WO2024089846A1

WO2024089846A1 - Simulation device and program

Info

Publication number: WO2024089846A1
Application number: PCT/JP2022/040200
Authority: WO
Inventors: 航也山本
Original assignee: ファナック株式会社
Priority date: 2022-10-27
Filing date: 2022-10-27
Publication date: 2024-05-02

Abstract

A simulation device according to an aspect of the present disclosure comprises: a storage unit that stores a three-dimensional model of a workpiece to be cleaned; a reception unit that receives a user operation for expressing the dirtiness of all or part of the three-dimensional model of the workpiece; a creation unit that creates a dirty model expressing the dirtiness of all or part of the three-dimensional model of the workpiece on the basis of the user operation; and a display unit that displays the created dirty model.

Description

Simulation device and program

This disclosure relates to a simulation device and program that has a function for simulating cleaning operations.

As a method for teaching a robot a specific operation, a method of teaching online and a method of teaching offline have been proposed. For example, a teaching method using a simulation method is known as a method of teaching offline. In offline teaching using the simulation method, three-dimensional models of a robot, end effector, workpiece, peripheral equipment, etc. are arranged in a virtual space displayed on a personal computer, and an operation program can be created while virtually operating these. Since there is no need to operate the actual machine and a personal computer is available, programs can be created and checked by simulation anytime and anywhere, offline teaching using the simulation method is widely used. In offline teaching using the simulation method, for example, a user can create an operation program for a robot to perform operations such as picking, assembly, welding, and painting while actually operating the robot model on the screen and checking it. On the other hand, for example, when creating a cleaning program for a robot to perform a cleaning operation, it is difficult to reproduce the cleaning operation by simulation because "dirt" cannot be reproduced in the simulation. Therefore, users would create a cleaning program while imagining that dirt would be attached to the target workpiece, and then actually operate the cleaning robot according to the created cleaning program to check whether the dirt on the target workpiece was being properly removed. As such, creating a cleaning program cannot be completed by simulation alone, and it takes a lot of time. As a technology related to such cleaning work, Patent Document 1 discloses a technology for generating a fluid injection path for injecting a fluid into a machine tool to move debris.

Patent No. 7083943

However, it is still not possible to reproduce the cleaning process through simulation, and there is a need to propose technology that can reproduce dirt through simulation so that cleaning programs can be created through simulation.

A simulation device according to one aspect of the present disclosure includes a storage unit that stores a three-dimensional model of a workpiece to be cleaned, a reception unit that receives user operations for expressing dirt on all or part of the three-dimensional model of the workpiece, a creation unit that creates a dirt adhesion model in which dirt is expressed on all or part of the three-dimensional model of the workpiece based on the user operations, and a display unit that displays the created dirt adhesion model.

FIG. 1 is a diagram showing an example of a cleaning robot system. FIG. 2 is a diagram showing the hardware configuration of the simulation device according to this embodiment. FIG. 3 is a functional block diagram of the simulation device according to this embodiment. FIG. 4 is a diagram showing an example of a procedure for creating a cleaning program by the simulation device according to the present embodiment. FIG. 5 is a diagram showing an example of a procedure for creating a dirt adhesion model in step S11 of FIG. FIG. 6 is a diagram showing an example of a setting screen for setting a method for expressing dirt on a dirt adhesion model. FIG. 7 is a diagram showing a display example of dirt represented by a dirt model. FIG. 8 is a diagram showing an example of a stain displayed by changes in the surface of a model to be cleaned. FIG. 9 is a diagram for explaining a method for setting a stain range using an image. FIG. 10 shows a reference model for corner contamination. FIG. 11 is a diagram showing a dirt adhesion model in which a reference model of dirt is applied to a corner of a model to be cleaned. FIG. 12 is a diagram showing a fluid ejection model. FIG. 13 is a diagram for explaining the dirt subtraction process during the execution of a simulation. FIG. 14 is a diagram showing an example of a dirt adhesion model before a simulation is performed. FIG. 15 is a diagram showing an example of a dirt adhesion model after the execution of a simulation. FIG. 16 is a diagram showing another example of a dirt adhesion model after the execution of a simulation. FIG. 17 is a diagram showing another example of a dirt adhesion model after a simulation is performed. FIG. 18 is a diagram showing another example of the procedure for creating a cleaning program by the simulation device according to the present embodiment. FIG. 19 is a flowchart showing an example of the procedure of the automatic teaching point registration process in step S26 of FIG. FIG. 20 is a diagram for explaining another example of the automatic registration process of the teaching point.

The simulation device according to this embodiment will be described below with reference to the drawings. In the following description, components having substantially the same functions and configurations are given the same reference numerals, and repeated explanations will be given only when necessary.

