Simulation device, control method for simulation device, and program

Abstract

This simulation device comprises: a conversion unit that, when position data stored in a first storage unit is defined in an individual coordinate system that is different from a common coordinate system, performs coordinate system conversion processing for defining the position data, which has been defined in the individual coordinate system, in the common coordinate system, and stores the position data obtained by the coordinate system conversion processing in a second storage unit; and a simulation processing unit that uses the position data stored in the second storage unit to perform, in a virtual space, processing for moving a second object to a position corresponding to the position of a first object among a plurality of objects.

Description

Simulation device, control method of simulation device, and program

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

[0002] Japanese Patent Application Laid-Open No. 2017-094406 discloses a simulation device. In the simulation device, coordinate values on image data defined in a camera coordinate system are converted into a robot coordinate system. The simulation device calculates the position and orientation of a workpiece in the robot coordinate system.

[0003] Recently, a better simulation device, a control method of the simulation device, and a program have been eagerly awaited.

[0004] The present disclosure aims to solve the above-described problems.

[0005] A first aspect of the present disclosure includes a storage control unit that stores position data, which is data indicating the position of an object, in a first storage unit; and when the position data stored in the first storage unit is defined in an individual coordinate system different from a common coordinate system, a coordinate conversion process for defining the position data defined in the individual coordinate system in the common coordinate system is performed, and a conversion unit that stores the position data obtained by the coordinate conversion process in a second storage unit; and a simulation processing unit that performs a process of moving a second object to a position corresponding to the position of a first object among a plurality of the objects in a virtual space using the position data stored in the second storage unit.

[0006] A second aspect of this disclosure is a control method for a simulation device, comprising: a storage control step of causing a storage control unit to store position data, which is data indicating the position of an object, in a first storage unit; a conversion step of, when the position data stored in the first storage unit is defined in an individual coordinate system different from a common coordinate system, a conversion unit performing a coordinate system conversion process to define the position data defined in the individual coordinate system in the common coordinate system, and storing the position data obtained by the coordinate system conversion process in a second storage unit; and a simulation processing step of using the position data stored in the second storage unit to move a second object to a position corresponding to the position of a first object among a plurality of objects in a virtual space, performed by a simulation processing unit.

[0007] A third aspect of this disclosure is a program that causes a computer to execute the control method of a simulation apparatus according to the second aspect.

[0008] This disclosure provides a better simulation device, a method for controlling the simulation device, and a program for causing a computer to execute the method for controlling the simulation device.

[0009] Figure 1 is a block diagram showing the configuration of a simulation device in one embodiment. Figure 2 is a diagram showing the virtual space displayed on a display device in one embodiment. Figure 3 is a diagram showing the virtual space displayed on a display device in one embodiment. Figure 4 is a diagram showing the virtual space displayed on a display device in one embodiment. Figure 5 is a diagram showing the virtual space displayed on a display device in one embodiment. Figure 6 is a diagram showing the virtual space displayed on a display device in one embodiment. Figure 7 is a diagram showing the virtual space displayed on a display device in one embodiment. Figure 8 is a diagram showing the position data of objects stored in the first and second storage units after coordinate system transformation processing in one embodiment. Figure 9 is a diagram showing the virtual space displayed on a display device in one embodiment. Figure 10 is a diagram showing the position data of objects stored in the first and second storage units after inverse coordinate system transformation processing in one embodiment. Figure 11 is a flowchart showing the processing performed in the transformation unit of the simulation device. Figure 12 is a flowchart showing the processing performed in the inverse transformation unit of the simulation device.

[0010] Simulation devices can generate robot teaching data by moving objects such as workpieces and robot end effectors in a virtual space. Object position data may be defined in multiple different coordinate systems. For example, when moving an object whose position data is defined in one coordinate system to the position of another object whose position data is defined in another coordinate system, calculating the position data of the moved object becomes complex, leading to a high computational load on the simulation device.

[0011] In this disclosure, the simulation device, the control method for the simulation device, and the program that causes a computer to execute the control method for the simulation device can suppress the computational load of the simulation device.

[0012] The following describes the simulation apparatus, the control method for the simulation apparatus, and the program for causing a computer to execute the control method for the simulation apparatus as described herein.

