Cargo handling system, cargo handling management program, and cargo handling management method

Abstract

To provide a cargo handling system capable of preliminarily sorting fruits and vegetables for each packing box before loading and unloading by a forklift.SOLUTION: A cargo handling system is equipped with a plurality of boxes placed in a specified area and a forklift for loading and unloading the plurality of boxes, and includes an unmanned aerial vehicle 1 and a cargo handling determination unit. The unmanned aerial vehicle 1 has an infrared camera, and takes an image of a box B with the infrared camera beforehand before loading and generates a load image. The cargo handling determination unit determines the placement location and / or loading order of the box B based on the load image.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a cargo handling system that utilizes a forklift, and a cargo handling management program and a cargo handling management method used in the system. [Background technology]

[0002] Fruits and vegetables are harvested, put into boxes, and transported by truck, and then transported to a sorting machine by a forklift. Conventionally, sorting machines that measure and sort the size, weight, sugar content, etc. of fruits using various sensors and image processing technology are known. For example, Patent Document 1 discloses a method of irradiating light including near-infrared rays, capturing an image of the reflected light, and detecting blemishes on the fruit that cannot be detected under visible light based on the generated image.

[0003] However, the condition of the fruits and vegetables may vary from one packing box to another, and some fruits and vegetables in one packing box may have many scratches or may be in a deteriorated state. It is preferable that such fruits and vegetables in a packing box are given priority in being sorted by a sorting machine and then shipped, but scratches and deterioration are often not visible unless the above-mentioned sensors and image processing technology are used. As a result, the shipment of fruits and vegetables that should be shipped sooner is delayed. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2012-147279 A Summary of the Invention [Problem to be solved by the invention]

[0005] SUMMARY OF THE PRESENT EMBODIMENT An object of the present invention is to provide a loading and unloading system that can preliminarily sort fruits and vegetables into boxes before they are loaded by a forklift. [Means for solving the problem]

[0006] In order to solve the above problems, the cargo handling system according to the present invention comprises: A loading and unloading system including a plurality of containers placed in a predetermined area and a forklift for loading and unloading the containers, An unmanned aerial vehicle having an infrared camera, which takes an image of a cargo box with the infrared camera before loading and unloading and generates a cargo image; and a loading / unloading determination unit that determines the loading location and / or loading order of the packing boxes based on the packing image.

[0007] The loading system preferably comprises: The loading / unloading determination unit has a score output unit that analyzes the load image and outputs a score, and determines a loading location and / or a loading order based on the score output by the score output unit.

[0008] The above-mentioned loading and unloading system includes, for example, The contents of the container are fruits and vegetables, The score output unit analyzes the package image and outputs the degree of damage to the fruit or vegetable as a score.

[0009] The above-mentioned loading and unloading system includes, for example, The contents of the container are fruits and vegetables, The score output unit analyzes the package image and outputs the degree of internal quality as a score.

[0010] The above-mentioned loading and unloading system includes, for example, An identifier relating to the contents of the packing box is displayed on the surface of the packing box, and the identifier is covered with a material that is transparent to near-infrared rays to prevent the packing box from shifting. The infrared camera captures the identifier through the cargo-prevention material, The loading / unloading determination unit determines the placement location and / or loading order of the boxes based on the information contained in the identifier.

[0011] The loading system preferably comprises: Further comprising a notification unit, The notification unit notifies the forklift driver of the loading location and / or loading order determined by the loading / unloading determination unit.

[0012] In order to solve the above problems, the cargo handling management program according to the present invention comprises: A forklift that loads and unloads the containers placed in a predetermined location; An unmanned aerial vehicle having an infrared camera, which takes an image of the contents of a cargo box using the infrared camera before loading and unloading the cargo, thereby generating a cargo image; A cargo handling management program used in a cargo handling system including a computer having a calculation device and a storage device, The cargo handling management program is installed on the computer. a score output unit that analyzes the package image and outputs a score; The device is operated as a loading / unloading determination unit that determines the loading location and / or loading order of the packing boxes based on the scores output by the score output unit.

