Measurement device, measurement system, and measurement method

Abstract

To prevent erroneous filling rate from being calculated when an obstacle exists in front of a shelf.SOLUTION: A measurement device that measures filling rate related to an object accommodated in a shelf is configured to: detect a shelf frame from distance measurement data obtained by three dimensionally scanning the shelf; calculate shielding rate by an obstacle in the shelf frame based on the number of pixels in the shelf frame in the distance measurement data and the number of obstacle pixels which is the number of pixels of a portion of the obstacle in the shelf frame in the distance measurement data; and calculate the filling rate related to the object in the shelf frame using the distance measurement data in which the shielding rate is less than a predetermined threshold value.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a measuring device, a measuring system, and a measuring method.

Background Art

[0002] In logistics and distribution sites, it is required to measure the filling rate of measurement objects such as luggage in a storage space and improve the usage efficiency of the storage space.

[0003] Patent Document 1 discloses a method for measuring a filling rate, which includes obtaining a spatial three-dimensional model obtained by measurement through an opening by a distance measuring sensor facing a storage unit having an opening, obtaining a storage three-dimensional model that is a three-dimensional model of the storage unit, extracting an object part that is a part of the measurement object in the spatial three-dimensional model, specifying a line segment indicating the shape of the opening from a two-dimensional image of the opening generated by measurement in a specific direction from the position of the distance measuring sensor, and estimating an object three-dimensional model that is a three-dimensional model of the measurement object based on a three-dimensional coordinate system based on the position of the opening in the three-dimensional space specified based on the position of the distance measuring sensor, the specific direction, and the shape of the opening, and the object part, and calculating the filling rate of the measurement object with respect to the storage space.

[0004] Patent Document 2 discloses that a vehicle (forklift) is equipped with a stereo camera for obstacle detection, a detection range is set according to the current position of the vehicle, and when the three-dimensional coordinate position of an obstacle enters the detection range, a vehicle speed limit and an alarm are output.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0006] When the method disclosed in Patent Document 1 is used, for example, to measure the filling rate of packages stored on shelves in a warehouse, if there are obstacles in front of the shelves, an incorrect filling rate will be calculated.

[0007] An object of the present disclosure is to provide a technique for preventing an incorrect filling rate from being calculated when there are obstacles in front of the shelves.

Means for Solving the Problems

[0008] A measuring device according to one aspect of the present disclosure is a measuring device that measures a filling rate related to an object stored on a shelf, and includes a processor and a memory. The processor, in cooperation with the memory, detects a shelf frame from distance measurement data obtained by three-dimensionally scanning the shelf, and calculates a shielding rate by the obstacle within the shelf frame based on the number of pixels within the shelf frame in the distance measurement data and the number of pixels of the portion of the obstacle within the shelf frame in the distance measurement data (hereinafter referred to as the obstacle pixel number). The filling rate related to the object within the shelf frame is calculated using the distance measurement data in which the shielding rate is less than a predetermined threshold value.

[0009] A measurement system according to one aspect of the present disclosure is a measurement system including a measurement device that measures a filling rate related to an object stored on a shelf, and a server device capable of communicating with the measurement device. The measurement device detects a shelf frame from distance measurement data obtained by three-dimensionally scanning the shelf, calculates a shielding rate by the obstacle within the shelf frame based on the number of pixels within the shelf frame in the distance measurement data and the number of pixels of the portion of the obstacle within the shelf frame in the distance measurement data (hereinafter referred to as the obstacle pixel number), calculates the filling rate related to the object within the shelf frame using the distance measurement data in which the shielding rate is less than a predetermined threshold value, and transmits the distance measurement data in which the shielding rate is less than a predetermined threshold value and the calculated filling rate to the server device. The server device displays the distance measurement data and the filling rate received from the measurement device.

[0010] A measurement method according to one aspect of the present disclosure is a measurement method for measuring a filling rate of an object stored on a shelf, the method comprising detecting a shelf frame from distance measurement data obtained by three-dimensionally scanning the shelf, calculating a shielding rate of an obstacle within the shelf frame with respect to the shelf frame based on the number of pixels within the shelf frame in the distance measurement data and the number of pixels of a portion of the obstacle within the shelf frame in the distance measurement data, calculating the filling rate of the object within the shelf frame using the distance measurement data in which the shielding rate is less than a predetermined threshold, and displaying the distance measurement data in which the shielding rate is less than the predetermined threshold and the calculated filling rate.

