JP2017036135A - Operation evaluation support system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To support evaluation as to whether an automatic operation apparatus normally operates.SOLUTION: An action evaluation support system 100 for supporting the evaluation of an operation of an automatic operation device 200 includes ideal information acquisition means 101 for acquiring ideal information showing an ideal operation, and display means 102 for overlappingly displaying an actual operation image showing an actual operation and an ideal operation image obtained from the ideal information.SELECTED DRAWING: Figure 1

Description

  The invention of the present application is an operation evaluation support used for evaluating the operation of automatic operation equipment that performs operations by autonomous operations such as logistics equipment such as stacker cranes in automated warehouses and transport vehicles in factories, industrial robots, machine tools, etc. About the system.

  Conventionally, an autonomous driving device that operates autonomously by computer control has various sensors mounted for normal operation confirmation and abnormal operation detection, and the operation state of the autonomous driving device based on information acquired from the sensor. Judgment is normal or abnormal.

  For example, in Patent Document 1, various abnormalities that occur in a logistics transport device, which is one of automatic operation devices, are analyzed based on information from sensors and control units, and the investigation of the cause of the abnormality is made more efficient. Possible anomaly detection methods are described.

JP 2012-10681 A

  However, when it is determined whether or not the operation of the automatic driving device is abnormal based on information from a sensor or the like, it is not determined that the operation is abnormal, but some trouble may occur in the automatic driving device. For example, there is a case where the automatic driving device does not exhibit the initial performance, or a case where an abnormality occurs in the operation unit that is not the target of sensing by the sensor. In many cases, the discovery of defects in such automatic driving equipment relies on the intuition of the operator.

  This invention is made | formed in view of the said subject, and aims at provision of the operation | movement evaluation assistance system which assists the evaluator's evaluation work which evaluates operation | movement of an autonomous driving apparatus.

  In order to achieve the above object, an operation evaluation support system according to the present invention is an operation evaluation support system that supports evaluation of the operation of an automatic driving device, and includes ideal information indicating an ideal operation of the automatic driving device. It is characterized by comprising ideal information acquisition means for acquiring, and display means for superimposing and displaying an actual operation image indicating an actual operation of the automatic driving device and an ideal operation image obtained from the ideal information.

  According to this, since the evaluator can see the image in which the actual operation image and the ideal operation image are superimposed by the display means, it is possible to easily evaluate the malfunction of the automatic driving device due to the difference between the ideal operation image and the actual operation image. It is possible to easily determine whether or not a malfunction has occurred in the automatic driving device.

  In addition, an actual operation information creation unit that creates actual operation information indicating an actual operation of the automatic driving device, an ideal information creation unit that creates ideal information, and an actual operation information acquisition unit that acquires actual operation information are provided. The display means may superimpose and display the actual motion image obtained from the actual motion information and the ideal motion image obtained from the ideal information.

  According to this, it is possible to superimpose the actual motion image and the ideal motion image without using a special display device. In addition, since the actual motion image and the ideal motion image are superimposed based on the actual motion information and the ideal information, the evaluator evaluates the operation of the automatic driving device even if the evaluator is not at the site where the automatic driving device is installed. It becomes possible.

  In addition, the actual operation information creation unit may include an imaging unit that creates an actual operation information by imaging an actual operation of the automatic driving device.

  According to this, actual operation information can be created relatively easily.

  Further, the ideal information creating means may create ideal information by simulation.

  According to this, it is possible to identify the cause of the abnormality regardless of the behavior of the automatic driving device.

  The ideal information creating unit may create ideal information based on the actual operation information created by the actual operation information creating unit.

  According to this, it becomes possible to evaluate the change with time of the operation of the automatic driving device.

  In addition, the autonomous driving device includes a plurality of operation units that are operating parts, and the display unit displays an ideal operation image of one operation unit obtained from ideal information in a superimposed manner with an actual operation image. It doesn't matter.

  The automatic driving device may be a traveling vehicle, and the operation unit may be a wheel provided in the traveling vehicle.

