Simulation device and program

Abstract

A simulation device 10 comprises a computation unit 11 that executes a simulation in which a virtual operator for reproducing an operation performed by a worker, and a virtual robot device for reproducing an operation performed by a robot device operating in cooperation with the worker, are caused to operate in a virtual space. The computation unit: acquires basic operation information relating to a basic operation performed by the worker; generates irregular operation information including an irregular operation different from the basic operation by using the generative AI on the basis of the basic operation information; and executes a first simulation in which the virtual worker and the virtual robot device are caused to operate in cooperation in the virtual space on the basis of the basic operation information, the irregular operation information, and a robot-device program for operating the robot device.

Description

Simulation device and program

[0001] The present disclosure relates to a simulation device and a program for confirming the operation of a robot device.

[0002] A simulation device is known that can verify an operation program by placing a virtual robot device and a virtual person in a three-dimensional virtual space generated by computer processing, having the virtual person perform a predetermined operation, and operating the virtual robot device using the operation program for the robot device.

[0003] JP 2020-163509 A JP 2010-211726 A

[0004] The present disclosure aims to provide a simulation device and program capable of executing a simulation of collaborative work with a robot device that corresponds to various actions that may occur to an actual worker.

[0005] According to a first aspect of the present disclosure, there is provided a simulation device including a calculation unit that executes a simulation of operating in a virtual space a virtual worker that reproduces the movements of a worker and a virtual robot device that reproduces the movements of a robot device that operates in cooperation with the worker, wherein the calculation unit acquires basic movement information regarding the basic movements of the worker, and uses a generation AI to generate irregular movement information including irregular movements that differ from the basic movements based on the basic movement information, and executes a first simulation of operating the virtual worker and the virtual robot device in cooperation in the virtual space based on the basic movement information, the irregular movement information, and a robot device program that operates the robot device.

[0006] FIG. 1 is a block diagram showing the configuration of a simulation system. FIG. 2 is a diagram showing an example of a virtual space in which a simulation is executed. FIG. 3 is a diagram showing an example of a position work process in a virtual space. FIG. 4 is a diagram showing an example of a position work process in a virtual space. FIG. 5 is a diagram showing an example of a position work process in a virtual space. FIG. 6 is a diagram showing an example of a time schedule for executing a simulation. FIG. 7 is a diagram showing an example of an irregular time schedule. FIG. 8 is a flowchart showing the flow of processing in a simulation method executed in a simulation device.

[0007] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings, in which corresponding components are designated by common reference numerals throughout the drawings.

[0008] 1, the simulation system 1 includes a simulation device 10 that executes calculations related to the simulation, and a server device 20 that can generate data required for the simulation. The simulation device 10 and the server device 20 are connected to each other via a network W so that they can communicate with each other.

[0009] The simulation device 10 is configured, for example, by a computer device that executes arithmetic processing related to a simulation. The server device 20 is configured by a computer device that stores data and executes arithmetic processing. The server device 20 is configured as an external server device that can generate new data different from input data based on input data. For example, when the server device 20 acquires basic data and setting values ​​of data to be generated from the simulation device 10, the server device 20 generates modified data different from the basic data and outputs the modified data to the simulation device 10. The simulation device 10 executes a predetermined simulation using the basic data and modified data. The simulation device 10 and the server device 20 may be integrated. In this case, the combination of the simulation device 10 and the server device 20 may be referred to as the simulation device 10.

[0010] The simulation device 10 includes, for example, a calculation unit 11 that executes a simulation. The calculation unit 11 is configured with a processor such as a CPU (Central Processing Unit). The calculation unit 11 is configured to be able to execute a simulation in which a robot device that performs a predetermined task operates in a virtual space.

[0011] As described below, the calculation unit 11 operates a virtual robot device, which is a three-dimensional model of an actual robot device, in a virtual space based on a simulation execution program. The calculation unit 11 operates the virtual robot device in the same manner as the actual robot device based on a robot device program and setting data for operating the actual robot device. The calculation unit 11 operates a virtual worker, which imitates an actual worker who works in collaboration with the actual robot device, in the virtual space. The calculation unit 11 operates the virtual worker based on a program and setting data for operating the virtual worker. The calculation unit 11 operates a virtual machining device, which imitates a machining device that operates in collaboration with the actual robot device, in the virtual space. The calculation unit 11 operates the virtual machining device in the same manner as the actual machining device based on a machining device program and setting data for operating the actual machining device.