[0011] Note that these general or specific aspects may be implemented in a system, apparatus, method, integrated circuit, computer program, or recording medium, or may be implemented in any combination of a system, apparatus, method, integrated circuit, computer program, and recording medium.

Advantages of the Invention

[0012] According to the present disclosure, it is possible to prevent an incorrect filling rate from being calculated when an obstacle exists in front of the shelf.

Brief Description of the Drawings

[0013]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5A

Figure 5B

Figure 5C

Figure 6

Figure 7

Mode for Carrying Out the Invention

[0014] Hereinafter, embodiments of the present disclosure will be described in detail with appropriate reference to the drawings. However, a more detailed description than necessary may be omitted. For example, detailed descriptions of well-known matters and redundant descriptions of substantially the same configurations may be omitted. This is to avoid making the following description unnecessarily redundant and to facilitate the understanding of those skilled in the art. Note that the attached drawings and the following description are provided for those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims thereby.

[0015] (Embodiment 1) <Measurement System> FIG. 1 is a schematic diagram for explaining an overview of the operation of the measurement device 20 according to Embodiment 1 that performs 3D scanning of the shelf 1 in the warehouse and the goods 9 stored on the shelf 1 while moving. FIG. 2 is a block diagram showing a configuration example of the measurement system 10 according to Embodiment 1. FIG. 3 is a view of the shelf 1, the goods 9, and the measurement device 20 according to Embodiment 1 as seen from the side. FIG. 4 is a view of the shelf 1 and the goods 9 according to Embodiment 1 as seen from the front. Next, the configuration and operation of the measurement system 10 according to Embodiment 1 will be described with reference to FIGS. 1 to 4. For convenience of explanation, as shown in FIGS. 1, 3, and 4, the width direction of the shelf 1 is defined as the X-axis, the depth direction of the shelf 1 is defined as the Y-axis, and the height direction of the shelf 1 is defined as the Z-axis.

[0016] The measurement system 10 is a system that measures the filling rate of the goods 9 on the shelf 1. Note that the goods 9 may be read as the object. The filling rate is a value indicating the ratio of the volume of the goods 9 actually stored in the shelf 1 to the volume of the space (hereinafter referred to as the storage possible space) in the shelf 1 that can accommodate the goods 9. Note that the filling rate does not have to be an exact value, and may be an approximate value or an estimated value.

[0017] As shown in FIG. 2, the measurement system 10 includes at least one measurement device 20 and a server device 30. The measurement device 20 is connected to the server device 30 via a predetermined communication network 11. Examples of the predetermined communication network 11 include a wireless LAN, a wired LAN, a mobile communication network, the Internet, and a Virtual Private Network (VPN). However, the measurement device 20 does not have to be directly connected to the server device 30, and may be indirectly connected to the server device 30 via, for example, a relay device (not shown). In this case, the measurement device 20 may transmit information to the relay device, and the relay device may transmit (transfer) the information received from the measurement device to the server device.

[0018] <Measurement device> The measurement device 20 is a device that measures the filling rate of each shelf 1 in the warehouse. As shown in FIGS. 1 and 2, the measurement device 20 includes at least one distance measurement sensor 21 (21A, 21B) and an information processing device 22. The distance measurement sensor 21 is connected to the information processing device 22 via a predetermined electrical cable. An example of the electrical cable is a USB cable. However, the distance measurement sensor 21 may be connected to the information processing device 22 by wireless communication.

[0019] The distance measurement sensor 21 captures an object to generate an RGB image and measures the distance to the object to generate a depth image. The RGB image has color information for each pixel. The depth image has depth (distance) information for each pixel. Hereinafter, the RGB image and the depth image are collectively referred to as distance measurement data 100. The distance measurement sensor 21 may be at least one of a Time of Flight (ToF) sensor, a Light Detection And Ranging (LiDAR), a stereo camera, and the like.

[0020] As shown in FIG. 2, the information processing device 22 includes a processor 23, a memory 24, a communication device 25, a device connection device 26, an input device 27, and an output device 28.

[0021] The processor 23 realizes the functions of the measurement device 20 by executing a computer program in cooperation with the memory 24. Details of the functions of the measurement device 20 will be described as appropriate.

