Simulation information reflecting device, method, program, and system

Abstract

To reflect information corrected on site in a simulation.SOLUTION: An acquisition unit 34 acquires a distinction between simulation information about the shape, layout, and behavior of a component included in a manufacturing line, which is designed in a cloud-side system to simulate them, and real information about the shape, layout, and behavior of the component included in the manufacturing line. A correction unit 36 corrects the simulation information based on the distinction acquired by the acquisition unit 34. A transmitting / receiving unit 40 transmits contents corrected by the correction unit 36 to the cloud-side system.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a simulation information reflecting device, a simulation information reflecting method, a simulation information reflecting program, and a simulation information reflecting system. [Background technology]

[0002] In a typical robot system, a simulation is performed in advance using an information model, and a control program based on the simulation is downloaded to the robot's control device, which then executes the control program to operate the robot. The control device to which the control program has been downloaded can operate the robot in a standalone manner without the need for simulation. The robot system also has a function that allows equipment adjustments to be made on-site, such as the ability to change parameters related to the robot's control using a teaching pendant or the like.

[0003] As a technology related to robot systems, a teaching data creation device has been proposed that creates appropriate offline teaching data even when there is a difference in shape between components of a virtual robot system and components of an actual robot system (see Patent Document 1). This teaching data creation device acquires a measured three-dimensional model that indicates the shape of a peripheral structure of an actual robot. Then, the teaching data creation device corrects the teaching data in the acquired measured three-dimensional model if the robot's movement path based on teaching data indicating the robot's movement path can be made shorter, or if the movement of the robot based on the teaching data causes interference with peripheral structures. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-59012 Summary of the Invention [Problem to be solved by the invention]

[0005] Simulations of robot systems such as those described above are used in the early stages of the engineering chain by robot system designers, system integrators, etc. In doing so, the designers perform the simulations using pre-prepared information models in which physical phenomena are described in software.

[0006] However, when an operator at the site adjusts parameters or the equipment performs automatic tuning to absorb differences in on-site variables, etc., a mismatch may occur between the site and the information model. In this case, when trying to perform a simulation again using the information model, the information model and the site will not match, and a correct design cannot be achieved.

[0007] The present invention has been made in consideration of the above points, and has an object to reflect information corrected on-site in a simulation. [Means for solving the problem]

[0008] In order to achieve the above-mentioned object, the simulation information reflection device of the present invention is composed of an acquisition unit that acquires differences between simulation information that simulates the shape, arrangement, and operation of components included in a production line designed by an external device and the shape, arrangement, and operation of components included in an actual production line, a correction unit that corrects the simulation information based on the differences acquired by the acquisition unit, and a transmission unit that transmits the contents of the correction made by the correction unit to the external device.

[0009] In addition, the acquisition unit may acquire the shape, arrangement, and operation of the components included in the actual production line based on at least one of the output values ​​of a sensor that detects the state of the actual production line, control information in a control device that controls the operation of the operable components, and data input by a user.

[0010] The correction unit may correct at least one of a setting value related to the component included in the simulation information and a program for operating the operable component, depending on the type of the difference.

[0011] The correction unit may correct the simulation information based on the difference determined by a user to require correction.

[0012] In addition, the simulation information reflection device according to the present invention may be further configured to include an identification unit that identifies an event that occurs as a result of a modification made by the modification unit, based on a predetermined causal relationship between the content of the modification and the event that occurs as a result of the modification.

[0013] The identification unit may identify the event for a modification content that modifies the simulation information based on a difference equal to or greater than a threshold value, among the modifications.

[0014] Furthermore, the simulation information reflection device according to the present invention may further include a learning unit that learns the causal relationship based on the correction content by the correction unit and the event identified by the identification unit.

[0015] Furthermore, the simulation information reflection method of the present invention is a method in which an acquisition unit acquires differences between simulation information simulating the shape, arrangement, and operation of components included in a production line designed by an external device and the shape, arrangement, and operation of components included in an actual production line, a correction unit corrects the simulation information based on the differences acquired by the acquisition unit, and a transmission unit transmits the contents of the corrections made by the correction unit to the external device.

[0016] The simulation information reflection program of the present invention is a program for causing a computer to function as an acquisition unit that acquires differences between simulation information that simulates the shape, arrangement, and operation of components included in a production line designed by an external device and the shape, arrangement, and operation of components included in an actual production line, a correction unit that corrects the simulation information based on the differences acquired by the acquisition unit, and a transmission unit that transmits the contents of the corrections made by the correction unit to the external device.

