Simulation device that simulates operation of robot

A simulation device that simulates an operation performed on a workpiece by a robot on the basis of three-dimensional information of the workpiece obtained by a three-dimensional sensor provided with two two-dimensional cameras, the simulation device comprising:

• a processor configured to:
• generate a robot model expressing the robot three-dimensionally, a workpiece model expressing the workpiece three-dimensionally, and a three-dimensional sensor model including camera models expressing the two-dimensional cameras three-dimensionally, in a virtual space,
• arrange a plurality of setting points on a surface of the workpiece model,
• calculate distances from the three-dimensional sensor model to each of the setting points,
• generate three-dimensional information including positions of the setting points and distances from the three-dimensional sensor model to the setting points,
• determine among the setting points arranged on the surface of the workpiece model:
• visible setting points that are on the surface of the workpiece and are visible on the surface of the workpiece from both of the two-dimensional cameras, and
• non-visible setting points that are on the surface of the workpiece and are visible on the surface of the workpiece from a first one of the two-dimensional cameras, and not visible on the surface of the workpiece from a second one of the two-dimensional cameras,
• exclude, from the three-dimensional information, the non-visible setting points, calculate a position and orientation of the workpiece model based on the three-dimensional information including on the basis of the positions of the visible setting points and distances from the three-dimensional sensor model to the visible setting points, and excluding the non-visible setting points, and
• change a position and orientation of the robot model and implement simulation of an operation performed on the workpiece model on the basis of the position and orientation of the workpiece model.