[0022] The memory 24 stores a computer program and data for realizing the functions of the measurement device 20. The memory 24 may be constituted by a volatile storage medium (for example, RAM) and / or a non-volatile storage medium (for example, ROM, flash memory, Solid State Drive (SSD), etc.).

[0023] The communication device 25 is connected to the communication network 11 and controls the transmission and reception of information via the communication network 11.

[0024] The device connection device 26 is connected to the distance measurement sensor 21 and controls the transmission and reception of information with the distance measurement sensor 21.

[0025] The input device 27 is a device that receives input from a user, and is, for example, a touch panel, a keyboard, a mouse, a microphone, or the like.

[0026] The output device 28 is a device that outputs information, and is, for example, a display, a speaker, a lamp, or the like.

[0027] Next, the operation of the measuring device 20 will be described.

[0028] As shown in FIG. 1, the measuring device 20 moves along the passage in the warehouse and performs 3D scanning on a plurality of shelves 1 arranged along the passage with a distance measuring sensor 21 to generate distance measurement data 100. The movement of the measuring device 20 may be manually moved by a person or may be automatically (autonomously) moved by the measuring device 20.

[0029] For example, as shown in FIGS. 3 and 4, when the shelf 1 has a two-stage configuration of a lower stage 2A and an upper stage 2B, the measuring device 20 includes a distance measuring sensor 21A capable of 3D scanning the lower stage 2A and a distance measuring sensor 21B capable of 3D scanning the upper stage 2B. It is not essential to perform 3D scanning of one shelf stage with one distance measuring sensor. For example, the lower stage 2A and the upper stage 2B may be 3D scanned with one distance measuring sensor. In the present embodiment, an example in which the number of overlapping shelves 1 is two is described, but the number of overlapping shelves 1 may be any number.

[0030] The distance measuring sensor 21A transmits the distance measurement data 100A obtained by 3D scanning the lower stage 2A to the information processing device 22. The distance measuring sensor 21B transmits the distance measurement data 100B obtained by sensing the upper stage 2B to the information processing device 22.

[0031] The processor 23 of the information processing apparatus 22 detects the shelf frame 3A (opening) of the lower stage 2A from the distance measurement data 100A, and detects the luggage 9 existing within the range surrounded by the shelf frame 3A of the lower stage 2A (hereinafter referred to as the measurement range 101A). Then, the processor 23 calculates the ratio of the volume of the detected luggage 9 to the volume of the accommodatable space in the measurement range 101A, and uses it as the filling rate in the shelf frame 3A (measurement range 101A) of the lower stage 2A. The processor 23 may calculate the filling rate by the method described in Patent Document 1. For example, by the method described in Patent Document 1, the processor 23 specifies the foremost depth of the luggage 9 from the depth image, and calculates the volume of the luggage 9 assuming that the luggage 9 is arranged from the specified foremost depth of the luggage 9 to the innermost depth of the accommodatable space of the shelf frame 3A. Note that the depth may be read as distance or position.

[0032] Similarly, the processor 23 detects the shelf frame 3B (opening) of the upper stage 2B from the distance measurement data 100B, and detects the luggage 9 existing within the range surrounded by the shelf frame 3B of the upper stage 2B (hereinafter referred to as the measurement range 101B). Then, the processor 23 calculates the ratio of the volume of the detected luggage 9 to the volume of the accommodatable space in the measurement range 101B, and uses it as the filling rate in the shelf frame 3B (measurement range 101B) of the upper stage 2B.

[0033] Figs. 5A, 5B, and 5C are schematic diagrams showing an example in which an obstacle 60 exists in front of the shelf 1 according to Embodiment 1. Figs. 5A, 5B, and 5C respectively show schematic diagrams of the distance measurement data 100 when the measurement device 20 3D scans the shelf 1 while moving along the passage. The distance measurement data 100A-1 in Fig. 5A is the result of 3D scanning the shelf 1 by the measurement device 20 before reaching the front of the shelf 1. The distance measurement data 100A-2 in Fig. 5B is the result of 3D scanning the shelf 1 by the measurement device 20 when it reaches the front of the shelf 1. The distance measurement data 100A-3 in Fig. 5C is the result of 3D scanning the shelf 1 by the measurement device 20 after passing the front of the shelf 1.