[0017] Furthermore, the simulation information reflection system of the present invention is a simulation information reflection system including a cloud side device and a field side device, wherein the field side device includes an acquisition unit that acquires differences between simulation information designed by the cloud side device, simulating the shape, arrangement, and operation of components included in a production line, and the shape, arrangement, and operation of components included in an actual production line, a correction unit that corrects the simulation information based on the differences acquired by the acquisition unit, and a transmission unit that transmits the correction contents made by the correction unit to the cloud side device, and the cloud side device includes a receiving unit that receives the correction contents transmitted from the field side device, and a correction unit that corrects the designed simulation information based on the correction contents. Effect of the Invention

[0018] According to the simulation information reflecting device, method, program, and system of the present invention, information corrected on-site can be reflected in a simulation. [Brief description of the drawings]

[0019] [Figure 1] FIG. 1 is a schematic diagram showing an example of a production line. [Diagram 2] FIG. 1 is a block diagram showing a schematic configuration of a simulation information reflection system. [Diagram 3] FIG. 2 is a block diagram showing a hardware configuration of a simulation information reflecting device. [Figure 4]2 is a block diagram showing an example of a functional configuration of a simulation information reflection device of a field-side system. FIG. [Diagram 5] FIG. 13 is a diagram for explaining a program modification of simulation information. [Figure 6] FIG. 13 is a diagram for explaining an example of a causal relationship. [Figure 7] FIG. 2 is a diagram illustrating an example of a data configuration of a causal relationship DB. [Figure 8] 1 is a block diagram showing an example of a functional configuration of a simulation information reflection device in a cloud-side system. [Figure 9] 13 is a flowchart showing the flow of a site side reflection process. [Figure 10] 13 is a flowchart showing the flow of a cloud-side reflection process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] Hereinafter, an example of an embodiment of the present invention will be described with reference to the drawings. In each drawing, the same or equivalent components and parts are given the same reference numerals. In addition, the dimensions and ratios of the drawings are exaggerated for the convenience of explanation and may differ from the actual ratios.

[0021] The simulation information reflecting system according to this embodiment reflects information adjusted in an actual manufacturing line in simulation information of a manufacturing line designed in a cloud-side system. As shown in Fig. 1, a manufacturing line 90 includes a robot 72, a sensor 74, a device 76, a work table 92, a jig 94, a workpiece 96, etc.

[0022] The robot 72 may be, for example, a vertical articulated robot having six degrees of freedom required for operation in a three-dimensional space, but is not limited thereto. The sensor 74 includes, for example, a camera attached to the end effector of the robot 72 as shown in FIG. 1, which captures the working status of the robot. The sensor 74 may also include a camera that captures an overall or specific area of ​​the manufacturing line 90 from a bird's-eye view. These cameras may be three-dimensional cameras capable of measuring the distance to the object to be photographed, machine vision cameras, etc. The sensor 74 may also include a measuring instrument such as a laser radar capable of measuring three-dimensional information of the object instead of or together with the camera. The sensor 74 may also include various sensors such as a force sensor that detects the force of the end effector, a sensor that detects the rotation of a motor that drives the equipment, and a scanner that reads barcodes attached to parts and finished products. The equipment 76 is a conveyor, a processing machine, etc. In the following description, when there is no distinction between the robot 72, the sensor 74, the equipment 76, the workbench 92, the jig 94, the workpiece 96, etc. included in the manufacturing line 90, they will also be referred to as "components."

[0023] As shown in FIG. 2, the simulation information reflection system 100 according to this embodiment includes a site-side system 110 and a cloud-side system 120.

[0024] First, the on-site system 110 will be described in detail. The on-site system 110 includes a simulation information reflection device 10A, a control device 70, a robot 72, a sensor 74, and equipment 76. The simulation information reflection device 10A is an example of the on-site device of the present invention. The robot 72, the sensor 74, and the equipment 76 included in the on-site system 110 are members included in the above-mentioned manufacturing line 90. The numbers of the robots 72, the sensors 74, and the equipment 76 included in the on-site system 110 are not limited to the example shown in FIG. 2.

[0025] The control device 70 is, for example, a PLC, a personal computer, etc. The control device 70 controls the operation of each of the robot 72, the sensor 74, and the device 76 (hereinafter also referred to as "controlled object") based on the simulation information of the manufacturing line 90 simulated by the simulation information reflecting device 10A. The control device 70 also has a retry function of sending a control instruction again when the controlled object to which the control instruction is sent does not operate according to the control instruction. The control device 70 also has a calibration function of adjusting each setting value of the controlled object. The control device 70 also has a learning function of executing machine learning of a model for detecting anomalies and predicting data after a predetermined time, etc., using data measured in the controlled object.

[0026] Fig. 3 is a block diagram showing the hardware configuration of the simulation information reflecting device 10A. As shown in Fig. 3, a computer functioning as the simulation information reflecting device 10A has a CPU (Central Processing Unit) 12, a memory 14, a storage device 16, an input device 18, an output device 20, a storage medium reading device 22, and a communication I / F (Interface) 24. Each component is connected to each other via a bus 26 so as to be able to communicate with each other.

