US 12,242,776 B2
Simulation device, non-transistory computer readable recording medium, and simulation method for comprehensively simulating behavior of system
Shintaro Iwamura, Kyoto (JP)
Assigned to OMRON Corporation, Kyoto (JP)
Filed by OMRON Corporation, Kyoto (JP)
Filed on Jun. 9, 2022, as Appl. No. 17/836,989.
Application 17/836,989 is a continuation of application No. 17/251,211, previously published as PCT/JP2019/025318, filed on Jun. 26, 2019.
Claims priority of application No. 2018-135730 (JP), filed on Jul. 19, 2018.
Prior Publication US 2022/0300680 A1, Sep. 22, 2022
Int. Cl. G06F 30/20 (2020.01)
CPC G06F 30/20 (2020.01) 9 Claims
OG exemplary drawing
 
1. A simulation device that simulates a state of one or more workpieces supplied by a workpiece supply part, comprising:
a processor, configured to:
calculate a state of a workpiece conveyance device, wherein the workpiece conveyance device includes the workpiece supply part and a conveyance surface, the workpiece conveyance device vibrates on a regular basis and applies an external force to each of the workpieces disposed on the conveyance surface to change a position and a posture of the each of the workpieces disposed on the conveyance surface;
calculate, by physical simulation, the external force applied to each of the workpieces reflecting an influence of a collision with other workpiece based on the state of the workpiece conveyance device and calculates the state of the each of the workpieces based on mass of the each of the workpieces and the calculated external force, wherein the state of the each of the workpieces includes the position and the posture of the each of the workpieces; and
generate virtual space information that reflects the state of the workpiece conveyance device and the state of the workpiece,
wherein the processor calculates and updates, every predetermined time interval, the position and the posture of the workpiece disposed in a virtual space based on the calculated external force when a start of a simulation is instructed,
wherein the processor generates an operation command to a robot based on the position and the posture of the workpiece,
wherein the processor calculates, based on the operation command generated in response to a measurement result of the workpiece, a position and a posture of the robot conveying the workpiece disposed in the virtual space, and
wherein the processor determines whether or not the calculated position and posture of the robot is in a predetermined state, and sets the workpiece to a pick state or a place state based on the predetermined state of the robot when the calculated position and posture of the robot is in the predetermined state.