[0034] As shown in FIGS. 5A and 5B, when there is an obstacle 60 in front of the shelf 1 (that is, between the shelf 1 and the distance measuring sensor 21), the load 9 stored in the shelf 1 is shielded by the obstacle 60, so that the distance measuring sensor 21 cannot correctly 3D scan the load 9 in the shelf 1. Therefore, when the filling rate is calculated using the distance measurement data 100 (depth image) obtained in such a situation, an incorrect filling rate will be calculated. Further, when the obstacle 60 is a person 61 (see FIG. 1), the face of the person 61 may be captured in the distance measurement data 100 (RGB image), and it is not preferable to store such an RGB image from the viewpoint of privacy protection. Therefore, hereinafter, a method for handling the distance measurement data 100 including the obstacle 60 based on suppressing the output of an incorrect filling rate and / or from the viewpoint of privacy protection will be described.

[0035] FIG. 6 is a flowchart showing an example of the processing performed by the information processing apparatus 22 according to the first embodiment. The information processing apparatus 22 receives the distance measurement data 100 from each distance measuring sensor 21 and performs the processing shown in FIG. 6.

[0036] The processor 23 of the information processing apparatus 22 receives the distance measurement data 100 from the distance measuring sensor 21 (S101).

[0037] The processor 23 detects the shelf frame 3 from the distance measurement data 100 (S102).

[0038] The processor 23 calculates the number of pixels (for example, the total number of pixels) in the detected shelf frame 3 based on the depth image (S103). Hereinafter, the number of pixels in the shelf frame 3 will be referred to as the number of pixels in the shelf frame.

[0039] The processor 23 calculates the number of pixels of the portion of the obstacle 60 included in the detected shelf frame 3 based on the depth image (S104). Hereinafter, the number of pixels of the portion of the obstacle 60 included in the shelf frame 3 will be referred to as the number of obstacle pixels. For example, the processor 23 calculates the number of pixels of an object located at a depth equal to or greater than a predetermined threshold in front of the depth of the shelf 1 from the depth image and uses it as the number of obstacle pixels.

[0040] The processor 23 calculates the ratio of the number of obstacle pixels to the number of pixels within the shelf frame (i.e., the number of obstacle pixels ÷ the number of pixels within the shelf frame), and uses this as the occlusion rate (S105). That is, the occlusion rate is an indicator showing how much the obstacle 60 occludes the measurement range within the shelf frame 3.

[0041] The processor 23 determines whether the occlusion rate is less than a predetermined threshold (S106). This threshold value may be input by the user, or may be determined according to the reliability of the filling rate required by the user.

[0042] When the occlusion rate is equal to or greater than the predetermined threshold (S106: NO), the processor 23 discards the ranging data 100 (i.e., the depth image and the RGB image) received in step S101 (S107). For example, the processor 23 does not hold the ranging data 100, or deletes it from the memory 24. Then, the process returns to step S101. As a result, the ranging data 100 in which the load 9 within the shelf frame 3 is occluded by the obstacle 60 by a certain amount or more is not used for calculating the filling rate, so that it is possible to prevent an incorrect filling rate from being calculated. Also, when the obstacle 60 is a person 61, the ranging data 100 (depth image and RGB image) in which the person 61 is imaged is discarded, so that the privacy of the person 61 is protected.

[0043] When the occlusion rate is less than the predetermined threshold (S106: YES), the processor 23 holds the ranging data 100 in the memory 24 (S108).

[0044] When an obstacle 60 (e.g., a person 61) is imaged outside the shelf frame 3 (although a part may be inside the shelf frame 3) in the ranging data 100 (RGB image) held in the memory 24 by the processor 23, the processor 23 masks the portion of the obstacle 60 (e.g., the person 61) (S109). Thereby, the ranging data 100 with an occlusion rate less than the predetermined threshold can be used for calculating the filling rate within the shelf frame 3 while protecting the privacy of the person 61, as shown in the following process.

[0045] The processor 23 detects the goods 9 in the shelf frame 3 from the ranging data 100 (S110), and calculates the filling rate of the goods 9 in the shelf frame 3 (S111). Note that the processor 23 may transmit the ranging data 100 and the calculated filling rate to the server device 30. Then, the process returns to step S101. As a result, since the ranging data 100 in which the goods 9 in the shelf frame 3 are not shielded by less than a certain amount by the obstacle 60 is used for the calculation of the filling rate, a highly reliable filling rate can be calculated.

