JP2004005431A - Simulation model creating method, simulation method and device, and monitor/control method and system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To facilitate construction of a simulation model. <P>SOLUTION: A module 62 automatically and sequentially carries out operation (for example, a task a1, tasks c1 and c2, tasks a2 and a3) by faithfully modeled virtual resources corresponding to each of a plurality of intimately associated processes carried out as a sequence of processes provided with respect to a faithfully modeled virtual work. The simulation model is created by combining modules 62, 64 and 66. <P>COPYRIGHT: (C)2004,JPO

Description

【数２】

【数３】

などである。そして、データ入力／論理演算部２４は、上記のような論理演算が「真」であるときに、次のタスクを実行させるタスク起動型状態レジスタを起動する。
【００４７】
このようにして、入力手段１２を介してワークの仕様とワークに対する処理工程とが入力されたのち、工程制御手段１４にシミュレーションの開始命令が与えられると、工程制御手段１４は、この実施形態の場合、実行タスク記憶・実行手段２０のタスク実行部（図示せず）を介して実行タスク記憶・実行手段２０に書き込んだソースタスクａを起動する。これにより、実行タスク記憶・実行手段２０のタスク実行部は、ソースタスクａの内容を実行し、表示手段２２に画像として再現したリソース（仮想リソース）Ａの所定位置に、実際のワークを再現した仮想ワークを生成し、さらにリソースＡによる仮想ワークに対するタスクａ１（処理）を実行する。このタスクの内容は、実際のリソースによる実際のワークに対する操作の内容、動作が忠実に画像として再現されるようになっている。そして、リソースＡによるタスクａ１が終了すると、タスクａ１の後段の状態レジスタａ１−１がタスクａ１の終了によって起動され、イベントフラグを立てて状態値が「１」となる。この状態レジスタａ１−１の状態値の情報は、図示２の破線に示したように、タスク実行部を介して工程制御手段１４のデータ入力／論理演算部２４に入力される。
【００４８】
データ入力／論理演算部２４は、予め与えられている制御ロジックに従って、次のタスクを起動する。すなわち、データ入力／論理演算部２４は、例えば前記した数式１のロジックが与えられている場合、状態レジスタａ１−１の状態値が「１」になると、図２の実線に示したように、実行タスク記憶・実行手段２０のタスク実行部を介して状態レジスタｃ１−１に起動信号を出力する。状態レジスタｃ１−１は、工程制御手段１４から起動信号が入力すると、状態レジスタａ１−１のイベントフラグをリセット（状態値を「０」に）し、その後タスクｃ１起動する。以下同様にして、仮想ワークに対する仮想リソースによる処理（オペレーション）が画像として表示手段２２に再現される。
【００４９】
このようにして、実際のワークを忠実にモデル化した仮想ワークに対して、実際のリソースを忠実にモデル化した仮想リソースによって、表示手段２２の画面上で実際にハンドリングなどの処理を行なうため、実際のシーケンシャルプロセスを忠実に再現することができ、現実とよく対応のとれたシミュレーションが可能となる。このため、シミュレーションを行なったときに、正確な動きとして視覚的に再現できるだけでなく、シミュレーションの構築そのものが実システムのシステム設計および制御設計そのものであるようにでき、トータルとして、システム構築のコスト節約、品質の向上、工期短縮に大いに寄与することができる。
【００５０】
そして、タスク展開型バーチャルシミュレーション（バーチャルシミュレーションインフラ）の各機器（仮想リソース）のオペレーションを、時間ファクタを含むタスクプログラムで表現することによって、自律的かつ並列的稼動という実機器と類似の特性を持たせ、模擬センサ／入出力ＩＯとも言うべき状態レジスタをタスクの前後に付加してリソース状態情報を制御手段１４に入力でき、また仮想リソースを自在に稼働させられるようにし、また時々刻々の状態情報に制御手段１４によって論理演算をすることで、実際のＰＬＣシーケンスコントロールを模擬するという仕組みによって、仮想リソース対機器、オペレーション対タスク、ＰＬＣコントロール工程制御部１４という、現実対仮想がシミュレーションの条件内で同一視できるスキームが作れる。これによって首尾一貫した発展性に富む、高度なバーチャルなシミュレーションが可能になる。
【００５１】
図３は、本発明に係る他の実施形態の要部を示したものであって、実行タスク記憶・実行手段の説明図である。この実施形態に係る実行タスク記憶・実行手段５０は、タスク実行部となるシステムコントローラ５２と実行タスク記憶部５４とからなっている。システムコントローラ５２は、詳細を後述する自律的タスク順次起動機能部５６と、リソースコンフリクト調停機能部５８と、リソース予約／予約解除機能部５９と、タスク優先度基準記憶部６０とを有している。
【００５２】
実行タスク記憶部５４は、仮想ワークに対して実行する処理工程における各処理をするための操作をモデル化したタスクを書き込むようになっている。この実施形態においては、密接に関連して一続きとして行なわれる複数のタスクを、自動的に連続的に実行するモジュールとして一まとめにしている。すなわち、図２に示した前記実施形態においては、各タスクの前段にタスク起動型状態レジスタを配置するとともに、各タスクの後段に情報収集型状態レジスタを配置し、各タスクの終了ごとに工程制御手段１４のデータ入力／論理演算部２４が論理演算を行ない、その論理演算の結果が「真」であるときに、タスク起動型状態レジスタを介して次のタスクを起動していたのに対して、図３に示した実施形態の場合、モジュールとしてまとめられた一連の複数のタスクは、最初のタスクが起動されると、そのモジュールに属する最後のタスクまでが自動的に順次起動するようになっている。
【００５３】
これらのモジュールは、実現したいシミュレーションの目的に沿って、ばらばらに選択されるタスク群を、シミュレーションのシナリオ（処理工程）の要請する因果関係、前後関係を考慮して決定される。このモジュールを構成するタスク群は、それに含まれるタスクが何らかの原因で起動されたら、そのタスク実行後、次段のタスクを自動的に起動し、１つのモジュールに含まれる最後のタスクまで順次起動されていくようになっている。
【００５４】
図３の実施形態の場合、第１の一意シナリオモジュール６２、第２の一意シナリオモジュール６４、第３の一意シナリオモジュール６６がそれぞれ一連の操作のモジュールとなっている。そして、第１の一意シナリオモジュール６２は、実施形態の場合、ソースタスクａ、リソースＡによるタスクａ１、リソースＣによるタスクｃ１、リソースＣによるタスクｃ２、リソースＡによるタスクａ２、リソースＡによるタスクａ３から構成してあって、タスクａ３の後段に前記実施形態と同様の情報収集型状態レジスタｚ１が配置してある。
【００５５】
また、第２の一意シナリオモジュール６４は、先頭に前記したと同様のタスク起動型状態レジスタｘ１が配置してあって、この状態レジスタｘ１に続けてリソースＡによるタスクａ２、リソースＢによるタスクｂ２、リソースＣによるタスクｃ１、タスクｃ１の実行中の状態を伝達するための状態レジスタｙ２、リソースＡによるタスクａ１、リソースＣによるタスクｃ３、タスクｃ３の後段に配置した情報収集型状態レジスタｚ２とからなっている。
【００５６】
さらに、第３の一意シナリオモジュール６６は、タスク起動型状態レジスタｘ２、リソースＡによるタスクａ２、リソースＢによるタスクｂ２、リソースＣによるタスクｃ１、タスクｃ１の後段に設けた情報収集型状態レジスタｚ３とから構成してある。
【００５７】
これらの一意シナリオモジュール６２、６４、６６を作成するルールは、次の（１）〜（５）のようになっている。
（１）各タスクをどういう前後関係、どういう因果関係で起動するかによってシナリオ（タスクの実施順序）を構築できるが、タスクの接続としてあるタスクが終わったら必ずこのタスクが開始する、という関係を持ち、その前後関係と接続関係がシミュレーションの進行の変化手順に拘わらず不変であるものを最長になるまで繋げることができる。そして、シミュレーションのあらゆる局面が必ずどれかの一意シナリオモジュールに属するように、言い換えれば複数の一意シナリオモジュールの集合がシミュレーションの全シナリオをカバーできるようになるまで一意シナリオモジュールを作る。勿論、シナリオシーン（処理工程）の重複があってはならない。タスクが１つしかない一意シナリオモジュールもありうる。一意シナリオモジュールにおいて本質的なことは、前段タスクに対する後継タスクの前後関係の絶対性であり、間に関連しない別のタスクを挟むことはない、ということである。しかしながら、時間的には、前段が終了したら直ぐに後継タスクが開始しなければいけないというものではない。例えばその時、後継タスクが以前に起動された分のオペレーション（タスク）をまだ続行中ならば、それが終わるまで待たなければならないし、後継タスクの仮想リソースが他の一意シナリオモジュール内のあるタスクで既に使われている場合は、それが終わるまで待たなければならない。
【００５８】
（２）一意シナリオモジュールを作成する場合、あるタスクからシミュレーションの変化手順に応じて択一の形で複数のタスクに枝分かれ（選択分岐）が存在するとき、一意シナリオモジュールはそこで終わる。
【００５９】
（３）一意シナリオモジュールの作成においては、あるタスク終了によって後継のタスクを起動する場合に、複数のタスクが一斉（並列分岐）に起動するときは、一番関連が強いタスクを後継として一意シナリオモジュールの作成を続けてもよい（勿論、分岐する前のところで終わってもよいが、続けた方が一般にシナリオが簡明になる）。このように複数に分岐するときは、後述するように、その部分に状態レジスタを挿入して、そこから同時に起動したい他の一意シナリオモジュールを起動することになる。
【００６０】
（４）できた一意シナリオモジュールが全てのシナリオシーン（シミュレーションのすべての処理工程）をカバーするまで一意シナリオモジュールを新たに追加して行く。
【００６１】
（５）一意シナリオモジュールの中で、さらには一意シナリオモジュール間で、同じタスクが何回現れても構わない。重複してならないのはシナリオシーンである。
【００６２】
なお、実施形態においては、便宜上、上記のようにして作成される一意シナリオモジュールの先頭、末尾、場合によっては中間に付加した状態レジスタを含めて、特に混乱を生じるおそれのないときは一意シナリオモジュールと呼ぶ。
【００６３】
このような一意シナリオモジュールを用いたこの実施形態においても、シーケンシャルプロセスにおけるセンサ／制御系に相当するものは、前記実施形態と同様に、タスクとの接点である状態レジスタ群と、状態レジスタから得られた状態データを用いて意思決定を行なう工程制御手段１４によって実現している。
【００６４】
状態レジスタは、前記実施形態と同様に、記憶機能を有する一種の関数（通常は時間要素をもたないが、時間遅延のような例外もある）であり、タスク起動の仲介や仮想リソースの状態情報収集を行なう。そして、タスク起動のための状態レジスタ（例えば、状態レジスタｘ１、ｘ２）は、各一意シナリオモジュールの冒頭に置かれ、工程制御手段１４のデータ入力／論理演算部２４の指令によって起動されると、設定に従って関連フラグのリセット、カウンタのリセット等を行なったのち、次段のタスクを起動する。
【００６５】
仮想リソースの情報収集を行なう状態レジスタ（例えば、状態レジスタｚ１、ｚ２、ｚ３）は、通常、各一意シナリオモジュールの末尾につけられ、一意シナリオモジュールの最後のタスクによって起動される。起動された情報収集型状態レジスタは、その設定に従ってイベントフラグ等を立て、一意シナリオモジュールの情報をデータ入力／論理演算部２４に伝える。
【００６６】
また、一意シナリオモジュールの途中の状態を伝える必要がある場合は、第２の一意シナリオモジュール６４中に示した状態レジスタｙ２のように、状態レジスタを適切なタスクの後ろに挿入し、そのタスクの終了タイミングで挿入した状態レジスタが起動される。ただし、途中に挿入された状態レジスタは、データ入力／論理演算部２４からの指令によって起動してもよい。この場合は、このレジスタ位置から一意シナリオモジュールの最後までのタスクが順次起動されることになる。なお、前記実施形態のように、一意シナリオモジュール中の１つのタスクを複数に分割し、その間に状態レジスタを挿入してもよい。
【００６７】
このように、状態レジスタの記憶機能をイベントフラグだけでなくカウンタや識別番号の記憶機能として使用し、タスクにループ処理をさせたり、一意シナリオモジュールに分岐識別子に基づく分岐をさせることもできる。
【００６８】
工程制御手段１４のデータ入力／論理演算部２４は、前記実施形態と同様であって、状態レジスタからフラグ等の状態データを読み、それに論理演算や遅延等の時間演算を施し、結果が「真」になったら適切な一意シナリオモジュールを、状態レジスタを介して起動する。データ入力／論理演算部２４の行なう演算は、例えば、
【数４】

