Determination device, determination method and storehouse management system

Abstract

To specify a position of a transportation object even when the transportation object is moved by a worker.SOLUTION: A determination device comprises: an image acquisition part which acquires image information obtained by photographing an identifier given to a transportation object at a plurality of times on a transportation machine that a person operates in a warehouse; a determination part which determines that the transportation object is placed based upon the image information acquired by the image acquisition part at the plurality of times; a position information acquisition part which acquires position information when the determination part determines that the transportation object is placed; and a transmission part which transmits accompanying information including the position information acquired by the position information acquisition part.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a determination device, a determination method, and a warehouse management system. [Background technology]

[0002] Conventionally, there has been a technology used in warehouses such as distribution centers and transfer centers that acquires information about transported goods from product labels attached to the transported goods and manages the number and storage locations of the transported goods in the warehouse (see, for example, Patent Document 1). Workers who move transported goods refer to information such as the number and storage locations of the transported goods managed using such technology to manage inventory in the warehouse and ship items. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2008-247574 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, once an item is placed in a warehouse, it may be moved for various reasons. For example, a first worker may move the item for inventory management or other reasons, and the item may end up in a location different from where it was placed beforehand. In such a situation, when a second worker different from the first worker attempts to ship the item, the second worker may have to take the trouble of searching for the item.

[0005] Therefore, an object of the present invention is to provide a determination device, a determination method, and a warehouse management system that are capable of identifying the position of a transported item even if the transported item has been moved by an operator. [Means for solving the problem]

[0006] [1] One aspect of the present invention is a determination device that includes an image acquisition unit that multiple times acquires image information of an identifier attached to a transported item in a transport machine operated by a person in a warehouse, a determination unit that determines whether the transported item has been placed based on the image information acquired multiple times by the image acquisition unit, a location information acquisition unit that acquires location information when the determination unit determines that the transported item has been placed, and a transmission unit that transmits accompanying information including the location information acquired by the location information acquisition unit.

[0007] [2] Moreover, one aspect of the present invention is a determination device as described in [1], further comprising a matching unit that matches information regarding the transported item obtained based on an identifier displayed in the image information with the location information obtained by the location information acquisition unit, and the transmission unit transmits the information matched by the matching unit as the accompanying information.

[0008] [3] Moreover, one aspect of the present invention is a determination device as described in [1] or [2], wherein the image acquisition unit acquires the image information at a first point in time and acquires the image information at a second point in time after the first point in time, and the determination unit determines that the transported item has been placed if a ratio of a size of an identifier copied onto the image information at the second point in time to a size of an identifier copied onto the image information at the first point in time is smaller than a predetermined threshold value.

[0009] [4] Furthermore, one aspect of the present invention is a determination device according to any one of [1] to [3], wherein the identifier is a printed matter on which a code is displayed.

[0010] [5] Furthermore, one aspect of the present invention is a determination device as described in any one of [1] to [4], which provides an imaging device that images an identifier attached to the transported item, and acquires the image information using the imaging device having a predetermined depth of field.

[0011] [6] Moreover, one aspect of the present invention is a determination device according to [1] to [5], wherein an imaging device that captures an image of an identifier attached to the transported object is capable of capturing an image when the identifier is within a predetermined depth of field, and the determination unit determines that the transported object has been placed when the identifier captured by the imaging device enters a range closer to the imaging device than the depth of field of the imaging device, making it impossible to capture the identifier, and then when the identifier captured by the imaging device again enters the depth of field of the imaging device and is captured.

[0012] [7] Moreover, one aspect of the present invention is a determination device according to any one of [1] to [6], wherein the image acquisition unit acquires image information of the identifier when an imaging device that images an identifier attached to the transported item images the identifier a predetermined number of times or more consecutively, and the determination unit determines that the transported item has been placed when the image acquisition unit continuously acquires the image information in which the same identifier is imaged.

[0013] [8] Moreover, one aspect of the present invention is a determination device according to any one of [1] to [7], wherein the image acquisition unit is capable of acquiring the image information when the relative positional relationship between the identifier and the imaging device changes at or below a predetermined speed by determining an upper limit value for the shutter speed of the imaging device.

[0014] [9] Moreover, one aspect of the present invention is a determination device according to any one of [1] to [8], wherein the image acquisition unit acquires the image information from an imaging device installed at a predetermined position of the transport machine so that a part or all of a transport section of the transport machine lifting the transported object is captured by the imaging device.

[0015]

[10] Furthermore, one aspect of the present invention is a determination device according to any one of [1] to [9], further comprising a presentation unit that, when the image acquisition unit acquires the image information, presents to a person operating the transport machine that the image information has been acquired.

[0016]

[11] Another aspect of the present invention is a warehouse management system comprising a determination device described in any one of [1] to

[10] , a management device that further associates information about the transported items based on ancillary information transmitted from the determination device, and a presentation device that presents the transported item information that is the information associated by the management device.

[0017]

[12] In another aspect of the present invention, in the warehouse management system described in

[11] , the system further includes a transmitting device that transmits location information of the destination of the transported item within the warehouse, and a receiving device that receives the location information transmitted from the transmitting device, and the management device further associates the location information received by the receiving device with the transported item information. Effect of the Invention

[0018] According to the present invention, the position of a transported item can be identified even if the transported item has been moved by an operator. [Brief description of the drawings]

[0019] [Figure 1] FIG. 1 is a conceptual diagram for explaining an example of an aspect of a warehouse management system according to a first embodiment. [Diagram 2] FIG. 1 is a block diagram of a warehouse management system according to a first embodiment. [Diagram 3] 2 is a functional configuration diagram showing an example of a functional configuration of a determination device according to the first embodiment. FIG. [Figure 4] FIG. 2 is a diagram for explaining an example of a relative positional relationship between the imaging device according to the first embodiment and a transported object at a first time point and a second time point. [Diagram 5] 4 is a diagram for explaining an example of the size of an identifier captured in image information acquired at a first time point and a second time point by the determination device according to the first embodiment. FIG. [Figure 6] FIG. 3 is a diagram for explaining an example of a data configuration of transported item information according to the first embodiment. [Figure 7] 13 is a diagram for explaining an example of a relative positional relationship between the depth of field of an imaging device according to a second embodiment and an identifier. FIG. [Figure 8] 13 is a diagram for explaining an example of image information captured by the imaging device according to the third embodiment. FIG. [Figure 9] FIG. 11 is a functional configuration diagram showing an example of a functional configuration of a determination device according to embodiment 4. [Figure 10] FIG. 13 is a conceptual diagram for explaining an example of an aspect of a warehouse management system according to a fifth embodiment. [Figure 11] FIG. 13 is a block diagram of a warehouse management system according to a fifth embodiment. [Figure 12] FIG. 13 is a diagram for explaining an example of a data configuration of transported item information according to the fifth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] [Embodiment] The determination device, determination method, and warehouse management system according to the present embodiment will be described in detail below with reference to the accompanying drawings, showing preferred embodiments. Note that the present embodiment is not limited to these embodiments, and includes various modifications and improvements. In other words, the components described below include those that a person skilled in the art can easily imagine, and those that are substantially the same, and the components described below can be combined as appropriate. Furthermore, in the present embodiment, various omissions, substitutions, or modifications of the components can be made without departing from the spirit of the present invention.

