JP7397501B2 - Ship construction simulation method and construction simulation program - Google Patents

Description

The present invention relates to a method and program for simulating the construction of a designed ship.

The amount of work, or man-hours, for each task, which is the basis for setting shipbuilding production (construction) plans and schedules, is generally determined based on the concept of ``man-hours = standard time per amount of managed materials x amount of managed materials.''
However, in essence, only the main work (work that progresses the product toward completion) is proportional to the amount of managed materials, and the incidental work (work that cannot progress the main work without it, but is not itself Although work that does not progress the product toward completion) and non-value-added activities (actions that have no value to the completion of the product) are determined in a different dimension from the amount of managed materials, currently all of these are included in the amount of managed materials. It is simply treated as proportional. It has been reported that the main work rate in shipbuilding is generally 30 to 40%, depending on the type of work, and there are issues with accuracy in estimating man-hours proportionally from the amount of materials to be managed.
On the other hand, there are line simulators that simulate manufacturing processes, but they require manual input of every detailed operation. In addition, although line simulators are suitable for simulating the same tasks over and over again, such as in line production of mass-produced products, where the flow of goods and movement of workers are fixed, line simulators are suitable for simulating the same tasks over and over again, such as in line production of mass-produced products. It is not suitable for simulations that require changes in work depending on the situation.

Here, Patent Document 1 describes a ship and marine plant production simulation framework that is commonly applied regardless of the different environments of each shipyard, and a ship and marine plant production simulation framework that is applied to each shipyard based on this ship and marine plant production simulation framework. A shipbuilding and marine process mutual verification simulation system, a block crane lifting and loading simulation system, a GIS information infrastructure equipment simulation system, and a block and logistics control simulation system are separably combined, which are differentially applied according to different environments. Accordingly, an integrated solution system for ship and marine plant production simulation is disclosed that has scalability and recyclability that can be effectively applied to suit the circumstances of each shipyard.
Further, Patent Document 2 describes a method for generating a project plan, which includes information describing the ranking relationship between tasks, information indicating the required time of the tasks, and information indicating the variability of the required times of the tasks. Detail information is received by a processor unit, the project detail information is used by the processor unit to generate a simulation model of the project, and runs the simulation model multiple times to identify a subset of tasks forming the critical path. generating simulation results data, and generating from the simulation results data a project network presentation containing an identified subset of tasks forming the critical path; A method is disclosed for receiving information by a processor unit in an information format selected from a group of information formats consisting of a file, and an extensible markup language file.
Further, Patent Document 3 discloses a scheduling device that performs production scheduling of a production target consisting of a plurality of processes, which includes process connection information for setting connection order relationships of processes, and movement of each block included in the process. An accumulation means that stores block flow information for setting the route, work period information for setting the construction period for each process of each block, and constraint conditions for each process, and a process downstream from the information accumulated in the accumulation means. an interpretation means that rearranges the process data in the upstream order, a model creation means that creates a scheduling model based on the rearranged process data obtained by the interpretation means, and a schedule optimization for each scheduling model obtained by the model creation means. A scheduling device is disclosed that includes a schedule creating means for creating a schedule, and an output means for outputting a scheduling result obtained by the schedule creating means.
Furthermore, Patent Document 4 describes a process plan, an equipment layout plan based on the process plan, a staffing plan based on the process plan and the equipment layout plan, and a production plan based on the process plan, equipment layout plan, and staffing plan. A production system plan that uses the production line model created for each plan to simulate production activities and create evaluation standard values for each plan, determines the quality of each plan based on the standard values, and corrects the plan based on that. A method is disclosed.
Additionally, Non-Patent Document 1 lists Process Planning and Scheduling as specific functions corresponding to process management for constructing shipbuilding CIM, and in Process Planning, product information is based on conceptual knowledge about the manufacturing site. Scheduling involves determining the methods and procedures for manufacturing.Based on the knowledge of the specific situation at the actual manufacturing site, the results of Process Planning are developed from the perspective of time and utilization of on-site equipment, and delivery dates and other conditions are determined. It describes creating a schedule that satisfies the above requirements, and also discloses a shipbuilding factory model for process control based on object orientation.
In addition, in Non-Patent Document 2, in order to evaluate the effect of introducing production equipment in the ship construction process, new production A method for evaluating the impact of equipment introduction on the overall process period and cost is disclosed, and it is stated that constraints on the shipyard's work area and worker skills are taken into consideration in the production process simulation. .

Utility model registration No. 3211204 Japanese Patent Application Publication No. 2013-117959 Japanese Patent Application Publication No. 2007-183817 Japanese Patent Application Publication No. 2003-162313

Takeo Koyama and one other person, “Basic research on process control system for constructing shipbuilding CIM”, Proceedings of the Japan Society of Naval Architects, Japan Society of Naval Architects, November 1989, No. 166, p. 415-423 Yasukawa Mitsuyuki, and 3 others, “Study on introduction of production equipment using ship construction process simulation”, Proceedings of the Japan Society of Naval Architects and Ocean Engineers, Japan Society of Naval Architects and Ocean Engineers, December 2016, No. 24, p291-298

Patent Documents 1-4 and Non-Patent Documents 1-2 do not attempt to precisely reproduce the production actions of workers, including the main work and auxiliary work, in the construction simulation.
SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a ship construction simulation method and a ship construction simulation program that can simulate ship construction at a detailed work level.

A ship construction simulation method according to claim 1 is a method for simulating the construction of a designed ship, the basic method being a method in which a completed part of the ship and a connection relationship between the components constituting the completed part are clarified. A product model creation step that acquires design information and creates a product model, acquires equipment information of the factory where the completed parts will be constructed, and worker information, and creates a facility model regarding the equipment and workers involved in constructing the completed parts. A facility model creation step, a process model creation step in which a process model is created by clarifying the assembly procedures and tasks for assembling component parts and building a completed part based on the product model and the facility model; A simulation step that performs a time evolution simulation that sequentially calculates the progress status of construction at each hour, and a time series information generation step that converts the results of the time evolution simulation into time series data and provides construction time series information. The feature is that workers autonomously proceed with virtual work using rule information and tasks acquired in advance .
According to the present invention as set forth in claim 1, it becomes possible for the user to simulate the construction of a ship at a detailed work level on a time-by-hour basis, and based on the construction time-series information as a highly accurate simulation result, the user can It is possible to consider improvements, production design improvements, cost predictions at the time of order acceptance, and equipment investment, leading to lower construction costs and shorter construction periods. Furthermore, by using rule information and tasks, it becomes easier for workers in the simulation to accurately perform virtual tasks.

A ship construction simulation method according to claim 2 is a method for simulating the construction of a designed ship, the basic method being a method of simulating the construction of a designed ship, in which a completed part of the ship and a connection relationship between the components constituting the completed part are clarified. A product model creation step that acquires design information and creates a product model, acquires equipment information of the factory where the completed parts will be constructed, and worker information, and creates a facility model regarding the equipment and workers involved in constructing the completed parts. A facility model creation step, a process model creation step in which a process model is created by clarifying the assembly procedures and tasks for assembling component parts and building a completed part based on the product model and the facility model; A simulation step that performs a time evolution simulation that sequentially calculates the progress status of construction at each hour, and a time series information generation step that converts the results of the time evolution simulation into time series data and provides construction time series information. is characterized in that a brain, which is a decision rule assigned to the worker, is used as rule information when the worker autonomously proceeds with virtual work using rule information and tasks acquired in advance. .
According to the present invention as set forth in claim 2, it becomes possible for the user to simulate the construction of a ship at a detailed work level on a time-by-hour basis, and the factory It is possible to consider improvements, production design improvements, cost predictions at the time of order acceptance, and equipment investment, leading to lower construction costs and shorter construction periods. In addition, workers can use their brains to make decisions about tasks that are often judged on-site rather than repetitive tasks, allowing virtual tasks to proceed smoothly.

A ship construction simulation method according to claim 3 is a method for simulating the construction of a designed ship, the basic method being a method in which a completed part of the ship and a connection relationship between the components constituting the completed part are clarified. A product model creation step that acquires design information and creates a product model, acquires equipment information of the factory where the completed parts will be constructed, and worker information, and creates a facility model regarding the equipment and workers involved in constructing the completed parts. A facility model creation step, a process model creation step in which a process model is created by clarifying the assembly procedures and tasks for assembling component parts and building a completed part based on the product model and the facility model; A simulation step that performs a time evolution simulation that sequentially calculates the progress status of construction at each hour, and a time series information generation step that converts the results of the time evolution simulation into time series data and provides construction time series information. The present invention is characterized by executing an intermediate result providing step of providing an intermediate result of the time evolution simulation for the user to make a decision.
According to the present invention as set forth in claim 3, it becomes possible for the user to simulate the construction of a ship at a detailed work level on a time-by-hour basis, and the factory It is possible to consider improvements, production design improvements, cost predictions at the time of order acceptance, and equipment investment, leading to lower construction costs and shorter construction periods. Furthermore, it becomes easier for the user to make decisions based on intermediate results and perform simulations in line with the user's intentions.

The present invention as set forth in claim 4 provides that the process model includes an assembly tree representing dependencies for assembling component parts into a completed part, tasks necessary for assembly, and a task tree representing dependencies between tasks. Features.
According to the present invention as set forth in claim 4 , the assembly procedure and the tasks related thereto can be clarified, and a process model can be created with high accuracy.

