JP7486982B2 - Information processing device, production device, article manufacturing method, information processing method, program, and recording medium - Google Patents

Description

The present invention relates to technology for diagnosing the operating programs of automated machines.

In production lines in factories, etc., goods are manufactured by operating automated machines, which are actuators such as robots, according to operating programs. Typically, a production line is equipped with multiple automated machines. Interlocks are set in the operating programs so that one of the multiple automated machines does not interfere with the other automated machines. Patent Document 1 describes a method for automatically setting an interlock.

JP 2007-164417 A

The operation programs that are created are required to ensure that the interlocks operate correctly. Since operation programs are created with this in mind, in some cases the automatic setting of the interlocks may reduce the operating efficiency of the automated machine.

The present invention aims to improve the operating efficiency of automated machines.

A first aspect of the present disclosure is an information processing device that executes a simulation of a device based on an operation program, wherein the operation program specifies an interlock process that, when a signal instructing the device to execute a predetermined operation is acquired, causes the device to execute the predetermined operation if predetermined conditions are met; and, when the signal is acquired in the simulation, a first process is executed that causes the device to execute the predetermined operation even if the predetermined conditions are not met ; and, if the device does not interfere with another object, the information processing device notifies the user that the predetermined conditions of the interlock process specified in the operation program are excessive .

A second aspect of the present disclosure is an information processing method for executing a simulation of a device based on an operation program, the operation program defining an interlock process for causing the device to execute a predetermined operation if a predetermined condition is met when a signal instructing the device to execute the predetermined operation is acquired, the information processing method including: when the signal is acquired in the simulation, a first process for causing the device to execute the predetermined operation even if the predetermined condition is not met ; and when the device does not interfere with another object, notifying the user that the predetermined condition of the interlock process defined in the operation program is exceeded .

The present invention can improve the operating efficiency of automated machines.

FIG. 1 is a schematic diagram of an automated assembly device according to an embodiment. FIG. 1 is a block diagram of a system according to an embodiment. FIG. 1 is a functional block diagram of a system according to an embodiment. FIG. 2 is a schematic diagram illustrating an example of a virtual space in the embodiment. 1A is a ladder diagram showing an example of a ladder program according to an embodiment, and FIG. 1B is a diagram showing information on contacts used in the ladder program; 3 is a flowchart illustrating a simulation method according to the embodiment.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a schematic diagram of an automatic assembly device 100 of a system according to an embodiment. FIG. 1 illustrates the automatic assembly device 100 in a real space RS. The automatic assembly device 100 illustrated in FIG. 1 is installed in a factory, for example. The automatic assembly device 100 includes three orthogonal robots 104, 105, and 106 as an example of a plurality of automatic machines. The three orthogonal robots 104, 105, and 106 are arranged on a stand 20. By using these orthogonal robots 104, 105, and 106, a second workpiece W2 is assembled to a first workpiece W1, thereby manufacturing a workpiece W3, which is an example of an article.

A rail 103 is laid on the stand 20, and a transport platform 111 on which the workpieces W1 and W3 are placed can move on the rail 103. The Cartesian robot 104 has a hand 114, which is an example of a holding part capable of holding the workpiece W1, and a movement mechanism 124 that moves the hand 114 in a translational direction. The Cartesian robot 105 has a hand 115, which is an example of a holding part capable of holding the workpiece W1, and a movement mechanism 125 that moves the hand 115 in a translational direction. The Cartesian robot 106 has a hand 116, which is an example of a holding part capable of holding the workpiece W2, and a movement mechanism 126 that moves the hand 116 in a translational direction. The Cartesian robots 104, 105, and 106 are arranged so that their operating ranges overlap.

Each of the Cartesian robots 104 and 105 acquires the workpiece W1 transported by the transport table 111. The Cartesian robot 106 acquires the workpiece W2 transported from a transport device (not shown). Then, each of the Cartesian robots 104 and 105 transports the workpiece W1 from the position where it was acquired to a position where the workpiece W2 is to be assembled to the workpiece W1. The Cartesian robot 106 assembles the workpiece W2 that it holds onto the workpiece W1 held by each of the Cartesian robots 104 and 105. Then, each of the Cartesian robots 104 and 105 transports the workpiece W3 composed of the works W1 and W2 to the transport table 111. The Cartesian robots 104 and 105 alternately repeat this series of operations.

Interlocks are set up to prevent interference between the Cartesian robots 104, 105, between the Cartesian robots 104, 106, and between the Cartesian robots 105, 106. The interlock is a function that stops the operation of one of the Cartesian robots unless a specified condition is met. Each Cartesian robot 104, 105, 106 operates according to a ladder program, which is a sequence program. This ladder program specifies the interlock process for performing the interlock, i.e., the interlock contacts.