[0012] The simulation device 10 includes a storage unit 12 that stores data and programs necessary for executing a simulation. The storage unit 12 is configured with a non-transitory storage medium such as a hard disk drive (HDD) or a flash memory. The storage unit 12 stores, for example, a simulation program for executing a simulation. The simulation program is configured to generate a virtual space and cause a virtual robot device, a virtual machining device, and a virtual worker placed in the virtual space to operate cooperatively within the virtual space. The storage unit 12 stores a virtual robot model that generates a virtual robot device within the virtual space. The virtual robot model is configured as a three-dimensional model that imitates an actual robot device. The storage unit 12 stores a virtual machining device model that generates a virtual machining device within the virtual space. The virtual machining device model is configured as a three-dimensional model that imitates an actual machining device. The storage unit 12 stores a virtual worker model that generates a virtual worker within the virtual space.

[0013] The storage unit 12 stores a robot device program for operating the virtual robot device. The robot device program is the same as the program for operating an actual robot device. The storage unit 12 stores a machine tool program for operating the virtual machine tool. The machine tool program is the same as the program for operating an actual machine tool. The simulation program is executed in conjunction with the robot device program and the machine tool program, and is configured to operate the virtual worker in conjunction with the operation of the virtual robot device and the virtual machine tool. The simulation device 10 includes an input unit 13 for receiving input operations from a user. The input unit 13 is configured, for example, by a keyboard or a touch panel.

[0014] The simulation device 10 includes a display unit 14 for displaying a generated simulation image. The display unit 14 is configured as a display device such as a liquid crystal display or an organic EL (Electro-Luminescence) display. The display unit 14 may be configured as a touch panel. If the display unit 14 is configured as a touch panel, it may be configured as an input unit 13 by displaying an image that accepts input operations. The input unit 13 and the display unit 14 may be configured integrally with the simulation device 10 or may be configured as a separate information processing terminal device. The simulation device 10 includes a communication unit 15 that can be communicatively connected to a network W. The communication unit 15 is a communication interface that communicatively connects to the network W wirelessly or via a wired connection. The simulation device 10 is communicatively connected to the network W via the communication unit 15 and communicatively connected to the server device 20.

[0015] The server device 20 includes a calculation unit 21 that executes calculation processing. When the server device 20 and the simulation device 10 are integrated, the processing of the calculation unit 21 described below may be interpreted as the processing of the calculation unit 11. The calculation unit 21 has, for example, a function called generative AI (artificial intelligence). Conventional AI is configured as a program that generates data for a predetermined purpose based on input data. For example, when conventional AI is instructed to generate a dataset according to a predetermined purpose, the output dataset is an edited version of existing data. In contrast to conventional AI, generative AI is configured as a program that can generate new data based on input data, the content of which differs from the input data. For example, when predetermined information is input to the generative AI, the generative AI generates and outputs original information that differs from existing information. When instructions based on text data are input, the generative AI can not only generate new text data according to the purpose, but also generate new image data, new video data, and new audio data according to the purpose. The input data may be not only text data, but also image data, video data, and audio data. The calculation unit 21 executes the generation AI based on the setting data input by the user to generate new data different from the setting data. The calculation unit 21 acquires, for example, basic movement information including movement information on the basic movements of the worker, movement pattern information of movements based on the basic movements, and attribute information of the worker, based on the input operation of the user from the simulation device 10.