【数５】

【数６】

などである。
【００６９】
各一意シナリオモジュール６２、６４、６６は、先頭のタスクがタスク実行部であるシステムコントローラ５２を介して工程制御手段１４によって起動され、先頭のタスクが起動されると、一連のタスクがシステムコントローラ５２の自律的タスク順次起動機能部５６によって、図３の上から順に自動的に起動される。
【００７０】
すなわち、自律的タスク順次起動機能部５６は、一意シナリオモジュールの冒頭の状態レジスタがデータ入力／論理演算部２４からの指示によって起動され、あるいは冒頭のソースタスクが動き始め、そのレジスタやソースタスクが終了するとこれを検知して次段のタスクを起動し、この起動されたタスクが終了すると、さらに次のタスクを起動する、という具合に一意シナリオモジュールの末端のタスクまで各タスクの起動を順順にリレーする。そして、タスクが仮想ワークを扱っていれば仮想ワークもリレーされる。また、一意シナリオモジュールの中では、一意シナリオモジュールを構成している複数のタスクが同時に実行状態を取り得る。これが普通のフローチャートで表現されるプログラムと異なる点である。ただし、一意シナリオモジュールにおいて、後継（後段側）タスクが稼動中であれば、前段のタスクはそれが空くまで待つ。
【００７１】
そして、各一意シナリオモジュールは、最後のタスクによる仮想ワークに対する処理が終了すると、一意シナリオモジュールの末尾に配置してある情報収集型状態レジスタ（例えば、状態レジスタｚ１）が最後のタスクによって起動される。この状態レジスタは、起動されるとイベントフラグを立てて状態値が「１」となる。状態レジスタの状態値は、システムコントローラを介して工程制御手段１４のデータ入力／論理演算部２４に入力される。データ入力／論理演算部２４は、所定の論理演算を行ない、この演算が「真」であると、次の一意シナリオモジュールを起動する信号を出力する。
【００７２】
例えば、データ入力／論理演算部２４は、数式４に示したロジックが与えられている場合、一意シナリオモジュール６２の状態レジスタｚ１の状態値が「１」となると、「状態レジスタｘ２を２秒後に起動せよ」との信号をシステムコントローラ５２に出力する。これにより、システムコントローラ５２は、２秒後に状態レジスタｘ２を起動する。状態レジスタｘ２は、起動されると状態レジスタｚ１のイベントフラグをリセット（状態値を「０」にリセット）する。そして、システムコントローラ５２の自律的タスク順次起動機能部５６は、状態レジスタｘ２が状態レジスタｚ１のイベントフラグをリセットすると、状態レジスタｘ２の後段に位置するタスクａ２以下のタスクを順次起動する。以下同様にして各一意シナリオモジュールが起動され、タスクが実行される。
【００７３】
リソースコンフリクト調停機能部５８は、同一の仮想リソースに対して同時に複数のタスクが要求されたときに、どのタスクを優先させて実行するかを調節するようになっている。すなわち、一意シナリオモジュールは、一般に同時並行的に複数が稼動する。各一意シナリオモジュールは、タスクから構成されているので、並行して稼動している複数の一意シナリオモジュール内のタスクが同時に同一の仮想リソースを要求することがありうる。この場合、その仮想リソースのあるタスクが既に走っているときは、それが終了するまで待つ必要があるが、次に動かすタスクとしては、実行を要求された複数のタスクからある基準でひとつのタスクを選択する必要がある。リソースコンフリクト調停機能部５８は、このようなリソースコンフリクトが起こった場合に、タスク優先度記憶部６０に格納してある優先度の基準に従ってタスク間の折り合いをつけ、仮想リソースに属するタスクが同時に２つ以上起動しないようにする。コンフリクト克服の基準としては、タスクごとに予め優先順位を設定する方法、早く要求したタスクを先に実行する方法、さらに別の状態レジスタデータを参照して起動タスクを決定する方法等がある。
【００７４】
リソース予約／予約解除機能部５９は、一意シナリオモジュール内で、近い将来ある仮想リソースを使用することが確実な場合、その仮想リソースを予約することを可能にし、また使用後、仮想リソースの予約を解除することを可能にするようになっている。すなわち、その一意シナリオモジュール内のあるタスクａ２の後ろにいくつかのタスクを挟んでリソース（仮想リソース）Ｃを使用するタスクｃ１がある場合、タスクａ２の直後でリソースＣを予約して他のタスクに使われないようにし、ｃ１の順番がきてリソースＣを使用し終え、さらにリソースＣから仮想ワークを搬出する等、リソースＣを他で使える状態にしたらリソースＣを開放するのである。リソースコンフリクト調停機能が実際に仮想リソースを利用する時点になって働くのに対し、リソース予約／予約解除機能は、将来の利用を見越して働く。
【００７５】
例えば、一意シナリオモジュールで仮想ワークを加工するタスクａ２、その仮想ワークをリソースＣに搬送する天井クレーン（仮想リソース）Ｂのタスクｂ２、リソースＣで仮想ワークを加工するｃ１、リソースＣから仮想ワークを搬出するタスクｂ３の順で並んでいるとする。もしも、リソース予約／予約解除機能がないと、タスクａ２が仮想ワークの加工を終えると直ぐに（リソースＢが空いていれば）リソースＢがリソースＣに仮想ワークを搬送しようとするが、そのときリソースＣが別の仮想ワークで塞がっていれば、リソースＢはそこでリソースＣが空くのを待つ。もしも、リソースＣから仮想ワークを搬出させるタスクがリソースＢに割り当てられているとすると、天井クレーンＢは永遠にリソースＣの前で待つことになる。このようなデッドクロスは、タスクａ２の直後にリソースＣの予約を入れ、タスクｂ３の直後にリソースＣの予約解除を入れれば回避できる。
【００７６】
リソース予約およびリソース予約解除は、「リソース予約」、「リソース予約解除」命令で行ない、一意シナリオモジュールに一種のタスクとして自在に挿入できる。「リソース予約」、「リソース予約解除」命令の因数は、リソース名である。一意シナリオモジュールで上から順にタスクが起動され、「リソース予約」に到達したら、リソース予約／予約解除機能部５９は、その仮想リソースの予約状況を見、先約がなければ予約を登録するとともに、次のタスクを起動するし、もしも既に他の予約が入っていて、仮想リソースが直ぐに使用できない状況であれば、その仮想リソースの待ち行列に予約を加え、自分の番がくるまで待たせるのである。
【００７７】
予約解除命令は、リソースＣの利用後、リソースＣを他のタスクに提供できるようになるところに挿入するが、その挿入場所はシナリオの流れによって決まり、リソース予約の挿入された一意シナリオモジュールと異なるモジュールの場合もありうる。
【００７８】
図４は、一意シナリオモジュールを用いたシミュレーションの仕様記述法（一意シナリオモジュールの連結法）の一例を示したものである。図４に示したように、各一意シナリオモジュール６２、６４、６６は、相互に他と区別のできる塊として記述する。各一意シナリオモジュールは、それぞれタスク欄７０、内容記述欄７２、優先度欄７４を有する。そして、各一意シナリオモジュール６２、６４、６６に属する各タスクは、タスク欄７０に起動する順序に上から下へと書く。また、タスクの属するリソース名もタスク欄７０に明記する。
【００７９】
タスク欄７０に記述した各タスクに対応した内容記述欄７２には、タスクの内容、すなわち仮想リソースによる仮想ワークに対するオペレーションの内容を記述する。ただし、内容記述欄７２に記載される各タスクの内容の詳細は、別シートとしてもよい。さらに、各タスクに対応した優先度欄７４には、そのタスクの優先度情報を記載する。また、適宜、リソース予約、リソース予約解除命令を挿入している。これにより、システムコントローラ５２の自律的タスク順次起動機能部５６およびリソースコンフリクト調停機能部５８およびリソース予約／予約解除機能部５９への必要データが与えられたことになる。
【００８０】
状態レジスタの名称や番号などは、タスク欄７０に記載される。そして、状態レジスタの状態値、演算内容は、内容記述欄７２、優先度欄７４と対応した部分に記述してよい。状態レジスタの状態値は、状態レジスタが取りうる値であって、例えば状態レジスタｚ１の場合、「０」または「１」であり、状態レジスタｙ２の場合、「０」または「１」〜「５」までの整数である。また、状態レジスタの演算内容は、「フラグをリセットする」とか「カウンタをカウントアップする」とかである。
【００８１】
この仕様記述法においては、符号８０に示したように、論理演算部８０を設けて工程制御手段１４のデータ入力／論理演算部２４が行なう演算内容を記述する。この論理演算部８０には、各状態レジスタの起動条件が演算を実行する順に上から下に記述される。勿論、論理演算部は、一箇所にまとめて記述する必要はなく、分かり易さを増すために関係する一意シナリオモジュールに隣接するように分散して記述してもよいし、チャートによる図示を図ってもよい。
【００８２】
このようにして複数の一意シナリオモジュールを作成し、これらを相互に連結してシミュレーションの内容を構築するシミュレーションアーキテクチャによれば、複雑で一見無秩序なシーケンスコントロールの対象を、システムコントローラ５２の自律的タスク順次起動機能部５６とリソースコンフリクト調停機能部５８およびリソース予約／予約解除機能部５９によって、自律的に稼働する複数のタスクからなる一意シナリオモジュールの集まりとして再編成し、一意シナリオモジュール同士の前後関係、因果関係を考えればよいようにできる。従って、シミュレーションの内容（シナリオ）を容易に理解できるようになり、一般性を失うことなくシミュレーション構築作業を簡単化できる。
【００８３】
すなわち、シミュレーションモデルの設計者は、実際のワークの処理工程に沿って複数の一意シナリオモジュールを作成し、これらを図４に示した連結法によって各一意シナリオモジュールを相互に連結した仕様書を作成して、シミュレーションを構築する人に渡すことにより、設計者の意図、シミュレーションの内容を容易に理解でき、正確なシミュレーションを容易に構築することができる。また、タスク展開型の本アーキテクチャとよく整合する図４に示したシミュレーション仕様記述法を採用することにより、エンジニア間、顧客と請負者間で容易かつ厳密なコミュニケーションが可能となるだけでなく、その仕様書からのシミュレーションモデルの作成作業が直接的かつ円滑となり、工数の削減、手戻りの減少が図られる。また、厳密かつ分かりやすい仕様書を作成できるため、作成したシミュレーションモデルの高品質な維持、変更、管理が可能となる。
【００８４】
また、上記のタスク展開型バーチャルシミュレーションアーキテクチャと一意シナリオモジュール連結法の考えを適用してシミュレーションを構築し、その結果得られる一意シナリオモジュール間のシーケンスコントロールと、一意シナリオモジュールに内蔵した自律的順次タスク起動とリソースコンフリクトロジックとリソース予約／リソース予約解除とを顕示化したコントロールとを組み合わせることによって、効率的な実システムのシーケンスコントロール装置を設計することができる。
【００８５】
図５〜図７は、本発明による「効率的シーケンスコントロール実現法およびシミュレーション仕様記述法」に対応した具体的インターフェースの例を示したものである。これらの図は、スプレッドシートに一意シナリオモジュールを縦に配列したもので、論理演算も一意シナリオモジュールの中に記述してある。そして、スプレッドシートの記載内容を明確にするために、６つの一意シナリオモジュールを図５〜図７に分割して示してあるが、１つのスプレッドシートに記載してよいことは勿論である。なお、この実施例は、原石から３つの玉を削りだす処理工程を示している。処理工程の概念図を図８に示す。
【００８６】
各一意シナリオモジュール内では、タスクを実行する順に上から下に並べて記述してある。また、状態レジスタ（状態Ｎｏレジスタ）は、仮想リソースと同等に扱い、１つの状態データと複数の関数を持ちうる。状態レジスタの状態データとしては、整数（状態Ｎｏ）を扱えるものとしている。このスプレッドシートの１列目にはタスク名を示すオペレーションタスクＩＤが記載され、２列目にはリソース名が記載される。また、スプレッドシートの３列〜７列には、状態レジスタの扱う状態Ｎｏ（実施例の場合、整数をとる変数名がレジスタ名と同じ名にしてある）の変域、状態レジスタがとる状態Ｎｏの初期値、状態レジスタが行なう論理演算の際に必要とするＩＮＰＵＴ変数名、状態レジスタが行なった論理演算の結果として出力するＯＵＴＰＵＴ変数名、状態レジスタが行なった論理演算の出力値（ＯＵＴＰＵＴ値）が記述される。
【００８７】
すなわち、図５の一意シナリオモジュールＩの状態ＮｏレジスタＲ１０１は、変域が「０」と「１」との２つであって、初期値が「０」であることを示している。また、状態ＮｏレジスタＲ１０１は、論理演算の結果として出力（ＯＵＴＰＵＴ）する変数がＲ１０１であり、論理演算の結果、変数Ｒ１０１が「１」になることを示している。
【００８８】
また、図６の一意シナリオモジュールＩＶにおける状態レジスタＲ４０１は、変域が「０」と「１」〜「５」の整数とであって、初期値がデフォルト値として「０」が与えられ、論理演算の入力（ＩＮＰＵＴ）に変数Ｒ４０１を必要とし、論理演算結果の出力の変数がＲ４０１とＲ３０２とであることを示している。まら、状態レジスタＲ４０１は、論理演算することにより、変数Ｒ４０１を１ずつカウントアップし、変数Ｒ３０２をリセットして「０」にする。そして、状態ＮｏレジスタＲ４０１は、変数Ｒ３０２が「１」となったときに起動されることを示している。
【００８９】
そして、スプレッドシートの８、９列には、状態レジスタの起動条件を定義するためＩＮＰＵＴ変数名とその条件が記述される。この条件が成立した瞬間に、そのレジスタの関数が起動（状態Ｎｏレジスタ値の演算）されるのである。
【００９０】
このような起動条件の記述は、一般に一意シナリオモジュールにまたがるため、シミュレーションの規模が大きくなるにつれて分かりにくくなる傾向がある。しかしながら、一つひとつのロジックは比較的単純である。そのため、「この一意シナリオモジュールが終わったら、あの一意シナリオモジュールを起動する」とか、「この一意シナリオモジュールのこのタスクからそのタスクまでを１０回繰り返す」といった特定の目的をもったロジック（以下、機能ロジックと称する）に対し、それぞれの機能ロジックに係わる状態レジスタ名と変数名等とをそのロジック特有の識別しやすい記号を用いて統一的に記述し、さらにその機能ロジックを抜き出して別々のシートに記述して管理し、あるいはデータベースに記述して管理し、一意シナリオモジュール中の記述には、それをコピーするという手法をとることによって、ロジックを見やすくし、デバッグを容易にし、ロジックの再利用を可能にし、またロジックの維持・管理を容易にできる。
【００９１】
前記の玉削り出し工程に対してその方法を適用した例を図９に示す。図９で左半に一意シナリオモジュール、右半に機能ロジックを数例示している。一意シナリオモジュールは、図５〜図７の列の順序を入れ換えたり、一部省略しているが、基本は図５〜図７と同等である。図５〜図７の統一性のないレジスタ名称Ｒ４０１などの代わりに、例えばＲ５−０１、Ｓ５−０４のように、１つの機能ロジック中の変数名等を５−ｘｘという記号で統一することによって視認性、検索性を高め、管理しやすくしている。
【００９２】
スプレッドシートの１０列目には、一意シナリオモジュール間のリソースコンフリクト解決のための優先度（プライオリティ）が整数によって記載される（図５〜図７参照）。実施例の場合、整数の値が大きいほど優先度が高くなっている。さらに、スプレッドシートの１１列目には、タスク内容、その他の摘要を記述する。このシートは、単に仕様記述書として使うことができることは勿論、このスプレッドシートとシミュレーションの間にインターフェースをとることにより、この仕様に定義されたとおりのシミュレーションを実行させることもできる。
【００９３】
以上に述べたように、自律的タスク順次起動機能、リソースコンフリクト調停機能、リソース予約／予約解除機能を同時に用いて現実の世界を忠実に再現するシミュレーションを構築できるが、これは詳細なリソースモデル、レイアウト、運用方針等が既にあることを前提としている。しかしながら、最初からこれらが揃っていることは稀であり、本当はむしろ何も決まっていないところから出発して、これらを順次明確化、具体化していきたいのである。
【００９４】
実は、自律的タスク順次起動機能、リソースコンフリクト調停機能、リソース予約／予約解除機能をオン、オフできる機能を装備したシミュレーション装置と、それに対応した方法論によって、漠然としたミッション概念だけがあり、実現手段である機器の具体的イメージは勿論、運用についてもノーアイディアの段階から、必要な機器の台数、機能・性能、形状寸法、全体のレイアウトを、根拠をもって具体化することはもとより、運用についても実際上、実物と同等と考えられるレベルまで詳細に検討することができる。しかも、前段階の成果の上に立って連続的に検討していくとこができるのである。この過程で仕様書も連続的に深化し、概念検討段階の要求書レベルのラフなものから出発して、徐々に具体化、詳細化、厳密化されていく。そのシミュレーションシステムおよび方法の実施例を、図１０ないし図１７に基づいて説明する。
【００９５】
図１０において、符号１００は、一般的なシステム構築のフェーズとフェーズに応じた検討項目を列挙しており、実体の裏づけのない抽象的システム要求を出発点として、最終的にそれを実現する物理的手段を具体化する流れを示している。符号１１０は、シミュレーション装置であって、前記実施形態と同様にタスク記憶部、状態検出手段、制御手段（工程制御手段）、表示手段等を有しており、また自律的タスク順次起動機能、リソースコンフリクト調停機能、リソース予約／予約解除機能をオン、オフできる機能を装備している。さらに、このシミュレーション装置１１０は、前述した仕様記述を入力として、シミュレーションを自動生成する機能を有する。
【００９６】
シミュレーションは、例えば図１１に示す書式の形で仕様が記述されていれば曖昧なく自動生成できる。すなわち、シーケンスは厳密に定義されており、タスクは単なる時間経過なので、仮想リソース（またはタスク）の形状、レイアウトを予め決めておけばシミュレーションに必要なすべての条件が与えられたことになるからである。図１１および図１２の書式からシミュレーションを自動生成するフローを、図１を参照しながら図１６に基づいて、より詳細に説明する。また、図１７には、図１２の書式から自動生成されたシミュレーションのイメージを示す。
【００９７】
図１１は、リソース欄が空白のシミュレーション仕様である。第２列のタスク名は漏れなく記載されており、その目安時間は第６列に記入されている。第１列と第４列の状態レジスタ関連情報も漏れなく記入されている。図１２は、図１１で空白であったリソース名を埋めたものである。シミュレーション自動生成は、これらの仕様から一意的にシミュレーションを作ることを意図している。図１１からは、仮想リソースからの制約のないシミュレーション（以下、抽象プロセスシミュレーションと称する）を作り、図１２からは仮想リソースによる制約を踏まえたシミュレーション（以下、概略実体シミュレーションと称する）を作る（図１１および図１２の例は、たまリソース予約／予約解除命令が含まれていないが、図１６のフローチャートは、リソース予約／予約解除も考慮している）。
【００９８】
シミュレーション自動作成のためには、まず仕様（スプレッドシート）を読み込み（ステップ１５０）、一意シナリオモジュールの数を数える（ステップ１５２）。その数をＮとする。次に、第３列が空白であるかどうかによって、抽象プロセスシミュレーションか概略実体シミュレーションであるかを判断する（ステップ１５４）。
【００９９】
抽象プロセスシミュレーションと判断したときは、ステップ１５６においてＭ＝１として、最初の一意シナリオモジュールにつき、上から順にタスク（図１１の第２列）を抽出し、図１のタスク記憶手段１８にタスク名とタスクを記憶する。タスクの内容は、状態レジスタの場合は図１１の第４列のレジスタ演算内容であり、ソースの場合は図１１の第６列の発生時間間隔等を踏まえたソースタスクであり、その他の場合は図１１の第６列の時間を採用した単純時間経過タスクである。また、各タスクに対応してタスク名と同名のブロックモデルを生成する（ステップ１５８）。続いて、その一意シナリオモジュールの各タスクが上から順に自律的に起動されるよう、自律的タスク順次起動機能部を設定する（ステップ１６０）。そして、Ｍに１を加算してＭ＞Ｎを判断し（ステップ１６２、１６４）、Ｍ＞Ｎでない場合、ステップ１５８の戻ってステップ１５８からステップ１６４までの以上の処理を、残りのすべての一意シナリオモジュールに対しても行う。
【０１００】
それが終わったら、抽象プロセスシミュレーションの場合は、全部の一意シナリオモジュールから、図１１の第１列の起動条件を抽出し、図１のデータ入力／論理演算部２４に記憶する（ステップ１６６）。このようにして過不足のない抽象プロセスシミュレーションが得られる。
【０１０１】
ステップ１５４において抽象プロセスシミュレーションでないと判断した場合、ステップ１５４からステップ１７０に進んで概略実体シミュレーションであるかを判断し、概略実体シミュレーションと判断した場合には、やはりＭ＝１として（ステップ１７２）、最初の一意シナリオモジュールにつき、図１２からタスクを抽出して、図１のタスク記憶手段１８にタスク名とタスク内容とを記憶する。これは、抽象プロセスシミュレーションの場合と同様である。概略実体シミュレーションでは、それに加えてソース名も記憶する。モデルは、仮想リソースに対応してリソース名と同じ名前のブロックを生成する。ただし、最初から同名のモデル（詳細モデル）が存在するときは生成せず、そのモデルを使用する（ステップ１７４）。続いて、その一意シナリオモジュールの各タスクが上から順に自律的に起動されるよう、自律的タスク順次起動機能部を設定する（ステップ１７６）。その後、Ｍに１を加算してＭ＞Ｎを判断し（ステップ１７８、１８０）、Ｍ＞Ｎでないときにはステップ１７４に戻リ、ステップ１７４ないしステップ１８０の以上の処理を、残りのすべての一意シナリオモジュールに対しても行う。図１７に一意シナリオモジュールと自律的タスク順次起動機能部との関係を図示する。
【０１０２】
それが終わったら、概略実体シミュレーションの場合は、全部の一意シナリオモジュールに対して、同一の仮想リソースに属するタスクを括りだし、仮想リソースのコンフリクトが起こった場合にそれが調停されるように、リソースコンフリクト調停機能部を設定する（ステップ１８２）。また、一意シナリオモジュール全体から、同一の仮想リソースに属するリソース予約／予約解除命令を抽出し、その命令のところで仮想リソースが予約あるいは解除されるようにリソース予約／予約解除機能部を設定する（ステップ１８４）。最後に、全部の一意シナリオモジュールから、図１２の第１列に記載された起動条件を抽出し、図１のデータ入力／論理演算部２４に記憶する（ステップ１８６）。このようにして過不足のない概略実体シミュレーションが得られる。図１７にリソースコンフリクト調停機能部と仮想リソースとの関係、データ入力／論理演算部と状態レジスタとの関係を示す。
【０１０３】
また、シミュレーションをユーザが作成し、編集するのを支援するシミュレーション作成・編集機能、シミュレーション実行機能を有する。また、実行しているシミュレーションから各タスクのシミュレーションにおける稼働時間を抽出し、平均値などの統計処理を行なうタスク時間抽出・処理機能を有する。
【０１０４】
図１０の符号１２０は、シミュレーション仕様書であって、その更新の流れを示す。仕様書１２０は、フェーズが進むにつれて次に示すシミュレーションと歩調を合わせて詳細、厳密化される。同図符号１３０は、シミュレーション装置１１０とシミュレーション仕様書１２０とを活用して実施できるシミュレーションであって、シミュレーションの特徴および検討の流れを示している。
【０１０５】
概念の初期段階では、抽象プロセスシミュレーション１３１を実施する。これは、実体のない抽象プロセスをシミュレーションするもので、シミュレーション装置１１０のリソースコンフリクト調停機能およびリソース予約／予約解除機能はオフする。準備としてまず仕様書１２０を作成する必要があるが、これは要求分析を踏まえて機能を洗い出し、システム要求を満たすように機能（プロセス）の流れを考え、全体仕様を図１１のように記述するのである。仕様書１２０を入力として、シミュレーション装置１１０は、本図に図示しない工程制御手段が仕様書１２０に記載された仕様に基づいて、タスク記憶部とタスク状態情報手段を利用して自動で抽象プロセスシミュレーション１３１を生成する。仮想リソースの制約を度外視してプロセスのみに着目し、各プロセスをプロセスに必要な時間経過タスクとして表現する。要求機能レベルの検討を幅広く迅速に実行できるので、全体のプロセスのあるべき流れについての考えをまとめ、仮想リソースの制約を考慮するに当たっての出発点および方針を整理することができる。
【０１０６】
実体のない抽象プロセスを視覚化するため、各タスクに対応してタスクと同じ名前をした簡単な形状も自動生成する。これらの形状のレイアウトは、手動で編集でき、相互に関連の強いプロセスを近くに置くなど、プロセスの直感的把握に役立てることができる。また、シミュレーション中、各タスクが動いているとき、それを表す形状の色を変化させるとともに、仕様記述の備考欄の文章が、画面上にタスクの形状に付随して表示され、抽象プロセスシミュレーション１３１の内容把握が容易になるようにする。そのイメージを図１４に示す。時間経過を記録するためガントチャートも出力する。
【０１０７】
抽象プロセスシミュレーション１３１でプロセスの流れが固まると、次にどのプロセスをどのような実体に割り当てるか、いわゆる機能配分の検討が必要になる。これは、概略実体シミュレーション１３２で行なう。これは、仮想リソースを意識したシミュレーションであり、より現実に近づく。シミュレーション装置１１０は、自律的タスク順次起動機能、概略実体シミュレーションリソースコンフリクト調停機能、リソース予約／予約解除機能をすべてオンにする。
【０１０８】
抽象プロセスシミュレーション１３１でそれぞれ独立としたタスクを、実体であるリソースに割り当てるのであり、１つのリソースが複数のタスクを受け持つことを意味する。抽象プロセスシミュレーション１３１から概略実体シミュレーション１３２に移るにあたって、同じ仮想リソースに属するタスクが同時に稼動できなくなるだけでなく、実体としてのリソースを考慮するためのプロセス追加、例えば段取り替えの追加などの必要性も出てくる。最初は、リソース予約／予約解除機能を使わず、検討が進むにつれて考慮に入れていく。仕様書１２０は図１２のように記述する。
【０１０９】
すなわち、タスクの記述は、抽象プロセスシミュレーション１３１と同様、単純時間経過で表現するが、リソース名としては、リソース欄に実体名を入れる。シミュレーションは、仕様書１２０からシミュレーション装置１１０が前記と同様に自動生成する。リソースモデルは、仕様書のリソース欄に書かれた名称と一致する形状データが存在し、シミュレーションの中に既に定義されている場合は、その形状を使用し、位置情報も踏襲するが、形状データのないリソースについては、簡単なブロック等の形状を自動生成し、配置も自動で行なう。検討の中で、リソースをより現実的な仮想リソースの形状に置き換え、またレイアウトも手動で編集することによって、徐々に現実世界に近づけていくことができる。また、シミュレーション中、タスクが動いているとき、タスクの属する仮想リソースを表す形状の色を変化させるとともに、仕様記述の備考欄の文章が画面に、仮想リソースの形状に付随して表示され、概略実体シミュレーション１３２の内容把握が容易にできるようにしている。そのイメージを図１５に示す。時間経過を記録するためガントチャートも出力する。これによって迅速にプロセスおよび機器への機能配分、レイアウトの大まかな検討をすることができ、代替案を絞り込み、例えば基本設計のための要求仕様として整理することができる。
【０１１０】
概略実体シミュレーション１３２で機器の識別、台数、ラフなレイアウト、ラフな工程時間、運用が得られたら、次はモザイク状シミュレーション１３３を行なう。これは、前記の概略実体シミュレーション１３２の成果をベースにして、シミュレーション装置１１０のシミュレーション作成・編集機能を用いて仮想リソースの形状・構成、タスク、シーケンスコントロールを洗練していく。
【０１１１】
図１３に示すように、仕様書１２０の記述も概略実体シミュレーションのものを継続的に洗練していく。タスクの仕様が備考欄に書ききれないときは、詳細仕様を呼び出す形にする。この洗練化は、全体を一律に行なうのではなく、目的に応じ、一番効果のあるものから実施する。すなわち、概略実体シミュレーション１３２という全体的に木目の粗いシミュレーションから出発し、必要な時、必要なところから詳細化することによって迅速で高い費用対効果を享受できる。
【０１１２】
優先付けの観点は、シミュレーションの時間推定精度の向上とか、プレゼンテーションに重要な視覚効果などであるが、時間推定精度の向上が目的であれば、固定した時間経過では精度よく近似できないタスク／リソースを洗い出し、それを詳細化するだけで、全体の精度向上に大きく貢献できる。例えば、その時々の経路の長短によって所要時間が大きく変動する天井クレーンのオペレーション等がその典型である。
【０１１３】
詳細シミュレーション１３４は、モザイク状シミュレーション１３３の洗練化が究極まで進んだイメージであり、いわゆるバーチャルシミュレーションである。
【０１１４】
概略実体シミュレーション１３２とモザイク状シミュレーション１３３、詳細シミュレーション１３４とは、相補的に使うのが効果的である。概略実体シミュレーション１３２とモザイク状シミュレーション１３３、詳細シミュレーション１３４との間で、シーケンスコントロールは容易に共通化できる。するとその間の違いは、モデルの形状とタスク挙動の詳細度の違いだけである。概略実体シミュレーション１３２は、各プロセスを表すタスクを単純時間経過としているので、作成の容易で計算時間も速いが、タスクの時間の根拠・信頼性という点で難点がある。
【０１１５】
一方、モザイク状シミュレーション１３３、詳細シミュレーション１３４では、時間の精度は、非常に高く見栄えもよいが、一般に作成に時間がかかるし、実行にも多大の時間がかかる。そこで、モザイク状シミュレーション１３３、詳細シミュレーション１３４で得られた各タスクの所要時間を、シミュレーション装置１１０のタスク時間抽出・処理機能部で抽出・記録しておき、平均値を概略実体シミュレーション１３２のタスクの経過時間として戻せば、概略実体シミュレーション１３２は、精度のよい、かつ迅速なシミュレーションを提供できる。
【０１１６】
以上の考えを応用して、監視・制御システムを構成することができる。シミュレーションの場合には、スプレッドシートに前後関係、因果関係を定義された一意シナリオモジュール内のタスクを、その起動タイミングで起動するが、代わりにそのタスクに対応する実機リソースのオペレーションを起動すれば監視・制御システムとして働く。図２０は、監視・制御システムの概略を示すブロック図である。なお、監視・制御システム１５０の説明においては、前記したシミュレーション装置と対応する部分については、同一の符号を付している。
【０１１７】
図２０において、監視・制御システム１５０は、制御装置１５２と、実際の複数のリソース（実機リソース）１６０（１６０Ａ〜１６０Ｎ）とから構成される。制御装置１５２は、前記のシミュレーション装置とほぼ同様に構成してあり、入力手段１２、工程制御手段１４、タスク状態情報手段１６、実行タスク記憶・実行手段５０、表示手段２２を有する。ただし、この制御装置１５２は、タスク記憶部１８を有しておらず、送受信手段１５４を備えている。また、実機リソース１６０は、制御装置１５２により制御され、監視される。
【０１１８】
各実機リソース１６０は、それぞれ送受信部１６２とリソースコントローラ１６４とオペレーション記憶部１６６（図２１参照）とを有する。実機リソース１６０は、送受信部１６２が通信回線１７０に接続してあるとともに、リソースコントローラ１６４に接続してある。一方、制御装置１５２の送受信手段１５４は、工程制御手段１４と通信回線１７０に接続してある。制御装置１５２は、図２１に示したように、実行タスク記憶・実行手段５０にシステムコントローラ５２と実行タスク記憶部５４とを備える。なお、図２１の場合、制御装置１５２は工程制御手段１４と実行タスク記憶・実行手段５０のみが示してあり、また実機リソース１６０の送受信部１６２が省略してある。
【０１１９】
システムコントローラ５２は、自律的タスク順次起動機能部５６、リソースコンフリクト調停機能部５８、タスク優先度６０、リソース予約／予約解除機能部５９を有する。そして、実行タスク記憶部５４は、スプレッドシートとして作成され、入力された一意シナリオモジュール６２、６４、６６などが記憶される。これらの働きは、図３のそれぞれに対応する機能と同一である。異なるのは、一意シナリオ中のタスク処理である。図３では、一意シナリオ内のタスクが起動されると、シミュレーションモデルとしてのタスクが実行される。これは、図１に示されるタスク記憶手段から当該タスクが選択され、実行タスク記憶・実行手段５０で実行されることを意味する。そして、そのタスクが終了したら自律的タスク順次起動機能部５６に伝えられる。これに対し、図２１では、一意シナリオ内のタスクが起動されると、通信回線１７０を通じて、実機リソース１６０の当該オペレーションの起動要求信号を送信する。そして、実機リソース１６０から、そのオペレーションが完了したという信号を受信して、それを自律的タスク順次起動機能部５６に伝えるのである。自律タスク順次起動機能部５６は、オペレーション完了信号（操作の状態情報）を受けると、次のタスクを起動する。
【０１２０】
すなわち、制御装置１５２は、自律タスク順次起動機能部５６がタスクを起動すると、工程制御手段１４がそのタスクに対応したリソース名と操作（オペレーション）名とをシステムコントローラ５２から受け取る。工程制御手段１４は、オペレーション指示として送受信手段１５４に送信させる。各実機リソース１６０の送受信部１６２は、自分に宛てられたオペレーション指示を受信してリソースコントローラ１６４に転送する。リソースコントローラ１６４は、オペレーション指示の内容を解読し、オペレーション記憶部１６６を検索して対応するオペレーションのプログラムを読み出し、図示しないワークに対する操作を実行する。そして、リソースコントローラ１６４は、ワークに対する操作が終了するとオペレーション完了信号を出力する。このオペレーション完了信号は、送受信部１６２を介して制御装置１５２の送受信手段１５４に送られる。送受信手段１５４が受信したオペレーション完了信号は、工程制御手段１４を介して実行タスク記憶・実行手段５０のシステムコントローラ５２に入力される。これにより、自律的タスク順次起動機能部５６は、タスクの完了を検知し、次のタスクを起動する。
【０１２１】
なお、各実機リソース１６０のリソースコントローラ１６４は、送受信部１６２を介してワークに対する操作の状態を時々刻々制御装置１５２に出力する。制御装置１５２は、工程制御手段１４が送受信手段１５４を介してそれを受信し、実行タスク記憶・実行手段５０のシステムコントローラ５２に転送する。システムコントローラ５２は、その操作情報を実機リソース１６０の動作として表示手段２２に表示する。
【０１２２】
図３と図２１とにおけるタスク（操作）の違いを明示するため、図２１では、図３の対応するタスク名の前にＩＯという文字を付加している。図２１では、ＩＯタスクａ２／リソースＡとリソースａとの通信以外は省略しているが、他のタスク、他のリソースについても同様な通信があることは勿論である。このようにして、図２１では、タイミングよくしかるべきリソースにオペレーションを指示し、また、リソースからそのオペレーションについての完了信号を受け取ることによって、常時工程の全容を把握できるので、過不足のない監視・制御系を構成できる。なお、通信機能の実現は、１対１のワイヤリングでもよいし、ＬＡＮ等のネットワーク構成でもよい。
【０１２３】
【発明の効果】
以上に説明したように、本発明によれば、画面に表示する仮想ワークや仮想リソースを、実際のワーク、実際のリソース（機器など）の形状や寸法、配置ばかりでなく、動作やワークに対する操作なども忠実にモデル化して画像として再現し、モデル化した仮想ワークについての処理工程と、この仮想ワークに対するモデル化した仮想リソースの操作の状態とに基づいて、処理工程に従った仮想リソースと操作とを選択して仮想ワークに対する操作を行なうことにより、実際のシーケンシャルプロセスを視覚的に忠実に再現することができ、現実とよく対応のとれたシミュレーションが可能となる。このため、多品種少量生産などのように、ワークの複雑な流れをも再現することができ、実際の生産設備の設計などが容易に行なえてシステムの構築、コスト節減、工期の短縮、品質の向上などを図ることができる。
【０１２４】
特に、模擬センサともいうべき状態検出手段を設け、工程制御部がこの状態検出手段の出力信号により仮想リソースが仮想ワークに対してないしている操作の状態を判断し、処理工程に従って仮想ワークに対してなす操作を選択して仮想ワークの処理を行なうため、実際のシーケンスコントローラの動作を再現することができ、制御設計を容易に行なうことが可能となる。
【０１２５】
また、本発明のシミュレーションモデルの作成方法によれば、密接に関連した複数の一続きの処理を、モジュールとしてまとめることにより、複雑な制御内容をわかりやすく簡素にすることが可能となり、シミュレーションモデルの構築を容易、迅速に行なうことができる。そして、モジュールの内容および各モジュール間における関係をスプレッドシートとして記載することにより、シミュレーションの内容を厳密でわかりやすいものとすることができ、エンジニア間や顧客の理解を容易にすることができるとともに、シミュレーションモデルの作成作業を直接かつ円滑に行なえる。　そして、モジュールの内容およびモジュール相互の関係をスプレッドシートとして記述することにより、シミュレーションモデルを作成するための工数の削減が図れ、高品質なシミュレーションを構築できるとともに、作成したシミュレーションモデルの高品質な維持、管理、変更などを容易に行なうことができる。
【０１２６】
また、前記のシミュレーション装置の基本機能とシミュレーションモデル作成方法を組み合わせて段階的なシミュレーションを行なうことにより、概念検討段階の迅速な概略シミュレーションから詳細設計、運用段階の忠実な詳細シミュレーションまで連続的に効率よく作成することができる。また、詳細シミュレーションで得られた高信頼性データを概略シミュレーションに戻すことにより、高信頼度の迅速なシミュレーションを得ることができる。また、効率的に実システムの監視・制御システムを構築できる。
【図面の簡単な説明】
【図１】本発明の実施の形態に係る−装置の概略ブロック図である。
【図２】実施の形態に係る実行タスク記憶・実行手段に記憶させたタスクの説明図である。
【図３】他の実施の形態に係る実行タスク記憶・実行手段の説明図である。
【図４】実施の形態に係る一意シナリオモジュールの連結方法を説明する図である。
【図５】実施の形態に係る一意シナリオモジュールを記述したスプレッドシートの一例を示す図である。
【図６】実施の形態に係る一意シナリオモジュールを記述したスプレッドシートの一例を示す図であって、図５に続く一意シナリオモジュールの記載例を示す図である。
【図７】実施の形態に係る一意シナリオモジュールを記述したスプレッドシートの一例を示す図であって、図６に続く一意シナリオモジュールの記載例を示す図である。
【図８】実施の形態に係る玉削り出し処理工程の概念図である。