When creating a ladder program, it is necessary to perform debugging work in advance to check whether the interlocks are working properly and to modify the ladder program if necessary. Performing this debugging work using an actual machine requires a lot of time and effort. Therefore, the debugging work is performed not using an automated machine in real space, but using a pseudo virtual machine in virtual space that corresponds to the automated machine.

Figure 2 is a block diagram of a production system 1000, which is an example of a system according to an embodiment. The production system 1000 includes the above-described automated assembly device 100, information processing device 200, simulation device 300, and management device 400. The production system 1000 also includes a PLC (Programmable Logic Controller) 500, which is an example of a first control unit, and a PLC 600, which is an example of a second control unit.

The information processing device 200 is configured as a computer and includes a processor, CPU (Central Processing Unit) 201. The CPU 201 functions as a diagnostic unit, which will be described later. The information processing device 200 also includes a storage unit, ROM (Read Only Memory) 202, RAM (Random Access Memory) 203, and HDD (Hard Disk Drive) 204. The information processing device 200 also includes an I/O 205, which is an input/output interface, and a disk drive 206. The CPU 201, ROM 202, RAM 203, HDD 204, I/O 205, and disk drive 206 are connected by a bus 210 so that they can communicate with each other.

ROM 202 is a non-transient storage device. ROM 202 stores a basic program that is read by CPU 201 when the computer is started. RAM 203 is a temporary storage device used for the arithmetic processing of CPU 201. HDD 204 is a non-transient storage device that stores various data such as the arithmetic processing results of CPU 201. In this embodiment, HDD 204 stores diagnostic program 211 for making CPU 201 function as a diagnostic unit described later and execute a part of the simulation method. Disk drive 206 can read various data and programs recorded on recording disk 212. I/O 205 functions as a communication module with the outside. Display device 221, input device 222, management device 400, and PLC 500 are connected to I/O 205. CPU 201 of information processing device 200 can communicate information with management device 400 and PLC 500 via I/O 205. Display device 221 is a display that displays various images. The input device 222 is a device that allows the operator to input data, such as a keyboard or mouse.

The simulation device 300 is configured as a computer, and includes a processor, CPU 301. CPU 301 functions as a simulation unit, which will be described later. The simulation device 300 also includes a storage unit, ROM 302, RAM 303, and HDD 304. The simulation device 300 also includes an I/O 305, which is an input/output interface, and a disk drive 306. The CPU 301, ROM 302, RAM 303, HDD 304, I/O 305, and disk drive 306 are connected by a bus 310 so that they can communicate with each other.

ROM 302 is a non-transient storage device. The ROM 302 stores a basic program that is read by the CPU 301 when the computer is started. RAM 303 is a temporary storage device used for the arithmetic processing of the CPU 301. HDD 304 is a non-transient storage device that stores various data such as the arithmetic processing results of the CPU 301. In this embodiment, the HDD 304 stores a simulation program 311 for making the CPU 301 function as a simulation unit described later and execute a part of the simulation method. The disk drive 306 can read various data, programs, etc. recorded on the recording disk 312. The I/O 305 functions as a communication module with the outside. The display device 321, the input device 322, the management device 400, and the PLC 500 are connected to the I/O 305. The CPU 301 of the simulation device 300 can communicate information with the management device 400 and the PLC 500 via the I/O 305. The display device 321 is a display that displays various images. The input device 322 is a device that allows the operator to input data, such as a keyboard or mouse.

The management device 400 is configured as a computer and includes a processor, CPU 401. The CPU 401 functions as a management unit, which will be described later. The management device 400 also includes a ROM 402, a RAM 403, and a HDD 404 as storage units. The management device 400 also includes an I/O 405, which is an input/output interface, and a disk drive 406. The CPU 401, ROM 402, RAM 403, HDD 404, I/O 405, and disk drive 406 are connected by a bus 410 so that they can communicate with each other.

ROM 402 is a non-transient storage device. The ROM 402 stores a basic program that is read by the CPU 401 when the computer is started. RAM 403 is a temporary storage device used for the arithmetic processing of the CPU 401. HDD 404 is a non-transient storage device that stores various data such as the arithmetic processing results of the CPU 401. The HDD 404 stores a management program 411 for causing the CPU 401 to function as a management unit described later. The disk drive 406 can read various data, programs, etc. recorded on the recording disk 412. The I/O 405 functions as a communication module with the outside. The display device 421, the input device 422, the information processing device 200, the simulation device 300, the PLC 500, and the PLC 600 are connected to the I/O 405. The CPU 401 of the management device 400 can communicate information with the information processing device 200, the simulation device 300, the PLC 500, and the PLC 600 via the I/O 405. The display device 421 is a display that displays various images. The input device 422 is a device that allows an operator to input data, such as a keyboard or a mouse. The PLC 600 is connected to the automated assembly device 100.