[0021] [Embodiment 1] First, the configuration of a warehouse management system according to a first embodiment will be described with reference to FIGS.

[0022] FIG. 1 is a conceptual diagram for explaining an example of a warehouse management system according to a first embodiment. An example of the warehouse management system 1 will be explained with reference to the diagram. The warehouse management system 1 includes a determination device 20, a management device 30, and a presentation device 40. The warehouses managed by the warehouse management system 1 according to this embodiment broadly include warehouses where transported goods enter and leave, such as inventory-type distribution centers and transfer centers. Transported goods 4 are received, stored, and shipped in the warehouse. In the following explanation, a series of processes related to the receipt, storage, and shipping of transported goods 4 will be described as management.

[0023] In the illustrated example, workers OP1 and OP2 use the warehouse management system 1 to manage the transported goods 4 in the warehouse. The worker OP1 is a person who moves the transported goods 4 in the warehouse. The movement of the transported goods 4 in the warehouse is, for example, the work of placing the transported goods 4 in a temporary storage area when the transported goods 4 arrive. The movement of the transported goods 4 broadly includes the movement from a temporary storage area in the warehouse to a specified storage area, etc. The worker OP2 picks necessary items from the transported goods 4 present in the warehouse, checks the type and number of products to be shipped, and packs them. The packed goods are shipped out of the warehouse.

[0024] An operator OP1 operates a transport machine 6. The transport machine 6 transports the transported object 4 to a predetermined storage location in the warehouse. The transport machine 6 is equipped with a transport unit 7, and transports the transported object 4 placed on the pallet 5. In the illustrated example, the transport machine 6 is a forklift, and the transport unit 7 is a fork unit. The transport machine 6 lifts the transported object 4 by inserting the transport unit 7 into the pallet 5. The transport machine 6 moves within the warehouse with the transported object 4 lifted, and drops the transported object 4 at a predetermined storage location. The predetermined storage location is a storage area that is set in advance for each transported object 4. However, if the volume of the transported object 4 exceeds the volume of the storage area, the transported object 4 will be placed in a storage location different from the storage area where it should be placed.

[0025] In the illustrated example, the pallet 5 has an insertion space 8 through which the forks of a forklift truck can be inserted and removed, and a thickness required to provide the insertion space 8, and is shown with flat upper and lower surfaces, that is, a placement surface on the upper side on which the transported goods 4 are placed and a floor contact surface on the lower side that contacts the floor of a warehouse, truck, etc., that are rectangular in shape. However, this embodiment is not limited to this example, and for example, the pallet 5 may be a pallet integrated with a container in which powder or liquid is placed, or a sheet-like pallet that is loaded and unloaded by a forklift with a push-pull device, etc.

[0026] The determination device 20 and the imaging device 21 are attached to the transport machine 6. The imaging device 21 is attached at a position where it can image the transported object 4. The imaging device 21 images the identifier 3 attached to the transported object 4. The determination device 20 performs a determination regarding the movement of the transported object 4 based on image information obtained by imaging the identifier 3 attached to the transported object 4. The determination regarding the movement may be, for example, a determination regarding whether or not the transported object 4 has been placed. When it is determined that the transported object 4 has been placed, the determination device 20 acquires position information of the transported object 4 that has been determined to have been placed. The position information of the transported object 4 may be, for example, position information of the transport machine 6 that transports the transported object 4, or position information of the determination device 20 provided in the transport machine 6. After acquiring the position information of the transported object 4, the determination device 20 transmits information included in the captured image information, including information on the identifier 3 attached to the transported object 4 and the position information of the transported object 4, to the management device 30 as accompanying information AI.

[0027] The management device 30 acquires accompanying information AI including information on the identifier 3 attached to the transported object 4 and location information of the transported object 4 from the determination device 20. The management device 30 further associates information on the transported object 4 with the acquired accompanying information AI. The management device 30 transmits the associated information to the presentation device 40 as transported object information CI.

[0028] The presentation device 40 is operated by the worker OP2. The presentation device 40 acquires the accompanying information AI from the management device 30. The presentation device 40 presents information based on the acquired transported goods information CI to the worker OP2. The worker OP2 uses the information presented by the presentation device 40 to, for example, pick up necessary items from the transported goods 4 in the warehouse, confirm the type and number of products to be shipped, and pack them. The packed goods are shipped outside the warehouse. Specifically, the presentation device 40 may be a display device such as a smartphone, a smart watch, smart glasses, or a tablet terminal that can visually present information. In addition, the presentation device 40 is not limited to an example of a display device that can visually present information, and may be an audio output device such as a speaker or earphone that can audibly present information.

[0029] FIG. 2 is a block diagram of a warehouse management system according to the first embodiment. An example of the warehouse management system 1 will be described with reference to the diagram. The warehouse management system 1 includes a plurality of determination devices 20, a management device 30, and a plurality of presentation devices 40. The determination devices 20-1 to 20-N shown in the diagram exemplify the plurality of determination devices 20. Also, the presentation devices 40-1 to 40-N exemplify the plurality of presentation devices 40. The plurality of determination devices 20, the management device 30, and the plurality of presentation devices 40 are connected to each other via a network NW. The network NW is a predetermined communication network configured using lines. An example of the network NW is the Internet. The predetermined communication network NW is an open network, and devices connected to the communication network NW can communicate with each other using a predetermined protocol. In the Internet layer of the communication network NW, communication is performed using the Internet Protocol (IP) or the like.

[0030] The determination device 20 acquires image information IMI (hereinafter, referred to as identifier image information) of the identifier 3 attached to the transported object 4 from the imaging device 21. The determination device 20 judges whether the transported object 4 has been placed based on the acquired identifier image information. The identifier 3 is a code that can be read by a computer, and includes, for example, a printed matter. The computer-readable code may be, for example, a character, symbol, or figure used in the judgment by the judgment unit 23, or the contents of the transported object 4. The identifier 3 may be attached to the transported object 4 by adhesive tape or adhesive, or may be directly engraved or printed on the transported object 4 without using a printed matter. The identifier 3 may be attached to the transported object 4 as a seal or sticker having an adhesive surface on the identifier 3 itself. The identifier 3 does not necessarily have to be a printed matter. The computer-readable code included in the identifier 3 is a code having information about the transported object 4, and includes, for example, a combination of characters and symbols, a barcode, a two-dimensional code, etc.

[0031] The image information IMI in this embodiment broadly includes information about the image captured by the imaging device 21. That is, the image information IMI includes image information in which the identifier 3 attached to the transported object 4 is not captured, and identifier image information in which the identifier 3 attached to the transported object 4 is captured. Of the image information IMI, the image information in which the identifier 3 attached to the transported object 4 is captured can also be called identifier image information. When it is determined that the transported object 4 has been placed, the determination device 20 acquires position information. When it is determined that the transported object 4 has been placed, the determination device 20 acquires information identifying the transported object shown in the identifier image information. The determination device 20 transmits information in which the acquired position information and information identifying the transported object are associated with each other to the management device 30 as accompanying information AI.

