Processing system, processing method, and program

Abstract

To achieve both a reduction in a work burden when carrying out an object to be carried out and a reduction in overlooking and error in the verification of an object to be carried out.SOLUTION: A processing system 100 specifies a product ID of a thick plate to be carried out, based on a stack position list including product IDs of a plurality of thick plates and stack positions in a real space and based on a carried-out relative position of the thick plate to be carried out in the real space.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a processing system, a processing method, and a program, and is particularly suitable for use in managing the position of an object. [Background technology]

[0002] When removing an object from a storage area, if the object being removed is not identified, the object must be confirmed after removal. Therefore, a technology is needed to confirm the object being removed from the storage area.

[0003] Patent Document 1 discloses a method for deriving the three-dimensional position where display information is displayed on an object based on a captured image of an area including the display information, recognizing identification information of the object, and storing the three-dimensional position in association with the identification information of the object. By using the technology described in Patent Document 1, it is possible to identify the three-dimensional position and identification information of an object to be removed from a storage yard. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 7288231 Summary of the Invention [Problem to be solved by the invention]

[0005] However, with the technology described in Patent Document 1, it is necessary to specifically identify the location of each object to be removed within the storage area using coordinates or the like expressed in a world coordinate system. Therefore, it is necessary to attach display information such as a label to each object. In addition, it is necessary to photograph the display information of all objects to be removed. For these reasons, the technology described in Patent Document 1 cannot sufficiently reduce the workload when removing objects to be removed, and it cannot sufficiently reduce overlooking or erroneous identification of objects to be removed.

[0006] The present invention has been made in consideration of the above-mentioned problems, and aims to achieve both reducing the workload when transporting objects to be transported and reducing oversights and errors in checking objects to be transported. [Means for solving the problem]

[0007] The processing device of the present invention is a processing system that performs processing to identify multiple objects to be removed from a first storage location using a removal means, and is equipped with a first acquisition means that acquires list information including identification information of the multiple objects and relative position identification information that is information that indicates the relative positional relationship between the multiple objects, a second acquisition means that acquires the relative position of an object to be removed from among the multiple objects, relative to a first reference object that is a reference object, and an identification means that identifies the identification information of the object to be removed based on the list information acquired by the first acquisition means and the relative position of the object to be removed from the first reference object acquired by the second acquisition means.

[0008] The processing method of the present invention is a processing method that performs processing to identify multiple objects to be removed from a first storage location using a removal means, and includes: a first acquisition step of acquiring list information including identification information of the multiple objects and relative position identification information that is information that indicates the relative positional relationship between the multiple objects; a second acquisition step of acquiring the relative position of an object to be removed from among the multiple objects, relative to a first reference object that is a reference object; and an identification step of identifying the identification information of the object to be removed based on the list information acquired by the first acquisition step and the relative position of the object to be removed from the first reference object acquired by the second acquisition step.

[0009] The program of the present invention causes a computer to function as each means of the processing system. [Effects of the Invention]

[0010] According to the present invention, the identification information of each object to be removed from a storage site is determined using the relative position of the object from a reference object. Therefore, the identification information of each object to be removed can be determined without specifically specifying the location of each object in the storage site. Therefore, it is possible to reduce both the workload when removing the objects to be removed and the number of oversights and errors in identifying the objects to be removed. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 illustrates an example of a configuration of a processing system. [Figure 2A] FIG. 1 is a diagram illustrating an example of a schematic configuration of a cargo ship. [Figure 2B] FIG. 2B is a cross-sectional view of FIG. 2A. [Figure 3] FIG. 10 is a diagram illustrating an example of a thick plate carrying-out operation (carry-in operation). [Figure 4] FIG. 10 is a diagram illustrating an example of a captured image. [Figure 5] 10A and 10B are diagrams illustrating an example of a method for deriving an example of a relationship between a captured image and a position in real space. [Figure 6A] FIG. 10 is a diagram illustrating an example of a stacking position list. [Figure 6B] FIG. 10 is a diagram showing an example of a fried food list. [Figure 7] 10 is a flowchart illustrating an example of a processing method when an object to be carried in is carried into a first storage area. [Figure 8-1] 10 is a flowchart illustrating an example of a processing method when an object to be removed is removed from a first storage location. [Figure 8-2] This is a flowchart following Figure 8-1. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Note that the comparison of length, position, size, spacing, etc. being the same includes not only being strictly the same, but also being different within the scope of the present disclosure (for example, being different within the tolerance range determined at the time of design). For convenience of explanation and notation, each figure shows only the configuration necessary for explanation, simplified as necessary. The xyz coordinates shown in each figure are coordinates for indicating the relationship of orientations in each figure. A black circle (●) within a white circle (○) indicates an arrow pointing from the back to the front of the page.

[0013] <Example of processing system configuration> 1 is a diagram showing an example of the configuration of a processing system 100 according to this embodiment. In this embodiment, the processing system 100 includes a load processing device 110, an unload processing device 120, input devices 130a to 130b, and output devices 140a to 140b.