[0013] [One Embodiment] [Configuration of Simulation Device] Figure 1 is a block diagram showing the configuration of a simulation device 10 in one embodiment. The simulation device 10 comprises a calculation unit 12 and a storage unit 14.

[0014] The arithmetic unit 12 is, for example, a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit). The arithmetic unit 12 includes a memory control unit 16, a conversion unit 18, a simulation processing unit 20, an inverse conversion unit 22, and a display control unit 24. The memory control unit 16, conversion unit 18, simulation processing unit 20, inverse conversion unit 22, and display control unit 24 are realized by the execution of a program stored in the memory unit 14 in the arithmetic unit 12. At least a portion of the memory control unit 16, conversion unit 18, simulation processing unit 20, inverse conversion unit 22, and display control unit 24 may be realized by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array). At least a portion of the memory control unit 16, conversion unit 18, simulation processing unit 20, inverse conversion unit 22, and display control unit 24 may be realized by an electronic circuit including discrete devices.

[0015] The storage unit 14 is a computer-readable, non-transient, tangible storage medium. The storage unit 14 is composed of volatile memory (not shown) and non-volatile memory (not shown). The volatile memory is, for example, RAM (Random Access Memory). The non-volatile memory is, for example, ROM (Read Only Memory), flash memory, etc. Data is stored in the volatile memory, for example. Programs, tables, maps, etc. are stored in the non-volatile memory, for example. At least a portion of the storage unit 14 may be provided in the processor, integrated circuit, etc., as described above. At least a portion of the storage unit 14 may be mounted on equipment connected to the simulation device 10 by a network.

[0016] The storage unit 14 includes a first storage unit 26 and a second storage unit 28. The first storage unit 26 may be provided in a storage device other than the storage device on which the second storage unit 28 is provided. The first storage unit 26 may be provided in the same storage device on which the second storage unit 28 is provided. In this case, a storage area other than that of the second storage unit 28 may be allocated to the first storage unit 26.

[0017] The simulation device 10 can appropriately utilize data supplied from the external device 30. When position data, which is data indicating the position of an object, is supplied to the simulation device 10 from the external device 30, the memory control unit 16 acquires the position data supplied from the external device 30. The memory control unit 16 stores the acquired position data in the first storage unit 26. The external device 30 is a design support device such as CAD, a measuring device for three-dimensional measurement of an object, etc.

[0018] In the above description, the memory control unit 16 stores the object position data supplied from the external device 30 in the first storage unit 26, but this is not the only way to do so.

[0019] The first storage unit 26 stores object position data defined in the coordinate system used by the external device 30. Therefore, the coordinate system of the object position data stored in the first storage unit 26 may differ depending on the object. In one embodiment, a common coordinate system and individual coordinate systems, which are different from the common coordinate system, will be used for explanation. Note that the individual coordinate system is not limited to one, and there may be two or more.

[0020] If the position data of an object stored in the first storage unit 26 is defined in an individual coordinate system, the transformation unit 18 performs a coordinate system transformation process to define the position data defined in the individual coordinate system in a common coordinate system. The transformation unit 18 stores the position data obtained by the coordinate system transformation process in the second storage unit 28. The coordinate system transformation process will be described in detail later.

[0021] The simulation processing unit 20 performs the process of moving the position of an object in the virtual space. When moving the position of an object, the simulation processing unit 20 uses the position data of the object stored in the second storage unit 28. The process of moving the position of an object in the virtual space will be described in detail later.

[0022] The position data of an object after it has moved in the virtual space is stored in the second storage unit 28. The position data of the moved object stored in the second storage unit 28 is defined in a common coordinate system.

[0023] If the object's position data is defined in an individual coordinate system, the inverse transformation unit 22 performs a coordinate system inverse transformation process to define the object's position data after movement, which is defined in a common coordinate system, in the individual coordinate system. The inverse transformation unit 22 stores the position data obtained by the coordinate system inverse transformation process in the first storage unit 26. The coordinate system inverse transformation process will be described in detail later.

[0024] The display control unit 24 controls the display device 32 to display the virtual space on the display device 32. The display control unit 24 controls the display device 32 based on the position data of objects stored in the second storage unit 28 to display objects in the virtual space on the display device 32. The display control unit 24 may also display position data defined in an individual coordinate system or a common coordinate system near the objects placed in the virtual space.