[0032] The management device 30 acquires the accompanying information AI from the determination device 20. The management device 30 creates transported item information CI by further associating information on the transported item 4 with the acquired accompanying information AI. The management device 30 transmits the created transported item information CI to the presentation device 40. The management device 30 is realized, for example, using a computer and software. The management device 30 may also be realized using an electronic circuit as necessary. Furthermore, the management device 30 may be an independent device, and at least a part of the configuration of the management device 30 may be realized as an independent device. At least a part of the functions realized by the management device 30 may also be realized by cloud computing.

[0033] The presentation device 40 acquires the transported item information CI from the management device 30. The presentation device 40 presents information based on the acquired transported item information CI to a worker OP2 who operates the presentation device. The information based on the transported item information CI may be information required for picking necessary items from the transported items 4 in the warehouse, checking the type and number of products to be shipped, and packing them.

[0034] FIG. 3 is a functional configuration diagram showing an example of the functional configuration of the determination device according to the first embodiment. With reference to the same figure, an example of the functional configuration of the determination device 20 will be described. The determination device 20 includes an image acquisition unit 22, a determination unit 23, a position information acquisition unit 25, a correspondence unit 26, and a transmission unit 27. Each of these functional units is realized, for example, by using a computer and software. Also, each functional unit may be realized by using an electronic circuit as necessary. Furthermore, each functional unit does not have to be included in a single device, and the determination device 20 may be configured by a plurality of devices.

[0035] The image acquiring unit 22 acquires the image information IMI transmitted from the imaging device 21. The image information IMI is information relating to an image captured by the imaging device 21. The image acquiring unit 22 transmits the acquired image information IMI to the determination unit .

[0036] The imaging device 21 captures an image of a subject in a predetermined angle of view area in front of the imaging device 21 at a predetermined resolution. The predetermined angle of view area is set to an angle of view that allows the identifier 3 attached to the transported object 4 to be captured when the transport unit 7 of the transport machine 6 approaches the pallet 5 on which the transported object 4 is placed. The predetermined resolution may be any resolution that allows the identifier 3 to be appropriately recognized, and may be, for example, about 300 [dpi (dots per inch)]. The imaging device 21 transmits the captured image information IMI to the image acquisition unit 22. The imaging device 21 may be, for example, a CCD camera using a CCD (Charge Coupled Devices) image sensor, or a CMOS camera using a CMOS (Complementary Metal Oxide Semiconductor) image sensor. The imaging device 21 may also be a barcode reader or the like that is equipped with a light receiving element that can irradiate laser light and read the reflected light reflected from the identifier 3. The imaging device 21 may also be included in a terminal device such as a smartphone.

[0037] The determination unit 23 acquires the image information IMI from the image acquisition unit 22. The determination unit 23 determines that the transported object 4 has been placed based on the identifier image information IMI, which is the image information IMI capturing an image of the identifier 3 attached to the transported object 4, among the image information IMI. Specifically, the determination unit 23 performs an object detection process for the identifier 3 attached to the transported object 4 by image processing the acquired image information IMI. A known machine learning algorithm or the like may be used for the object detection process. The determination unit 23 acquires identifier image information in which the identifier 3 is captured as a result of the object detection. The determination unit 23 determines whether the transported object 4 has been placed based on a plurality of consecutive image information IMI and a change over time in the position, size, focus, and the like of the identifier 3 captured in the image. When it is determined that the transported object 4 has been placed, the determination unit 23 acquires code information SI from the code 2 captured in the identifier image information. The code information SI is information about the transported object 4 that the code 2 has. The code information SI may include information such as an order number, a product name code, and a model number. The accompanying information AI is not limited to this example, and may be any information including at least the transported object position information CLI. The determination unit 23 transmits the acquired code information SI to the association unit 26. Furthermore, when the determination unit 23 determines that the transported object 4 has been placed, it transmits determination information JI to the position information acquisition unit 25. The determination information JI includes information regarding the determination by the determination unit 23 that the transported object 4 has been placed. The determination information JI may be, for example, a 1-bit binary signal indicating whether or not the transported object 4 has been placed.

[0038] The position information acquisition unit 25 acquires the determination information JI from the determination unit 23. The position information acquisition unit 25 acquires the transported object position information CLI from the position information calculation device 24 based on the acquired determination information JI. Specifically, the position information acquisition unit 25 acquires the position information at the time when it is determined that the transported object 4 has been placed as the transported object position information CLI. That is, the transported object position information CLI includes information on the position where the determination device 20 determines that the transported object 4 has been placed. The transported object position information CLI may be, for example, position information defined by latitude and longitude. Note that the position information acquisition unit 25 may be configured to continuously acquire the transported object position information CLI from the position information calculation device 24 and transmit the transported object position information CLI to the association unit 26 when acquiring the determination information JI from the position information acquisition unit 25.

[0039] The position information calculation device 24 acquires position information, for example, by using radio waves received from an artificial satellite such as a Global Positioning System (GPS) or an Ultra Wide Band (UWB). The position information calculation device 24 may also calculate position information by using the strength of radio waves from a beacon installed in the warehouse, or by using autonomous navigation using an acceleration sensor, a gyro sensor, or the like. The position information calculation device 24 transmits the acquired transported item position information CLI to the position information acquisition unit 25.

[0040] The association unit 26 acquires the code information SI from the determination unit 23. Furthermore, the association unit 26 acquires the transported object position information CLI from the position information acquisition unit 25. The association unit 26 associates the acquired transported object position information CLI with the code information SI to create accompanying information AI. The association unit 26 transmits the created accompanying information AI to the transmission unit 27.

[0041] In the illustrated example, the associating unit 26 does not necessarily need to associate the acquired transported object position information CLI with the code information SI. When the associating unit 26 is not provided as a component, the position information acquiring unit 25 may transmit the transported object position information CLI to the transmitting unit 27 as the accompanying information AI.

[0042] The transmission unit 27 acquires the accompanying information AI from the association unit 26. The transmission unit 27 transmits the acquired accompanying information AI to the management device 30. Here, the method of transmitting the accompanying information AI to the management device 30 is not limited to the example in which the transmission unit 27 directly transmits the accompanying information AI to the management device 30. For example, the accompanying information AI may be transmitted to a terminal device carried by a person who operates the transport machine 6, and the terminal device may transmit the accompanying information AI to the management device 30 via the network NW.

[0043] FIG. 4 is a diagram for explaining an example of a relative positional relationship between the imaging device according to the first embodiment and the transported object at a first time point and a second time point. FIG. 5 is a diagram for explaining an example of the size of an identifier reflected in image information acquired by the determination device according to the first embodiment at a first time point and a second time point. With reference to FIG. 4 and FIG. 5, an example of a method for determining that the transported object 4 has been placed by the determination unit 23 will be described. In general, when the transported object 4 is transported by a transport machine 6 such as a forklift, a person (worker OP1) who operates the transport machine 6 inserts a transport unit 7 of the transport machine 6 into an insertion space 8 of a pallet 5 on which the transported object 4 is placed, thereby transporting the transported object 4. Therefore, after placing the transported object 4 at a predetermined place, the person who operates the transport machine 6 needs to move the transport machine 6 backward along the extension direction of the insertion space 8 in order to pull out the transport unit 7 from the insertion space 8 of the pallet 5. Therefore, when a transported object 4 leaves the imaging device 21 with the same surface facing the imaging device 21 in the field of view of the imaging device 21, the determination unit 23 may determine that the transport machine 6 is moving backward. In the first embodiment, when it is determined that the transport machine 6 is moving backward based on the change over time in the image captured by the imaging device 21, the determining unit 23 determines that the transported object 4 has been placed.