[0014] The loading processing device 110 and the unloading processing device 120 each have, as hardware, one or more hardware processors, such as a central processing unit (CPU), and one or more memories, such as random access memory (RAM) and read-only memory (ROM). The loading processing device 110 and the unloading processing device 120 perform various calculations by executing one or more programs stored in the memory using one or more hardware processors. Furthermore, the loading processing device 110 and the unloading processing device 120 are connected to input devices 130a and 130b and output devices 140a and 140b so as to be able to communicate with the loading processing device 110 and the unloading processing device 120. Communication between the loading processing device 110 and the unloading processing device 120 and the input devices 130a and 130b and the output devices 140a and 140b may be wired communication, wireless communication, or communication via a network. Furthermore, the loading processing device 110 and the unloading processing device 120 may each include input devices 130a, 130b and output devices 140a, 140b. The loading processing device 110 and the unloading processing device 120 may each be implemented by dedicated hardware such as an ASIC (Application Specific Integrated Circuit). This embodiment illustrates a case in which the loading processing device 110 and the unloading processing device 120 are separate devices. However, the functions of the loading processing device 110 and the unloading processing device 120 may be implemented by a single device.

[0015] <Examples of carry-out and carry-in> The processing system 100 of this embodiment performs processing to identify multiple objects to be transported from a first storage location using a transport means. The transport means, the first storage location, and the objects are not particularly limited. The first storage location may be a stationary location such as a warehouse, or a mobile location such as a storage location within a transportation means. The transport means may be a transport means installed in the first storage location such as a crane, or a mobile transport means such as a forklift. The transport means may be capable of transporting multiple objects at once, or may transport objects one by one. Furthermore, the objects may be any objects that can be placed in the first storage location and transported by the transport means. However, an object that is treated as a single object when transported by the transport means is considered to be a (single) object to be transported. For example, in the case of fine powder, the object to be transported is, for example, a container containing the fine powder. In addition, in the case of liquid, the object to be transported is, for example, a container containing the liquid. Furthermore, for an object that houses multiple objects, such as a container, the container is considered to be the object to be transported, rather than the individual objects housed in the container.

[0016] In this embodiment, an example is given in which the object identified by the processing system 100 is a steel product (specifically, a thick plate), the first storage area is a storage area within a transportation means, the transportation means is a cargo ship, and the removal means is a crane.

[0017] FIG. 2A is a diagram showing an example of the schematic configuration of a cargo ship 210. FIG. 2A shows the cargo ship 210 as seen from above. FIG. 2B is a cross-sectional view taken along line II of FIG. 2A. FIG. 2B shows a plurality of planks 230 loaded in a hold 220. For convenience of notation, in FIGS. 2A and 2B, only one plank is labeled with the reference number (230). Furthermore, "A" to "I" shown in FIG. 2B indicate the identification information of the plank 230. For convenience of explanation, FIG. 2B indicates the identification information of the plank 230. However, such identification information may or may not be displayed on the plank 230. In the following explanation, the identification information of the plank 230 will be referred to as a product ID as necessary.

[0018] 2B illustrates an example in which a plurality of planks 230 are stacked and placed in the hold 220. However, the hold 220 may also include planks 230 that are not stacked. 2B also illustrates a case where multiple planks 230 are stacked using dunnage 240, which is placed for the purpose of adjusting the position in the height direction (z-axis direction) of the upper surface of the plank 230 stacked below and the lower surface of the plank 230 stacked above it. FIG. 2B illustrates a case where nine planks 230 with product IDs "A," "B," "C," "D," "E," "F," "G," "H," and "I" are stacked in order from the bottom.

[0019] Fig. 3 is a diagram illustrating an example of the unloading (loading) work of a thick plate 230. Fig. 3 shows a state in which a cargo ship 210 is docked at a quay 310 of a port. As shown in Fig. 3, this embodiment illustrates a case in which a plurality of thick plate 230 is unloaded from a hold 220 by using a crane 320 installed on the quay 310 (i.e., an example in which the crane 320 is the unloading means).

[0020] FIG. 3 illustrates an example in which the crane 320 includes a girder 321, a carriage 322, a wire rope 323, and a hoisting device 324. With the hoisting device 324 holding the plate 230 to be transported, the plate 230 is hoisted by winding up the wire rope 323 with a hoisting device (not shown). The hoisting device 324 has a configuration according to the object to be held. When the object to be held is a metal product such as the plate 230, the hoisting device 324 includes, for example, an electromagnet. In this way, the present embodiment illustrates an example in which a holding unit is realized by using the hoisting device 324.

[0021] The drum on which the wire rope 323 is wound is installed, for example, on a carriage 322. In this case, as the carriage 322 moves in the lateral direction (x-axis direction) on the girder 321, the lifted plate 230 also moves in the lateral direction. The girder 321 may also move in the traveling direction (y-axis direction). In this case, as the girder 321 moves in the traveling direction, the lifted plate 230 also moves in the traveling direction together with the girder 321. Note that the crane 320 is also equipped with a driver's cab (not shown). The crane 320 itself can be realized using known technology and is not limited to the configuration illustrated in FIG. 3. In the following description, the lateral direction (x-axis direction) and the traveling direction (y-axis direction) will be referred to as the lateral direction and the longitudinal direction, respectively, as necessary. In addition, in this embodiment, a case where the imaging device 340 is installed on the dolly 322 that moves integrally with the lifted thick plate 230 will be exemplified.