[0025] [Regarding Common Coordinate System and Individual Coordinate System] Figures 2 to 4 show the virtual space displayed on the display device 32 in one embodiment. Objects A to C are arranged in the virtual space.

[0026] Figure 2 shows the origin P0 of the common coordinate system. Origin P0 is also the origin of the virtual space. The position data Pa of object A and the position data Pb of object B are defined by the common coordinate system. In the common coordinate system, position data is expressed using coordinate values ​​relative to the origin P0. Here, the coordinate values ​​of the position data Pa of object A defined in the common coordinate system are (Xa, Ya, Za), and the coordinate values ​​of the position data Pb of object B defined in the common coordinate system are (Xb, Yb, Zb).

[0027] Figure 3 shows the origin Q0 of the individual coordinate system. The origin Q0 is set on object A. The position data Qc of object C is defined by the individual coordinate system. In the individual coordinate system, the position data is expressed as coordinate values ​​relative to the origin Q0. Here, the coordinate values ​​of the position data Qc of object C defined in the individual coordinate system are (xc, yc, zc).

[0028] As mentioned above, the position data Qc of object C is defined with respect to the origin Q0 set on object A. As shown in Figure 4, when object A moves in the virtual space, object C moves with object A while maintaining its relative positional relationship with object A. The coordinate values ​​of the position data Pa' of object A after the movement are (Xa', Ya', Za'). Since the relative positional relationship of object C with object A does not change, the coordinate values ​​of the position data Qc of object C remain (xc, yc, zc).

[0029] [Regarding copy and paste operations] Figures 5 to 7 show the virtual space displayed on the display device 32 in one embodiment.

[0030] One embodiment of the simulation device 10 can copy the position data of an object in a virtual space and paste the copied position data as the position data of another object.

[0031] For example, to copy the position data of object C, the user uses a mouse or the like to place the mouse cursor 34 over object C, which is located in the virtual space displayed on the display screen of the display device 32 as shown in Figure 5, and right-clicks. This selects object C and displays menu 36 on the display device 32. The user then places the mouse cursor 34 over "Copy Position Data" in menu 36 and left-clicks. This copies the position data of object C.

[0032] For example, when pasting the position data of a copied object C as the position data of object B, the user uses a mouse or the like to place the mouse cursor 34 over object B, which is placed in the virtual space of the display device 32 as shown in Figure 6, and right-clicks. This selects object B and displays menu 36 on the display device 32. The user then places the mouse cursor 34 over "Paste Position Data" in menu 36 and left-clicks. This pastes the position data of object B as the position data of object C. The above example describes a case where user input is performed using a mouse, but is not limited to this. Copy and paste operations may also be performed by user input on a touch panel or the like.

[0033] When the above copy and paste operations are performed, the simulation processing unit 20 performs the process of moving object B to a position corresponding to the position of object C in the virtual space, as shown in Figure 7.

[0034] [Regarding coordinate system transformation and inverse coordinate system transformation] As mentioned above, for example, when copy and paste operations are performed, the simulation processing unit 20 performs a process in the virtual space to move object B to a position corresponding to the position of object C. At this time, the simulation processing unit 20 calculates the position data of object B after the move by referring to the position data of object C. If the coordinate system that defines the position data of object C and the coordinate system that defines the position data of object B are different, the calculation of the position data of object B after the move becomes complex, and the computational load on the simulation device 10 increases.

[0035] Therefore, in the simulation device 10 of one embodiment, if the position data stored in the first storage unit 26 is defined in an individual coordinate system different from the common coordinate system, the transformation unit 18 performs coordinate system transformation processing to define the position data defined in the individual coordinate system in the common coordinate system. The transformation unit 18 stores the position data obtained by the coordinate system transformation processing in the second storage unit 28. Because the position data defined in the common coordinate system is stored in the second storage unit 28, as will be described later, object B can be moved to a position corresponding to the position of object C without requiring complex calculations.

[0036] Figure 8 shows the position data of objects A to C stored in the first storage unit 26 and the second storage unit 28 after coordinate system transformation processing in one embodiment.