As shown in FIG. 1, the simulation device 1 according to this embodiment is a computer device having a function of creating a cleaning program by simulation for causing a cleaning robot 40 having a cleaning nozzle 50 to perform a cleaning operation on a workpiece 60 to be cleaned. Specifically, the simulation device 1 has a function of creating a three-dimensional model (dirt adhesion model) in which dirt is reflected on a three-dimensional model (cleaning target model) of the workpiece 60 to be cleaned, a function of arranging the dirt adhesion model and the three-dimensional model (cleaning robot model) of the cleaning robot 40 in a virtual space, a function of teaching a cleaning program to the cleaning robot model arranged in the virtual space, a function of creating a cleaning program that summarizes the contents taught to the cleaning robot model, and a function of having the cleaning robot model perform a cleaning operation by simulation in accordance with the created cleaning program. Typically, the simulation device 1 according to this embodiment is configured as follows.

As shown in FIG. 2, the simulation device 1 according to this embodiment is configured by connecting hardware such as an operation device 5, a display device 6, a communication device 7, and a storage device 8 to a processor 2 (such as a CPU). The simulation device 1 is provided by a general information processing terminal such as a personal computer, tablet, or smartphone.

The operation device 5 is provided by a keyboard, a mouse, a jog, etc. The operation device 5 may be provided by a touch panel that also serves as the display device 6. A user can input various information to the simulation device 1 via the operation device 5. The display device 6 is provided by an LCD, etc. A screen created by the screen creation unit 22 is displayed on the display device 6. The communication device 7 controls the transmission and reception of data between the simulation device 1 and other devices such as a robot control device. A cleaning program created by the simulation device 1 is transmitted to the robot control device by processing of the communication device 7. The storage device 8 is provided by an HDD, SSD, etc. A simulation program is stored in the storage device 8.

As the processor 2 executes the simulation program stored in the storage device 8, as shown in FIG. 3, the simulation device 1 functions as an input unit (reception unit) 15, a display unit 16, a transmission/reception unit 17, a storage unit 18, a dirt adhesion model creation unit 21, a screen creation unit 22, a virtual space creation unit 23, a model placement unit 24, a dirt representation method setting unit 25, an operating condition setting unit 26, an injection condition setting unit 27, a teaching point registration unit 28, a program creation unit 29, and a simulation execution unit (injection amount calculation unit) 30.

The input unit 15 is an interface for directly inputting user operations to the simulation device 1. In this embodiment, the input unit 15 inputs user operations via the operation device 5 to the simulation device 1. The display unit 16 has the display device 6 of FIG. 2, and displays a screen created by the screen creation unit 22. The transmission/reception unit 17 is an interface for transmitting and receiving data with a device connected by wire or wirelessly. In this embodiment, the transmission/reception unit 17 transmits and receives data with the robot control device via the communication device 7 of FIG. 2. Note that user operations may be input from an external information processing terminal or the like. In this case, the transmission/reception unit 17 functions as a reception unit.

The storage unit 18 has the storage device 8 of FIG. 2. The storage unit 18 stores three-dimensional model data in advance. The three-dimensional model data includes a cleaning robot model including a cleaning nozzle model, and a model of the object to be cleaned.

The dirt adhesion model creation unit 21 uses the data of the cleaning target model stored in the memory unit 18 to create a dirt adhesion model that reflects dirt on the cleaning target model.

The screen creation unit 22 creates various screens related to the creation of a cleaning program. The various screens include a teaching screen for teaching the cleaning program to the cleaning robot model, a setting screen for setting the method of representing dirt, a setting screen for setting the operating conditions, a setting screen for setting the spray conditions of the fluid sprayed from the cleaning nozzle, a creation screen for creating a dirt adhesion model, etc.

The virtual space creation unit 23 creates a virtual space in software that represents the operating space of the cleaning robot in three dimensions. The virtual space created by the virtual space creation unit 23 is displayed on the teaching screen, etc., created by the screen creation unit 22.

The model placement unit 24 places the cleaning robot model and the dirt adhesion model in the virtual space created by the virtual space creation unit 23. The cleaning robot model and the dirt adhesion model are placed in the virtual space so as to correspond to the positional relationship between the cleaning robot and the workpiece with dirt in the actual operating space.

The dirt representation method setting unit 25 sets the dirt representation method based on user operation on the dirt representation method setting screen. Details of the dirt representation method will be described later. The operation condition setting unit 26 sets the operation conditions of the cleaning robot model based on user operation on the setting screen for setting the operation conditions. Known parameters such as operation speed, interpolation type, movement type, etc. can be adopted as the operation conditions of the cleaning robot model. The operation conditions may be fixed or changed while the cleaning robot model is in operation. The spray condition setting unit 27 sets the spray conditions of the fluid based on user operation on the spray condition setting screen. The spray conditions may be fixed during the cleaning operation or may be changed depending on the part to be cleaned. Details of the spray conditions will be described later.