[0016] The movement pattern information is composed of, for example, video data based on captured images. If the calculation unit 21 is capable of generating data based on text data, the movement pattern information may be text data. The basic movement pattern includes, for example, a series of movements related to collaborative work with a robot device or a machining device, such as transporting a workpiece, placing a workpiece, removing a workpiece, and storing a workpiece. The calculation unit 21 executes a generation AI based on the basic movement information to generate irregular movement information including irregular movements that differ from the basic movements. The calculation unit 21 generates the irregular movement information based on, for example, video data. The irregular movements include sudden and unexpected movements that may occur during work, such as crouching, turning around, falling, collapsing, dropping a workpiece, picking up a workpiece, and failing to place a workpiece. The calculation unit 21 stores the generated irregular movement information in the memory unit 22.

[0017] The memory unit 22 stores data and programs necessary for the calculation processing. When the server device 20 and the simulation device 10 are integrated, the memory unit 22 may be integrated into the memory unit 12. The memory unit 22 may be configured as an external drive device or as an external server device. The memory unit 22 stores data and a generation AI program for executing the generation AI. The memory unit 22 stores data generated by the generation AI. The server device 20 includes a communication unit 23 that can be connected to the network W. The communication unit 23 is a communication interface that connects to the network W wirelessly or via a wire. The server device 20 connects to the network W via the communication unit 23 and communicates with the simulation device 10. The calculation unit 21 outputs irregular movement information generated by the generation AI to the simulation device 10 via the communication unit 23.

[0018] 2 shows an example of a virtual space 100 generated by the simulation device 10. Within the virtual space 100, a virtual workspace S is formed by a three-dimensional model. A camera C is installed within the virtual space 100 to monitor the workspace S. A virtual robot device 110 generated by the three-dimensional model is placed in the workspace S. The virtual robot device 110 is configured to grasp an object, transport it to a target position, and place the object at the target position.

[0019] The virtual robot device 110 is installed on, for example, a pedestal 119. The pedestal 119 is installed at a predetermined position in the workspace S. The predetermined position is determined based on setting values ​​input by the user. A robot arm 111 having a plurality of rotatable joints is disposed on the pedestal 119. A base end 112 of the robot arm 111 is rotatably mounted on the pedestal 119. A gripper 113 for gripping an object is provided at the tip end of the robot arm 111. A virtual installation stand 120 generated from a three-dimensional model is disposed at a first position adjacent to the virtual robot device 110.

[0020] The virtual setting table 120 is arranged, for example, to place a workpiece K, which is an object to be processed. The workpiece K is arranged on the upper surface of the virtual setting table 120. The virtual setting table 120 is arranged at a first position in the working space S. The first position is determined based on a setting value input by the user. The virtual setting table 120 is arranged at a predetermined position within the movement range of the gripper 113 of the robot arm 111.

[0021] A virtual machining device 140 generated from a three-dimensional model is placed at a second position adjacent to the virtual robot device 110. The virtual machining device 140 is an NC (Numerical Control) device that machines a workpiece K, which is an object to be machined. The virtual machining device 140 is provided with an operation panel 146 that accepts operations by an operator. The operation panel 146 is placed, for example, at an arbitrary position. The operation panel 146 is configured, for example, by a touch panel. The virtual machining device 140 is provided with a machining chamber 141 in which the workpiece K carried by the robot arm 111 is placed and machined. The machining chamber 141 and the external space are separated by a door 145 that can be opened and closed freely.

[0022] A machining unit 142 for machining the workpiece K is provided in the machining chamber 141. A replaceable cutting tool 143 is attached to the tip of the machining unit 142. A machining table 144 for placing the workpiece K is provided inside the machining chamber 141.

[0023] A virtual worker R generated by a three-dimensional model is placed in the workspace S. The virtual worker R is configured to perform a predetermined task based on setting values ​​input by the user. The virtual worker R operates based on a worker program. The virtual worker R's movements are adjusted to change based on attribute information input by the user. The attribute information includes information regarding individual differences such as age, gender, physique, and level of proficiency, but does not include personal information. The basic movements of the virtual worker R are measured and digitized based on, for example, a motion capture system that can record the movements of an actual worker in advance, or image data capturing the movements of the worker. The basic movements of the virtual worker R include, for example, walking movements, movements operating the control panel 146, movements placing the workpiece K, movements transporting the workpiece K, and other movements working in cooperation with the virtual robot device 110 and the virtual machining device 140.