[0022] When viewed from the cart 322, the horizontal position of the lifted plank 230 may fluctuate during movement, but when movement is stopped and the plank 230 is attached or detached by the hoisting tool 324, the plank 230 does not fluctuate. Because the plank 230 is attached or detached by the hoisting tool 324 in this state, the hoisting tool 324 can be considered to always be in the same position. Therefore, the horizontal position of the hoisting tool 324, excluding its height position, when the plank 230 to be transported is attached or detached can be substituted by the horizontal position of the cart 322. In other words, to obtain the horizontal position of the plank 230 to be transported, it is sufficient to obtain the horizontal position of the cart 322. Note that the term "time" not only refers to a precise point in time, but also includes a period of time having a time width relative to the precise point in time.

[0023] In addition, this embodiment illustrates a case in which the processing system 100 derives the relative position of a target plank 230 from a first reference object when the target plank 230 is removed from among the multiple planks 230 in the hold 220. The first reference object is an object that serves as a reference when determining the relative position of the target object. The first reference object is basically an object designated from among the target objects. Therefore, once the first reference object is transported, it loses its function as a reference. Therefore, a new first reference object can be determined as a replacement for the first reference object. The new first reference object is an object whose relative position with respect to the position of the first reference object before transport does not change to an extent that does not affect the identification of the target object, as described later. The first reference object determined in this manner is not limited to an object located in the first storage area (the hold 220 in this embodiment). The first reference object may also be located outside the first storage area (the hold 220 in this embodiment). The first reference object may also be a coating formed by painting, or the like. In this case, the first reference object is identified by, for example, information represented by the coating (for example, characters, symbols, figures, and combinations thereof). For example, the first reference object may be the first object to be removed from the objects to be removed. In the following description, the relative position of the object to be removed (thick plank 230) from the first reference object, which is derived when the object is removed, is referred to as the relative position at the time of removal, as necessary. In FIG. 3, in this embodiment, an example is shown in which a marker object 330 installed on a quay wall 310 is the first reference object (an object that serves as a reference when determining the relative position of the object to be removed (thick plank 230 in this embodiment)).

[0024] In addition, in this embodiment, an example is shown in which the processing system 100 derives the relative position of an object (thick plate 230) to be removed from a second reference object when the object is carried into the first storage area (hold 220) in order to derive the relative position of the object at the time of removal. The second reference object has the same role as the first reference object and serves as a reference when determining the relative position of the object to be carried in. Note that the second reference object is not limited to an object located outside the first storage area (hold 220 in this embodiment). The second reference object may be located inside the first storage area (hold 220 in this embodiment). The second reference object may also be a coating formed by painting, etc. The first reference object and the second reference object may be the same or different objects. In the following description, the relative positions of the plurality of planks 230 from the second reference object, which are derived when the plurality of objects (planks 230) placed in the first storage area (hold 220) are brought in, will be referred to as the "relative positions at the time of bringing in" as needed. Also, in the following description, when there is no need to distinguish between the relative positions at the time of bringing in and the relative positions at the time of unloading, these will be collectively referred to as the relative positions of the objects (planks 230) or simply as the relative positions as needed.

[0025] In addition, for convenience of explanation and notation, this embodiment will exemplify a case where the quay where the cargo ship 210 comes alongside when the thick plate 230 is delivered has the same configuration as the quay 310 shown in Fig. 3. That is, in reality, the quay where the cargo ship 210 comes alongside when the thick plate 230 is delivered is different from the quay where the cargo ship 210 comes alongside when the thick plate 230 is delivered. However, in this embodiment, the explanation will be given assuming that both of these quays are the quay 310.

[0026] Therefore, in the following description, when it is necessary to distinguish between a configuration used when unloading the thick plank 230 and a configuration used when loading the thick plank 230, the quay 310 to which the cargo ship 210 docks when unloading the thick plank 230 will be referred to as an unloading quay 310a as necessary. Furthermore, the crane 320 and the marker object 330 installed on the unloading quay 310a will be referred to as an unloading crane 320a and an unloading marker object 330a as necessary. Furthermore, a predetermined portion 325 of the unloading crane 320a will be referred to as a predetermined portion 325a of the unloading crane as necessary. Furthermore, the camera device 340 installed on the unloading crane 320a will be referred to as an unloading camera device 340a as necessary.

[0027] In the following description, the quay 310 where the cargo ship 210 docks when loading the thick plate 230 will be referred to as a loading quay 310b as needed. The crane 320 and marker object 330 installed at the loading quay 310b will be referred to as a loading crane 320b and a loading marker object 330b as needed. In this case, the loading crane 320b is an example of loading means. A predetermined portion 325 of the loading crane 320b will be referred to as a predetermined portion 325b of the loading crane as needed. The camera 340 installed at the loading crane 320b will be referred to as a loading camera 340b as needed.

[0028] The predetermined portion 325a of the unloading crane and the predetermined portion 325b of the loading crane are not limited to the hoisting tool 324 shown in Fig. 3. For example, a portion that moves in conjunction with the movement of the object to be transported at least in the horizontal direction (xy plane direction) may be a portion other than the hoisting tool 324. Examples of such a portion include the cart 322 and a device installed on the cart 322.