The PLC 600 can perform sequence control of the Cartesian robots 104, 105, and 106 of the automated assembly device 100 in the real space by outputting a control signal to the automated assembly device 100. The PLC 500 has a similar configuration to the PLC 600, and can perform sequence control of a virtual machine in the virtual space by outputting a control signal to the simulation device 300.

In this embodiment, the non-transient recording medium readable by a computer is HDD 204, and program 211 is recorded on HDD 204, but this is not limited to this. Program 211 may be recorded on any recording medium as long as it is a non-transient recording medium readable by a computer. The same applies to programs 311 and 411. Examples of recording media that can be used to supply programs 211, 311, and 411 to a computer include flexible disks, optical disks, magneto-optical disks, magnetic tapes, and non-volatile memories.

Figure 3 is a functional block diagram of a production system 1000 according to an embodiment. The CPU 201 of the information processing device 200 shown in Figure 2 functions as a diagnosis unit 250 shown in Figure 3 by executing a diagnosis program 211. The diagnosis unit 250 diagnoses the ladder program 800A registered in the PLC 500 by executing a diagnosis process 251. A diagnosis process is executed by this diagnosis process 251.

The CPU 301 of the simulation device 300 shown in FIG. 2 executes the simulation program 311 to function as the simulation unit 350 shown in FIG. 3. In addition, a part of the HDD 304 of the simulation device 300 shown in FIG. 2 functions as the model registration unit 360 shown in FIG. 3.

The CPU 401 of the management device 400 shown in FIG. 2 executes the management program 411 to function as the management unit 450 shown in FIG. 3. The management unit 450 executes ladder program management 451, 3D model management 452, diagnostic range management 453, and 3D CAD conversion processing 454.

The simulation unit 350 of the simulation device 300 executes a simulation process 351 that simulates the behavior of the virtual machine according to the control signal of the PLC 500, based on the virtual machine, which is a 3D model registered in the model registration unit 360. The simulation process is executed by this simulation process 351.

Figure 4 is a schematic diagram showing an example of a virtual space in an embodiment. Figure 4 illustrates a virtual assembly device 100V in a virtual space VS. The virtual assembly device 100V corresponds to the automated assembly device 100 and is virtually constructed in a simulation device 300. The virtual assembly device 100V includes three virtual robots 104V, 105V, and 106V as an example of a plurality of virtual machines. The virtual workpiece W1V corresponds to the workpiece W1, the virtual workpiece W2V corresponds to the workpiece W2, and the virtual workpiece W3V corresponds to the workpiece W3. The virtual robot 104V has a virtual hand 114V and a virtual mechanism 124V that moves the virtual hand 114V in a translational direction. The virtual robot 105V has a virtual hand 115V and a virtual mechanism 125V that moves the virtual hand 115V in a translational direction. The virtual robot 106V has a virtual hand 116V and a virtual mechanism 126V that moves the virtual hand 116V in a translational direction.

The management unit 450 shown in FIG. 3 executes ladder program management 451 that manages ladder program 800A, which is a sequence program, and ladder program 800. In ladder program management 451, the management unit 450 distributes ladder program 800A to PLC 500, distributes ladder program 800 to PLC 600, and distributes contact information in ladder program 800A to information processing device 200.

The ladder program 800 distributed by the management unit 450 is registered in the PLC 600. The ladder program 800 has been debugged using a pseudo virtual machine in a virtual space. The PLC 600 outputs a control signal based on the registered ladder program 800 to the automatic assembly device 100, thereby controlling the behavior of each of the Cartesian robots 104, 105, and 106 of the automatic assembly device 100 and causing the automatic assembly device 100 to manufacture the workpiece W3.

The operator inputs the undebugged ladder program 800A into the management device 400 by operating the input device 422. The ladder program 800A is a newly created ladder program that has not been diagnosed, or a modified ladder program that has not been diagnosed. The ladder program 800A is not limited to being created by the operator operating the input device 422. The ladder program 800A that has been created in advance may be input into the management device 400 from external storage, a network, or the like. In the management device 400, the ladder program 800A or 800 is registered, for example, in the HDD 404 of FIG. 2.

The ladder program 800A distributed by the management unit 450 is registered in the PLC 500. The PLC 500 is configured to be able to execute the ladder program 800A acquired from the management unit 450. That is, the PLC 500 outputs a control signal based on the registered ladder program 800A to the simulation unit 350, and controls the behavior of the virtual robots 104V, 105V, and 106V by the simulation unit 350.

The ladder program 800A is the target of diagnosis, and is diagnosed by the diagnosis unit 250 of the information processing device 200. The management unit 450 displays an image showing the diagnosis result of the ladder program 800A obtained from the diagnosis unit 250 on the display device 421. By referring to the diagnosis result displayed on the display device 421, the operator can operate the input device 422 to modify the ladder program 800A or register the ladder program 800. The ladder program 800A after modification can also be diagnosed again by the diagnosis unit 250. If the diagnosis of the ladder program 800A shows that no modification is necessary, the ladder program 800A is registered in the management device 400 as a debugged ladder program 800.

