Information processing device

Abstract

To provide an information processing device that can more accurately grasp the storage status. [Solution] The information processing device according to the present invention comprises: a distance measurement information acquisition unit that acquires distance measurement information of a space including a three-dimensional virtual space area of ​​a predetermined size by a distance measuring sensor mounted on a moving body that moves based on a self-position estimation means; a calculation unit that calculates the amount of space occupied by an object present in the three-dimensional virtual space area based on the acquired distance measurement information of the three-dimensional virtual space area and pre-stored topographic information of the space including the three-dimensional virtual space area; and a request information generation unit that generates request information requesting the replenishment of the object based on the time-series change in the amount of space occupied by the object.

Description

Technical Field

[0001] The present invention relates to an information processing apparatus related to storage conditions.

Background Art

[0002] There is a known technique for recognizing storage conditions based on captured images. In Patent Document 1, an image feature amount in an object area is extracted using an object area extraction function and an image feature amount extraction function from an image captured by a camera-equipped mobile terminal to identify an object and obtain its quantity, and a technique for obtaining and managing the latest inventory status is disclosed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When grasping the status of materials arranged in a materials storage area or the like, in the technique described in Patent Document 1, it is necessary to prepare in advance data of individual materials that can be arranged, and there is a risk of input omission of material data. In addition, when obtaining storage conditions based on a two-dimensional image, the estimated quantity of materials or the like is not necessarily accurate. Therefore, there is a problem that when grasping storage conditions based on image information, it cannot always be said that the storage conditions can be accurately grasped.

[0005] An object of the present invention is to provide an information processing apparatus that can more accurately grasp storage conditions.

Means for Solving the Problems

[0006] The information processing device according to the present invention comprises: a distance measurement information acquisition unit that acquires distance measurement information of a space including a three-dimensional virtual space area of ​​a predetermined size using a distance measuring sensor mounted on a moving body that moves based on a self-position estimation means; a calculation unit that calculates the amount of space occupied by an object present in the three-dimensional virtual space area based on the acquired distance measurement information of the three-dimensional virtual space area and pre-stored topographic information of the space including the three-dimensional virtual space area; and a request information generation unit that generates request information requesting the replenishment of the object based on the time-series change in the amount of space occupied by the object. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide an information processing device that can more accurately grasp the storage status. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram of the working environment related to an information processing device according to one embodiment of the present invention. [Figure 2] This is a block diagram showing the functional configuration of an information processing device according to one embodiment of the present invention. [Figure 3] This is a flowchart of the processing performed by an information processing device according to one embodiment of the present invention. [Modes for carrying out the invention]

[0009] The embodiments will be described below with reference to the drawings. Note that the drawings are simplified, and the technical scope of the embodiments should not be narrowly interpreted based on their depiction. Furthermore, the same elements are denoted by the same reference numerals, and redundant explanations are omitted. Also, in the following embodiments, when referring to the number of elements (including quantity, numerical value, amount, range, etc.), unless specifically stated or clearly limited to a particular number in principle, the number is not limited to that particular number and may be greater than or less than that number.

[0010] Furthermore, in the following embodiments, the components are not necessarily essential unless otherwise explicitly stated or considered to be clearly essential in principle. Similarly, in the following embodiments, when referring to the shape, positional relationship, etc., of the components, etc., it shall include those that substantially approximate or resemble their shape, etc., unless otherwise explicitly stated or considered to be clearly not essential in principle. The same applies to the numbers, etc. (including the number of items, numerical values, quantities, ranges, etc.).

[0011] [Embodiment] <Outline configuration of work environment 1> Figure 1 is a schematic diagram of the work environment 1 related to the information processing device 10 according to one embodiment of the present invention. The work environment 1 is, for example, a materials storage area and a production factory, but is not limited to these and can be any environment in which materials and other items are placed.

[0012] In the work environment 1, the mobile unit 2 is equipped with a distance measuring sensor 3. Based on the distance information from the distance measuring sensor 3, the mobile unit 2 estimates its own position and mainly moves along path R2. The mobile unit 2 transports material M, which is an example of an object, to storage area R1, and unloads material M from storage area R1. It is preferable that storage area R1 is adjacent to path R1 on which the mobile unit 2 travels.

