Simulation system and simulation method

Abstract

This simulation system for executing a simulation of a work system composed of a plurality of devices comprises: a display unit for displaying a model of the work system constructed in a virtual space; a setting unit for receiving operation points of the devices on the basis of an operation by a designer on the model, receiving pieces of operation content of the plurality of devices, and setting a sequence of a series of operations of the work system including the received operation point and operation content; and an execution unit for executing a simulation of the series of operations by operating the model on the basis of the sequence.

Description

Simulation System and Simulation Method

[0001] This specification discloses a simulation system and a simulation method.

[0002] Conventionally, there have been proposals for executing simulations of devices. For example, Patent Document 1 describes a system that executes a simulation using a three-dimensional model of a machine tool.

[0003] Japanese Patent Application Laid-Open No. 2006-107043

[0004] Here, when executing a simulation of a work system composed of a plurality of devices, it is possible to set the operations of the devices using the models of the devices and execute the simulations for each device as described in Patent Document 1. However, in Patent Document 1, since the sequence of a series of operations in a plurality of devices is not considered, it has been difficult to appropriately execute the simulation of the entire work system.

[0005] The main object of the present disclosure is to appropriately execute a simulation of a work system composed of a plurality of devices.

[0006] The present disclosure has adopted the following means to achieve the above main object.

[0007] The simulation system of the present disclosure is a simulation system that executes a simulation of a work system composed of a plurality of devices, and includes: a display unit that displays a model of the work system constructed in a virtual space; a setting unit that receives an operation point of the device based on an operation on the model by a designer, receives the operation contents of the plurality of devices, and sets a sequence of a series of operations of the work system including the received operation point and the operation contents; and an execution unit that executes a simulation of the series of operations by operating the model based on the sequence.

[0008] The simulation system disclosed herein accepts the operating points of devices based on the designer's operations on the model, as well as the operation details of multiple devices, and sets a sequence of operations for the work system, including the accepted operating points and operation details. Then, by operating the model based on the sequence, the simulation of the series of operations is performed. Therefore, it is possible to appropriately perform simulations of work systems composed of multiple devices.

[0009] A diagram showing an overview of the configuration of the design support system 10. An explanatory diagram showing an overview of the functions and processes of the design support system 10. An explanatory diagram showing an example of the work system WS. A flowchart showing an example of the simulation execution process. An explanatory diagram showing an example of the settings on the simulation screen 70. An explanatory diagram showing an example of the settings on the simulation screen 70. An explanatory diagram showing an example of the settings on the simulation screen 70. An explanatory diagram showing an example of the settings on the simulation screen 70. An explanatory diagram showing an example of the playback display process. An explanatory diagram showing an example of the playback display on the simulation screen 70. An explanatory diagram showing an example of the playback display on the simulation screen 70. An explanatory diagram showing an example of the playback display on the simulation screen 70. An explanatory diagram showing an example of the playback display on the simulation screen 70. An explanatory diagram showing an example of the playback display on the simulation screen 70. An explanatory diagram showing an example of the playback display on the simulation screen 70.

[0010] Embodiments of this disclosure will be described with reference to the drawings. Figure 1 is a configuration diagram showing an outline of the design support system 10. Figure 2 is an explanatory diagram showing an outline of the functions and processing of the design support system 10. Figure 3 is an explanatory diagram showing an example of a work system WS. The design support system 10 comprises a management server 20 that manages the entire system and a data server 30 that stores a database (DB) in which various information is collected (stored). The management server 20 and the data server 30 are connected via a network 12. The management server 20 is also connected to vendor terminals 50 and customer terminals 60 via the network 12. Note that there may be multiple vendor terminals 50 and customer terminals 60, not just one each.

[0011] The design support system 10 assists in the design of a work system WS, which is composed of multiple components such as various devices and equipment, and also assists in the purchase of components and the work system WS. Examples of work systems WS include those used in various tasks in various industries such as manufacturing and transportation. The work system WS performs predetermined tasks, such as transporting workpieces W, such as machine parts or electronic components. These predetermined tasks may include welding, deburring, painting, etc., and may be performed in collaboration with the worker.