The management unit 450 also executes 3D model management 452 that manages a 3D model of the mechanical mechanism of the automated assembly device 100. The 3D model of the mechanical mechanism is input to the management unit 450 by an input device 422 operated by an operator, and is registered, for example, in the HDD 404 of FIG. 2. The 3D model of the mechanical mechanism is diagnosed by the diagnosis unit 250 of the information processing device 200. The management unit 450 acquires the diagnosis result of the mechanical mechanism from the diagnosis unit 250, and causes the display device 421 to display an image according to the diagnosis result. If the mechanical mechanism needs to be modified, the management unit 450 causes the display device 421 to display the parts of the mechanical mechanism that need to be modified.

The management unit 450 also executes a 3D CAD conversion process 454, which converts the 3D model of the mechanical mechanism of the automated machine managed by the 3D model management 452 into a format that can be simulated by the simulation unit 350 and distributes it to the simulation device 300. The 3D model distributed by the management unit 450 is registered in the model registration unit 360 of the simulation device 300.

The management unit 450 also executes diagnostic range management 453, which selects the diagnostic range of the ladder program 800A. In the diagnostic range management 453, the management unit 450 selects a part or all of the entire ladder program 800A as the diagnostic range, and distributes information on the selected diagnostic range to the information processing device 200. The diagnostic range is selected, for example, by an operator operating the input device 422. The diagnostic range may also be selected according to the correction portion where the operator has corrected the ladder program 800A by operating the input device 422. The diagnostic range may also be selected according to the correction portion where the operator has corrected the 3D model of the mechanical mechanism by operating the input device 422. The diagnosis unit 250 of the information processing device 200 executes diagnostic processing 251 based on the distributed diagnostic range information, and distributes the diagnostic result to the management device 400. In other words, the diagnosis unit 250 causes the simulation unit 350 to test the operation of the virtual robot 104V via the PLC 500 based on the diagnosis scope of the ladder program 800A, and delivers the test results to the management device 400.

Based on the ladder program 800A, the PLC 500 performs sequence control of the virtual robot 104V constructed in the virtual space VS by the simulation unit 350 in the same way as it performs sequence control of the Cartesian robot 104. The same applies to the virtual robots 105V and 106V.

The simulation method of this embodiment will be described below. The simulation method will be described by taking as an example a virtual robot 104V in a virtual space VS, which corresponds to an orthogonal robot 104 in a real space RS. FIG. 5(a) is a ladder diagram showing an example of a ladder program 800A to be diagnosed in this embodiment. FIG. 5(b) is a diagram showing information on contacts used in the ladder program 800A.

The management unit 450 distributes information of the ladder program 800A as shown in FIG. 5(a) to the PLC 500. The management unit 450 also selects a diagnostic range 801, which is part of the ladder program 800A shown in FIG. 5(a). The management unit 450 then distributes information on the contacts shown in FIG. 5(b), which are included in the selected diagnostic range 801, to the diagnosis unit 250 of the information processing device 200 and the simulation unit 350 of the simulation device 300.

The diagnostic range 801 is a part or all of the ladder program 800A that defines a series of operations of the Cartesian robot 104, i.e., the virtual robot 104V, and in this embodiment, is a part of the ladder program 800A. This diagnostic range 801 includes contacts for performing interlock processing. Interlock processing is a process in which, if a specified condition is met, an input signal starts a specified operation of the Cartesian robot 104, and, if the specified condition is not met, the operation of the Cartesian robot 104 continues to be stopped regardless of the presence or absence of an input signal.

The simulation unit 350 simulates the behavior of the virtual robot 104V in the virtual space VS by controlling the PLC 500 based on the diagnosis range 801 in the ladder program 800A. The diagnosis unit 250 then diagnoses the diagnosis range 801 in the ladder program 800A based on the simulation results of the simulation unit 350.

In this embodiment, the diagnosis unit 250 inputs an input signal to the PLC 500 to turn on a specific contact based on the contact information, and causes the simulation unit 350 to execute a simulation process 351 via the PLC 500. Then, as a result of the simulation by the simulation unit 350, a response signal is received from the PLC 500, and the diagnosis unit 250 diagnoses the diagnosis range 801 in the ladder program 800A.

