Verification device, verification system, method, and program

Abstract

To provide a verification device capable of verifying a loading content to a transport apparatus.SOLUTION: The input unit receives input of package information indicating the contents of a package to be stacked. The reproducer reproduces a state in which the packages indicated by the input package information are stacked on the transportation equipment in the virtual space, based on the input package information, using a stacking model in which the package information of the packages to be stacked is input and the stacking position of each package having the highest stability is output based on the degree of consideration of the factor for stabilizing the stacking of the packages. The verification unit verifies the stability of the package by simulating the operation of the transport apparatus in the virtual space in the above state based on the actual operation data. The optimization unit optimizes a parameter indicating the degree of consideration of the stowage model so that the stability becomes higher.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to a verification device, a verification system, a verification method, and a verification program for verifying loading details on transportation equipment. [Background technology]

[0002] Various methods for loading cargo onto transportation equipment have been proposed. For example, Patent Document 1 describes a loading pattern generation device that improves the efficiency of loading work so as not to adversely affect subsequent processes after loading. The device described in Patent Document 1 generates a case loading pattern based on the lengths of any two sides of rectangular parallelepiped cases, the number of cases to be arranged in a single layer, and the lengths of two sides of a rectangular area in which the cases are to be loaded. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-075468 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the shape of cargo is not limited to a rectangular parallelepiped, and cargo weight is not uniform. Furthermore, cargo behavior differs depending on the type of transportation equipment. Therefore, it is difficult to apply the technology described in Patent Document 1, and the work tends to depend on individuals. This results in problems such as variations in stowage efficiency, accuracy, and stability.

[0005] Therefore, the present disclosure relates to a verification device, a verification system, a verification method, and a verification program that can verify the loading contents of transportation equipment. [Means for solving the problem]

[0006] The verification device according to the present disclosure includes an input unit that accepts input of luggage information representing the contents of the luggage to be loaded; a reproduction unit that uses a loading model that takes as input luggage information for the luggage to be loaded and outputs the most stable loading position for each piece of luggage based on the degree of consideration of factors that stabilize the luggage loading, to reproduce the state in which the luggage indicated by the input luggage information is loaded onto transportation equipment in a virtual space based on the input luggage information; a verification unit that verifies the stability of the luggage by simulating the operation of the transportation equipment in the virtual space in the above state based on actual operation data that represents the movement of the transportation equipment in the real world; and an optimization unit that optimizes parameters that indicate the degree of consideration of the loading model so as to increase the stability, and is characterized in that the reproduction unit reproduces the state in which the luggage is loaded using the optimized model.

[0007] The verification system according to the present disclosure comprises a production data acquisition device that is mounted on a transportation device in the real world and acquires production data indicating the movement of the transportation device, and a verification device that verifies the state of cargo loading on the transportation device, wherein the production data acquisition device includes a transmission unit that transmits the acquired production data to the verification device, and the verification device includes an input unit that accepts input of cargo information indicating the contents of the cargo to be loaded, and a reproduction unit that uses a loading model that takes as input the cargo information of the cargo to be loaded and outputs the most stable loading position of each piece of cargo based on the degree of consideration of factors that stabilize the cargo loading, to reproduce the state of cargo loaded on the transportation device in a virtual space based on the input cargo information, as indicated by the input cargo information, and the verification unit verifies the stability of the cargo by simulating the operation of the transportation device in the virtual space in the above state based on the production data, and an optimization unit that optimizes parameters that indicate the degree of consideration of the loading model to increase stability, and the reproduction unit reproduces the state of cargo loaded using the optimized model.

[0008] The verification method according to the present disclosure is characterized in that it accepts input of luggage information representing the contents of the luggage to be loaded, uses a loading model that takes as input the luggage information of the luggage to be loaded and outputs the most stable loading position of each luggage based on the degree of consideration of factors that stabilize the luggage loading, reproduces the state in which the luggage indicated by the input luggage information is loaded onto transportation equipment in a virtual space based on the input luggage information, simulates the operation of the transportation equipment in the virtual space in the above state based on actual operation data that indicates the movement of the transportation equipment in the real world, thereby verifying the stability of the luggage, optimizes parameters that indicate the degree of consideration of the loading model to increase stability, and reproduces the state in which the luggage is loaded using the optimized model.