The teaching point registration unit 28 registers the position of the hand reference point and the hand posture of the cleaning robot model as teaching points through user operations on a teaching screen including a virtual space in which the cleaning robot model and the dirt-attached model are arranged. For example, the position of the hand reference point is set to the tip position of the cleaning nozzle model that the cleaning robot model has.

The program creation unit 29 creates a cleaning program based on the operating conditions set by the operating condition setting unit 26, the spraying conditions set by the spraying condition setting unit 27, and the multiple teaching points registered by the teaching point registration unit 28.

The simulation execution unit 30 executes a simulation operation that causes the cleaning robot model placed in the virtual space to operate in accordance with a cleaning program or in accordance with user operations input via the operation device 5. Specifically, the simulation execution unit 30 executes a movement simulation of the cleaning robot model 70 and a fluid injection simulation. In the fluid injection simulation, the simulation execution unit 30 calculates the amount of fluid injected onto each part of the dirt adhesion model, and can calculate the degree to which dirt has been removed from the dirt model or dirt area and the degree of dirt remaining by subtracting the injection amount from the dirt level of the dirt model or dirt area held by the dirt adhesion model.

Below, the procedure for creating a cleaning program using the simulation device 1 according to this embodiment will be described with reference to FIG. 4.

As shown in FIG. 4, the simulation device 1 creates a dirt adhesion model based on a user operation (S11), and places the created dirt adhesion model and the cleaning robot model in the virtual space displayed on the teaching screen (S12). Next, the simulation device 1 sets the spray conditions of the fluid sprayed from the cleaning nozzle model equipped on the cleaning robot model based on the user operation (S13), and sets the operating conditions of the cleaning robot model (S14). Next, the simulation device 1 registers the teaching points based on the user operation on the teaching screen (S15). The simulation device 1 creates a cleaning program based on the spray conditions set in step S13, the operating conditions set in step S14, and the teaching points registered in step S15 (S16). Then, the simulation device 1 causes the cleaning robot model placed in the virtual space to perform a simulation of the cleaning work based on the cleaning program created in step S16 (S17). The processes of steps S13 to S17 are repeatedly executed until the user completes the correction work of the cleaning program (S18; Yes). When the user has finished modifying the cleaning program, the creation of the cleaning program is complete (S18; No).

The process of creating the dirt adhesion model in step S11 in FIG. 4 will be described below with reference to FIG. 5. The dirt adhesion model is created by the dirt adhesion model creation unit 21. As shown in FIG. 5, the simulation device 1 sets the cleaning target model and the dirt expression method based on the user's operation (S111, S112). Next, the simulation device 1 sets the range in which dirt is reflected and the degree of dirt based on the user's operation on the cleaning target model (S113, S114). Then, the simulation device 1 creates a dirt adhesion model for the cleaning target model that reflects dirt of the degree of dirt set in step S114 in the range set in step S113 using the expression method set in step S112 (S115) and displays it (S116). The processes in steps S112 to S116 are repeatedly executed until the user completes the correction work of the dirt adhesion model (S117; Yes). When the user finishes the correction work of the dirt adhesion model, the creation of the dirt adhesion model is completed (S117; No).

Below, with reference to FIG. 6, the method of representing dirt in step S112 in FIG. 5 will be described. FIG. 6 is an example of a setting screen for the method of representing dirt. The setting screen for the method of representing dirt is configured so that the user can set the method of representing dirt on the model to be cleaned in the simulation. As shown in FIG. 6, the setting screen displays a number of options for selecting the method of representing dirt. The options for the method of representing dirt include "adding a dirt model to the model to be cleaned" and "changing the surface of the model to be cleaned." "Adding a dirt model to the model to be cleaned" is a method of representing dirt on the model to be cleaned by overlaying a dirt model, which is a model of dirt that is separate from the model to be cleaned, on the surface of the model to be cleaned. "Changing the surface of the model to be cleaned" is a method of representing dirt as a change in the surface of the model to be cleaned, rather than representing it as an object like a dirt model.

In order to set the details of the dirt representation method "Add dirt model to model to be cleaned" the settings screen displays multiple options for selecting the shape of the dirt model and multiple options for selecting the method for representing the degree of dirt. Options for the dirt model shape include "spherical" and "cubic". The shape of the dirt model is not limited to these and any shape such as a rectangular parallelepiped, oval sphere, or ellipsoid can be used. Options for the method for representing the degree of dirt include "dirt model color", "number of dirt models", and "add numerical values". The method for representing the degree of dirt is not limited to these and patterns, etc. can be used.