[0024] With the above settings, the virtual robot device 110, for example, picks up a workpiece K placed on the virtual installation stand 120 and places it in the virtual machine tool 140. The virtual robot device 110 waits while the virtual machine tool 140 processes the workpiece K. The virtual robot device 110 picks up the workpiece K from the virtual machine tool 140 after processing has finished, and places the workpiece K back on the virtual installation stand 120. The above-mentioned movements of the virtual robot device 110 are input into the robot device program so as to execute pre-taught movements. The virtual worker R is set by the worker program so as to execute basic movements that cooperate with the above-mentioned movements of the virtual robot device 110. The movements of the virtual robot device 110, the virtual machine tool 140, and the virtual worker R are captured by the camera C.

[0025] If the calculation unit 11 recognizes an abnormality during the above work based on the image data from the camera C, it stops the virtual robot device 110 or the virtual machining device 140, or causes the virtual robot device 110 or the virtual machining device 140 to perform an operation to ensure safety. The calculation unit 11 is equipped with, for example, an AI-based judgment function and is configured to recognize an abnormality during work based on the image data. The calculation unit 11, for example, performs machine learning such as deep learning using teacher data in advance and recognizes an abnormality during work based on the image data. One machining cycle of a normal workpiece K is shown below.

[0026] 3 and 4, the calculation unit 11 causes the virtual worker R to perform an action of placing a workpiece K on the virtual installation stand 120 in the virtual space 100 based on the basic operation information and the worker program. The calculation unit 11 causes the virtual robot device 110 to operate, based on the robot device program, to grasp the workpiece K placed on the virtual installation stand 120 and place it on the processing stand 144 of the virtual machining device 140.

[0027] 5, the calculation unit 11 causes the virtual robot device 110 to wait in a standby position while the virtual machining device 140 is machining the workpiece K. At this time, the calculation unit 11 causes the virtual worker R to close the door 145 and appropriately operate the operation panel 146. The calculation unit 11 operates the virtual machining device 140 based on the machining device program, causing the virtual machining device 140 to virtually machine the workpiece K.

[0028] 6 , when machining of the workpiece K is completed, the calculation unit 11 causes the virtual robot device 110 to remove the workpiece K from the virtual machining device 140 and place the machined workpiece K on the virtual installation stand 120. The calculation unit 11 causes the virtual worker R to move the machined workpiece K from the virtual installation stand 120 to a predetermined position.

[0029] The calculation unit 11 executes a simulation of virtually executing a machining operation on the workpiece K in the virtual space 100 by repeatedly executing one machining cycle of the above-described normal workpiece K. The calculation unit 11 generates a display image of the simulation and displays it on the display unit 14.

[0030] The robot device program is designed to be able to execute actions to ensure the safety of the worker by assuming irregular movements in addition to the worker's basic movement patterns. As described above, the calculation unit 11 is configured to execute a basic simulation in which the virtual robot device 110, the virtual machining device 140, and the virtual worker R cooperate to operate in the virtual space 100, and also to execute a first simulation for confirming the safety of the robot device program by having the virtual worker R perform irregular movements.

[0031] A user inputs basic movement information, for example, via the input unit 13, to the simulation device 10, including movement information regarding the worker's basic movement, movement pattern information for movements based on the basic movement, and attribute information of the worker. The user inputs multiple pieces of basic movement information according to multiple pieces of attribute information for multiple workers. The calculation unit 11 acquires basic movement information including, for example, a first walking movement of the worker, a first operating movement on the operation panel 146 that operates the robot device, and a first transporting movement for handling the workpiece K, which is the object to be processed. The calculation unit 11 outputs the acquired basic movement information to the server device 20. In the server device 20, the calculation unit 21 generates irregular movement information including irregular movements that differ from the worker's basic movement based on the generation AI as described above.

[0032] The calculation unit 21 generates a plurality of pieces of irregular motion information according to the attributes of a plurality of workers. The calculation unit 21 generates the plurality of pieces of irregular motion information by excluding overlapping motions that are considered to be the same from the generated irregular motions. The calculation unit 21 outputs the generated plurality of pieces of irregular motion information to the simulation device 10.

