Cargo loading guidance system

Abstract

To provide a cargo handling guidance system capable of improving work efficiency in cargo handling operation.SOLUTION: A cargo loading guidance system guides the loading of cargo in a cargo compartment, and includes: a depth sensor that is installed in the cargo compartment and measures depth data of the cargo compartment; a cargo compartment state estimation part that estimates a cargo compartment state from measured depth data; a specification part that specifies the location of the cargo in the cargo compartment by referring to the size of the cargo based on an estimated cargo compartment state; and a guidance device that is installed the inner part of the cargo compartment and indicates the location specified by the specification part.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a load guidance system. [Background technology]

[0002] When loading cargo onto a vehicle bed, the loading position is generally determined by checking the size of the cargo and the condition of the interior of the cargo compartment, and taking into consideration the delivery order, available space within the cargo compartment, etc.

[0003] The loading position is determined based on the know-how of the transportation system and experienced workers. Also, when loading and unloading luggage from the luggage compartment, the location of the luggage storage area is obtained from the transportation system and the memory of the worker.

[0004] For example, Patent Document 1 discloses a system including a luggage sensor attached to a luggage compartment of a vehicle, a detection unit that detects an empty space in which luggage can be loaded based on an output signal from the luggage sensor, a determination unit that determines whether luggage can be loaded in the empty space based on the size of the luggage, and an output unit that outputs the determination result.

[0005] For example, Patent Document 2 discloses a system for supporting automation of loading, which includes a depth sensor arranged on the side of a moving body, a baggage detection unit that detects a predetermined surface of a baggage based on side data of the depth sensor, a jig detection unit that identifies a predetermined surface of a jig based on data on the predetermined surface of the baggage and detects the predetermined surface of the jig using the identified data, and a distance calculation unit that calculates the distance between the predetermined surface of the baggage and the predetermined surface of the jig. It also discloses that the calculated distance is transmitted to a transport system, and the transport system uses the transmitted distance to execute various controls required when loading the baggage onto a loading platform, such as control of a crane installed in a factory. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Patent Publication No. 2021-42028 [Patent Document 2] JP 2023-36125 A Summary of the Invention [Problem to be solved by the invention]

[0007] However, when using a transportation system to determine the loading location of luggage, workers need to check the loading location determined by the system and the location of the luggage on a terminal at hand, which can reduce work efficiency.

[0008] Furthermore, when utilizing the know-how and memory of experienced workers, there is a risk that individual differences in work efficiency will occur.

[0009] Furthermore, in the system described in Patent Document 1, when the result of the determination as to whether or not the luggage can be loaded is output to a user interface, the loading position of the luggage must be confirmed on a terminal at hand, which may reduce the work efficiency of loading and unloading operations.

[0010] In addition, the system described in Patent Document 2 can be applied when loading work is performed using loading machinery such as a cranes used to move luggage, but it is difficult to apply it when loading work is performed by workers without using loading machinery.

[0011] An object of the present disclosure is to provide a cargo handling loading guidance system capable of improving work efficiency in cargo handling operations. [Means for solving the problem]

[0012] In order to achieve the above object, the luggage loading guidance system in the present disclosure comprises: A luggage loading guidance system for guiding the loading of luggage in a luggage compartment, a depth sensor installed in the luggage compartment and measuring depth data of the luggage compartment; a luggage compartment state estimation unit that estimates a luggage compartment state from the measured depth data; an identification unit that identifies a location in the luggage compartment to place the luggage by referring to a size of the luggage based on the estimated luggage compartment state; A guidance device that is installed inside the luggage compartment and indicates the storage location identified by the identification unit; Equipped with. Effect of the Invention

[0013] According to the present disclosure, the work efficiency in loading and unloading operations can be improved. [Brief description of the drawings]

[0014] [Figure 1] FIG. 1 is a functional block diagram showing the functions of a luggage loading guidance system according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a diagram illustrating a vehicle 1 equipped with a luggage loading guidance system according to an embodiment of the present disclosure. [Diagram 3] FIG. 3 is a diagram showing a guidance device according to another embodiment of the present disclosure. [Figure 4A] FIG. 4A is a rear view of the vehicle as seen from the rear. [Figure 4B] FIG. 4B is a side view of the vehicle as seen from the side. [Diagram 5] FIG. 5 is a diagram illustrating a depth sensor according to another embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. FIG. 1 is a functional block diagram functionally illustrating a luggage loading guidance system according to an embodiment of the present disclosure. In FIG. 1, arrows indicate main data flows, and there may be data flows not shown in FIG. 1. In FIG. 1, each functional block indicates a configuration in functional units, not a configuration in hardware (device) units. Therefore, the functional blocks shown in FIG. 1 may be implemented in a single device, or may be implemented separately in multiple devices. Data may be exchanged between functional blocks via any means, such as a data bus or a communication network.