【図９】一意シナリオモジュールから抜き出した機能ロジックの例を示した図である。
【図１０】実施の形態に係る漠然とした概念からシステムを具体化するシミュレーションシステムの説明図である。
【図１１】実施の形態に係る抽象プロセスシミュレーションを作成する仕様書の記述例を示す図である。
【図１２】実施の形態に係る概略実体シミュレーションの仕様書の記述例を示す図である。
【図１３】実施の形態に係るモザイク状シミュレーションの仕様書の記述例を示す図である。
【図１４】実施の形態に係る抽象プロセスシミュレーションの説明図である。
【図１５】実施の形態に係る概略実体シミュレーションの説明図である。
【図１６】実施の形態に係る仕様書からシミュレーションを自動生成する方法を説明するフローチャートである。
【図１７】実施の形態に係る自動生成されたシミュレーションのイメージを示す図である。
【図１８】シーケンシャルプロセスを説明する概念図である。
【図１９】従来のシミュレーションモデルを作成する方法の一例を示す図である。
【図２０】実施の形態に係る監視・制御システムの概略ブロック図である。
【図２１】実施の形態に係る監視・制御システムの作用の説明図である。
【符号の説明】
１０………シミュレーション装置、１２………入力手段、１４………制御手段（工程制御手段）、１６………状態検出手段（タスク状態情報手段）、１８………タスク記憶手段、２０、５０………実行タスク記憶・実行手段、２２………表示手段、２６………ソースタスク記憶部、２８………リソースタスク記憶部、３０ａ〜３０ｃ、５４………実行タスク記憶部、５２………システムコントローラ、６２、６４、６６………モジュール（第１の一意シナリオモジュール、第２の一意シナリオモジュール、第３の一意シナリオモジュール）、１５０………監視・制御システム、１５２………制御装置、１６０Ａ、１６０Ｂ、１６０Ｃ、１６０Ｎ………実機リソース、１６４………リソースコントローラ、１６６………オペレーション記憶部。[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a simulation model creation method, a simulation method, and an apparatus for simulating a sequential process such as a product manufacturing process by a computer. The present invention also relates to a method and an apparatus for monitoring and controlling a sequential process.
[0002]
[Prior art]
FIG. 18 is a conceptual diagram of a sequential process in a production factory or the like. In the sequential process, a work (not shown) is transported, sorted, deformed, assembled, divided, chemically treated, etc. by a plurality of resources 1, 2, 3,... Process (operation) and transforms into the target work (product). At this time, the processing (operation) on the work performed by one resource is usually a small part of the processing in the entire processing process of the work. In addition, the work not only walks through a number of resources in a certain order, but also operates itself in various operation patterns depending on the type of the target work, the processing stage of the work, and the like, and acts on the work. For this reason, in a sequential process, the order of operations by resources on a work, and the timely encounter with another work that has been processed up to a certain point are essentially important, and complex situation management and traffic control of many works and resources are important. Is essential. This traffic control is performed by the sequence controller 4 based on state information (sensor information in a broad sense) from each resource.
[0003]
That is, the sequence controller 4 is generally formed by a PLC (Programmable Logic Controller), and grasps the entire sequential process based on a signal input from a sensor 5 provided in each of the resources 1, 2, and 3 in the data input / output unit. Then, a work to be preferentially processed and a resource to be started are determined, and a necessary operation is performed on the resource.
[0004]
A line simulator (simulation apparatus) that simulates such a sequential process reproduces the flow of a work based on a processing step in a factory or the like by a computer in a simulated manner, and is used for examining the throughput of the work. The conventional line simulator considers that it is sufficient to obtain the flow of the target work, and considers that the logic for creating the movement of a virtual work or a device (virtual resource) for simulation is far from the logic of the actual process. Was not a problem.
[0005]
That is, in a conventional line simulator, when modeling a "thing", how the "thing" moves in the system is described. It just described what changed. Then, the description of the simulation for processing the "thing" describes that the thing (Entity) flows through the network represented by the event (Node) and the behavior (Activity).
[0006]
Further, conventionally, when constructing a simulation model, a network is described by symbols as shown in FIG. The network shown in FIG. 1A shows a process of transporting a product (work) in a waiting area or a rear buffer of each machine to the next machine or transport port. Further, the network shown in FIG. 2B shows a process of processing and assembling a product transported by the transport vehicle. When programming the simulation model described by the symbols, the programming is performed for each module corresponding to each symbol.
[0007]
Since such a conventional line simulator has a mechanism for simply expressing the flow of a work, there is an advantage that a simple model can be easily and quickly constructed when an object is simple.
[0008]
[Problems to be solved by the invention]
However, in the conventional line simulator constructed as described above, in the case of a line in which a workpiece flows in a complicated manner, such as in the case of small-lot production of many kinds, events and the like are simply represented, so that the lines can be accurately reproduced and reproduced. Estimating the properties in detail is generally difficult, time-consuming, or often impossible to analyze. Furthermore, in recent years, there has been an increasing demand not only for reproducing the flow of a work but also for examining, by simulation, a behavioral portion of the equipment itself, which is a resource for processing and handling the work.
[0009]
As a countermeasure, create a device model that has a shape and movement close to the real device in the computer from the beginning, and process and handle the virtual workpiece by using the device model with logic similar to real sequence control. For example, when a simulation is performed, not only can it be visually reproduced as accurate movements, but also the construction of the simulation itself can be the system design and control design of the actual system. It can be expected to greatly contribute to improving the quality and shortening the construction period for building the line system. However, in spite of such advantages, there has been no mechanism for systematically expressing a sensor system in a virtual space and controlling the behavior of a device model based on the data. Conventionally, when constructing a line simulation model, a network is described using a specific symbol, and programming of a module corresponding to the symbol is described using a simulation language such as GPSS or SIMSCRIPT. Significant results in improving the efficiency of creating simulation models because there was no good way for engineers to write simulation models in a rigorous and easy-to-understand format and to efficiently implement simulation models according to the descriptions. Could not.
[0010]
The present invention has been made to solve the above-mentioned disadvantages of the related art, and has as its object to facilitate the construction of a simulation model.
It is another object of the present invention to enable a simulation that is well compatible with reality.
Another object of the present invention is to facilitate construction of a monitoring / control system for a sequential process.
[0011]
[Means for Solving the Problems]
The method for creating a simulation model according to the present invention includes a plurality of faithfully modeled virtual resources that operate on a faithfully modeled virtual work, and a plurality of virtual resources that each of these virtual resources makes with respect to the virtual work. Simulation in which each operation in a processing step given for the virtual work is performed by a virtual resource and an operation selected from the stored virtual resource and the operation, and the processing step is executed. A method of creating a model, wherein, among the processing steps given to the virtual work, the operations corresponding to each of a plurality of processings performed in a series in a closely related manner are automatically and continuously performed. It is characterized by being a module to be executed. The contents of the module, the relationships between the modules, and the individual logics for the purpose may be described in a spreadsheet.
[0012]
In a first simulation method according to the present invention, a faithfully modeled virtual work and a faithfully modeled virtual resource are displayed on a screen, and a processing step given to the virtual work and the virtual process by the virtual resource are performed. Based on the state of the operation on the work, a plurality of virtual resources and, from the plurality of operations performed by the virtual resources on the virtual work, a next operation and a virtual resource on the virtual work are selected. The state of the selected operation performed on the virtual work by the selected virtual resource is displayed on a screen.
[0013]
The second simulation method according to the present invention includes, among processing steps given to a modeled virtual work, an operation corresponding to each of a plurality of processings performed in a series in a closely related manner. A module that executes automatically and continuously, a content of this module, a relationship between a plurality of modules, and individual logic having a purpose are formed into a spreadsheet, and the virtual work is performed based on the specification given as the spreadsheet. And a virtual resource modeled on the screen, and based on the processing steps given for the virtual work and the state of operation on the virtual work by the virtual resource, a plurality of virtual resources and each virtual resource From the plurality of operations performed on the virtual work, the next Operation and a virtual resource, the selected virtual resource displays the state of the selected operation performed on the virtual work on a screen, and further, from the spreadsheet in the concept study stage without a specific image for the realizing means. The spreadsheet is updated based on the executed simulation, and the simulation based on the new spreadsheet and the update of the spreadsheet are repeated to execute a detailed and faithfully modeled simulation.
[0014]
It is desirable to create a simulation model while mutually supplementing a simulation model at the stage of schematic specification of the realization means and a simulation model at a stage of more detailed and faithful modeling.
[0015]
The first simulation apparatus according to the present invention for performing the above-described simulation method includes a plurality of faithfully modeled virtual resources for performing operations on the faithfully modeled virtual work, and A task storage unit that stores a plurality of operations performed on the virtual work, state detection means for detecting a state of the operation performed on the virtual work by the virtual resource, and a task storage unit that is provided in advance for the virtual work. Based on the processing step and the output signal of the state detection means, the virtual resource and the operation are selected from the task storage means according to the processing step, and the operation selected for the virtual work is selected by the selected virtual resource. Control means for performing the virtual work and the virtual resources, Resources are characterized by having a display means for displaying the operation state makes with the virtual workpiece.
[0016]
Further, the second simulation apparatus according to the present invention includes a plurality of modeled virtual resources for performing an operation on the modeled virtual work, and a plurality of operations each of the virtual resources performs on the virtual work. A stored task storage unit, state detection means for detecting a state of an operation performed by the virtual resource on the virtual work, and a processing step given in advance for the virtual work and an output signal of the state detection means. Control means for selecting the virtual resource and the operation from the task storage means in accordance with the processing step, and performing the selected operation on the virtual work by the selected virtual resource; and controlling the virtual work and the virtual resource. And the state of the operation performed by the virtual resource on the virtual work. Display means for indicating, the control means, among the processing steps given to the virtual work, the operation corresponding to each of a plurality of processes that are performed in a series of closely related, It is a module that is executed automatically and continuously, and the contents of this module, the relationships among the plurality of modules, and individual logics having a purpose are stored in the task storage unit based on specifications given as a spreadsheet. A simulation is automatically created using the virtual work, virtual resource, and the state detection means.
[0017]
In the monitoring / control method according to the present invention, in a process performed on a workpiece, each operation corresponding to each of a plurality of processes performed in a series in close relation is automatically and continuously performed by a resource. And a logic having a relationship between the module and the plurality of modules and an individual logic having a purpose is input to the control means, and the control means activates resources corresponding to the operation in the module, and The operation is executed, and the contents of the module are sequentially executed by the resource based on the operation state information output from the resource.
[0018]
In addition, the monitoring / control system according to the present invention includes a resource for executing an operation corresponding to a process to be performed on a work, and a plurality of resources to be performed in a series of processes closely related to the work. Input means capable of inputting a module created for automatically and continuously executing each operation corresponding to each of the processes by the resource, a relationship between the plurality of modules, and individual logic having a purpose, An execution task storage unit that stores the module input by the means, and reads out the operations and resources in the module stored in the execution task storage unit, activates the corresponding resource via a transmission / reception unit, and While performing the operation on the work, based on the state information of the operation transmitted by the resource, It is characterized by having a control unit for sequentially executing the module stored in the line task storage unit resources. The contents of the modules and the relationships between the modules, and individual logics having a purpose are created as spreadsheets and read by input means.
[0019]
[Action]
According to the method for creating a simulation model of the present invention as described above, a series of closely related processes can be combined into a module to simplify complicated control contents in an easy-to-understand manner. Thus, it is possible to easily and quickly construct a simulation model. By describing the contents of the modules and the relationship between the modules as a spreadsheet, the contents of the simulation can be made strict and easy to understand. Model creation work can be performed directly and smoothly. By describing the contents of the modules and the relationship between the modules as a spreadsheet, it is easy to understand the contents of the simulation, the man-hours for creating the simulation model can be reduced, and a high-quality simulation can be constructed. High-quality maintenance, management, and modification of the created simulation model can be easily performed.
[0020]
According to the present invention as described above, the virtual work and the virtual resource displayed on the screen can be used not only for the shape, dimensions, and arrangement of the actual work and the actual resource (e.g., device), but also for the operation and operation of the work. Etc. are faithfully modeled and reproduced as images. Then, based on the processing step for the modeled virtual work and the operation state of the modeled virtual resource for the virtual work, the virtual resource and the operation according to the processing step are selected to perform the operation on the virtual work. By doing so, the actual sequential process can be visually faithfully reproduced, and a simulation that is well compatible with reality can be performed. As a result, complex flows of workpieces can be reproduced, as in the case of high-mix low-volume production, and the design of actual production equipment can be easily performed to build systems, reduce costs, shorten construction periods, and improve quality. Improvement can be achieved.
[0021]
In particular, a state detecting means, which can be called a simulation sensor, is provided, and the process control unit determines the state of the operation performed by the virtual resource on the virtual work based on the output signal of the state detecting means, and performs processing on the virtual work according to the processing steps. Since the virtual work is processed by selecting the operation to be performed, the operation of the actual sequence controller can be reproduced, and the control design can be easily performed.
[0022]