[0012] The work system WS, as shown in Figure 3, includes, for example, robots R1 and R2, a conveyor C1, and mounting tables S1, S2, S3, and S4. The X-axis, Y-axis, and Z-axis directions are as shown in Figure 3. On the mounting table S1, a workpiece W is supplied to a position (1) on its upper surface. Position (1) is, for example, the position from which the workpiece W is discharged from a processing device for the workpiece W, but it may also be the position from which the workpiece W is supplied by an operator. Robot R1 has a vertical articulated robot arm and an end effector attached to the tip of the robot arm that can chuck a workpiece by driving a chuck cylinder, and is mounted on the mounting table S3. Robot R1 chucks the workpiece W supplied to position (1) and transfers it to position (2) on the conveyor C1. The conveyor C1 has a drive motor that drives the conveyor belt, and the workpiece W is transported along the Y-axis from position (2) to position (3) by driving the conveyor belt. Although not shown in the diagram, the work system WS is equipped with sensors such as a photosensor capable of detecting the workpiece W at position (3). Robot R2 has a vertical articulated robot arm and is mounted on a mounting table S4. Robot R2 chucks the workpiece W that has been transported to position (3) and transfers it to position (4) on the mounting table S2. Position (4) is, for example, the position where the workpiece W is supplied to an inspection device for the workpiece W, but it may also be the position where the workpiece W is unloaded by an operator or the like. The devices that make up this work system WS, such as robots R1 and R2 and conveyor C1, are also called modules. Note that the work system WS is not limited to those including robots and conveyors, but can be any system composed of multiple modules.

[0013] The management server 20 comprises a control unit 21, a storage unit 23, and a communication unit 25. The control unit 21 includes a CPU, ROM, RAM, etc. The control unit 21 exchanges information with the data server 30, vendor terminals 50, customer terminals 60, etc. The control unit 21 also manages the marketplace MP, which is an e-commerce site where customers can select and purchase various modules online. Customers can select various modules from the marketplace MP and request quotes or purchases for modules or work systems WS, and obtain data necessary to operate the various modules.

[0014] The storage unit 23 consists of an HDD or SSD and stores various application programs and data. The communication unit 25 is connected to the network 12 and communicates with the data server 30, vendor terminal 50, customer terminal 60, etc. The management server 20 receives various instructions from the administrator via input units 27 such as a keyboard and mouse. The management server 20 also displays various information on a display unit 29 such as a display.

[0015] The data server 30 comprises a control unit 31 having a CPU, ROM, RAM, etc., a storage unit 33 composed of an HDD, SSD, etc., and a communication unit 35 connected to a network 12, etc., which communicates with the management server 20, vendor terminal 50, customer terminal 60, etc. The storage unit 33 stores a module DB 33a, a vendor DB 33b, a customer DB 33c, and a case DB 33d. Note that the data server 30 is not limited to being a separate device from the management server 20, and may be included in the management server 20.

[0016] Module DB33a stores module data for each module available for purchase on the Marketplace MP, including module type and specification information. The module type indicates, for example, whether it is a robot or a conveyor. The specification information includes vendor information for each module (vendor ID, described later), module part number (model), size, shape, and drawing files such as 3D CAD data. The specification information also includes capability information such as rated load, range of motion, payload capacity, and operating speed, depending on the module type.

[0017] Vendor DB33b contains various information for each vendor, including the name of the certified vendor, a unique vendor ID for each vendor, capital, number of employees, business field, and types of modules the vendor provides. Customer DB33c contains customer information for each certified customer, including the name of the certified customer, a unique customer ID for each customer, contact information such as email address and address, and customer purchase history.

