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US 12,242,776 B2Granted
Simulation device, non-transistory computer readable recording medium, and simulation method for comprehensively simulating behavior of system
AssigneeOMRON Corporation
InventorShintaro Iwamura
Life of this patent
Estimating the term…
Abstract
Provided is a configuration which enables behaviors to be comprehensively simulated even for a system where a certain external force is applied to a workpiece. This simulation device includes: a workpiece conveyance simulator that calculates a state of the workpiece conveyance device; a workpiece behavior simulator that calculates an external force applied to the workpiece based on the state of the workpiece conveyance device and calculates the state of the workpiece based on the calculated external force; and an information management part that generates virtual space information that reflects the state of the workpiece conveyance device and the state of the workpiece.
Claims9
A simulation device that simulates a state of one or more workpieces supplied by a workpiece supply part, comprising:
- a processor, configured to:
- calculate a state of a workpiece conveyance device, wherein the workpiece conveyance device includes the workpiece supply part and a conveyance surface, the workpiece conveyance device vibrates on a regular basis and applies an external force to each of the workpieces disposed on the conveyance surface to change a position and a posture of the each of the workpieces disposed on the conveyance surface;
- calculate, by physical simulation, the external force applied to each of the workpieces reflecting an influence of a collision with other workpiece based on the state of the workpiece conveyance device and calculates the state of the each of the workpieces based on mass of the each of the workpieces and the calculated external force, wherein the state of the each of the workpieces includes the position and the posture of the each of the workpieces;
- and
- generate virtual space information that reflects the state of the workpiece conveyance device and the state of the workpiece,
- wherein the processor calculates and updates, every predetermined time interval, the position and the posture of the workpiece disposed in a virtual space based on the calculated external force when a start of a simulation is instructed,
- wherein the processor generates an operation command to a robot based on the position and the posture of the workpiece,
- wherein the processor calculates, based on the operation command generated in response to a measurement result of the workpiece, a position and a posture of the robot conveying the workpiece disposed in the virtual space, and
- wherein the processor determines whether or not the calculated position and posture of the robot is in a predetermined state, and sets the workpiece to a pick state or a place state based on the predetermined state of the robot when the calculated position and posture of the robot is in the predetermined state.
6 more elements
A non-transitory computer readable recording medium storing a simulation program for causing a computer to execute a simulation of a state of one or more workpieces supplied by a workpiece supply part, wherein the simulation program causes the computer to execute:
- a step of calculating a state of a workpiece conveyance device, wherein the workpiece conveyance device includes the workpiece supply part and a conveyance surface, the workpiece conveyance device vibrates on a regular basis and applies an external force to each of the workpieces disposed on the conveyance surface to change a position and a posture of the each of the workpieces disposed on the conveyance surface;
- a step of calculating, by physical simulation, the external force applied to each of the workpieces reflecting an influence of a collision with other workpiece based on the state of the workpiece conveyance device and calculating the state of the each of the workpieces based on mass of the each of the workpieces and the calculated external force, wherein the state of the each of the workpieces includes the position and the posture of the each of the workpieces, and the step of calculating the state of the workpiece comprises:
- a step of calculating and updating, every predetermined time interval, the position and the posture of the workpiece disposed in a virtual space based on the calculated external force when a start of a simulation is instructed;
- a step of generating an operation command to a robot based on the position and the posture of the workpiece;
- a step of calculating a position and a posture of the robot conveying the workpiece disposed in the virtual space based on the operation command generated in response to a measurement result of the workpiece;
- a step of determining whether or not the calculated position and posture of the robot is in a predetermined state, and setting the workpiece to a pick state or a place state based on the predetermined state of the robot when the calculated position and posture of the robot is in the predetermined state;
- and
- a step of generating virtual space information that reflects the state of the workpiece conveyance device and the state of the workpiece.
5 more elements
A simulation method of a state of one or more workpieces supplied by a workpiece supply part executed on a computer, wherein the simulation method comprises:
- a step of calculating a state of the workpiece conveyance device, wherein the workpiece conveyance device includes the workpiece supply part and a conveyance surface, the workpiece conveyance device vibrates on a regular basis and applies an external force to each of the workpieces disposed on the conveyance surface to change a position and a posture of the each of the workpieces disposed on the conveyance surface;
- a step of calculating, by physical simulation, the external force applied to each of the workpieces reflecting an influence of a collision with other workpiece based on the state of the workpiece conveyance device and calculating the state of the each of the workpieces based on mass of the each of the workpieces and the calculated external force, wherein the state of the each of the workpieces includes the position and the posture of the each of the workpieces, and the step of calculating the state of the workpiece comprises:
- a step of calculating and updating, every predetermined time interval, the position and the posture of the workpiece disposed in a virtual space based on the calculated external force when a start of a simulation is instructed;
- a step of generating an operation command to a robot based on the position and the posture of the workpiece;
- a step of calculating a position and a posture of the robot conveying the workpiece disposed in the virtual space based on the operation command generated in response to a measurement result of the workpiece;
- a step of determining whether or not the calculated position and posture of the robot is in a predetermined state, and setting the workpiece to a pick state or a place state based on the predetermined state of the robot when the calculated position and posture of the robot is in the predetermined state;
- and
- a step of generating virtual space information that reflects the state of the workpiece conveyance device and the state of the workpiece.
5 more elements
Dependencies are inferred from the claim text.