[0027] The storage device 16 stores a simulation information reflection program for executing a site side reflection process described later. The CPU 12 is a central processing unit, and executes various programs and controls each component. That is, the CPU 12 reads the program from the storage device 16 and executes the program using the memory 14 as a working area. The CPU 12 controls each of the components and performs various calculation processes according to the program stored in the storage device 16.

[0028] The memory 14 is made up of a RAM (Random Access Memory) and temporarily stores programs and data as a working area. The storage device 16 is made up of a ROM (Read Only Memory), HDD (Hard Disk Drive), SSD (Solid State Drive), etc., and stores various programs including an operating system, and various data.

[0029] The input device 18 is a device for performing various inputs, such as a keyboard or a mouse. The output device 20 is a device for outputting various information, such as a display or a printer. A touch panel display may be used as the output device 20 to function as the input device 18. The storage medium reader 22 reads data stored in various storage media, such as a CD (Compact Disc)-ROM, a DVD (Digital Versatile Disc)-ROM, a Blu-ray disc, and a USB (Universal Serial Bus) memory, and writes data to the storage media. The communication I / F 24 is an interface for communicating with other devices, and uses standards such as Ethernet (registered trademark), FDDI, and Wi-Fi (registered trademark).

[0030] Fig. 4 is a block diagram showing an example of a functional configuration of the simulation information reflecting device 10A. As shown in Fig. 4, the simulation information reflecting device 10A includes, as functional configurations, a simulation unit 32, an acquisition unit 34, a correction unit 36, an identification unit 38, and a transmission / reception unit 40. The transmission / reception unit 40 is an example of a transmission unit of the present invention. A causal relationship DB (database) 42 is stored in a predetermined storage area of ​​the simulation information reflecting device 10A. Each functional configuration is realized by the CPU 12 reading out a simulation information reflecting program stored in the storage device 16, expanding it in the memory 14, and executing it.

[0031] The simulation unit 32 acquires simulation information designed by a simulation information reflecting device 10B of the cloud-side system 120, which will be described later. The simulation information is information that simulates the shape, arrangement, and operation of the members included in the production line 90. Specifically, the simulation information includes setting values ​​related to the members included in the production line 90 and a program for operating each of the robot 72 and the equipment 76. More specifically, the setting values ​​related to the members include, for example, three-dimensional CAD (Computer-Aided Design) data indicating the shape, size such as three-side dimensions, arrangement position, and attitude of the members. The setting values ​​related to the members may also include information on the characteristics of the members, such as the material and color of the members. The setting values ​​related to the members include the speed at which the robot 72 and the equipment 76 are operated, the path of the robot 72, and the movable range of the end effector of the robot 72 with respect to the workpiece 96 (for example, the opening width of the hand or claw, the force, etc.). The setting values ​​related to the members include the position and attitude of a camera, which is an example of the sensor 74, and control values ​​such as exposure time. The program for operating the robot 72 also includes a movement command for the robot 72 between the start point and end point indicated by the path defined as a set value.

[0032] In principle, the production line 90 is reproduced on-site based on the simulation information, but the arrangement and operation of components may be adjusted due to the presence of obstacles not assumed in the simulation information, wiring arrangement, etc. Also, there are cases where a workpiece 96 different in size, material, etc. from the workpiece 96 assumed in the simulation information is actually used. Also, the production line 90 may be changed due to a change in setup on-site, and the condition of components may change due to aging, etc.

[0033] Therefore, the acquisition unit 34 acquires on-site information indicating the shape, arrangement, and operation of the members included in the actual production line 90 based on at least one of the output value of the sensor 74, the control information in the control device 70, and the information input by the user via the input device 18. For example, the acquisition unit 34 acquires image data obtained by photographing the production line 90 with a three-dimensional camera, which is an example of the sensor 74, and analyzes the image data to acquire three-dimensional data indicating the position, attitude, and shape of each member included in the production line 90 as the on-site information. The three-dimensional data may be point cloud data indicating the three-dimensional coordinates of each position, or may be data in which the point cloud data is converted into voxels to reduce the data volume. More specifically, a mark such as a marker is added to the position of the actual member corresponding to the reference point of the position coordinates of the member indicated by the three-dimensional CAD data, and the acquisition unit 34 acquires the three-dimensional data, which is the on-site information, based on the mark. Also, for example, the acquisition unit 34 acquires the setting values ​​of the robot 72, the sensor 74, and the equipment 76 calibrated by the control device 70 as the on-site information. Furthermore, for example, the acquisition unit 34 may acquire traceability information obtained by reading and tracking barcodes attached to parts and finished products manufactured on the production line 90 using the sensor 74 as on-site information.