  According to this, by superimposing an ideal operation image and an actual operation image of at least one operation unit, for example, an ideal operation image and an actual operation image of a wheel of a traveling vehicle, from a plurality of operation units of the autonomous driving device, It is possible to display in detail the portion to be noted, and to perform detailed evaluation of the operation.

  It should be noted that execution of a program for causing a computer to execute each process included in the operation evaluation support system also corresponds to the implementation of the present invention. Of course, implementing the recording medium in which the program is recorded also corresponds to the implementation of the present invention.

  According to the present invention, it is possible to easily evaluate whether or not the automatic driving device is operating normally.

FIG. 1 is a block diagram showing functional units of the operation evaluation support system. FIG. 2 is a perspective view showing how the motion evaluation support system is used. FIG. 3 is a diagram illustrating a state in which the superimposed actual motion image and ideal motion image are displayed on the display device. FIG. 4 is a block diagram illustrating a functional unit and the like of the operation evaluation support system. FIG. 5 is a perspective view showing how the motion evaluation support system is used. FIG. 6 is a diagram illustrating a state in which the actual motion image and the ideal motion image are superimposed on the display device. FIG. 7 is a block diagram illustrating a functional unit and the like of the operation evaluation support system. FIG. 8 is a diagram illustrating a state in which the actual operation image and the ideal operation image are overlapped on the display device.

  Next, an embodiment of an operation evaluation support system according to the present invention will be described with reference to the drawings. The following embodiment is merely an example of the operation evaluation support system according to the present invention. Accordingly, the scope of the present invention is defined by the wording of the claims with reference to the following embodiments, and is not limited to the following embodiments. Therefore, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept of the present invention are not necessarily required to achieve the object of the present invention. It will be described as constituting a preferred form.

  Also, the drawings are schematic diagrams in which emphasis, omission, and ratio adjustment are performed as appropriate to show the present invention, and may differ from actual shapes, positional relationships, and ratios.

(Embodiment 1)
FIG. 1 is a block diagram showing functional units of the operation evaluation support system.

  FIG. 2 is a perspective view showing how the motion evaluation support system is used.

  As shown in these drawings, the motion evaluation support system 100 is a system that visually assists an evaluator in evaluating the operation of the automatic driving device 200, and includes an ideal information acquisition unit 101 and a display unit 102. An actual operation information creation unit 103, an ideal information creation unit 104, and an actual operation information acquisition unit 105.

  The automatic driving device 200 is, for example, a device that includes at least one operation unit 201 that automatically operates under computer control or the like. Specifically, examples of the automatic driving device 200 include an industrial robot in which an arm operates as the operation unit 201 in addition to a traveling vehicle that functions as the operation unit 201 as a whole.

  In the case of the present embodiment, as the automatic driving device 200, for example, a transport vehicle that autonomously travels on a floor surface in a factory and transports luggage is illustrated. The entire automatic driving device 200 is an operation unit 201 that automatically operates. Furthermore, the automatic driving device 200 may include a plurality of operation units that individually operate, such as wheels or a transfer device for transferring a load.

  The actual operation information creation unit 103 is a device or processing unit that creates actual operation information indicating the actual operation of the automatic driving device 200. In the case of the present embodiment, the actual operation information creation unit 103 includes an imaging unit 131 that creates an actual operation information by capturing an actual operation of the automatic driving device 200 and a transmission unit 132.

  The imaging unit 131 is an apparatus that acquires actual operation of the automatic driving device 200 as an image and creates actual operation information. Specifically, the imaging unit 131 is a digital video camera, and continuously acquires the actual operation of the automatic driving device 200 as a plurality of images from a predetermined direction, and actually operates as a video that is a set of a plurality of images. Create information.

  The transmission unit 132 is a processing unit that transmits the actual operation information created by the imaging unit 131 to the actual operation information acquisition unit 105. In the case of the present embodiment, the transmission unit 132 is included in the imaging unit 131 and transmits actual operation information to the actual operation information acquisition unit 105 by wireless communication.