[0016] 2 is a diagram illustrating a vehicle 1 equipped with a luggage loading guidance system 100 according to an embodiment of the present disclosure. The luggage loading guidance system 100 is a system that guides a worker (if the worker is a driver, the driver) so that luggage is placed in an appropriate location in the luggage compartment of the vehicle. Note that the vehicle 1 is, for example, a delivery vehicle on which deliveries are loaded as luggage, or a freight vehicle on which cargo is loaded as luggage, but is not limited to these vehicles.

[0017] As shown in FIG. 1, the luggage loading guidance system 100 includes a depth sensor 10, a storage unit 20, a control device 30, and a guidance device 40.

[0018] (Depth Sensor 10) The depth sensor 10 is disposed in the luggage compartment 2. The depth sensor 10 is disposed, for example, at the rear end of the vehicle on the ceiling 3 of the luggage compartment 2. The depth sensor 10 photographs the interior of the luggage compartment 2 from the position where it is disposed. Specifically, when loading luggage LD, the depth sensor 10 photographs the luggage LD temporarily placed in a position near the entrance / exit of the luggage compartment 2 (the position of the rear end of the vehicle shown in FIG. 2 ) and outputs the photographed image data, which is luggage depth image data, to the control device 30. The depth sensor 10 also photographs the luggage compartment state and outputs the photographed image data, which is luggage compartment state depth image data, to the control device 30.

[0019] In the following description, in the internal space of the luggage compartment 2, a space that is restricted as a place to place luggage LD is referred to as a "restricted use space." Also, a space that is not restricted as a place to place luggage LD is referred to as a "usable space."

[0020] (Storage unit 20) The storage unit 20 is a storage device such as a ROM (Read Only Memory) that stores a BIOS (Basic Input Output System) of a computer that realizes the control device 30, a RAM (Random Access Memory) that serves as a working area for the control device 30, an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores an OS (Operating System), application programs, various information referenced when the application programs are executed, and various maps. The control device 30 is installed in the vehicle and is configured as an integral part or separate part of one or more other on-board ECUs (Electronic Control Units) that control devices and systems equipped in the vehicle. On the other hand, the control device 30 may be installed outside the vehicle and connected to the depth sensor 10 and the guidance device 40 via a communication network.

[0021] (Control unit 31) The control unit 31 is a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit) of the control device 30, and functions as a luggage size estimation unit 32, a luggage compartment state estimation unit 33, and an identification unit 34 by executing a program stored in the storage unit 20. Note that FIG. 1 shows an example in which the control device 30 is configured as a single device. However, the control device 30 may be realized by, for example, multiple processors, memory, and other computational resources. In this case, each unit constituting the control unit 31 is realized by at least one of multiple different processors executing a program.

[0022] The luggage size estimation unit 32 estimates the size (width, depth, height) of the luggage LD based on the luggage depth image data using a known method (for example, the method described in JP 2023-37107 A).

[0023] The luggage compartment state estimation unit 33 estimates the restricted space and the usable space in the interior space of the luggage compartment based on the luggage compartment state depth image data, also using a known method.

[0024] The identification unit 34 identifies a place to place the luggage LD in the luggage compartment by referring to the size of the luggage LD estimated by the luggage size estimation unit 32 based on the available space estimated by the luggage compartment state estimation unit 33. When the size of the luggage LD is known, the identification unit 34 may identify a place to place the luggage in the luggage compartment by referring to the known size.