[0034] The acquisition unit 34 also acquires the difference between the simulation information and the on-site information. For example, the acquisition unit 34 compares the three-dimensional CAD data included in the simulation information with the three-dimensional data acquired as the on-site information based on the output value of the sensor 74, and acquires the difference in the position and posture of each member (hereinafter, also referred to as "position deviation"). For example, the acquisition unit 34 compares the three-dimensional CAD data included in the simulation information with the three-dimensional data acquired as the on-site information based on the output value of the sensor 74, and acquires the difference in size of each member. For example, the acquisition unit 34 also acquires the difference between the opening width and force of the hand or claw of the robot 72 with respect to the workpiece 96, which are the setting values ​​included in the simulation information, and the opening width and force obtained from the three-dimensional data acquired as the on-site information or the output value of the force sensor. The opening width or force acquired as the on-site information may be a setting value adjusted and set by the user at the site. Also, for example, the acquisition unit 34 acquires the difference between the operations of the robot 72 and the equipment 76, which are the setting values ​​of the simulation information, and the operations of the robot 72 and the equipment 76 obtained from the three-dimensional data acquired as the site information and the output values ​​of the sensor 74. The operations of the robot 72 and the equipment 76 are the speed, the path, etc. Also, for example, the acquisition unit 34 acquires the difference between the control values ​​of the camera position, attitude, exposure time, etc. included in the simulation information and the control values ​​of the camera position, attitude, exposure time, etc. calibrated by the control device 70, which are acquired as the site information.

[0035] The modification unit 36 ​​modifies the simulation information in the simulation unit 32 based on the difference between the simulation information and the site information acquired by the acquisition unit 34. Specifically, the modification unit 36 ​​modifies at least one of the setting values ​​related to the shape, arrangement, and operation of the components and the programs for operating the robot 72 and the equipment 76, which are included in the simulation information, according to the type of difference.

[0036] For example, when a positional deviation of a component is acquired as a difference, the correction unit 36 ​​corrects the position coordinates of the component indicated by the three-dimensional CAD data included in the simulation information based on the position coordinates of the three-dimensional data acquired as the site information. More specifically, the correction unit 36 ​​rewrites the position coordinates serving as a reference point of the component indicated by the three-dimensional CAD data to the position coordinates of the mark in the three-dimensional data acquired from the actual component to which a mark such as a marker is attached. Also, for example, when a difference in the size of a component is acquired, the correction unit 36 ​​rewrites the size of the component indicated by the three-dimensional CAD data included in the simulation information to the size of the component indicated by the three-dimensional data acquired as the site information. Also, for example, when differences in the opening width and strength of the hand or claw of the robot 72, the operation setting values ​​of the robot 72 and the device 76, the camera setting values, etc. are acquired, the correction unit 36 ​​rewrites the corresponding setting values ​​of the simulation information with the values ​​acquired as the site information.

[0037] Furthermore, when the correction unit 36 ​​corrects the set values ​​related to the operation of the robot 72 and the device 76, the correction unit 36 ​​corrects the related programs in response to the correction of the set values. For example, as shown in the upper diagram of FIG. 5, it is assumed that the operation command of the robot 72 is programmed so that the robot 72 operates between points P1 and P2 by linear interpolation. In this case, it is assumed that an obstacle that was not assumed in the simulation information at the time of the design exists between the actual points P1 and P2. In response to this, it is assumed that the user adds an intermediate point P12 between P1 and P2 as a set value at the site to avoid the obstacle. In this case, the correction unit 36 ​​may correct the program, which is the operation command of the robot 72, so that the robot 72 operates between P1 and P2 by circular interpolation, as shown in the lower diagram of FIG. 5.

[0038] When correcting the program, the correction unit 36 ​​may use, for example, a program code generation function that is common in Web languages ​​and the like. The correction unit 36 ​​may generate an algorithm for correcting the program according to the correction of the setting value by machine learning using a neural network or the like, and correct the program using this algorithm. The correction unit 36 ​​may also correct the setting values ​​and the program related to the movement of the robot 72 based on a physical model in which the movement of the robot 72 is taught by the user by a method such as direct teaching or motion capture.

[0039] As a result, changes to the production line 90 at the site are reflected in the simulation information in the simulation unit 32. The correction unit 36 ​​is not limited to correcting the simulation information for all of the acquired differences, and may correct the simulation information for differences designated by the user.