[0044] As shown, the identifier 3 includes a code 2. The code 2 may be printed on the identifier 3, which is a printed matter. The code 2 may be engraved or printed directly on the conveyance 4 without using a printed matter. The code 2 is an example of a computer-readable code.

[0045] Fig. 4(A) shows that at a first time point, the imaging device 21 and the transported object 4 are separated by a first distance L1. Fig. 4(B) shows that at a second time point after the first time point, the imaging device 21 and the transported object 4 are separated by a second distance L2, which is longer than the first distance L1. That is, Fig. 4 illustrates that the imaging device 21 moves away from the transported object 4 as time passes. Note that the time between the first time point and the second time point may be any time that allows the determination unit 23 to appropriately determine that the transport machine 6 is retreating, and may be, for example, one or two seconds.

[0046] FIG. 5(A) shows a first captured image IM1 captured by the imaging device 21 at a first time point. That is, FIG. 5(A) is a captured image captured when the imaging device 21 and the transported object 4 are in the positional relationship of FIG. 4(A). The first captured image IM1 is an image captured by the imaging device 21 at a first time point. In the illustrated example, the first captured image IM1 shows an identifier 3 (hereinafter, referred to as a first captured identifier) ​​attached to the transported object 4. FIG. 5(B) shows a second captured image IM2 captured by the imaging device 21 at a second time point. That is, FIG. 5(B) is a captured image captured when the imaging device 21 and the transported object 4 are in the positional relationship of FIG. 4(B). The second captured image IM2 is an image captured by the imaging device 21 at a second time point after the first time point. In the illustrated example, the second captured image IM2 includes an identifier 3 (hereinafter, referred to as a second captured identifier) ​​similar to the identifier 3 captured in the first captured image IM1, but smaller than the first captured identifier.

[0047] Returning to FIG. 3, the determination unit 23 acquires the first captured image IM1 as the image information IMI from the image acquisition unit 22. Furthermore, the determination unit 23 acquires the second captured image IM2 as the image information IMI from the image acquisition unit 22. The determination unit 23 determines the size of the first captured identifier from the first captured image IM1, and determines the size of the second captured identifier from the second captured image IM2. The determination unit 23 determines that the transport machine 6 is retreating when the ratio of the size of the second captured identifier to the size of the first captured identifier is smaller than a predetermined threshold. That is, the determination unit 23 determines that the transported object 4 has been placed when the ratio of the size of the second captured identifier to the size of the first captured identifier is smaller than a predetermined threshold. Here, the predetermined threshold may be any value that allows the determination unit 23 to appropriately determine that the transported object 4 has been placed, and may be, for example, 70% or 80%.

[0048] According to the embodiment described above, an example is shown in which the determination unit 23 determines that the transported article 4 has been placed based on the ratio of the size of the identifier 3 captured in the second captured image IM2 to the size of the identifier 3 captured in the first captured image IM1. However, the embodiment is not limited to this example, and the determination unit 23 may determine that the transported article 4 has been placed based on, for example, the ratio of the size of the code 2 included in the identifier 3 captured in the first captured image IM1 and the second captured image IM2.

[0049] 6 is a diagram for explaining an example of the data configuration of the transported goods information CI according to the first embodiment. An example of the data configuration of the transported goods information CI will be explained with reference to the same figure. The transported goods information CI includes information on the transported goods 4 transported in the warehouse. For example, the order number, the product name, the stock quantity, and the location are associated with the transported goods information CI. The transported goods information CI-1 to transported goods information CI-3 shown in the figure exemplify a plurality of transported goods information CI.

[0050] The order number is identification information for identifying an item specified by the transported item information CI. The order number may be one that is assigned when the item is ordered. The item name is the name of the item. The item name may be, for example, a name or an abbreviation by which the item can be recognized. The stock quantity is the number of items in stock. The location is information indicating the location where the item is determined to be placed. Note that, if the item specified by the transported item information CI is placed in multiple locations, information indicating multiple storage locations may be associated with the transported item information CI.

[0051] The data configuration of the transported goods information CI is not limited to the example shown in the figure. For example, a production number, an estimate number, an item name code, etc. may be associated with the transported goods information CI. The production number is identification information that is assigned at the time of receiving an order in order to manage processes such as the production and assembly of the item identified by the transported goods information CI. The estimate number is identification information of an estimate for the item. The estimate number may be, for example, a consecutive number, or a number linked to an invoice. The item name code is identification information that identifies the name of the item. When the item identified by the transported goods information CI is stored in multiple locations, a sub-number may be assigned to the item name code in addition to the item name code that was previously assigned.

[0052] [Summary of embodiment 1] According to the embodiment described above, the determination device 20 includes an image acquisition unit 22 that acquires identifier image information, which is image information IMI obtained by capturing an image of an identifier 3 attached to a transported object 4 from an imaging device 21, multiple times in a transport machine 6 operated by a person in a warehouse, a determination unit 23 that determines that the transported object 4 has been placed based on the identifier image information acquired multiple times by the image acquisition unit 22, a position information acquisition unit 25 that acquires transported object position information CLI from a position information calculation device 24 when the determination unit 23 determines that the transported object 4 has been placed, and a transmission unit 27 that transmits accompanying information AI including the transported object position information CLI acquired by the position information acquisition unit 25. That is, the determination device 20 determines that the transported object 4 has been placed based on image information IMI obtained by capturing an image of the identifier 3 attached to the transported object 4, and acquires position information of the location where the determination was made. According to the present embodiment, the determination device 20 acquires position information of the location where the transported object 4 has been determined to have been placed, thereby being able to identify the position of the transported object 4 even if the location where the transported object 4 is placed has been moved by a worker or the like.

[0053] According to the above-described embodiment, the determination device 20 further includes an association unit 26 that associates the code information SI, which is information about the transported object 4 acquired based on the identifier captured in the image information IMI, with the transported object position information CLI acquired by the position information acquisition unit 25 to generate the associated information AI, and the transmission unit 27 transmits the associated associated information AI by the association unit 26. The determination device 20 can acquire information about the transported object 4 (e.g., information about items included in the transported object 4) in addition to the position information of the storage location of the transported object 4 by acquiring the code information SI, which is information about the transported object 4, based on the identifier captured in the image information IMI. Therefore, according to the present embodiment, the position of the transported object 4 can be identified by identifying the position of the item in the warehouse.