[0029] In the following description, when there is no need to distinguish between a configuration used when unloading the thick plate 230 and a configuration used when loading the thick plate 230, the suffixes (a and b) will be omitted from the reference numerals. For example, when there is no need to distinguish between the unloading marker object 330a and the loading marker object 330b, they will be referred to as marker object 330.

[0030] As described above, in this embodiment, the first reference object is the carry-out mark object 330a, and the second reference object is the carry-in mark object 330b.

[0031] <How to derive relative position> In this embodiment, a case where the processing system 100 derives the relative position of the thick plate 230 using an image captured by the imaging device 340 will be exemplified. In the following description, when it is necessary to distinguish between an image taken when the thick plate 230 is carried out and an image taken when the thick plate 230 is carried in, the image 400 taken by the carry-out photographing device 340a will be referred to as an image taken when the thick plate 230 is carried out 400a as needed. Also, the image 400 taken by the carry-in photographing device 340b will be referred to as an image taken when the thick plate 230 is carried out 400b as needed. Also, when there is no need to distinguish between an image taken when the thick plate 230 is carried out and an image taken when the thick plate 230 is carried in, these will be referred to as an image 400 as needed.

[0032] FIG. 4 is a diagram showing an example of a photographed image 400 photographed by the photographing device 340. As shown in FIG. 4(a) and 4(b), this embodiment illustrates a case where the installation position and photographing conditions (angle of view, etc.) of the photographing device 340 are determined so that the photographing device 340 can photograph a photographed image 400 including the landmark object 330 at the time when the movement of the thick plate 230 starts when the thick plate 230 is carried out, or at the time when the movement of the thick plate 230 is completed when the thick plate 230 is carried in. The photographed image 400 may be a still image or a moving image.

[0033] For example, as shown in FIG. 4( a), the processing system 100 sets the position P0 ([pixel, pixel]) of the predetermined portion 331 (331a, 331b) of the marker object 330 shown in the carry-out photographed image 400a taken before the thick plate 230 to be first carried out is moved after being held by the hoist 324, or the carry-in photographed image 400b taken when the thick plate 230 to be first carried in is detached from the hoist 324 after being moved, as the origin (initial position). By identifying the position P0 ([pixel, pixel]) of a predetermined portion 331 (331a, 331b) of the marker object 330 that appears in the unloading photographed image 400a taken before the thick plank 230 is moved after being held by the hoist 324, or in the loading photographed image 400b taken when the second or subsequent thick plank 230 to be loaded is detached from the hoist 324 after being moved, the relative position of the thick plank 230 being loaded or unloaded can be derived from the position ([pixel, pixel]) of the marker object 330 that appears in the photographed image 400.

[0034] In the following description, at least one of the times after the first plank 230 to be transported out is held by the hoist 324 and before the plank 230 is moved, and when the first plank 230 to be transported in is released from the hoist 324 after being moved, will be referred to as the first transport-in / out time, as needed. Also, at least one of the times after the second or subsequent plank 230 to be transported out is held by the hoist 324 and before the plank 230 is moved, and when the second or subsequent plank 230 to be transported in is released from the hoist 324 after being moved, will be referred to as the second or subsequent transport-in / out time, as needed.

[0035] Furthermore, the carry-out photographed image 400a taken after the first plank 230 to be carried out has been held by the hoist 324 and before the plank 230 is moved will be referred to as the carry-out photographed image 400a of the first plank 230, as needed. Furthermore, the carry-in photographed image 400b taken when the second or subsequent plank 230 to be carried in has been moved and then detached from the hoist 324 will be referred to as the carry-out photographed image 400a of the second or subsequent plank 230 to be carried out, as needed. Furthermore, the carry-in photographed image 400b taken when the first plank 230 to be carried in has been moved and then detached from the hoist 324 will be referred to as the carry-in photographed image 400b of the first plank 230, as needed. In addition, the delivery image 400b taken when the second or subsequent thick plank 230 to be delivered is moved and then detached from the sling 324 will be referred to as the delivery image 400b of the second or subsequent thick plank 230 to be delivered, as necessary.

[0036] In Figure 4(a), the predetermined portions 331 (331a, 331b) of the marker object 330 in the captured image 400 during the first loading / unloading are shown with dashed lines, and the predetermined portions 331 (331a, 331b) of the marker object 330 in the captured image 400 during the second or subsequent loading / unloading are shown with solid lines.

[0037] Furthermore, as shown in Figure 4(b), in each captured image 400, the position P0 ([pixel, pixel]) of a predetermined portion 331 (331a, 331b) of the landmark object 330 in the captured image 400 is used as the origin, and the position P1 ([pixel, pixel]) of a predetermined portion 325 of the crane 320 in the captured image 400 is identified, thereby deriving the relative position of the thick plate 230 being transported in or out from the position ([pixel, pixel]) of the landmark object 330 shown in the captured image 400.