[0033] In the simulation device 10, the calculation unit 11 acquires a plurality of pieces of irregular movement information and stores it in the storage unit 12. The calculation unit 11 acquires irregular movement information including an irregular second walking movement occurring in a first walking movement, an irregular second operating movement occurring in a first operating movement, and an irregular second carrying movement occurring in a first carrying movement.

[0034] 7, the calculation unit 11 generates irregular movement information based on a time schedule G for executing a normal simulation. The time schedule G is made up of a repetition of a plurality of task units U, with one task unit U being one cycle of a plurality of basic movement patterns of a worker.

[0035] As shown in FIG. 8 , the calculation unit 11 generates an irregular time schedule G1 by causing different irregular movements to appear at a frequency such that they occur a predetermined number of times within a predetermined period and inserting the different irregular movements at random times in the time series of the time schedule G. The calculation unit 11 changes the frequency at which the different irregular movements appear and inserts the different irregular movements at random times in the time series of the time schedule G to generate irregular movement information based on multiple irregular time schedules G1. The calculation unit 11 executes a first simulation in which the virtual worker R, the virtual robot device 110, and the virtual machine tool 140 cooperate to operate in the virtual space 100 based on the basic movement information, irregular movement information, worker program, robot device program, and machine tool program of the virtual worker R in accordance with the generated irregular time schedule G1. The calculation unit 11 generates multiple first simulation results in accordance with the generated multiple irregular time schedules G1. The calculation unit 11 may generate multiple first simulation results by changing the attributes of the virtual worker R.

[0036] The calculation unit 11 executes a first simulation using irregular movement information in which irregular movements of the virtual worker R are inserted at random timing between collaborative tasks based on the repeatedly executed movements of the virtual worker based on the basic movement information and the movements of the virtual robot device. The calculation unit 11, for example, fast-forwards the first simulation for an operating time equivalent to the service life of the actual robot device and executes the first simulation at high speed within a predetermined time period (e.g., within several hours). The operating time period may be adjusted to any period. When the virtual worker R performs irregular movements based on the irregular movement information, the calculation unit 11 detects a dangerous state in which the virtual robot device 110 affects the virtual worker R. The dangerous state includes, for example, a state in which the virtual worker R approaches within a threshold during the operation of the robot arm 111, a state in which the virtual worker R comes into contact with the robot arm 111 during the operation of the robot arm 111, or other states in which a physical impact is caused to the virtual worker R. The dangerous state may include a state in which the quality of the work K is affected due to irregular movements of the virtual worker R, a state in which damage occurs to the virtual robot device 110, or other states in which an impact is caused to the device.

[0037] The calculation unit 11 executes the first simulation, and when a dangerous state is detected, generates a data set extracting data on the dangerous state. The data set includes, for example, a first dangerous state caused by the second walking motion, a second dangerous state caused by the second operating motion, and a third dangerous state caused by the second carrying motion. The data set includes information such as attributes of the irregular motion, timing of the irregular motion occurrence, timing of the dangerous state occurrence, details of the motion of the virtual robot device 110 at the time of the occurrence, attributes of the dangerous state, attributes of the virtual worker R, etc.

[0038] The calculation unit 11 uses the generated data set, the worker program, the robot device program, and the machining device program to execute a second simulation in which the virtual worker R, the virtual robot device 110, and the virtual machining device 140 cooperate to operate in the virtual space 100. In the second simulation, the calculation unit 11 adjusts parameters set in the robot device program so as to reduce dangerous situations. The calculation unit 11 adjusts parameters such as the operating range of the robot arm 111, the operating speed of the robot arm 111, the standby time of the robot arm 111, the standby position of the robot arm 111, and the timing of an emergency stop of the robot arm 111 at the timing when an irregular operation set in the robot device program occurs.

