulate the actual behavior of the scrap 201a (object 201) and uses the camera 141 to estimate the coefficient of restitution. That is, because the point of contact between the scrap 201a and the scrap chute 202a differs depending on the orientation of the scrap 201a injected from the mold 211 and the injection speed of the scrap 201a, the estimation unit 112 estimates a coefficient of restitution with a range of values ​​(a range of possible values) based on the results of imaging each of the multiple scraps 201a.

[0046] The modification unit 113 (input unit 121) can, for example, change the injection conditions using a script (programming). (1) Script 1: Drop scrap 201a from its default position, and after a specified number of seconds, return scrap 201a to its original position. (2) Script 2: When scrap 201a is returned to its original position in Script 1, the injection conditions are changed. An example of injection conditions may be at least one of the following groups: coefficient of restitution, injection velocity of scrap 201a, injection orientation of scrap 201a (rotation in three-dimensional space (X axis, Y axis and Z axis)), and coefficient of friction of scrap chute 202a.

[0047] As a concrete example, continuous simulation using a physics engine such as AGX requires control via a script such as Python. Based on the input of numerical values ​​for injection conditions into a spreadsheet program via the input unit 121, the modification unit 113 outputs a script such as Python.

[0048] Since the simulation unit 115 performs numerous simulations, it is necessary to associate which injection conditions resulted in which simulation results. For this reason, the assignment unit 114 automatically assigns an identification number (numbering) to each injection condition each time the injection conditions are changed. This assignment of identification numbers (numbering) makes it possible to associate the injection conditions (scripts) with the simulation results.

[0049] As illustrated in Figure 4, the simulation unit 115 can determine whether or not the scrap 201a has passed through the exit 203 after a specified number of seconds by setting the coordinates of the exit 203 of the scrap chute 202a. The simulation unit 115 may determine that the scrap 201a is discharged (OK) if it passes through the outlet 203, or it may determine that the scrap 201a is not discharged (NG) if it does not pass through the outlet 203.

[0050] Based on the above, the simulation device 100 can perform simulations using a physics engine even with scrap 201a (elastic material), while changing the rebound behavior (injection conditions) of scrap 201a (elastic material). Furthermore, since the simulation device 100 can perform one simulation in about 10 seconds, it is possible to perform 2880 simulations in 8 hours.

[0051] [Regarding functions and circuitry] Next, the functions and circuitry of the simulation device 100 described above will be explained. Each part of the simulation device 100 may be implemented as a function of a computer's processing unit or the like. That is, the acquisition unit 111, estimation unit 112, modification unit 113, assignment unit 114, and simulation unit 115 (control unit 110) of the simulation device 100 may be implemented as acquisition function, estimation function, modification function, assignment function, and simulation function (control function), respectively, by a computer's processing unit or the like. The simulation program can enable a computer to implement the functions described above. The simulation program may be recorded on a computer-readable, non-temporary storage medium, such as memory, a solid-state drive, a hard disk drive, or an optical disc. The storage medium can also be described as a non-temporary, computer-readable medium for storing the simulation program. Furthermore, the simulation program may be transmitted online. Furthermore, as described above, each part of the simulation device 100 may be implemented by a computer's arithmetic processing unit, etc. Such arithmetic processing unit, etc., is composed of, for example, an integrated circuit. For this reason, each part of the simulation device 100 may be implemented as a circuit that constitutes an arithmetic processing unit, etc. That is, the acquisition unit 111, estimation unit 112, modification unit 113, assignment unit 114, and simulation unit 115 (control unit 110) of the simulation device 100 may be implemented as an acquisition circuit, estimation circuit, modification circuit, assignment circuit, and simulation circuit (control circuit) that constitute a computer's arithmetic processing unit, etc. Furthermore, the input unit 121 of the simulation device 100, as well as the communication unit 131, storage unit 132, and display unit 133 (output unit), may be implemented as, for example, an input function including the functions of a processing unit, as well as a communication function, storage function, and display function (output function). Also, the input unit 121 of the simulation device 100, as well as the communication unit 131, storage unit 132, and display unit 133 (output unit), may be implemented as an input circuit, as well as a communication circuit, storage circuit, and display circuit (output circuit), by being composed of, for example, an integrated circuit. Furthermore, the input unit 121 of the simulation device 100, as well as the communication unit 131, storage unit 132, and display unit 133 (output unit), may be configured as an input device, as well as a communication device, storage device, and display device (output device), by being composed of, for example, multiple devices.

[0052] The simulation device 100 can be configured to combine one or any multiple of the above-described components. In this disclosure, the term "information" is used, but the term "information" can be replaced with "data," and the term "data" can be replaced with "information."

[0053] [Aspects and Effects of This Embodiment] Next, an embodiment of this model and the effects of each embodiment will be described. Note that the embodiments described below are examples as of the time of filing, and this embodiment is not limited to the embodiments described below. In other words, this embodiment is not limited to the embodiments described below, and may be realized by appropriately combining the parts described above. Furthermore, lower-level embodiments may be referenced in any of the higher-level embodiments. Furthermore, the effects of this embodiment described below are merely examples, and the effects achieved by each embodiment are not limited to those described below. Also, each embodiment may achieve, for example, at least one of the effects described below.

[0054] (Aspect 1) One embodiment of the simulation apparatus includes: an acquisition unit that acquires the bounce behavior of an object to be simulated based on imaging the object as it collides with an object to be hit and bounces back; an estimation unit that estimates the coefficient of restitution based on the bounce behavior of the object acquired by the acquisition unit; and a simulation unit that performs a simulation of the discharge behavior when the object is discharged through the object to be hit, including the object colliding with the object and bouncing back, based on the coefficient of restitution estimated by the estimation unit. This allows the simulation device to perform simulations that take into account the bounce of the object being simulated.