[0013] Storage area R1 is an example of a three-dimensional virtual space. Multiple storage areas R1 may be provided within the work environment 1. Furthermore, the example of an object is not limited to material M, but can include various objects such as manufactured products. In the following explanation, storage area R1 is described as an example of a three-dimensional virtual space, and material M as an example of an object; however, the three-dimensional virtual space and objects are not limited to these.

[0014] Mobile device 2 is configured, for example, as an autonomous mobile robot that moves autonomously. Mobile device 2 may be an autonomous mobile robot (AMR) or an automated guided vehicle (AGV), but is not limited to these and may be any other mobile device.

[0015] The distance measuring sensor 3 may be, for example, a laser sensor (LiDAR: Light Detection and Ranging), a radar sensor (RADAR: Radio Detection and Ranging), a millimeter-wave radar, an infrared sensor, or an ultrasonic sensor. Alternatively, the distance measuring sensor 3 may be an imaging device equipped with means for acquiring video or still images containing depth information, and means for acquiring supplementary information other than video.

[0016] The information processing device 10 is configured to communicate with the mobile device 2. The information processing device 10 includes a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), HDD (Hard Disk Drive), and an input / output interface (I / F) as its hardware components. These are electrically connected to each other via a bus. The CPU controls the operation of the information processing device 10. The ROM stores programs and other data executed by the CPU. The RAM is used as the CPU's workspace. The HDD stores various data such as programs. The input / output interface is an interface for inputting and outputting various signals and data to and from external devices.

[0017] The information processing device 10 retrieves information from the database 20 and stores the information in the database 20. The database 20 may be provided in a device configured to communicate with the information processing device 10, as shown in the figure, or it may be provided in the information processing device 10. Alternatively, the database 20 may be provided on a server in the cloud.

[0018] The information processing device 10 stores in the database 20 the time-series change of the terrain information of the space including the storage place R1 of the material M existing around the route R2 of the moving body 2. In the database 20, the terrain information and the time information which is the time when the terrain information is acquired are stored in an associated manner. The information processing device 10 generates request information for requesting replenishment etc. of the material M based on the change in the occupancy amount of the material M estimated from the time-series change of the terrain information of the storage place R1.

[0019] Note that the occupancy amount of the material M is represented by, for example, the amount of the material M and the occupancy rate etc. Further, the request information is information regarding, but not limited to, replenishment requests and ordering requests etc. of the object M.

[0020] Furthermore, the generation of the request information may be the setting of an ordering flag for the material M. At this time, for example, when the ordering flag is "1", a message indicating that replenishment and ordering etc. of the material M are requested is displayed on the display means, and when the ordering flag is "0", a message indicating that replenishment and ordering etc. of the material M are not requested etc. may be displayed on the display means, but not limited to these. The display means may be provided in the information processing device 10 and a device capable of communicating with the information processing device 10, or may be provided in the working environment 1. The display means is constituted by, for example, devices such as a liquid crystal display and an organic EL display.

[0021] <Functional configuration of the information processing device 10> FIG. 2 is a block diagram showing the functional configuration of the information processing device 10 according to an embodiment of the present invention. As shown in the figure, the information processing device 10 includes a distance measurement information acquisition unit 11, a calculation unit 12, and a request information generation unit 13.

[0022] The distance measurement information acquisition unit 11 acquires distance measurement information of the space including a three-dimensional virtual space region of a predetermined size by the distance measurement sensor 3 mounted on itself from the moving body 2 that moves based on the self-position estimation means. The three-dimensional virtual space region is set in advance. As described above, the storage place R1 is an example of the three-dimensional virtual space region. The space including the storage place R1 which is the three-dimensional virtual space region includes the space where objects such as the material M are installed to the maximum extent.

[0023] The calculation unit 12 calculates the amount of material M occupied in the storage area R1, which is a three-dimensional virtual space, based on the distance measurement information of the storage area R1 acquired by the distance measurement information acquisition unit 11 and the topographic information of the space including the three-dimensional virtual space area that has been stored in advance.