[0009] The verification program according to the present disclosure is characterized in that it causes a computer to execute an input process for accepting input of luggage information representing the contents of the luggage to be loaded; a reproduction process for reproducing the state in which the luggage indicated by the input luggage information is loaded onto a transportation device in a virtual space based on the input luggage information using a loading model that takes luggage information of the luggage to be loaded as input and outputs the most stable loading position of each luggage based on the degree of consideration of factors that stabilize the luggage loading; a verification process for verifying the stability of the luggage by simulating the operation of the transportation device in the virtual space in the above state based on actual operation data that represents the movement of the transportation device in the real world; and an optimization process for optimizing parameters that indicate the degree of consideration of the loading model to increase stability, and in the reproduction process, reproducing the state in which the luggage is loaded using the optimized model. [Effects of the Invention]

[0010] According to the present disclosure, it is possible to verify the contents of loading on a transportation device. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is an explanatory diagram illustrating a configuration example of an embodiment of a verification system according to the present disclosure. [Figure 2]10 is a flowchart illustrating an example of the operation of the verification device of the present disclosure. [Figure 3] 1 is a block diagram illustrating an overview of a verification device according to the present disclosure. [Figure 4] 1 is a block diagram illustrating an overview of a verification system according to the present disclosure. [Figure 5] FIG. 1 is a schematic block diagram illustrating the configuration of a computer according to at least one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] In the present disclosure, it is assumed that the stability of a load loaded onto a transport device is verified in a virtual space. Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings.

[0013] 1 is an explanatory diagram showing an example of the configuration of an embodiment of a verification system according to the present disclosure. The verification system 1 of this embodiment includes a verification device 100 and a production data acquisition device 200. The verification device 100 is connected to a stowage device 300.

[0014] The actual operation data acquisition device 200 is a device that is mounted on a transportation device in the real world and acquires data (hereinafter referred to as actual operation data) that indicates the actual movement of the transportation device. Examples of transportation devices assumed in this embodiment include trucks and drones.

[0015] The production data acquisition device 200 includes a control unit 210 and a plurality of sensors 220. The sensors 220 detect the movement of the transportation equipment. Examples of the sensors include an acceleration sensor, a camera sensor, a gyro sensor, and a vibration sensor. However, the sensors are not limited to these, and any sensors can be used as long as they can detect the movement of the transportation equipment.

[0016] In this way, the actual movement data can be said to be data that indicates the actual movement of the transportation equipment, that is, data that indicates the movement of the transportation equipment detected by various sensors provided on the transportation equipment.

[0017] The control unit 210 collects information detected by each sensor 220 and generates production data. Then, the control unit 210 transmits the production data to the verification device 100. Note that the control unit 210 may transmit the production data to an external storage server (not shown) for storage instead of transmitting it directly to the verification device 100.

[0018] The verification device 100 is a device that verifies the loading state of cargo on transportation equipment. The verification device 100 includes a storage unit 10, a virtual space generation unit 20, an input unit 30, a reproduction unit 40, a verification unit 50, and an optimization unit 60.

[0019] The storage unit 10 stores various types of information used for processing by the verification device 100. The storage unit 10 of this embodiment also stores a stowage model that is used when the reproduction unit 40 (described later) reproduces a state in which transportation equipment is stowed in a virtual space. The contents of the stowage model will be described later.

[0020] Furthermore, the storage unit 10 of this embodiment may store a model representing the virtual space to be verified, or information that has been animated in 3D (three dimensions) based on the model. Note that, since the models representing virtual spaces and the forms of 3D animation representing virtual spaces are widely known, detailed explanations thereof will be omitted here.

[0021] The storage unit 10 may also store production data input from the production data acquisition device 200. The storage unit 10 is realized by, for example, a magnetic disk or the like.