The monitoring and control method according to the present invention is a module that automatically and continuously executes an operation corresponding to each of a plurality of processes that are performed in a closely related sequence, among the target process steps, The contents of this module, the relationships between the modules, and the individual logic with the purpose are expressed on a spreadsheet. Here, one “operation” does not execute the simulation-modeled operation itself, but instructs an actual operation to the real device resource, and receives a signal indicating that the operation has been completed from the real device resource. This means that the process is completed. Based on the specification given as the spreadsheet, a sequential operation is instructed for the resource, and information that the operation has been completed is sequentially obtained from the resource. The next operation is instructed to the resource based on the logic defined by the spreadsheet, so that it can be controlled accurately. Further, since the completion information for the operation instruction for the resource is received from the resource, the entire process can be completely captured.
[0023]
In addition, the monitoring / control device according to the present invention automatically and continuously performs an operation corresponding to each of a plurality of processes performed in a series in a closely related manner among the processing steps to be monitored / controlled. The contents of this module, the relationships among the plurality of modules, and individual logics having a purpose are represented as spreadsheets. Here, one “operation” does not execute the simulation-modeled operation itself, but instructs an actual operation to the real device resource, and receives a signal indicating that the operation has been completed from the real device resource. This means that the process is completed. The monitoring / control device is configured based on the specifications given as the spreadsheet, and has a function of transmitting an operation instruction to an actual device resource and a function of receiving an operation end signal from the actual device resource. In accordance with the logic of the spreadsheet, a sequential operation is instructed to the real machine resources, information that the operation has been completed is sequentially obtained from the resource, and the next operation is instructed to the resource based on the logic defined by the spreadsheet. This controls the real device resources. Further, since the operation instruction for the resource and the completion information thereof are completely captured, it is possible to grasp which process state the monitoring / control target is in, and display the state on the screen.
[0024]
Further, in the monitoring / control method and the monitoring / control system as described above, the contents of the module, the relation between the plurality of modules, and the individual logic having the purpose are represented as a spreadsheet, so that the definition is defined in the spreadsheet. Operational instructions can be issued to the actual resources in a timely manner according to the logic that has been performed, and the status can be completely complemented by the completion signal, so that the target can be monitored and controlled.
[0025]
BEST MODE FOR CARRYING OUT THE INVENTION
Preferred embodiments of a simulation model creation method, a simulation method and an apparatus, and a monitoring / control method and a system according to the present invention will be described in detail with reference to the accompanying drawings.
FIG. 1 is a schematic block diagram of a line simulation device which is an example of a simulation device according to an embodiment of the present invention. 1, the simulation apparatus 10 includes an input unit 12, a process control unit 14, a task state information unit 16, a task storage unit 18, an execution task storage / execution unit 20, and a display unit 22.
[0026]
The input means 12 includes a normal keyboard, a mouse, an external storage device, and the like, and can input information such as a shape, a dimension, and a material related to the actual work for faithfully modeling the actual work. A processing step (what processing should be performed in what order) for a modeled virtual work (not shown) can be input.
[0027]
The process control means 14 is connected to the input means 12, and inputs information on the work, information on the processing steps, and the like input via the input means 12. The process control means 14 is connected to the task status information means 16, the task storage means 18, and the execution task storage / execution means 20, and as described in detail later, the processing step input from the input means 12 Based on this information, a task to be executed on the modeled virtual work is selected from the task storage means 18 and written to the executed task storage / execution means 20 in combination with the task state information means 16. The process control means 14 plays a role of a sequence controller in the sequential process, has a data input / logical operation unit 24, and stores the state of the task executed by the execution task storage / execution means 20. It monitors and activates the task according to the processing steps input from the input means 12.
[0028]
The task storage unit 18 has a source task storage unit 26 and a resource task storage unit 28. The source task storage unit 26 stores a plurality of work tasks a to n made of computer programs, and can form a work model (virtual work) that faithfully reproduces an actual work as an image. That is, the modeled virtual work is a model of an object (object) having a three-dimensional shape with an ID, such as a semiconductor substrate or a steel plate, as well as various parts and screws in an assembly process. Each one can be distinguished from each other. However, when the virtual work is a raw material such as a resin pellet or a molten metal, an ID is given when the virtual work has a predetermined shape. The work model may already exist at the start of the simulation, besides being formed by the source task. Although not shown in the figure, a sink function for deleting the work model can be arranged as needed.
[0029]
Further, the resource task storage unit 28 stores a plurality of virtual resources (resources) A to N that model resources (resources) such as actual devices that are physical entities, and a virtual work that these resources A to N model. And a plurality of tasks to be performed. A modeled virtual resource (hereinafter, simply referred to as a resource) is used to change the shape, composition, and properties of the received modeled virtual work, combine a plurality of virtual works, or divide the virtual work to create a new virtual work. Or forming a work. There is also a transport-specific virtual resource for moving a virtual work from a certain virtual resource to a certain virtual resource. Virtual resources include, for example, machining equipment such as machine tools, assembling equipment such as assembling robots, stationary transfer equipment such as conveyors, self-propelled transfer equipment such as overhead cranes, process equipment for heat treatment, etc. Includes workers who can flexibly cover all tasks.
[0030]
The resources (virtual resources) A to N stored in the task storage unit 18 are models that faithfully imitate the three-dimensional shapes, dimensions, mechanisms, operation characteristics (speeds, and the like) of real resources (devices), The layout of the actual resource (s) is also accurately reflected. The task is a model in which the contents of specific movements (operations) that an actual resource (real machine resource) makes with respect to an actual work with the purpose of the resource are faithfully modeled by a computer program. The task acts on the virtual work, moves the modeled virtual resource as needed, and moves and handles the modeled virtual work. The task group stored in the resource task storage unit 28 can be operated in parallel in a computer so that the devices in the actual factory can operate in parallel. These tasks are started by any of a source (virtual work generation function), another task, and the process control unit 14, as described later.
[0031]
Representative examples of operations (operations) performed by virtual resources modeled as tasks on virtual work are as follows.
(1) When the virtual resource is a machine tool
Process and output the input virtual work. What kind of processing (operation) is performed is determined by the virtual resource itself according to the incoming virtual work, or determined by an instruction from the process control unit 14 corresponding to a higher-level sequence controller.
[0032]
(2) When the virtual resource is an assembly machine
The parts (plural parts) are taken from the parts supply device and assembled into the intermediate product conveyed by the conveyor. The operation can take various contents, such as changing an assembly procedure depending on a difference in work.
[0033]
(3) When the virtual resource is a conveyor
The virtual work input to the determined position is moved to the determined position. Only the virtual work moves, and the conveyor itself is installed in the same place and does not change its position. This is one of the simplest operations.
[0034]
(4) When the virtual resource is an overhead crane
Overhead cranes are similar to conveyors in the sense that they move virtual workpieces, but because they can move anywhere (with certain restrictions) with virtual workpieces, they have greater flexibility in transport resources than conveyors. It is. Resources with similar functions include forklifts and AGVs. The operation is a flexible operation having parameters such as what, where, and where. In an advanced system, these parameters are passed from the upper process control means 14.
[0035]
(5) When the virtual resource is process control
Thermal and chemical actions such as heat treatment and electrolysis are applied to the input virtual work. The output virtual work (the virtual work after the processing is completed) may be completely different in shape and properties from the input virtual work (the virtual work before the processing). When viewed from the host controller, the difference in operation often appears as a difference in processing time due to a difference in virtual work.
[0036]
(6) When the virtual resource is a worker
Very flexible operations such as moving virtual work, assembling, switching on other virtual resources, and manual processing.
[0037]
In the case of the embodiment, the task status information means 16 is constituted by a plurality of status registers, and serves as a start switch, a sensor, and the like. Then, the status registers constituting the task status information means 16 are usually arranged before and after the task and written into the execution task storage / execution means 20, as shown in FIG. The status register is a type of function with a storage function (usually, there is no time element, but there are exceptions such as time delay), and it is used to mediate task activation and collect information on the status of operations by virtual resources. Do.
[0038]
The status registers (for example, the status registers a2-1, a3-1, and c1-1 in FIG. 2) arranged on the front side of the task are status registers for starting the task, and as shown by a solid line, It is activated by an activation signal from the process control means 14, and when activated, resets the related flag, counts up and resets the counter according to the settings, and finally activates the next task. A status register (for example, status registers a2-3, a3-3, c1-2, etc.) attached to the latter stage of the task is a status register for collecting status information of virtual resources, and is used when the task ends. , Launched by the task. Then, the activated status register sets an event flag indicating the end of the task, or counts up a counter, and transmits necessary information to the process control means 14 as indicated by a broken line.
[0039]
When it is necessary to inform the process control unit 14 of the state of the task being executed, for example, the task a2 is divided into a task a2-1 and a task a2-2, and a state register ( For example, a state register a2-2) is inserted to output data at a required timing. At this time, when the first task (for example, task a2-1) ends, the inserted status register (status register a2-2) is activated, and the activated status register is activated when the second task is completed. It goes without saying that (task a2-2) is started.
[0040]
By using the status register in this way, in addition to setting the event flag to convey the end information, advanced tasks such as using the counter as a counter and using it as a loop identifier or using it as a branch identifier for branch processing Processing becomes possible. Further, the contents of the virtual resources and tasks to be stored in the task storage unit 18 and the types of status information of the task status information unit 16 can be appropriately added, changed, and deleted.
[0041]
The execution task storage / execution means 20 has execution task storage units 30a, 30b, 30c,... Corresponding to the respective virtual resources as shown in FIG. The task to be performed is written. For example, “task a1 / resource A” written in the execution task storage unit 30a indicates that the processing (operation) of the task a1 for the virtual work is performed by the resource (virtual resource) A. Also, the numbers shown in square brackets next to the status register arranged after each task or between the divided tasks indicate the number of states that the status register can take. That is, for example, [0, 1] shown beside the status register a1-1 indicates that the status register a1-1 can take two states of “0” or “1”. Further, the status register a2-2 indicates that the status can be "0" or an integer from "1" to "9".
[0042]
In FIG. 2, the source task a is written in the execution task storage unit 30a, and the virtual work is given to the resource A (appearing from the resource A) at the start of the simulation. The virtual work appears from resources (virtual resources) B and resources (virtual resources) C as necessary.
[0043]
The operation of the simulation apparatus 10 according to the embodiment configured as described above is as follows. First, the specifications of the actual work, for example, the shape, dimensions, material, and the number of the works are input by the input means 12, and the process of processing the work is input. The simulation of the processing of the work is performed by designating a task that models the actual machine resource and the contents of the operation (operation) performed on the work by the actual machine resource. At this time, each task includes, as shown in FIG. 2, a task activation type status register (for example, status registers a2-1, a3-1, b1-1, c3-1, etc.) arranged at the preceding stage of the task, It is input in a state sandwiched by information collecting type status registers (for example, a2-3, a3-3, b1-2, c3-2, etc.) corresponding to the sensors in the sequential process arranged at the subsequent stage of the task.
[0044]
However, for the task to be performed first (in this embodiment, the task a1 based on the resource A shown in the upper left of FIG. 2), the source task a is specified instead of the task activation type status register, The first task a1 is automatically started. When it is necessary to report the state of execution during the execution of a task, the task is divided into two (or three or more), and the state of the task being executed is output during that time. Insert a register (for example, task a2-1, task a2-2, and status register a2-2 of resource A).
[0045]
In the case of the embodiment, these status registers are composed of status values and operation contents. However, the task activation type status register arranged before the task may not have a status value in some cases. This task activation type status register is normally activated by the process control means 14. The contents of the operation of the task activation type status register include resetting of a related flag, counting up and resetting of a counter, and the like. Also, in the information collection type status register arranged at the latter stage of the task, the status value is usually “0” before the previous stage task is completed, an event flag is set when the previous stage task is completed, and the status value is “1”. Changes to Then, a counter is counted up as the operation content of the information collection type status register. In addition, the status register arranged in the middle of the task usually performs an operation such that the initial value of the status value is “0” and the status value is incremented by one each time the preceding task ends.
[0046]
The task for processing the virtual work input from the input unit 12 is selected from the task storage unit 18 and the task state information unit 16 by the process control unit 14 and stored in the storage unit of the execution task storage / execution unit 20 as shown in FIG. As shown in FIG. 2, the data is written in a task development type. The data input / logic operation unit 24 of the process control unit 14 is provided with control logic for processing the virtual work in a predetermined order. An example of the logic applied to the data input / logic operation unit 24 is as follows.
(Equation 1)