[0025] When identifying the optimal storage location from among multiple locations, the identifying unit 34 refers to the know-how of experienced workers, and if there are multiple know-how, identifies the storage location based on the priority order. For example, in the case of an item that is to be delivered early, the identifying unit 34 identifies a storage location that is closer to the entrance / exit than a location farther from the entrance / exit. In addition, in the case of an item that is taller than normal, the identifying unit 34 identifies a storage location that is closer to the interior wall of the luggage compartment than a location farther from the interior wall.

[0026] The storage unit 20 stores the locations where luggage is placed in the luggage compartment. The storage unit 20 also stores identification information of luggage placed in the locations in association with the locations of the luggage.

[0027] (guidance device 40) The guidance device 40 has a plurality of light emitting diodes 41. The plurality of light emitting diodes 41 are arranged on the ceiling 3 of the luggage compartment 2 so as to be aligned at predetermined intervals in the front-rear direction of the vehicle.

[0028] The guidance device 40 indicates the storage location identified by the identification unit 34 and stored in the storage unit 20. In the following description, the "storage location" may be referred to as the "location to which the user is to be guided." The guidance device 40, for example, causes only the light-emitting diode 41 corresponding to the storage location (location to which the user is to be guided) to emit light. The guidance device 40 may indicate the direction from the entrance / exit side of the luggage compartment 2 toward the storage location. For example, the guidance device 40 may cause the light-emitting diode 41 to emit light so that light flows from the entrance / exit side toward the storage location (see FIG. 2). In this case, the guidance device 40 causes two or more of the multiple light-emitting diodes 41 to emit light in a predetermined order. The guidance device 40 may also indicate the direction (the direction from the entrance / exit side of the luggage compartment 2 toward the storage location) using sound (for example, a voice announcement).

[0029] (Guidance device 40 in other embodiments) Next, a guidance device 40 according to another embodiment of the present disclosure will be described with reference to FIG. 3. FIG. 3 is a diagram showing a guidance device 40 according to another embodiment of the present disclosure. The guidance device 40 shown in FIG. 3 has, for example, six light-emitting diodes 41 and is arranged on the inner side wall of the luggage compartment. The luggage compartment 2 shown in FIG. 3 is divided into a total of six regions FR, FL, MR, MK, BR, and BL, for example, three in the vehicle front-rear direction and two in the vehicle width direction. Each of the six light-emitting diodes 41 is arranged corresponding to each of the six regions FR, FL, MR, MK, BR, and BL. Then, the guidance device 40 causes only the light-emitting diode 41 corresponding to the storage location to emit light. For example, when the storage location is the region MR, only the light-emitting diode 41 arranged corresponding to the region MR is caused to emit light (see FIG. 3).

[0030] (Guidance device 40 in other embodiments) Next, a guide device 40 according to another embodiment of the present disclosure will be described. A guide rail (not shown) extending in the front-rear direction of the vehicle is arranged on the ceiling 3 of the luggage compartment 2, and a slider (not shown) moving along the guide rail is arranged, and further, a light-emitting diode (not shown) is provided on the slider. The guide device 40 causes the light-emitting diode to emit light, and controls the movement of the light-emitting diode from the position of the rear end of the guide rail to the front side of the vehicle via the slider. This makes it possible to indicate the direction from the entrance to the storage location with one or a small number of light-emitting diodes. Note that a plurality of light-emitting diodes may be arranged in parallel at a predetermined interval from the entrance to the front side of the vehicle on the ceiling 3, and each of the plurality of light-emitting diodes may be caused to emit light so that light flows from the entrance to the storage location.

[0031] (Guidance device 40 in other embodiments) Next, a guiding device 40 according to another embodiment of the present disclosure will be described with reference to FIG. 4A and FIG. 4B. FIG. 4A is a rear view of the vehicle as seen from the rear. FIG. 4B is a side view of the vehicle as seen from the side. In FIG. 4A and FIG. 4B, the storage location (the location to which the vehicle is to be guided) is indicated by a broken line. The guiding device 40 has a laser pointer emitting unit 45 disposed on the inner wall of the luggage compartment. In addition, the laser pointer emitting unit 45 has a swivel function so that it can irradiate any position on the ceiling. This allows the position on the ceiling corresponding to the location of the storage location (the location to which the vehicle is to be guided) to be accurately irradiated, so that the worker can be guided to the correct storage location, and the work efficiency in the loading and unloading work can be further improved. In addition, it is possible to irradiate the entire range of the ceiling with one laser pointer emitting unit 45.