[0018] The project database (DB33d) contains various information for each work system (WS) project, including those that have been delivered to the customer or those that the customer is considering purchasing. This information includes the project name, the overall specifications of the work system (WS), the specifications of each module of the work system (WS), and the delivery price and estimated price. The overall specifications include information such as the size, weight, and shape of the workpiece (object) to be worked on, the layout and installation space of each module in the work system (WS), and drawing files such as 3D CAD data for the work system (WS). The delivery price and estimated price information includes the total price of the work system (WS), the price of each module, and installation costs.

[0019] The vendor terminal 50 comprises a control unit 51 having a CPU, ROM, RAM, etc., a storage unit 53 such as an HDD or SSD for storing various application programs and various data, and a communication unit 55 connected to a network 12, etc., for communicating with a management server 20, etc. The vendor terminal 50 receives various instructions from the vendor and various information that needs to be registered from an input unit 57 such as a keyboard or mouse. The vendor terminal 50 also displays various screens of the marketplace MP on a display unit 59 such as a display.

[0020] The customer terminal 60, like the vendor terminal 50, includes a control unit 61, a storage unit 63, and a communication unit 65. The customer terminal 60 receives various instructions and information that needs to be registered from the customer via an input unit 67 such as a keyboard or mouse. The customer terminal 60 also displays various screens of the marketplace MP on a display unit 69 such as a display. Furthermore, the control unit 61 constructs a model MD in a virtual space as a digital twin of the work system WS, which is a combination of various modules, based on data related to various modules. It can accept various settings, including information and operation details of the target work W, and execute simulations and output cycle diagrams.

[0021] Next, the operation of the design support system 10 configured in this way, particularly the processing related to the simulation and cycle diagram of the work system WS, will be explained. Figure 4 is a flowchart of an example of the simulation execution process. This process is executed by the control unit 61 of the customer terminal 60 operated by the designer. In the simulation execution process, the control unit 61 displays the simulation screen 70, including the model MD of the work system WS, on the display unit 69 (S100) and determines whether "Settings" has been selected (S105).

[0022] Figures 5 to 9 are explanatory diagrams showing an example of settings on the simulation screen 70. As shown in the figures, the simulation screen 70 displays various operation selection buttons, the model MD of the work system WS, and the simulation settings dialog 71. The designer can perform various selection operations, specify operation points P (position), and adjust the display position and size of the model MD and settings dialog 71 by manipulating the cursor with the mouse on the input unit 67. The operation point P includes, for example, the initial position which is the tip position of the robot arm in the initial state of robots R1 and R2 (states in Figures 3 and 5), as well as the chuck position and release position of the workpiece W1, and the position just before moving to the chuck position or release position. The designer can specify the operation point P by moving the tip of the robot arm on the simulation screen 70 using the mouse. The designer can also perform various input operations using the keyboard on the input unit 67. The selection buttons on the simulation screen 70 include a "New" button to run a new simulation, an "Open" button to load existing data, a "Save" button to save the data being created, and a "Settings" button to set the simulation conditions. There are also a "Run" button to execute the simulation, a "Display" button to show the simulation results and cycle diagram, an "Output" button to output the cycle diagram, and an "Exit" button to end the simulation.

[0023] If the control unit 61 determines that "Settings" was selected in S105, it displays the settings dialog 71 and accepts the operation settings for the specified device (module) from the designer (S110). If it determines that "Settings" was not selected, it skips S110. Next, the control unit 61 determines whether "Execute" was selected or not (S115). If it determines that "Execute" was not selected, it returns to S105.

[0024] Figure 5 shows the state after the designer has selected the "New" button and loaded the model MD of the work system WS, and then selected the "Settings" button. When the "Settings" button is selected, the control unit 61 displays a settings dialog 71 on the simulation screen 70 for setting a series of operation sequences for the work system WS (model MD). In the settings dialog 71, it is possible to specify the target module (device) to be set, the target workpiece, and the combined parts for which operation coupling with the workpiece is valid. In Figure 5, robot R1 is specified as the target module and workpiece W1 is specified as the target workpiece. Furthermore, as shown in Figures 6 to 9, the settings dialog 71 displays operation setting fields that can be accessed via drop-down operations to set each operation point P of the target module, commands for operation up to operation point P and operation at operation point P, parameters and operation time related to the commands (not shown), and input comments from the designer regarding the commands.