(Equation 2)

[Equation 3]

And so on. Then, when the above logical operation is “true”, the data input / logical operation unit 24 activates a task activation type status register for executing the next task.
[0047]
After the specification of the work and the processing step for the work are input through the input unit 12 in this way, when a process start command is given to the process control unit 14, the process control unit 14 In this case, the source task a written in the execution task storage / execution unit 20 via the task execution unit (not shown) of the execution task storage / execution unit 20 is activated. Accordingly, the task execution unit of the execution task storage / execution unit 20 executes the contents of the source task a and reproduces the actual work at a predetermined position of the resource (virtual resource) A reproduced as an image on the display unit 22. A virtual work is generated, and a task a1 (process) for the virtual work by the resource A is executed. As for the contents of this task, the contents and operations of the operation on the actual work by the actual resources are faithfully reproduced as images. When the task a1 by the resource A ends, the status register a1-1 at the subsequent stage of the task a1 is activated by the end of the task a1, sets an event flag, and changes the status value to “1”. The information on the status value of the status register a1-1 is input to the data input / logic operation unit 24 of the process control unit 14 via the task execution unit as shown by the broken line in FIG.
[0048]
The data input / logic operation unit 24 starts the next task according to a control logic given in advance. That is, when the logic value of the above-described formula 1 is given, for example, when the status value of the status register a1-1 becomes “1”, the data input / logic operation unit 24, as shown by the solid line in FIG. An activation signal is output to the status register c1-1 via the task execution unit of the execution task storage / execution means 20. When the start signal is input from the process control unit 14, the state register c1-1 resets the event flag of the state register a1-1 (sets the state value to "0"), and thereafter starts the task c1. Similarly, the processing (operation) of the virtual work by the virtual resource is reproduced as an image on the display unit 22.
[0049]
In this way, processing such as handling is actually performed on the screen of the display unit 22 by using the virtual resource that faithfully models the actual resource with respect to the virtual work that faithfully models the actual work. An actual sequential process can be faithfully reproduced, and a simulation that is well compatible with reality can be performed. Therefore, when a simulation is performed, not only can it be visually reproduced as accurate movements, but also the construction of the simulation itself can be the system design and control design of the actual system. It can greatly contribute to improving quality and shortening the construction period.
[0050]
Then, by expressing the operation of each device (virtual resource) of the task deployment type virtual simulation (virtual simulation infrastructure) by a task program including a time factor, the device has characteristics similar to real devices that operate autonomously and in parallel. A state register, which can be called a simulated sensor / input / output IO, can be added before and after a task so that resource state information can be input to the control means 14 and virtual resources can be operated freely. By performing a logical operation by the control means 14 to simulate the actual PLC sequence control, the real versus virtual of the virtual resource-to-equipment, operation-to-task, and PLC control process control unit 14 is controlled within the simulation conditions. Can be identified Scheme can make. This allows for advanced virtual simulations that are coherent and developable.
[0051]
FIG. 3 shows a main part of another embodiment according to the present invention, and is an explanatory diagram of an execution task storage / execution means. The execution task storage / execution unit 50 according to this embodiment includes a system controller 52 serving as a task execution unit and an execution task storage unit 54. The system controller 52 includes an autonomous task sequential activation function unit 56, a resource conflict arbitration function unit 58, a resource reservation / reservation release function unit 59, and a task priority reference storage unit 60, which will be described in detail later. .
[0052]
The execution task storage unit 54 is configured to write a task that models an operation for performing each processing in a processing step executed on the virtual work. In this embodiment, a plurality of tasks that are performed in a closely related sequence are grouped as a module that automatically and continuously executes. That is, in the embodiment shown in FIG. 2, a task activation type status register is arranged at a stage preceding each task, and an information collecting type status register is arranged at a stage subsequent to each task. The data input / logical operation unit 24 of the means 14 performs a logical operation, and when the result of the logical operation is “true”, the next task is activated via the task activation type status register. In the case of the embodiment shown in FIG. 3, in a series of a plurality of tasks grouped as a module, when the first task is activated, up to the last task belonging to that module is automatically activated sequentially. ing.
[0053]
These modules are determined according to the purpose of the simulation to be realized, in consideration of a causal relationship and a context required by a simulation scenario (processing step). If the tasks included in this module are activated for some reason, the task at the next stage is automatically activated after the execution of the task, and the tasks are sequentially activated up to the last task included in one module. It is going to go.
[0054]
In the case of the embodiment of FIG. 3, the first unique scenario module 62, the second unique scenario module 64, and the third unique scenario module 66 are modules for a series of operations. Then, in the case of the embodiment, the first unique scenario module 62 determines from the source task a, the task a1 by the resource A, the task c1 by the resource C, the task c2 by the resource C, the task a2 by the resource A, and the task a3 by the resource A. An information collection type status register z1 similar to that of the above-described embodiment is arranged at a stage subsequent to the task a3.
[0055]
In the second unique scenario module 64, the same task activation type status register x1 as described above is arranged at the top, and following this status register x1, a task a2 by resource A, a task b2 by resource B, It is composed of a task c1 by the resource C, a status register y2 for transmitting a running state of the task c1, a task a1 by the resource A, a task c3 by the resource C, and an information collection type status register z2 arranged at a stage subsequent to the task c3. ing.
[0056]
Further, the third unique scenario module 66 includes a task activation type status register x2, a task a2 using resource A, a task b2 using resource B, a task c1 using resource C, and an information collection type status register z3 provided at the subsequent stage of task c1. It consists of.
[0057]
The rules for creating these unique scenario modules 62, 64, 66 are as follows (1) to (5).
(1) Scenarios (task execution order) can be constructed depending on the context and causal relationship of each task, but this task always starts when a task ends as a task connection. Those whose in-context and connection are invariant regardless of the change procedure of the progress of the simulation can be connected until the longest. Then, a unique scenario module is created so that every aspect of the simulation always belongs to one of the unique scenario modules, in other words, until a set of a plurality of unique scenario modules can cover all the scenarios of the simulation. Of course, there must be no overlapping of scenario scenes (processing steps). There may be a unique scenario module with only one task. What is essential in the unique scenario module is the absoluteness of the context of the successor task with respect to the preceding task, and does not sandwich another task that is not related therebetween. However, in terms of time, the successor task does not have to start as soon as the previous stage ends. For example, at that time, if the successor task is still continuing the operation (task) for the previously started, it must wait until it finishes, and the virtual resource of the successor task is a task in another unique scenario module. If it has already been used, you must wait until it is done.
[0058]
(2) When creating a unique scenario module, when there is a branch (selection branch) from a certain task to a plurality of tasks according to a change procedure of the simulation, the unique scenario module ends there.
[0059]
(3) In the creation of a unique scenario module, when a successor task is started upon completion of a certain task, and when a plurality of tasks are started simultaneously (parallel branch), the unique scenario is set with the task with the highest relation as the successor. The module creation may be continued (of course, it may be completed before branching, but the scenario is generally clearer if continued). When branching into a plurality of such cases, as will be described later, a status register is inserted into that portion, and another unique scenario module that is desired to be started simultaneously is started therefrom.
[0060]
(4) Unique scenario modules are newly added until the created unique scenario module covers all scenario scenes (all processing steps of the simulation).
[0061]
(5) The same task may appear any number of times within a unique scenario module or between unique scenario modules. What does not overlap is the scenario scene.
[0062]
In the embodiment, for the sake of convenience, the unique scenario module including the status register added at the beginning, end, and sometimes in the middle of the unique scenario module created as described above is used when there is no particular risk of confusion. Call.
[0063]
In this embodiment using such a unique scenario module as well, what corresponds to the sensor / control system in the sequential process is obtained from the status register group which is the contact point with the task and the status register, as in the above embodiment. This is realized by the process control means 14 for making a decision using the obtained state data.
[0064]
The status register is a kind of function having a storage function (usually not having a time element, but there are exceptions such as a time delay), as in the above-described embodiment. Collect information. Then, a status register (for example, status registers x1 and x2) for starting a task is placed at the beginning of each unique scenario module, and when started by a command from the data input / logical operation unit 24 of the process control unit 14, After resetting the related flag, resetting the counter, etc. according to the setting, the next task is started.
[0065]
Status registers (eg, status registers z1, z2, z3) that collect information on virtual resources are usually appended to the end of each unique scenario module and are activated by the last task of the unique scenario module. The activated information collection type status register raises an event flag or the like according to the setting, and transmits the information of the unique scenario module to the data input / logical operation unit 24.
[0066]
When it is necessary to report the state in the middle of the unique scenario module, the state register is inserted after the appropriate task, as in the state register y2 shown in the second unique scenario module 64, and the state of the task is inserted. At the end timing, the inserted status register is activated. However, the status register inserted in the middle may be activated by a command from the data input / logic operation unit 24. In this case, the tasks from this register position to the end of the unique scenario module are sequentially activated. Note that, as in the above embodiment, one task in the unique scenario module may be divided into a plurality of tasks, and a status register may be inserted therebetween.
[0067]
In this way, the storage function of the status register can be used not only as an event flag but also as a storage function for a counter and an identification number, and can cause a task to perform a loop process or cause a unique scenario module to branch based on a branch identifier.
[0068]
The data input / logic operation unit 24 of the process control unit 14 is the same as the above-described embodiment, reads state data such as a flag from a state register, performs a logical operation and a time operation such as a delay on the data, and determines that the result is “true”. , Activate the appropriate unique scenario module via the status register. The operation performed by the data input / logic operation unit 24 is, for example,
(Equation 4)

(Equation 5)

(Equation 6)