[0038] Furthermore, the correspondence between a position ([pixel, pixel]) in the captured image 400 and a position in real space is determined in advance, for example, as follows. First, as shown in Fig. 5(a), an object (for example, graph paper) on which a pattern 510 is drawn is placed at the height position of the marker object 330. Fig. 5 illustrates an example in which the pattern 510 is in a grid shape. However, the shape of the pattern 510 is not limited to a grid shape as long as it can identify coordinates in two-dimensional space. Then, as shown in FIG. 5(b), the pattern 510 is photographed with the photographing device 340 to obtain a photographed image 520 (only the pattern 510 portion of the photographed image 520 is shown in FIG. 5(b)). Furthermore, by performing camera calibration on the photographing device 340, internal parameters (internal conditions of the photographing device such as focal length) and external parameters (lens distortion and positional relationship with the photographed subject) are determined. By using the parameters determined by performing calibration, the photographed image 400 can be converted into a photographed image 530 photographed with a pinhole model camera, as shown in FIG. 5(c) (only the pattern 510 portion of the photographed image 530 is shown in FIG. 5(c)). A characteristic of the photographed image 530 photographed with a pinhole model camera is that straight lines in the photographed subject also appear as straight lines in the photographed image.

[0039] The pattern 510 (scale) does not need to be photographed during measurement. By photographing the pattern 510 in advance or by using calibration parameters, the pattern 510 can be reproduced at any interval on the captured image 400. It is desirable that the pattern 510 be oriented along the horizontal direction (x-axis direction) and vertical direction (y-axis direction). In this case, the pattern 510 is set not on the captured image 400 itself, but on a captured image captured with a pinhole model camera converted from the captured image 400. Hereinafter, for ease of explanation, the captured image 400 on which the pattern 510 is set will be simply referred to as the captured image 400. However, the pattern 510 may also be set on a captured image captured with a pinhole model camera converted from the captured image 400. Furthermore, the installation positions of the image capturing device 340 and the marker object 330 may be interchanged.

[0040] For example, a pattern 510 is set for a photographed image 400, and it is determined at which grid points of the pattern 510 two positions in the photographed image 400 are located. In the example shown in FIG. 4(a), the two positions are a position P0 of a predetermined portion 331 (331a, 331b) of the marker object 330 in the photographed image 400 at the time of the first loading / unloading, and a position P0 of a predetermined portion 331 (331a, 331b) of the marker object 330 in the photographed image 400 at the time of the second or subsequent loading / unloading. In the example shown in FIG. 4(b), the two positions are a position P0 of a predetermined portion 331 (331a, 331b) of the marker object 330 in the photographed image 400, and a position P1 of a predetermined portion 325 of the crane 320 in the photographed image 400.

[0041] Based on the positions of the grid points of the two positions identified as described above and the distances in the x-axis and y-axis directions in real space between the grid points of the pattern 510, the distances in the x-axis and y-axis directions between the two positions in real space can be derived. For example, in FIG. 5(c), the distance in the x-axis and y-axis directions between the grid points of the pattern 510 in real space is assumed to be 10 cm. The number of grid squares in the x-axis and y-axis directions for the two positions 541 and 542 is 5. Of the two positions 541 and 542, the position of the origin is assumed to be position 541. Then, it is derived that position 542 is 50 cm (5 × 10 cm) away from position 541 in the positive direction of the x-axis and 50 cm away from position 541 in the positive direction of the y-axis. Note that in the example shown in FIG. 4(a), the origin is position P0 of the predetermined portion 331 (331a, 331b) of the marker object 330 in the captured image 400 during the initial loading / unloading process. In the example shown in FIG. 4(b), the origin is the position P0 of the predetermined portion 331 (331a, 331b) of the landmark object 330 in each captured image 400.

[0042] In the captured image 400 shown in FIG. 4(a), the horizontal distance (x-axis direction) between the position P0 of the predetermined portion 331 (331a, 331b) of the marker object 330 in the captured image 400 at the time of the first loading / unloading and the position P0 of the predetermined portion 331 (331a, 331b) of the marker object 330 in the captured image 400 at the time of the second or subsequent loading / unloading is denoted as Δxi. In the captured image 400 shown in FIG. 4(a), the vertical distance (y-axis direction) between the position P0 of the predetermined portion 331 (331a, 331b) of the marker object 330 in the captured image 400 at the time of the first loading / unloading and the position P0 of the predetermined portion 331 (331a, 331b) of the marker object 330 in the captured image 400 at the time of the second or subsequent loading / unloading is denoted as Δyi. As described above, the number of lattice points included in these distances Δxi and Δyi is derived. As mentioned above, in Figure 4(a), the predetermined portions 331 (331a, 331b) of the marker object 330 in the captured image 400 at the time of the first loading / unloading are shown by dashed lines, and the predetermined portions 331 (331a, 331b) of the marker object 330 in the captured image 400 at the time of the second or subsequent loading / unloading are shown by solid lines.

[0043] 4(b), the distance in the horizontal direction (x-axis direction) between the position P0 of the predetermined portion 331 (331a, 331b) of the landmark object 330 in the photographed image 400 and the position P1 of the predetermined portion 325 of the crane 320 in the photographed image 400 is denoted as Δxi. In the photographed image 400 shown in FIG. 4(b), the distance in the vertical direction (y-axis direction) between the position P0 of the predetermined portion 331 (331a, 331b) of the landmark object 330 in the photographed image 400 and the position P1 of the predetermined portion 325 of the crane 320 in the photographed image 400 is denoted as Δyi. As described above, the number of grid points within the distances Δxi and Δyi is derived.