[0054] According to the above-described embodiment, in the determination device 20, the image acquisition unit 22 acquires identifier image information, which is image information IMI obtained by capturing an image of the identifier 3 attached to the transported object 4 from the imaging device 21 at a first time point, and acquires the identifier image information at a second time point after the first time point. The determination unit 23 determines that the transported object 4 has been placed when the ratio of the size of the identifier captured in the identifier image information at the second time point to the size of the identifier captured in the identifier image information at the first time point is smaller than a predetermined threshold. That is, the determination device 20 determines that the transported object 4 has been placed when the size of the identifier 3 captured in the image information IMI captured by the imaging device 21 becomes smaller than a predetermined ratio. Here, when the transport machine 6 moves away from the transported object 4 (i.e., when the transported object 4 is placed and the transport machine 6 moves away from the transported object 4), the size of the identifier 3 should become smaller in the image captured by the imaging device 21. Therefore, according to this embodiment, it is possible to easily determine whether or not the transported object 4 has been placed by determining the size of the identifier 3 using an object detection algorithm or the like.

[0055] According to the above-described embodiment, in the determination device 20, the identifier 3 is a printed matter on which the code 2 is displayed. That is, the determination device 20 determines the placement location of the transported item 4 without using a wireless tag such as an RFID (Radio Frequency Identification) tag. Therefore, according to the present embodiment, it is possible to obtain location information of the placement location of the transported item 4 using a printed matter that is less expensive than an expensive wireless tag such as an RFID tag.

[0056] Furthermore, according to the embodiment described above, the warehouse management system 1 includes the determination device 20, the management device 30 that further associates information on the transported goods 4 based on the accompanying information AI transmitted from the determination device 20, and the presentation device 40 that presents transported goods information CI, which is information associated by the management device 30. That is, the warehouse management system 1 can present the transported goods information CI, which is information in which transported goods position information CLI, which is position information on the storage location of the transported goods 4 in the warehouse, is associated with information on the transported goods 4, by the presentation device 40. Therefore, the warehouse management system 1 can efficiently manage the transported goods 4 by using the acquired position information on the storage location of the transported goods 4 and the information on the transported goods 4.

[0057] [Embodiment 2] Next, a second embodiment will be described. In the first embodiment, the determination device 20 determines that the transported object 4 has been placed based on a change in size when the identifier 3 is imaged. In the second embodiment, the determination device 20 determines that the transported object 4 has been placed based on the fact that the image capture device 21 cannot capture the identifier 3 outside the range of the depth of field W, which is different from the first embodiment. In the following description of the second embodiment, the configurations already described in the first embodiment may be omitted by assigning the same reference numerals. First, a determination method of the determination unit 23 according to the second embodiment will be described with reference to FIG. 7.

[0058] FIG. 7 is a diagram for explaining an example of the relative positional relationship between the depth of field of the imaging device according to the second embodiment and the identifier. With reference to the same figure, an example of the relative positional relationship between the depth of field W of the imaging device 21 and the identifier 3 will be described. Note that the identifiers 3-1, 3-2, and 3-3 in the figure all indicate the same identifier 3, but by making the branch numbers different, the location of the identifier 3 as seen from the imaging device 21 is changed. The imaging device 21 has a predetermined depth of field W. The predetermined depth of field W may be a depth of field that can appropriately recognize the identifier 3, and may be, for example, 5 cm or 10 cm. The determination device 20 acquires image information IMI obtained by capturing an image of the identifier 3 attached to the transported object 4 from the imaging device 21 having the predetermined depth of field W. Note that the depth of field W in a barcode reader or the like may include a range in which the identifier 3 can be recognized by processing by a decoder even if the identifier 3 captured in the captured image is blurred. Note that the figure shows the relative positional relationship between the identifier 3 and the imaging device 21 when the transport machine 6 places the transported object 4 and then moves away from the transported object 4. In the figure, the position of the imaging device 21 equipped to the transport machine 6 is fixed, and the position of the identifier 3 attached to the transported object 4 is moved, but it may be the imaging device 21 equipped to the transport machine 6 that actually moves. Furthermore, when the word "move" is used in the following description, it may indicate that the transport machine 6 moves relative to the identifier 3 or the transported object 4 to which the identifier 3 is attached.

[0059] Generally, when the transport machine 6 transports the transported object 4, the transport machine 6 inserts the transport unit 7 of the transport machine 6 into the insertion space 8 of the pallet 5 on which the transported object 4 is placed, lifts the transported object 4 together with the pallet 5, and moves the transported object 4 in the lifted state. After placing the transported object 4 in a predetermined place, the transport machine 6 pulls out the transport unit 7 from the insertion space 8 of the pallet 5. FIG. 7(A) shows that the identifier 3 attached to the transported object 4 moves from the range of the depth of field W of the imaging device 21 in the first direction V1 to a range closer to the imaging device 21 than the depth of field W. As the transport machine 6 approaches the transported object 4 to lift it, the identifier 3 attached to the transported object 4 passes through the range of the depth of field W of the imaging device 21 (identifier 3-1) and moves to a range closer to the imaging device 21 than the depth of field W (identifier 3-2).

[0060] 7(B) shows that the identifier 3 attached to the transported object 4 moves in the second direction V2 from a range closer to the imaging device 21 than the depth of field W, thereby moving into the range of the depth of field W of the imaging device 21. After the transporting machine 6 places the transported object 4, the identifier 3 attached to the transported object 4 moves from a range closer to the imaging device 21 than the depth of field W (identifier 3-2) to the range of the depth of field W (identifier 3-3) as the transporting machine 6 moves away from the transported object 4 to pull out the transporting part 7 from the insertion space 8.

[0061] The determination unit 23 determines that a transported object 4 has been placed when, as shown in Figure 7(A), the identifier 3 imaged by the imaging device 21 moves into a range closer to the imaging device 21 than the range of the depth of field W of the imaging device 21, making it impossible to image it, and then, as shown in Figure 7(B), the identifier 3 is imaged again by moving again into the range of the depth of field W of the imaging device 21.

[0062] [Summary of embodiment 2] According to the embodiment described above, in the determination device 20, the image acquisition unit 22 is an imaging device 21 that images the identifier 3 attached to the transported object 4, and acquires image information IMI by the imaging device 21 having a predetermined depth of field W. The value of the predetermined depth of field W may be a value at which the identifier 3 attached to the transported object 4 to be transported is in focus, and a value at which the identifiers 3 other than the transported object 4 to be transported are out of focus. That is, the determination device 20 can prevent recognition of identifiers 3 other than the identifier 3 attached to the transported object 4 to be transported. Therefore, the determination device 20 can acquire location information of the location where the transported object 4 is placed by preventing erroneous recognition of identifiers 3 other than the identifier 3 of the transported object 4 to be transported.

[0063] According to the above-described embodiment, in the determination device 20, the imaging device 21 that images the identifier 3 attached to the transported object 4 can image the identifier 3 when the identifier 3 is present in a predetermined depth of field W, and the determination unit 23 determines that the transported object 4 has been placed when the identifier 3 imaged by the imaging device 21 enters a range closer to the imaging device 21 than the depth of field W of the imaging device 21, making it impossible to image the identifier 3, and then the identifier 3 imaged by the imaging device 21 enters the depth of field W of the imaging device 21 and is imaged. That is, when the identifier 3 imaged by the imaging device 21 moves outside the range of the depth of field W of the imaging device 21, moves again into the range of the depth of field W and is imaged by the imaging device 21, the determination unit 23 determines that the transported object 4 has been placed. Therefore, according to the second embodiment, the size of the identifier 3 is not detected as in the first embodiment. Therefore, according to the second embodiment, it is easier to determine that the transported object 4 has been placed, and the position of the transported object 4 can be specified.