[0040] The identifying unit 38 identifies an event caused by the correction by the correcting unit 36 ​​based on a predetermined causal relationship between the contents of the correction of the simulation information and the event caused by the correction. For example, as shown in the upper diagram of FIG. 6, it is assumed that the simulation information includes a set value and a program related to the operation of the robot 72 gripping the workpiece 96 on the work table 92 and attaching it to the jig 94. Specifically, it is a set value and a program for operating the robot 72 from a point P1 on the work table 92 to a point P2 indicating the position of the jig 94. Also, as shown in the lower diagram of FIG. 6, it is assumed that an area (shaded area in FIG. 7) where the jig 94 cannot be arranged actually exists, and a positional deviation occurs between the simulation information and the on-site information in the arrangement position of the jig 94, and therefore the set value of P2 is corrected by the correcting unit 36. In this case, since the distance of P2 from P1 has become farther, an event occurs in which the takt time after the correction is longer than the takt time when the robot 72 is operated from P1 to P2 as indicated by the simulation information. The identification unit 38 identifies events that occur in response to such modifications in order to send them to the cloud-side system 120 as described below.

[0041] Specifically, the identification unit 38 refers to the causal relationship DB 42, which associates the correction content or the difference that is the source of the correction with the event that occurs as a result of the correction, and identifies the causal relationship between the correction content made by the correction unit 36 ​​and the event corresponding to the correction content. Fig. 7 shows a schematic data structure of the causal relationship DB 42. The correction content or the difference is the cause, and the resulting event is the result.

[0042] In the example of FIG. 7, it is stipulated that the cause of the increase in the actual takt time from the takt time assumed in the simulation information at the beginning of the design is a positional deviation in the direction in which the operating distance of the robot 72 is longer (represented by "+" in FIG. 7) that is equal to or greater than a threshold value. In addition, it is stipulated that the speed difference in the direction in which the operating time of the robot 72 is longer is equal to or greater than a threshold value, and the path length difference in the direction in which the path length of the robot 72 is longer is equal to or greater than a threshold value as other causes of the increase in the takt time. Note that when the difference in the operating distance, operating time, and the direction in which the path length is shorter is equal to or greater than a threshold value, it is associated with the event that the takt time decreases. In addition, in the example of FIG. 7, it is stipulated that the cause of the event that the workpiece 96 is different is a size difference of the members that is equal to or greater than a threshold value, a difference in the opening width and force of the hand that is equal to or greater than a threshold value, and a characteristic difference of the workpiece 96 that is equal to or greater than a threshold value. The difference in the opening width and force of the hand occurs due to a change in the size, surface roughness, weight, etc. of the workpiece 96 to be gripped, and therefore it is associated with the event that the workpiece 96 is different. Furthermore, when the hand opening width and the strength difference are equal to or greater than the threshold, this also affects the takt time of the robot 72's operation, and therefore is also associated with an event of an increase in takt time.

[0043] In addition, the causal relationship between the correction contents or differences and the events that occur is not limited to the example of FIG. 7. For example, a difference in the size difference of the work table 92 or the jig 94 that is equal to or greater than a threshold value may be associated with an event that the equipment is different. As other causes of the equipment being different, a case where a production line 90 not included in the simulation information is added, or a case where the difference in characteristics such as the color of the work table 92 or the jig 94 is equal to or greater than a threshold value may be associated. In addition, the correction contents and differences associated with the above-mentioned events of the work 96 or the equipment being different, or the events of an increase or decrease in the takt time, may be associated with an event that the manufacturing conditions are different. The manufacturing conditions are, for example, a manufacturing method, an operation method, etc. In addition, a case where the difference in the quantity of parts or finished products is equal to or greater than a threshold value may be associated with an event that the manufacturing conditions are different.

[0044] Furthermore, the specification unit 38 may present the causal relationship specified by referring to the causal relationship DB 42 to the user and accept any corrections to the content.

[0045] The transmitting / receiving unit 40 receives the simulation information and the causal relationship DB transmitted from the simulation information reflecting device 10B of the cloud-side system 120, which will be described later. The transmitting / receiving unit 40 passes the received simulation information to the simulation unit 32, and stores the received causal relationship DB as a causal relationship DB 42 in a predetermined storage area so that it can be referenced by the identifying unit 38. The transmitting / receiving unit 40 also transmits the correction content made by the correcting unit 36 ​​and the causal relationship identified by the identifying unit 38 to the simulation information reflecting device 10B of the cloud-side system 120.

[0046] Next, the cloud side system 120 will be described in detail. As shown in Fig. 2, the cloud side system 120 includes a simulation information reflecting device 10B. The simulation information reflecting device 10B is an example of the external device and cloud side device of the present invention. The cloud side system 120 also includes a Manufacturing Execution System (MES) 80 and a Computer Aided Manufacturing (CAD / CAM) 82. The cloud side system 120 also includes a Supply Chain Management (SCM) 84 and a Supervisory Control And Data Acquisition (SCADA) 86.

[0047] The hardware configuration of the simulation information reflecting device 10B is similar to that of the simulation information reflecting device 10A shown in Fig. 3, and therefore the description thereof will be omitted. Note that a simulation information reflecting program for executing a cloud-side reflecting process, which will be described later, is stored in the storage device 16 of the computer functioning as the simulation information reflecting device 10B.