[0039] The calculation unit 11 executes a second simulation using the data set and the robot device program after parameter adjustment. The calculation unit 11 executes the second simulation using the robot device program after parameter adjustment, and if a dangerous state is detected, adjusts the parameters again and executes the second simulation using the data set and the adjusted robot device program. The calculation unit 11 repeatedly executes the parameter adjustment and the second simulation until a dangerous state is no longer detected. As a result of repeatedly executing the second simulation, the calculation unit 11 generates a robot device program in which the parameters have been adjusted to prevent the occurrence of a dangerous state.

[0040] 9 shows the processing flow of a simulation method executed in the simulation device 10. The simulation method is executed based on a computer program installed on a computer mounted on the simulation device 10. The simulation device 10 executes a simulation in which a virtual worker that reproduces the movements of a worker and a virtual robot device 110 that reproduces the movements of a robot device that operates in cooperation with the worker are operated in a virtual space 100.

[0041] The calculation unit 11 displays an information input screen on the display unit (step S100). The calculation unit 11 acquires basic movement information related to the worker's basic movements based on the user's input operation on the information input screen (step S102). The calculation unit 11 outputs the basic movement information to the server device 20, which can generate generated data using the generation AI, and the basic movement information is input to the generation AI (step S104). The calculation unit 11 displays input information indicating that the basic movement information has been input to the generation AI on the display unit 14 (step S106). The calculation unit 11 causes the server device 20 to generate irregular movement information including irregular movements different from the basic movements (step S108). When the simulation device 10 and the server device 20 are integrated, the calculation unit 11 uses the generation AI to generate irregular movement information including irregular movements different from the basic movements based on the basic movement information.

[0042] The calculation unit 11 acquires irregular movement information from the server device (step S110). The calculation unit 11 displays acquired information indicating that the irregular movement information has been acquired or generated on the display unit 14 (step S112). The calculation unit 11 executes a first simulation in which the virtual worker R and the virtual robot device 110 cooperate to operate in the virtual space 100 based on the basic movement information, the irregular movement information, and a robot device program for operating the robot device (step S114). The calculation unit 11 displays a display image showing the operations of the first simulation on the display unit 14 (step S116). When the virtual worker R performs an irregular movement based on the irregular movement information, the calculation unit 11 detects a dangerous state in which the virtual robot device 110 affects the virtual worker R (step S118).

[0043] The calculation unit 11 causes the display unit 14 to display a detection image indicating that a dangerous state has been detected (step S120). The calculation unit 11 generates a dataset by extracting data in the dangerous state (step S122). The calculation unit 11 causes the display unit 14 to display a dataset generation image indicating that the dataset has been generated (step S124).

[0044] As described above, the simulation device 10 allows a user to verify a dangerous situation that may occur due to a sudden action taken by a worker based on the results of the first simulation. The simulation device 10 can execute a simulation of a collaborative work with a robotic device that corresponds to various actions that may occur to an actual worker. By executing a simulation, the simulation device 10 can detect a dangerous situation that may affect a worker at the simulation stage. The simulation device 10 can prevent the occurrence of a dangerous situation by executing a simulation based on the extracted data set of the dangerous situation and adjusting parameters of the robotic device program.

[0045] The computer program for executing the processing of each part of the simulation device 10 may be provided in a form recorded on a computer-readable non-transitory recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium.

[0046] Although the embodiments of the present disclosure have been described in detail, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible to these embodiments without departing from the gist of the invention or the concept and spirit of the present invention derived from the content of the claims and their equivalents. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these. The same applies when numerical values ​​or mathematical formulas are used in the description of the above-described embodiments. Furthermore, appropriate combinations of several of the above-described embodiments are within the scope of the present disclosure.