[0037] The position data of object A and the position data of object B stored in the first storage unit 26 are defined by a common coordinate system. Therefore, the conversion unit 18 copies the position data of object A and the position data of object B stored in the first storage unit 26 to the second storage unit 28 for storage.

[0038] The position data of object C stored in the first storage unit 26 is defined by an individual coordinate system. Therefore, the transformation unit 18 performs a coordinate system transformation process on the position data of object C stored in the first storage unit 26 to define it in a common coordinate system. The transformation unit 18 stores the position data of object C defined in the common coordinate system obtained by the coordinate system transformation process in the second storage unit 28.

[0039] In one embodiment of the simulation device 10, when performing the process of moving object B to a position corresponding to the position of object C in a virtual space, the simulation processing unit 20 performs the processing using position data stored in the second storage unit 28, without using position data stored in the first storage unit 26. This reduces the computational load on the simulation device 10.

[0040] Figure 9 shows a virtual space displayed on the display device 32 in one embodiment. Figure 9 shows the state after object C has moved together with object A.

[0041] The simulation processing unit 20 stores the position data of object A after movement, defined in the common coordinate system, and the position data of object C after movement, defined in the common coordinate system, in the second storage unit 28.

[0042] Figure 10 shows the position data of objects A to C stored in the first storage unit 26 and the second storage unit 28 after the inverse coordinate system transformation process in one embodiment.

[0043] The position data of object A and the position data of object B stored in the first storage unit 26 before the coordinate system inverse conversion process are defined by a common coordinate system. Therefore, the inverse conversion unit 22 copies the position data of object A and the position data of object B stored in the second storage unit 28 and stores them in the first storage unit 26.

[0044] The position data of object C stored in the first storage unit 26 before the coordinate system inverse conversion process is defined by an individual coordinate system. Therefore, the inverse conversion unit 22 performs a coordinate system inverse conversion process for the position data of object C stored in the second storage unit 28 to define it in the individual coordinate system. The inverse conversion unit 22 stores the position data of object C defined in the individual coordinate system obtained by the coordinate system inverse conversion process in the first storage unit 26.

[0045] [Coordinate System Conversion Process] FIG. 11 is a flowchart showing the process performed in the conversion unit 18 of the simulation device 10. This process is executed by the memory control unit 16 every time the position data of an object is stored in the first storage unit 26.

[0046] In step S1, the conversion unit 18 reads the position data of one object stored in the first storage unit 26. Then, it proceeds to step S2.

[0047] In step S2, the conversion unit 18 determines whether the read position data of the object is defined in the common coordinate system. If the position data is defined in the common coordinate system, it proceeds to step S3. If the position data is defined in the individual coordinate system, it proceeds to step S4.

[0048] In step S3, the conversion unit 18 stores the read position data of the object in the second storage unit 28. Then, it proceeds to step S6.

[0049] In step S4, the conversion unit 18 performs a coordinate system conversion process on the read position data of the object. Then, it proceeds to step S5.

[0050] In step S5, the transformation unit 18 stores the position data obtained by the coordinate system transformation process in the second storage unit 28. Then, the process proceeds to step S6.

[0051] In step S6, the conversion unit 18 determines whether it has finished reading the position data of all objects stored in the first storage unit 26. If it has finished reading the position data of all objects stored in the first storage unit 26, it terminates the process. If it has not finished reading the position data of all objects stored in the first storage unit 26, it returns to step S1, and the conversion unit 18 reads the position data of another object stored in the first storage unit 26.

[0052] [Coordinate System Inverse Transformation Processing] Figure 12 is a flowchart showing the processing performed in the inverse transformation unit 22 of the simulation device 10. This processing is performed by the simulation processing unit 20 each time the position data of the moved object is stored in the second storage unit 28.

[0053] In step S11, the inverse conversion unit 22 reads the position data of one object stored in the second storage unit 28. Then, the process proceeds to step S12.

[0054] In step S12, the inverse transformation unit 22 determines whether the position data of the first storage unit 26 corresponding to the object whose position data was read is defined in a common coordinate system. If the position data of the first storage unit 26 is defined in a common coordinate system, the process proceeds to step S13. If the position data of the first storage unit 26 is defined in an individual coordinate system, the process proceeds to step S14.

[0055] In step S13, the inverse conversion unit 22 stores the read object's position data in the first storage unit 26. Then, the process proceeds to step S16.