[0046] For example, the measuring device 20 moves along the passage, acquires the ranging data 100A-1 shown in FIG. 5A, determines that the shielding rate of the ranging data 100A-1 is equal to or higher than the threshold value (S106: NO), and discards the ranging data 100A-1. Next, the measuring device 20 further moves along the passage, acquires the ranging data 100A-2 shown in FIG. 5B, determines that the shielding rate of the ranging data 100A-2 is equal to or higher than the threshold value (S106: NO), and discards the ranging data 100A-2. Next, the measuring device 20 further moves along the passage, acquires the ranging data 100A-3 shown in FIG. 5C, determines that the shielding rate of the ranging data 100A-3 is less than the threshold value (S106: YES), holds the ranging data 100A-3, and further calculates the filling rate (S110). In this way, even when the obstacle 60 exists in front of the shelf 1, as the measuring device 20 moves, the direction of the 3D scan of the shelf 1 by the ranging sensor 21 changes, and the shielding rate can become less than the threshold value. Therefore, according to the present embodiment, the measuring device 20 can select the ranging data 100 that can calculate a sufficiently reliable filling rate even when the obstacle 60 exists in front of the shelf 1, and calculate the filling rate.

[0047] Through the above processing, the information processing device 22 can prevent an incorrect filling rate from being calculated when the obstacle 60 exists in the ranging data 100. In addition, the information processing device 22 can calculate the filling rate while protecting the privacy of the workers in the warehouse.

[0048] <Server device> As shown in FIG. 2, the server device 30 includes a processor 31, a memory 32, a communication device 33, an input device 34, and an output device 35.

[0049] The processor 23 realizes the functions of the server device 30 by executing a computer program in cooperation with the memory 32. Details of the functions of the server device 30 will be described as appropriate.

[0050] The memory 32 stores a computer program and data for realizing the functions of the server device 30. The memory 32 is composed of a volatile storage medium (e.g., RAM) and / or a non-volatile storage medium (e.g., ROM, flash memory, SSD, etc.).

[0051] The communication device 33 is connected to the communication network 11 and controls the transmission and reception of information via the communication network 11.

[0052] The input device 34 is a device that receives input from a user, and examples thereof include a touch panel, a keyboard, a mouse, a microphone, etc.

[0053] The output device 35 is a device that outputs information, and examples thereof include a display, a speaker, a lamp, etc.

[0054] The server device 30 receives information such as the filling rate and the ranging data 100 of each shelf 1 from the measuring device 20, and generates information indicating the status of each shelf 1 in the warehouse based on the received information. The server device 30 displays the generated information indicating the status of each shelf 1 in the warehouse on the output device 35 (display). For example, the server device 30 displays the filling rate of each stage (lower stage 2A, upper stage 2B). Thereby, the server device 30 can notify the user of the storage status of the goods 9 on each shelf 1 in the warehouse. Also, as described above, since the measuring device 20 does not transmit an incorrect filling rate, the reliability of the filling rate displayed by the server device 30 is improved.

[0055] FIG. 7 is a diagram showing an example of a shelf availability screen 400 displayed by the server device 30 according to Embodiment 1. The server device 30 displays the shelf availability screen 400 as shown in FIG. 7 on the output device 35 (display).

[0056] The shelf availability screen 400 has a region 401 for the upper limit threshold of the filling rate, a region 402 for the area map, a region 403 for the filling rate of each shelf, and a region 404 for the distance measurement data.

[0057] In the region 401 for the upper limit threshold of the filling rate, an interface (for example, a slide bar and a numerical input field) through which the user can set the upper limit threshold of the filling rate is displayed.

[0058] In the region 402 for the area map, an icon indicating the position of shelf 1 in the warehouse (hereinafter referred to as the shelf icon 411) is displayed. The shelf icon 411 may be displayed in a different mode (for example, a different color) when the filling rate of the corresponding shelf 1 is less than the upper limit threshold of the filling rate set by the user and when the filling rate of the shelf is equal to or higher than the upper limit threshold of the filling rate. Thereby, the user can easily know shelf 1 whose filling rate is less than the set upper limit threshold of the filling rate by looking at the region 402 of the area map.

[0059] In the region 403 for the filling rate of each shelf, the filling rate of the shelf (lower stage 2A, upper stage 2B) corresponding to the shelf icon 411 selected by the user in the region 402 of the area map is displayed.

