Cargo management system and cargo management program

Abstract

To provide a cargo management system capable of detecting a condition of contents of a cargo box before a cargo reaches an end user.SOLUTION: A cargo management system S comprises: a storage unit; and an unmanned flying object 1. The storage unit stores a position where a cargo box B is placed in advance. The unmanned flying object 1 has a transmission device 12 and flies toward a position of the cargo box B. When the unmanned flying object 1 reaches the cargo box B, it uses the transmission device 12 to scan the cargo box B and images the contents of the cargo box B to generate a content image. As a result, the system can check for any problem such as packaging state and breakage of the cargo box B in advance from the content image before the cargo handling operation. Therefore, since the cargo box B is unloaded from a load-carrying platform only after confirming that there are no problem in the packaging state and the like, troubles during cargo reception can be prevented beforehand.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a cargo management system that utilizes unmanned aerial vehicles and a cargo management program used in said system. [Background technology]

[0002] As disclosed in Patent Document 1, there is a conventional method for managing cargo by attaching wireless tags to pallets or racks and reading the tags using a wireless tag reader provided on a forklift to manage the location of the cargo.

[0003] Patent Document 2 discloses a luggage monitoring system that uses an unmanned aerial vehicle to manage the status of luggage in a warehouse. In this luggage monitoring system, the unmanned aerial vehicle is equipped with a collision avoidance means for avoiding collision with obstacles in the warehouse, an imaging means for acquiring image information including a pallet on which luggage is placed, and a transmission means for transmitting the image information. The unmanned aerial vehicle flies in the warehouse while avoiding collision with obstacles in the warehouse by the collision avoidance means, acquires image information by the imaging means, and monitors the status of the luggage using the acquired image information. The status of the luggage includes, for example, the inclination of the luggage. The monitoring system also has a function for identifying the position of tilted luggage.

[0004] As a method for preventing damage to the contents of a package during transportation, a conventional packaging method is known that keeps the contents in the center of the box and prevents the contents from being affected by impacts from the box. However, even if the contents of the package are damaged during transportation for some reason, the invention disclosed in the above patent document cannot detect the damage. Therefore, there is a problem that problems with the contents of the package are discovered when the package arrives at the end user. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2007-112523 A [Patent Document 2] JP 2018-43815 A Summary of the Invention [Problem to be solved by the invention]

[0006] Therefore, an object of the present invention is to provide a cargo management system that can detect the state of the contents of a cargo before the cargo arrives at the end user. [Means for solving the problem]

[0007] In order to solve the above problems, the cargo management system according to the present invention comprises: A storage unit that stores the position where the packing box is placed; An unmanned aerial vehicle having a penetration device and flying toward the location of the packing box, The transmission device is configured to transmit an image of the contents of the shipping box through the shipping box to generate an image of the contents.

[0008] The load management system preferably includes: An analysis unit is further provided, The image of the contents includes the outer frame of the shipping box. The analysis unit determines the amount of positional deviation of the contents from a predetermined position based on the contents image.

[0009] The load management system preferably includes: A forklift that handles boxes; A loading command unit that specifies a loading location of the loading box is further provided. When the identified positional deviation amount exceeds a predetermined positional deviation amount, the loading and unloading command unit designates a predetermined location as a loading location for the box.

[0010] The load management system preferably includes: Further comprising an analysis unit, The analysis unit determines whether the contents are a predetermined object based on the contents image.

[0011] The load management system preferably includes: A forklift that handles boxes; A loading command unit that specifies a loading location of the loading box is further provided. When the contents are the specified ones, the loading command section designates the loading location of the box to be a specified place.

[0012] The load management system preferably includes: Further comprising an alarm device, When the contents are the specified items, the notification device notifies the forklift driver that the contents are the specified items.

[0013] The load management system preferably includes: An analysis unit is further provided, The analysis unit determines whether the contents are damaged or not based on the content image.

[0014] The load management system preferably includes: A forklift that handles boxes; A loading command unit that specifies a loading location of the loading box is further provided. When the contents are damaged, the cargo handling command center designates a designated location for depositing the box.

[0015] The load management system preferably includes: The transmission device includes a millimeter wave scanner.

[0016] The load management system preferably includes: The transmission device includes a backscatter X-ray inspection device.