[0056] In step S14, the inverse transformation unit 22 performs an inverse coordinate system transformation on the read object's position data. After that, the process proceeds to step S15.

[0057] In step S15, the inverse transformation unit 22 stores the position data obtained by the coordinate system inverse transformation process in the first storage unit 26. Then, the process proceeds to step S16.

[0058] In step S16, the inverse conversion unit 22 determines whether it has finished reading the position data of all objects stored in the second storage unit 28. If it has finished reading the position data of all objects stored in the second storage unit 28, it terminates the process. If it has not finished reading the position data of all objects stored in the second storage unit 28, it returns to step S11, and the inverse conversion unit 22 reads the position data of another object stored in the second storage unit 28.

[0059] The simulation device 10, the control method for the simulation device 10, and the program that causes a computer to execute the control method for the simulation device 10, as disclosed herein, can suppress the computational load on the simulation device 10.

[0060] The following additional information is disclosed regarding the above embodiment.

[0061] (Note 1) The simulation apparatus (10) of this disclosure includes: a storage control unit (16) that stores position data, which is data indicating the position of an object, in a first storage unit (26); a conversion unit (18) that, when the position data stored in the first storage unit is defined in an individual coordinate system different from the common coordinate system, performs a coordinate system conversion process to define the position data defined in the individual coordinate system in the common coordinate system, and stores the position data obtained by the coordinate system conversion process in a second storage unit (28); and a simulation processing unit (20) that uses the position data stored in the second storage unit to perform a process in a virtual space to move a second object to a position corresponding to the position of a first object among a plurality of objects.

[0062] (Note 2) In the simulation apparatus described in Note 1, the simulation processing unit may, without using the position data stored in the first storage unit, use the position data stored in the second storage unit to move the second object to a position corresponding to the position of the first object in the virtual space.

[0063] (Note 3) In the simulation apparatus described in Note 1 or 2, if the position data of the second object stored in the first storage unit is defined in the individual coordinate system, the apparatus may further include an inverse coordinate system transformation unit (22) that performs an inverse coordinate system transformation process to define the position data of the second object after movement, which is defined in the common coordinate system, in the individual coordinate system, and stores the position data obtained by the inverse coordinate system transformation process in the first storage unit.

[0064] (Note 4) In the simulation apparatus described in any one of Notes 1 to 3, the user's input for identifying the destination of the second object may be performed by selecting the first object displayed on the display screen.

[0065] (Note 5) In the simulation apparatus described in Note 4, when the destination is specified and the second object is selected by user input, the simulation processing unit may perform the process of moving the second object to a position corresponding to the position of the first object in the virtual space.

[0066] (Note 6) The control method for the simulation apparatus of the present disclosure includes: a storage control step of causing a storage control unit to store position data, which is data indicating the position of an object, in a first storage unit; a conversion step of, when the position data stored in the first storage unit is defined in an individual coordinate system different from the common coordinate system, a conversion unit performing a coordinate system conversion process to define the position data defined in the individual coordinate system in the common coordinate system, and storing the position data obtained by the coordinate system conversion process in a second storage unit; and a simulation processing step of, using the position data stored in the second storage unit, causing a second object to move to a position corresponding to the position of the first object among a plurality of objects in a virtual space by a simulation processing unit.

[0067] (Note 7) In the control method of the simulation apparatus described in Note 6, in the simulation processing step, the simulation processing unit may perform a process in the virtual space to move the second object to a position corresponding to the position of the first object, using the position data stored in the second storage unit, without using the position data stored in the first storage unit.

[0068] (Note 8) In the control method of the simulation apparatus described in Note 6 or 7, if the position data of the second object stored in the first storage unit is defined in the individual coordinate system, the inverse transformation unit may perform an inverse transformation process to define the position data of the second object after movement, which is defined in the common coordinate system, in the individual coordinate system, and the inverse transformation step may further include storing the position data obtained by the inverse transformation process in the first storage unit.

[0069] (Note 9) In the control method of the simulation apparatus described in any one of Notes 6 to 8, the user's input for identifying the destination of the second object may be performed by selecting the first object displayed on the display screen by the user.