The present invention according to claim 5 is characterized in that the task includes a custom task constructed by combining basic tasks that are functions that can be executed in a time-evolving simulation.
According to the present invention as set forth in claim 5 , it is possible to improve the accuracy of simulation by using a custom task in which small tasks are combined for each type of task.

The present invention according to claim 6 is characterized in that, in the process model creation step, at least one of worker schedule information and factory layout information regarding the arrangement of equipment and workers is created based on the assembly procedure and the task. .
According to the present invention as set forth in claim 6 , it is possible to precisely reproduce and simulate all the production activities of the worker, including the main work and the auxiliary work, based on the schedule information. Additionally, simulations can be performed based on factory layout information that reflects the arrangement of equipment and workers.

In the present invention as set forth in claim 7 , in the process model creation step, an assembly procedure including intermediate parts of component parts is defined as an assembly tree, appropriate tasks are defined at each stage of the assembly procedure, and task dependencies are defined as task dependencies. The feature is that the context is defined as a task tree, it is determined whether the task falls within the ability value range based on the facility model, and if the task falls within the ability value range, schedule information is created.
According to the seventh aspect of the present invention, it is possible to prevent simulations exceeding the capacity values of facilities and tasks from being performed and creating schedule information.

The present invention as set forth in claim 8 is characterized in that when a task exceeds a capability value range, the definition of an intermediate part, the definition of an assembly tree, the definition of a task, and the definition of a task tree are redefined.
According to the present invention as set forth in claim 8 , by redefining each definition, a more accurate process model can be created.

The present invention as set forth in claim 9 is characterized in that, in creating the process model, process data of past ships built in the past is referred to and utilized.
According to the present invention as set forth in claim 9 , when a product model or a facility model is changed based on basic design information, a process model can be created quickly and accurately with less effort than creating a process model from scratch. be able to.

In the present invention as set forth in claim 10 , the time-evolving simulation in the simulation step sequentially calculates the position of completed parts or component parts, the position and occupancy status of equipment and workers, the assembly procedure and the progress status of tasks at each time. It is characterized by being something.
According to the tenth aspect of the present invention, time evolution simulation can be performed with high accuracy .

The present invention as set forth in claim 11 is characterized in that after the step of providing intermediate results, change conditions changed by the user are accepted, and a time evolution type simulation is executed based on the change conditions.
According to the eleventh aspect of the present invention, it is possible to accurately perform a simulation based on change conditions that reflect the user's intention.

The present invention according to claim 12 is characterized in that the construction time series information includes at least one of a Gantt chart, a work breakdown diagram, a work procedure manual, man-hours, and a flow line.
According to the present invention as set forth in claim 12 , by performing such visualization, the user can view the construction time series information as a result of the simulation, change the component parts or facilities, and analyze and clarify bottlenecks. It is possible to obtain useful knowledge for construction, such as predicting man-hours.

The present invention according to claim 13 is characterized in that the basic design information of the ship is acquired from a CAD system.
According to the present invention as set forth in claim 13 , basic design information created by a CAD system can be effectively used for creating a product model, etc.

The present invention according to claim 14 is characterized in that finished parts and component parts in a product model, and factory equipment in a facility model are expressed in a three-dimensional model.
According to the fourteenth aspect of the present invention, the accuracy of simulation can be improved by using a three-dimensional model.

The present invention as set forth in claim 15 further includes a determination step of determining whether the result of the construction time series information exceeds a predetermined time range, and changing the facility model within a compatible range and creating a process model. The method is characterized in that a step, a simulation step, and a time-series information generation step are repeatedly executed.
According to the present invention as set forth in claim 15 , it is possible to obtain a simulation result in which the construction of a ship is completed within a predetermined time.

The ship construction simulation program according to claim 16 is a program for simulating the construction of a designed ship, and includes a product model acquisition step of acquiring a product model created in the ship construction simulation method into a computer. and a facility model acquisition step for acquiring the created facility model, a process model creation step, a simulation step, and a time series information generation step, and further, an output step for outputting construction time series information. It is characterized by
According to the present invention as set forth in claim 16 , it becomes possible to simulate ship construction at a detailed work level on a time-by-hour basis, and the user can perform simulations based on the construction time series information as outputted highly accurate simulation results. It is possible to consider factory improvements, production design improvements, cost predictions at the time of order acceptance, and equipment investment, leading to lower construction costs and shorter construction periods.

The present invention as set forth in claim 17 is characterized in that the computer further executes the determination step in the ship construction simulation method.
According to the seventeenth aspect of the present invention, it is possible to obtain a simulation result in which the construction of a ship is completed within a predetermined time.

The present invention as set forth in claim 18 is characterized in that the computer causes the computer to display an image of at least one of the calculation results and intermediate progress in the process model creation step, the simulation step, and the output step.
According to the present invention as set forth in claim 18 , it becomes easier for the user to visually confirm and understand the process through which the simulation results were obtained and the progress of the simulation.

The present invention as set forth in claim 19 is characterized in that the computer further executes an intermediate result providing step in the ship construction simulation method, and receives input from a user in the simulation step.
According to the present invention as set forth in claim 19 , it becomes easier to perform a simulation in accordance with the user's intention.

According to the ship construction simulation method of the present invention, the user can simulate the ship construction at a detailed work level hour by hour, and based on the construction time series information as a highly accurate simulation result, the user can It is possible to consider improvements, production design improvements, cost predictions at the time of order acceptance, and equipment investment, leading to lower construction costs and shorter construction periods. Furthermore, by using rule information and tasks, it becomes easier for workers in the simulation to accurately perform virtual tasks. In addition, workers can use their brains to make decisions about tasks that are often judged on-site rather than repetitive tasks, allowing virtual tasks to proceed smoothly. Furthermore, it becomes easier for the user to make decisions based on intermediate results and perform simulations in line with the user's intentions.

In addition, if the process model includes an assembly tree that represents the dependencies for assembling component parts into a completed part, tasks necessary for assembly, and a task tree that represents the dependencies between tasks, the process model also includes the assembly steps and related It is possible to clarify tasks and create process models with high accuracy.

In addition, if the task includes a custom task that is constructed by combining basic tasks that are functions that can be executed in a time-evolving simulation, the accuracy of the simulation can be improved by using a custom task that combines small tasks for each type of work. be able to.

In addition, in the process model creation step, when creating at least one of worker schedule information and factory layout information regarding the arrangement of equipment and workers based on assembly procedures and tasks, based on the schedule information, It is possible to accurately reproduce and simulate all production activities of workers, including work. Additionally, simulations can be performed based on factory layout information that reflects the arrangement of equipment and workers.

In addition, in the process model creation step, the assembly procedure including intermediate parts of the component parts is defined as an assembly tree, the appropriate tasks at each stage of the assembly procedure are defined, and the context as task dependencies is defined as a task tree. Then, based on the facility model, it is determined whether the task is within the capability value range or not. If the task is within the capability value range, when creating schedule information, a simulation is performed that exceeds the capability value of the facility or task. You can prevent information from being created.

In addition, when redefining intermediate parts definitions, assembly tree definitions, task definitions, and task tree definitions when a task exceeds the capability value range, redefining each definition will improve accuracy. It is possible to create sophisticated process models.

In addition, when creating a process model, refer to the process data of past ships built in the past, and when reusing it, create a process model from scratch if the product model or facility model is changed based on basic design information. Process models can be created quickly and accurately with less effort.

In addition, the time-evolving simulation in the simulation step is one in which the position of completed parts or components, the position and occupancy status of equipment and workers, and the progress status of assembly procedures and tasks are calculated sequentially at each time. Evolutionary simulations can be performed with high accuracy .

In addition , after the step of providing intermediate results, when accepting change conditions made by the user and executing a time evolution simulation based on the change conditions, accuracy is calculated based on the change conditions that reflect the user's intentions. Can perform simulations well.

Furthermore, if the construction time-series information includes at least one of a Gantt chart, work breakdown diagram, work procedure manual, man-hours, and flow lines, such visualization allows the user to understand the results of the simulation. By looking at construction time-series information, you can obtain useful knowledge for construction, such as changing component parts or facilities, analyzing and clarifying bottlenecks, and predicting man-hours.

Further, when basic design information of a ship is obtained from a CAD system, the basic design information created by the CAD system can be effectively used for creating a product model.

Further, when expressing finished parts and component parts in a product model and factory equipment in a facility model using a three-dimensional model, the accuracy of the simulation can be improved by using the three-dimensional model.

The system further includes a judgment step for determining whether the result of the construction time series information exceeds a predetermined time range, and changes the facility model within the range that can be handled, and performs a process model creation step, a simulation step, and a time range. When the series information generation step is repeatedly executed, a simulation result in which the ship construction can be completed within a predetermined time can be obtained.

According to the ship construction simulation program of the present invention, it becomes possible to simulate the ship construction at a detailed work level on a time-by-hour basis, and the user can It is possible to consider factory improvements, production design improvements, cost predictions at the time of order acceptance, and equipment investment, leading to lower construction costs and shorter construction periods.

Furthermore, when the computer further executes the determination step in the ship construction simulation method, it is possible to obtain a simulation result in which the ship construction is completed within a predetermined time.