  The actual operation information acquisition unit 105 is a device or processing unit that acquires the actual operation information created by the actual operation information creation unit 103. In the case of the present embodiment, the actual operation information acquisition unit 105 is a device provided in the computer 120 separate from the actual operation information creation unit 103, and is transmitted by wireless communication from the transmission unit 132 of the actual operation information creation unit 103. Acquire and save the transmitted actual operation information.

  The ideal information creation unit 104 is a device or a processing unit that creates ideal information indicating an ideal operation of the automatic driving device 200. Here, the ideal operation of the automatic driving device 200 is an operation that can be arbitrarily determined in advance as the operation of the automatic driving device 200. For example, the ideal operation may be an operation in which the automatic driving device 200 is considered to be operating in the best state, and is considered to be operating in a state in which it is considered abnormal but not abnormal. The operation may be performed. Further, an actual operation of the new automatic driving device 200 may be an ideal operation.

  In the case of the present embodiment, the ideal information creation unit 104 is a processing unit obtained by executing a simulation program in the computer 120, and inputs and executes a design value of the automatic driving device 200 in the simulation program. This makes it possible to obtain ideal information.

  The ideal information acquisition unit 101 is a device or processing unit that acquires ideal information indicating an ideal operation of the automatic driving device 200 from the ideal information creation unit 104. In the case of the present embodiment, the ideal information acquisition unit 101 is a device provided in the computer 120 that is the same as the ideal information generation unit 104, and acquires and stores the ideal information generated by the ideal information generation unit 104.

  The display unit 102 is a device that displays an actual operation image indicating an actual operation of the automatic driving device 200 and an ideal operation image obtained from ideal information in a superimposed state. In the case of the present embodiment, the display means 102 includes a display device 121 and a superimposing unit 122.

  The display device 121 is a device that displays an image, for example, a monitor that uses a liquid crystal panel, an organic EL panel, or the like, and is a device that can display an image, an image, or the like based on an input signal. In the case of this embodiment, the display device 121 is a separate device from the computer 120.

  The superimposing unit 122 creates an actual motion image based on the actual motion information acquired from the actual motion information acquisition unit 105, and creates an ideal motion image based on the ideal information acquired from the ideal information acquisition unit 101. This is a processing unit that causes the display device 121 to display an image in which an ideal motion image is superimposed on the display device 121.

  Here, the superimposition may be a composition in which an image showing a moment of actual motion and an image of an ideal motion corresponding to the image are superimposed, and an image showing a moment of actual motion and a corresponding one. The images of the ideal motion to be displayed may be alternately displayed on the display device 121 so that the images appear to overlap each other. Further, such images may be displayed as images by continuously displaying them.

  An image is a pseudo-tertiary with information in the two-dimensional or depth direction indicating a state in which a moment of actual motion is cut out in a predetermined frame, or a state in which a moment of an ideal motion image is cut out in a predetermined frame. The original image. Therefore, if images are acquired continuously, a video is acquired, and displaying an image also displays a video.

  FIG. 3 is a diagram illustrating a state in which the superimposed actual motion image and the ideal motion image are superimposed and displayed on the display device. In the figure, the actual motion image 200r is indicated by a solid line and the ideal motion image 200i is indicated by a broken line. Moreover, description is abbreviate | omitted about parts other than the automatic driving apparatus 200. FIG.

  As shown in the figure, when the real motion image and the ideal motion image are superimposed and displayed on the display device 121, the evaluator determines that the real motion image 200r of the automatic driving device 200 is delayed from the ideal motion image 200i. It becomes possible to evaluate easily.

(Embodiment 2)
Next, a second embodiment of the motion evaluation support system 100 will be described. In addition, the same code | symbol may be attached | subjected to what has the effect | action and function similar to the said Embodiment 1, and the same shape, mechanism, and structure (part) may be abbreviate | omitted. In the following description, differences from the first embodiment will be mainly described, and description of the same contents may be omitted.

