Simulation device and simulation method for robot system

• US 10,556,343 B2
• Filed: 07/31/2018
• Issued: 02/11/2020
• Est. Priority Date: 08/03/2017
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: Takeda, Toshiya
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US16/050,405
• Publication Number:
  US 20190039243A1
• Time in Patent Office: 560 Days
• Field of Search: 700245-264
• CPC Class Codes: B25J 9/1605 Simulation of manipulator lay-out, design, modelling of manipulator
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems

Abstract

A simulation device for a robot system includes: an input unit that allows input of the constitution of a virtual robot; a storage unit that stores the constitutions and elements of virtual-robot candidates and settings of virtual-robot-controller candidates in association with each other; a difference extracting unit that reads the constitution of one of the virtual-robot candidates that most closely approximates the input virtual robot and extracts the difference; a virtual-robot generating unit that reads the setting of the associated virtual-robot-controller candidate and the settings of the virtual-robot-controller candidates associated with the elements of the virtual-robot candidates included in the extracted difference and that adds or deletes the setting for each of the elements to generate new candidates and a new virtual robot and virtual robot controller; and a candidate updating unit that stores the constitutions of the new virtual-robot candidates and the settings of the generated virtual-robot-controller candidates.

Claims

1. A simulation device for a robot system, the simulation device comprising:

an input unit that allows input of the constitution of a virtual robot to be simulated;

a storage unit that stores the constitutions and elements of virtual-robot candidates and settings of virtual-robot-controller candidates in association with each other;

a difference extracting unit that reads, from the storage unit, the constitution of one of the virtual-robot candidates that most closely approximates the constitution of the virtual robot input via the input unit and that extracts the difference between the read constitution of the virtual-robot candidate and the constitution of the virtual robot input via the input unit;

a virtual-robot generating unit that reads, from the storage unit, the setting of the virtual-robot-controller candidate associated with the constitution of the most approximate virtual-robot candidate and the settings of the virtual-robot-controller candidates associated with the elements of the virtual-robot candidates included in the difference extracted by the difference extracting unit and that adds or deletes the setting of the associated virtual-robot-controller candidate for each of the elements of the virtual-robot candidates included in the difference to or from the setting of the most approximate virtual-robot-controller candidate to generate the constitutions of new virtual-robot candidates and settings of virtual-robot-controller candidates associated therewith and the constitution of a new virtual robot and a setting of a virtual robot controller associated therewith; and

a candidate updating unit that stores, in the storage unit, the constitutions of the new virtual-robot candidates and the settings of the virtual-robot-controller candidates associated therewith, generated by the virtual-robot generating unit.

2. A simulation device for a robot system according to claim 1,

wherein the storage unit stores, for each of the elements of the virtual-robot candidates, a required time for adding or deleting a setting associated with that element, and

wherein the difference extracting unit reads, from the storage unit, as the most approximate virtual-robot candidate, a virtual-robot candidate with the least total required time for obtaining the setting of the virtual robot controller associated with the constitution of the virtual robot input via the input unit.

3. A simulation device for a robot system according to claim 2, wherein the difference extracting unit, for each of the elements of the virtual-robot candidates stored in the storage unit, adds the required time for adding the element, stored in the storage unit in association with the element, in the case where the element is included in the virtual robot input via the input unit, subtracts the required time for deleting the element, stored in the storage unit in association with the element, in the case where the element is not included in the virtual robot input via the input unit, and reads the virtual robot candidate with the greatest value of the computation result as the most approximate virtual robot candidate.

4. A simulation device for a robot system according to claim 2, wherein the difference extracting unit adds up the required times stored in the storage unit in association with the individual elements included in the difference when adding or deleting the settings associated with those elements and uses the virtual robot candidate with the least value of the computation result as the most approximate virtual robot candidate.

5. A simulation device for a robot system according to claim 1, further comprising:

a usage-frequency counting unit that increments the usage frequency of a virtual-robot candidate each time the virtual-robot candidate is read by the difference extracting unit as the most approximate virtual-robot candidate; and

a storage-capacity detecting unit that detects the remaining capacity of the storage unit,

wherein the candidate updating unit deletes, from the storage unit, the constitution of a virtual robot candidate that approximates a virtual-robot candidate with the greatest usage frequency, as well as the setting of the virtual-robot-controller candidate associated therewith, in the case where the remaining capacity detected by the storage-capacity detecting unit is less than a predetermined threshold.

6. A simulation device for a robot system according to claim 1, wherein, each time the virtual-robot generating unit generates the constitution of a new virtual-robot candidate and a setting of a virtual-robot-controller candidate associated therewith, the candidate updating unit stores the constitution and the setting in the storage unit.

7. A simulation device for a robot system according to claim 1, wherein, each time the virtual-robot generating unit generates settings of virtual-robot-controller candidates associated with the constitutions of a predetermined number of new virtual-robot candidates, the candidate updating unit stores the constitutions and the settings in the storage unit.

8. A simulation device for a robot system according to claim 7, wherein the candidate updating unit changes the predetermined number in accordance with a required speed of storage into the storage unit or the amount of information to be stored in the storage unit.

9. A simulation method for a robot system, the simulation method comprising:

an input step of allowing input of the constitution of a virtual robot to be simulated;

a difference extracting step of reading, from a storage unit, the constitution of one of the virtual-robot candidates that most closely approximates the constitution of the virtual robot input in the input step and extracting the difference between the read constitution of the virtual-robot candidate and the constitution of the virtual robot input in the input step;

a virtual-robot generating step of reading, from the storage unit, the setting of the virtual-robot-controller candidate associated with the constitution of the most approximate virtual-robot candidate and the settings of the virtual-robot-controller candidates associated with elements of the virtual-robot candidates included in the difference extracted in the difference extracting step and adding or deleting the setting of the associated virtual-robot-controller candidate for each of the elements of the virtual-robot candidates included in the difference to or from the setting of the most approximate virtual-robot-controller candidate to generate the constitutions of new virtual-robot candidates and settings of virtual-robot-controller candidates associated therewith and the constitution of a new virtual robot and a setting of a virtual robot controller associated therewith; and

a candidate updating step of storing, in the storage unit, the constitutions of the new virtual-robot candidates and the settings of the virtual-robot-controller candidates associated therewith, generated in the virtual-robot generating step.

10. A simulation method for a robot system according to claim 9,

wherein the storage unit stores, for each of the elements of the virtual-robot candidates, a required time for adding or deleting a setting associated with that element, and

wherein, in the difference extracting step, as the most approximate virtual-robot candidate, a virtual-robot candidate with the least total required time for obtaining the setting of the virtual robot controller associated with the constitution of the virtual robot input in the input step is read from the storage unit.