[0013] In order to solve the above problems, the cargo handling management method according to the present invention comprises: A cargo handling management method used in a cargo handling system including a cargo box placed in a predetermined area, a forklift for handling the cargo box, an unmanned aerial vehicle having an infrared camera, and a cargo handling determination unit, Taking an image of the container by an infrared camera before loading and unloading and generating a container image; The loading / unloading determination unit determines, based on the load image, the loading location and / or the loading order of the load boxes. Effect of the Invention

[0014] The loading and unloading system according to the present invention can preliminarily sort fruits and vegetables into containers before they are loaded by a forklift. [Brief description of the drawings]

[0015] [Figure 1] 1 is a schematic front view of a cargo handling system according to a first embodiment of the present invention. [Diagram 2]FIG. 2 is a schematic plan view of the loading and unloading system shown in FIG. [Diagram 3] FIG. 2 is a block diagram of the loading and unloading system shown in FIG. 1. [Figure 4] 1 is a perspective view showing an unmanned aerial vehicle imaging a shipping box. [Diagram 5] A shows a picture of the fruits and vegetables under visible light, and B shows a part of the load image generated by a near-infrared camera. [Figure 6] FIG. 2 is a flow diagram showing the flow of loading and unloading work in the loading and unloading system according to the first embodiment. [Figure 7] FIG. 4 is a schematic front view of a cargo handling system according to a second embodiment of the present invention. [Figure 8] FIG. 8 is a block diagram of the loading and unloading system shown in FIG. [Figure 9] 1 is a perspective view showing an unmanned aerial vehicle imaging a shipping box. [Figure 10] 1 shows a load image generated by a near infrared camera. [Figure 11] FIG. 11 is a flow diagram showing the flow of loading and unloading work in the loading and unloading system according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] First Embodiment First, a first embodiment of a cargo handling system, a cargo handling management program, and a cargo handling management method according to the present invention will be described with reference to Figures 1 to 6. Figure 1 is a schematic front view of a cargo handling system S according to the first embodiment of the present invention, and Figure 2 is a schematic plan view of the cargo handling system S. Figure 3 is a block diagram of the cargo handling system S. As shown in Figure 2, a first area E1, a second area E2, and a third area E3 are set within a facility according to this embodiment.

[0017] As shown in Figures 1 and 2, the loading and unloading system S includes a truck T, an unmanned aerial vehicle 1, a forklift 2, and a management device 3. In this embodiment, the "predetermined area" of the present invention is the bed of the truck T, and the multiple cargo boxes B managed by the loading and unloading system S are multiple cargo boxes B transported by the truck T. However, these are merely examples, and the "predetermined area" of the present invention and the cargo boxes B managed by the loading and unloading system S are not particularly limited. For example, the loading and unloading system S may target the cargo boxes B that have been transported by the truck T and then waited at a specific waiting location.

[0018] Furthermore, the loading system S is not particularly limited in the number of unmanned aerial vehicles 1 and forklifts 2. The contents of the shipping box B in this embodiment are apples, but this is merely an example, and are not particularly limited as long as the scratches D and internal quality can be scored by the infrared camera 15.

[0019] <Unmanned Aerial Vehicle> The unmanned aerial vehicle 1 is an aerial vehicle commonly referred to as a drone, and has a main body 10 (see FIG. 4), four propellers 11 (see FIG. 4) arranged on each of the four sides of the main body 10, and a power unit 12 (see FIG. 3) that rotates the propellers 11. The unmanned aerial vehicle 1 is configured to be capable of flying and hovering using the propellers 11. The unmanned aerial vehicle 1 is also configured to be capable of communicating with a management device 3.

[0020] As shown in FIG. 3, the unmanned aerial vehicle 1 further has a flight position detection unit 13, a load position detection unit 14, an infrared camera 15, and an aerial vehicle control unit 16.

[0021] The flight position detection unit 13 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.

[0022] The cargo position detection unit 14 has a camera and an analysis unit. The camera takes an image of the cargo bed of the truck T to generate a cargo bed image, and the analysis unit analyzes the generated cargo bed image to detect the position of the cargo box B. Note that the configuration of the cargo position detection unit 14 is not limited to this, and for example, the cargo position detection unit 14 may be configured with a two-dimensional LiDAR or three-dimensional LiDAR, thereby detecting the position of the cargo box B.

[0023] The infrared camera 15 is provided at the bottom of the main body 10 (see FIG. 4). The infrared camera 15 is capable of sensing near-infrared rays, and as shown in FIG. 4, captures an image of the position of the packing box B detected by the packing position detection unit 14 to generate a packing image. The infrared camera 15 may be configured as a multi-wavelength spectroscopic camera that is also capable of capturing visible light. In this case, the infrared camera 15 may function as the camera of the packing position detection unit 14.

