Simulator Synchronizing Visual Sensor and Machine Control
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Solution Overview
Problem
Off-line simulations cannot synchronize the operation of visual sensors and machine control on the same time axis, limiting their ability to perform integrated simulations effectively.
Innovation Solution
A simulator with a control unit that calculates command values and motion for virtual machines and objects based on model data, generates virtual space images, and synchronizes with real space images from visual sensors, allowing for integrated simulation and machine control testing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If off-line simulation is performed using registered images, then simulation can be conducted without real-time camera input, but synchronous operation of visual sensors and machine control on the same time axis cannot be realized
Solution Approach 1:
The patent creates a virtual camera that generates virtual images corresponding to real camera images, and uses these virtual images in the simulation instead of real-time camera input. This copying approach allows the simulation to run offline while maintaining synchronization by matching the virtual camera's imaging timing with the machine control timing on the same time axis
Solution Approach 2:
The patent introduces a virtual camera as an intermediary between the real camera and the simulation system. The virtual camera receives real image data and generates corresponding virtual images that are then used by the simulation, acting as a mediator that enables time-axis synchronization between visual sensing and machine control
Data Source
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AI summary
A command value for moving a virtual machine is calculated according to a control program and based on model data of a virtual object (step S313, step S314) where the virtual machine corresponds to a machine and the virtual object is manipulated by the virtual machine in a virtual space and corresponds to an object; motion of the virtual machine which is moved in accordance with the calculated command value is calculated (step S315); motion of the virtual object which is moved in accordance with the calculated motion of the virtual machine (step S315); a virtual space image is generated (step S115) where the virtual space image is assumed to be acquired in the case where the calculated motion of the virtual machine or the calculated motion of the virtual object is virtually photographed; and the command value is calculated further based on the generated virtual space image (step S313, step S314). An integrated simulation of a machine system covering a visual sensor in a real space corresponding to a virtual photographing part can be realized. A test in the case where the visual sensor is used in machine control can be carried out.