In order to set the details of the dirt expression method "Change the surface of the model to be cleaned", the settings screen displays multiple options for selecting the method for expressing the degree of dirt. Options for the method for expressing the degree of dirt include "dirt model color" and "add numerical values". The degree of dirt is expressed by the amount of fluid sprayed required to remove the dirt. An assumed dirt that can be removed with an amount of spray of 3 ml represents more severe dirt than an assumed dirt that can be removed with an amount of spray of 1 ml. Of course, the degree of dirt may involve not only the amount of fluid sprayed but also other parameters such as spray pressure. Also, since cleaning power differs depending on the type of fluid, the type of fluid may be involved in the degree of dirt.

Below, the dirt representation method "adding a dirt model to a model to be cleaned" will be described with reference to FIG. 7. In FIG. 7, the dirt model is shown together with the model to be cleaned. Here, the dirt model 100 is a cube. The size of the dirt model 100 (the area of one face of the cube) corresponds to the range of dirt represented by one dirt model 100. The center position of the dirt model 100 corresponds to the center position of the range of dirt represented by the dirt model 100. As shown in FIG. 7, in the dirt representation method "adding a dirt model to a model to be cleaned", the dirt model 100 is displayed superimposed on the surface of the model to be cleaned 90. The

dirt models

100a and 100b each represent the degree of dirt as a numerical value. The dirt model 100a with the numerical value "1" attached represents dirt that is assumed to be removed by spraying 1 ml of fluid at the position where the dirt model 100a is placed. Similarly, dirt model 100b, which is marked with the number "3," represents dirt that is assumed to be removed by spraying 3 ml of fluid at the position where dirt model 100b is placed.

Dirt models

100a and 100b, which express the degree of dirt numerically, express the state of dirt removal as a countdown of the degree of dirt as fluid is sprayed in a cleaning simulation, so that the degree of dirt removal and the remaining amount can be quantitatively grasped.

The

dirt models

100c and 100d express the degree of dirt with colors. For example, the dirt model 100c expresses dirt that is assumed to be removed by spraying 1 ml of fluid at the position where the dirt model 100c is placed, and the dirt model 100d expresses dirt that is assumed to be removed by spraying 3 ml of fluid at the position where the dirt model 100d is placed. The

dirt models

100c and 100d, which express the degree of dirt with colors, express the state in which dirt is removed by changing colors as fluid is sprayed in a cleaning simulation, so that the degree of dirt removal and the remaining amount can be qualitatively grasped. The transparency of the dirt model may be changed depending on the degree of dirt. For example, the transparency is specified so that the higher the degree of dirt, the lower the transparency, and the higher the transparency as the degree of dirt is zero or low.

The

dirt models

100e and 100f represent the degree of dirt by the number of models. The dirt model 100e, which has one dirt model 100h per 100g of reference range, represents dirt that is assumed to be removed by injecting 1 ml of fluid at the position where the reference range is located. Similarly, the dirt model 100f, which has three dirt models 100h per 100g of reference range, represents dirt that is assumed to be removed by injecting 3 ml of fluid at the position where the reference range is located. The

dirt models

100e and 100f represent the state in which dirt is removed by injecting fluid by the cleaning simulation, by the change in the number of dirt models 100h, so that the degree of removal and the remaining amount of dirt can be grasped qualitatively and quantitatively.
The user can select how dirt is to be represented according to preference.

Below, the dirt representation method "changing the surface of the model to be cleaned" will be described with reference to FIG. 8. FIG. 8 is a diagram showing a dirt model together with the model to be cleaned. As shown in FIG. 8, in the dirt representation method "changing the surface of the model to be cleaned", a dirt range in which dirt is reflected on the surface of the model to be cleaned is set. The dirt range is divided into a plurality of partial ranges. For example, the shape of the partial range is set to a square shape. For example, if the area of the dirt range is 15 cm2 and the area of the partial range is 1 cm2, the dirt range is divided into 15 partial ranges. The dirt

partial ranges

200a and 200b, which represent the degree of dirt numerically, are represented by a countdown of the degree of dirt as the dirt is removed by spraying fluid in the cleaning simulation, so that the degree of removal and the remaining amount of dirt can be quantitatively grasped.

The

dirt subranges

200a and 200b each show dirt with a degree of dirt expressed by a numerical value. The dirt subrange 200a, in which the numerical value "1" is written, shows dirt that is assumed to be removed by injecting 1 ml of fluid into the center position of the dirt subrange. Similarly, the dirt subrange 200b, in which the numerical value "3" is written, shows dirt that is assumed to be removed by injecting 1 ml of fluid into the center position of the dirt subrange. The dirt subranges 200c and 200d show dirt models in which the degree of dirt is expressed by color. For example, the dirt subrange 200c shows dirt that is assumed to be removed by injecting 1 ml of fluid into the center position of the dirt subrange, and the dirt subrange 200d shows dirt that is assumed to be removed by injecting 3 ml of fluid into the center position of the dirt subrange. The dirt subranges 200c and 200d, in which the degree of dirt is expressed by color, show the state in which the dirt is removed by changing colors as the fluid is sprayed in the cleaning simulation, so that the degree of dirt removal and the remaining amount can be qualitatively understood. For example, when the surface color of the model to be cleaned is a first color and the color of the stained partial range 200 is a second color, the color of the stained range 200 is changed so that it gradually approaches the first color from the second color based on the amount of spray onto the stained partial range. It is preferable that the color change at this time be represented by a gradation. This allows the user to intuitively grasp how the stain is being removed.