[0024] 4, all or at least a part of the top of the packing box B is open, and the contents can be imaged by the infrared camera 15. Alternatively, at least a part of the packing box B can be configured to transmit near-infrared rays, so that the contents of the packing box B can be imaged by near-infrared rays.

[0025] Fig. 5A shows a view of fruit or vegetable F under visible light, and Fig. 5B shows a portion of a package image generated by a near-infrared camera. A blemish D on the fruit or vegetable F that is not visible under visible light as shown in Fig. 5A is visible in the package image as shown in Fig. 5B.

[0026] The unmanned aerial vehicle 1 may further include a near-infrared irradiation unit that is composed of an LED or the like and irradiates near-infrared rays. In this case, the near-infrared irradiation unit irradiates near-infrared rays to the position of the cargo box B detected by the cargo position detection unit 14. Then, the infrared camera 15 scans the near-infrared rays reflected by the contents of the cargo box B to generate a cargo image.

[0027] Naturally, near-infrared rays are not only reflected from the surface of the object, but also penetrate and are reflected from the object to a certain extent. Therefore, by adjusting the amount and angle of irradiation of near-infrared rays, the infrared camera 15 can capture images of the contents of the fruit or vegetable F within a range where scratches D and internal quality (sweetness, sourness, starch content, discoloration, cavities, etc.) can be measured.

[0028] Based on flight commands from the management device 3, which will be described later, the aircraft control unit 16 controls the power unit 12 to move the unmanned aircraft 1 to above the platform, then controls the cargo position detection unit 14 to detect the positions of the cargo boxes B, and controls the infrared camera 15 to generate cargo images corresponding to each cargo box B. The generated cargo images are transmitted to the management device 3 together with the position information of the corresponding cargo box B.

[0029] <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.

[0030] 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 .

[0031] 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.

[0032] 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.

[0033] <Management device> The management device 3 has a computer, which has a storage device and an arithmetic device. The storage device stores a cargo handling management program of the present invention. The cargo handling management program causes the computer to operate as an aircraft command unit 31, a score output unit 32, a cargo handling decision unit 33, and a cargo handling command unit 34, which will be described later.

[0034] As shown in FIG. 3, the management device 3 has, as its functional components, a memory unit 30, an aircraft command unit 31, a score output unit 32, a cargo handling determination unit 33, and a cargo handling command unit .

[0035] The storage unit 30 stores the position of the bed of a truck T that has stopped in a predetermined truck area TE. The storage unit 30 also stores the positions of the first, second, and third areas E1, E2, and E3.

[0036] When truck T arrives at truck area TE, the aircraft command unit 31 transmits a flight command, including the position of the loading platform, to the unmanned aircraft 1 so that the unmanned aircraft 1 flies to the loading platform of truck T.

[0037] The score output unit 32 analyzes each package image received from the unmanned aerial vehicle 1 and outputs a score. In this embodiment, the score output unit 32 outputs the degree of damage D of the fruit or vegetable F by a score.

[0038] The score output unit 32 is a trained model using deep learning, and has been trained in advance using teacher data in which a large number of package images are used as input data and a score corresponding to each package image is used as output data. The score output unit 32 is configured to output the degree of damage D of the fruit or vegetable F as a score when a package image is input. In this manner, the score output unit 32 outputs a score corresponding to the degree of damage D of the fruit or vegetable F in each package box B. In this embodiment, the score is between 0 and 1.0, and the higher the degree of damage D, the higher the score output unit 32 outputs. The degree of damage D may be based on all or any of the depth, size, and number of damage D per package box B.

[0039] The loading / unloading determination unit 33 determines the loading location and / or loading order of the multiple packing boxes B based on the scores output by the score output unit 32. In this embodiment, the loading / unloading determination unit 33 determines the loading location and loading order based on the scores. Regarding the loading location, the loading / unloading determination unit 33 determines the loading location of the packing box B having a score of 0 to less than 0.4 as the first area E1, the loading location of the packing box B having a score of 0.4 to less than 0.8 as the second area E2, and the loading location of the packing box B having a score of 0.8 to 1.0 as the third area E3. Regarding the loading order, the loading / unloading determination unit 33 determines the loading order of the multiple packing boxes B so that loading is performed earliest in descending order of the score.