[0044] Furthermore, the relative position of the object (in this embodiment, the plank 230) may be converted into a relative position based on a predetermined position in the first storage yard (in this embodiment, the hold 220). In the following description, the relative position at the time of loading converted into a relative position based on a predetermined position in the first storage yard (in this embodiment, the hold 220) will be referred to as the relative position at the time of loading after conversion into the reference position, as necessary.

[0045] For example, in the horizontal direction, a relative position based on the center position of the hold 220 may be used as the relative position at the time of delivery after the reference position conversion in real space. In this case, for example, after the delivery of all the planks 230 to be delivered is completed, the processing system 100 may extract the maximum and minimum values ​​in the horizontal direction (x-axis direction) from the relative positions at the time of delivery in real space of all the planks 230 to be delivered, and may set the position corresponding to the center of the range from the extracted minimum value to the maximum value as the center position of the hold 220. Furthermore, in the vertical direction, a relative position based on the position of the bow end of the hold 220 may be used as the relative position at the time of delivery after the reference position conversion in real space. In this case, for example, after the delivery of all the planks 230 to be delivered is completed, the processing system 100 may extract the maximum value in the vertical direction (y-axis direction) from the relative positions at the time of delivery of all the planks 230 to be delivered, and may set the position corresponding to the extracted maximum value as the position of the bow end of the hold 220.

[0046] As described above, this embodiment illustrates a case where the processing system 100 derives the relative position of an object using the captured image 400. However, the method for deriving the relative position of an object is not limited to this method.

[0047] For example, a rangefinder that measures the distance between the position of a predetermined portion of the carrying-out means (predetermined portion 325 of the crane in this embodiment) and a predetermined reference position may be used instead of or in addition to the imaging device 340. The rangefinder is, for example, a laser rangefinder.

[0048] The range finder may be installed, for example, on a part (e.g., cart 322) of the carrying means (crane 320 in this embodiment) that moves at least in the horizontal direction (x-y plane direction) in conjunction with the movement of the object to be transported. The positional relationship (distances in the horizontal direction (x-axis direction) and vertical direction (y-axis direction)) between the range finder and a predetermined part of the transport means (predetermined part 325 of the crane in this embodiment) may be predetermined. The position of a member that reflects the laser light irradiated from the range finder in the horizontal direction (x-axis direction) is one of the reference positions. The position of a member that reflects the laser light irradiated from the range finder in the vertical direction (y-axis direction) is another of the reference positions. The reference position does not have to be the first reference object (marker object 330 in this embodiment) as long as it is a fixed position (preferably, the absolute position is known), and may be a wall or the like. In this case, the processing system 100 derives the relative position of the thick plate 230 in each of the horizontal and vertical directions based on, for example, the measurement value of the rangefinder, the positional relationship between the rangefinder and a predetermined part of the conveying means, and the reference position.

[0049] Furthermore, for example, a Global Navigation Satellite System (GNSS) installed at a predetermined portion of the carrying-out means (a predetermined portion 325 of the crane in this embodiment) may be used instead of or in addition to the imaging device 340. In this case, the processing system 100 derives the relative position of the plank 230 in each of the horizontal and vertical directions based on, for example, the installation position (installation position in the horizontal and vertical directions) of the marker object 330 and the measurement value of the GNSS.

[0050] Furthermore, the processing system 100 may derive the relative value of the object by using the amount of movement of the carriage 322 (and the girder 321), for example, without using dedicated measurement means (such as the aforementioned camera device 340, rangefinder, and GNSS) for deriving the relative position of the plank 230. In this case, for example, the horizontal and vertical positions of the carriage 322 may be set as the horizontal and vertical positions of a predetermined portion 325 of the crane. Furthermore, the processing system 100 derives the relative position of the plank 230 in each of the horizontal and vertical directions, for example, based on the amount of movement of the carriage 322 (and the girder 321), the position of the carriage 322 (and the girder 321) before movement (for example, the initial position), and the installation position of the marker object 330.

[0051] The timing for deriving the relative position of the plank 230 as described above is preferably a predetermined timing within the period from when the plank 230 to be unloaded is held by the hoisting tool 324 until the horizontal movement of the hoisting tool 324 begins, for example, when the plank 230 is being unloaded. This is because the relative position of the plank 230 at the time of unloading can be derived at a position close to (preferably the same position as) the horizontal position in the hold 220 where the plank 230 was (or is) placed. In this embodiment, the predetermined timing is exemplified as the timing when the plank 230 to be unloaded is lifted by the hoisting tool 324. In the following description, this predetermined timing will be referred to as the start of unloading as necessary. Whether or not it is the start of unloading is determined based on, for example, the torque of a motor that winds up and down the wire rope 323. This determination may also be made based on, for example, the driving operation of an operator in the driver's cab of the crane 320.

