Simulation Equipment

Abstract

Provided is a simulation device capable of efficiently adjusting the position of a visual sensor model. The simulation device includes: a virtual space generation unit that generates a virtual space three-dimensionally representing a work space; a measurement target model arrangement unit that arranges in the virtual space a measurement target model three-dimensionally representing a measurement target; a measurement portion specification unit that specifies a measurement portion in the measurement target model; a visual sensor model arrangement unit that arranges the visual sensor model three-dimensionally representing a visual sensor for imaging the measurement target, at an arbitrary visual sensor model position; and a position determination unit that determines, on the basis of the position of the measurement portion, the visual sensor model position included in an image size of the visual sensor model as an arrangement position of the visual sensor model.

Description

[Technical field]

[0001] The present invention relates to a simulation device. [Background technology]

[0002] Conventionally, a technique has been proposed for simulating the operation of performing work on a measurement object model by a robot model (see, for example, Patent Document 1). The simulation device described in Patent Document 1 places a robot model of a robot, a visual sensor model of a visual sensor, and a measurement object model of a measurement object in a virtual space that three-dimensionally represents a working space, measures the measurement object model by the visual sensor model, and simulates the operation of performing work on the measurement object model by the robot model. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2008-21092 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the conventional technology, a visual sensor model can measure a measurement object model in a virtual space, and a simulation can be performed in which a robot model performs work on the measurement object model. However, an operator must determine an appropriate position for the visual sensor model while looking at an image of the measurement object model captured by the visual sensor model. Therefore, there is a problem in that it takes time and effort to adjust the position of the visual sensor model.

[0005] Therefore, there is a demand for a simulation device that can efficiently adjust the position of a visual sensor model. [Means for solving the problem]

[0006] A simulation apparatus according to one aspect of the present disclosure includes a virtual space creation unit that creates a virtual space that represents a working space in three dimensions, a measurement object model placement unit that places a measurement object model that represents a measurement object in three dimensions within the virtual space, a measurement location designation unit that designates a measurement location on the measurement object model, a visual sensor model placement unit that places a visual sensor model that represents a visual sensor that images the measurement object in three dimensions at an arbitrary visual sensor model position, and a position determination unit that determines the visual sensor model position included within the image size of the visual sensor model as the placement position of the visual sensor model based on the position of the measurement location.

[0007] A simulation device according to one aspect of the present disclosure includes a control unit that executes a function of specifying a measurement location in a measurement object model that is a three-dimensional representation of a measurement object in a virtual space that is a three-dimensional representation of a working space, accepting an input operation for placing a visual sensor model that is a three-dimensional representation of a visual sensor that images the measurement object at an arbitrary visual sensor model position, and accepting an input operation for determining the visual sensor model position included within the image size of the visual sensor model as the placement position of the visual sensor model. Effect of the Invention

[0008] According to the present invention, the position of the visual sensor model can be adjusted efficiently. [Brief description of the drawings]

[0009] [Figure 1] 1 is a block diagram showing a configuration of a simulation device according to an embodiment of the present invention. [Diagram 2] 3A to 3C are diagrams illustrating a robot model, a visual sensor model, and a measurement object model in a virtual space according to the first embodiment. [Diagram 3] FIG. 13 is a diagram showing a process for designating a measurement point. [Figure 4] FIG. 13 is a diagram illustrating a process for placing a visual sensor model. [Diagram 5]FIG. 13 is a diagram illustrating a process for specifying the orientation of a visual sensor model. [Figure 6] FIG. 13 is a diagram showing a process of converting a three-dimensional position of a measurement point into a two-dimensional position. [Figure 7] FIG. 13 is a diagram showing a process of converting a three-dimensional position of a measurement point into a two-dimensional position. [Figure 8] 13A and 13B are diagrams illustrating a process of determining a visual sensor model position as a placement position of the visual sensor model. [Figure 9] 13A and 13B are diagrams illustrating a process of determining a visual sensor model position as a placement position of the visual sensor model. [Figure 10] FIG. 13 is a diagram showing an example in which a visual sensor model is attached to a robot model. [Figure 11] 13A to 13C are diagrams illustrating a robot model, a visual sensor model, and a measurement object model in a virtual space according to the second embodiment. [Figure 12] FIG. 13 is a diagram showing a process for designating a measurement point. [Figure 13] FIG. 13 is a diagram illustrating a process for placing a visual sensor model. [Figure 14] FIG. 13 is a diagram illustrating a process for specifying the orientation of a visual sensor model. [Figure 15] FIG. 13 is a diagram showing a process of converting a three-dimensional position of a measurement point into a two-dimensional position. [Figure 16] FIG. 13 is a diagram showing a process of converting a three-dimensional position of a measurement point into a two-dimensional position. [Figure 17] 13A and 13B are diagrams illustrating a process of determining a visual sensor model position as a placement position of the visual sensor model. [Figure 18] 13A and 13B are diagrams illustrating a process of determining a visual sensor model position as a placement position of the visual sensor model. [Figure 19] FIG. 13 is a diagram showing an example in which a visual sensor model is attached to a robot model. [Figure 20] 4 is a flowchart showing a process of the simulation device according to the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] An example of an embodiment of the present invention will now be described. 1 is a block diagram showing the configuration of a simulation device 1 according to this embodiment. As shown in FIG 1, the simulation device 1 includes a control unit 11, a storage unit 12, a display unit 13, and an operation unit .