[0025] Figure 6 shows the robot R1 with its operating point P1 set, and a dropdown list for setting the operation command at operating point P1 displayed in row number 1. For example, the initial position of robot R1 (robot arm) is operating point P1. The numbers in each row indicate the sequence of operations.

[0026] The commands in this embodiment include, for example, "MOVEJ", "MOVEL", "PORT", "TIMER", "WAITIO", "ACTUATOR", "GOTO", "LABEL", "CALL", "IF", and "NOP". Although not shown in the diagram, there are also commands such as "ELSE" and "ENDIF". "MOVEJ" is a command to make the robot move using joint interpolation. "MOVEL" is a command to make the robot move using linear interpolation. "PORT" is a command related to signal input / output (I / O), and it is possible to set input and output signals to be on or off, numerical values, addition or subtraction, etc. "TIMER" is a command to make the robot wait until a specified time has elapsed. "WAITIO" is a command to make the robot wait until a predetermined condition is met. The predetermined condition is, for example, the condition in which a predetermined input signal is input. "ACTUATOR" is a command for operations related to additional axes, such as the robot's travel axis and the chuck operation of the end effector. "GOTO" is a command to move to a specified label. "LABEL" is the command for the label to which "GOTO" will transition. "CALL" is the command to call another program within the same module (e.g., a robot) and transition to that other program. After the other program has finished executing, the program transitions to the next command after "CALL" in the calling program. "IF" is the command to set a condition and branch the processing. If the condition is met, the commands from "IF" to "ELSE" are executed; if the condition is not met, the commands from "ELSE" to "ENDIF" are executed. "NOP" is the command for a blank line. These commands are common to all module types. Therefore, designers can set the operation using these commands without having to consider the type of module.

[0027] Figure 7 shows how the commands for the robot R1's operation at point P1 and the subsequent operation points P2 and P3 are set. Operation point P3 is the position where robot R1 chucks the workpiece W located at position (1) on the mounting table S1 (see Figure 7). Operation point P2, although not shown in the figure, is a position a predetermined distance away from operation point P3 in the Z direction, i.e., directly above operation point P3. In the example in Figure 7, the commands, parameters, and necessary comments for robot R1 to start up and move from operation point P1 to operation point P2 and then to operation point P3 are set in lines numbered 1 to 3. Commands for chucking the workpiece W1 at operation point P3 are set in lines numbered 4 and 5.

[0028] Figure 8 shows, following Figure 7, how the commands for the robot R1's movements at operating points P4 and P5 are set. Operating point P5 is the position where robot R1 unchucks workpiece W1 in order to place it on position (2) on conveyor C1 (see Figure 8). Operating point P4, although not shown in the figure, is a position a predetermined distance away from operating point P5 in the Z direction, i.e., directly above operating point P5. In the example in Figure 8, commands for moving from operating point P3 to operating point P5 via operating points P2 and P4 are set in lines 6 to 8. Commands for unchucking and placing workpiece W1 at operating point P5 are set in lines 9 and 10. Furthermore, commands for moving from operating point P5 to operating point P1 via operating point P4 are set in lines 11 to 13. In line 12, the command for the output signal to conveyor C1 is set. Upon receiving this output signal, conveyor C1 starts the transport operation of workpiece W1. When the conveyor C1 detects that the workpiece W1 has moved to position (3) based on the sensor's detection signal, it terminates its transport operation. Furthermore, once the transport operation is complete, the conveyor C1 outputs a signal to the robot R2 indicating this.