[0064] [Embodiment 3] Next, a third embodiment will be described. In the third embodiment, the determination device 20 differs from the first and second embodiments in that it determines whether or not the transported object 4 has been placed based on the number of times identifier image information is acquired (i.e., the number of times the identifier 3 is recognized). In the third embodiment, the frame rate, shutter speed, etc. of the imaging device 21 are adjusted in order to determine whether or not the object has been placed based on the number of times the identifier 3 is recognized. In the following description of the third embodiment, the description of the functions already described in the first and second embodiments may be omitted. First, a determination method of the determination unit 23 according to the third embodiment will be described.

[0065] Generally, when the transport machine 6 transports the transported object 4, it inserts the transport unit 7 of the transport machine 6 into the insertion space 8 of the pallet 5 on which the transported object 4 is placed, lifts the transported object 4 together with the pallet 5, and moves the transported object 4 in the lifted state. After placing the transported object 4 in a predetermined storage location, the transport machine 6 pulls out the transport unit 7 from the insertion space 8 of the pallet 5. When the determination unit 23 acquires identifier image information of the identifier 3 attached to the transported object 4 and then acquires identifier image information for the identifier 3 again, the determination device 20 determines that the transported object 4 has been lifted by the transport machine 6 and then placed in the predetermined storage location.

[0066] When the imaging device 21 continuously images the identifier 3 attached to the transported object 4 a predetermined number of times or more, the image acquisition unit 22 acquires identifier image information, which is image information IMI capturing an image of the identifier 3 attached to the transported object 4, once. Here, the predetermined number of times may be any number of times that allows the determination device 20 to appropriately perform a determination, and may be, for example, two times, ten times, thirty times, etc. Note that, when the imaging device 21 continues to capture an image of the identifier 3 more than the predetermined number of times, the image acquisition unit 22 determines that it has only acquired identifier image information once, no matter how many times the imaging device 21 captures images. When the image acquisition unit 22 continuously acquires identifier image information for the same identifier 3, the determination unit 23 determines that the transported object 4 has been placed.

[0067] In addition, in general, when an operator of the transport machine 6 inserts the transport unit 7 of the transport machine 6 into the insertion space 8 of the pallet 5 on which the transported goods 4 are placed, the operator often decelerates the speed in order to adjust the transport unit 7 to enter the insertion space 8. Therefore, the image acquisition unit 22 may determine an upper limit of the shutter speed of the imaging device 21 so as to be able to acquire identifier image information when the relative positional relationship between the identifier 3 attached to the transported goods 4 and the imaging device 21 changes at a predetermined speed or less. The upper limit of the shutter speed may be any value within a range in which the identifier 3 can be appropriately recognized when the transport machine 6 is decelerated, and may be, for example, 30 [fps (frames per seconds)] or 100 [fps]. The predetermined speed may be any speed in which the identifier 3 can be appropriately recognized when the transport machine 6 is decelerated, and may be, for example, 1 [km (kilometers)] or 5 km per hour.

[0068] FIG. 8 is a diagram for explaining an example of image information captured by the imaging device according to the third embodiment. An example of image information IMI captured by the imaging device 21 will be described with reference to the same figure. The third captured image IM3 is an image captured by the imaging device 21, and part or all of the transport unit 7 of the transport machine 6 is captured. The imaging device 21 may be installed at a predetermined position of the transport machine 6 so that part or all of the transport unit 7 of the transport machine 6 lifting the transported object 4 is captured. The image acquisition unit 22 acquires the image information IMI from the imaging device 21 installed at the predetermined position. Here, the predetermined position may be any position as long as part or all of the transport unit 7 is captured and the identifier 3 can be appropriately recognized. For example, it may be in front of the header guard so that part or all of the transport unit 7 can be seen between the masts of the forklift.

[0069] [Summary of embodiment 3] According to the embodiment described above, in the determination device 20, when the imaging device 21, which images the identifier 3 attached to the transported object 4, continuously images the identifier 3 a predetermined number of times or more, the image acquisition unit 22 acquires identifier image information, which is image information IMI of the identifier 3, and when the determination unit 23 continuously acquires identifier image information of the same identifier 3 from the image acquisition unit 22, the determination unit 20 determines that the transported object 4 has been placed. In other words, when the determination unit 23 acquires identifier image information of the identifier 3 attached to the transported object 4 and then acquires identifier image information of the identifier 3 again, the determination device 20 determines that the transported object 4 has been lifted by the transport machine 6 and then placed in a predetermined placement location. Therefore, according to the third embodiment, the size of the identifier 3 is not detected as in the first embodiment. Therefore, according to the third embodiment, the determination device 20 can more easily determine that the transported object 4 has been placed and can specify the position of the transported object 4.

[0070] Furthermore, according to the above-described embodiment, in the determination device 20, the image acquisition unit 22 determines an upper limit of the shutter speed of the imaging device 21, thereby making it possible to acquire identifier image information when the relative positional relationship between the identifier 3 and the imaging device 21 changes at a speed equal to or lower than a predetermined speed. That is, the image acquisition unit 22 can prevent recognition of identifiers 3 other than the identifier 3 attached to the transported item 4. Therefore, the determination device 20 can acquire location information of the location where the transported item 4 is placed by preventing erroneous recognition of identifiers 3 other than the identifier 3 of the transported item 4.

[0071] Furthermore, according to the above-described embodiment, the determination device 20 has an image acquisition unit 22 that acquires image information IMI from an imaging device 21 installed at a predetermined position of the transport machine 6 so that a part or the whole of the transport unit 7 of the transport machine 6 lifting the transported object 4 is captured by the imaging device 21. That is, by acquiring image information IMI from an imaging device 21 installed so that the vicinity of the transport unit 7 of the transport machine 6 is captured, it is possible to prevent recognition of identifiers 3 other than the identifier 3 of the transported object 4 to be transported. Therefore, the determination device 20 can acquire location information of the placement location of the transported object 4 by preventing erroneous recognition of identifiers 3 other than the identifier 3 of the transported object 4 to be transported.

[0072] [Embodiment 4] Next, a fourth embodiment will be described. In the first to third embodiments, the determination device 20 acquires identifier image information, which is image information IMI capturing an image of the identifier 3 attached to the transported object 4, and determines that the transported object 4 has been placed based on the acquired identifier image information. In the fourth embodiment, the determination device 20 differs from the first to third embodiments in that it notifies the person (worker OP1) operating the transport machine 6 that the identifier image information has been acquired. In the following description of the fourth embodiment, the description of the functions already described in the first to third embodiments may be omitted.