[0011] The control unit 11 is a processor such as a CPU (Central Processing Unit), and executes programs stored in the storage unit 12 to realize various functions.

[0012] The storage unit 12 is a storage device such as a ROM (Read Only Memory) or RAM (Random Access Memory) that stores an OS (Operating System) and application programs, a hard disk drive or SSD (Solid State Drive) that stores various other information.

[0013] The display unit 13 is composed of an LCD (Liquid Crystal Display), a CRT (Cathode Ray Tube), etc., and displays various images. The operation unit 14 is composed of a mouse, a keyboard, etc., and accepts various inputs.

[0014] The control unit 11 includes a virtual space creation unit 111, a measurement object model placement unit 112, a robot model placement unit 113, a measurement location designation unit 114, a visual sensor model placement unit 115, an imaging area designation unit 116, a sensor posture designation unit 117, a distance designation unit 118, a position conversion unit 119, a position determination unit 120, a robot posture calculation unit 121, and a simulation execution unit 122.

[0015] A virtual space creation unit 111 creates a virtual space that is a three-dimensional representation of a working space. The measurement object model placement unit 112 places a measurement object model that is a three-dimensional representation of the measurement object in a virtual space.

[0016] The robot model placement unit 113 places a robot model that is a three-dimensional representation of a robot in a virtual space. The measurement point designation unit 114 designates one or more measurement points in the measurement object model. The measurement point designation unit 114 designates one or more arbitrary measurement points in the measurement object model in accordance with, for example, the operation of the operation unit 14.

[0017] The visual sensor model placement unit 115 places a visual sensor model, which is a three-dimensional representation of a visual sensor that captures an image of a measurement target, at an arbitrary visual sensor model position. The visual sensor model placement unit 115 can change the visual sensor model position of the visual sensor model to an arbitrary position, for example, in accordance with an operation of the operation unit 14.

[0018] The imaging area designation unit 116 designates an area in which the measurement point is imaged by the visual sensor model within the image size of the visual sensor model, for example, in accordance with the operation of the operation unit 14 . The sensor attitude designation unit 117 designates the attitude of the visual sensor model when it is placed above a measurement point, for example, in accordance with the operation of the operation unit 14 . The distance designation unit 118 designates the distance between the visual sensor model and the measurement point in accordance with, for example, the operation of the operation unit 14 .

[0019] The position conversion unit 119 converts the three-dimensional position of the measurement point at the visual sensor model position into a two-dimensional position when the measurement point is imaged by the visual sensor model. The position determining unit 120 determines, based on the positions of the measurement points, the position of the visual sensor model that is included within the image size of the visual sensor model, as the arrangement position of the visual sensor model.

[0020] When a visual sensor model is attached to a robot model, the robot posture calculation unit 121 calculates the posture of the robot model at the position of the visual sensor model.

[0021] The simulation execution unit 122 uses the robot model, the visual sensor model, and the measurement object model to execute a simulation in which the robot model performs an operation on the measurement object model based on an operation program.

[0022] [First embodiment] 2 to 10 are diagrams showing the processing of the simulation device 1 according to the first embodiment. Fig. 2 is a diagram showing a robot model R1, a visual sensor model V1, and a measurement object model W1 in a virtual space according to the first embodiment.

[0023] 2, the virtual space creation unit 111 creates a virtual space that is a three-dimensional representation of the working space. Then, the measurement object model placement unit 112 places a measurement object model W1 that is a three-dimensional representation of the measurement object in the virtual space. The measurement object model W1 may be, for example, a plurality of workpieces contained in a box. The reference coordinate system K indicates a coordinate system that serves as a reference in the virtual space.