[0052] Furthermore, for example, when the plank 230 is being delivered, the timing is preferably a predetermined timing within the period from when the lifting tool 324 finishes holding the plank 230 to be delivered until the horizontal movement of the lifting tool 324 begins. This is because the relative position of the plank 230 at the time of delivery can be derived at a position close to (preferably the same position as) the horizontal position in the hold 220 where the plank 230 is placed (or will be placed). In this embodiment, the predetermined timing is exemplified as the timing when the plank 230 to be delivered is released from the lifting tool 324. In the following description, this predetermined timing will be referred to as the end of unloading as necessary. Whether or not the end of unloading has occurred is determined based on, for example, the operation of the operator in the driver's cab of the crane 320.

[0053] As described above, when the relative position of the plank 230 at the time of unloading is derived by using the movement amount of the cart 322 (and the girder 321) without using a dedicated measurement means (such as the photographed image 400, the rangefinder, and the GNSS) for deriving the relative position of an object, the processing system 100 may derive the relative position of the plank 230 at the time of unloading start by sequentially deriving the movement amount of the cart 322 (and the girder 321) from the start of unloading of the plank 230 to be previously unloaded to the start of unloading of the plank 230 to be currently unloaded. Similarly, the processing system 100 may derive the relative position of the plank 230 at the time of unloading end by sequentially deriving the movement amount of the cart 322 (and the girder 321) from the end of unloading of the plank 230 to be previously unloaded to the end of unloading of the plank 230 to be currently unloaded.

[0054] <Loading Processing Device 110> In this embodiment, FIG. 1 illustrates an example in which the loading processing device 110 includes a third acquisition unit 111, a creation unit 112, and an output unit 113.

[0055] <<Third acquisition part 111>> The third acquisition unit 111 acquires the relative position at the time of carry-in of each of the multiple objects to be carried into the first storage site. As described above in the section <Method of deriving relative position>, this embodiment illustrates a case in which the third acquisition unit 111 acquires the relative position at the time of carry-in after the reference position conversion in real space for each of the multiple thick plates 230 to be carried in.

[0056] An example of the process for acquiring the relative position at the time of carrying in of the plank 230 to be carried in after the reference position conversion in the real space is as explained in the section <Method of deriving relative position>. That is, the third acquisition unit 111 first derives the relative position of the plank 230 to be delivered in the delivery-ready photographed image 400b. The relative position of the plank 230 to be delivered in the delivery-ready photographed image 400b is, for example, the distance (e.g., the number of pixels) Δxi and Δyi between a predetermined portion 325b of the delivery crane 320b and a predetermined portion 331b of the delivery-ready marker object 330b. The third acquisition unit 111 then derives the relative position of the plank 230 to be delivered in real space based on the relative position of the plank 230 to be delivered in the delivery-ready photographed image 400b and the pattern 510 set in the delivery-ready photographed image 400b. Thereafter, the third acquisition unit 111 derives a predetermined position within the hold 220 based on the relative positions of all of the planks 230 to be delivered in the delivery-ready photographed image 400b. The third acquisition unit 111 converts the relative position of the thick plate 230 to be delivered in real space at the time of delivery into a relative position based on a predetermined position in the hold 220, and sets this as the relative position at the time of delivery after the reference position conversion in real space.

[0057] Furthermore, as described above in the section <Method of deriving relative position>, this embodiment illustrates an example in which the third acquisition unit 111 derives the relative position at the time of delivery of the thick board 230 to be delivered, using the delivery photographed image 400b taken by the delivery photographing device 340b at the time of completion of unloading.

[0058] In this case, the third acquisition unit 111 may acquire operation information of the loading crane 320b from the input device 130a. When the third acquisition unit 111 determines, based on the operation information of the loading crane 320b, that an operation to separate the hoisting tool 324b from the plank 230 has been performed, the third acquisition unit 111 may issue an image capture instruction to the loading camera 340b. The third acquisition unit 111 may acquire, based on the image capture instruction, the loading photographed image 400b captured by the loading camera 340b from the input device 130a. Furthermore, the third acquisition unit 111 does not need to issue the image capture instruction described above. For example, the operator of the loading crane 320b may issue an image capture instruction to the loading camera 340b together with the operation to separate the hoisting tool 324b from the plank 230. In this case, the third acquisition unit 111 may acquire the carry-in photographed image 400b taken by the carry-in photographing device 340b at the end of unloading, without issuing the above-mentioned photographing instruction.

[0059] In this embodiment, the input device 130a is illustrated as including a receiving device. However, instead of or in addition to the receiving device, the input device 130a may be an apparatus including at least one of a storage medium and a user interface.

[0060] <<Creation Department 112>> The creation unit 112 creates list information including identification information of the multiple objects placed in the first storage area and relative position identification information, which is information indicating the relative positional relationships between the multiple objects. In this embodiment, an example is shown in which the unloading processing device 120, which will be described later, creates information similar to the list information (a pick-up list 620 shown in FIG. 6B). Therefore, in the following description, an example of list information created by the loading processing device 110 (creation unit 112) of this embodiment will be referred to as a stacking position list as necessary.

[0061] FIG. 6A is a diagram showing an example of the stacking position list 610. As shown in FIG. In FIG. 6A, a stacking position list 610 stores information about a plurality of planks 230 placed in a hold 220, including "stacking order," "product ID," "stacking position in real space," and "dimensions."