[0032] The laser pointer irradiating unit 45 is disposed at a central position in the vehicle longitudinal direction on the luggage compartment inner wall, in other words, at a position where the distance from the vehicle front end or vehicle rear end of the luggage compartment inner wall to the central position is the total length L / 2 in the vehicle longitudinal direction, and at a position that is a predetermined distance H away from the ceiling on the vehicle underside. The reason why the laser pointer irradiating unit 45 is disposed at the central position is that if the pointer is far from the storage location, the angle between the laser light and the ceiling becomes acute, and it is obstructed by a convex structure (e.g., a beam). If the pointer position is lowered (H is increased) to avoid the convex structure, the pointer is more likely to hit the luggage. Therefore, in order to minimize H, it is better to place the storage location and the pointer close to each other, and central placement is optimal. The reason why the laser pointer irradiating unit 45 is disposed at a position that is a predetermined distance H away from the ceiling on the vehicle underside is to avoid a situation where the laser light hits a convex structure that is disposed on the ceiling and protrudes to the vehicle underside when the laser pointer irradiating unit 45 is disposed near the ceiling, and the position to be irradiated cannot be irradiated. In the above embodiment, the laser pointer irradiation unit 45 is shown as the guidance device 40, but a projector may also be used.

[0033] The luggage loading guidance system in the above embodiment is a luggage loading guidance system that guides the loading of luggage in a luggage compartment, and includes a depth sensor 10 that is installed in the luggage compartment and measures depth data of the luggage compartment, a luggage compartment state estimation unit 33 that estimates the luggage compartment state from the measured depth data, an identification unit 34 that identifies a location to place the luggage in the luggage compartment based on the estimated luggage compartment state and with reference to the size of the luggage, and a guidance device 40 that is installed inside the luggage compartment and indicates the location identified by the identification unit 34.

[0034] With the above-mentioned configuration, the guidance device 40 guides the worker to the storage location, eliminating the need for the worker to check a terminal at hand, thereby making it possible to improve the work efficiency in loading and unloading operations.

[0035] In the luggage loading guidance system according to the above embodiment, the guidance device 40 indicates the direction from the entrance of the luggage compartment to the storage location. This allows the worker to recognize the direction in which to move the luggage, thereby improving the work efficiency in the loading and unloading work.

[0036] In the luggage loading guidance system according to the above embodiment, the guidance device 40 indicates the direction from the entrance of the luggage compartment to the storage location using light or sound. Since the direction is indicated using light or sound, the worker does not need to check the storage location using a terminal at hand, which makes it possible to improve the work efficiency in loading and unloading work.

[0037] In the baggage loading guidance system in the above embodiment, the guidance device 40 has a plurality of light-emitting diodes 41 arranged on the ceiling of the luggage compartment, and the guidance device 40 causes two or more of the plurality of light-emitting diodes 41 to emit light in a predetermined order so as to indicate the direction from the entrance / exit side of the luggage compartment toward the storage location. By arranging the light-emitting diodes 41 on the ceiling, the light delivered from the light-emitting diodes 41 to the worker is less likely to be blocked by the luggage being loaded into the luggage compartment, so that the worker can reliably see the direction of the storage location.

[0038] Moreover, the luggage loading guidance system in the above embodiment further includes a luggage size estimation unit 32 that estimates the size of the luggage from the measured depth data, and the identification unit 34 identifies the placement location by referring to the estimated luggage size. This allows the loading and unloading work to be performed without hindrance even if the luggage size is not determined in advance, making it possible to suppress a decrease in the work efficiency in the loading and unloading work.

[0039] In the baggage loading guidance system according to the above embodiment, the identification unit 34 identifies the placement location of the baggage with the earlier delivery order to be closer to the entrance / exit side of the luggage compartment than the placement location of the baggage with the later delivery order. This allows even a beginner in loading and unloading work to easily utilize the know-how of experienced workers.