[0024] The robot model placement unit 113 places a robot model R1 that is a three-dimensional representation of a robot in the virtual space. A robot model coordinate system CR1 indicates the coordinate system of the robot model R1. The robot model R1 may be, for example, an articulated robot.

[0025] Fig. 3 is a diagram showing a process of designating a measurement point M1. As shown in Fig. 3, the measurement point designation unit 114 designates the measurement point M1 in the measurement object model W1. In the example shown in Fig. 3, the measurement point designation unit 114 designates the upper surface of the measurement object model W1 as the measurement point M1.

[0026] For example, when the measurement object model W1 is a workpiece, the measurement point designation unit 114 designates the measurement point M1 by surrounding the entire workpiece or a part of the workpiece with a rectangular parallelepiped. Also, when the measurement object model W1 is a basket or container, the measurement point designation unit 114 designates the measurement point M1 by selecting the top surface of the measurement object model W1.

[0027] Fig. 4 is a diagram showing a process of arranging the visual sensor model V1. As shown in Fig. 4, the visual sensor model arranging unit 115 arranges the visual sensor model V1 at one or more arbitrary visual sensor model positions above the measurement point M1.

[0028] Further, the distance designation unit 118 designates a distance D1 between the visual sensor model V1 and the measurement location M1. For example, the distance designation unit 118 designates the distance D1 by designating a fixed distance or a range of distances in accordance with an operation of the operation unit 14.

[0029] Fig. 5 is a diagram showing a process for specifying the orientation of the visual sensor model V1. As shown in Fig. 5, the sensor orientation specifying unit 117 specifies the orientation when the visual sensor model V1 is placed above the measurement point M1.

[0030] Specifically, the sensor attitude designation unit 117 designates an angle θ1 around the visual sensor model coordinate system CV1 based on an attitude where the optical axis of the visual sensor model V1 is perpendicular to a reference plane in virtual space (for example, the XY plane in virtual space) (i.e., the attitude of the visual sensor model V1 in FIG. 4). Note that the process of designating the attitude of the visual sensor model V1 may be omitted if it is not necessary to designate the attitude of the visual sensor model V1.

[0031] 6 and 7 are diagrams illustrating a process of converting a three-dimensional position P1 of a measurement point M1 into a two-dimensional position P11. As shown in Fig. 6 and Fig. 7, the three-dimensional position P1 of the measurement point M1 is expressed as coordinates (X1, Y1, Z1) in a reference coordinate system K in a virtual space.

[0032] Then, the position conversion unit 119 converts the three-dimensional position P1 (X1, Y1, Z1) of the measurement point M1 at the visual sensor model position of the visual sensor model V1 into a two-dimensional position P11 (X11, Y11) when the measurement point M1 is imaged by the visual sensor model V1.

[0033] Specifically, the position conversion unit 119 converts the three-dimensional position P1 of the measurement location into a two-dimensional position P11 when the measurement location is imaged by the visual sensor model V1, using imaging conditions including the visual sensor model position of the visual sensor model V1, the focal length of the lens of the visual sensor model V1, the length per pixel of the imaging element of the visual sensor model V1, the center position of the lens of the visual sensor model V1, etc. The imaging conditions may include other conditions related to the visual sensor model V1.

[0034] In addition, when the visual sensor model position of the visual sensor model V1 is changed to any position by the visual sensor model placement unit 115, the position conversion unit 119 converts the three-dimensional position P1 (X1, Y1, Z1) of the measurement point to a two-dimensional position P11 (X11, Y11) at the changed visual sensor model position.

[0035] That is, the simulation device 1 repeatedly converts the three-dimensional position P1 to a two-dimensional position P11 by the position conversion unit 119 while changing the position of the visual sensor model placed by the visual sensor model placement unit 115 in response to an input operation by the user to the operation unit 14.

[0036] 6 and 7, the position determination unit 120 determines whether the converted two-dimensional position P11 is included within the image size A1 of the visual sensor model V1. In the example shown in Fig. 6, the position determination unit 120 determines that the converted two-dimensional position P11 is not included within the image size A1 of the visual sensor model V1. On the other hand, in the example shown in Fig. 7, the position determination unit 120 determines that the converted two-dimensional position P11 is included within the image size A1 of the visual sensor model V1.

