Method of creating simulation data, method of displaying preview image, and simulation apparatus

A method of displaying a preview image using simulation data, the simulation data including (i) an operation program configured with a plurality of commands for causing a robot to perform a target operation, (ii) layout data representing a position and a posture of a three-dimensional object including a virtual robot disposed in a virtual work space which is a virtual three-dimensional work space, (iii) attribute data representing an attribute of the object, and (iv) a snapshot which is a two-dimensional image representing a state of the virtual work space, the method of displaying comprising:

• (a) receiving selection of the simulation data;
• (b) reading the snapshot included in the selected simulation data from a memory;
• (c) displaying the snapshot on a display device as the preview image in a mode in which the selected simulation data can be specified;
• (d) reading the layout data and the attribute data included in the selected simulation data from the memory when an instruction to construct a simulator environment is received;
• and
• (e) constructing the simulator environment in which the object is disposed in the virtual work space and displaying a simulator image representing an operation of the virtual robot disposed in the virtual work space on the display device using the read layout data and attribute data.

A simulation apparatus that executes processing by using simulation data, the simulation data including (i) an operation program configured with a plurality of commands for causing a robot to perform a target operation, (ii) layout data representing a position and a posture of a three-dimensional object including a virtual robot disposed in a virtual work space which is a virtual three-dimensional work space, (iii) attribute data representing an attribute of the object, and (iv) a snapshot which is a two-dimensional image representing a state of the virtual work space, the simulation apparatus comprising:

• a simulator section that uses the layout data and the attribute data to construct a simulator environment in which the object is disposed in the virtual work space, and operates the virtual robot disposed in the virtual work space in the simulator environment based on an operation instruction of a user and displays a simulator image representing an operation of the virtual robot disposed in the virtual work space on a display device;
• a snapshot output section that outputs the snapshot, which is the two-dimensional image obtained by imaging a state in which the object including the virtual robot is disposed in the virtual work space by a virtual camera;
• and
• a data storage section that stores the simulation data including the operation program representing the target operation of the virtual robot based on the operation instruction, the layout data, the attribute data, and the snapshot in a memory, wherein
• when a selection of the desired simulation data is received from the user, the simulator section reads the snapshot included in the selected simulation data from the memory, and displays the snapshot as a preview image on the display device in a mode in which the selected simulation data can be identified and
• when an instruction for constructing the simulator environment is received from the user, the simulator section reads the layout data and the attribute data included in the selected simulation data from the memory and constructs the simulator environment by using the read layout data and attribute data and displays the simulator image on the display device.