Contacts M100, M101, M102, M200, M201, and M202 shown in FIG. 5(a) are a-contacts, and correspond to coils in PLC 500. Contact M100 corresponds to an automatic switch, contact M101 corresponds to a manual switch, and contact M102 corresponds to an interlock (I/L). Contacts M200, M201, and M202 correspond to predetermined interlock conditions. Contact M200 corresponds to condition 1, contact M201 corresponds to condition 2, and contact M202 corresponds to condition 3. In this embodiment, the predetermined interlock conditions consist of a plurality of conditions 1, 2, and 3. Contact M200 turns ON when condition 1 is met. Contact M201 turns ON when condition 2 is met. Contact M202 turns ON when condition 3 is met. When all three contacts M200, M201, and M202 are ON, that is, when a predetermined condition is met, contact M102 indicating an interlock is turned ON. Also, if any one of the three contacts M200, M201, and M202 is OFF, that is, if a predetermined condition is not met, contact M102 indicating an interlock is turned OFF. Therefore, in the example of FIG. 5(a), the interlock process in ladder program 800A is composed of contacts M200, M201, M202, and M102.

When the information processing device 200 inputs an input signal to turn on contact M101 to the PLC 500 in the diagnosis process 251, the PLC 500 turns on contact M101. Depending on the ON/OFF state of contact M102 when contact M101 is turned on, it is determined whether the virtual robot 104V starts a predetermined operation or continues to stop operating.

When contacts M101 and M102 are turned ON, operation command 152 is turned ON and a control signal for operating virtual robot 104V is output to simulation unit 350. If contact M102 is OFF, even if contact M101 is turned ON, operation command 152 will not be turned ON and virtual robot 104V will continue to be stopped.

Although not shown in the figure, the PLC 500 starts a predetermined operation of the virtual robot 104V in response to the operation command 152, and then when the predetermined operation of the virtual robot 104V is completed, the operation completion signal is turned ON. The diagnosis unit 250 can determine whether the predetermined operation of the virtual robot 104V has been completed by monitoring the operation completion signal of the PLC 500.

The operations of the information processing device 200, the PLC 500, and the simulation device 300 are described in detail below. Figure 6 is a flowchart showing a simulation method according to an embodiment.

First, the diagnosis unit 250 starts an interlock diagnosis by the diagnosis process 251, and inputs an input signal to the PLC 500 to turn on the contact M101. That is, the diagnosis unit 250 turns on the input signal (S201). By the process of this step S201, the contact M101 in FIG. 5(a) is turned on in the PLC 500.

Next, after turning on the input signal, the diagnosis unit 250 determines whether the contact M102 indicating an interlock is ON in the PLC 500 (S202). When the PLC 500 receives the input signal, it transmits a response signal indicating whether the contact M102 is ON to the diagnosis unit 250. The diagnosis unit 250 can determine whether the contact M102 is ON based on the response signal.

When an input signal is received and all of contacts M200 to M202 are ON, PLC 500 executes an interlock process to turn ON contact M102, thereby turning ON operation command 152. Even if an input signal is received, if at least one of contacts M200 to M202 is OFF, PLC 500 executes an interlock process to turn OFF contact M102, thereby keeping operation command 152 OFF.

If contact M102 is ON (S202: YES), PLC 500 turns ON operation command 152 in accordance with the interlock processing of ladder program 800A. As a result, simulation unit 350 starts a predetermined operation of virtual robot 104V in accordance with operation command 152 that has been turned ON by interlock processing (S203). The processing of step S203 is the second processing. In other words, if a predetermined condition is established when an input signal is input from diagnosis unit 250 in PLC 500, that is, if contact M102 is ON, simulation unit 350 starts a predetermined operation of virtual robot 104V in accordance with interlock processing.

In this embodiment, the simulation unit 350 has a function of diagnosing whether the operating virtual robot 104V will interfere with surrounding virtual objects, such as the virtual robots 105V and 106V. When the virtual robot 104V interferes with the virtual robot 105V, it means that the virtual robot 104V or the virtual workpiece W1V held by the virtual robot 104V collides with the virtual robot 105V or the virtual workpiece W1V held by the virtual robot 105V. When the virtual robot 104V interferes with the virtual robot 106V, it means that the virtual robot 104V or the virtual workpiece W1V held by the virtual robot 104V collides with the virtual robot 106V or the virtual workpiece W2V held by the virtual robot 106V. Information on whether the virtual robot 104V will interfere with the virtual robot 105V or 106V is transmitted to the diagnosis unit 250 via the PLC 500.

The diagnosis unit 250 determines whether or not the virtual robot 104V has interfered with the virtual robots 105V and 106V after the predetermined operation of the virtual robot 104V has started in step S203 (S204).

When the virtual robot 104V interferes with the virtual robot 105V or 106V (S204: YES), the diagnosis unit 250 outputs information indicating that the interlock process needs to be corrected to the management unit 450 as a diagnosis result (S208). As a result, the diagnosis unit 250 ends the diagnosis process 251. When the virtual robot 104V interferes with the virtual robot 105V or 106V, the simulation may be interrupted at the point of interference, or the simulation may be continued. Even if the virtual robot 104V interferes with the virtual robot 105V or 106V during virtual operation, the virtual operation can be continued because the models simply overlap each other. The management unit 450 notifies the operator that the interlock process needs to be corrected in the ladder program 800A by displaying the information acquired from the diagnosis unit 250 on the display device 421. In this case, the condition for turning on the contact M102 in the interlock process is insufficient, and interference may occur when the Cartesian robot 104 is actually operated. Therefore, the management unit 450 notifies the worker that the interlock processing conditions are insufficient in the ladder program 800A. This allows the worker to modify the conditions in the ladder program 800A that turn on the interlock contact M102 so that the Cartesian robot 104 does not interfere with surrounding structures, such as the Cartesian robots 105 and 106, even when it operates.