[0070] (Note 10) In the control method of the simulation apparatus described in Note 9, when the destination is specified and the second object is selected by user input, the simulation processing step may involve the simulation processing unit performing a process in the virtual space to move the second object to a position corresponding to the position of the first object.

[0071] (Note 11) The program of this disclosure causes a computer to execute the control method of the simulation apparatus described in any one of Notes 6 to 10.

[0072] While this disclosure has been described in detail, it is not limited to the individual embodiments described above. These embodiments can be added, replaced, modified, partially deleted, etc., in any way that does not depart from the gist of this disclosure or from the intent of this disclosure derived from the claims and their equivalents. These embodiments can also be implemented in combination. For example, the order of operations and processes in the embodiments described above are given as examples only and are not limited thereto. The same applies when numerical values ​​or mathematical formulas are used in the description of the embodiments described above.

[0073] 10...Simulation device 16...Memory control unit 18...Conversion unit 20...Simulation processing unit 22...Inverse conversion unit 26...First memory unit 28...Second memory unit

Claims

1. A simulation device comprising: a storage control unit that stores position data, which is data indicating the position of an object, in a first storage unit; a conversion unit that, when the position data stored in the first storage unit is defined in an individual coordinate system different from the common coordinate system, performs a coordinate system conversion process to define the position data defined in the individual coordinate system in the common coordinate system, and stores the position data obtained by the coordinate system conversion process in a second storage unit; and a simulation processing unit that uses the position data stored in the second storage unit to perform a process in a virtual space to move a second object to a position corresponding to the position of the first object among a plurality of objects.

2. The simulation apparatus according to claim 1, wherein the simulation processing unit performs a process in the virtual space to move the second object to a position corresponding to the position of the first object, using the position data stored in the second storage unit, without using the position data stored in the first storage unit.

3. A simulation apparatus according to claim 1 or 2, further comprising an inverse transformation unit that, when the position data of the second object stored in the first storage unit is defined in the individual coordinate system, performs an inverse coordinate system transformation process to define the position data of the second object after movement, which is defined in the common coordinate system, in the individual coordinate system, and stores the position data obtained by the inverse coordinate system transformation process in the first storage unit.

4. A simulation apparatus according to any one of claims 1 to 3, wherein user input for identifying the destination of the second object is performed by selecting the first object displayed on the display screen by the user.

5. The simulation apparatus according to claim 4, wherein, when the second object is selected by user input while the destination of the movement is specified, the simulation processing unit performs a process in the virtual space to move the second object to a position corresponding to the position of the first object.

6. A control method for a simulation device, comprising: a storage control step of causing a storage control unit to store position data, which is data indicating the position of an object, in a first storage unit; a conversion step of, when the position data stored in the first storage unit is defined in an individual coordinate system different from the common coordinate system, a conversion unit performing a coordinate system conversion process to define the position data defined in the individual coordinate system in the common coordinate system, and storing the position data obtained by the coordinate system conversion process in a second storage unit; and a simulation processing step of, using the position data stored in the second storage unit, the simulation processing unit performing a process in a virtual space to move a second object to a position corresponding to the position of the first object among a plurality of objects.

7. A control method for a simulation device according to claim 6, wherein in the simulation processing step, the simulation processing unit performs a process in the virtual space to move the second object to a position corresponding to the position of the first object, using the position data stored in the second storage unit, without using the position data stored in the first storage unit.

8. A control method for a simulation apparatus according to claim 6 or 7, further comprising an inverse transformation step, wherein, when the position data of the second object stored in the first storage unit is defined in the individual coordinate system, the inverse transformation unit performs an inverse coordinate system transformation process to define the position data of the second object after movement, which is defined in the common coordinate system, in the individual coordinate system, and stores the position data obtained by the inverse coordinate system transformation process in the first storage unit.

9. A control method for a simulation apparatus according to any one of claims 6 to 8, wherein the user input for identifying the destination of the second object is performed by selecting the first object displayed on the display screen by the user.

10. A control method for a simulation apparatus according to claim 9, wherein, when the destination of the second object is specified, the second object is selected by user input, and in the simulation processing step, the simulation processing unit performs a process in the virtual space to move the second object to a position corresponding to the position of the first object.

11. A program that causes a computer to execute the control method of the simulation apparatus described in any one of claims 6 to 10.

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