For example, a user can specify the range of dirt and the degree of dirt by operating the model to be cleaned, and create a dirt-attached model in which the surface of the model to be cleaned that corresponds to the specified range of dirt is changed to a state that represents the specified degree of dirt.

The method of specifying the range of dirt can be any method, such as dots, lines, bands, etc. It is also possible to specify the entire model to be cleaned as the range of dirt all at once. For example, icons such as pens and brushes can be displayed as tools for specifying the range of dirt on the screen on which the dirt-attached model is created. This allows the user to intuitively operate the tools to specify the range of dirt to be reflected on the model to be cleaned.

Also, as shown in FIG. 9, image processing (difference processing) is performed on an image S1 of the workpiece to be cleaned before it becomes dirty and an image S2 of it after it becomes dirty to create a difference image S3, and then the range of dirt D1 to D4 is extracted, and the extracted range of dirt D1 to D4 can be set as the range of dirt in the model to be cleaned. Of course, the degree of dirt can also be identified based on the pixel values of the range of dirt by image processing on an image S1 of the workpiece to be cleaned before it becomes dirty and an image S2 of it after it becomes dirty, and the identified degree of dirt can be used as the degree of dirt in the model to be cleaned.

Also, a reference model may be created according to the location where dirt is to be reflected, and the reference model corresponding to that location may be automatically reflected in the location specified by the user. FIG. 10 is a diagram showing a reference model of dirt in a corner. FIG. 11 is a diagram showing the state in which the reference model is reflected in a corner of the model to be cleaned. As shown in FIG. 11, when a corner of the model to be cleaned 90 is specified by a user operation, the reference model of dirt in the corner shown in FIG. 10 is read out and applied to the entire corner. In this way, by creating a reference model of dirt for each location where dirt is to be reflected and for each type of workpiece on which dirt is to be reflected, the user can reflect dirt in the model to be cleaned 90 with a simple operation, thereby shortening the time required to create the dirt adhesion model 95.

The injection conditions of step S13 in FIG. 3 will be described below with reference to FIG. 12. FIG. 12 shows a state in which a fluid is injected from the injection nozzle model. The fluid may be compressed air, water, cleaning liquid, or the like. As shown in FIG. 12, the injection conditions include the distance D1 from the nozzle tip to the cleaning surface and the injection amount distribution of the fluid at the distance D1. By setting the injection conditions, an injection model of the fluid can be created. For example, the injection amount distribution can be set by a graph with the distance from the injection center on the horizontal axis and the injection amount on the vertical axis. As shown in FIG. 12, the injection amount distribution is set so that the injection amount per unit area in the circular range from the injection center to the distance R1 is A3, the injection amount per unit area in the annular range from the injection center to the distance R1 and the distance R2 is A2, and the injection amount per unit area in the annular range from the injection center to the distance R2 and the distance R3 is A1. In this embodiment, the injection conditions are set by the user in the simulation device 1, but the conditions received from another device connected to the simulation device 1 may be set as the injection conditions. The cleaning robot model moves the spray model, allowing fluid to be virtually sprayed onto each part of the soiled model.

Below, referring to FIG. 13, the change in the display mode of dirt when a cleaning simulation is performed will be described. In FIG. 13, a fluid injection model 300 is shown together with a dirt model 100. FIG. 13(a) shows the dirt model 100 at the start of cleaning, and FIG. 13(b) shows the dirt model 100 one second after cleaning starts. Here, the dirt model 100 is assumed to be dirt that can be removed by injecting 3 ml of fluid. As shown in FIG. 13(a), fluid is injected into six dirt models 100 that interfere with the injection model. Of the six dirt models 100, the two central dirt models 100 are injected with fluid at 3 ml per second, the outer dirt models 100 are injected with fluid at 2 ml per second, and the outermost dirt models 100 are injected with 1 ml of fluid. Therefore, when the cleaning robot model is stationary at position P1 and the fluid is sprayed for one second, 3 ml of fluid is sprayed onto the dirt assumed to be removable by spraying 3 ml of fluid, so the dirt degree of the two dirt models 100 at the center is subtracted to 0 and is erased. On the other hand, 2 ml of fluid is sprayed onto the dirt assumed to be removable by spraying 3 ml of fluid, so the dirt degree of the dirt models 100 outside the two dirt models 100 at the center is subtracted, and as a result, the display is changed from the display mode of the dirt assumed to be removable by spraying 3 ml of fluid to the display mode of the dirt assumed to be removable by spraying 1 ml of fluid. Similarly, 1 ml of fluid is sprayed onto the dirt assumed to be removable by spraying 3 ml of fluid, so the dirt degree of the dirt models 100 further outside is subtracted, and as a result, the display is changed from the display mode of the dirt assumed to be removable by spraying 3 ml of fluid to the display mode of the dirt assumed to be removable by spraying 2 ml of fluid. In this way, in the simulation of the cleaning operation, the dirt model 100 can be erased or its display mode can be changed based on the amount of fluid sprayed onto each part of the dirt adhesion model. Specifically, the degree to which dirt has been removed can be calculated by subtracting the amount of fluid sprayed onto the dirt model 100 from the numerical value representing the degree of dirt on the dirt model 100, and the degree of dirt removed and the degree of dirt remaining can be expressed by erasing the dirt model 100 or changing the display mode, etc.