[0022] The virtual space generation unit 20 generates a virtual space to be used for verification. The method by which the virtual space generation unit 20 generates the virtual space is arbitrary. For example, the virtual space generation unit 20 may generate a 3D animation, which is a virtual space, from a model stored in the storage unit 10, or may output the 3D animation stored in the storage unit 10 itself.

[0023] The input unit 30 accepts input of information indicating the contents of the cargo to be loaded (hereinafter referred to as cargo information). Examples of cargo information include the shape of the cargo, the weight of the cargo, and the position of the center of gravity of the cargo. In addition, if production data is stored in an external storage server (not shown), the input unit 30 may accept input of that production data.

[0024] The reproduction unit 40 reproduces the state in which the luggage indicated by the input luggage information is loaded onto the transportation equipment in the virtual space based on the input luggage information. At this time, the reproduction unit 40 receives luggage information of the luggage to be loaded as an input, and reproduces the state in which the luggage is loaded using a loading model that outputs the most stable loading position of each luggage based on the degree of consideration (parameter) of factors that stabilize the luggage loading.

[0025] For example, assuming that one wants to load cargo as efficiently as possible (pack as much cargo as possible), the behavior of the transport equipment (e.g., truck) may change depending on the position of the cargo. Specific factors to be considered when loading cargo stably (hereinafter simply referred to as factors to be considered) include the height of the center of gravity, the gap within the loading space, positioning the cargo toward either the front or rear or left or right side of the transport equipment, and arranging the cargo in the reverse order of the order in which it was removed. Since the loading condition changes depending on the proportion to which these factors are considered, using the above loading model makes it possible to reproduce a more desirable loading condition.

[0026] For example, a function that takes a smaller value the more favorable the state is may be defined for each consideration factor, and the linear sum of each function may be defined as the objective function representing the stowage model. A specific example of a stowage model will be described below. Here, the gap within the stowage space will be used as an example of a consideration factor.

[0027] The smaller the horizontal gap, the less likely it is to move during delivery during transportation, and this is thought to contribute to stability. Here, if the vertical direction is the Z axis, the horizontal direction is the XY plane direction. Therefore, the minimum horizontal gap between luggage L1 and other luggage in the direction of travel is defined as gxL1 Then, the function H that indicates the size of the gap gx can be expressed by the following formula 1:

[0028]

number

[0029] Similarly, the minimum vertical gap between luggage L1 and other luggage in the direction of travel is g yL1 Then, the function H that indicates the size of the gap gy can be expressed by the following formula 2.

[0030]

number

[0031] The importance of gaps may differ between the vertical and horizontal directions in the direction of travel. Therefore, each function is multiplied by a different coefficient and added together to form an equation that represents the stability of the cargo, as shown in the example of Equation 3 below. Note that the coefficient values ​​may be the same.

[0032]

number

[0033] In addition to the gap, it is also possible to define functions in the same way for other consideration factors (position of the center of gravity, ease of movement due to differences in shape, ease of movement of cargo, etc.). These functions can also be added together in the same way. The function added together in this way may be defined as the objective function that indicates the stowage model.

[0034] The verification unit 50 verifies the stability of cargo loading by simulating the operation of the transportation equipment in a virtual space based on the input actual operation data. The stability of cargo loading includes at least one of the degree to which cargo movement is suppressed, the degree to which cargo collapse is suppressed, and the degree to which impacts on the cargo are suppressed, and can be said to be the resistance to being affected by the operation of the transportation equipment.

[0035] The degree of cargo movement is expressed, for example, by the total distance the cargo has shifted. The degree of cargo collapse is expressed, for example, by the number of times the cargo has collapsed. The degree of impact is expressed, for example, by the number of times the cargo has collided with other cargo or transportation equipment. The smaller the total of these degrees, the higher the stability can be said to be. Furthermore, the operation of the transportation equipment is the operation of the transportation equipment when loaded with cargo, for example, moving the transportation equipment along the actual delivery route.

[0036] The verification unit 50 may simulate the operation of the transportation equipment by any method, and may use, for example, a physics engine that simulates physical behavior. The verification unit 50 may transmit the verification result to the stowage apparatus 300.