[0060] In the region 404 for the distance measurement data, an RGB image of the shelf (lower stage 2A, upper stage 2B) corresponding to the shelf icon 411 selected by the user in the region 402 of the area map is displayed. As shown in FIG. 7, the server device 30 may superimpose and display the shelf frame 3 and the filling rate of the shelf frame 3 on the RGB image.

[0061] The user can search for shelf 1 with a low filling rate or check the RGB image of shelf 1 by looking at the shelf availability screen 400.

[0062] In addition, the RGB image displayed in the distance measurement data area 404 is based on the distance measurement data 100 that the measurement device 20 has determined to have a shielding rate less than the threshold value. Therefore, the RGB image contains almost no person 61 (obstacle 60). As a result, the server device 30 can be prevented from displaying the RGB image in which the worker in the warehouse is reflected, and the privacy of the worker in the warehouse can be protected.

[0063] In addition, when the distance measurement data 100 indicating the presence of a person 61 (obstacle 60) in front of the shelf 1 is transmitted from the measurement device 20, the server device 30 may mask the person part (or the face part of the person) of the RGB image of the distance measurement data 100 and display it in the distance measurement data area 404. Thereby, the privacy of the worker in the warehouse can be further protected.

[0064] <Modification Example of Handling of Distance Measurement Data with High Shielding Rate> In the flowchart shown in FIG. 6, the measurement device 20 discards the distance measurement data 100 whose shielding rate is equal to or higher than a predetermined threshold value in step S107 (that is, the distance measurement data with a high shielding rate and cannot be used for calculating the filling rate. Hereinafter, it is referred to as distance measurement data with a high shielding rate). However, instead of immediately discarding the distance measurement data with a high shielding rate, it may be temporarily held in the memory 24 and the following processing may be executed.

[0065] The measurement device 20 determines whether there is a shelf (hereinafter referred to as a shelf with unupdated filling rate) in each row of shelves along the passage for which the filling rate could not be calculated (or updated) due to the ranging data 100 with a high shielding rate at the timing of calculating the filling rate of each shelf in that row. When there is a shelf with an unupdated filling rate, the measurement device 20 may read the ranging data with a high shielding rate corresponding to the shelf from the memory 24 and output (display) it to the output device 28 as an unupdated filling rate alert. For example, when moving along the passage, the measurement device 20 counts and displays the number of shelves for which the filling rate has been calculated. At that time, when there is a shelf with an unupdated filling rate, the measurement device 20 may also display an unupdated filling rate alert. Further, the measurement device 20 may display the ranging data with a high shielding rate (RGB image) and an option of whether to discard or retain the ranging data with a high shielding rate together with the unupdated filling rate alert, and let the user make a selection. When the user selects to discard, the measurement device 20 discards the ranging data with a high shielding rate from the memory 24, and when the user selects to retain, the measurement device 20 continues to retain the ranging data with a high shielding rate in the memory 24. Thereby, the user can view the RGB image of the ranging data with a high shielding rate and decide whether to retain or discard the ranging data with a high shielding rate.

[0066] In addition, the measurement device 20 transmits the ranging data with a high shielding rate and information on the shelf with an unupdated filling rate to the server device 30, and the server device 30 may display the information on the received ranging data with a high shielding rate and the information on the shelf with an unupdated filling rate on the shelf vacancy status screen 400 shown in FIG. 7. For example, the server device 30 may display the shelf icon 411 of the shelf with an unupdated filling rate in a manner different from other shelf icons 411 (for example, a different color). Thereby, the user can easily recognize the shelf with an unupdated filling rate due to the ranging data with a high shielding rate.

[0067] In addition, when the user selects the shelf icon 411 of the shelf with the filling rate not updated, the server device 30 may display the ranging data (RGB image) with a high shielding rate corresponding to the shelf with the filling rate not updated in the ranging data area 404. Further, the server device 30 may display on the screen an option to discard or hold the ranging data with a high shielding rate displayed in the ranging data area 404, and allow the user to make a selection. When the user selects to discard, the server device 30 discards the ranging data with a high shielding rate, and when the user selects to hold, the server device 30 holds the ranging data with a high shielding rate. Thereby, the user can view the RGB image of the ranging data with a high shielding rate and determine whether to hold or discard the ranging data with a high shielding rate.