[0048] Fig. 8 is a block diagram showing an example of a functional configuration of the simulation information reflecting device 10B. As shown in Fig. 8, the simulation information reflecting device 10B includes, as functional components, a simulation unit 52, a correction unit 54, a learning unit 56, and a transmission / reception unit 58. The transmission / reception unit 58 is an example of a receiving unit of the present invention. A causal relationship DB 60 is stored in a predetermined storage area of ​​the simulation information reflecting device 10B. Each functional configuration is realized by the CPU 12 reading out a simulation information reflecting program stored in the storage device 16, expanding it in the memory 14, and executing it.

[0049] The simulation unit 52 generates simulation information of the production line 90 by using the MES 80, the CAD / CAM 82, the SCM 84, and the SCADA 86. The simulation unit 52 also simulates the production line 90 on the simulation information reflection device 10B by executing a simulation based on the simulation information.

[0050] The correction unit 54 acquires the correction contents of the simulation information in the simulation information reflecting device 10A, and corrects the simulation information in the simulation unit 52 based on the acquired correction contents. The correction method is the same as that of the correction unit 36 ​​of the simulation information reflecting device 10A. As a result, the change of the manufacturing line 90 due to on-site adjustments or the like is also reflected in the simulation information in the cloud-side system 120.

[0051] The learning unit 56 acquires causal relationships between the correction contents or differences specified by the simulation information reflection device 10A and events occurring in response to the corrections, and accumulates the acquired causal relationships. The learning unit 56 then generates a causal relationship DB 60 by learning the accumulated causal relationships. Specifically, the learning unit 56 learns characteristics and trends of the causal relationships by statistical analysis of the average, variance, frequency distribution, and the like of the causal relationships. The learning unit 56 may estimate characteristics of a population from sample data (accumulated causal relationships) by inferential statistics, estimation, or hypothesis testing. The learning unit 56 may also generate a model for identifying events from correction contents or differences, here the causal relationship DB 60, by performing machine learning using each of the multiple causal relationships as learning data.

[0052] The transmitting / receiving unit 58 transmits the simulation information generated by the simulation unit 52 and the causal relationship DB 60 generated by the learning unit 56 to the simulation information reflecting device 10A. In addition, the transmitting / receiving unit 58 receives the correction content and the causal relationship transmitted from the simulation information reflecting device 10A, passes the correction content to the correction unit 54, and passes the causal relationship to the learning unit 56.

[0053] Next, the operation of the simulation information reflection system 100 according to this embodiment will be described.

[0054] Fig. 9 is a flow chart showing the flow of on-site reflection processing executed by the CPU 12 of the computer functioning as the simulation information reflection device 10A. The CPU 12 reads out the simulation information reflection program from the storage device 16, loads it into the memory 14, and executes it, whereby the CPU 12 functions as each functional component of the simulation information reflection device 10A, and the on-site reflection processing shown in Fig. 9 is executed. The on-site reflection processing is an example of a simulation information reflection method of the present invention.

[0055] In step S10, the transmitting / receiving unit 40 receives the simulation information and the causal relationship DB 60 transmitted from the simulation information reflection device 10B of the cloud-side system 120. The transmitting / receiving unit 40 passes the received simulation information to the simulation unit 32, and stores the received causal relationship DB 60 in a predetermined storage area as the causal relationship DB 42 so that it can be referenced by the identifying unit 38.

[0056] Next, in step S12, the acquisition unit 34 determines whether the on-site adjustment of the manufacturing line 90 has been completed. For example, the acquisition unit 34 may determine that the adjustment has been completed when a command indicating that the adjustment has been completed is input by the user. If the adjustment has been completed, the process proceeds to step S14, and if the adjustment has not been completed, the determination in this step is repeated.

[0057] In step S14, the acquisition unit 34 acquires on-site information indicating the shapes, arrangement, and operations of components included in the actual production line 90 based on at least one of the output values ​​of the sensor 74, the control information in the control device 70, and information input by the user via the input device. In the next step S16, the acquisition unit 34 acquires the difference between the simulation information and the on-site information. Next, in step S18, the correction unit 36 ​​corrects the setting values ​​and programs included in the simulation information in the simulation unit 32 based on the difference acquired in step S16.

[0058] Next, in step S20, the identification unit 38 determines whether the difference acquired in step S16 is equal to or greater than a threshold. If the difference is equal to or greater than the threshold, the process proceeds to step S22, and if the difference is less than the threshold, the process proceeds to step S24. In step S22, the identification unit 38 refers to the causal relationship DB 42 to identify a causal relationship between the difference acquired in step S16 or the correction content in step S18, and an event caused by the correction.