If virtual robot 104V does not interfere with virtual robot 105V or 106V (S204: NO), diagnosis unit 250 determines whether an operation completion signal has been turned ON in PLC 500 (S205). That is, diagnosis unit 250 determines whether a predetermined operation of virtual robot 104V has been completed based on whether an operation completion signal has been turned ON in PLC 500. Here, the operation completion signal being ON in step S205 means that virtual robot 104V did not interfere with virtual robots 105V and 106V from the time virtual robot 104V started to the time it completed its predetermined operation.

If the operation completion signal is ON (S205: YES), the diagnosis unit 250 outputs information indicating that the interlock processing does not need to be corrected to the management unit 450 as a diagnosis result (S206). As a result, the diagnosis unit 250 ends the diagnosis process 251. The management unit 450 notifies the operator that the interlock processing in the ladder program 800A does not need to be corrected by displaying the information obtained from the diagnosis unit 250 on the display device 421.

If the operation completion signal remains OFF and times out despite the operation command 152 being ON, the operation of the virtual robot 104V cannot be completed, i.e., there is a defect in the ladder program 800A. Therefore, if the operation completion signal remains OFF and times out (S205: NO), the diagnosis unit 250 outputs information indicating that the ladder program 800A needs to be modified to the management unit 450 as a diagnosis result (S207). As a result, the diagnosis unit 250 ends the diagnosis process 251. The management unit 450 notifies the operator that the ladder program 800A needs to be modified by displaying the information acquired from the diagnosis unit 250 on the display device 421. This prompts the operator to modify the ladder program 800A.

As described above, the diagnosis unit 250 diagnoses whether or not the diagnosis range 801 needs to be modified based on whether or not the virtual robot 104V interferes with the virtual robots 105V and 106V after starting the specified operation through the execution of the processing of step S203 by the simulation unit 350.

If the contact M102 is OFF in step S202 (S202: NO), the diagnosis unit 250 sends a command to the PLC 500 to forcibly turn on the operation command 152 (S210). As a result, the PLC 500 ignores the interlock processing in the ladder program 800A and forcibly turns on the operation command 152. As a result, the simulation unit 350 starts a predetermined operation of the virtual robot 104V in accordance with the operation command 152 regardless of the interlock processing (S211). The processing of this step S211 is the first processing. In other words, when an input signal is input from the diagnosis unit 250 in the PLC 500, if the predetermined condition is not satisfied, i.e., if the contact M102 is OFF, the simulation unit 350 forcibly starts the predetermined operation of the virtual robot 104V.

In the following steps S212 to S216, the diagnosis unit 250 diagnoses the diagnosis range 801 of the ladder program 800A based on the execution result of the processing in step S211.

The diagnosis unit 250 determines whether or not the virtual robot 104V has interfered with the virtual robots 105V and 106V after the predetermined operation of the virtual robot 104V has started in step S211 (S212).

When the virtual robot 104V interferes with the virtual robot 105V or 106V (S212: YES), the diagnosis unit 250 outputs information indicating that the interlock process does not need to be corrected to the management unit 450 as a diagnosis result (S216). As a result, the diagnosis unit 250 ends the diagnosis process 251. When the virtual robot 104V interferes with the virtual robot 105V or 106V, the simulation may be interrupted at the point of interference, or the simulation may be continued. Even if the virtual robot 104V interferes with the virtual robot 105V or 106V during virtual operation, the virtual operation can be continued because the models simply overlap each other. The management unit 450 notifies the operator that the interlock process does not need to be corrected in the ladder program 800A by displaying the information acquired from the diagnosis unit 250 on the display device 421. In other words, if the virtual robot 104V is forced to operate and interfere with other virtual objects while ignoring the fact that the contact M102 is OFF, this means that the interlock process in the ladder program 800A functions correctly. In this case, there is no need to modify the interlock process.

If virtual robot 104V does not interfere with virtual robot 105V or 106V (S212: NO), diagnosis unit 250 determines whether an operation completion signal has been turned ON in PLC 500 (S213). That is, diagnosis unit 250 determines whether a predetermined operation of virtual robot 104V has been completed based on whether an operation completion signal has been turned ON in PLC 500. Here, the operation completion signal being ON in step S213 means that virtual robot 104V did not interfere with virtual robots 105V and 106V from the time virtual robot 104V started to the time it completed its predetermined operation.