[0037] The optimization unit 60 optimizes parameters indicating the degree of consideration of the stowage model so as to increase the stability of cargo stowage. For example, if the results of verification by the verification unit 50 do not satisfy the criteria, the optimization unit 60 may optimize the parameters of the stowage model so as to increase the degree of consideration of factors that cause the low stability. Note that methods for optimizing the parameters of the stowage model exemplified above are widely known, and therefore detailed explanations will be omitted here.

[0038] After the parameters are optimized, the reproduction unit 40 reproduces the state in which the luggage is loaded using the optimized model, and the verification unit 50 simulates the operation of the transportation equipment in virtual space with the reproduced luggage loaded, thereby repeating the process of verifying the stability of the luggage.

[0039] The stowage device 300 performs various processes so that the verified stowage state of luggage can be realized in transportation equipment in the real world. For example, the stowage device 300 may control a robot that actually stows luggage. Furthermore, the stowage device 300 may display the stowage results in a manner that can be recognized by a worker.

[0040] The virtual space generation unit 20, input unit 30, reproduction unit 40, verification unit 50, and optimization unit 60 are realized by a computer processor (e.g., a CPU (Central Processing Unit), a GPU (Graphics Processing Unit)) that operates according to a program (verification program). For example, the program may be stored in storage unit 10 of verification device 100, and the processor may read the program and operate as virtual space generation unit 20, input unit 30, reproduction unit 40, verification unit 50, and optimization unit 60 according to the program.

[0041] Furthermore, each function of the verification device 100 may be provided in the form of SaaS (Software as a Service). Furthermore, the virtual space generation unit 20, the input unit 30, the reproduction unit 40, the verification unit 50, and the optimization unit 60 may each be realized by dedicated hardware.

[0042] Furthermore, some or all of the components of each device may be realized by general-purpose or dedicated circuits, processors, etc., or a combination of these. These may be configured by a single chip, or by multiple chips connected via a bus. Some or all of the components of each device may be realized by a combination of the above-mentioned circuits, etc., and programs.

[0043] Furthermore, when some or all of the components of the verification device 100 are realized by multiple information processing devices, circuits, etc., the multiple information processing devices, circuits, etc. may be centrally or decentralized. For example, the information processing devices, circuits, etc. may be realized as a client-server system, a cloud computing system, or the like, in a form in which each device is connected via a communication network.

[0044] Next, an example of the operation of the verification device 100 of this embodiment will be described below. Fig. 2 is a flowchart showing an example of the operation of the verification device 100 of this embodiment.

[0045] The input unit 30 accepts input of luggage information (step S11). The reproduction unit 40 reproduces the state in which luggage is loaded onto the transportation equipment in the virtual space using a loading model based on the input luggage information (step S12). The verification unit 50 verifies the stability of the luggage by simulating the operation of the transportation equipment in the virtual space with luggage loaded based on actual operation data (step S13). If the verification result satisfies the criteria (Yes in step S14), the process ends.

[0046] On the other hand, if the verification result does not satisfy the criteria (No in step S14), the optimization unit 60 optimizes the parameter indicating the degree of consideration of the loading model so as to increase stability (step S15). Then, the reproduction unit 40 reproduces the state in which the luggage is loaded using the optimized model (step S16). Thereafter, the processing from step S13 onwards is repeated.

[0047] As described above, in this embodiment, the input unit 30 accepts input of luggage information, and the reproduction unit 40 reproduces the state in which luggage is loaded onto a transportation device in a virtual space using a loading model based on the input luggage information. Furthermore, the verification unit 50 verifies the stability of the luggage by simulating the operation of the transportation device in the virtual space with luggage loaded based on actual operation data, and the optimization unit 60 optimizes parameters indicating the degree of consideration of the loading model to increase stability. The reproduction unit 40 then reproduces the state in which luggage is loaded onto the transportation device using the optimized model. Thus, the loading details on the transportation device can be verified.