[0068] (Summary of the present disclosure) According to the description of the above Embodiment 1, the following technologies are disclosed.

[0069] <Technology 1> A measuring device (20) for measuring the filling rate of an object (for example, a package 9) stored in a shelf (1) according to the present disclosure includes a processor (23) and a memory (24). The processor, in cooperation with the memory, detects a shelf frame (3) from ranging data (100) obtained by three-dimensionally scanning the shelf, and based on the number of pixels within the shelf frame in the ranging data and the number of pixels of the obstacle portion within the shelf frame in the ranging data, which is the number of obstacle pixels, calculates a shielding rate by the obstacle with respect to the inside of the shelf frame, and uses the ranging data in which the shielding rate is less than a predetermined threshold value to calculate the filling rate of the object within the shelf frame. Thereby, since the measuring device (20) calculates the filling rate using the ranging data in which the shielding rate is less than the threshold value (that is, the ranging data in which the object is not much shielded by the obstacle), a highly reliable filling rate can be calculated.

[0070] <Technology 2> In the measuring device according to Technology 1, the processor does not use the ranging data in which the shielding rate is greater than or equal to the threshold value for calculating the filling rate. Thereby, it is possible to prevent the measuring device from calculating an incorrect filling rate.

[0071] <Technology 3> In the measuring device according to Technology 1 or 2, the processor deletes the distance measurement data in which the shielding ratio is equal to or greater than the threshold value from the memory. This can prevent the measuring device from calculating an incorrect filling rate. In addition, since the distance measurement data in which a person is imaged as an obstacle is deleted, the privacy of the person can be protected.

[0072] <Technology 4> In the measuring device according to any one of Technologies 1 to 3, the processor transmits the distance measurement data in which the shielding ratio is less than the threshold value and the calculated filling rate to a predetermined server device (30). This enables the measuring device to transmit a highly reliable filling rate and the distance measurement data used for calculating the highly reliable filling rate to the server device.

[0073] <Technology 5> In the measuring device according to Technology 1, the processor does not transmit the distance measurement data in which the shielding ratio is equal to or greater than the threshold value to a predetermined server device. This can prevent the measuring device from transmitting a low-reliability filling rate to the server device. In addition, since the distance measurement data in which a person is imaged as an obstacle is not transmitted to the server device, the privacy of the person can be protected.

[0074] <Technology 6> In the measuring device according to any one of Technologies 1 to 5, the processor masks the portion of the distance measurement data in which the obstacle is imaged. As a result, the portion of the person is masked for the distance measurement data in which a person is imaged as an obstacle, so the privacy of the person can be protected.

[0075] <Technology 7> In a measurement system including a measurement device (20) for measuring a filling rate of an object (e.g., luggage 9) stored in a shelf (1) according to the present disclosure, and a server device (30) capable of communicating with the measurement device, the measurement device detects a shelf frame (3) from distance measurement data (100) obtained by three-dimensionally scanning the shelf, and based on the number of pixels within the shelf frame in the distance measurement data and the number of pixels of the portion of an obstacle within the shelf frame in the distance measurement data, which is the number of obstacle pixels, calculates a shielding rate by the obstacle for the inside of the shelf frame, uses the distance measurement data in which the shielding rate is less than a predetermined threshold value to calculate the filling rate for the object within the shelf frame, and transmits the distance measurement data in which the shielding rate is less than the predetermined threshold value and the calculated filling rate to the server device. The server device displays the distance measurement data and the filling rate received from the measurement device. Thereby, since the measurement device (20) calculates the filling rate using the distance measurement data in which the shielding rate is less than the threshold value (that is, the distance measurement data in which the object is not much shielded by the obstacle), a highly reliable filling rate can be calculated. Further, the server device can display the highly reliable filling rate calculated in this way.

[0076] <Technology 8> A measurement method for measuring the filling rate of an object (e.g., luggage 9) stored in a shelf (1) according to the present disclosure detects a shelf frame (3) from distance measurement data (100) obtained by three-dimensionally scanning the shelf, calculates a shielding rate by an obstacle for the inside of the shelf frame based on the number of pixels within the shelf frame in the distance measurement data and the number of pixels of the portion of an obstacle within the shelf frame in the distance measurement data, which is the number of obstacle pixels, uses the distance measurement data in which the shielding rate is less than a predetermined threshold value to calculate the filling rate for the object within the shelf frame, and displays the distance measurement data in which the shielding rate is less than the predetermined threshold value and the calculated filling rate. Thereby, since the filling rate is calculated using the distance measurement data in which the shielding rate is less than the threshold value (that is, the distance measurement data in which the object is not much shielded by the obstacle), a highly reliable filling rate is calculated. Further, the highly reliable filling rate calculated in this way is displayed.