[0017] In order to solve the above problems, the present invention provides a load management program, A management device having a computer; An unmanned aerial vehicle having a penetration device; A load management program for use in a load management system including a forklift for loading and unloading load boxes, The transmission device is configured to transmit an image of the contents of the packing box through the packing box and generate an image of the contents including an outer frame of the packing box; The load management program is computerized. an analysis unit that identifies an amount of displacement of the contents from a predetermined position based on the contents image; When the identified positional deviation amount exceeds a predetermined positional deviation amount, the device is operated as a loading command unit which designates the loading location of the packing box to a predetermined location.

[0018] In order to solve the above problems, the present invention provides a load management program, A management device having a computer; An unmanned aerial vehicle having a penetration device; A load management program for use in a load management system including a forklift for loading and unloading load boxes, the transmission device is configured to transmit an image of the contents of the packing box through the packing box to generate a content image; The load management program is computerized. an analysis unit that identifies whether the contents are a predetermined object based on the contents image; When the contents are the specified ones, the device is operated as a loading command unit which designates the loading location of the box as the specified location. Effect of the Invention

[0019] The load management system of the present invention is capable of detecting the condition of the contents before the load reaches the end user. [Brief description of the drawings]

[0020] [Figure 1] 1 is a schematic front view of a cargo management system according to one embodiment of the present invention. [Diagram 2] FIG. 2 is a schematic plan view of the load management system shown in FIG. 1. [Diagram 3] FIG. 2 is a block diagram of a cargo management system. [Figure 4] It is a plan view showing the image of the contents, A shows that the contents is a gun, and B shows that the contents is a sword. [Diagram 5] 1A and 1B are plan views showing images of contents, where A shows a state in which the contents are not displaced, and B shows a state in which the contents are displaced. [Figure 6] FIG. 1 is a flow chart showing the flow of a cargo management system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, an embodiment of the cargo management system of the present invention will be described with reference to the accompanying drawings. Fig. 1 is a schematic front view of a cargo management system S according to an embodiment of the present invention, and Fig. 2 is a schematic plan view of the cargo management system S. Fig. 3 is a block diagram of the cargo management system S.

[0022] As shown in Fig. 2, the facility according to this embodiment includes a first area E1 which is a normal storage area, a second area E2 which is a storage area when the contents I of the packing box B may be a specified item, and a third area E3 which is a storage area when the contents I of the packing box B may be damaged. The material of the packing box B according to this embodiment is made of cardboard, but there is no particular limitation on the material of the packing box B according to the present invention as long as it is a material that can be permeated by a permeation device 12 (see Fig. 3) described later.

[0023] As shown in Figures 1 and 2, the cargo management system S includes an unmanned aerial vehicle 1, a forklift 2, and a management device 3. In this embodiment, the multiple cargo boxes B managed by the cargo management system S are multiple cargo boxes B transported by a truck T, but this is merely an example, and the cargo boxes B managed by the cargo management system S are not particularly limited. Furthermore, the number of unmanned aerial vehicles 1 and forklifts 2 in the cargo management system S is not particularly limited.

[0024] <Unmanned Aerial Vehicle> The unmanned aerial vehicle 1 is an aerial vehicle commonly referred to as a drone, and has a main body, four propellers arranged on each of the four sides of the main body, and a power unit 10 (see FIG. 3) that rotates the propellers. The unmanned aerial vehicle 1 is configured to be capable of flying and hovering using the propellers. The unmanned aerial vehicle 1 is also configured to be capable of communicating with a management device 3.

[0025] As shown in FIG. 3, the unmanned aerial vehicle 1 further includes a flight position detection unit 11, a transmission device 12, and an aerial vehicle control unit 13.

[0026] The flight position detection unit 11 has known sensors such as a GPS sensor and an ultrasonic sensor, and detects the position of the unmanned aerial vehicle 1 using these sensors.

[0027] The transmission device 12 has a millimeter wave scanner and is provided on the main body. The millimeter wave scanner has an oscillator that transmits millimeter waves toward the packing box B, and a detector that detects the reflection intensity of the electromagnetic waves. The transmission device 12 transmits an image of the contents I of the packing box B through the packing box B using the millimeter wave scanner, and generates a contents image IP.

[0028] 4, the transmission device 12 captures an image of the packing box B so that the content image IP includes the outer frame OF of the packing box B. The generated content image IP is transmitted to the management device 3 together with the position information of the corresponding packing box B.

[0029] Based on flight commands from the management device 3, which will be described later, the aircraft control unit 13 controls the power unit 10 to move the unmanned aircraft 1 to above each shipping box B, and controls the transmission device 12 to generate a content image IP corresponding to each shipping box B.