[0048] Next, an overview of the present disclosure will be described. Fig. 3 is a block diagram showing an overview of a verification device of the present disclosure. A verification device 80 (e.g., verification device 100) according to the present disclosure includes an input unit 81 (e.g., input unit 30) that accepts input of luggage information indicating the contents of luggage to be loaded, a reproduction unit 82 (e.g., reproduction unit 40) that uses a loading model that receives input luggage information of luggage to be loaded and outputs the most stable loading position of each luggage based on the degree of consideration of factors that stabilize the luggage loading, based on the input luggage information, and reproduces a state in which luggage indicated by the input luggage information is loaded onto a transportation device (e.g., a truck, a drone, etc.) in a virtual space, based on the input luggage information, a verification unit 83 (e.g., verification unit 50) that verifies the stability of the luggage by simulating the operation of the transportation device in the virtual space in the above state based on actual operation data, and an optimization unit 84 (e.g., optimization unit 60) that optimizes parameters indicating the degree of consideration of the loading model to increase stability.

[0049] Then, the reproduction unit 82 reproduces the state in which the luggage is loaded using the optimized model.

[0050] Such a configuration allows verification of the contents of the transport equipment loading.

[0051] In addition, the input unit 81 may accept input of actual operation data indicating the movement of the transportation equipment detected by a sensor installed on the transportation equipment, and the verification unit 83 may verify the stability of the cargo by performing a simulation based on the actual operation data.

[0052] The verification unit 83 may verify the stability of the cargo stacking using at least one of the degree to which movement of the cargo is suppressed, the degree to which collapse of the cargo is suppressed, and the degree to which impact on the cargo is suppressed.

[0053] Furthermore, the optimization unit 84 may optimize the parameters of the stowage model so as to increase the degree of consideration of factors that cause the stability to decrease.

[0054] 4 is a block diagram showing an overview of a verification system according to the present disclosure. A verification system 90 (e.g., verification system 1) according to the present disclosure includes a production data acquisition device 70 (e.g., production data acquisition device 200) that is mounted on a transportation device in the real world and acquires production data showing the movement of the transportation device, and a verification device 80 (e.g., verification device 100) that verifies the loading state of cargo on the transportation device.

[0055] The production data acquisition device 70 includes a transmission unit 71 (for example, the control unit 210) that transmits the acquired production data to the verification device 80.

[0056] The configuration of the verification device 80 is the same as the configuration of the verification device 80 illustrated in FIG.

[0057] With such a configuration, the contents of the load on the transport equipment can also be verified.

[0058] 5 is a schematic block diagram showing the configuration of a computer according to at least one embodiment. The computer 1000 includes a processor 1001, a main memory device 1002, an auxiliary memory device 1003, and an interface 1004. The computer 1000 may also be connected to a computer that executes a mathematical programming solver, an annealing machine, a simulator, or the like.

[0059] The above-described verification device 80 is implemented in a computer 1000. The operations of the above-described processing units are stored in the form of a program (verification program) in an auxiliary storage device 1003. The processor 1001 reads the program from the auxiliary storage device 1003, loads it into the main storage device 1002, and executes the above-described processing in accordance with the program.

[0060] In at least one embodiment, the auxiliary storage device 1003 is an example of a non-transitory tangible medium. Other examples of non-transitory tangible media include a magnetic disk, a magneto-optical disk, a CD-ROM (Compact Disc Read-only memory), a DVD-ROM (Read-only memory), and a semiconductor memory connected via the interface 1004. In addition, when this program is distributed to the computer 1000 via a communication line, the computer 1000 that receives the program may load the program into the main storage device 1002 and execute the above processing.

[0061] The program may also be a program for realizing part of the above-described functions. Furthermore, the program may be a so-called differential file (differential program) that realizes the above-described functions in combination with another program already stored in the auxiliary storage device 1003.