[0059] In step S24, the transmitter / receiver 40 transmits the correction content in the above step S18 and the causal relationship identified in the above step S22 to the simulation information reflection device 10B of the cloud-side system 120, and the on-site side reflection process ends.

[0060] Fig. 10 is a flowchart showing the flow of cloud-side reflection processing executed by the CPU 12 of the computer functioning as the simulation information reflection device 10 B. The CPU 12 reads out the simulation information reflection program from the storage device 16, expands it in the memory 14, and executes it, whereby the CPU 12 functions as each functional component of the simulation information reflection device 10 B, and the cloud-side reflection processing shown in Fig. 10 is executed.

[0061] In step S30, the transmitting / receiving unit 58 receives the correction content and the causal relationship transmitted from the simulation information reflection device 10A, transfers the correction content to the modifying unit 54, and transfers the causal relationship to the learning unit 56. Next, in step S32, the modifying unit 54 modifies the simulation information of the simulation unit 52 based on the correction content transferred from the transmitting / receiving unit 58.

[0062] Next, in step S34, the learning unit 56 accumulates the causal relationships passed from the transmitting / receiving unit 58, and learns the accumulated causal relationships to generate a causal relationship DB 60. Next, in step S36, the transmitting / receiving unit 58 transmits the causal relationship DB 60 generated in step S34 to the simulation information reflecting device 10A, and the cloud-side reflecting process ends.

[0063] As described above, in the simulation information reflecting system according to the present embodiment, the simulation information reflecting device of the on-site system acquires the difference between the simulation information and the on-site information. The simulation information is information simulating the shape, arrangement, and operation of the components included in the manufacturing line designed by the simulation information reflecting device of the cloud-side system. The on-site information is information on the shape, arrangement, and operation of the components included in the actual manufacturing line. The on-site information is acquired based on at least one of the output value of a sensor that detects the state of the actual manufacturing line, the control information in the control device that controls the operation of the operable components, and the data input by the user. In addition, the simulation information reflecting device of the on-site system corrects the simulation information based on the acquired difference, and transmits the correction content to the simulation information reflecting device of the cloud-side system. This allows the information corrected on-site to be reflected in the simulation. In addition, since the correction content on-site can be automatically reflected in the simulation, the correction content can be reflected in the simulation without requiring labor on-site or specialized knowledge on simulation. In addition, the time required for starting up the manufacturing line, including the reflection in the simulation, during the initial construction and changeover of the manufacturing line can be shortened. In addition, the simulation information can be revised to correct positional deviations that constantly occur on-site and to accommodate changes such as deterioration of components over time.

[0064] Furthermore, the simulation information reflecting device identifies a causal relationship between the modification content and an event caused by the modification based on a predetermined causal relationship between the modification content and an event caused by the modification. When the simulation information reflecting device of the on-site system identifies a causal relationship, the identified causal relationship is transmitted to the simulation information reflecting device of the cloud-side system. Generally, since the cloud side cannot grasp changes at the site, for example, even if there is a discrepancy between the takt time assumed in the simulation at the beginning of the design and the actual takt time at the site, the cloud side cannot grasp the cause. Therefore, by identifying or transmitting the causal relationship in the cloud-side system as described above, for example, an event such as a change in the takt time due to the simulation information being corrected by adjusting the positional deviation of a component at the site can be grasped on the cloud side.

[0065] In the above embodiment, the identifying unit included in the simulation information reflecting device of the on-site system may be provided in the simulation information reflecting device of the cloud system. In this case, the simulation information reflecting device of the on-site system transmits the correction content to the simulation information reflecting device of the cloud system. Then, the simulation information reflecting device of the cloud system identifies the causal relationship between the correction content and an event that occurs in response to the correction.

[0066] In the above embodiment, the process of identifying the causal relationship is not essential and can be omitted. In this case, in step S10 of the on-site side reflection process shown in FIG. 9, only the simulation information is received, and the processes of steps S20 and S22 are omitted. Then, in step S24, the correction content may be transmitted to the simulation information reflection device of the cloud side system. Also, the correction content may be transmitted after determining in advance whether to transmit the correction content to the simulation information reflection device of the cloud side system. For example, in step S20 of the on-site side reflection process shown in FIG. 9, if it is determined that the difference is equal to or greater than a threshold, the correction content may be transmitted, and if the difference is less than the threshold, the on-site side reflection process may be terminated without transmitting the correction content. Also, the correction content that requires rewriting of the setting value or program in the simulation information reflection device of the cloud side system may be determined by human intervention, and only the correction content that requires rewriting may be transmitted.