[0037] 8 and 9 are diagrams showing a process of determining the visual sensor model position as the arrangement position of the visual sensor model V1. As shown in Fig. 8 and Fig. 9, the position conversion unit 119 converts the three-dimensional positions P1 (X1, Y1, Z1), P2 (X2, Y2, Z2), and P3 (X3, Y3, Z3) of the measurement point M1 into two-dimensional positions P11 (X11, Y11), P21 (X21, Y21), and P31 (X31, Y31), respectively, at the visual sensor model position of the visual sensor model V1.

[0038] In the example shown in Figures 8 and 9, the position conversion unit 119 converts three three-dimensional positions P1, P2, and P3 into two-dimensional positions P11, P21, and P31, respectively, but the number of three-dimensional positions is not limited to this.

[0039] The position determination unit 120 determines whether the transformed two-dimensional positions P11, P21, and P31 are included within the image size A1 of the visual sensor model V1. In the example shown in Fig. 8, the position determination unit 120 determines that all the transformed two-dimensional positions P11, P21, and P31 are included within the image size A1 of the visual sensor model V1.

[0040] Then, the position determining unit 120 determines the visual sensor model position where all the two-dimensional positions P11, P21, and P31 are included within the image size A1 of the visual sensor model V1 as the arrangement position of the visual sensor model V1.

[0041] Here, when there are multiple positions of the visual sensor model where all two-dimensional positions P11, P21, and P31 are included within the image size A1 of the visual sensor model V1, the position determination unit 120 determines the position where the measurement point M1 appears largest in the image of the visual sensor model V1 as the placement position of the visual sensor model V1.

[0042] 9, the imaging area designation unit 116 designates an imaging area A2 in which the measurement point M1 is imaged by the visual sensor model V1 within the image size A1 of the visual sensor model V1. When the measurement point M1 is imaged so as to be included in the imaging area A2 narrower than the image size A1 of the visual sensor model V1, the position determination unit 120 determines, as the arrangement position of the visual sensor model V1, the visual sensor model position where all two-dimensional positions P11, P21, and P31 are included in the imaging area A2 of the visual sensor model V1.

[0043] Fig. 10 is a diagram showing an example in which the visual sensor model V1 is attached to the robot model R1. When the visual sensor model V1 is attached to the tip of the arm of the robot model R1 as shown in Fig. 10, the robot posture calculation unit 121 calculates the posture of the robot model R1 at the arrangement position of the visual sensor model V1.

[0044] Then, the simulation execution unit 122 uses the above-mentioned robot model R1, visual sensor model V1, and measurement object model W1 to execute a simulation in which the robot model R1 performs an operation on the measurement object model W1 based on an operation program.

[0045] [Second embodiment] 11 to 19 are diagrams illustrating the processing of the simulation device 1 according to the second embodiment. The second embodiment differs from the first embodiment in that the measurement location M2 of the measurement object model W2 has a three-dimensional shape.

[0046] Fig. 11 is a diagram showing a robot model R2, a visual sensor model V2, and a measurement object model W2 in a virtual space according to the second embodiment. As shown in Fig. 11, a virtual space creation unit 111 creates a virtual space that three-dimensionally represents a working space. Then, a measurement object model placement unit 112 places a measurement object model W2 that three-dimensionally represents a measurement object in the virtual space. The measurement object model W2 may be, for example, a workpiece including a three-dimensional shape such as a plurality of rectangular parallelepipeds and cylinders. A reference coordinate system K indicates a coordinate system that serves as a reference in the virtual space.

[0047] Furthermore, the robot model placement unit 113 places a robot model R2 that is a three-dimensional representation of a robot in the virtual space. A robot model coordinate system CR2 indicates the coordinate system of the robot model R2. The robot model R2 may be, for example, an articulated robot.

[0048] Fig. 12 is a diagram showing a process of designating a measurement point M2. As shown in Fig. 12, the measurement point designation unit 114 designates the measurement point M2 in the measurement object model W2. In the example shown in Fig. 12, the measurement point designation unit 114 designates all or a part of the measurement object model W2 as the measurement point M2.

[0049] The measurement point designation unit 114 designates the measurement point M2, for example, by surrounding all or a part of the measurement object model W2 with a rectangular parallelepiped.

[0050] Fig. 13 is a diagram showing a process of arranging the visual sensor model V2. As shown in Fig. 13, the visual sensor model arranging unit 115 arranges the visual sensor model V2 at one or more arbitrary visual sensor model positions above the measurement point M2.