[0073] FIG. 9 is a functional configuration diagram showing an example of the functional configuration of the determination device according to the fourth embodiment. An example of the functional configuration of the determination device 20A will be described with reference to the same figure. In the configuration of the determination device 20A, the same components as those of the determination device 20 may be denoted by the same reference numerals and description thereof may be omitted. The determination device 20A differs from the determination device 20 in that it further includes a presentation unit 28. Each of these functional units is realized, for example, by using a computer and software. Also, each functional unit may be realized by using an electronic circuit as necessary. Furthermore, each functional unit does not have to be included in a single device, and the determination device 20 may be configured by a plurality of devices.

[0074] When the determination unit 23 acquires identifier image information, which is image information IMI in which the identifier 3 attached to the transported object 4 is captured, the determination unit 23 transmits the recognition information RI to the presentation unit 28. The recognition information RI includes information that the determination unit 23 has acquired the identifier image information. Note that the present embodiment is not limited to this example, and for example, when it is determined that the transported object 4 has been placed, the determination unit 23 may transmit the determination information JI as the recognition information RI to the presentation unit 28. Furthermore, when the identifier 3 attached to the transported object 4 is captured with the depth of field W of the imaging device 21, the determination unit 23 may transmit the recognition information RI to the presentation unit 28.

[0075] The presentation unit 28 acquires the recognition information RI from the determination unit 23. The presentation unit 28 presents the acquired recognition information RI to the worker OP1. Here, the method of presenting the recognition information RI to the worker OP1 may be, for example, by turning on a red light when the presentation unit 28 has not acquired the recognition information RI, and turning on a blue light for a predetermined time when the presentation unit 28 has acquired the recognition information RI. The method of presenting the recognition information RI to the worker OP1 may be a visual method of displaying the recognition information RI using a display device such as a smartphone, a smart watch, smart glasses, or a tablet terminal, or an auditory method of presenting audio data using an audio output device such as a speaker or earphones. The recognition information RI may also be presented by a method other than a visual method or an auditory method.

[0076] [Summary of the fourth embodiment] According to the embodiment described above, the determination device 20A further includes a presentation unit 28 that presents the recognition information RI to the person (worker OP1) operating the transport machine 6 when the image acquisition unit 22 acquires identifier image information, which is image information IMI obtained by capturing an image of the identifier 3 attached to the transported object 4. That is, when the determination unit 23 acquires information required for the determination, the presentation unit 28 presents the recognition information RI to the worker OP1. That is, the worker OP1 can notice when the determination unit 23 fails to acquire information required for the determination. Therefore, according to the fourth embodiment, the determination unit 23 can acquire information required for the determination more reliably, and the position of the transported object 4 can be identified.

[0077] [Embodiment 5] Next, a fifth embodiment will be described. The fifth embodiment differs from the first to fourth embodiments in that information on the destination of the transported goods 4 in the warehouse is further associated with the transported goods information CI. In the following description of the fifth embodiment, the description of the functions already described in the first to fourth embodiments may be omitted.

[0078] First, the configuration of a system according to the fifth embodiment will be described with reference to FIGS.

[0079] FIG. 10 is a conceptual diagram for explaining an example of an aspect of a warehouse management system according to embodiment 5. An example of an aspect of a warehouse management system 1A will be explained with reference to the same figure. The warehouse management system 1 includes a determination device 20, a management device 30, and a presentation device 40, and is used for managing transported items 4 within a warehouse by workers OP1 and OP2. The warehouse management system 1A differs from the warehouse management system 1 in that it further includes a transmitting device 51 and a receiving device 52. In the configuration of the warehouse management system 1A, components similar to those of the warehouse management system 1 are denoted by similar reference numerals and descriptions thereof may be omitted.

[0080] In the illustrated example, the worker OP3 is a person who performs the task of shipping the packaged package out of the warehouse using a transport vehicle such as a truck. Here, shipping out of the warehouse broadly includes tasks such as delivering the packaged package to the destination warehouse, a wholesaler, a wholesaler, or an end consumer who purchased the package. The packaged package is a package that the worker OP2 picks the necessary items from the transported goods 4 present in the warehouse, checks the type and number of the products to be shipped, and packs. The packaged package is shipped by the worker OP3.

[0081] The transmitting device 51 is carried or operated by a worker OP3. The transmitting device 51 wirelessly transmits a signal (destination location information HLI) ​​by infrared rays, radio waves, or extremely low power once every few seconds, like a beacon, within a radius of several meters to several tens of meters.

[0082] In addition, this embodiment is not limited to this example, and the transmitting device 51 may acquire location information using radio waves received from a satellite such as GPS or UWB, and transmit the acquired destination location information HLI to the receiving device 52.

[0083] The receiving device 52 receives the destination location information HLI from the transmitting device 51. The receiving device 52 transmits the received destination location information of the transported article 4 to the management device 30.

[0084] The management device 30 acquires accompanying information AI including information on the identifier 3 attached to the transported object 4 and location information of the transported object 4 from the determination device 20. Furthermore, the management device 30 acquires destination location information HLI from the receiving device 52. The management device 30 associates the acquired accompanying information AI and destination location information HLI with information related to the transported object 4. The management device 30 transmits the associated information to the presentation device 40 as transported object information CI.

[0085] FIG. 11 is a block diagram of a warehouse management system according to the first embodiment. An example of a warehouse management system 1A will be described with reference to the diagram. The warehouse management system 1A differs from the warehouse management system 1 in that it further includes a plurality of transmitting devices 51 and a plurality of receiving devices 52. Transmitting device 51-1 to transmitting device 51-N shown in the diagram exemplify the plurality of transmitting devices 51. Also, transmitting device receiving device 52-1 to transmitting device receiving device 52-N exemplify the plurality of transmitting devices 51. The plurality of determination devices 20, the management device 30, the plurality of presentation devices 40, and the plurality of receiving devices 52 are connected to each other via a network NW.

[0086] The transmitting device 51 is carried or operated by a worker OP3. The transmitting device 51 wirelessly transmits infrared, radio, or extremely low-power signals (destination location information HLI) ​​to a range of a radius of several meters to several tens of meters once every few seconds, like a beacon. The destination location information HLI includes, for example, a wide range of information related to the location of the transmitting device 51.

[0087] The receiving device 52 receives the destination location information HLI from the transmitting device 51. The receiving device 52 transmits the received destination location information HLI to the management device 30. Note that the receiving device 52 may be, for example, a device that can receive a beacon signal, or may be an access point of a wireless local area network (LAN).

[0088] The management device 30 acquires the accompanying information AI from the determination device 20. Furthermore, the management device 30 acquires the destination location information HLI from the receiving device 52. The management device 30 creates the transported item information CI by further associating the acquired accompanying information AI and destination location information HLI with information related to the transported item 4. The management device 30 transmits the created transported item information CI to the presentation device 40.

[0089] In the illustrated example, the warehouse management system 1A acquires the destination location information HLI using two devices, a transmitting device 51 and a receiving device 52. However, the present embodiment is not limited to this example, and the warehouse management system 1A may acquire the destination location information HLI using one device having the functions of the transmitting device 51 and the receiving device 52. The one device having the functions of the transmitting device 51 and the receiving device 52 may be, for example, a tablet computer or a smartphone, or the like, and may be a device having a function of transmitting the location information of the device to the management device 30 via the network NW.