[0040] The loading / unloading command unit 34 transmits a loading / unloading command including a loading order for the multiple boxes B, the position of each box B, and a storage location corresponding to each box B to the forklift 2.

[0041] <Loading system operation> Next, the operation of the cargo handling system S according to the first embodiment will be explained again with reference to the flow chart of FIG.

[0042] (1) First, when a truck T carrying multiple shipping boxes B arrives (see S1 in FIG. 6), the management device 3 transmits a flight command to the unmanned aerial vehicle 1 (see S2 in FIG. 6).

[0043] (2) The unmanned aerial vehicle 1 moves to the location of the loading platform in accordance with the flight command (see S3 in FIG. 6), detects the location of the loading box B (see S4 in FIG. 6), and captures an image of the loading box B to generate a loading image (see S5 in FIG. 6). The generated loading image and the corresponding location of the loading box B are transmitted to the management device 3 (see S6 in FIG. 6).

[0044] (3) The management device 3 outputs a score corresponding to each packing box B based on the received packing image (see S7 in FIG. 6), and determines the placement location and placement order of each packing box B based on the score (see S8 in FIG. 6).

[0045] (4) Next, the management device 3 transmits a loading command including the loading sequence for the multiple boxes B, the position of each box B, and the storage location corresponding to each box B to the forklift 2 (see S9 in FIG. 6).

[0046] (5) The forklift 2 performs the loading / unloading operation in accordance with the received loading / unloading command (see S10 in FIG. 6).

[0047] As described above, the loading and unloading system S according to the first embodiment can capture images of each packing box B using the unmanned aerial vehicle 1 beforehand prior to loading and unloading work, and can preliminarily sort the fruits and vegetables F for each packing box B using the management device 3. This allows the loading and unloading system S to feed the fruits and vegetables F of packing boxes B that should be prioritized into the sorting machine in order, thereby preventing delays in the shipment of fruits and vegetables F that should be shipped early.

[0048] <Second embodiment> Next, a second embodiment of the cargo handling system according to the present invention will be described with reference to Figures 7 to 11. Note that the description of the same configuration as the first embodiment may be omitted.

[0049] Fig. 7 is a schematic front view of the cargo handling system S according to this embodiment. As shown in Fig. 7, the cargo handling system S includes a truck T, an unmanned aerial vehicle 1, a forklift 2, and a management device 3. A plurality of cargo boxes B are placed on the bed of the truck T.

[0050] Packing boxes B, grouped into four, are surrounded horizontally by anti-shift material P, which prevents the packing from shifting during transport. The anti-shift material P is made of a material that is permeable to near-infrared rays. An identifier C, which will be described later, is printed or affixed to each of the packing boxes B. This identifier C is covered by the anti-shift material P, and is configured so that it cannot be recognized under visible light unless the anti-shift material P is removed. Furthermore, this identifier C is made of a material that is not permeable to near-infrared rays.

[0051] As shown in Figures 7 and 8, the unmanned aerial vehicle 1 and the forklift 2 have the same configuration as in the first embodiment.

[0052] 9, the infrared camera 15 captures an image of a set of packing boxes B including the cargo collapse prevention material P to generate a packing image. The generated packing image is transmitted to the management device 3 together with the position information of the corresponding packing boxes B, as in the first embodiment.

[0053] Fig. 10 shows a package image generated by the infrared camera 15. As shown in Fig. 10, the load-stabilizing material P transmits near-infrared light, but the identifier C does not transmit near-infrared light, so the identifier C that was covered by the load-stabilizing material P can be recognized in the package image even if the load-stabilizing material P is not removed. The identifier C is composed of a known code such as a one-dimensional code or a two-dimensional code, and contains information related to the contents of the packing box B.

[0054] <Management device> The management device 3 has the same hardware configuration as the first embodiment and includes a computer. A cargo handling management program according to the second embodiment is stored in the storage device. The cargo handling management program causes the computer to operate as an aircraft command unit 31, a cargo handling decision unit 33, a cargo handling command unit 34, and an identifier reading unit 35, which will be described later.

[0055] As shown in FIG. 8, the management device 3 has, as its functional components, a memory unit 30, an aircraft command unit 31, a cargo handling determination unit 33, a cargo handling command unit 34, and an identifier reading unit 35.