[0077] The embodiments have been described above with reference to the accompanying drawings, but the present disclosure is not limited to such examples. It is obvious that those skilled in the art can conceive various modification examples, correction examples, substitution examples, addition examples, deletion examples, and equivalent examples within the scope described in the claims, and it is understood that these also belong to the technical scope of the present disclosure. Further, within the scope not departing from the gist of the invention, the components in the above-described embodiments may be arbitrarily combined.

Industrial Applicability

[0078] The technology of the present disclosure is useful for measuring the storage status of luggage on a shelf.

Explanation of Signs

[0079] 1 Shelf 2A Lower stage 2B Upper stage 3, 3A, 3B Shelf frame 9 Luggage 10 Measurement system 11 Communication network 20 Measuring device 21, 21A, 21B Distance measuring sensor 22 Information processing device 23 Processor 24 Memory 25 Communication device 26 Equipment connection device 27 Input device 28 Output device 30 Server device 31 Processor 32 Memory 33 Communication device 34 Input device 35 Output device 60 Obstacle 61 Person 100, 100A, 100B, 100A-1, 100A-2, 100A-3 Distance measurement data 101A, 101B Measurement range 400 Shelf vacancy status screen 401 Region of upper limit threshold value of filling rate Area of the 402 area map Area of the filling rate of each shelf Area of the ranging data

Claims

1. A measuring device for measuring the filling rate of an object stored in a shelf, comprising a processor and a memory, wherein the processor, in cooperation with the memory, detects a shelf frame from ranging data obtained by three-dimensionally scanning the shelf, calculates a shielding rate caused by the obstacle within the shelf frame based on the number of pixels within the shelf frame in the ranging data and the number of pixels of the portion of the obstacle within the shelf frame in the ranging data, calculates the filling rate of the object within the shelf frame using the ranging data where the shielding rate is less than a predetermined threshold, Measuring device.

2. The processor does not use the ranging data where the shielding rate is greater than or equal to the threshold for calculating the filling rate, The measuring device according to claim 1.

3. The processor deletes the ranging data where the shielding rate is greater than or equal to the threshold from the memory, The measuring device according to claim 1.

4. The processor transmits the ranging data where the shielding rate is less than the threshold and the calculated filling rate to a predetermined server device, The measuring device according to claim 1.

5. The processor does not transmit the ranging data where the shielding rate is greater than or equal to the threshold to a predetermined server device, The measuring device according to claim 1.

6. The processor masks the portion of the obstacle imaged in the ranging data, The measuring device according to claim 1.

7. A measurement system comprising a measuring device for measuring the filling rate of an object stored in a shelf and a server device capable of communicating with the measuring device, wherein the measuring device detects a shelf frame from ranging data obtained by three-dimensionally scanning the shelf, calculates a shielding rate caused by the obstacle within the shelf frame based on the number of pixels within the shelf frame in the ranging data and the number of pixels of the portion of the obstacle within the shelf frame in the ranging data, calculates the filling rate of the object within the shelf frame using the ranging data where the shielding rate is less than a predetermined threshold, transmits the ranging data where the shielding rate is less than a predetermined threshold and the calculated filling rate to the server device, wherein the server device displays the ranging data and the filling rate received from the measuring device, Measurement system.

8. A measurement method for measuring the filling rate of an object stored in a shelf, Detect a shelf frame from the distance measurement data obtained by three-dimensionally scanning the shelf, Based on the number of pixels within the shelf frame in the distance measurement data and the number of pixels of the obstacle portion within the shelf frame in the distance measurement data, which is the number of obstacle pixels, calculate the shielding rate of the obstacle with respect to the inside of the shelf frame, Using the distance measurement data where the shielding rate is less than a predetermined threshold, calculate the filling rate of the object within the shelf frame, Display the distance measurement data where the shielding rate is less than a predetermined threshold and the calculated filling rate, Measurement method.

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