[0030] <Forklift> As shown in Fig. 1 and Fig. 2, in this embodiment, the forklift 2 is configured as an unmanned forklift that travels and performs loading and unloading work autonomously. The forklift 2 has wheels, a vehicle body, forks, and a lifting device 20 (see Fig. 3). The forklift 2 is configured so that the forks can be raised and lowered by the lifting device 20, and scoops up and lowers a shipping box B with the forks. The forklift 2 is also configured so that it can communicate with a management device 3.

[0031] As shown in FIG. 3, the forklift 2 further includes a vehicle position detection unit 21, a drive unit 22, and a vehicle control unit .

[0032] The vehicle position detection unit 21 uses a known sensor such as a GPS sensor or a laser sensor to detect the position of the forklift 2. The drive unit 22 drives the wheels and changes direction.

[0033] The vehicle control unit 23 controls the drive unit 22 to drive the wheels and move the forklift 2 to the commanded position based on the cargo handling command from the management device 3. When the forklift 2 arrives at the commanded position, the vehicle control unit 23 controls the lifting device 20 to lift and lower the cargo box B.

[0034] <Management device> The management device 3 has a computer, which has a storage device and an arithmetic device. The storage device stores a cargo management program of the present invention. The cargo management program causes the computer to operate as an aircraft command unit 31, an analysis unit 32, and a cargo handling command unit 33, which will be described later.

[0035] As shown in FIG. 3, the management device 3 has, as its functional components, a memory unit 30, an aircraft command unit 31, an analysis unit 32, and a cargo handling command unit 33.

[0036] The storage unit 30 stores in advance the positions at which the packing boxes B are to be placed. In this embodiment, each packing box B is placed at a predetermined position on the bed of the truck T, and the truck T stops at a predetermined truck area TE. That is, after the truck T stops, each packing box B is placed at the position stored in the storage unit 30.

[0037] When the truck T arrives at the truck area TE, the aircraft command unit 31 transmits a flight command including the position of each cargo box B to the unmanned aircraft 1 so that the unmanned aircraft 1 flies to the position of each cargo box B.

[0038] The analysis unit 32 determines whether or not the corresponding content I is a predetermined object based on each content image IP received from the unmanned aerial vehicle 1. FIG. 4 is a plan view showing the content image IP, in which FIG. 4A shows that the content I is a gun, and FIG. 4B shows that the content I is a sword. In this embodiment, the predetermined object is a dangerous object such as a gun or a sword. The analysis unit 32 may, for example, determine whether or not the content I is a dangerous object using a rule-based algorithm, or may determine whether or not the content I is a dangerous object using a machine learning algorithm.

[0039] When the contents I are identified by a rule-based algorithm, the memory unit 30 may pre-store a contents image IP when the contents I are a hazardous item, and the analysis unit 32 may be configured to compare the contents image IP stored in the memory unit 30 with the contents image IP received from the unmanned aerial vehicle 1, and identify the contents I as a hazardous item based on the similarities and differences.

[0040] Alternatively, when the analysis unit 32 is configured by a machine learning algorithm, it may have a neural network using deep learning. In this case, this neural network may be configured to output whether the content I is a dangerous object when the content image IP received from the unmanned aerial vehicle 1 is input by previously learning a plurality of content images IP when the content I is a dangerous object without a teacher.

[0041] Fig. 5 is a plan view showing a content image IP, Fig. 5A shows a state in which the content I is not displaced, and Fig. 5B shows a state in which the content I is displaced from a predetermined position. The analysis unit 32 further specifies the amount of displacement CD of the content I from the predetermined position based on the content image IP, and specifies whether the amount of displacement CD exceeds the predetermined amount of displacement.

[0042] 5B, since the positional deviation CD can be represented by the distance CD between the center position IC of the content I and the center position BC of the outer frame OF, when the distance CD exceeds a predetermined distance, the positional deviation CD may be determined to exceed a predetermined positional deviation amount. However, this determination method is merely an example, and the method of determining the positional deviation amount and the method of determining whether the content I exceeds the predetermined positional deviation amount are not limited to this.

[0043] The loading and unloading command unit 33 transmits a loading and unloading command including the position and placement position of the box B to the forklift 2. Furthermore, for a box B whose contents I have been identified as a specific object (a dangerous object in this embodiment), the loading and unloading command unit 33 designates a placement location within the second area E2. Furthermore, for a box B whose contents I have been identified as having a positional deviation amount exceeding a predetermined positional deviation amount, the loading and unloading command unit 33 designates a placement location within the third area E3.