[0029] Figure 9 shows how the commands for the robot R2's movements at each of its movement points P1 to P5 have been set. Figure 9 also shows how the model MD is displayed in a different position than in Figures 5 to 8, due to the designer's mouse operation, so that the robot R2 is not hidden by the setting dialog 71. Movement point P1 of the robot R2 indicates the initial position, which is the tip position of the robot arm in the initial state of the robot R2 (states in Figures 3 and 5). Movement point P3 is the position where the robot R2 chucks the workpiece W1 located at position (3) on the conveyor C1 (see Figure 15). Movement point P5 is the position where the robot R2 unchucks the workpiece W1 in order to place it on the mounting table S2 at position (4) (see Figure 16). Movement points P2 and P4 are positions located a predetermined distance in the Z direction from movement points P3 and P5, respectively, that is, directly above movement points P3 and P5.

[0030] In Figure 9, after the robot R2 starts up and waits for an output signal from the conveyor C1, commands for moving from operating point P1 to operating point P2 and then to operating point P3 are set in lines numbered 1 to 5. Commands for the robot R2 to chuck the workpiece W1 at operating point P3 and move to operating point P5 via operating points P2 and P4 are set in lines numbered 6 to 10. Commands for the robot R2 to unchuck the workpiece W1 at operating point P5 and move back to operating point P1 via operating point P4 are set in lines numbered 11 to 13. In line numbered 12, a command for an output signal is set for a device (e.g., an inspection device) that processes the workpiece W1 at position (4) on the mounting table S2. Upon receiving this output signal, the device starts processing the workpiece W1 at position (4).

[0031] As shown in Figures 6 to 9, the actions of robot R1 to move workpiece W1 from position (1) to position (2), conveyor C1 to move workpiece W1 from position (2) to position (3), and robot R2 to move workpiece W1 from position (3) to position (4) are set. In other words, a sequence of operations of the work system WS is set to move workpiece W1 from position (1) through positions (2) and (3) to position (4). Once the sequence of operations is set, the designer selects the "Execute" button to run the simulation.

[0032] In the simulation execution process shown in Figure 4, when the control unit 61 determines that "execute" has been selected in S115, it executes the simulation using the model MD based on the operation settings (S120). The simulation is executed by operating each device (module) of the model MD based on the operation settings, that is, a sequence of operations.

[0033] Furthermore, when the control unit 61 runs the simulation, it acquires simulation results including motion data (S125). The motion data includes, for example, trajectory data of the robot arm tips of each robot R1 and R2, drive data of the chuck cylinders of each robot R1 and R2, drive data of the drive motor of the conveyor C1, and on / off data of sensors. Next, the control unit 61 creates a cycle diagram showing the time change of the operation of the multiple devices based on the acquired motion data (S130). The contents of the cycle diagram will be described later.

[0034] Next, the control unit 61 determines whether "Display" is selected (S135) and whether "Output" is selected (S140). If it determines that neither is selected, it proceeds to S155. If the control unit 61 determines that "Display" is selected, it performs a playback display process (S145) to play back and display the simulation video and cycle diagram showing the operation of the model MD in the simulation on the simulation screen 70, and then proceeds to S155.

[0035] The playback display process in S145 is performed based on the flowchart shown in Figure 10. In the playback display process, the control unit 61 displays the cycle diagram and the simulation video on the simulation screen 70 in the state at the start of operation (S200).

[0036] Figures 11 to 16 are explanatory diagrams showing examples of playback display on the simulation screen 70. In these examples, the cycle diagram is displayed on the left and the simulation video using Model MD is displayed on the right. The cycle diagram is displayed in playback mode, scrolling to the left of the figure as time progresses. The cycle diagram displays diagrams of each robot R1 and R2 generated based on trajectory data, a diagram of the chuck generated based on the drive data of the chuck cylinder, a diagram of conveyor C1 generated based on the drive data of the conveyor C1's drive motor, and a diagram of the sensor generated based on the sensor's on / off data. In addition, the diagrams of each robot R1 and R2 display the positions of each axis at the tip of the robot arm (Px (solid line), Py (dotted line), Pz (dotted line)). Note that diagrams of the rotation angles (Rx, Ry, Rz) of each axis at the tip of the robot arm may also be displayed.