[0090] FIG. 12 is a diagram for explaining an example of the data structure of the transported goods information CI according to the fifth embodiment. An example of the data structure of the transported goods information CI will be explained with reference to the same figure. The transported goods information CI includes information on the transported goods 4 transported in the warehouse. The transported goods information CI according to the fifth embodiment differs from the transported goods information CI according to the first embodiment in that information on the destination location is further associated with the transported goods information CI. For example, the order number, the product name, the stock quantity, the location, and the destination location are associated with the transported goods information CI. The transported goods information CI-1 to the transported goods information CI-3 shown in the figure exemplify a plurality of transported goods information CI.

[0091] The destination location is information indicating the location of the destination after the goods identified by the transported goods information CI is packed. Here, the destination location is, for example, a truck of the worker OP3 carrying the transmission device 51. Note that, when the goods identified by the transported goods information CI are divided and transported to predetermined destinations, the transported goods information CI may store information associated with each predetermined destination.

[0092] In addition, when an item is divided and transported to multiple locations, a sub-number may be added to the item name code, which is identification information that identifies the name of the item, in addition to the item name code that was previously assigned.

[0093] [Summary of embodiment 5] According to the embodiment described above, the warehouse management system 1A further includes a transmitting device 51 that transmits destination location information HLI, which is location information of a destination of an item specified by the transported item information CI after the item is packed, and a receiving device that receives the destination location information HLI from the transmitting device 51, and the management device 30 further associates the destination location information HLI received by the receiving device 52 with the transported item information CI. That is, the warehouse management system 1A can present the transported item information CI, which is information in which the location information of a destination of an item after the item is packed and information about the item are associated with each other, by the presentation device 40. Therefore, the warehouse management system 1A can efficiently manage the shipment, etc. of the transported item 4 by using the acquired information about the item and the location information of a destination of an item after the item is packed.

[0094] In addition, the whole or part of the functions of each unit of the determination device 20 and the determination device 20A in the above-mentioned embodiment may be realized by recording a program for realizing these functions in a computer-readable recording medium, reading the program recorded in the recording medium into a computer system, and executing it. Note that the "computer system" here includes hardware such as an OS and peripheral devices.

[0095] In addition, the term "computer-readable recording medium" refers to portable media such as flexible disks, optical magnetic disks, ROMs, and CD-ROMs, and storage units such as hard disks built into computer systems. Furthermore, the term "computer-readable recording medium" may also include those that dynamically hold a program for a short period of time, such as a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line, and those that hold a program for a certain period of time, such as a volatile memory inside a computer system that serves as a server or client in such cases. Furthermore, the above program may be one that realizes part of the above-mentioned functions, or may be one that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

[0096] Although an embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention. [Explanation of symbols]

[0097] 1 ... warehouse management system, 1A ... warehouse management system, NW ... network, 2 ... code, 3 ... identifier, 4 ... transported item, 5 ... pallet, 6 ... transport machine, 7 ... transport section, 8 ... insertion space, 20 ... determination device, 20A ... determination device, 30 ... management device, 40 ... presentation device, 21 ... imaging device, 22 ... image acquisition section, 23 ... determination section, 24 ... position information calculation device, 25 ... position information acquisition section, 26 ... association section, 27 ... transmission section, 28 ...presentation unit, 51...transmitting device, 52...receiving device, IMI...image information, ...identifier image information, JI...determination information, CLI...transported object position information, HLI...destination position information, AI...accompanying information, CI...transported object information, SI...code information, RI...recognition information, L1...first distance, L2...second distance, W...depth of field, V1...first direction, V2...second direction, IM1...first captured image, IM2...second captured image, IM3...third captured image

Claims

1. In warehouses, in transport machinery operated by humans, an image acquisition unit that acquires image information of an identifier attached to a transported item multiple times; a determination unit that determines whether the transported object has been placed based on the image information acquired multiple times by the image acquisition unit; a location information acquiring unit that acquires location information when the determining unit determines that the transported object has been placed; a transmitting unit that transmits accompanying information including the location information acquired by the location information acquiring unit; A determination device comprising:

2. a matching unit that matches information about the transported object acquired based on the identifier depicted in the image information with the location information acquired by the location information acquisition unit, The transmitting unit transmits the information associated by the associating unit as the accompanying information. The determination device according to claim 1 .

3. The image acquisition unit acquires the image information at a first time point, and acquires the image information at a second time point after the first time point, The determination unit determines that the transported item has been placed when a ratio of a size of the identifier depicted in the image information at a second time point to a size of the identifier depicted in the image information at a first time point is smaller than a predetermined threshold value. The determination device according to claim 1 or 2.

4. The identifier is a printed matter bearing a code. The determination device according to claim 1 or 2.

5. The image acquisition unit is an imaging device that captures an image of an identifier attached to the transported object, and acquires the image information by the imaging device having a predetermined depth of field. The determination device according to claim 1 or 2.

6. an imaging device that images the identifier attached to the transported item can image the identifier when the identifier is present within a predetermined depth of field; The determination unit determines that the transported object has been placed when the identifier captured by the imaging device enters a range closer to the imaging device than the depth of field of the imaging device, making it impossible to capture the identifier, and then the identifier captured by the imaging device again enters the depth of field of the imaging device and is captured. The determination device according to claim 5 .

7. the image acquisition unit acquires image information of the identifier when an imaging device that captures an image of the identifier attached to the transported item captures an image of the identifier a predetermined number of times or more in succession; The determination unit determines that the transported object has been placed when the image information in which the same identifier is captured is continuously acquired from the image acquisition unit. The determination device according to claim 5 .

8. The image acquisition unit determines an upper limit of a shutter speed of the imaging device, thereby making it possible to acquire the image information when a relative positional relationship between the identifier and the imaging device changes at a speed equal to or lower than a predetermined speed. The determination device according to claim 7.

9. The image acquisition unit acquires the image information from the imaging device installed at a predetermined position of the transport machine so that a part or the whole of the transport unit of the transport machine lifting the transported object is captured by the imaging device. The determination device according to claim 7.

10. The image acquisition unit further includes a presentation unit that, when the image acquisition unit acquires the image information, presents to an operator of the transport machine that the image information has been acquired. The determination device according to claim 1 or 2.

11. The determination device according to claim 1 or 2, a management device that further associates information of the transported object based on the accompanying information transmitted from the determination device; a presentation device that presents transported item information that is associated by the management device; A warehouse management system comprising:

12. A transmitting device that transmits location information of a destination of the transported object within a warehouse; A receiving device that receives the location information transmitted from the transmitting device, The management device further associates the location information received by the receiving device with transported item information. The warehouse management system according to claim 11.

13. In warehouses, in transport machinery operated by humans an image acquisition step of acquiring image information of an identifier attached to a transported item multiple times; a determination step of determining whether the transported object has been placed based on the image information acquired multiple times by the image acquisition step; a location information acquiring step of acquiring location information when it is determined that the transported object has been placed in the determining step; a transmitting step of transmitting accompanying information including the location information acquired by the location information acquiring step; The determination method includes:

Images