[0044] The contents I of the container B placed in the second area E2 may be smuggled guns or swords. Therefore, the contents I are manually opened and checked to detect dangerous items and collect them before they are delivered to the end user.

[0045] The contents I of the packing box B placed in the third area E3 are out of position by more than a predetermined amount, so there is a possibility that the contents I are damaged. Therefore, by manually opening and inspecting the contents I, any damage to the contents I can be detected before the contents I arrive at the end user.

[0046] Next, the operation of the cargo management system S will be explained again with reference to the flow chart of FIG.

[0047] (1) First, when a truck T carrying multiple shipping boxes B arrives (see S61 in FIG. 6), the management device 3 transmits a flight command to the unmanned aerial vehicle 1 (see S62 in FIG. 6).

[0048] (2) The unmanned aerial vehicle 1 moves to the location of each box B in accordance with flight commands (see S63 in Figure 6), captures images of the contents I through each box B, and generates content images IP (see S64 in Figure 6).

[0049] (3) The management device 3 analyzes the received contents image IP and determines whether the contents I are a specified object (hazardous object) (see S65 in FIG. 6), and then determines whether the positional deviation of the contents I exceeds a specified amount (see S66 in FIG. 6).

[0050] (4) When the contents I are not the specified ones (No in S65 of FIG. 6) and the positional deviation of the contents I is less than or equal to the specified amount (No in S66 of FIG. 6), the management device 3 sends a loading / unloading command to the first area E1, which includes the position of the shipping box B, to the forklift 2 (see S67 of FIG. 6).

[0051] (5) Furthermore, when the management device 3 determines that the content I is a predetermined item (Yes in S65 of FIG. 6), it transmits a loading command to the forklift 2 for the second area E2, which includes the location of the box B (see S68 of FIG. 6). Furthermore, when the management device 3 determines that the positional deviation of the content I exceeds a predetermined amount (Yes in S66 of FIG. 6), it transmits a loading command to the forklift 2 for the third area E3, which includes the location of the box B (see S69 of FIG. 6).

[0052] (6) The forklift 2 performs loading / unloading work in accordance with the received loading / unloading command (see S70 in FIG. 6).

[0053] As described above, the cargo management system S can prevent the predetermined items from being handed over to the end user by imaging each of the contents I by the unmanned aerial vehicle 1 in advance of the cargo handling operation and detecting the predetermined items by the analysis unit 32. Furthermore, the cargo management system S can also detect damage to the contents I before the cargo is handed over to the end user by detecting a certain level of bias of the contents I by the analysis unit 32.

[0054] Although the cargo management system S and the cargo management program according to one embodiment of the present invention have been described above, the cargo management system according to the present invention is not limited to the above embodiment. For example, the cargo management system S and the cargo management program according to the present invention may be implemented by the following modified examples, or may be implemented by appropriately combining the following modified examples.

[0055] <Modification> The forklift 2 may be a manned forklift. In this case, the unmanned aerial vehicle 1 or the forklift 2 may further have an alarm device, which may notify the driver of the forklift 2 that the content I has shifted beyond a predetermined amount and that the content I is a specified object. In this case, the management device 3 transmits data to the unmanned aerial vehicle 1 or the forklift 2 that the content I has shifted beyond a predetermined amount and that the content I is a specified object. The alarm device may have a speaker and / or a light, and may notify the driver of information about the content I by sound and / or light. The alarm method of the alarm device is not particularly limited.

[0056] There is no particular limitation on the waiting position of the unmanned aerial vehicle 1. For example, the unmanned aerial vehicle 1 may be configured to wait within the track T, and fly and capture an image of the contents I when the track T arrives at the track area TE.

[0057] The second area E2 and the third area E3 may be configured as one common area.

[0058] The transmission device 12 may have, for example, a backscattered X-ray inspection device together with or instead of the millimeter wave scanner. In this case, the transmission device 12 can generate a more detailed content image IP than the millimeter wave scanner. Therefore, the analysis unit 32 may be configured to be able to detect whether the content I has damage such as scratches or distortion based on the content image IP generated by the backscattered X-ray inspection device. As a configuration, the analysis unit 32 may have a trained model configured to perform machine learning in advance using an image of the damaged content I and an image of the undamaged content I, and to output whether the content I is damaged when the content image IP is input. In this case, the cargo management system S may operate the cargo box B without opening it, assuming that the content I is damaged, or the cargo handling command unit 33 may send a cargo handling command to the forklift 2 to place the cargo in the second area E2 or another area.