[0024] More specifically, the calculation unit 12 calculates the proportion of material M in the 3D virtual space area using a calculation model that calculates the volume of material M based on the topographic information of storage area R1. The calculation model is a pre-generated model. Based on the calculated proportion of material M, the calculation unit 12 calculates, for example, the current amount and occupancy rate of material M. The calculated occupancy amount of material M is stored in the database 20 in association with time information indicating the current time.

[0025] The request information generation unit 13 generates request information requesting replenishment of material M based on the time-series change in the amount of material M, which is an object, calculated by the calculation unit 12. The request information generation unit 13 may, but is not limited to, generate request information when the occupancy rate of material M becomes, for example, 20% or less, as a threshold for the amount of material M occupied. The request information generation unit 13 may also generate request information if the amount of decrease in material M over a predetermined period exceeds a predetermined value.

[0026] <Flowchart of the processing performed by the information processing device 10> Figure 3 is a flowchart of the processing performed by the information processing device 10 according to one embodiment of the present invention. The information processing device 10 generates topographic information of a space including a three-dimensional virtual space region based on distance measurement information from, for example, the distance measurement sensor 3 (S101), and inputs it into a calculation model that calculates the amount of space occupied by an object (S102).

[0027] The distance measurement information acquisition unit 11 acquires distance measurement information for a space including a predetermined size 3D virtual space area by the distance measurement sensor 3 mounted on the mobile body 2, and the calculation unit 12 calculates the amount of space occupied by the object in the 3D virtual space area using a calculation model (S103). The calculated amount of space occupied by the object is stored in the database 20 in association with time information indicating the current time (S104). The time-series change in the amount of space occupied by the object is displayed on the display means (S105).

[0028] The request information generation unit 13 generates and outputs request information requesting replenishment of material M, etc., based on the time-series change in the amount of material M, which is an object, calculated by the calculation unit 12 (S106).

[0029] These steps enable the information processing device 10 according to one embodiment of the present invention to perform processing. However, this processing may include other steps as appropriate, depending on the measurement conditions, measurement space, etc.

[0030] <Effects of the information processing device 10 according to this embodiment> When using two-dimensional image processing of a material storage area to understand the condition of materials, it is necessary to prepare data for each material in advance. Furthermore, because the depth of the material storage area cannot be fully recognized from the image, it is not always possible to accurately understand the storage conditions.

[0031] The information processing device 10 according to this embodiment calculates the amount of material M occupied in storage area R1 based on distance measurement information, including information in the depth direction of storage area R1, obtained by a distance measuring sensor 3 that measures three-dimensional information. Therefore, it is possible to calculate the amount of occupied material M for a wide variety of materials based on a common calculation model. Furthermore, since the calculated amount of occupied material M is stored in the database 20 in association with time information indicating the current time, the remaining amount of material M in storage area R1 can be accurately grasped, and order flags, etc., can be set.

[0032] Therefore, according to the information processing device 10 of this embodiment, the storage status can be grasped more accurately.

[0033] Although the present invention has been described above in accordance with the embodiments described above, the present invention is not limited to the configuration of the embodiments described above, and of course includes various modifications, alterations, and combinations that can be made by a person skilled in the art within the scope of the claims of the present patent application. [Explanation of Symbols]

[0034] 1. Working Environment 2 Mobile Units 3. Distance measuring sensor 10 Information Processing Devices 11 Distance information acquisition section 12 Calculation Section 13 Request information generation section M Materials R1 Storage Area

Claims

[Claim 1] A distance measurement information acquisition unit acquires distance measurement information of a space including a predetermined size three-dimensional virtual space area by a distance measuring sensor mounted on a moving body that moves based on a self-position estimation means, A calculation unit calculates the amount of space occupied by an object within the three-dimensional virtual space based on the distance measurement information of the acquired three-dimensional virtual space and the topographic information of the space including the three-dimensional virtual space that has been stored in advance. A request information generation unit generates request information requesting replenishment of the object based on the time-series change in the amount of the object occupied, Equipped with, information processing device.

Images