In addition, when the computer displays images of at least one of the calculation results and intermediate progress in the process model creation step, simulation step, and output step, the user can understand the process through which the simulation results were obtained. It also becomes easier to visually check and understand the progress of the simulation.

Further, when the computer is caused to further execute the intermediate result providing step in the ship construction simulation method and receive input from the user in the simulation step, it becomes easier to perform the simulation in accordance with the user's intention.

Flow of a ship construction simulation method according to an embodiment of the present invention Overall outline diagram Diagram showing an example of the same product model Diagram showing the connection relationship of the same five-plate model A diagram showing a three-dimensional model of the first plate P1 Diagram showing an example of the product model of the same three-plate model Diagram showing an example of a 3D model of the same facility Diagram showing an example of the same facility model Conceptual diagram of the process model Detailed flow of process model creation steps Diagram showing an example of an assembly tree for the same five-plate model Diagram showing an example of the assembly tree for the same three-plate model Diagram showing an example of the relationship between all the same tasks expressed as a tree Diagram showing an example of a task tree for the three-board model Diagram showing an example of task tree data for the three-board model Diagram showing an example of the assignment of tasks to workers and the order of tasks in the three-plate model A diagram showing an example of the same actually placed in the simulation space Diagram showing an example of factory layout information for the three-plate model Detailed flow of the same simulation step Diagram showing a simulation using the same brain Diagram showing the pseudo code of the same simulation step Diagram showing a move task (move) as an example of the same basic task Diagram showing a welding task (weld) as an example of the same basic task A diagram showing a crane movement task (CraneMove) as an example of the same basic task. Diagram showing an example of the same material distribution task “Go pick up” Diagram showing an example of the same material distribution task “Place” Diagram showing an example of the same welding task expressed as a combination of basic tasks A diagram showing an example of a movable mesh in an area surrounded by a wall with two entrances. Diagram showing an example of same shape data Diagram showing an example of the same weld line data Diagram showing an example of back burn line data Diagram showing an example of the same product model data Diagram showing an example of the same polyline data Diagram showing an example of the same assembly tree data Diagram showing an example of the same task tree data Detailed flow of output processing Gantt chart of simulation calculation results in case 1 assembly scenario according to the embodiment of the present invention Gantt chart of simulation calculation results for the assembly scenario of Case 2 Three-dimensional external view of the simulation in Case 2

A ship construction simulation method and construction simulation program according to an embodiment of the present invention will be described.
FIG. 1 is a flowchart of a ship construction simulation method according to this embodiment, and FIG. 2 is an overall schematic diagram.
In a ship construction simulation method, information necessary for constructing a shipbuilding factory is organized for the purpose of expressing the detailed movements of workers, that is, even the movements of elemental work, in the construction simulation. A shipbuilding factory is constructed from three models: a product model, a facility model, and a process model. These three models are the core data needed to model a shipbuilding factory. Furthermore, when performing the simulation, schedule information 12 and factory layout information 13 are defined together as two pieces of accompanying information that complement these pieces of information. Note that a product model is a systemized data group that abstracts the actual product, and a facility model abstracts the actual equipment and workers so that they can be handled in simulation, and can also be said to be virtual products, equipment, and workers. . Furthermore, the process model can be said to be a virtual work system guided by the product model and facility model.

In the product model creation step S1 shown in FIG. 1, a product model is created by acquiring basic design information that clarifies the connection relationships between the completed parts of the ship and the components that make up the completed parts. The basic design information includes the completed parts of the ship and the connection relationships between the components that make up the completed parts.
For example, when the product is a ship's hull, the completed parts are the blocks (compartments) that make up the ship's hull, and the component parts are the plates that make up the blocks. A connection relationship is expressed by a node (entity information of a component) and an edge (connection information of a component).
In this embodiment, basic design information of the ship is acquired from the CAD system 11. Thereby, the basic design information created by the CAD system 11 can be effectively used for creating a product model, etc. Note that the basic design information of the ship can be acquired from the CAD system 11 using various means, such as acquisition via a communication line, short-range wireless communication, and storage means. The basic design information can also include, for example, information including connection relationships expressed by nodes and edges obtained by converting design CAD data of the hull. The information including this connection relationship may be obtained by converting it in advance by the CAD system 11, or may be obtained by converting the basic design information after obtaining it.
The basic design information acquired from the CAD systems 11 is held in a unique data structure in each CAD system 11. Therefore, in the product model creation step S1, CAD data is converted into a data structure that can be used in simulation. In the product model, attribute information of the parts that make up the product and connection information between the parts are defined as information related to the product to be assembled. The product model does not include information on the work (assembly procedures, processes) involved in assembling the product.
A product is considered to be a combination of physical components that are individually connected to each other. Therefore, the product model is defined using a graph structure expressed by nodes and edges based on graph theory. It is assumed that edges, which are connections between nodes, have no directionality, making it an undirected graph.

FIG. 3 is a diagram showing an example of a product model, and FIG. 4 is a diagram showing a connection relationship of a five-plate model. The five-plate model in Figure 4 shows a simplified product model for convenience of explanation, but the product model can include complex hull blocks, hull structures, and even the entire ship. is possible.
Here, the object is a five-plate model in which the double bottom block as shown in FIG. 3(a) is simplified as shown in FIG. 3(b). Although strictly different, the first plate P1 is an inner bottom, the third plate P3 is a bottom shell, the second plate P2 and fourth plate P4 are a girder, and the fifth plate P5 is simplified as a longe. ing. Although it differs from the actual finished part, as there are no color plates or floors, and there are only a small number of longitudinals, the sufficient and essential elements have been extracted.
This completed part is defined by the connection relationship shown in FIG. Each of the plates P1 to P5 corresponds to a node of a component entity, and lines 1 to line5, which are the connection relationships between them, correspond to edges. Although a five-plate model is used here for simplicity, even in an actual completed part made up of many components, the entire completed part can be defined by the component entities and their connection relationships. , it is possible to define a product model using a similar graphical representation.

FIG. 5 is a diagram showing a three-dimensional model of the first plate P1.
The shape of the component parts of a product can be defined by inputting a 3D CAD model. As shown in Figure 5, the coordinate system of a 3D model defines a rectangle (Bounding-box) surrounding the entire member, and among the 8 vertices of the rectangle, the vertex with the minimum x, y, z coordinate value is The 3D model was placed so that the origin was at the origin. Also, while the simulation is running, the position of the reference point defined in the 3D model (coordinates in the local coordinate system or global coordinate system) and attitude information (Euler angles and quaternions based on the initial attitude) can be referenced at any time. do.

Edges that indicate bonding information between component parts need to indicate bonding information between the component parts. In this embodiment, for simplicity, information on the position and orientation of each component in the coordinate system of the completed state of the completed part is provided. Specifically, three points are arbitrarily given to each component as a reference point, and information is held in the form of coordinate data indicating where the three points are located in the coordinate system of the completed state. By using this information, it is possible to calculate the positional relationship between arbitrary component parts.

Welding line information is held as three-dimensional information. For example, assume that one welding line is composed of a welding line path (polyline) and a direction vector (normal vector) of the welding torch. This information is data defined in the coordinate system of the completed state of the completed part, and when the welding task (custom task 16) is actually performed in the simulation, it is based on the position and orientation of the component at that timing. , coordinate transformation is performed on the weld line data. In addition to the weld line path, the direction of the torch can also be defined to define the position of the worker during welding. Furthermore, since the orientation of the torch during welding can be recognized, it is possible to determine the welding posture.

In this way, the product model includes information such as the connection relationships between component parts, connection data at connection parts, and the positions and angles of the component parts in the completed part. Note that, depending on the performance of the CAD system 11, the basic design information acquired from the CAD system 11 may not include some data necessary for creating a product model. For example, there are only a few CAD systems 11 that can handle backburn line data. In such a case, in the product model creation step S1, data necessary for creating the product model that was not included in the basic design information is created.
To summarize the data explained above, the product model is organized as node and edge information as shown in Table 1 and Table 2 below.

Further, FIG. 6 is a diagram showing an example of a product model of a three-plate model.
FIG. 6 shows a product model that is a database in which joint relationships between component parts (first plate P1, second plate P2, and third plate P3) are registered. "name" is the name, "parent" is the parent product, and "type" is the type. Note that the three reference coordinate points (vo(0,0,0), vx(1,0,0), vz(0,0,1)) of each plate P1 to P3 are omitted. In addition, although the data originally describes the object ID, it is described as "name" for the purpose of explanation.
As mentioned above, the product model does not include information on the work (process) related to assembly.

Returning to FIG. 1, in the facility model creation step S2, equipment information and worker information of the factory where the completed part will be constructed are acquired, and equipment (virtual equipment) and workers (virtual workers) involved in the construction of the completed part are acquired. Create a facility model for Note that the equipment information also includes information on tools.
In the facility model, in addition to the individual name (for example, welding machine No. 1) and type (for example, welding machine) of the facility, the ability value of each facility is defined as information regarding the factory facility. The capability value defines the maximum value (range) of the functions that the facility has. For example, one of the capability values that a crane has is a lifting load value, a speed, etc., and the capability value range is a maximum lifting load value and a maximum speed.
In addition, since not only products but also facilities can become obstacles on the worker's movement path, a three-dimensional model is used to define the shape. Thereby, it is also possible to determine three-dimensional interference between objects within the simulator. Here, FIG. 7 is a diagram showing an example of a three-dimensional model of the facility, where FIG. 7(a) is a worker, FIG. 7(b) is a welding machine, FIG. 7(c) is a crane, and FIG. 7(d) is a The floor shown in FIG. 7(e) is a surface plate.