[0051] Further, the distance designation unit 118 designates a distance D2 between the visual sensor model V2 and the measurement point M2. For example, the distance designation unit 118 designates the distance D2 by designating a fixed distance or a range of distances in accordance with the operation of the operation unit 14.

[0052] Fig. 14 is a diagram showing a process for specifying the orientation of the visual sensor model V2. As shown in Fig. 14, the sensor orientation specifying unit 117 specifies the orientation when the visual sensor model V2 is placed above the measurement point M2.

[0053] Specifically, the sensor attitude designation unit 117 designates an angle θ2 around the visual sensor model coordinate system CV2 based on an attitude where the optical axis of the visual sensor model V2 is perpendicular to a reference plane in virtual space (for example, the XY plane in virtual space) (i.e., the attitude of the visual sensor model V2 in FIG. 13). Note that the process of designating the attitude of the visual sensor model V2 may be omitted if it is not necessary to designate the attitude of the visual sensor model V2.

[0054] 15 and 16 are diagrams illustrating a process of converting a three-dimensional position P4 of the measurement point M2 into a two-dimensional position P41. As shown in Fig. 15 and Fig. 16, the three-dimensional position P4 of the measurement point M2 is expressed as coordinates (X4, Y4, Z4) in a reference coordinate system K in a virtual space.

[0055] Then, the position conversion unit 119 converts the three-dimensional position P4 (X4, Y4, Z4) of the measurement point M2 at the visual sensor model position of the visual sensor model V2 into a two-dimensional position P41 (X41, Y41) when the measurement point M1 is imaged by the visual sensor model V1.

[0056] Specifically, the position conversion unit 119 converts the three-dimensional position P4 of the measurement location into a two-dimensional position P41 when the measurement location is imaged by the visual sensor model V2, using imaging conditions including the visual sensor model position of the visual sensor model V2, the focal length of the lens of the visual sensor model V2, the length per pixel of the imaging element of the visual sensor model V2, the center position of the lens of the visual sensor model V2, etc. The imaging conditions may include other conditions related to the visual sensor model V2.

[0057] In addition, when the visual sensor model position of the visual sensor model V2 is changed to an arbitrary position by the visual sensor model placement unit 115, the position conversion unit 119 converts the three-dimensional position P4 (X4, Y4, Z4) of the measurement point to a two-dimensional position P41 (X41, Y41) at the changed visual sensor model position.

[0058] That is, the simulation device 1 repeatedly converts the three-dimensional position P4 to a two-dimensional position P41 by the position conversion unit 119 while changing the position of the visual sensor model placed by the visual sensor model placement unit 115 in response to an input operation by the user to the operation unit 14.

[0059] 15 and 16, the position determination unit 120 determines whether the converted two-dimensional position P41 is included within the image size A3 of the visual sensor model V2. In the example shown in Fig. 15, the position determination unit 120 determines that the converted two-dimensional position P41 is not included within the image size A3 of the visual sensor model V2. On the other hand, in the example shown in Fig. 16, the position determination unit 120 determines that the converted two-dimensional position P41 is included within the image size A3 of the visual sensor model V2.

[0060] Figures 17 and 18 are diagrams showing a process of determining the visual sensor model position as the arrangement position of the visual sensor model V2. As shown in Figures 17 and 18, the position conversion unit 119 converts the three-dimensional positions P4 (X4, Y4, Z4), P5 (X5, Y5, Z5), and P6 (X6, Y6, Z6) of the measurement point M2 into two-dimensional positions P41 (X41, Y41), P51 (X51, Y51), and P61 (X61, Y61), respectively, at the visual sensor model position of the visual sensor model V2.

[0061] In the example shown in Figures 17 and 18, the position conversion unit 119 converts the three three-dimensional positions P4, P5, and P6 into two-dimensional positions P41, P51, and P61, respectively, but the number of three-dimensional positions is not limited to this.

[0062] The position determination unit 120 determines whether the converted two-dimensional positions P41, P51, and P61 are included within the image size A3 of the visual sensor model V2. In the example shown in Fig. 17, the position determination unit 120 determines that all the converted two-dimensional positions P41, P51, and P61 are included within the image size A3 of the visual sensor model V2.

[0063] Then, the position determining unit 120 determines the visual sensor model position where all the two-dimensional positions P41, P51, and P61 are included within the image size A3 of the visual sensor model V2 as the arrangement position of the visual sensor model V2.

[0064] Here, when there are multiple positions of the visual sensor model where all two-dimensional positions P41, P51, and P61 are included within the image size A3 of the visual sensor model V2, the position determination unit 120 determines the position where the measurement point M2 appears largest in the image of the visual sensor model V2 as the placement position of the visual sensor model V2.