And so on.
[0069]
Each of the unique scenario modules 62, 64, and 66 starts the first task by the process control unit 14 via the system controller 52 which is a task execution unit. When the first task is started, a series of tasks are executed by the system controller 52. 3 are automatically started in order from the top in FIG.
[0070]
That is, the autonomous task sequential activation function unit 56 activates the initial status register of the unique scenario module according to an instruction from the data input / logical operation unit 24, or the initial source task starts to operate, and the register or the source task is activated. Upon completion, it detects this and starts the next task.When this started task ends, it starts the next task, and so on, starting each task in order until the terminal task of the unique scenario module. Relay. If the task deals with a virtual work, the virtual work is also relayed. Further, among the unique scenario modules, a plurality of tasks constituting the unique scenario module can take an execution state at the same time. This is a point different from a program represented by an ordinary flowchart. However, in the unique scenario module, if the succeeding (later stage) task is running, the preceding stage task waits until it becomes free.
[0071]
When the processing of the virtual task by the last task ends for each unique scenario module, the information collection type status register (for example, the status register z1) arranged at the end of the unique scenario module is activated by the last task. . When the status register is started, an event flag is set and the status value becomes "1". The status value of the status register is input to the data input / logic operation unit 24 of the process control means 14 via the system controller. The data input / logical operation unit 24 performs a predetermined logical operation, and if this operation is “true”, outputs a signal for starting the next unique scenario module.
[0072]
For example, when the logic shown in Expression 4 is given, the data input / logical operation unit 24 sets the status register x2 to “2 seconds later” when the status value of the status register z1 of the unique scenario module 62 becomes “1”. Activate "is output to the system controller 52. Thus, the system controller 52 activates the status register x2 after 2 seconds. When activated, the status register x2 resets the event flag of the status register z1 (resets the status value to “0”). Then, when the status register x2 resets the event flag of the status register z1, the autonomous task sequential activation function unit 56 of the system controller 52 sequentially activates the tasks below the task a2 located at the subsequent stage of the status register x2. In the same manner, each unique scenario module is started and a task is executed.
[0073]
The resource conflict arbitration function unit 58 adjusts which task is given priority when a plurality of tasks are requested for the same virtual resource at the same time. That is, a plurality of unique scenario modules generally operate in parallel. Since each unique scenario module is composed of tasks, tasks in a plurality of unique scenario modules operating in parallel may request the same virtual resource at the same time. In this case, if a task with the virtual resource is already running, it is necessary to wait until it finishes.However, the next task to be moved is one task based on a certain criteria from the tasks requested to be executed. You need to choose. When such a resource conflict occurs, the resource conflict arbitration function unit 58 reconciles the tasks according to the priority criteria stored in the task priority storage unit 60, and the tasks belonging to the virtual resource are simultaneously processed by two or more. Do not start more than one. As a criterion for overcoming a conflict, there are a method of setting priorities in advance for each task, a method of executing a task requested earlier first, and a method of determining an activation task by referring to another state register data.
[0074]
The resource reservation / reservation release function unit 59 enables the virtual resource to be reserved in the unique scenario module if it is certain that the virtual resource will be used in the near future, and reserves the virtual resource after use. It is made possible to cancel. That is, if there is a task c1 that uses a resource (virtual resource) C with some tasks interposed after a certain task a2 in the unique scenario module, the resource C is reserved immediately after the task a2 and another task The resource C is released when the resource C is used for another purpose, such as finishing the use of the resource C when the order of c1 comes, and then carrying out the virtual work from the resource C. Whereas the resource conflict arbitration function works when virtual resources are actually used, the resource reservation / reservation release function works in anticipation of future use.
[0075]
For example, a task a2 for processing a virtual work by the unique scenario module, a task b2 for an overhead crane (virtual resource) B for transporting the virtual work to the resource C, a task c1 for processing the virtual work with the resource C, and a virtual work from the resource C It is assumed that tasks b3 to be carried out are arranged in order. If there is no resource reservation / reservation release function, the resource B attempts to transport the virtual work to the resource C as soon as the task a2 finishes processing the virtual work (if the resource B is vacant). If C is blocked by another virtual work, resource B waits for resource C to be free there. If the task of unloading the virtual work from the resource C is assigned to the resource B, the overhead crane B will wait forever in front of the resource C. Such a dead cross can be avoided by placing a reservation for resource C immediately after task a2 and releasing the reservation for resource C immediately after task b3.
[0076]
The resource reservation and the resource reservation cancellation are performed by the "resource reservation" and "resource reservation cancellation" commands, and can be freely inserted as a kind of task in the unique scenario module. The factors of the “resource reservation” and “resource reservation release” instructions are resource names. The tasks are started from the top in the unique scenario module in order from the top, and when the “resource reservation” is reached, the resource reservation / reservation release function unit 59 checks the reservation status of the virtual resource, and if there is no commitment, registers the reservation, Activate the next task, and if there are other reservations already available and the virtual resource is not immediately available, add a reservation to the virtual resource queue and wait until your turn comes. .
[0077]
The reservation release instruction inserts the resource C where it can be provided to another task after using the resource C. The insertion place is determined by the flow of the scenario, and is different from the unique scenario module in which the resource reservation is inserted. It could be a module.
[0078]
FIG. 4 shows an example of a specification specification method for simulation using a unique scenario module (a method of connecting unique scenario modules). As shown in FIG. 4, each unique scenario module 62, 64, 66 is described as a chunk that can be distinguished from each other. Each unique scenario module has a task column 70, a content description column 72, and a priority column 74. Each task belonging to each unique scenario module 62, 64, 66 is written from top to bottom in the order of activation in the task column 70. The name of the resource to which the task belongs is also specified in the task column 70.
[0079]
In the content description column 72 corresponding to each task described in the task column 70, the content of the task, that is, the content of the operation on the virtual work by the virtual resource is described. However, the details of the content of each task described in the content description column 72 may be a separate sheet. Further, in the priority column 74 corresponding to each task, priority information of the task is described. Also, resource reservation and resource reservation release instructions are inserted as appropriate. This means that the necessary data has been given to the autonomous task sequential activation function unit 56, the resource conflict arbitration function unit 58, and the resource reservation / reservation release function unit 59 of the system controller 52.
[0080]
The name and number of the status register are described in the task column 70. Then, the status value and the operation content of the status register may be described in portions corresponding to the content description column 72 and the priority column 74. The status value of the status register is a value that can be taken by the status register, for example, “0” or “1” in the case of the status register z1, and “0” or “1” to “5” in the case of the status register y2. ”. Further, the operation content of the status register is “reset the flag” or “count up the counter”.
[0081]
In this specification description method, as indicated by reference numeral 80, a logical operation unit 80 is provided to describe the operation performed by the data input / logical operation unit 24 of the process control means 14. In the logical operation unit 80, the activation condition of each status register is described from the top to the bottom in the order of executing the operation. Of course, the logical operation unit does not need to be described collectively in one place, and may be described in a distributed manner so as to be adjacent to the relevant unique scenario module in order to increase the intelligibility, or may be illustrated in a chart. You may.
[0082]
According to the simulation architecture in which a plurality of unique scenario modules are created in this way, and these are interconnected to construct the contents of the simulation, the target of the complex and seemingly disordered sequence control is determined by the autonomous task of the system controller 52. The sequential activation function unit 56, the resource conflict arbitration function unit 58, and the resource reservation / reservation release function unit 59 are reorganized as a collection of unique scenario modules each composed of a plurality of tasks that operate autonomously. It is possible to consider causal relationships. Therefore, the contents (scenario) of the simulation can be easily understood, and the simulation construction work can be simplified without losing generality.
[0083]
In other words, the designer of the simulation model creates a plurality of unique scenario modules along the processing steps of the actual work, and creates a specification in which these unique scenario modules are interconnected by the connection method shown in FIG. Then, by giving the simulation to a person who constructs the simulation, the intention of the designer and the contents of the simulation can be easily understood, and an accurate simulation can be easily constructed. In addition, by adopting the simulation specification description method shown in FIG. 4, which is well compatible with the task development type architecture, not only easy and rigorous communication between engineers, but also between customers and contractors is possible. The work of creating the simulation model from the specification is made direct and smooth, and the man-hours and rework are reduced. In addition, since a strict and easy-to-understand specification can be created, it is possible to maintain, change, and manage the created simulation model with high quality.
[0084]
In addition, a simulation is constructed by applying the task expansion type virtual simulation architecture and the idea of the unique scenario module connection method described above, and the sequence control between the unique scenario modules obtained as a result and the autonomous sequential task built in the unique scenario module are performed. By combining the activation, the resource conflict logic, and the control that reveals the resource reservation / resource reservation cancellation, it is possible to design an efficient actual system sequence control device.
[0085]
FIGS. 5 to 7 show examples of specific interfaces corresponding to the "efficient sequence control realizing method and simulation specification description method" according to the present invention. In these figures, unique scenario modules are vertically arranged in a spreadsheet, and logical operations are also described in the unique scenario modules. Then, in order to clarify the description contents of the spreadsheet, the six unique scenario modules are divided and shown in FIGS. 5 to 7, but it is needless to say that they may be described in one spreadsheet. This embodiment shows a processing step of shaving three balls from a rough stone. FIG. 8 shows a conceptual diagram of the processing steps.
[0086]
In each unique scenario module, the tasks are described in order of task execution from top to bottom. Further, the status register (status No register) can be treated in the same way as a virtual resource and have one status data and a plurality of functions. As the status data of the status register, an integer (status No.) can be handled. An operation task ID indicating a task name is described in the first column of the spreadsheet, and a resource name is described in the second column. Also, in the third to seventh columns of the spreadsheet, the domain No. of the status No. handled by the status register (in the embodiment, the variable name taking an integer is the same as the register name), the status No. taken by the status register Initial value, INPUT variable name required for the logical operation performed by the status register, OUTPUT variable name output as a result of the logical operation performed by the status register, output value of the logical operation performed by the status register (OUTPUT value) Is described.
[0087]
That is, the status No register R101 of the unique scenario module I in FIG. 5 indicates that the range is two, “0” and “1”, and the initial value is “0”. The state No register R101 indicates that the variable to be output (OUTPUT) as the result of the logical operation is R101, and that the variable R101 becomes "1" as a result of the logical operation.
[0088]
In the status register R401 in the unique scenario module IV in FIG. 6, the domain is “0” and an integer from “1” to “5”, and “0” is given as an initial value as a default value, and This shows that the variable R401 is required for the input (INPUT) of the operation, and the variables of the output of the logical operation result are R401 and R302. Further, the state register R401 performs a logical operation to count up the variable R401 by one, and resets the variable R302 to “0”. Then, the state No register R401 indicates that it is started when the variable R302 becomes “1”.
[0089]
In columns 8 and 9 of the spreadsheet, an INPUT variable name and its condition are defined for defining a start condition of the status register. At the moment when this condition is satisfied, the function of the register is activated (operation of the state No register value).
[0090]
Since the description of such a start condition generally spans a unique scenario module, it tends to be difficult to understand as the scale of the simulation increases. However, each logic is relatively simple. For this reason, logic with a specific purpose such as "Start the unique scenario module after this unique scenario module is completed" or "Repeat this task of this unique scenario module from this task ten times" (hereinafter referred to as function Logic)), state registers and variable names related to each functional logic are described in a unified manner using easy-to-identify symbols specific to the logic, and the functional logic is extracted and placed on separate sheets. Write and manage, or write and manage in a database, and copy the description in the unique scenario module to make the logic easier to see, debug, and reuse logic. Enabled, and easy maintenance and management of logic.
[0091]
FIG. 9 shows an example in which the method is applied to the above-described ball cutting process. In FIG. 9, the unique scenario module is illustrated in the left half and the functional logic is illustrated in the right half. Although the order of the columns in FIGS. 5 to 7 is changed or a part of the unique scenario module is omitted, the unique scenario module is basically the same as FIGS. 5 to 7. Instead of the unregistered register name R401 in FIGS. 5 to 7, for example, variable names in one functional logic are unified with the symbol 5-xx, such as R5-01 and S5-04. It improves visibility and searchability, making it easier to manage.
[0092]
In the tenth column of the spreadsheet, a priority (priority) for solving a resource conflict between unique scenario modules is described by an integer (see FIGS. 5 to 7). In the case of the embodiment, the higher the value of the integer, the higher the priority. Further, in the eleventh column of the spreadsheet, task contents and other remarks are described. This sheet can be used not only as a specification, but also by executing an simulation as defined in this specification by interfacing between the spreadsheet and the simulation.
[0093]
As described above, it is possible to construct a simulation that faithfully reproduces the real world by simultaneously using the autonomous task sequential activation function, the resource conflict arbitration function, and the resource reservation / reservation release function. It is assumed that layout, operation policy, etc. already exist. However, it is rare that they are available from the beginning. In fact, I would like to start from where nothing has been decided and clarify and embody them in order.
[0094]
In fact, there is only a vague mission concept with a simulation device equipped with a function that can turn on and off the autonomous task sequential activation function, resource conflict arbitration function, and resource reservation / reservation release function, and a methodology corresponding to it. Not only the specific image of a device, but also the operation, from the no idea stage, the actual number of necessary devices, functions / performance, shape and dimensions, and the overall layout, as well as the actual operation , It can be considered in detail to the level considered to be equivalent to the real thing. In addition, it is possible to continuously study based on the results of the previous stage. In this process, the specifications are continuously deepened, starting from the rough requirement level at the concept study stage, and gradually becoming more concrete, detailed, and strict. An embodiment of the simulation system and method will be described with reference to FIGS.
[0095]
In FIG. 10, reference numeral 100 lists general system construction phases and study items corresponding to the phases. Starting from an abstract system request that is not supported by the entity, a physical 2 shows a flow for embodying the objective means. Reference numeral 110 denotes a simulation apparatus, which has a task storage unit, a state detection unit, a control unit (process control unit), a display unit, and the like, as in the above-described embodiment. Equipped with a function to turn on / off the conflict arbitration function and resource reservation / reservation release function. Further, the simulation apparatus 110 has a function of automatically generating a simulation by inputting the above-described specification description.
[0096]
The simulation can be automatically generated without any ambiguity as long as the specification is described in the format shown in FIG. In other words, the sequence is strictly defined, and the task is only a lapse of time. Therefore, if the shape and layout of the virtual resource (or task) are determined in advance, all conditions necessary for the simulation have been given. is there. The flow of automatically generating a simulation from the formats of FIGS. 11 and 12 will be described in more detail with reference to FIG. 1 and based on FIG. FIG. 17 shows an image of a simulation automatically generated from the format shown in FIG.
[0097]
FIG. 11 shows a simulation specification in which the resource column is blank. The task names in the second column are described without omission, and the estimated times are entered in the sixth column. The status register related information in the first and fourth columns is also entered without omission. FIG. 12 is a diagram in which the blank resource names in FIG. 11 are filled. The simulation automatic generation intends to create a simulation uniquely from these specifications. From FIG. 11, a simulation without restrictions from virtual resources (hereinafter, referred to as an abstract process simulation) is created, and from FIG. 12, a simulation based on restrictions from virtual resources (hereinafter, referred to as a general entity simulation) is created (FIG. 11 and 12 do not occasionally include a resource reservation / reservation release instruction, but the flowchart of FIG. 16 also considers resource reservation / reservation release).
[0098]
For automatic simulation creation, first, the specifications (spreadsheet) are read (step 150), and the number of unique scenario modules is counted (step 152). Let that number be N. Next, it is determined whether the process is an abstract process simulation or a general entity simulation based on whether the third column is blank (step 154).
[0099]
If it is determined that the process is an abstract process simulation, M = 1 in step 156, and tasks (second column in FIG. 11) are extracted from the top for the first unique scenario module in order from the top, and the task name is stored in the task storage unit 18 in FIG. And memorize the task. The contents of the task are the contents of the register operation in the fourth column of FIG. 11 in the case of the status register, the source task in consideration of the occurrence time interval in the sixth column of FIG. 11 in the case of the source, and This is a simple time lapse task employing the time in the sixth column of FIG. Further, a block model having the same name as the task name is generated for each task (step 158). Subsequently, an autonomous task sequential activation function unit is set so that each task of the unique scenario module is activated autonomously in order from the top (step 160). Then, 1 is added to M to determine M> N (steps 162 and 164). If M> N is not satisfied, the process returns to step 158 and the above processing from step 158 to step 164 is performed. This is also performed for the scenario module.
[0100]
After that, in the case of the abstract process simulation, the activation condition in the first column in FIG. 11 is extracted from all the unique scenario modules and stored in the data input / logical operation unit 24 in FIG. 1 (step 166). In this way, an abstract process simulation without excess and deficiency is obtained.
[0101]