[0059] Furthermore, in this case, the analysis unit 32 may be configured to detect a specific object based on the content image IP. For example, the analysis unit 32 may be configured to be able to identify not only dangerous objects but also whether or not the object is a precision instrument. In this case, the analysis unit 32 may have a trained model configured to perform machine learning in advance using an image of a precision instrument and an image of an object other than a precision instrument, and to output whether or not the object is a precision instrument when the content image IP is input. In this case, the forklift 2 or the unmanned aerial vehicle 1 may have an alarm device, and the cargo management system S may notify the driver that the content I is a precision instrument by using the alarm device. This allows the driver to know that the content I is a precision instrument and to perform the cargo handling work with more care. The configuration of the alarm device is also not particularly limited.

[0060] The angle at which the transmission device 12 captures the image of the contents I is not particularly limited. For example, the transmission device 12 may capture the image of the contents I from the side of the packing box B. In addition, the transmission method by the transmission device 12 is not limited to the transmission method using the millimeter wave scanner and the backscattered X-ray inspection device described above. [Explanation of symbols]

[0061] B Packing box E1 1st Area E2 2nd Area E3 3rd Area I Contents IP Contents Image OF Outer frame S Cargo Management System T Track TE Track Area 1 Unmanned Aerial Vehicle 10 Power section 11 Flight position detection unit 12 Transmission device 13 Aircraft control unit 2. Forklift 20 Lifting device 21 Vehicle location detection unit 22 Drive unit 23 Vehicle control unit 3 Management device 30 Storage section 31 Aircraft Command 32 Analysis Department 33 Cargo Handling Control Department

Claims

1. A storage unit that stores the position where the packing box is placed; and an unmanned aerial vehicle having a penetration device and flying toward the location of the packing box, The package management system is configured such that the transmission device transmits an image of the contents of the package through the package and generates an image of the contents.

2. An analysis unit is further provided, The content image includes an outer frame of the packing box, The package management system according to claim 1 , wherein the analysis unit determines the amount of positional deviation of the contents from a predetermined position based on the contents image.

3. A forklift that handles the container; A loading command unit that specifies a loading location of the packing box, 3. The cargo management system according to claim 2, wherein the cargo handling command unit designates the placement location of the packing box as a predetermined location when the identified positional deviation amount exceeds a predetermined positional deviation amount.

4. An analysis unit is further provided, The package management system according to claim 1 , wherein the analysis unit determines whether the contents are a specified item based on the contents image.

5. A forklift that handles the container; A loading command unit that specifies a loading location of the packing box, 5. A cargo management system according to claim 4, wherein said cargo handling command section designates said storage location of said packing box as a predetermined location when said contents are said predetermined items.

6. Further comprising an alarm device, 6. A load management system according to claim 5, wherein the notification device notifies the driver of the forklift that the load is the specified item when the load is the specified item.

7. An analysis unit is further provided, The cargo management system according to claim 1 , wherein the analysis unit determines whether the contents are damaged or not based on the content image.

8. A forklift that handles the container; A loading command unit that specifies a loading location of the packing box, 8. A cargo management system according to claim 7, wherein the cargo handling command unit designates the placement location of the packing box to a predetermined location when the contents are damaged.

9. The load management system of claim 1 , wherein the transmission device comprises a millimeter wave scanner.

10. The load management system of claim 1 , wherein the transmission device comprises a backscatter X-ray inspection device.

11. A management device having a computer; An unmanned aerial vehicle having a penetration device; A load management program for use in a load management system including a forklift for loading and unloading load boxes, The transmission device is configured to transmit an image of the contents of the packing box through the packing box and generate a content image including an outer frame of the packing box; The load management program includes: an analysis unit that identifies an amount of positional deviation of the content from a predetermined position based on the content image; and a cargo management program that operates as a cargo handling command unit that designates a cargo placement location for the cargo box at a predetermined location when the identified positional deviation amount exceeds a predetermined positional deviation amount.

12. A management device having a computer; An unmanned aerial vehicle having a penetration device; A load management program for use in a load management system including a forklift for loading and unloading load boxes, the transmission device is configured to transmit an image of the contents of the shipping box through the shipping box to generate a content image; The load management program includes: an analysis unit that identifies whether the content is a predetermined object based on the content image; a cargo management program that operates as a cargo handling command unit that designates a cargo placement location of the packing box at a predetermined location when the content is the predetermined item;

Images