[0065] Furthermore, as shown in FIG. 18, the imaging area designation unit 116 designates an imaging area A4 in which the measurement point M2 is imaged by the visual sensor model V2 within the image size A3 of the visual sensor model V2.

[0066] Then, when the measurement location M2 is imaged so that it is included in an imaging area A4 which is narrower than the image size A3 of the visual sensor model V2, the position determination unit 120 determines the visual sensor model position where all two-dimensional positions P41, P51 and P61 are included within the imaging area A4 of the visual sensor model V2 as the placement position of the visual sensor model V2.

[0067] Fig. 19 is a diagram showing an example in which the visual sensor model V2 is attached to the robot model R2. When the visual sensor model V2 is attached to the tip of the arm of the robot model R2 as shown in Fig. 19, the robot posture calculation unit 121 calculates the posture of the robot model R2 at the arrangement position of the visual sensor model V2.

[0068] Then, the simulation execution unit 122 uses the above-mentioned robot model R2, visual sensor model V2, and measurement object model W2 to execute a simulation in which the robot model R2 performs an operation on the measurement object model W2 based on an operation program.

[0069] [Processing flow] FIG. 20 is a flowchart showing the flow of processing in the simulation device 1 common to the first and second embodiments. In step S1, the virtual space creation unit 111 creates a virtual space that is a three-dimensional representation of a working space.

[0070] In step S2, the measurement object model placement unit 112 places a measurement object model that is a three-dimensional representation of the measurement object in the virtual space. The robot model placement unit 113 places a robot model that is a three-dimensional representation of a robot in the virtual space.

[0071] In step S3, the measurement location designation unit 114 designates one or more measurement locations in the measurement object model. The visual sensor model placement unit 115 places a visual sensor model, which is a three-dimensional representation of a visual sensor that captures an image of the measurement object, at one or more arbitrary visual sensor model positions above the measurement locations.

[0072] In step S4, the position conversion unit 119 converts the three-dimensional position of the measurement point at the visual sensor model position into a two-dimensional position when the measurement point is imaged by the visual sensor model.

[0073] In step S5, the position determining unit 120 determines the visual sensor model position, all two-dimensional positions of which are included within the image size of the visual sensor model, as the arrangement position of the visual sensor model.

[0074] [Other embodiments] Furthermore, the simulation device 1 according to another embodiment may include a control unit 11 that executes the following functions in accordance with an operation by an operator: That is, the control unit 11 specifies one or more measurement points in a measurement object model that three-dimensionally represents a measurement object in a virtual space that three-dimensionally represents a working space.

[0075] Next, the control unit 11 accepts an input operation for placing a visual sensor model, which is a three-dimensional representation of a visual sensor that captures an image of a measurement object, at one or more arbitrary visual sensor model positions above the measurement location.

[0076] Furthermore, the control unit 11 accepts an input operation for determining the visual sensor model position included in the image size of the visual sensor model as the arrangement position of the visual sensor model. This allows the simulation device 1 according to the other embodiment to execute the processes described in the first and second embodiments.

[0077] According to the above-described embodiment, the simulation device 1 includes a virtual space creation unit 111 that creates a virtual space that represents the working space in three dimensions, a measurement object model placement unit 112 that places a measurement object model that represents the measurement object in three dimensions within the virtual space, a measurement location designation unit 114 that designates a measurement location on the measurement object model, a visual sensor model placement unit 115 that places a visual sensor model that represents in three dimensions a visual sensor that images the measurement object at an arbitrary visual sensor model position, and a position determination unit 120 that determines the visual sensor model position included within the image size of the visual sensor model as the placement position of the visual sensor model based on the position of the measurement location.

[0078] This allows the simulation device 1 to automatically determine the position of the visual sensor model, reducing the effort and time required for adjusting the position of the visual sensor model, and enabling efficient adjustment of the position of the visual sensor model.

[0079] The simulation device 1 further includes a position conversion unit 119 that converts the three-dimensional position of the measurement location at the visual sensor model position into a two-dimensional position when the measurement location is imaged by the visual sensor model, and a position determination unit 120 determines a visual sensor model position where all two-dimensional positions are included within the image size of the visual sensor model as the arrangement position of the visual sensor model. This allows the simulation device 1 to automatically determine a visual sensor model position where the measurement location can be appropriately imaged as the arrangement position of the visual sensor model.