If the operation completion signal is ON (S213: YES), the diagnosis unit 250 outputs information indicating that the interlock process needs to be corrected to the management unit 450 as a diagnosis result (S214). As a result, the diagnosis unit 250 ends the diagnosis process 251. In this case, the condition for turning on the contact M102 in the interlock process is excessive, and even though no interference occurs when the orthogonal robot 104 is actually operated, the orthogonal robot 104 is kept waiting excessively. Therefore, the management unit 450 notifies the worker that the interlock process condition in the ladder program 800A is excessive. Since the worker knows that the interlock process condition in the ladder program 800A is excessive, the worker can correct the interlock process. As a result, the excessive waiting time in the orthogonal robot 104 operating based on the ladder program 800 is reduced, so the operating efficiency of the orthogonal robot 104 can be improved, and the productivity of the workpiece W3 can be improved.

If the operation completion signal remains OFF and times out even though the operation command 152 is turned ON, the operation of the virtual robot 104V cannot be completed, i.e., there is a defect in the ladder program 800A. Therefore, if the operation completion signal remains OFF and times out (S213: NO), the diagnosis unit 250 outputs information indicating that the ladder program 800A needs to be modified to the management unit 450 as a diagnosis result (S215). As a result, the diagnosis unit 250 ends the diagnosis process 251. The management unit 450 notifies the operator that the ladder program 800A needs to be modified by displaying the information acquired from the diagnosis unit 250 on the display device 421. This prompts the operator to modify the ladder program 800A.

As described above, the diagnosis unit 250 diagnoses whether or not the diagnosis range 801 needs to be modified based on whether or not the virtual robot 104V interferes with the virtual robots 105V, 106V after the simulation unit 350 executes the process of step S211. This makes it possible to determine not only whether there is a shortage of interlock processing, but also whether the interlock processing is set excessively, and to set an appropriate number of interlock processing. Therefore, it is possible to reduce unnecessary stops of the automatic machine due to excessive interlock processing being set in an actual automatic machine. This makes it possible to improve the operating efficiency of the automatic machine.

The present invention is not limited to the embodiments described above, and many variations are possible within the technical concept of the present invention. Furthermore, the effects described in the embodiments are merely a list of the most favorable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments.

In the above embodiment, a case has been described in which one diagnostic range 801 is selected in a series of ladder programs 800A, but this is not limited thereto, and multiple diagnostic ranges 801 may be selected in a series of ladder programs 800A. In addition, the ladder program 800A may include interlock processing for each of multiple automated machines, in which case each of the multiple interlock processing may be diagnosed.

In addition, although the above description has been given of a case in which the diagnosis unit 250 inputs an input signal to the PLC 500 that turns on the contact M101 corresponding to the manual switch, this is not limited to this. The PLC 500 may itself generate an input signal that turns on the contact M100 corresponding to the automatic switch according to conditions.

In the above embodiment, the automatic machine is an Cartesian robot, but this is not limited to this. The automatic machine may be a robot other than an Cartesian robot, such as a vertical articulated robot, a horizontal articulated robot, or a parallel link robot. The automatic machine may also be a device other than a robot, such as a cylinder, a servo mechanism, or an NC processing machine, which involves a moving operation. The invention is also applicable to machines that can automatically perform movements such as extension, contraction, bending, vertical movement, horizontal movement, or rotation, or a combination of these movements, based on information from a storage device provided in the control device.

Furthermore, the functions of the information processing device 200, the simulation device 300, the management device 400, and the PLC 500 described in the above embodiments may be realized by one or more computers. For example, the functions of the diagnosis unit, the simulation unit, and the management unit are not limited to being realized by three computers, but may be realized by one or two computers, or may be realized by four or more computers. Furthermore, the functions of the PLC 500 may be realized by a computer that performs the functions of the diagnosis unit, the simulation unit, or the management unit.

To explain this with a specific example, the CPU 301 of the simulation device 300 may be caused to realize the functions of the diagnosis unit 250 and the simulation unit 350 described in the above embodiment. Furthermore, the CPU 301 of the simulation device 300 may be caused to realize the functions of the management unit 450 described in the above embodiment.

As another specific example, the CPU 201 of the information processing device 200 may be caused to realize the functions of the diagnosis unit 250 and the simulation unit 350 described in the above embodiment. Furthermore, the CPU 201 of the information processing device 200 may be caused to realize the functions of the management unit 450 described in the above embodiment.

Other Examples
The present invention can also be realized by a process in which a program for implementing one or more of the functions of the above-described embodiments is supplied to a system or device via a network or a storage medium, and one or more processors in a computer of the system or device read and execute the program. The present invention can also be realized by a circuit (e.g., ASIC) that implements one or more of the functions.