[0062] Although the present invention has been described above with reference to the embodiments and examples, the present invention is not limited to the above-described embodiments and examples. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention. [Explanation of symbols]

[0063] 1. Verification System 10 Storage section 20 Virtual space generation unit 30 Input section 40 Recapitulation 50 Verification Department 60 Optimization Section 100 Verification Device 200 Production data acquisition device 210 Control Unit 220 Sensors 300 Stacking equipment

Claims

1. an input unit that accepts input of cargo information that indicates the contents of cargo to be loaded; a reproducing unit that uses a loading model that receives input of luggage information about luggage to be loaded and outputs the most stable loading position of each luggage based on the degree of consideration of factors that stabilize the loading of luggage, and reproduces a state in which luggage indicated by the input luggage information is loaded onto the transportation equipment in the virtual space based on the input luggage information; a verification unit that verifies the stability of the cargo by simulating the operation of the transportation device in the virtual space in the state based on actual operation data that indicates the movement of the transportation device in the real world; an optimization unit that optimizes a parameter indicating a degree of consideration of the loading model so as to increase the stability; The reproduction unit reproduces the state in which the luggage is loaded using the optimized model. A verification device characterized by:

2. the input unit receives input of actual movement data indicating a movement of the transportation equipment detected by a sensor provided in the transportation equipment; The verification unit verifies the stability of the cargo by performing a simulation based on the actual operation data. The verification device according to claim 1 .

3. The verification unit verifies the stability of the cargo stacking using at least one of the degree of suppression of cargo movement, the degree of suppression of cargo collapse, and the degree of suppression of impact to the cargo.

3. The verification device according to claim 1.

4. The optimization unit optimizes the parameters of the loading model so as to increase the degree of consideration of the factors that caused the low stability.

3. The verification device according to claim 1.

5. an actual operation data acquisition device that is mounted on a transportation device in the real world and acquires actual operation data that indicates the movement of the transportation device; a verification device that verifies the loading status of the cargo on the transportation equipment, The production data acquisition device a transmitting unit that transmits the acquired production data to the verification device; The verification device an input unit that accepts input of cargo information that indicates the contents of cargo to be loaded; a reproducing unit that uses a loading model that receives input of luggage information about luggage to be loaded and outputs the most stable loading position of each luggage based on the degree of consideration of factors that stabilize the loading of luggage, and reproduces a state in which luggage indicated by the input luggage information is loaded onto the transportation equipment in the virtual space based on the input luggage information; a verification unit that verifies the stability of the cargo by simulating the operation of the transportation equipment in the virtual space in the state based on the actual operation data; an optimization unit that optimizes a parameter indicating a degree of consideration of the loading model so as to increase the stability; The reproduction unit reproduces the state in which the luggage is loaded using the optimized model. A verification system comprising:

6. Accept input of cargo information indicating the contents of the cargo to be loaded, using a loading model that receives as input luggage information about luggage to be loaded and outputs the most stable loading position for each luggage based on the degree of consideration of factors that stabilize the loading of luggage, to reproduce a state in which luggage indicated by the input luggage information is loaded onto the transportation equipment in the virtual space based on the input luggage information; verifying the stability of the load by simulating the operation of the transportation device in the virtual space under the condition based on actual operation data showing the movement of the transportation device in the real world; optimizing a parameter indicating a degree of consideration of the loading model so as to increase the stability; Reproduce the state of loading the cargo using the optimized model. A verification method comprising:

7. receiving input of actual operation data indicating the movement of the transportation equipment detected by a sensor provided on the transportation equipment; Verify the stability of the cargo by simulating it based on the actual data. The verification method according to claim 6.

8. On the computer, an input process for accepting input of cargo information representing the contents of cargo to be loaded; a reproduction process for reproducing a state in which luggage indicated by the input luggage information is loaded onto the transportation equipment in the virtual space based on the input luggage information, using a loading model that receives input luggage information of luggage to be loaded and outputs the most stable loading position of each luggage based on the degree of consideration of factors that stabilize the luggage loading; a verification process for verifying the stability of the cargo by simulating the operation of the transportation device in the virtual space in the state based on actual operation data showing the movement of the transportation device in the real world; and executing an optimization process for optimizing a parameter indicating a degree of consideration of the loading model so as to increase the stability; In the reproduction process, the optimized model is used to reproduce the state in which the luggage is loaded. Verification program for.

9. On the computer, In the input process, an input of actual movement data indicating the movement of the transportation equipment detected by a sensor provided on the transportation equipment is accepted; In the verification process, the stability of the cargo is verified by simulating it based on the actual data. The verification program according to claim 8.

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