[0055] (Aspect 2) One embodiment of the simulation device includes a modification unit that changes the values ​​of the ejection conditions, including the ejection velocity of the object, the orientation of the object, and the coefficient of restitution estimated by the estimation unit, when an object is ejected toward a target object. The simulation unit may use the values ​​of the ejection conditions changed by the modification unit to perform a simulation of the ejection behavior of an elastic body as an object using a physics engine. Traditionally, physics engines were only capable of simulating rigid bodies, making it impossible to simulate the actual behavior of objects (scrap). However, even when using a physics engine, the simulation device of this embodiment estimates an actual coefficient of restitution with a range of values ​​based on the object's ejection velocity, rebound behavior (object velocity and rebound height), and rebound posture captured by a camera. This coefficient of restitution and the ejection velocity are then input to the simulation unit for simulation. Therefore, even if the actual object is an elastic body, simulation can be performed using the physics engine.

[0056] (Aspect 3) One embodiment of the simulation device may include an input unit for inputting values ​​for the modified part. This allows the simulation device to change the injection conditions in the simulation.

[0057] (Aspect 4) One embodiment of the simulation device may include an assignment unit that assigns a different identification number each time the value of the ejection condition is changed, and the simulation unit may perform a simulation of the ejection behavior of an object for each of these identification numbers. This allows the simulation device to associate injection conditions with simulation results based on an identification number.

[0058] (Appendix 5) In one embodiment of the simulation device, the simulation unit may, as part of the simulation of the ejection behavior of an object, set the position of the exit from which the object is ejected when it is hit, determine that the object has been ejected when it moves below that position, and determine that the object has not been ejected when it does not move below the position after a predetermined time has elapsed since it was launched. This allows the simulation device to simulate the behavior of an object as it is ejected from the object it collides with.

[0059] (Aspect 6) In one embodiment of the simulation method, a computer performs the following steps: an acquisition step in which it acquires the bounce behavior of an object to be simulated based on imaging of the object bouncing off an object being hit; an estimation step in which it estimates the coefficient of restitution based on the bounce behavior of the object acquired in the acquisition step; and a simulation step in which it performs a simulation of the emission behavior of the object as it is ejected through the object being hit, including the object bouncing off the object being hit, based on the coefficient of restitution estimated in the estimation step. As a result, the simulation method can achieve the same effects as the simulation apparatus of the aforementioned embodiment.

[0060] (Aspect 7) One embodiment of a simulation program enables a computer to implement an acquisition function that acquires the bounce behavior of an object based on imaging of the object being simulated as it collides with an object and bounces back; an estimation function that estimates the coefficient of restitution based on the bounce behavior of the object acquired by the acquisition function; and a simulation function that performs a simulation of the emission behavior of the object as it is ejected through the object it collides with, including the bounce, based on the coefficient of restitution estimated by the estimation function. As a result, the simulation program can achieve the same effect as the simulation apparatus described in the above-described embodiment. [Explanation of Symbols]

[0061] 100 Simulation devices 110 Control Unit 111 Acquisition Department 112 Estimation Department 113 Changes 114 Assignment section 115 Simulation Department 121 Input section 131 Communications Department 132 Storage section 133 Display section 141 Camera 201 Object 201a Scrap 202 Collided object 202a Scrap Shooter 211 molds

Claims

1. An acquisition unit that acquires the bounce behavior of an object based on imaging how the object being simulated collides with an object and bounces back, An estimation unit estimates the coefficient of restitution based on the rebound behavior of the object acquired by the acquisition unit, A simulation unit performs a simulation of the discharge behavior when the object is discharged through the object it is colliding with, including the object colliding with and bouncing off the object it is colliding with, based on the coefficient of restitution estimated by the estimation unit. A simulation device equipped with the following features.

2. The system includes a modification unit that changes the values ​​of the ejection conditions, including the ejection velocity of the object, the orientation of the object, and the coefficient of restitution estimated by the estimation unit, when the object is ejected toward the object to be hit. The simulation unit uses the values ​​of the injection conditions changed by the modification unit and performs a simulation of the ejection behavior of the elastic body as an object using a physics engine. The simulation apparatus according to claim 1.

3. It includes an input unit for inputting values ​​for the aforementioned modification unit. The simulation apparatus according to claim 2.

4. The system includes an assignment unit that assigns a different identification number each time the value of the injection condition is changed, The simulation unit performs a simulation of the discharge behavior of the object for each identification number. The simulation apparatus according to claim 2.

5. The simulation unit, as part of a simulation of the object's ejection behavior, sets an outlet position from which the object is ejected in the collided object. It determines that the object has been ejected when it moves below that position, and determines that it has not been ejected when, after a predetermined time has elapsed since the object was launched, it does not move below that position. The simulation apparatus according to claim 2.

6. Computers The process involves an acquisition step of obtaining the bounce behavior of an object based on imaging the way the object being simulated bounces off an object it is colliding with, An estimation step is performed to estimate the coefficient of restitution based on the rebound behavior of the object obtained in the acquisition step, A simulation step in which, based on the coefficient of restitution estimated in the estimation step, a simulation is performed on the emission behavior when the object is ejected through the object it is colliding with, including the object colliding with and bouncing off the object it is colliding with, A simulation method for performing this.

7. On the computer, Based on imaging the behavior of the object being simulated as it collides with another object and bounces back, the system acquires the bounce behavior of the object. An estimation function that estimates the coefficient of restitution based on the rebound behavior of the object acquired by the acquisition function, A simulation function that performs a simulation of the emission behavior when the object is ejected through the object it is colliding with, including the object it is colliding with and bouncing off, based on the coefficient of restitution estimated by the estimation function, A simulation program to achieve this.

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