[0037] The simulation screen 70 also displays a playback dialog 72 for the designer to perform operations related to playback display. The playback dialog 72 displays a "Play" button to start playback, a "Stop" button to stop playback, and a display position column to indicate the display position. In the display position column, the total time (Ttotal) from the start to the end of the simulation is displayed in the right column, and the point in time being played back is displayed in the left column. In addition, the designer can input and specify any point in time (numerical value) in the left column while the playback display is stopped.

[0038] Next, the control unit 61 determines whether "Playback" has been selected (S210). If the control unit 61 determines that "Playback" has been selected, it plays and displays the cycle diagram and the simulation video in chronological order (S220), and waits for the end point to be reached or for "Stop" to be selected (S230). If the control unit 61 determines that the end point has been reached or for "Stop" to be selected, it terminates the playback display of the cycle diagram and the simulation video (S240). Then, the control unit 61 determines whether anything other than "Display" has been selected (S250). If it determines that nothing other than "Display" has been selected, it returns to S210, and if it determines that something other than "Display" has been selected, it terminates the playback display process.

[0039] In S220, the control unit 61 starts playback display from the beginning of Figure 11 and plays back the display in the order of Figures 12 to 16. Figure 12 shows the state when robot R1 has chucked workpiece W1 at position (1). Figure 13 shows the state when robot R1 has moved workpiece W1 to position (2). Figure 14 shows the state when conveyor C1 has moved workpiece W1 to position (3). Figure 15 shows the state when robot R2 has chucked workpiece W1 at position (3). Figure 16 shows the state when robot R2 has moved workpiece W1 to position (4). After Figure 16, the display returns to the initial state of Figure 11. Note that these figures are only a part of the playback display, and of course the states between these figures are also displayed during playback. In addition, the cycle diagram is displayed while scrolling to the left in accordance with the progress of the simulation video, and the display line L that indicates the point in time when the simulation video is being played back is shown as a vertical line (dotted line). Furthermore, the time point indicated by display line L coincides with the time point in the left column of the display position field in the playback dialog 72. Additionally, the designer can adjust the display line L to a desired time point by clicking on the cycle diagram and scrolling it left or right while playback is stopped.

[0040] In this way, by displaying the cycle diagram and the simulation video together, the designer can easily grasp the operating state shown by the cycle diagram. However, designers unfamiliar with cycle diagrams may find it difficult to understand the operating state from the cycle diagram alone. In this embodiment, displaying it together with the simulation video allows them to understand the operating state at a glance. Furthermore, the designer can easily check for any interference between the model MD and its surroundings from the simulation video. Checking for such interference is also difficult to grasp from the cycle diagram alone, so displaying it together with the simulation video is an advantage. In addition, the designer can easily check the operating time of the work system WS (model MD), i.e., the cycle time, from the simulation video.

[0041] Furthermore, if the control unit 61 determines in S210 that "Playback" has not been selected, it determines whether an arbitrary point in time has been specified by the designer through input operations in the display position field (left column) of the playback dialog 72 or by scrolling operations on the cycle diagram (S260). If it determines that no point in time has been specified, it proceeds to S250. On the other hand, if the control unit 61 determines that an arbitrary point in time has been specified, it displays (stops) the cycle diagram and the simulation video on the simulation screen 70 in the state of the specified point in time (S270). For example, if "aaa" is entered in the display position field in the state shown in Figure 11, the cycle diagram and the simulation video will be displayed in the state shown in Figure 13, which is the point in time "aaa". Although not shown in the illustration, if the cycle diagram is scrolled within the cycle diagram, the cycle diagram and the simulation video will be displayed in the state of the point in time indicated by the display line L. After S270, the control unit 61 returns to S210. Therefore, when "Playback" is selected in S210, the control unit 61 will play back and display the cycle diagram and the simulation video in chronological order from the state at the specified point in time.