  FIG. 4 is a block diagram illustrating a functional unit and the like of the operation evaluation support system.

  FIG. 5 is a perspective view showing how the motion evaluation support system is used.

  As shown in the figure, the motion evaluation support system 100 includes ideal information acquisition means 101 and display means 102. Further, in the case of the present embodiment, the operation evaluation support system 100 is a tablet terminal, and includes an ideal information acquisition unit 101 and a display unit 102 integrally in the tablet terminal.

  In the case of the present embodiment, as shown in FIG. 5, the automatic driving device 200 is located on the side of a storage shelf (not shown) on which shelf boards are arranged in the vertical direction and luggage can be placed on each stage. It is the conveying apparatus arrange | positioned. In the transport device as the automatic operation device 200, the rail as the non-operation unit 202 that does not operate is disposed at a position corresponding to the shelf at each stage of the storage shelf, and the transport vehicle as the operation unit 201 is placed on the rail. It is a device that reciprocates and conveys luggage. Furthermore, the transport vehicle may include, as the operation unit 201, a transfer device that can transfer packages to and from a storage shelf.

  In the case of this embodiment, the ideal information acquisition unit 101 is a device or processing unit that acquires and stores ideal information created by, for example, a host computer or the like by wired or wireless communication.

  The display unit 102 includes a display device 121 and a superimposing unit 122 as in the first embodiment.

  In the case of the present embodiment, the display device 121 is a transmissive display, can display an image that can be viewed by the evaluator 300, and the evaluator 300 who is viewing the display device 121 can display the display device 121. It is a device that can see the other side with see-through. Specifically, the display device 121 includes a liquid crystal display having a transparent function (transmitting light).

  The superimposing unit 122 is a processing unit that displays an image on the transparent display device 121 based on the ideal information acquired by the ideal information acquisition unit 101.

  FIG. 6 is a diagram illustrating a state in which the actual operation image and the ideal operation image are overlapped on the display device. In the figure, the actual motion image is indicated by a solid line and the ideal motion image is indicated by a broken line, and the description of the ideal motion image is omitted for a portion where the actual motion image and the ideal motion image are not shifted. Further, a hand for holding the motion evaluation support system 100 is also omitted.

  As shown in the figure, in the case of the present embodiment, the superimposing unit 122 displays an ideal motion image on the display device 121 so as to overlap with an actual motion image that can be seen through the display device 121. .

  As described above, according to the motion evaluation support system 100 according to the present embodiment, the evaluator 300 can change the actual motion image and the motion evaluation support system 100 by simply holding the tablet terminal that is the motion evaluation support system 100 toward the automatic driving device 200. It is possible to easily find the portion where the ideal motion image is shifted. Specifically, in the evaluator 300, the operation unit 201 in the second stage from the top in the figure is deviated from the ideal operation image. Can be evaluated.

(Embodiment 3)
Next, a third embodiment of the motion evaluation support system 100 will be described. In addition, the same code | symbol may be attached | subjected to what has the effect | action and function similar to the said Embodiment 1, 2, and the same shape, mechanism, and structure, and description may be abbreviate | omitted. In the following description, differences from Embodiments 1 and 2 will be mainly described, and description of the same contents may be omitted.

  FIG. 7 is a block diagram illustrating a functional unit and the like of the operation evaluation support system.

  As shown in these drawings, the motion evaluation support system 100 is similar to the first embodiment in that the ideal information acquisition unit 101, the display unit 102, the actual motion information creation unit 103, the ideal information creation unit 104, Motion information acquisition means 105.

  The ideal information creation unit 104 is a processing unit that creates ideal information based on the actual motion information created by the actual motion information creation unit 103. Specifically, for example, the ideal information creation unit 104 acquires actual operation information immediately after the automatic driving device 200 is installed, and creates the actual operation information as ideal information. Then, the actual operation information creation means 103 thereafter creates actual operation information based on the actual operation of the automatic driving device 200 periodically or randomly, and the display means 102 displays the actual operation image and ideal information based on the actual operation information. The ideal motion image based on the above is superimposed and displayed.