If it is determined in step 154 that the process is not an abstract process simulation, the process proceeds from step 154 to step 170 to determine whether or not the process is a general entity simulation. If it is determined that the process is a general entity simulation, M = 1 is also set (step 172). For the first unique scenario module, a task is extracted from FIG. 12 and the task name and the task content are stored in the task storage unit 18 of FIG. This is similar to the case of the abstract process simulation. In the rough entity simulation, a source name is also stored in addition. The model generates a block having the same name as the resource name corresponding to the virtual resource. However, when a model (detailed model) having the same name already exists from the beginning, the model is not generated and is used (step 174). Subsequently, an autonomous task sequential activation function unit is set so that each task of the unique scenario module is activated autonomously in order from the top (step 176). Thereafter, 1 is added to M to determine M> N (steps 178 and 180). If M> N is not satisfied, the process returns to step 174, and the processing from step 174 to step 180 is repeated for all remaining unique scenarios. Repeat for modules. FIG. 17 illustrates the relationship between the unique scenario module and the autonomous task sequential activation function unit.
[0102]
After that, in the case of the rough entity simulation, the tasks belonging to the same virtual resource are categorized for all unique scenario modules, and the resources are arbitrated so that if a virtual resource conflict occurs, it is arbitrated. The conflict arbitration function unit is set (step 182). Further, a resource reservation / reservation release instruction belonging to the same virtual resource is extracted from the entire unique scenario module, and a resource reservation / reservation release function unit is set so that the virtual resource is reserved or released at the instruction (step S1). 184). Finally, the activation conditions described in the first column of FIG. 12 are extracted from all the unique scenario modules and stored in the data input / logical operation unit 24 of FIG. 1 (step 186). In this way, a substantial entity simulation without excess or deficiency is obtained. FIG. 17 shows the relationship between the resource conflict arbitration function unit and the virtual resources, and the relationship between the data input / logical operation unit and the status register.
[0103]
It also has a simulation creation / editing function and a simulation execution function that assist a user in creating and editing a simulation. It also has a task time extraction and processing function for extracting the operating time in the simulation of each task from the simulation being executed and performing statistical processing such as an average value.
[0104]
Reference numeral 120 in FIG. 10 is a simulation specification, which indicates the flow of updating. The specification 120 is detailed and refined in accordance with the following simulation as the phase progresses. Reference numeral 130 denotes a simulation that can be performed by utilizing the simulation device 110 and the simulation specification 120, and shows the characteristics of the simulation and the flow of the study.
[0105]
In the initial stage of the concept, an abstract process simulation 131 is performed. This simulates an insubstantial abstract process, in which the resource conflict arbitration function and the resource reservation / reservation release function of the simulation device 110 are turned off. As a preparation, it is necessary to first create the specifications 120. This is to identify the functions based on the requirements analysis, consider the flow of functions (processes) so as to satisfy the system requirements, and describe the overall specifications as shown in FIG. It is. When the specification 120 is input, the simulation apparatus 110 automatically performs an abstract process simulation using a task storage unit and a task state information unit based on the specification described in the specification 120 by a process control unit (not shown). 131 is generated. Focusing only on the processes, ignoring the constraints of the virtual resources, and expressing each process as a time-lapse task required for the process. Since the examination of the required function level can be performed widely and promptly, it is possible to summarize ideas about the flow of the entire process and to organize starting points and policies in considering the constraints of virtual resources.
[0106]
In order to visualize the abstract process without substance, a simple shape with the same name as the task is automatically generated for each task. The layout of these shapes can be edited manually and can be used for intuitive understanding of processes, such as placing closely related processes close together. During the simulation, when each task is moving, the color of the shape representing the task is changed, and the text in the remarks column of the specification description is displayed on the screen along with the shape of the task. Make it easy to grasp the contents of The image is shown in FIG. It also outputs a Gantt chart to record the passage of time.
[0107]
When the process flow is solidified in the abstract process simulation 131, it is necessary to consider which process is to be allocated to which entity and what is called a function allocation. This is performed by the general entity simulation 132. This is a simulation that is conscious of virtual resources, and is closer to reality. The simulation apparatus 110 turns on the autonomous task sequential activation function, the general substance simulation resource conflict arbitration function, and the resource reservation / reservation release function.
[0108]
Tasks that are independent from each other in the abstract process simulation 131 are assigned to resources that are entities, which means that one resource handles a plurality of tasks. In moving from the abstract process simulation 131 to the general entity simulation 132, not only do tasks belonging to the same virtual resource not be able to operate at the same time, but also the necessity of adding a process to consider the resource as an entity, for example, adding a setup change. Come out. Initially, the resource reservation / reservation release function will not be used, but will be taken into account as the study progresses. The specification 120 is described as shown in FIG.
[0109]
That is, the description of the task is expressed by simple time lapse as in the case of the abstract process simulation 131, but the entity name is entered in the resource column as the resource name. The simulation is automatically generated from the specification sheet 120 by the simulation apparatus 110 in the same manner as described above. In the resource model, if shape data that matches the name written in the resource column of the specification exists and is already defined in the simulation, the shape is used and the position information is followed, but the shape data For resources without resources, simple shapes such as blocks are automatically generated and the arrangement is also performed automatically. By replacing the resources with more realistic virtual resource shapes and manually editing the layout during the study, it is possible to gradually approach the real world. In addition, during the simulation, when the task is moving, the color of the shape representing the virtual resource to which the task belongs is changed, and the text in the remarks column of the specification description is displayed on the screen along with the shape of the virtual resource. The content of the entity simulation 132 can be easily grasped. The image is shown in FIG. It also outputs a Gantt chart to record the passage of time. As a result, the function allocation to the process and the equipment and the layout can be roughly examined, and alternatives can be narrowed down and arranged as, for example, required specifications for a basic design.
[0110]
When the device identification, the number of devices, the rough layout, the rough process time, and the operation are obtained by the rough entity simulation 132, the mosaic simulation 133 is performed next. This refines the shape / configuration of virtual resources, tasks, and sequence control using the simulation creation / edit function of the simulation apparatus 110 based on the results of the above-described general entity simulation 132.
[0111]
As shown in FIG. 13, the description of the specification 120 is also continuously refined from that of the general entity simulation. If the task specifications cannot be written in the remarks column, call the detailed specifications. This refinement is not performed uniformly, but is performed according to the purpose, starting with the most effective one. In other words, starting from an overall coarse-grained simulation called the general entity simulation 132, when necessary, it is possible to enjoy quick and high cost-effectiveness by refining when necessary.
[0112]
The prioritization point is to improve the accuracy of simulation time estimation or visual effects that are important for presentation. However, if the purpose is to improve the accuracy of time estimation, tasks / resources that cannot be accurately approximated with a fixed time lapse will be considered. Just washing out and refining it can greatly contribute to improving the overall accuracy. For example, an operation of an overhead crane whose required time greatly varies depending on the length of a route at each time is a typical example.
[0113]
The detailed simulation 134 is an image in which the refinement of the mosaic simulation 133 has advanced to the ultimate, and is a so-called virtual simulation.
[0114]
It is effective to use the schematic entity simulation 132, the mosaic simulation 133, and the detailed simulation 134 complementarily. Sequence control can be easily shared between the general entity simulation 132, the mosaic simulation 133, and the detailed simulation 134. Then, the only difference between them is the difference between the model shape and the degree of detail of the task behavior. The rough entity simulation 132 is easy to create and the calculation time is fast because the task representing each process is a simple time lapse, but it has drawbacks in the grounds and reliability of the task time.
[0115]
On the other hand, in the mosaic simulation 133 and the detailed simulation 134, although the accuracy of time is very high and the appearance is good, it generally takes a long time to create and takes a long time to execute. Therefore, the required time of each task obtained by the mosaic simulation 133 and the detailed simulation 134 is extracted and recorded by the task time extraction / processing function unit of the simulation device 110, and the average value is calculated for the task of the general physical simulation 132. If the elapsed time is returned, the approximate entity simulation 132 can provide an accurate and quick simulation.
[0116]
The monitoring and control system can be configured by applying the above idea. In the case of a simulation, a task in a unique scenario module in which the context and causal relationship are defined in a spreadsheet is started at the start timing, but is monitored if the operation of the real machine resource corresponding to the task is started instead.・ Work as a control system. FIG. 20 is a block diagram schematically showing the monitoring / control system. In the description of the monitoring and control system 150, parts corresponding to the above-described simulation apparatus are denoted by the same reference numerals.
[0117]
In FIG. 20, the monitoring / control system 150 includes a control device 152 and a plurality of actual resources (actual resources) 160 (160A to 160N). The control device 152 has substantially the same configuration as the above-described simulation device, and includes an input unit 12, a process control unit 14, a task state information unit 16, an execution task storage / execution unit 50, and a display unit 22. However, the control device 152 does not include the task storage unit 18 but includes a transmission / reception unit 154. The real device resources 160 are controlled and monitored by the control device 152.
[0118]
Each real device resource 160 has a transmission / reception unit 162, a resource controller 164, and an operation storage unit 166 (see FIG. 21). The real device resources 160 are connected to the resource controller 164 while the transmission / reception unit 162 is connected to the communication line 170. On the other hand, the transmission / reception means 154 of the control device 152 is connected to the process control means 14 and the communication line 170. The control device 152 includes a system controller 52 and an execution task storage unit 54 in the execution task storage / execution unit 50 as shown in FIG. In the case of FIG. 21, the control device 152 includes only the process control unit 14 and the execution task storage / execution unit 50, and the transmission / reception unit 162 of the real device resource 160 is omitted.
[0119]
The system controller 52 has an autonomous task sequential activation function unit 56, a resource conflict arbitration function unit 58, a task priority 60, and a resource reservation / reservation release function unit 59. Then, the execution task storage unit 54 is created as a spreadsheet and stores the input unique scenario modules 62, 64, 66 and the like. These functions are the same as the functions corresponding to each of FIG. The difference is the task processing in the unique scenario. In FIG. 3, when a task in the unique scenario is activated, a task as a simulation model is executed. This means that the task is selected from the task storage unit shown in FIG. 1 and is executed by the execution task storage / execution unit 50. Then, when the task is completed, it is transmitted to the autonomous task sequential activation function unit 56. On the other hand, in FIG. 21, when the task in the unique scenario is started, a start request signal for the operation of the real device resource 160 is transmitted through the communication line 170. Then, a signal indicating that the operation is completed is received from the real machine resource 160, and the signal is transmitted to the autonomous task sequential activation function unit 56. Upon receiving the operation completion signal (operation state information), the autonomous task sequential activation function unit 56 activates the next task.
[0120]
That is, in the control device 152, when the autonomous task sequential activation function unit 56 activates a task, the process control unit 14 receives a resource name and an operation name corresponding to the task from the system controller 52. The process control unit 14 causes the transmission / reception unit 154 to transmit the operation instruction. The transmission / reception unit 162 of each real device resource 160 receives the operation instruction addressed to itself and transfers it to the resource controller 164. The resource controller 164 decodes the contents of the operation instruction, searches the operation storage unit 166 to read out a corresponding operation program, and executes an operation on a work (not shown). Then, when the operation on the work is completed, the resource controller 164 outputs an operation completion signal. This operation completion signal is sent to the transmission / reception unit 154 of the control device 152 via the transmission / reception unit 162. The operation completion signal received by the transmission / reception unit 154 is input to the system controller 52 of the execution task storage / execution unit 50 via the process control unit 14. Thereby, the autonomous task sequential activation function unit 56 detects the completion of the task and activates the next task.
[0121]
The resource controller 164 of each real machine resource 160 outputs the state of the operation on the work to the control device 152 via the transmission / reception unit 162 from moment to moment. In the control device 152, the process control unit 14 receives the data via the transmission / reception unit 154 and transfers the received data to the system controller 52 of the execution task storage / execution unit 50. The system controller 52 displays the operation information on the display unit 22 as the operation of the real device resource 160.
[0122]
In order to clarify the difference between tasks (operations) in FIG. 3 and FIG. 21, in FIG. 21, the character “IO” is added before the corresponding task name in FIG. FIG. 21 omits the communication other than the communication between the IO task a2 / resource A and the resource a, but it goes without saying that similar communication is also performed for other tasks and other resources. In this way, in FIG. 21, the operation is instructed to the appropriate resource in a timely manner, and by receiving the completion signal for the operation from the resource, the entire process can be grasped at all times. A control system can be configured. The communication function may be implemented by one-to-one wiring or a network configuration such as a LAN.
[0123]
【The invention's effect】
As described above, according to the present invention, the virtual work or virtual resource displayed on the screen can be used not only for the shape, dimensions, and arrangement of the actual work and the actual resource (e.g., device), but also for the operation and operation of the work. And the like are faithfully modeled and reproduced as images, and based on the processing steps for the modeled virtual work and the state of operation of the modeled virtual resources for this virtual work, virtual resources and operations according to the processing steps By performing the operation on the virtual work by selecting the above, the actual sequential process can be visually faithfully reproduced, and a simulation that is well compatible with reality can be performed. As a result, complex flows of workpieces can be reproduced, as in the case of high-mix low-volume production, and the design of actual production equipment can be easily performed to build systems, reduce costs, shorten construction periods, and improve quality. Improvement can be achieved.
[0124]
In particular, a state detection means, which may be called a simulation sensor, is provided, and the process control unit determines the state of the operation performed by the virtual resource on the virtual work based on the output signal of the state detection means, and performs processing on the virtual work in accordance with the processing steps. Since the virtual work is processed by selecting the operation to be performed, the operation of the actual sequence controller can be reproduced, and the control design can be easily performed.
[0125]
Further, according to the simulation model creating method of the present invention, a series of closely related processes can be grouped as a module, so that complicated control contents can be easily understood and simplified. Construction can be performed easily and quickly. By describing the contents of the modules and the relationship between the modules as a spreadsheet, the contents of the simulation can be made strict and easy to understand. Model creation work can be performed directly and smoothly. By describing the contents of the modules and the relationship between the modules as a spreadsheet, the man-hours for creating the simulation model can be reduced, a high-quality simulation can be constructed, and the created simulation model can be maintained at a high quality. , Management, change, etc., can be easily performed.
[0126]
In addition, by performing the stepwise simulation by combining the basic functions of the above-described simulation apparatus and the method of creating the simulation model, the efficiency is continuously improved from the quick outline simulation in the concept study stage to the detailed design and the faithful detailed simulation in the operation stage. Can be well created. In addition, by returning the high reliability data obtained by the detailed simulation to the general simulation, a high reliability quick simulation can be obtained. In addition, a monitoring / control system for an actual system can be efficiently constructed.
[Brief description of the drawings]
FIG. 1 is a schematic block diagram of a device according to an embodiment of the present invention.
FIG. 2 is an explanatory diagram of a task stored in an execution task storage / execution unit according to the embodiment.
FIG. 3 is an explanatory diagram of an execution task storage / execution unit according to another embodiment.
FIG. 4 is a diagram illustrating a method of connecting unique scenario modules according to the embodiment.
FIG. 5 is a diagram showing an example of a spreadsheet describing a unique scenario module according to the embodiment.
6 is a diagram illustrating an example of a spreadsheet describing a unique scenario module according to the embodiment, and is a diagram illustrating a description example of the unique scenario module subsequent to FIG. 5; FIG.
7 is a diagram illustrating an example of a spreadsheet describing a unique scenario module according to the embodiment, and is a diagram illustrating a description example of the unique scenario module following FIG. 6; FIG.
FIG. 8 is a conceptual diagram of a ball cutting processing step according to the embodiment.
FIG. 9 is a diagram showing an example of functional logic extracted from a unique scenario module.
FIG. 10 is an explanatory diagram of a simulation system that embodies the system from vague concepts according to the embodiment.
FIG. 11 is a diagram showing a description example of a specification for creating an abstract process simulation according to the embodiment;
FIG. 12 is a diagram showing a description example of a specification of a schematic substance simulation according to the embodiment;
FIG. 13 is a diagram showing a description example of a specification of a mosaic simulation according to the embodiment.
FIG. 14 is an explanatory diagram of an abstract process simulation according to the embodiment.
FIG. 15 is an explanatory diagram of a schematic substance simulation according to the embodiment;
FIG. 16 is a flowchart illustrating a method for automatically generating a simulation from a specification according to the embodiment.
FIG. 17 is a diagram showing an image of a simulation automatically generated according to the embodiment;
FIG. 18 is a conceptual diagram illustrating a sequential process.
FIG. 19 is a diagram illustrating an example of a conventional method for creating a simulation model.
FIG. 20 is a schematic block diagram of a monitoring / control system according to the embodiment.
FIG. 21 is an explanatory diagram of an operation of the monitoring and control system according to the embodiment.
[Explanation of symbols]
10 simulation device, 12 input means, 14 control means (process control means), 16 state detection means (task state information means), 18 task storage means, 20, 50 execution task storage and execution means, 22 display means, 26 source task storage section, 28 resource task storage section, 30a to 30c, 54 execution task storage section, 52 ...... System controller, 62, 64, 66 ... modules (first unique scenario module, second unique scenario module, third unique scenario module), 150 ... monitoring / control system, 152 ... ... Control devices, 160A, 160B, 160C, 160N ... Real device resources, 164 ... Resource controllers, 166 ... Operation storage unit.