[0040] In the luggage loading guidance system in the above embodiment, the guidance device 40 indicates the location of the luggage in the luggage compartment when the luggage is loaded into the luggage compartment, but the present disclosure is not limited to this, and the guidance device 40 may indicate the location of the luggage in the luggage compartment when the luggage placed in the luggage compartment is unloaded. In this case, for example, the control device 30 reads out the location stored in association with the identification information of the luggage from the storage unit 20, and the guidance device 40 indicates the location based on the read location. This makes it possible to support the loading and unloading of luggage using one system.

[0041] Depth Sensor in Other Embodiments Next, a depth sensor 10 according to another embodiment of the present disclosure will be described with reference to Fig. 5. Fig. 5 is a schematic diagram of the depth sensor 10 according to another embodiment. Note that in Fig. 5, the guidance device is omitted.

[0042] A guide rail 4 extending in the vehicle longitudinal direction is arranged on the ceiling 3 of the luggage compartment 2, and a slider 5 that moves along the guide rail 4 is arranged, and further, one stereo camera 10A (depth sensor) and a control device 30 are attached to the slider 5. The stereo camera 10A captures an image of the luggage compartment interior, and outputs luggage depth image data and luggage compartment state depth image data, which are image data of the captured luggage compartment interior, to the control device 30. This makes it possible to capture an image of the entire range of the luggage compartment while shifting the position of one stereo camera 10A by a predetermined distance in the vehicle longitudinal direction.

[0043] In addition, the above-mentioned embodiments are merely examples of the embodiment of the present disclosure, and the technical scope of the present disclosure should not be interpreted as being limited by them. In other words, the present disclosure can be embodied in various forms without departing from the gist or main features thereof. [Industrial Applicability]

[0044] The present disclosure is suitably used for vehicles equipped with a luggage loading system that is required to improve the work efficiency in loading and unloading operations. [Explanation of symbols]

[0045] 1 vehicle 2 Luggage compartment 3. Ceiling 4 Guide rail 5 Slider 10 Depth Sensor 10A Stereo Camera 20 Memory section 30 Control device 31 Control Unit 32 Luggage size estimation section 33 Cargo compartment state estimation unit 34 Specific part 40 Guidance device 41 Light-emitting diode 45 Laser pointer irradiation section 100 Luggage loading guidance system

Claims

1. A luggage loading guidance system for guiding the loading of luggage in a luggage compartment, a depth sensor installed in the luggage compartment and measuring depth data of the luggage compartment; a luggage compartment state estimation unit that estimates a luggage compartment state from the measured depth data; an identification unit that identifies a location in the luggage compartment to place the luggage by referring to a size of the luggage based on the estimated luggage compartment state; A guidance device that is installed inside the luggage compartment and indicates the storage location identified by the identification unit; Equipped with Baggage loading guidance system.

2. The guiding device indicates a direction from an entrance side of the luggage compartment toward the storage location, 2. The load guidance system of claim 1.

3. The guidance device indicates the direction using light or sound.

3. The baggage loading guidance system of claim 2.

4. The guidance device has a plurality of light-emitting diodes arranged on a ceiling of the luggage compartment, The guidance device causes two or more light-emitting diodes among the plurality of light-emitting diodes to emit light in a predetermined sequence so as to indicate the direction.

4. The baggage loading guidance system according to claim 3.

5. A luggage compartment includes a guide rail disposed on a ceiling of the luggage compartment, a slider that moves along the guide rail, and a light-emitting diode that is provided on the slider, The guiding device causes a light emitting diode to emit light so as to indicate the direction, and controls the movement of the slider along the guide rail.

4. The baggage loading guidance system according to claim 3.

6. The guiding device has a laser pointer emitting unit that emits a laser pointer light in a direction toward a position on a ceiling of the luggage compartment corresponding to the position of the storage location.

2. The load guidance system of claim 1.

7. When loading and unloading luggage placed in the luggage compartment, the guiding device indicates a location in the luggage compartment where the luggage is to be placed.

2. The load guidance system of claim 1.

8. A luggage size estimation unit is further provided for estimating a size of the luggage from the measured depth data, The identification unit identifies the placement location by referring to the estimated size of the luggage.

2. The load guidance system of claim 1.

9. The specifying unit specifies a placement location of the baggage having an earlier delivery order to be closer to an entrance / exit side of the luggage compartment than a placement location of the baggage having a later delivery order.

2. The load guidance system of claim 1.

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