Below, an example of a simulation using the cleaning robot model 70 will be described with reference to Figures 14, 15, 16, and 17. Figure 14 shows the state before the simulation is performed, and Figures 15, 16, and 17 show the state after the simulation is performed. Here, it is assumed that a dirt model 100 that is assumed to be removed by spraying 3 ml of fluid is attached to the dirt adhesion model 95. Furthermore, P1 to P6 represent teaching points, and it is assumed that the hand reference point of the cleaning robot model 70, in other words the spray model, moves in order from P1 to P6. Note that, as shown in Figure 14, when performing a simulation of the cleaning robot model 70 or when teaching teaching points, it is desirable to display the spray model 300. This allows the user to intuitively grasp whether fluid is being sprayed onto the dirt model 100.

As shown in FIG. 15, if, as a result of executing the simulation, some of the dirt models 100 attached to the dirt adhesion model 95 remain without changing their display mode, this indicates that fluid has not been sprayed onto some of the dirt. By confirming that some of the dirt models 100 remain without changing their display mode, the user can take measures such as modifying the teaching points so that fluid can be sprayed onto those some of the dirt models 100.

As shown in FIG. 16, if the result of running the simulation shows that all of the dirt models 100 attached to the dirt adhesion model 95 remain, with only a change in the display mode, this indicates that although fluid is being sprayed onto the dirt, the amount sprayed is insufficient. By checking the change in the display mode of the dirt model 100, the user can understand the need to increase the amount sprayed, and can take measures such as, for example, modifying the cleaning program to slow down the movement speed or adopting a cleaning nozzle that sprays a larger amount.

As shown in FIG. 17, if the result of running the simulation shows that all of the dirt models 100 attached to the dirt adhesion model 95 have been erased, this indicates that the cleaning has been performed properly. By confirming that all of the dirt models 100 have been erased, the user can understand that the cleaning program has been created properly.

According to the simulation device 1 according to the present embodiment, a dirt adhesion model in which dirt is reflected on a model to be cleaned can be created and displayed. For example, in the dirt adhesion model, dirt is expressed by adding a dirt model to the model to be cleaned, and dirt is expressed by changing the display mode of the surface of the model to be cleaned. The dirt expressed in the dirt adhesion model is displayed so that the degree of dirt can be understood by color or the like. In the simulation, the injection amount of the fluid to be injected onto the dirt expressed in the dirt adhesion model is calculated, the injection amount is subtracted from the degree of dirt, and the display mode of the dirt expressed in the model to be cleaned can be changed according to the degree of dirt after subtraction, or the dirt expressed in the model to be cleaned can be erased if the degree of dirt becomes 0. Since the dirt reflected in the dirt adhesion model can be visually grasped, the user can intuitively perform the registration work of the teaching point. Furthermore, since the change in the display mode of the dirt reflected in the dirt adhesion model and the erasure of the dirt can actually be grasped as the dirt disappears, a cleaning program can be created with the same procedure and feeling as when actually trying it on an actual machine.

Below, an example of the procedure for automatically creating a cleaning program using the simulation device 1 according to this embodiment will be described with reference to FIG. 18. FIG. 18 is a flowchart showing the procedure for automatically creating a cleaning program using the simulation device 1 according to this embodiment. Steps S21 to S24 in FIG. 18 correspond to steps S11 to S14 in FIG. 4, respectively, and therefore description thereof will be omitted.

As shown in FIG. 18, once the creation of the dirt adhesion model (S21), the placement of the model in the virtual space (S22), and the setting of various conditions (S23, S24) are completed, the simulation device 1 registers the operation start position and posture of the cleaning robot based on the user's operation on the teaching screen (S25). Next, the simulation device 1 automatically registers teaching points one after another (S26). The simulation device 1 then creates a cleaning program using the spraying conditions set in step S23, the operating conditions set in step S24, the start point recorded in step S25, and the teaching points automatically registered in step S26 (S26), and the automatic generation process of the cleaning program ends.