Table 3 below shows specific attribute information held by the facility model.

Further, FIG. 8 is a diagram showing an example of a facility model.
FIG. 8 shows a facility model that is a database in which factory facilities are registered. "name" is the name, "type" is the type, "model_fwile_path" is the shape (three-dimensional model data), and "ability" is the ability (defines the ability value range of the facility).

In this way, the completed parts and component parts in the product model and the factory equipment in the facility model are expressed in three-dimensional models. By using a three-dimensional model, the accuracy of simulation can be improved.

Returning to FIG. 1, in the process model creation step S3, a process model is created by clarifying the assembly procedure and tasks for assembling component parts and building a completed part based on the product model and facility model. It is important here that the product model and facility model are created first, and the process model is created later. By proceeding in this order, a process model can be created accurately without backtracking, and subsequent processing can be carried out smoothly.
FIG. 9 is a conceptual diagram of the process model.
A process model is data in which work information related to a series of assembly processes is defined. The process model is configured to include an assembly tree that represents dependencies for assembling component parts into a completed part, tasks required for assembly, and a task tree that represents dependencies between tasks. This makes it possible to clarify the assembly procedure and the tasks involved, and to create a process model with high precision. Here, a task refers to one unit of work.

FIG. 10 is a detailed flow of the process model creation step.
First, the product model created in the product model creation step S1 and the facility model created in the facility model creation step S2 are read into a computer (process model creation information reading step S3-1).
Next, in creating the process model, it is selected whether or not to reuse the process data of past ships built in the past (reuse determination step S3-2).
In the diversion determination step S3-2, if it is selected not to divert, the computer defines the assembly procedure including intermediate parts of the component parts as an assembly tree (assembly tree definition) without referring to the process data of past ships. Step S3-3), define appropriate tasks at each stage of the assembly procedure (task definition step S3-4), and define the context as task dependencies as a task tree (task tree definition step S3-5) .
On the other hand, if diversion is selected in diversion determination step S3-2, the computer extracts similar process data from past data (past ship process data extraction step S3-6), and assembles tree definition step S3-6. 3. In the task definition step S3-4 and the task tree definition step S3-5, the extracted process data of past ships is referred to and used. By reusing process data from past ships, when a product model or facility model is changed based on basic design information, a process model can be created quickly and accurately with less effort than creating a process model from scratch. I can do it.

Here, FIG. 11 is a diagram showing an example of an assembly tree for a five-plate model.
In the assembly tree definition step S3-3, information on intermediate parts (name, orientation of parts) and information on the context of assembly are defined in the assembly tree. Since there is a back-and-forth relationship in the order in which parts are assembled, the assembly tree is expressed as a directed graph.
An intermediate part is a component in which several members are combined, and a completed part is obtained by assembling the intermediate parts and members or the intermediate parts together. In FIG. 11, a first plate P1, a second plate P2, and a fourth plate P4 are combined to form a first intermediate part U1, and a third plate P3 and a fifth plate P5 are combined to form a first intermediate part U1. The second intermediate part U2 is formed, and the first intermediate part U1 and the second intermediate part U2 are combined to form a completed part SUB1. In addition, when assembling the first intermediate part U1, the first plate P1 is used as the base, when assembling the second intermediate part U2, the third plate P3 is used as the base, and when assembling the finished part SUB1, the second plate P1 is used as the base. It is based on the intermediate part U2.

Table 4 below shows the attribute information required to define the assembly tree. Define this information in all intermediate parts and finished parts.

Further, FIG. 12 is a diagram showing an example of an assembly tree for a three-plate model. "name" is the name, "product1 (base)" is the base part among the target parts to be joined, "product2" is the target part to be joined, "coordinate transformation information of the component in the intermediate part" is the definition of the intermediate part. be. Note that the three reference coordinate points (vo(0,0,0), vx(1,0,0), vz(0,0,1)) of intermediate parts and completed parts are omitted. In addition, although the data originally describes the object ID, it is described as "name" for the purpose of explanation.
In the three-plate model of FIG. 12, a first plate P1 and a second plate P2 are combined to form an intermediate part, and a third plate P3 is combined to the intermediate part to form a completed part. Note that the first plate P1 is used as a base for assembling intermediate parts, and the third plate P3 is used as a base for assembling finished parts.

In the task tree definition step S3-5, information necessary for the tasks and information on the context of the tasks are defined in the task tree. For example, in the task definition step S3-4, three types of tasks shown in Table 5 below are defined.

Here, FIG. 13 is a diagram showing an example in which the relationships among all tasks are expressed as a tree.
Figure 13 assumes a scenario in which a completed part is assembled by arranging each plate (steel plate) P1 to P5 at a predetermined position and performing temporary welding and final welding for a five-plate model. It is.
Since tasks have a sequential relationship, the task tree is expressed as a directed graph in the task tree definition step S3-5. For example, task [temporary welding 0] means that it cannot be started until all tasks [material arrangement 0], [material arrangement 1], and [material arrangement 2] are completed.

Further, specific attribute information included in the task tree is shown in Table 6 below. For example, in the task [Material arrangement 0], use the facility [Crane 1] to move the object [Second plate P2] to the position (8m, 0m, 2m) on the object [Surface plate 2] at Euler angle (0 , 0, 0) is defined. The coordinates of the starting point are not defined in the material distribution task, and the simulation starts from the coordinates at the time of execution of the task. Similarly, the task [main welding 0] is to perform a 0.2 m The information that main welding is performed at a speed of /s is defined. However, due to the context of the task, this task cannot be started until task [Temporary Welding 0] is completed. Information on the welding path refers to information associated with the relevant edge of the product model.

Further, FIG. 14 is a diagram showing an example of a task tree of a three-board model, and the table on the right side represents the graph diagram on the left side. Further, FIG. 15 is a diagram showing an example of task tree data for a three-board model. In Figure 15, "name" is the name, "task type" is the type, "product" is the related part, "facility" is the related facility, "conditions" is the task tree information, and "task data" is the task information (the task specific data necessary for Note that although the target ID is originally written in the data, it is written as "name" for the purpose of explanation.
In this example, as shown in Fig. 14, each plate (steel plate) P1 to P3 is placed in a predetermined position on a three-plate model, and temporary welding and main welding are performed to create a completed part. We are assuming a scenario in which the

Further, as shown in FIG. 10, in the process model creation step S3, worker schedule information 12 is created based on the assembly procedure and tasks (schedule information creation step S3-8). As shown in FIG. 10, it is important to first decide on the assembly procedure and then decide on the tasks, so that the process model can be created accurately without going back, and subsequent processing can be carried out smoothly. That is, the assembly tree is created first, and the task tree is created later.
The created schedule information 12 is output to a monitor or the like. The schedule information 12 is information in which tasks are assigned to each worker, including the order of the tasks. Thereby, based on the schedule information 12, it is possible to precisely reproduce and simulate all the production actions of the workers, including the main work and the auxiliary work. Further, the schedule information 12 is provided to the user from a monitor, printer, or the like. This allows the user to check the created schedule information 12 as needed. Note that the schedule information 12 can also be provided only when requested by the user.

In the process model, information related to the assembly tree and the task tree is defined, but in the schedule information 12, for each task defined in the task tree, the assignment of workers in charge and the specific execution order of the tasks are defined.
An example of creating schedule information 12 is shown in Table 7 below. In this example, worker 1 is assumed to be an ironworker, and is assigned a material distribution task and a temporary welding task. Worker 1 starts from task [Material arrangement 0] and sequentially performs tasks up to task [Temporary welding 4]. On the other hand, Worker 2 is assumed to be a welding worker, and the main welding tasks are assigned in order. Worker 2 starts from task [main welding 0] and sequentially performs tasks up to task [main welding 3].

Further, FIG. 16 is a diagram showing an example of the assignment of tasks to workers and the order of tasks in the three-board model shown in FIGS. 14 and 15, and FIG. 16(a) shows the assignment of tasks to worker 1. FIG. 16(b) shows assignment of tasks to worker 2 and task order, and FIG. 16(c) shows schedule information in data format. Note that although the target ID is originally written in the data, it is written as "name" for the purpose of explanation.

Furthermore, as shown in FIG. 10, in this embodiment, before the schedule information creation step S3-8, it is determined based on the facility model whether the task exceeds the capability value range of the facility (capability value range Judgment step S3-7).
If it is determined in the ability value range determination step S3-7 that the task does not exceed the ability value range of the facility, the process proceeds to schedule information creation step S3-8 and schedule information 12 is created. In this way, by creating the schedule information 12 when it is determined that the task does not exceed the capability value range of the facility, it is possible to prevent a simulation that exceeds the capability value of the facility or task from being created and creating the schedule information 12. can. Further, the created process model is provided to the user by outputting it to a monitor or the like.
On the other hand, if it is determined that the task exceeds the ability value range of the facility in the ability value range determination step S3-7, the assembly tree definition step S3-3, the task definition step S3-4, and the task tree definition step S3-5 are performed. , and redefine at least one of the intermediate part definition, assembly tree definition, task definition, and task tree definition. By redefining each definition, a more accurate process model can be created.