[0047] The following supplementary notes are further disclosed regarding the above embodiments and variations. (Supplementary Note 1) A simulation device including a calculation unit that executes a simulation in a virtual space of operating a virtual worker that reproduces the movements of a worker and a virtual robot device that reproduces the movements of a robot device that operates in cooperation with the worker, wherein the calculation unit acquires basic movement information regarding basic movements of the worker, generates irregular movement information including irregular movements different from the basic movements based on the basic movement information using a generation AI, and executes a first simulation in which the virtual worker and the virtual robot device operate in cooperation in the virtual space based on the basic movement information, the irregular movement information, and a robot device program that operates the robot device. (Supplementary Note 2) The simulation device according to Supplementary Note 1, wherein the calculation unit detects a dangerous state that will affect the virtual worker when the virtual worker performs an irregular movement based on the irregular movement information, and generates a dataset extracting data for the dangerous state. (Supplementary Note 3) The simulation device according to Supplementary Note 2, wherein the calculation unit uses the data set and the robot device program to execute a second simulation in which the virtual worker and the virtual robot device operate cooperatively in the virtual space, adjusts parameters set in the robot device program so as to reduce the dangerous state, executes the second simulation using the data set and the adjusted robot device program, and, if the dangerous state is detected, adjusts the parameters and executes the second simulation using the data set and the adjusted robot device program, and repeats the adjustment of the parameters and the second simulation until the dangerous state is no longer detected, thereby generating the robot device program adjusted to prevent the dangerous state from occurring. (Supplementary Note 4) The simulation device according to Supplementary Note 1, wherein the calculation unit executes the first simulation using the irregular movement information in which irregular movements of the virtual worker are inserted at random timing between cooperative tasks based on movements of the virtual worker and the virtual robot device, which are repeatedly executed, based on the basic movement information.(Supplementary Note 5) The simulation device according to Supplementary Note 4, wherein the calculation unit changes the frequency at which the irregular movement occurs and generates the irregular movement information. (Supplementary Note 6) The simulation device according to Supplementary Note 4, wherein the calculation unit generates the irregular movement information by inserting a plurality of different irregular movements at random timing. (Supplementary Note 7) The simulation device according to Supplementary Note 2, wherein the calculation unit acquires the basic movement information including a first walking movement of the worker, a first operating movement on a control panel that operates the robot device, and a first carrying movement for handling a workpiece, acquires the irregular movement information including a second irregular walking movement that occurs in the first walking movement, a second irregular operating movement that occurs in the first operating movement, and a second irregular carrying movement that occurs in the first carrying movement, performs the first simulation using the irregular movement information, and generates the data set including a first hazardous situation that occurs due to the second walking movement, a second hazardous situation that occurs due to the second operating movement, and a third hazardous situation that occurs due to the second carrying movement. (Supplementary Note 8) A simulation device comprising: a calculation unit that executes a simulation in which a virtual worker that reproduces movements of a worker and a virtual robot device that reproduces movements of a robot device that operates in cooperation with the worker are operated in a virtual space, wherein the calculation unit displays an information input screen on a display unit, acquires basic movement information regarding basic movements of the worker based on an input operation by a user based on the information input screen, generates irregular movement information including irregular movements different from the basic movement based on the basic movement information using a generation AI, displays acquired information indicating the acquisition of the irregular movement information on the display unit, and executes a first simulation in which the virtual worker and the virtual robot device operate in cooperation in the virtual space based on the basic movement information, the irregular movement information, and a robot device program that operates the robot device, and displays a display image showing the movements of the first simulation on the display unit.(Supplementary Note 8) A program installed in a simulation device that executes a simulation of operating in a virtual space a virtual worker that reproduces the movements of a worker and a virtual robot device that reproduces the movements of a robot device that operates in cooperation with the worker, the program causing a computer to execute processing to acquire basic movement information regarding basic movements of the worker, generate irregular movement information including irregular movements that differ from the basic movements using a generation AI based on the basic movement information, and execute a first simulation of operating the virtual worker and the virtual robot device in cooperation in the virtual space based on the basic movement information, the irregular movement information, and a robot device program that operates the robot device.