[0056] As in the first embodiment, the storage unit 30 stores the position of the bed of the truck T parked in a specified truck area TE. The storage unit 30 further stores information about the contents of the packing box B in advance in association with information about the identifier C. The information about the contents of the packing box B is, for example, the type of contents of the packing box B, the expiration date of the contents, the loading location, etc., and is not particularly limited.

[0057] As in the first embodiment, when truck T arrives at truck area TE, the aircraft command unit 31 sends a flight command including the position of the loading platform to the unmanned aircraft 1 so that the unmanned aircraft 1 flies to the loading platform of truck T.

[0058] The identifier reading unit 35 refers to the load image, recognizes the identifier C included in the load image, reads the information of the identifier C, and acquires the information of the identifier C. The identifier reading unit 35 transmits the acquired information to the load handling determination unit 33.

[0059] The loading / unloading determination unit 33 receives information about the contents of the packing box B corresponding to the information of the identifier C received from the identifier reading unit 35 from the memory unit 30, and determines the placement location and placement order of the corresponding packing box B based on that information.

[0060] The loading / unloading command unit 34 transmits a loading / unloading command including the loading sequence for the multiple boxes B, the position of each box B, and the storage location corresponding to each box B to the forklift 2, as in the first embodiment.

[0061] The forklift 2 performs the loading and unloading operation based on the received loading and unloading command, similarly to the first embodiment.

[0062] <Loading system operation> Next, the operation of the cargo handling system S according to the second embodiment will be explained again with reference to the flow chart of FIG.

[0063] (1) First, when a truck T carrying multiple shipping boxes B arrives (see S1 in FIG. 11), the management device 3 transmits a flight command to the unmanned aerial vehicle 1 (see S2 in FIG. 11).

[0064] (2) The unmanned aerial vehicle 1 moves to the location of the loading platform in accordance with the flight command (see S3 in FIG. 11), detects the location of the loading box B (see S4 in FIG. 11), and captures an image of the loading box B to generate a loading image (see S5 in FIG. 11). The generated loading image and the corresponding location of the loading box B are transmitted to the management device 3 (see S6 in FIG. 11).

[0065] (3) The management device 3 acquires information of the identifier C corresponding to each packing box B based on the received packing image (see S7 in Figure 11), and determines the placement location and placement order of each packing box B based on the information of the contents of the packing box B corresponding to the identifier C information (see S8 in Figure 11).

[0066] (4) Next, the management device 3 transmits a loading command including the loading sequence for the multiple boxes B, the position of each box B, and the storage location corresponding to each box B to the forklift 2 (see S9 in FIG. 11).

[0067] (5) The forklift 2 performs the loading / unloading operation in accordance with the received loading / unloading command (see S10 in FIG. 11).

[0068] As described above, the loading and unloading system S according to the second embodiment can image each cargo box B by the unmanned aerial vehicle 1 beforehand prior to loading and unloading work, and obtain information on the identifier C by the management device 3 to determine the loading location and loading order of each cargo box B. Moreover, the loading and unloading system S can obtain information on the identifier C without removing the anti-shift material P from the cargo box B by imaging the identifier C covered by the anti-shift material P by the infrared camera 15. Therefore, for example, even when the information on the identifier C is intentionally hidden, the loading and unloading system S according to this embodiment can obtain information on the identifier C while hiding the identifier C.

[0069] Although the cargo handling system S, the cargo handling management program, and the cargo handling management method according to the above embodiment of the present invention have been described above, the cargo handling system, the cargo handling management program, and the cargo handling management method according to the present invention are not limited to the above embodiment. For example, the cargo handling system, the cargo handling management program, and the cargo handling management method according to the present invention may be implemented by the following modified examples, or may be implemented by appropriately combining the following modified examples.

[0070] <Modification> The infrared irradiation unit may be disposed inside the wing of the truck T. In this case, the infrared irradiation unit is configured to irradiate near-infrared rays toward the cargo box B below when the wing of the truck T is opened. In this case, the unmanned aerial vehicle 1 does not need to have an infrared irradiation unit.

[0071] The forklift 2 may be a manned forklift 2. 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 of the placement location and placement order of each box B. The alarm device may be, for example, a speaker provided on the unmanned aerial vehicle 1 or a monitor provided on the forklift 2, and is not particularly limited.