Claims (9)

A plurality of faithfully modeled virtual resources for performing operations on the faithfully modeled virtual work, and a plurality of operations performed by each of these virtual resources on the virtual work are stored. A method of creating a simulation model for performing each processing in a given processing step by a virtual resource and an operation selected from the stored virtual resources and the operation, and executing the processing step,
A module for automatically and continuously executing the operations corresponding to each of a plurality of processes that are performed in a closely related sequence among the processing steps given to the virtual work. How to create a simulation model. The method for creating a simulation model according to claim 1,
A method of creating a simulation model, wherein the contents of the modules, the relationships among the plurality of modules, and individual logics having a purpose are described in a spreadsheet. Displaying on the screen the faithfully modeled virtual work and the faithfully modeled virtual resource, and based on the processing steps given to the virtual work and the state of operation on the virtual work by the virtual resource, A virtual resource and a plurality of operations performed by each virtual resource on the virtual work, and then select an operation to be performed next on the virtual work and a virtual resource, and select the virtual resource for the virtual work. A simulation method characterized by displaying a state of a selected operation performed on a screen. Among the processing steps given to the modeled virtual work, a module that automatically and continuously executes an operation corresponding to each of a plurality of processings performed in a series in a closely related manner,
Spreadsheet the contents of this module, the relationships between the modules and the individual logic with the purpose,
Based on the specifications given as the spreadsheet, the virtual work and the modeled virtual resources are displayed on a screen,
From a plurality of virtual resources and a plurality of operations performed by each virtual resource on the virtual work, based on a processing step given for the virtual work and a state of an operation on the virtual work by the virtual resource, the Select the next operation and virtual resource for the virtual work,
Displaying on the screen the state of the selected operation performed by the selected virtual resource on the virtual work;
Further updating the spreadsheet based on a simulation performed from the spreadsheet at the concept study stage without a specific image for the realization means,
Perform detailed and faithful modeled simulations by repeating the simulation based on the new spreadsheet and updating the spreadsheet,
A simulation method characterized by the above-mentioned. The simulation method according to claim 4,
A simulation method, wherein a simulation model is created while mutually supplementing a simulation model in a schematic specification stage of the realizing means and a simulation model in a more detailed and faithful modeling stage. A plurality of faithfully modeled virtual resources that perform operations on the faithfully modeled virtual work, and a task storage unit that stores a plurality of operations each of the virtual resources performs on the virtual work.
State detecting means for detecting a state of an operation performed on the virtual work by the virtual resource,
The virtual resource and the operation are selected from the task storage unit according to the processing step based on the processing step given in advance for the virtual work and the output signal of the state detection unit, and the virtual resource is selected by the selected virtual resource. Control means for performing a selected operation on the workpiece;
Display means for displaying the virtual work and the virtual resource, and displaying a state of the operation performed on the virtual work by the virtual resource,
A simulation device comprising: A plurality of modeled virtual resources that perform operations on the modeled virtual work, and a task storage unit that stores a plurality of operations that each of these virtual resources performs on the virtual work.
State detecting means for detecting a state of an operation performed on the virtual work by the virtual resource,
The virtual resource and the operation are selected from the task storage unit according to the processing step based on the processing step given in advance for the virtual work and the output signal of the state detection unit, and the virtual resource is selected by the selected virtual resource. Control means for performing a selected operation on the workpiece;
Display means for displaying the virtual work and the virtual resource, and displaying a state of the operation performed on the virtual work by the virtual resource,
A module configured to automatically and continuously execute the operation corresponding to each of a plurality of processes performed in a closely related manner in a series of processing steps given to the virtual work. The virtual work, virtual resources and the state are stored in the task storage unit based on the specification given as a spreadsheet, with the contents of the module, the relationship between the plurality of modules, and the individual logic having the purpose as a spreadsheet. Automatically create a simulation using detection means,
A simulation device characterized by the above-mentioned. In a processing step performed on the work, a module for automatically and continuously executing each operation corresponding to each of a plurality of processings performed in a series in a closely related manner by a resource,
This module and the relation between the plurality of modules and individual logic having a purpose are input to the control means,
The control unit activates a resource corresponding to an operation in the module to execute an operation on a work, and causes the resource to sequentially execute the contents of the module based on operation state information output from the resource. ,
A monitoring and control method characterized by the above-mentioned. A resource for executing an operation corresponding to a process to be performed on the work,
In a processing step performed on the work, a module and a plurality of modules created for automatically and continuously executing each operation corresponding to each of a plurality of processings performed in a series in a closely related manner by a resource. An input means capable of inputting individual logic having a relationship between modules and a purpose,
An execution task storage unit that stores the module input by the input unit;
The operation and the resource in the module stored in the execution task storage unit are read, and the corresponding resource is activated via the transmission / reception unit to execute the operation on the work. Based on the state information, a control unit that sequentially executes the module stored in the execution task storage unit to resources,
A monitoring and control system comprising:

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