  According to this, the evaluator can easily evaluate the change with time of the operation of the operation unit 201 of the automatic driving device 200.

  In addition, this invention is not limited to the said embodiment. For example, another embodiment realized by arbitrarily combining the components described in this specification and excluding some of the components may be used as an embodiment of the present invention. In addition, the present invention includes modifications obtained by making various modifications conceivable by those skilled in the art without departing from the gist of the present invention, that is, the meaning described in the claims. It is.

  For example, as shown in FIG. 8, the automatic driving apparatus 200 is a traveling vehicle, and includes a main body 211, a rear wheel 212 that is a wheel, a steering wheel 213 that is a wheel, etc. The display unit 102 may display an ideal motion image of the steered wheels 213 that is one of the motion units obtained from the ideal information so as to be superimposed on the actual motion image. In the case of FIG. 8, the ideal motion image of the steered wheels 213 is indicated by a broken line. As described above, by superimposing the ideal motion image on the real motion image for only a part of the motion unit of the automatic driving device 200, it is possible to evaluate in detail the motion unit desired to be focused. Specifically, for example, small operations such as irregular rotation of the steered wheels 213 and minute fluctuations in the steering direction can be evaluated in detail.

  In addition, the actual operation information creation unit may create actual operation information that can form a virtual reality from data acquired from a sensor or the like included in the automatic driving device 200 or a design value of the automatic driving device 200. Thereby, an actual motion image from an arbitrary viewpoint at an arbitrary time can be displayed on the display unit 102, and an ideal motion image corresponding to this can be superimposed.

  The present invention can be applied to any facility equipped with automatic operation equipment such as an automatic warehouse having a stacker crane and a factory equipped with a transport vehicle capable of autonomous traveling.

DESCRIPTION OF SYMBOLS 100 Operation | movement evaluation support system 101 Ideal information acquisition means 102 Display means 103 Actual motion information creation means 104 Ideal information creation means 105 Actual motion information acquisition means 120 Computer 121 Display apparatus 122 Superimposition part 131 Imaging means 132 Transmission part 200 Automatic driving apparatus 200i Ideal Operation image 200r Actual operation image 201 Operation unit 202 Non-operation unit 211 Main body 212 Rear wheel 213 Steering wheel 300 Evaluator

Claims (7)

An operation evaluation support system that supports the evaluation of the operation of an autonomous driving device,
Ideal information acquisition means for acquiring ideal information indicating an ideal operation of the autonomous driving device;
An operation evaluation support system comprising display means for superimposing and displaying an actual operation image showing an actual operation of the automatic driving device and an ideal operation image obtained from ideal information. Actual operation information creating means for creating actual operation information indicating the actual operation of the autonomous driving device;
Ideal information creation means for creating ideal information;
Actual operation information acquisition means for acquiring the actual operation information,
The motion evaluation support system according to claim 1, wherein the display unit displays an actual motion image obtained from actual motion information and an ideal motion image obtained from ideal information in a superimposed state. The operation evaluation support system according to claim 2, wherein the actual operation information creating unit includes an image capturing unit that captures an actual operation of the automatic driving device and creates actual operation information. The operation evaluation support system according to claim 2, wherein the ideal information creation unit creates ideal information by simulation. The operation evaluation support system according to claim 2, wherein the ideal information creation unit creates ideal information based on the actual motion information created by the actual motion information creation unit. The automatic driving equipment includes a plurality of operating parts that are operating parts,
The operation evaluation support system according to claim 1, wherein the display unit displays an ideal operation image of one operation unit obtained from ideal information so as to be superimposed on an actual operation image. The automatic driving device is a traveling vehicle,
The operation evaluation support system according to claim 6, wherein the operation unit is a wheel provided in the traveling vehicle.

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