[0042] In the simulation execution process shown in Figure 4, if the control unit 61 determines in S140 that "Output" has been selected, it outputs the cycle diagram data in a data format suitable for general-purpose spreadsheet software such as Excel (S150) and proceeds to S155. In S150, the control unit 61 may also output a simulation video along with the cycle diagram data. The control unit 61 then determines whether "Setting" has been selected (S155) or whether "Terminate" has been selected (S160). If it determines that neither has been selected, it returns to S135. On the other hand, if the control unit 61 determines that "Setting" has been selected, it returns to S110 to accept the operation settings, and if it determines that "Terminate" has been selected, it terminates this process. Therefore, the designer can check the cycle diagram and simulation video in S145, modify the operation settings in S110, and then run the simulation again in S120. When the simulation is run again, the modified cycle diagram is created. Therefore, designers can quickly and easily modify the cycle diagram without having to modify the cycle diagram itself, by modifying the settings for the simulation's operation and running the simulation. By repeatedly running simulations and creating (modifying) cycle diagrams, designers can appropriately design the work system WS. Here, S150 states that the cycle diagram data is output in a data format for general-purpose spreadsheet software, but this is not the only option. The output data only needs to be output with time-series data and numerical data displayed in the diagram associated with each other. For example, it may be output in a text data format such as CSV so that it can be displayed in general-purpose spreadsheet software, or it may be in a file format for display in a dedicated graph plotting tool.

[0043] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The display unit 69 of the customer terminal 60 in this embodiment corresponds to the display unit, the control unit 61 of the customer terminal 60 that executes S105 and S110 of the simulation execution process corresponds to the setting unit, and the control unit 61 that executes S120 of the same process corresponds to the execution unit. Also, the control unit 61 that executes S130 of the same process corresponds to the creation unit. The control unit 61 that executes S145 of the same process corresponds to the display control unit. The control unit 61 that executes S150 of the same process corresponds to the output unit. In this embodiment, an example of the simulation method of the present disclosure is also clarified by explaining the operation of the design support system 10.

[0044] In the design support system 10 of the present embodiment described above, the control unit 61 receives the operating point of the module (device) based on the operation on the model MD, receives the operation contents of a plurality of modules, and sets a sequence of a series of operations of the work system WS including the received operating point and operation contents. Then, the control unit 61 operates the model MD based on the sequence, thereby executing a simulation of a series of operations, so that the simulation of the work system WS can be appropriately executed.

[0045] Also, the control unit 61 receives operation settings using a plurality of common commands regardless of the type of module. For this reason, even if the work system is configured with various modules of different manufacturers, such as modules purchased from a plurality of vendors or modules manufactured by the company itself, there is no need to set the operation contents with different commands. Therefore, the designer can easily set the operation contents and appropriately execute the simulation of the work system.

[0046] Also, the control unit 61 automatically creates a cycle diagram showing the time change of the operations of a plurality of modules based on the result of the operation of the model MD in the simulation. For this reason, since the designer does not need to manually create a cycle diagram using spreadsheet software or the like, the burden of creating a cycle diagram by the designer can be reduced.

[0047] Further, the control unit 61 causes the display unit to reproduce and display the cycle diagram and the simulation video showing the operation of the model MD in the simulation in time series, so that the designer can easily understand the operation of each module in the cycle diagram. Therefore, it is possible to prevent differences in recognition of the cycle diagram by the designer.

[0048] Further, when the control unit 61 receives a designation of an arbitrary point in time in a series of operations from the designer, it displays the cycle diagram and the simulation video in the state at the time of reception and enables reproduction display from that state. Therefore, since the designer can easily understand the operation of each module at an arbitrary point in time, it is possible to more reliably prevent differences in recognition of the cycle diagram by the designer.

[0049] Further, since the control unit 61 outputs the cycle diagram in a data format that can be used in general-purpose spreadsheet software, the designer can easily perform operations such as correcting the cycle diagram obtained by executing the simulation using the spreadsheet software.