[0080] The simulation device 1 further includes a robot model placement unit 113 that places a robot model that represents a robot three-dimensionally in a virtual space, and a robot posture calculation unit 121 that calculates the posture of the robot model at the placement position of the visual sensor model when a visual sensor model is attached to the robot model. This allows the simulation device 1 to calculate the posture of the robot model using the visual sensor model position that can appropriately capture an image of the measurement location.

[0081] The simulation device 1 further includes an imaging area designation unit 116 that designates an imaging area in which the measurement point is imaged by the visual sensor model within the image size of the visual sensor model. This allows the simulation device 1 to designate a desired imaging area and appropriately image the measurement point.

[0082] The simulation device 1 further includes a sensor attitude designation unit 117 that designates an attitude of the visual sensor model when the visual sensor model is placed above a measurement point. This allows the simulation device 1 to designate a desired attitude of the visual sensor model and appropriately capture an image of the measurement point.

[0083] The simulation device 1 further includes a distance designation unit 118 that designates a distance between the visual sensor model and a measurement point. This allows the simulation device 1 to designate a desired distance between the visual sensor model and a measurement point, and to appropriately capture an image of the measurement point.

[0084] Furthermore, the sensor attitude specifying unit 117 specifies the angle of the visual sensor model around the coordinate system based on the attitude in which the optical axis of the visual sensor model is perpendicular to the reference plane of the virtual space. This allows the simulation device 1 to specify a desired angle of the visual sensor model and appropriately capture an image of the measurement location.

[0085] Furthermore, when there are multiple positions of the visual sensor model, all of whose two-dimensional positions are included within the image size of the visual sensor model, the position determination unit 120 determines the position at which the measurement point appears largest in the image of the visual sensor model as the placement position of the visual sensor model. This allows the simulation device 1 to automatically determine the most appropriate position of the visual sensor model as the placement position of the visual sensor model.

[0086] Furthermore, the position conversion unit 119 converts the three-dimensional position of the measurement point into a two-dimensional position when the measurement point is imaged by the visual sensor model, using imaging conditions including the visual sensor model position of the visual sensor model, the focal length of the lens of the visual sensor model, the length per pixel of the imaging element of the visual sensor model, and the center position of the lens of the visual sensor model. This enables the simulation device 1 to convert the three-dimensional position of the measurement point into a two-dimensional position.

[0087] The control unit 11 also specifies one or more measurement points in a measurement object model that three-dimensionally represents the measurement object in a virtual space that three-dimensionally represents the working space. Next, the control unit 11 accepts an input operation for placing a visual sensor model that three-dimensionally represents a visual sensor that captures an image of the measurement object at one or more arbitrary visual sensor model positions above the measurement points. Furthermore, the control unit 11 accepts an input operation for determining a visual sensor model position included in the image size of the visual sensor model as the placement position of the visual sensor model.

[0088] This allows the simulation device 1 to automatically determine the position of the visual sensor model, reducing the effort and time required for adjusting the position of the visual sensor model, and enabling efficient adjustment of the position of the visual sensor model.

[0089] Although the embodiment of the present invention has been described above, the above robot 1 can be realized by hardware, software, or a combination of these. In addition, the control method performed by the above robot 1 can also be realized by hardware, software, or a combination of these. Here, being realized by software means being realized by a computer reading and executing a program.

[0090] The program can be stored and provided to a computer using various types of non-transitory computer readable media. The non-transitory computer readable media includes various types of tangible storage media. Examples of the non-transitory computer readable media include magnetic recording media (e.g., hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROM (Read Only Memory), CD-R, CD-R / W, and semiconductor memory (e.g., mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, and RAM (random access memory)).

[0091] Furthermore, although the above-described embodiments are preferred embodiments of the present invention, the scope of the present invention is not limited to only the above-described embodiments, and the present invention can be implemented in various modified forms without departing from the gist of the present invention. [Explanation of symbols]

[0092] 1 Simulation device 11 Control section 12 Storage section 13 Display section 14 Control section 111 Virtual Space Creation Department 112 Measurement object model placement unit 113 Robot Model Placement Section 114 Measurement point designation section 115 Visual sensor model placement section 116 Imaging area designation section 117 Sensor attitude specification part 118 Distance specification part 119 Position conversion unit 120 Positioning section 121 Robot posture calculation unit 122 Simulation Execution Department