104... Cartesian robot (automatic machine), 104V... Virtual robot (virtual machine), 105V... Virtual robot (virtual object), 106V... Virtual robot (virtual object), 250... Diagnosis section, 350... Simulation section, 450... Management section, 800A... Ladder program, 801... Diagnosis range (operation program), 1000... Production system (system)

Claims (27)

An information processing device that executes a simulation of a device based on an operation program,
The operation program defines an interlock process for causing the device to execute a predetermined operation if a signal instructing the device to execute the predetermined operation is received and a predetermined condition is satisfied,
When the signal is acquired in the simulation, a first process is executed to cause the device to execute the predetermined operation even if the predetermined condition is not satisfied, and when the device does not interfere with another object, a notification is given that the predetermined condition of the interlock process defined in the operation program is in an excessive state .
23. An information processing apparatus comprising: The interlock process does not cause the device to execute the predetermined operation even if the signal is received unless the predetermined condition is satisfied.
2. The information processing apparatus according to claim 1, executing the first process , and if the device does not interfere with another object, determining that the predetermined condition of the interlock process defined in the operation program is in an excessive state ;
3. The information processing apparatus according to claim 1, wherein the information processing apparatus is a computer. executing the first process , and notifying the user that a correction is required in the operation program if the device does not interfere with another object ;
4. The information processing apparatus according to claim 1, wherein the information processing apparatus is a computer. executing the first process , and notifying the user that no correction is required in the operation program if the device interferes with another object ;
5. The information processing apparatus according to claim 1, wherein the information processing apparatus is a computer. executing the first process, and if the predetermined operation is not completed, notifying that correction is required in the operation program;
6. The information processing apparatus according to claim 1, If the predetermined condition is satisfied when the signal is acquired in the simulation, a second process is executed to cause the device to execute the predetermined operation in accordance with the interlock process.
7. The information processing apparatus according to claim 1, executing the second process , and when the device interferes with another object, determining that the predetermined condition of the interlock process defined in the operation program is not satisfied ;
8. The information processing apparatus according to claim 7 , executing the second process , and notifying the user that a correction is required in the operation program if the device interferes with another object ;
9. The information processing apparatus according to claim 7 , wherein the information processing apparatus is a computer. executing the second process , and notifying the user that no modification is required in the operation program if the device does not interfere with another object ;
10. The information processing apparatus according to claim 7 , executing the second process, and when the device interferes with another object, notifying that the predetermined condition of the interlock process is not satisfied;
The information processing device according to any one of claims 7 to 10 . executing the second process, and if the predetermined operation is not completed, notifying that correction is required in the operation program;
The information processing device according to any one of claims 7 to 11. If the device interferes with another object during the simulation, the simulation is interrupted at the point of interference.
The information processing device according to any one of claims 1 to 12 . Continuing the simulation even if the device interferes with another object in the simulation.
The information processing device according to any one of claims 1 to 13 . A first control unit controls a behavior of the device through the simulation.
The information processing device according to any one of claims 1 to 14 . The operation program is a part or the whole of a sequence program that defines a series of operations of the device.
The information processing device according to any one of claims 1 to 15 . A management unit that distributes the sequence program is further provided.
17. The information processing apparatus according to claim 16 , a second control unit that acquires the sequence program from the management unit and outputs a control signal based on the acquired sequence program to the device to control a behavior of the device.
20. The information processing apparatus according to claim 17 , a display unit displays whether or not the operation program needs to be modified;
19. The information processing apparatus according to claim 1, The operation program is a ladder program.
20. The information processing apparatus according to claim 1, executing the first process, and when the device interferes with another object, determining that the predetermined condition of the interlock process defined in the operation program is in an appropriate state;
3. The information processing apparatus according to claim 1, wherein the information processing apparatus is a computer. The predetermined condition is a condition for turning a contact corresponding to the interlock process defined in the operation program ON or OFF.
22. The information processing apparatus according to claim 1, A production device comprising the information processing device according to any one of claims 1 to 22, the device, and a control device that controls the device ,
a simulation of the operation program is performed by the information processing device, a user modifies the operation program using the information processing device based on a result of the simulation, and the control device controls the device based on the modified operation program. A method for manufacturing an article, comprising the steps of: manufacturing the article using the production apparatus according to claim 2 or 3 . An information processing method for executing a simulation of a device based on an operation program, comprising the steps of:
The operation program defines an interlock process for causing the device to execute a predetermined operation if a signal instructing the device to execute the predetermined operation is received and a predetermined condition is satisfied,
When the signal is acquired in the simulation, a first process is executed to cause the device to execute the predetermined operation even if the predetermined condition is not satisfied, and when the device does not interfere with another object, a notification is given that the predetermined condition of the interlock process defined in the operation program is in an excessive state.
23. An information processing method comprising: A program for causing a computer to execute the information processing method according to claim 5 . A computer-readable recording medium having the program according to claim 6 recorded thereon.

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