After the schedule information creation step S3-8, factory layout information 13 regarding the arrangement of equipment and workers actually used in the time evolution simulation is created based on the assembly procedure and tasks (factory layout information creation step S3-9 ). Thereby, a simulation can be performed based on the factory layout information 13 that reflects the arrangement of equipment and workers. The created factory layout information 13 can be output and displayed on a monitor, printer, etc. This allows the user to check the created schedule information 12 as needed. Note that the schedule information 12 can also be provided only when requested by the user.

The product model and facility model defined so far do not define location information in the factory. Therefore, the factory layout information 13 defines the initial arrangement of each object. The required attribute information is shown in Table 8 below. Further, FIG. 17 is a diagram showing an example of actually arranging them in a simulation space.

Further, FIG. 18 is a diagram showing an example of factory layout information in a three-plate model. Note that although the target ID is originally written in the data, it is written as "name" for the purpose of explanation.
Layout.csv defines the placement information of the parts and facilities actually used in the simulation from the product model and facility model database.

After the process model creation step S3, as shown in FIG. 1, a simulation step S4 occurs. In the simulation step S4, a time evolution system simulation (time evolution in three-dimensional space) is performed based on the process model to sequentially calculate the progress of construction at each time.
In the simulation step S4, shipbuilding is simulated by changing the position and occupancy status of each facility and product on the three-dimensional platform and the progress status of the custom task 16 based on the process model. Note that it is also possible to deliberately reduce the accuracy of intermediate parts by giving random numbers, and to simulate the effects of this on downstream processes. Further, the relationship between the custom tasks 16 and the task tree is such that the custom tasks 16 are expressed in a tree structure, and the task tree is formed by connecting the custom tasks 16 in a tree structure.
In this embodiment, a three-dimensional platform is constructed using Unity (registered trademark), which is a game engine.
Given three arguments: variables x _f and x _p representing the position, angle, and occupancy of each facility and product at time t, and the state s _t representing incomplete or completed custom task 16 in the process model, process model creation is performed. By changing each task-related argument according to a preset rule in the order of the custom tasks 16 listed in the schedule defined in step S3, changes in x _f , x _p , and s _t to the next time t+1 can be controlled. can be expressed. This will output the time history of each argument.

FIG. 19 is a detailed flow of the simulation steps.
First, the product model created in the product model creation step S1 and the facility model created in the facility model creation step S2 are acquired and loaded into a computer, and the process model created in the process model creation step S3, schedule information 12, and factory layout are obtained. Information 13 is loaded into the computer, and rule information 15 such as picking up the nearest tool is loaded into the computer, and objects are placed on the three-dimensional platform based on the factory layout information 13 (simulation execution information loading step S4-1). .
Here, the rule information 15 is constraints and options necessary for autonomous judgment by a computer. For example, in a welding task (custom task 16), only the types of welding machines that can be used are specified as rule information 15, and the computer autonomously determines which welding machine to use during the simulation.
That is, the rule information 15 describes how a virtual worker makes decisions within the simulation. By using the rule information 15, it becomes easier for the worker in the simulation to proceed with the virtual work accurately. The rule information 15 is created in advance like a catalog before the simulation step S4. Note that the rule information 15 can also be created and acquired by autonomous learning using reinforcement learning, multi-agent, or the like. As a method for autonomously creating the rule information 15 by reinforcement learning or the like, a method is used in which an agent freely operates the simulation step S4 to learn efficient rules and generate the rule information 15. An example of the rule information 15 is as follows.
Rule 1A: Get the closest available tool.
Rule 1B: Obtain a nearby tool that is available even in the subsequent process.
Rule 2: When using a crane, choose one that will not interfere with other processes due to interference between cranes.
Rule 3: Place magnetic fishing equipment on the trolley after use.
Rule 4: Gather tools for subsequent processes that require the same work location.
These rules are assigned to the workers before the simulation step S4, and are, for example, as follows.
Worker 1: Rule 1A
Worker 2: Rule 1B, Rule 2, Rule 3, Rule 4
Worker 1 is assumed to be a new worker, and worker 2 is assumed to be an experienced worker. Since Worker 1, a new employee, only thinks about himself, he sometimes gets in the way of other processes.

Using the rule information 15, task information and schedule information that have not been input are automatically constructed during execution of the time evolution simulation. In this embodiment, the rule information 15 includes a brain, which is a judgment rule given to a worker.
The brain corresponds one-to-one to the custom task 16, and is constructed before executing the time evolution simulation. In a time evolution simulation, the brain operates sequentially to reproduce how workers make decisions according to the situation during time evolution. Therefore, workers can use their brains to make decisions, especially in shipbuilding processes, where decisions are often made on-site rather than repetitive tasks, and virtual tasks can proceed smoothly.
The content judged by the brain, which is one of the rule information 15, can be roughly divided into the following four types.
1. Necessary arguments are determined for one custom task 16.
2. One custom task 16 is selected from a plurality of custom tasks 16 belonging to one type (task type).
3. One type is selected from a plurality of types of custom tasks 16.
4. A response to a conflict occurring during execution of the custom task 16 is selected based on rules.

In the brain-based judgment method, a group of candidates is first created as a combination of arguments, evaluation parameters are extracted for each of the candidate groups, evaluation values are calculated based on predetermined evaluation value rules, and finally the most Select the one with the highest evaluation value.
Taking a material allocation task as an example, extraction of evaluation parameters, predetermined rules, and selection based on evaluation values are as follows, for example.
[Extraction of evaluation parameters]
A group of evaluation parameters related to judgment are sequentially acquired during a time-evolving simulation.
・p1: Distance from the worker's current location to the product ・p2: Distance from the product to the crane ・p3: Distance from the product to the destination (destination is automatically calculated)
・p4: Base board or not (0 or 1)
・p5: Is it possible to act without interference? (0 or 1)
[Evaluation value rule]
v=(p4-0.2*(p1+p2+p3))*p5
[choice]
The task with the highest evaluation value among the evaluation values greater than 0 is selected.
Task 1: v1
Task 2: v2
Task 3: v3
...

Brain's evaluation value rules are constructed manually or by machine learning.
When building rules manually, rules are estimated and built through the results of video analysis and interviews with workers.
There are two construction methods when building by machine learning. The first construction method is to acquire data on the movement of workers, tools, and products in a shipbuilding factory through monitoring using cameras, position sensors, etc. A neural network that organizes parameters X such as distance and distance between worker and tool and worker's task selection results (judgment history) Y, uses the organized data as training data, and predicts task selection results Y from parameters X. It is constructed as a machine learning model such as The second construction method is to set a goal such as, for example, the shorter the time, the better, and apply reinforcement learning with the goal as a reward to automatically construct an optimal strategy.

Examples of brains for each task type are shown in Table 9 below. In the table, "AtBrain" is the brain of the material distribution At, "FtBrain" is the brain of the temporary attachment At, "WtBrain" is the brain of the main welding Wt, and "DtBrain" is the brain of the reverse firing Dt.
Regarding the custom task 16, the arguments that are automatically determined during the simulation and the arguments that are constructed in advance in the task tree are shown in Table 10 below. Underlined arguments are automatically determined arguments, and non-underlined arguments are constructed in advance.

FIG. 20 is a diagram showing a state of simulation using BRAIN, where FIG. 20(a) is a material distribution task and FIG. 20(b) is a welding task.
In the material distribution task, constraints on material distribution locations and placement positions are automatically determined.
In the welding task, evaluation parameters such as the position of the weld line are acquired, and evaluation value calculation is performed. Note that when calculating the evaluation value, the welding area is taken into consideration, such as not performing other work near the welding operator.

After the simulation execution information reading step S4-1 in FIG. 19, the first task among the custom tasks 16 described in the schedule information 12 is executed for all action subjects, and the time is increased by 1 second. (Task execution step S4-2). The custom task 16 is defined in advance as a method, and the assigned custom task 16 is changed based on the rule information 15 and the like depending on the situation.
In time-evolving simulations, the positions of completed parts or component parts, the positions and occupancy status of equipment and workers, assembly procedures and task progress are calculated sequentially at each time. Thereby, time evolution simulation can be performed with high accuracy.

Next, it is determined whether the custom task 16 has ended (task end determination step S4-3).
If it is determined in the task completion determination step S4-3 that the custom task 16 has not been completed, the process returns to the task execution step S4-2 and the custom task 16 is executed.
On the other hand, if it is determined that the custom task 16 has been completed in the task completion determination step S4-3, the completed custom task 16 is deleted from the beginning of the schedule, and a check is made to see if all assigned custom tasks 16 have been completed. It is determined (simulation end determination step S4-4).
If it is determined in the simulation completion determination step S4-4 that all assigned custom tasks 16 have not been completed, the process returns to task execution step S4-2 and the custom tasks 16 are executed.
On the other hand, if it is determined in the simulation end determination step S4-4 that all assigned custom tasks 16 have been completed, the simulation is ended. The simulation is thus repeated until all scheduled custom tasks 16 are exhausted.