Below, the procedure for the automatic registration process of the teaching points in step S26 of FIG. 18 will be described with reference to FIG. 19. FIG. 19 is a flowchart showing an example of the procedure for the automatic registration process of the teaching points using the simulation device 1 according to this embodiment.

As shown in FIG. 19, the injection model is moved to the operation start position and posture registered in step S25 of FIG. 18 by simulation (S261). Next, a dirt model located at the closest position to the current position is searched for (S262). If a dirt model is found (S263; Yes), the injection model is moved to a position and posture where fluid can be injected into the dirt model (S264), and the current position and posture after the injection model is moved are registered as a teaching point (S265). Then, as the injection simulation is performed (S266), the display mode of the dirt model is changed (S267). Specifically, a process is performed in which the injection amount of the fluid injected from the injection model is subtracted from the dirt level of the dirt model that the fluid injected from the injection model hits, and in parallel with this, the display mode of the dirt model is changed according to the dirt level. The injection simulation is performed until the dirt level of the dirt model becomes 0 (S268; No). When the dirt level of the dirt model becomes 0 (S268; Yes), the dirt model is erased (S269). The processes of steps S262 to S269 are repeated until there are no more dirt models, that is, until cleaning of the dirt-attached model is complete, and the same number of teaching points as the number of repetitions are registered. When all of the dirt models added to the dirt-attached model have been deleted, the automatic registration process of teaching points in step S26 of FIG. 18 is terminated.

The automatic creation of the cleaning program described with reference to FIG. 19 is highly flexible and can be applied to the creation of cleaning programs for various dirt adhesion models. On the other hand, teaching points may be automatically registered according to the shape and size of the dirt range. FIG. 20 is a diagram for explaining another example of the automatic registration process of teaching points using the simulation device 1 according to this embodiment. As shown in FIG. 20, in a case where the dirt adhesion model 95 has a circular dirt range 200, a fluid can be sprayed into the dirt range 200, and multiple teaching points P1 to P8 along the circumference of a circle similar to the dirt range 200 are automatically registered. In this way, the movement path of the spray model 300 according to the shape of the dirt range 200 reflected in the dirt adhesion model 95 may be registered, and the movement path may be automatically determined according to the shape of the dirt range 200.

The following supplementary notes are further disclosed regarding this embodiment and the modified examples.
(Appendix 1)
The simulation device 1 comprises a memory unit 18 that stores a three-dimensional model 90 of the workpiece to be cleaned, a reception unit 15 that receives user operations for representing dirt on all or part of the three-dimensional model of the workpiece, a model creation unit 21 that creates a dirt adhesion model 95 in which dirt is represented on all or part of the three-dimensional model 90 of the workpiece based on the user operations, and a display unit 16 that displays the created dirt adhesion model 95.
(Appendix 2)
The dirt described in Appendix 1 is added to the three-dimensional model 90 of the workpiece as a dirt model 100 and is displayed superimposed on the three-dimensional model 90 of the workpiece.
(Appendix 3)
The dirt model 100 described in Appendix 2 has information regarding the degree of dirt, and the display mode of the dirt model 100 changes depending on the degree of dirt.
(Appendix 4)
The dirt model 100 described in Appendix 2 has information regarding the degree of dirt, and the dirt model 100 is displayed with the information regarding the degree added thereto.
(Appendix 5)
The dirt model 100 described in any one of Supplementary Notes 2 to 4 is represented in a spherical or cubic shape.
(Appendix 6)
The simulation device 1 described in Appendix 2 further includes an injection model moving unit 70 that moves the fluid injection model relative to the three-dimensional model 90 of the workpiece, and an injection amount calculation unit 30 that calculates the injection amount by the injection model 300 for each part of the three-dimensional model 90 of the workpiece, and the model creation unit 21 individually removes the dirt models 100 added to all or part of the three-dimensional model 90 of the workpiece based on the calculated injection amount.
(Appendix 7)
In the simulation device 1 described in Appendix 6, the spray model moving unit 70 moves the spray model 300 to position the dirt model 100 within the spray distribution of the spray model 300, and further includes a program creation unit 29 that creates a cleaning program based on the position of the spray model 300 after it has been moved.
(Appendix 8)
In the simulation device 1 described in Appendix 1, the surface color of the entire or part of the three-dimensional model 90 of the workpiece is changed from a first color to a second color to represent dirt.
(Appendix 9)
The second color described in Appendix 8 is changed depending on the degree of dirt.
(Appendix 10)
The simulation device 1 described in Appendix 8 or Appendix 9 further includes an injection model moving unit 70 that moves the fluid injection model relative to the three-dimensional model 90 of the workpiece, and an injection amount calculation unit 30 that calculates the injection amount by the injection model for each part of the three-dimensional model 90 of the workpiece, and based on the calculated injection amount, the surface color of the entire or part of the three-dimensional model 90 of the workpiece is approximated from the second color to the first color.
(Appendix 11)
The jet model moving unit 70 described in Appendix 10 moves the jet model 300 to position all or part of the three-dimensional model 90 of the workpiece represented in a second color within the jet distribution of the jet model 300, and further includes a program creation unit 29 that creates a cleaning program based on the position of the jet model 300 after it has been moved.
(Appendix 12)
The program causes a computer that stores a three-dimensional model 90 of a workpiece to be cleaned to implement the following: means 15 for accepting user operations for representing dirt on all or part of the three-dimensional model 90 of the workpiece; means 21 for creating a dirt adhesion model 95 in which dirt is represented on all or part of the three-dimensional model 90 of the workpiece based on the user operations; and means 16 for displaying the created dirt adhesion model 95.