[0050] Note that the present disclosure is not limited to the above-described embodiments, and it is needless to say that various embodiments can be implemented as long as they belong to the technical scope of the present disclosure.

[0051] In the embodiment, the control unit 61 outputs the cycle diagram in a data format that can be used in general-purpose spreadsheet software, but it is not limited to this, and it may be output in a data format that can be used in dedicated software for the cycle diagram. Alternatively, the control unit 61 may not output the cycle diagram.

[0052] In the embodiment, the control unit 61 displays the cycle diagram and the simulation video in the state at the time of reception from the designer and enables reproduction display from that state, but it is not limited to this. For example, the control unit 61 displays the cycle diagram and the simulation video in the state at the time of reception from the designer, but it may not perform reproduction display from that state. Alternatively, the control unit 61 may not receive a designation of an arbitrary point in time from the designer.

[0053] In this embodiment, the control unit 61 played and displayed the cycle diagram and the simulation video in chronological order (simultaneously), but it is not limited to this, and they may be played and displayed separately. Also, the control unit 61 created the cycle diagram based on the results of the operation of the model MD in the simulation, but it is not limited to this, and it does not have to have a function to create a cycle diagram. Furthermore, in this embodiment, a number of commands common to all module types were used, but it is not limited to this, and some of the commands may include commands specific to each module type.

[0054] In this embodiment, the control unit 61 of the customer terminal 60 is shown as the operator of the simulation and cycle diagram processing for the work system WS. However, the invention is not limited to this, and the control unit 21 of the management server 20 or the control unit 51 of the vendor terminal 50 may also perform these operations.

[0055] This specification also discloses a technical concept in which the "simulation system described in claim 3" of claim 6 in the original application has been changed to "the simulation system described in any one of claims 3 to 5".

[0056] This disclosure can be used in the technical field of simulation of work systems, among other things.

[0057] 10 Design support system, 12 Network, 20 Management server, 21, 31, 51, 61 Control unit, 23, 33, 53, 63 Storage unit, 25, 35, 55, 65 Communication unit, 27, 57, 67 Input unit, 29, 59, 69 Display unit, 30 Data server, 33a Module DB, 33b Vendor DB, 33c Customer DB, 33d Project DB, 50 Vendor terminal, 60 Customer terminal, C1 Conveyor, MD Model, R1, R2 Robot, S1, S2, S3, S4 Mounting platform, W Work, WS Work system.

Claims

1. A simulation system for performing a simulation of a work system composed of multiple devices, comprising: a display unit that displays a model of the work system constructed in a virtual space; a setting unit that receives operating points of the devices based on operations performed on the model by a designer, receives the operation content of the multiple devices, and sets a sequence of operations of the work system including the received operating points and operation content; and an execution unit that performs a simulation of the series of operations by operating the model based on the sequence.

2. The simulation system according to claim 1, wherein the setting unit accepts the operation content using a plurality of commands that are common regardless of the type of device.

3. The simulation system according to claim 1 or 2, further comprising a generation unit that generates a cycle diagram showing the time evolution of the operation of the plurality of devices based on the results of the operation of the model in the simulation.

4. The simulation system according to claim 3, further comprising a display control unit that plays back and displays the cycle diagram and a simulation video showing the operation of the model in the simulation in chronological order on the display unit.

5. The simulation system according to claim 4, wherein the display control unit, upon receiving a designation of any point in time during the series of operations from the designer, displays the cycle diagram and the simulation video in the state at the received point in time, and enables playback display from that state.

6. The simulation system according to claim 3, further comprising an output unit that outputs the cycle diagram in a data format usable by general-purpose spreadsheet software.

7. A simulation method for a work system composed of multiple devices, comprising: (a) displaying a model of the work system constructed in a virtual space; (b) receiving operating points of the devices based on operations performed on the model by a designer, receiving the operation content of the multiple devices, and setting a sequence of operations of the work system including the received operating points and operation content; and (c) performing a simulation of the series of operations by operating the model based on the sequence.

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