[0067] In addition, the simulation information reflection process executed by the CPU by reading the software (program) in each of the above embodiments may be executed by various processors other than the CPU. In this case, examples of the processor include a PLD (Programmable Logic Device) such as an FPGA (Field-Programmable Gate Array) whose circuit configuration can be changed after manufacture, and a dedicated electric circuit such as an ASIC (Application Specific Integrated Circuit) which is a processor having a circuit configuration designed exclusively for executing a specific process. The simulation information reflection process may be executed by one of these various processors, or may be executed by a combination of two or more processors of the same or different types (for example, a plurality of FPGAs, and a combination of a CPU and an FPGA). More specifically, the hardware structure of these various processors is an electric circuit that combines circuit elements such as semiconductor elements.

[0068] In addition, in each of the above embodiments, the simulation information reflection program is described as being pre-stored (installed) in the storage device, but the present invention is not limited to this. The program may be provided in a form stored in a storage medium such as a CD-ROM, a DVD-ROM, a Blu-ray disc, or a USB memory. The program may also be downloaded from an external device via a network. [Explanation of symbols]

[0069] 10A, 10B Simulation information reflecting device 12 CPU 14. Memory 16 Storage device 18 Input Devices 20 Output Devices 22 Storage media reader 24 Communication I / F 26 Bus 32, 52 Simulation Section 34 Acquisition Department 36, 54 Correction section 38 Specific part 40, 58 Transmitter / receiver 42, 60 Causal Relationship DB 56 Learning Department 70 Control device 72 Robot 74 Sensors 76 Equipment 90 Production Lines 92 Workbench 94 Jig 96 Work 100 Simulation information reflection system 110 On-site system 120 Cloud side system

Claims

1. an acquisition unit that acquires differences between simulation information that simulates the shapes, arrangement, and operations of components included in a production line designed by an external device and the shapes, arrangement, and operations of components included in an actual production line; a correction unit that corrects the simulation information based on the difference acquired by the acquisition unit; an identification unit that identifies an event caused by the modification by the modification unit based on a predetermined causal relationship between the content of the modification by the modification unit and an event caused by the modification; a transmission unit that transmits the correction content by the correction unit and the event identified by the identification unit to the external device; A simulation information reflecting device including:

2. 2. The simulation information reflection device according to claim 1, wherein the acquisition unit acquires the shape, arrangement, and operation of components included in the actual production line based on at least one of an output value of a sensor that detects a state of the actual production line and control information in a control device that controls the operation of the operable components.

3. 3. The simulation information reflection device according to claim 1, wherein the correction unit corrects at least one of a setting value related to the component included in the simulation information and a program for operating the component that is operable, depending on the type of the difference.

4. 4. The simulation information reflecting device according to claim 1, wherein the correction unit corrects the simulation information based on the difference determined by a user to require correction.

5. The simulation information reflection device according to any one of claims 1 to 4, wherein the identification unit identifies the event for the modification content that modifies the simulation information based on a difference that is equal to or greater than a threshold value.

6. 6. The simulation information reflection device according to claim 1, further comprising a learning unit that learns the causal relationship based on the correction content by the correction unit and the event identified by the identification unit.

7. The acquisition unit acquires differences between simulation information simulating the shapes, arrangement, and operations of components included in the production line designed by the external device and the shapes, arrangement, and operations of components included in the actual production line; a correction unit correcting the simulation information based on the difference acquired by the acquisition unit; an identification unit identifies an event caused by the modification by the modification unit based on a predetermined causal relationship between the content of the modification by the modification unit and the event caused by the modification; A transmission unit transmits the correction content by the correction unit and the event identified by the identification unit to the external device. How to reflect simulation information.

8. Computer, an acquisition unit that acquires differences between simulation information simulating the shapes, arrangement, and operations of components included in a production line designed by an external device and the shapes, arrangement, and operations of components included in an actual production line; a correction unit that corrects the simulation information based on the difference acquired by the acquisition unit; an identification unit that identifies an event caused by the modification by the modification unit based on a predetermined causal relationship between the content of the modification by the modification unit and the event caused by the modification; and a transmission unit that transmits the correction content by the correction unit and the event identified by the identification unit to the external device. A simulation information reflection program to function as a

9. A simulation information reflection system including a cloud-side device and a field-side device, The on-site device is an acquisition unit that acquires differences between simulation information that simulates the shapes, arrangement, and operations of components included in a production line designed by the cloud-side device and the shapes, arrangement, and operations of components included in an actual production line; a correction unit that corrects the simulation information based on the difference acquired by the acquisition unit; an identification unit that identifies an event caused by the modification by the modification unit based on a predetermined causal relationship between the content of the modification by the modification unit and an event caused by the modification; a transmission unit that transmits to the cloud-side device the content of the correction made by the correction unit and the event identified by the identification unit; Including, The cloud side device is a receiving unit that receives the correction content and the event transmitted from the on-site device; a correction unit that corrects the designed simulation information based on the correction content; a learning unit that learns the causal relationship based on the correction content and the event received by the receiving unit; Includes Simulation information reflection system.

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