Claims

1. a virtual space creation unit that creates a virtual space that represents the working space in three dimensions; a measurement object model arrangement unit that arranges a measurement object model that three-dimensionally represents a measurement object in the virtual space; a measurement point designation unit that designates a measurement point in the measurement object model; a visual sensor model placement unit that places a visual sensor model, which is a three-dimensional representation of a visual sensor that captures an image of the measurement object, at an arbitrary visual sensor model position; a position determination unit that determines, based on the positions of the measurement points, a position of the visual sensor model that is included within an image size of the visual sensor model as a placement position of the visual sensor model; an imaging area designation unit that designates an imaging area in which the measurement point is imaged by the visual sensor model within an image size of the visual sensor model; A simulation device comprising:

2. a position conversion unit that converts a three-dimensional position of the measurement point at the visual sensor model position into a two-dimensional position when the measurement point is imaged by the visual sensor model, the position determination unit determines, as a placement position of the visual sensor model, a visual sensor model position where all of the two-dimensional positions are included within an image size of the visual sensor model; The simulation device according to claim 1 .

3. a robot model placement unit that places a robot model that is a three-dimensional representation of a robot in the virtual space; a robot posture calculation unit that calculates a posture of the robot model at an arrangement position of the visual sensor model when the visual sensor model is attached to the robot model; The simulation device according to claim 1 or 2, further comprising:

4. The simulation device according to claim 1 , further comprising a sensor attitude designation unit that designates an attitude of the visual sensor model when the visual sensor model is placed above the measurement point.

5. The simulation device according to claim 1 , further comprising a distance designation unit that designates a distance between the visual sensor model and the measurement point.

6. A virtual space creation unit that creates a virtual space that represents a work space in three dimensions; a measurement object model arrangement unit that arranges a measurement object model that three-dimensionally represents a measurement object in the virtual space; a measurement point designation unit that designates a measurement point in the measurement object model; a visual sensor model placement unit that places a visual sensor model, which is a three-dimensional representation of a visual sensor that captures an image of the measurement object, at an arbitrary visual sensor model position; a position determination unit that determines, based on the positions of the measurement points, a position of the visual sensor model that is included within an image size of the visual sensor model as a placement position of the visual sensor model; a sensor orientation designation unit that designates an orientation of the visual sensor model when the visual sensor model is disposed above the measurement point; Equipped with The sensor attitude designation unit designates an angle around a coordinate system of the visual sensor model based on an attitude in which an optical axis of the visual sensor model is perpendicular to a reference plane of the virtual space.

7. A virtual space creation unit that creates a virtual space that represents a working space in three dimensions; a measurement object model arrangement unit that arranges a measurement object model that three-dimensionally represents a measurement object in the virtual space; a measurement point designation unit that designates a measurement point in the measurement object model; a visual sensor model placement unit that places a visual sensor model, which is a three-dimensional representation of a visual sensor that captures an image of the measurement object, at an arbitrary visual sensor model position; a position determination unit that determines, based on the positions of the measurement points, a position of the visual sensor model that is included within an image size of the visual sensor model as a placement position of the visual sensor model; a position conversion unit that converts a three-dimensional position of the measurement point at the visual sensor model position into a two-dimensional position when the measurement point is imaged by the visual sensor model; Equipped with the position determination unit determines, as a placement position of the visual sensor model, a visual sensor model position where all of the two-dimensional positions are included within an image size of the visual sensor model; A simulation device in which, when there are multiple positions of the visual sensor model where all of the two-dimensional positions are included within the image size of the visual sensor model, the position determination unit determines the position where the measurement point is most large in the image of the visual sensor model as the placement position of the visual sensor model.

8. 3. The simulation device according to claim 2, wherein the position conversion unit converts the three-dimensional position of the measurement point into the two-dimensional position when the measurement point is imaged by the visual sensor model, using imaging conditions including the visual sensor model position of the visual sensor model, a focal length of a lens of the visual sensor model, a length per pixel of an imaging element of the visual sensor model, and a center position of the lens of the visual sensor model.

9. In a virtual space that represents a work space three-dimensionally, a measurement point is specified in a measurement object model that represents a measurement object three-dimensionally; Accepting an input operation for placing a visual sensor model, which is a three-dimensional representation of a visual sensor that captures an image of the measurement object, at an arbitrary visual sensor model position; A simulation device comprising a control unit that executes a function of accepting an input operation for determining the visual sensor model position included within the image size of the visual sensor model as the placement position of the visual sensor model, and accepting an input operation for specifying an imaging area within the image size of the visual sensor model in which the measurement point is imaged by the visual sensor model.

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