Further, as shown in FIG. 1, in the simulation step S4, intermediate results of the time evolution simulation are provided for the user to make a decision (intermediate result providing step S4-5). The intermediate results of the simulation are provided to the user, for example, each time the task execution step S4-2 is completed. Based on the provided intermediate results, the user determines whether to continue the simulation as it is or to perform the next simulation by changing the custom task 16 or the like. This makes it easier for the user to make decisions based on intermediate results and perform simulations in accordance with the user's intentions.
The provision of intermediate results in step S4-5 for providing intermediate results can be arbitrarily selected on or off when the user presses the execution button of the simulator, for example, and is not performed if OFF is selected. On the other hand, if On is selected, for example, the monitor goes into viewing mode and provides an animated flow of the simulation situation, allowing the user to press the pause button or press the play button. , can be confirmed sequentially. When the user presses the pause button, the user can see the custom tasks 16 that have already been completed, the custom tasks 16 that are being performed, and the scheduled custom tasks 16 that have not yet been performed. The order of the tasks 16 can be changed, and the tools used in the custom tasks 16 can be changed and specified. After making changes, press the play button to restart the simulation and proceed with the changed scenario.
Further, in the time-evolving simulation of simulation step S4, the virtual worker autonomously proceeds with the virtual work using the rule information 15 and tasks acquired in advance. Specifically, a virtual task is performed using a custom task 16 configured by combining the rule information 15 and a basic task 17 as a task.
As mentioned above, the rule information 15 is, for example, the types of welding machines that can be used. By using the rule information 15 and tasks, it becomes easier for workers in the simulation to proceed with virtual work accurately.
In this embodiment, after the intermediate results are provided in the intermediate result providing step S4-5, change conditions changed by the user are accepted, and a time evolution simulation is executed based on the change conditions. This allows accurate simulation to be performed based on change conditions that reflect the user's intentions.
FIG. 21 is a diagram showing pseudo code of the simulation step.

The basic tasks 17 that constitute the custom tasks 16 represent small tasks that can be used for general purposes.
The basic task 17 is a function that can be executed on a time evolution simulation, and is constructed as a function before executing the time evolution simulation. The basic task 17 is a basic function required for simulation, such as moving or occupying a simulation object related to the argument given an argument. Furthermore, the basic task 17 is a function that takes three-dimensional constraints into consideration.
A custom task 16 is constructed as a combination of basic tasks 17. By including custom tasks 16 that are constructed by combining basic tasks 17 whose tasks are functions that can be executed in time-evolving simulations, the accuracy of the simulation is improved by custom tasks 16 that combine small tasks for each type of work. be able to.
A specific example of the basic task 17 is shown in Table 11 below. Note that there are many basic tasks 17 other than those listed in Table 11.

FIG. 22 is a diagram showing a move task (move) as an example of a basic task. The definition of a movement task is as follows.
-Has the name of the moving subject and the coordinates of the destination as arguments.
- In the simulation, it is a function that moves the subject at a specific speed.
・Automatically calculates the shortest route taking into account the three-dimensional topography.
- If there is an obstacle such as a manhole or longe along the route and the vehicle needs to pass through or cross the obstacle, the speed will be reduced accordingly.

FIG. 23 is a diagram showing a welding task (weld) as an example of a basic task. The definition of the welding task is as follows.
- Take the subject name, target welding line name, and welding machine name to be used as arguments.
- In the simulation, it is a function that moves near the welding line at a specific welding speed.
- The welding machine reproduces the power cable, torch, and hose, and the cable and hose interfere with other objects.
・The welding speed changes depending on whether the weld line is facing upward or downward.

FIG. 24 is a diagram showing a crane movement task (CraneMove) as an example of the basic task. The definition of the crane movement task is as follows.
- Take the subject name and destination coordinates as arguments.
- In the simulation, it is a function that moves to the destination at a specific speed.
- In this basic task 17, the subject is the equipment (crane). As for devices, they are ordered to perform tasks from outside.
・Determine interference with other cranes and consider the movable area as a constraint.

Here, the custom task 16, which is defined in advance as a method before the task execution step S4-2, will be explained in detail. Custom task 16 is defined as follows.
- The custom task 16 is constructed as a combination of the basic tasks 17, and represents a set of patterned or customary uninterrupted work as one custom task 16. For example, if the custom task 16 is a material distribution task, the process is "move to object→grab object→move with object→place object".
- An argument is passed to the custom task 16, and based on the argument, basic tasks 17 are constructed in a predetermined order, and finally a list of basic tasks 17 is constructed.
- Custom tasks 16 are constructed for each task that is desired to be reproduced, such as a material distribution task, a tacking task, a welding task, etc.
- The custom task 16 has common arguments as input and arguments specific to each task.
- Some of the custom tasks 16 are mainly performed by a person, and others are mainly performed by a device. For example, the subject of a material allocation task is a person (worker), and the subject of an automatic welding task is a device (automatic welder).

Examples of the task types, function names, and arguments of the custom tasks 16 assigned to people are shown in Table 12 below, and examples of the function names and arguments of the custom tasks 16 assigned to devices are shown in Table 13 below.

FIG. 25 is a diagram showing an example of the material distribution task "Go pick up" as a custom task. A hoist crane will be used.
The task type of this material allocation task is "Material allocation At", the function name is "AtPick", and the common arguments are "task name, task type, function name, target, facility used, preceding task, subject name, request facility type/ ``number'', with no specific arguments.
An example of a list of basic tasks 17 that constitute the material distribution task "Go pick up" is shown below.
1. move (subject, facility location)
2. move (subject and facility, target location)
3. CraneHoist (lower)
4. Timeout (specified number of seconds)
5. CraneHoist (raise)
The basic task 17 mentioned above is to lower the hook, the basic task 17 mentioned above is to wait for the slinging time, and the basic task 17 mentioned above is to raise the hook.

FIG. 26 is a diagram illustrating an example of the material distribution task “arrange” as a custom task.
The task type of this material allocation task is "Material allocation At", the function name is "AtPlace", and the common arguments are "task name, task type, function name, target, facility used, preceding task, subject name, request facility type/ The specific arguments are the reference object to which materials are to be placed, coordinate values (x, y, z), and Euler angles (θ, φ, ψ).
An example of a list of basic tasks 17 that constitute the material distribution task "arrange" is shown below.
1. move (subject, facility and target, to specified coordinate values)
2. CraneHoist (lower)
3. Timeout (specified number of seconds)
4. CraneHoist (raise)
The basic task 17 mentioned above is to wait for the time required to remove the object.

FIG. 27 is a diagram showing an example in which the main welding task, which is one of the custom tasks, is expressed by a combination of basic tasks.
Variables x _f , x _p , and s _t are changed by executing a task as a method. To this end, a method is defined for each custom task 16, and each custom task 16 is expressed by a combination of basic tasks 17, which are more detailed methods.
First, the basic task 17 (Wait_start) that checks the start condition is a method that waits until the condition is met.
The basic task 17 (Wait_hold) for securing tools is a basic method that waits if all the tools to be used are not free, and if they are free, changes the state to be occupied for this task.
In addition, expressions such as moving a component using a crane are expressed as a movement task (move), which changes the position or angle at a specified speed.
The welding task (weld) moves the welding torch and worker to the welding start point at a speed based on the welding position based on the welding line information defined in the product model, and moves the component to the next intermediate part. The method is to change the Various tasks are expressed by combinations of such basic tasks 17, and are constructed as methods in advance (before task execution step S4-2).
In this way, the custom task 16 describes a predetermined standard procedure. The custom task 16 is created like a catalog before the simulation step S4. An example of the custom task 16 is as follows.
Temporary welding (custom task 16): Go to get the welding machine + Go to get the crane + Hanging the parts + Aligning the position + Temporarily fixing At this time, select which tool (welding machine 1 or welding machine 2, etc.) It is determined based on rule information 15 (rule 1A, rule 1B, rule 2, etc.). Regarding rule 3 of rule information 15, if a magnetic crane is used, a new task of placing the tool on the trolley after use occurs. Of course, the user can also specify the tool to be used, not based on the rule information 15.

Furthermore, regarding movement among Basic Tasks 17, it is assumed that it is often difficult to manually input movement routes in all tasks, so it is recommended to set the computer to search for the route and automatically make decisions. preferable. In this case, specifically, first, a movable area is dynamically generated using a mesh, the vertices and line segments of the mesh are treated as a route, and the route is automatically calculated using the A* algorithm.
FIG. 28 is a diagram showing an example of a movable mesh in an area surrounded by a wall with two entrances. Since there is no mesh near the wall 14, a path that goes around the wall 14 is generated. For implementation, for example, the NavmeshAgent class of Unity (registered trademark) is utilized. As a result, in the basic task 17, by specifying the destination point or destination object, the intermediate route is automatically calculated, making it possible to significantly reduce the input effort.

Here, specific examples of input data input in the simulation are shown in Table 14 below. Data regarding facilities is excluded.

FIG. 29 is a diagram showing an example of shape data.
The sample shown in FIG. 29 assumes a small set named SUB_F. All parts are defined in a local coordinate system for each part and in stable postures. Although a solid model is used, other data formats are also possible.