Although the embodiments of the present disclosure have been described in detail, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible to these embodiments without departing from the gist of the invention, or without departing from the idea and intent of the present invention derived from the contents described in the claims and their equivalents. For example, in the above-mentioned embodiments, the order of each operation and the order of each process are shown as examples, and are not limited to these. The same applies when numerical values or formulas are used in the explanation of the above-mentioned embodiments.

1...simulation device, 2...processor, 5...operation device, 6...display device, 7...communication device, 8...storage device, 15...input section (reception section), 16...display section, 17...transmission/reception section, 18...storage section, 21...dirt adhesion model creation section, 22...screen creation section, 23...virtual space creation section, 24...model placement section, 25...dirt representation method setting section, 26...operation condition setting section, 27...spray condition setting section, 28...teaching point registration section, 29...program creation section, 30...simulation execution section (spray amount calculation section), 70...cleaning robot model (spray model movement section), 80...cleaning nozzle model, 90...cleaning target model, 95...dirt adhesion model, 100...dirt model, 200...dirt range, 300...spray model.

Claims

A storage unit that stores a three-dimensional model of a workpiece to be cleaned;
A reception unit that receives a user operation for expressing dirt on the whole or a part of the three-dimensional model of the workpiece;
a model creation unit that creates a dirt adhesion model in which dirt is expressed on all or a part of the three-dimensional model of the work based on the user operation;
A display unit for displaying the created dirt adhesion model;
A simulation device comprising:
The simulation device according to claim 1, in which the dirt is added to the three-dimensional model of the workpiece as a dirt model and displayed superimposed on the three-dimensional model of the workpiece.
The simulation device according to claim 2, wherein the dirt model has information regarding the degree of dirt, and the display mode of the dirt model is changed according to the degree of dirt.
The simulation device according to claim 2, wherein the dirt model has information regarding the degree of dirt, and the dirt model is displayed with the information regarding the degree added to it.
The simulation device according to any one of claims 2 to 4, wherein the dirt model is represented in a spherical or cubic shape.
an ejection model moving unit that moves an ejection model of a fluid relative to the three-dimensional model of the workpiece;
An injection amount calculation unit that calculates an injection amount by the injection model for each portion of the three-dimensional model of the workpiece,
The simulation device according to claim 2 , wherein the model creation unit individually removes the dirt models added to all or part of the three-dimensional model of the workpiece based on the calculated injection amount.
the jet model moving unit moves the jet model to place the dirt model within a jet distribution of the jet model;
The simulation device according to claim 6 , further comprising a program creation unit that creates a cleaning program based on the position of the jet model after the movement.
The simulation device according to claim 1, wherein the stain changes the surface color of the entire or part of the three-dimensional model of the workpiece from a first color to a second color.
The simulation device according to claim 8, wherein the second color is changed according to the degree of the dirt.
an ejection model moving unit that moves an ejection model of a fluid relative to the three-dimensional model of the workpiece;
and an injection amount calculation unit that calculates an injection amount by the injection model for each portion of the three-dimensional model of the workpiece,
The simulation device according to claim 8 or 9, wherein a surface color of the entire or partial three-dimensional model of the workpiece is approximated from the second color to the first color based on the calculated injection amount.
the jet model moving unit moves the jet model to place the whole or a part of the three-dimensional model of the workpiece expressed in the second color within the jet distribution of the jet model;
The simulation device according to claim 10 , further comprising a program creation unit that creates a cleaning program based on the position of the jet model after the movement.
A computer stores a three-dimensional model of a workpiece to be cleaned.
A means for receiving a user operation for expressing dirt on the whole or a part of the three-dimensional model of the workpiece;
A means for creating a dirt adhesion model in which dirt is expressed on the whole or part of the three-dimensional model of the work based on the user operation;
A means for displaying the created dirt adhesion model;
A program to achieve this.