[0048] 1 Simulation system, 10 Simulation device, 11 Calculation unit, 12 Memory unit, 13 Input unit, 14 Display unit, 15 Communication unit, 20 Server device, 21 Calculation unit, 22 Memory unit, 23 Communication unit, 100 Virtual space, 110 Virtual robot device, 111 Robot arm, 112 Base end, 113 Grip unit, 119 Base, 120 Virtual installation stand, 140 Virtual machining device, 141 Machining room, 142 Machining unit, 143 Cutting tool, 144 Machining table, 145 Door, 146 Operation panel, AI Generation, C Camera, G Time schedule, G1 Irregular time schedule, K Work, R Virtual worker, S Work space, U Work unit, W Network

Claims

1. A simulation device comprising: a calculation unit that executes a simulation in which a virtual worker that reproduces the movements of a worker and a virtual robot device that reproduces the movements of a robot device that operates in collaboration with the worker are operated in a virtual space, wherein the calculation unit: acquires basic movement information regarding the basic movements of the worker; uses a generation AI to generate irregular movement information including irregular movements that differ from the basic movements based on the basic movement information; and executes a first simulation in which the virtual worker and the virtual robot device operate in collaboration in the virtual space based on the basic movement information, the irregular movement information, and a robot device program that operates the robot device.

2. The simulation device according to claim 1, wherein the calculation unit detects a dangerous state that affects the virtual robot device when the virtual worker behaves irregularly based on the irregular behavior information, and generates a data set by extracting data in the dangerous state.

3. The simulation device according to claim 2, wherein the calculation unit: uses the data set and the robot device program to execute a second simulation in which the virtual worker and the virtual robot device operate cooperatively in the virtual space; adjusts parameters set in the robot device program so as to reduce the dangerous state; executes the second simulation using the data set and the adjusted robot device program; if the dangerous state is detected, adjusts the parameters; executes the second simulation using the data set and the adjusted robot device program; repeatedly adjusts the parameters and executes the second simulation until the dangerous state is no longer detected; and generates the robot device program adjusted to prevent the occurrence of the dangerous state.

4. The simulation device according to claim 1, wherein the calculation unit executes the first simulation using irregular movement information in which irregular movements of the virtual worker are inserted at random timing between collaborative tasks based on the movements of the virtual worker based on the basic movement information and the movements of the virtual robot device, which are repeatedly executed.

5. The simulation device according to claim 4, wherein the calculation unit changes the frequency at which the irregular behavior occurs and generates the irregular behavior information.

6. The simulation device according to claim 4, wherein the calculation unit generates the irregular action information by inserting a plurality of different irregular actions at random timings.

7. The simulation device according to claim 2, wherein the calculation unit: acquires the basic movement information including a first walking movement of the worker, a first operating movement on an operation panel that operates the robot device, and a first transporting movement for handling a workpiece; acquires the irregular movement information including a second irregular walking movement that occurs in the first walking movement, a second irregular operating movement that occurs in the first operating movement, and a second irregular transporting movement that occurs in the first transporting movement; executes the first simulation using the irregular movement information; and generates the data set including a first dangerous situation that occurs due to the second walking movement, a second dangerous situation that occurs due to the second operating movement, and a third dangerous situation that occurs due to the second transporting movement.

8. A simulation device comprising: a calculation unit that executes a simulation in which a virtual worker that reproduces the movements of a worker and a virtual robot device that reproduces the movements of a robot device that operates in cooperation with the worker are operated in a virtual space, wherein the calculation unit: displays an information input screen on a display unit; acquires basic movement information regarding the basic movements of the worker based on user input operations on the information input screen; generates irregular movement information including irregular movements different from the basic movements based on the basic movement information using a generation AI; displays acquired information indicating the acquisition of the irregular movement information on the display unit; executes a first simulation in which the virtual worker and the virtual robot device operate in cooperation in the virtual space based on the basic movement information, the irregular movement information, and a robot device program that operates the robot device, and displays a display image showing the movements of the first simulation on the display unit.

9. A program installed in a simulation device that executes a simulation of operating in a virtual space a virtual worker that reproduces the movements of a worker and a virtual robot device that reproduces the movements of a robot device that operates in cooperation with the worker, the program causing a computer to execute the following processes: acquire basic movement information regarding the basic movements of the worker; use a generation AI to generate irregular movement information including irregular movements that differ from the basic movements based on the basic movement information; and execute a first simulation of operating the virtual worker and the virtual robot device in cooperation in the virtual space based on the basic movement information, the irregular movement information, and a robot device program that operates the robot device.

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