FIG. 30 is a diagram showing an example of weld line data.
The welding line data is defined for each welding line, and the polyline of the welding line is in the coordinate system of the completed state. In the central figure, the solid line is the welding line, and the dotted line is the welding line drawn in the opposite direction of the torch application. The figure on the right side is a side view, where "〇" indicates the position of the welding line, and "△" indicates the position of a line drawn from the welding line in the opposite direction to which the torch is applied.
Note that, as described above, in this embodiment, the welding speed is defined to be changed depending on whether the welding line is facing upward or downward, but data regarding the actual welding speed is obtained in advance. The welding speed can also be changed based on that.

FIG. 31 is a diagram showing an example of backburning line data.
Here, we assume that a gas burner will be used to light the back side of the bones during the subassembly stage in order to eliminate strain. The polyline of the back burn line is in the coordinate system of the completed state. In the figure on the left, the solid line is the back-burning line, and the dotted line is the back-burning line drawn in the opposite direction to which the gas burner is directed. The figure on the right is a side view, where "〇" indicates the position of the back-burning line, and "△" indicates the position of the weld line drawn in the opposite direction to which the gas burner is directed.

FIG. 32 is a diagram showing an example of product model data.
Column A is titled "Name" and lists the names of the parts and welding lines. Column B has the title "Group Name" and describes the name of the group to which it belongs. Column C is titled "Type", and "node" is written for parts, and "edge" is written for lines. Columns D and E are titled "node" and contain information about which parts are connected by lines. Column F has the title "Path" and describes the path indicating the storage location of the shape data and welding line data. Column G is titled "Posture Information" and describes the relative positions and angles of the parts in the completed state. Column H has the title "Weight" and describes the weight of the part.

FIG. 33 is a diagram showing an example of polyline data.
Column A has the title "LineName" and describes the name of the backburning line. Column B has the title "LineType" and describes the line type. Column C has the title "ParentProductName" and contains information about which product (parent product) is used as a reference. Column D has the title "Path" and describes the path indicating the storage location of the backburn line data.

FIG. 34 is a diagram showing an example of assembly tree data.
In the figure on the left, column A is titled "Name" and describes the names of intermediate parts. Column B has the title "ComponentName" and describes the names of the members that make up the intermediate component. Column C has the title "isBasedProduct", and if it is a base board, "base" is written therein. Column D is titled "ProductPose" and, in the case of a base plate, describes the position and angle of the base plate in the local coordinate system of the intermediate part.
The figure on the right shows an example of an assembly tree for a board model.

FIG. 35 is a diagram showing an example of task tree data.
Column A has the title "TaskName" and describes the name of the task. Column B has the title "TaskType" and describes the type of task. Column C has the title "Function Name" and describes the name within the simulator. Columns D to G list arguments required for each task. Column H has the title "RequiredFacilityList" and describes required facilities.
The types of tasks listed in column B include At1 (material distribution), Ft (temporary attachment), Wt (main welding), Tt (reversal), Dt (reverse firing), At2 or At3 (product movement), etc. There is.
In columns D to G in which arguments necessary for each task are described, column D has the title "TaskObject" and describes the object. Column E has the title "TaskFacility" and describes the name of the facility to be used. Column F has the title "TaskConditions" and describes the preceding tasks. Column G has the title "TaskParameter" and describes parameters specific to the task. Note that although "null" is written in the task condition column of column F, this is automatically determined within the simulation.
The entries in column H indicate which types of tools and how many tools are required to perform the work. For example, "Crane 1" in the diagram indicates that the work cannot be performed without one crane. .

Returning to FIG. 1, after the simulation step S4, the results of the time-evolving simulation are converted into time-series data and used as construction time-series information (time-series information conversion step S5). The time series data is time history data such as the position, angle, and occupancy status of each facility including the worker who is the main actor. In this way, by executing the product model creation step S1, the facility model creation step S2, the process model creation step S3, the simulation step S4, and the time series information generation step S5, the user can It is now possible to perform simulations at a detailed work level, and based on the construction time series information resulting from highly accurate simulations, it is possible to consider factory improvements, production design improvements, cost predictions at the time of order acceptance, capital investment, etc. This will lead to lower construction costs and shorter construction periods.
In addition, since construction time series information exists down to a very detailed work level, visual confirmation using mobile devices such as tablets, AR (Augmented Reality) technology, MR (Mixed Reality) technology, or hologram displays, Work efficiency can be improved by transmitting information to workers so that they can check the actual size in a virtual space using VR (Virtual Reality). It is also possible to provide voice guidance through AI chatbots.

After the time-series information generation step S5, the construction time-series information is output (output step S6). The results of the time evolution simulation can be provided to the user as construction time series information. The user can also use a cloud server or the like to share the acquired construction time-series information among related parties such as workers, designers, and managers. Note that if the user feels the need to modify the simulation conditions after looking at the acquired construction time-series information, the user can perform operations on the ship construction simulation from the field through the cloud server if the changes are only minor.
Here, FIG. 36 is a detailed flow of the output processing.
First, the product model, facility model, process model, schedule information 12, rule information 15, and construction time series information are read (output information reading step S6-1).
Next, calculations, generation, etc. necessary for display are performed, and construction time series information is displayed (display step S6-2). Preferably, the construction time series information includes at least one of a Gantt chart, a work breakdown diagram, a work procedure manual, man-hours, and a flow line. By performing this kind of visualization, users can view the construction time series information as a result of simulation and gain useful knowledge for construction, such as changing components or facilities, analyzing and clarifying bottlenecks, and predicting man-hours. be able to. Note that the work breakdown diagram can describe the start time and end time of each task from the time series information, so it can be treated as construction time series information, although not directly. Further, the number of man-hours is, for example, the number of days required for each task expressed as "XX man-days." Moreover, the construction time series information can also be expressed as a part (PERT) diagram. Note that the work breakdown diagram, work procedure manual, man-hours, and flow lines can also be expressed as time-series information.

In addition, as shown in FIG. 1, it is determined whether the result of the construction time series information outputted in the output step S6 exceeds a predetermined time range (determination step S7), and if it exceeds the predetermined time range, the Instruct to change at least one of the facility model and the process model within the range. Then, using the changed facility model or process model, the process model creation step S3, the simulation step S4, and the time series information generation step S5 are repeatedly executed. Thereby, it is possible to obtain a simulation result in which the construction of the ship is completed within a predetermined time. Note that the range that can be accommodated means that it is within the range of facilities that already exist at the factory or facilities that can be procured within a few days. This does not include installation of equipment or hiring of workers, etc., which take many days. In addition, initial goals include, for example, a predetermined time, but also include work leveling (is the work load distributed?), ensuring the safety of the workplace, and whether or not there is any danger. be able to.

Note that each step described above can be executed by a computer using a program that simulates the construction of the designed ship.
In this case, the program receives input of the product model created in the product model creation step S1 and the facility model created in the facility model creation step S2 into the computer, and obtains the created product model in the product model acquisition step. Then, a facility model acquisition step for acquiring a facility model, a process model creation step S3, a simulation step S4, and a time series information generation step S5 are executed, and further, an output step S6 is executed. This makes it possible to simulate the construction of ships at a detailed work level on a time-by-hour basis, allowing users to improve factories, production designs, etc. based on the construction time series information that is output as highly accurate simulation results. It is possible to predict costs at the time of receiving an order and consider equipment investment, etc., leading to lower construction costs and shorter construction periods.
Further, by causing the computer to further execute the determination step S7, it is possible to obtain a simulation result in which the ship construction can be completed within a predetermined time.
In addition, by having the computer display images of at least one of the calculation results and intermediate progress in the process model creation step S3, the simulation step S4, and the output step S6, the user can understand the process through which the simulation results are obtained. This makes it easier to understand by visually checking whether the simulation was performed or the progress of the simulation.
Further, by having the computer further execute the intermediate result providing step S4-5 and having the computer accept input from the user in the simulation step S4, it becomes easier to perform a simulation in accordance with the user's intention.

An example in which a shipbuilding factory model is used as input data will be described. Table 15 below shows the set values for the movement speed of the worker, the movement speed of the crane, and the speed per unit length of welding work that were set in the simulation. Although these values are uniformly set here, they can also be defined for each task (for example, according to the welding posture).

Normally, temporary welding should be expressed as an intermittent weld line like tack welding, but in this example, for simplicity, we also use the weld line route (polyline) used for actual welding. , The difference in work is expressed by changing the welding speed per unit length. Further, the welding work in the assembly scenario set in this example is only horizontal fillet welding, and upward welding does not occur.
The 3D CAD model file was in the OBJ format (Wavefront Technologies), which is a general-purpose intermediate file format that can be imported into Unity (registered trademark).