[0072] 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 inside a truck T, and fly and capture an image of the shipping box B when the truck T arrives at a truck area TE.

[0073] In order to prevent sunlight from interfering with the generation of appropriate package images by infrared rays, for example, the wings of the winged vehicle may be configured to block sunlight. In this case, the angle of the wings of the winged vehicle may be configured to be adjustable. Alternatively, the unmanned aerial vehicle 1 may be configured to detect the position of each package box B and capture an image of each package box B after entering the inside of the winged vehicle and closing the wings to be confined within the winged vehicle.

[0074] The score output unit 32 may be configured to output the degree of damage D of the fruit or vegetable F as a score based on the internal quality (sweetness, sourness, starch content, discoloration, hollowness, etc.). In this case, the score output unit 32 may further be configured to perform supervised learning in advance using teacher data in which a plurality of load images are input data and a score related to the internal quality corresponding to each load image is output data. When a load image is input, the score output unit 32 outputs the internal quality of the fruit or vegetable F as a score. In this way, the score output unit 32 outputs a score corresponding to the internal quality of the fruit or vegetable F in each load box B. In this case, the loading and unloading determination unit 33 determines the loading order and each storage location of the multiple load boxes B based on the score corresponding to the internal quality of the fruit or vegetable F.

[0075] The angle at which the infrared camera 15 captures the image of the contents is not particularly limited in the first and second embodiments. [Explanation of symbols]

[0076] B Packing box C Identifiers E1 1st Area E2 2nd Area E3 3rd Area D Scar F Fruits and vegetables P Material to prevent cargo from shifting S Cargo Handling System T Track TE Track Area 1 Unmanned Aerial Vehicle 10. Main Unit 11 Propeller 12 Power section 13 Flight position detection unit 14 Load position detector 15 Infrared Camera 16 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 Score output section 33 Cargo Handling Decision Department 34 Cargo Handling Control Department 35 Identifier reading unit

Claims

1. A loading and unloading system including a plurality of containers placed in a predetermined area and a forklift for loading and unloading the containers, an unmanned aerial vehicle having an infrared camera, which takes an image of the box with the infrared camera before loading and unloading and generates a box image; A loading / unloading system comprising: a loading / unloading determination unit that determines a loading location and / or a loading order of the packing boxes based on the packing image.

2. The loading and unloading system according to claim 1, wherein the loading and unloading determination unit has a score output unit that analyzes the loading image and outputs a score, and determines the loading location and / or the loading and unloading order based on the score output by the score output unit.

3. The contents of the packing box are fruits and vegetables, The loading and unloading system according to claim 2 , wherein the score output unit analyzes the load image and outputs the degree of damage to the fruit or vegetable by a score.

4. The contents of the packing box are fruits and vegetables, The loading and unloading system according to claim 2 , wherein the score output unit analyzes the load image and outputs a degree of internal quality by a score.

5. An identifier relating to the contents of the packing box is displayed on a surface of the packing box, and the identifier is covered with a cargo collapse prevention material that is transmissible by near-infrared rays, The infrared camera captures an image of the identifier through the load-stabilizing material, 2. The loading and unloading system according to claim 1, wherein the loading and unloading determination unit determines the placement locations and / or the loading and unloading sequence of the boxes based on information contained in the identifiers.

6. Further comprising a notification unit, The loading / unloading system according to claim 1 , wherein the notification unit notifies an operator of the forklift of the loading location and / or the loading / unloading sequence determined by the loading / unloading determination unit.

7. A forklift that loads and unloads the containers placed in a predetermined location; an unmanned aerial vehicle having an infrared camera, which takes an image of the contents of the container before loading and unloading and generates a container image; A cargo handling management program used in a cargo handling system including a computer having a calculation device and a storage device, The cargo handling management program is configured to: A score output unit that analyzes the package image and outputs a score; A loading and unloading management program that operates as a loading and unloading determination unit that determines a loading location and / or a loading and unloading order of the packing boxes based on the scores output by the score output unit.

8. A cargo handling management method used in a cargo handling system including a cargo box placed in a predetermined area, a forklift for handling the cargo box, an unmanned aerial vehicle having an infrared camera, and a cargo handling determination unit, Taking an image of the packing box using the infrared camera before loading and unloading to generate a packing image; determining, by the loading / unloading determination unit, a loading location and / or a loading order for the packing boxes based on the packing image.

Images