(Case 1)
FIG. 37 is a Gantt chart of the simulation calculation results for the assembly scenario of Case 1. The names on the vertical axis represent each facility and product (completed parts, intermediate parts, component parts), and the horizontal axis represents time (s). The horizontal bar with vertical lines indicates the time occupied by the material distribution task, the horizontal bar with horizontal lines indicates the time occupied by the preliminary welding task, and the horizontal bar with diagonal lines indicates the time occupied by the actual welding task.
In the case 1 scenario, a five-plate model is assembled by two workers: one ironworker and one welder. The determined schedule for each worker is shown in Table 7. Worker 1 in the second row of Table 7 is an iron worker, and worker 2 in the second row is a welder. Each worker performs the tasks in the order listed in Table 7.
From FIG. 37, which is a Gantt chart calculated by the simulator based on this scenario, it can be seen that the time required to arrange the materials for each of the plates P1 to P5, indicated by the vertical horizontal bars, is about 370 seconds. This time corresponds to about a little less than a quarter of the total time. The time required for this material arrangement cannot be directly calculated using the conventional method of calculating from the weld length, and corresponds to ancillary work. Further, Worker 2 cannot start work until the material distribution and temporary welding tasks are completed, so he has to wait for nearly 480 seconds. Thereafter, the worker 1 has to wait for the task until the worker 2 completes the intermediate part U2, and the temporary welding task is executed from around 1100 seconds and then ends.
In this way, the simulator calculates the time required for each task, which cannot be calculated using conventional calculation methods alone, and reproduces the occurrence of waiting time depending on the progress of the task.

(Case 2)
FIG. 38 is a Gantt chart of the simulation calculation results for the assembly scenario of Case 2. The names on the vertical axis represent each facility and product (completed parts, intermediate parts, component parts), and the horizontal axis represents time (s). The horizontal bar with vertical lines indicates the time occupied by the material distribution task, the horizontal bar with horizontal lines indicates the time occupied by the preliminary welding task, and the horizontal bar with diagonal lines indicates the time occupied by the actual welding task. Further, FIG. 39 is a three-dimensional external view of the simulation in case 2.
In case 2, as in case 1, the number of workers was increased to 4, including 2 iron workers (workers 1 and 3) and 2 welders (workers 2 and 4), targeting a 5-plate model. The scenario was set. In line with this, two welding machines have been added. The schedule of each worker is shown in Table 16 below.

From FIG. 38, which is a Gantt chart calculated by the simulator based on this scenario, it can be seen that the time required to arrange each plate P1 to P5 is approximately 400 seconds, which is longer than in Case 1. This is because Worker 1 and Worker 3 share one crane, which requires extra walking time. The time for temporary welding is also longer than in Case 1 because one crane is shared. The actual welding of the intermediate part U1 and the finished part SUB1 is performed in parallel by two people on two welding lines, so the time is shorter than in Case 1. On the other hand, regarding the total construction period from start to finish, although the number of people was doubled as in case 1, it was not half, and as a result, the difference was 150% due to the shortening of the actual welding time of intermediate part U1 and finished part SUB1. It is only about seconds.
In this way, it becomes possible to consider matters that cannot be considered using the conventional concept of efficiency, and the quantitative differences and their basis become clear.
Furthermore, as shown in FIG. 39, it is also possible to directly check how the position of the three-dimensional object of each model is changing.

The present invention accurately simulates ship construction, where the flow of goods and movement of workers during manufacturing are not routine, but requires detailed work decisions depending on the situation, and the results are used to predict costs and produce production. It can be used for a wide variety of construction-related purposes, including design, planning and improvement of construction plans, capital investment, analysis of production sites, and clarification of bottlenecks. It is also possible to apply the same analogy to other products such as floating bodies, offshore wind power generation facilities, underwater vehicles, and marine structures, as well as to other industries such as the construction industry. When applied to these cases, the term ship in the claim can be replaced with words that refer to other products or industries.

11 CAD system 12 Schedule information 13 Factory layout information 15 Rule information 16 Custom task 17 Basic task S1 Product model creation step S2 Facility model creation step S3 Process model creation step S4 Simulation step S4-5 Intermediate result provision step S5 Time series information generation step S6 Output step S7 Judgment step

Claims (19)

A method for simulating the construction of a designed ship, the method comprising:
a product model creation step of creating a product model by acquiring basic design information in which the connection relationship between the completed part of the ship and the components constituting the completed part is clarified;
a facility model creation step of acquiring equipment information and worker information of a factory that constructs the finished part and creating a facility model regarding equipment and workers involved in constructing the finished part;
a process model creation step of clarifying assembly procedures and tasks for assembling the component parts and building the finished part and creating a process model based on the product model and the facility model;
a simulation step of performing a time-evolving simulation that sequentially calculates the progress of construction at each hour based on the process model;
performing a time-series information generation step of converting the results of the time-evolving simulation into time-series data to obtain construction time-series information ;
A ship construction simulation method, characterized in that, in the simulation step, the worker autonomously proceeds with virtual work by using rule information acquired in advance and the task . A method for simulating the construction of a designed ship, the method comprising:
a product model creation step of creating a product model by acquiring basic design information in which the connection relationship between the completed part of the ship and the components constituting the completed part is clarified;
a facility model creation step of acquiring equipment information and worker information of a factory that constructs the finished part and creating a facility model regarding equipment and workers involved in constructing the finished part;
a process model creation step of clarifying assembly procedures and tasks for assembling the component parts and building the finished part and creating a process model based on the product model and the facility model;
a simulation step of performing a time-evolving simulation that sequentially calculates the progress of construction at each hour based on the process model;
performing a time-series information generation step of converting the results of the time-evolving simulation into time-series data to obtain construction time-series information;
In the simulation step, when the worker autonomously proceeds with virtual work using the rule information acquired in advance and the task, a brain, which is a judgment rule given to the worker, is used as the rule information. A ship construction simulation method characterized in that it is used. A method for simulating the construction of a designed ship, the method comprising:
a product model creation step of creating a product model by acquiring basic design information in which the connection relationship between the completed part of the ship and the components constituting the completed part is clarified;
a facility model creation step of acquiring equipment information and worker information of a factory that constructs the finished part and creating a facility model regarding equipment and workers involved in constructing the finished part;
a process model creation step of clarifying assembly procedures and tasks for assembling the component parts and building the finished part and creating a process model based on the product model and the facility model;
a simulation step of performing a time-evolving simulation that sequentially calculates the progress of construction at each hour based on the process model;
performing a time-series information generation step of converting the results of the time-evolving simulation into time-series data to obtain construction time-series information;
A ship construction simulation method, characterized in that, in the simulation step, an intermediate result providing step of providing intermediate results of the time evolution simulation for a user to make a decision is executed. The process model includes an assembly tree representing dependencies for assembling the component parts to form the completed parts, the tasks necessary for assembly, and a task tree representing dependencies between the tasks. The ship construction simulation method according to any one of claims 1 to 3 . The ship according to any one of claims 1 to 4, wherein the tasks include custom tasks constructed by combining basic tasks that are functions that can be executed in the time-evolving simulation. Construction simulation method. 2. In the process model creation step, at least one of schedule information of the worker and factory layout information regarding the arrangement of the equipment and the worker is created based on the assembly procedure and the task. 6. The ship construction simulation method according to claim 5 . In the process model creation step, the assembly procedure including intermediate parts of the component parts is defined as the assembly tree, the appropriate tasks at each stage of the assembly procedure are defined, and the tasks before and after as the dependencies of the tasks are defined as the assembly tree. A claim characterized in that the relationship is defined as the task tree, it is determined based on the facility model whether the task falls within the ability value range, and when the task falls within the ability value range, the schedule information is created. The ship construction simulation method according to claim 6 , which refers to item 4 . The ship according to claim 7 , characterized in that when the task exceeds a capability value range, the definition of the intermediate part, the definition of the assembly tree, the definition of the task, and the definition of the task tree are redefined. construction simulation method. The ship construction simulation method according to any one of claims 1 to 8 , characterized in that, in creating the process model, process data of past ships built in the past is referred to and used. The time-evolving simulation in the simulation step sequentially calculates the position of the completed part or the component part, the position and occupancy status of the equipment and the worker, the assembly procedure and the progress status of the task at each time. The ship construction simulation method according to any one of claims 1 to 9 . 4. The ship construction simulation according to claim 3 , wherein after the intermediate result providing step, change conditions modified by the user are accepted, and the time evolution type simulation is executed based on the change conditions. Method. 12. The construction time series information includes at least one of a Gantt chart, a work breakdown diagram, a work procedure manual, man-hours, and a flow line. Ship construction simulation method. 13. The ship construction simulation method according to claim 1, wherein the basic design information of the ship is obtained from a CAD system. 14. The finished part and the component parts in the product model, and the equipment of the factory in the facility model are expressed in a three-dimensional model. Ship construction simulation method. The method further includes a determination step of determining whether the result of the construction time series information exceeds a predetermined time range, and changing the facility model within a corresponding range, the process model creation step, and the simulation step. The ship construction simulation method according to any one of claims 1 to 14 , wherein the time-series information generation step is repeatedly executed. A program that simulates the construction of a designed ship,
to the computer,
A product model acquisition step of acquiring the created product model in the ship construction simulation method according to any one of claims 1 to 15 , and a facility model acquisition step of acquiring the created facility model. , executing the process model creation step, the simulation step, and the time series information generation step;
A ship construction simulation program further comprising: executing an output step of outputting the construction time series information. 17. The ship construction simulation program according to claim 16, further causing the computer to execute the determination step in the ship construction simulation method according to claim 15 . Ship construction according to claim 16 or 17 , characterized in that the computer is caused to display at least one of the calculation results and intermediate progress in the process model creation step, the simulation step, and the output step as an image. simulation program. Claims 16 to 18 are characterized in that the computer further executes the intermediate result providing step in the ship construction simulation method according to claim 3 , and receives input from the user in the simulation step . A ship construction simulation program according to any one of the above.