[0062] FIG. 6A shows information about the planks 230 with product IDs "A" to "I" shown in FIG. 2B among the information about the planks 230 stored in the hold 220. FIG. 6A illustrates a case where the "stacking order" is the stacking order with the bottommost layer being numbered 1. As mentioned above, FIG. 2B illustrates a case where nine planks 230 with product IDs "A," "B," "C," "D," "E," "F," "G," "H," and "I" are stacked from the bottom. Therefore, as shown in FIG. 6A, the "stacking order" of these planks is "1," "2," "3," "4," "5," "6," "7," "8," and "9," respectively.

[0063] When carrying in objects, it is usually determined in advance which objects to place in the first storage area and in what stacking order. Therefore, in this embodiment, a case is illustrated in which the product ID, dimensions, and stacking order of the thick plate 230 to be carried in are preset in the carrying-in processing device 110. In addition, in Fig. 6A, "thickness," "width," and "length" respectively indicate the thickness, width, and length of the thick plate 230.

[0064] The "accumulation position in real space" is the horizontal plane component of the relative position at the time of delivery of the object to be delivered after the reference position transformation in real space. As described above in the section <Method of deriving relative position>, the relative position at the time of delivery after the reference position transformation is the relative position at the time of delivery transformed into a relative position based on a predetermined position in the first storage area (in this embodiment, the hold 220). In this embodiment, the "accumulation position in real space" is, for example, the horizontal plane component of the relative position at the time of delivery of the thick plate 230 to be delivered in real space after the reference position transformation. The "accumulation position in real space" may also be the relative position at the time of delivery in real space (before transformation).

[0065] The "Vertical Position" column of "Product Position in Real Space" stores the vertical (y-axis) component of the relative position of the object to be carried in (in this embodiment, the thick plate 230) at the time of carrying in after the reference position conversion in real space.

[0066] The "Horizontal position" column of "Product position in real space" stores the horizontal (x-axis direction) component of the relative position of the object to be carried in (in this embodiment, the thick plate 230) at the time of carrying in after the reference position conversion in real space.

[0067] In this embodiment, the creation unit 112 identifies the product ID, stacking order, and dimensions of the plank 230 to be carried in and included in the carry-in photographed image 400b, based on the acquisition order of the carry-in photographed image 400b taken by the carry-in photographing device 340b at the end of unloading. For example, the creation unit 112 determines that the stacking order of the plank 230 to be carried in included in the carry-in photographed image 400b whose acquisition order is 1 is 1, reads out the product ID and dimensions pre-associated with the stacking order, and stores them in the stacking position list 610. Furthermore, the creation unit 112 derives the "vertical position" and "horizontal position" of the "stacked position in real space" described above using the carry-in photographed image 400b, as described in the section <Method of deriving relative position>, and stores them in the stacking position list 610. In FIG. 6A, specific numerical values ​​are shown replaced with "***" (this also applies to FIG. 6B, which will be described later).

[0068] In this embodiment, the creation unit 112 creates the stacking position list 610 by storing the above-described information in each column of the stacking position list 610 for all of the planks 230 to be carried in. As described above, in this embodiment, the case where relative position identification information is realized by the "vertical position" and "horizontal position" of the "stack position in real space" stored in the stacking position list 610 is illustrated.

[0069] <Output unit 113> The output unit 113 outputs the stacking location list 610 to the output device 140a. In this embodiment, the output device 140a is a device including a transmitting device. However, instead of or in addition to the transmitting device, the output device 140a may be a device including at least one of a computer display and a storage medium, for example.

[0070] <Export processing device 120> In this embodiment, FIG. 1 illustrates an example in which the unloading processing device 120 includes a first acquisition unit 121, a second acquisition unit 122, an identification unit 123, and an output unit .

[0071] <<First acquisition part 121>> The first acquisition unit 121 acquires list information including identification information of the plurality of objects placed in the first storage area and relative position specification information that is information indicating the relative positional relationships between the plurality of objects. As described above in the section <<Creation unit 112>>, in this embodiment, an example is shown in which the list information is configured by the stacking position list 610.

[0072] For example, the first acquisition unit 121 may acquire the stacking position list 610 transmitted from the output device 140a from the input device 130b. Note that in this embodiment, a case where the input device 130b includes a receiving device is illustrated. However, instead of or in addition to a receiving device, the input device 130b may be a device including at least one of a storage medium and a user interface. When the input device 130b includes a receiving device and the output device 140a includes a transmitting device, communication between the input device 130b and the output device 140a may be wired communication, wireless communication, or communication via a network.

[0073] <<Second acquisition part 122>> The second acquisition unit 122 acquires the relative position at the time of removal of each of the multiple objects to be removed from the first storage site. As described above in the section <Method of deriving relative position>, this embodiment illustrates a case in which the second acquisition unit 122 acquires the relative position in real space at the time of removal of each of the multiple thick plates 230 to be removed.

[0074] An example of the process for acquiring the relative position of the plank 230 to be carried out in real space at the time of carry-out is as described in the section <Method of deriving relative position>. That is, as described with reference to Fig. 4(a), the second acquisition unit 122 may derive the relative position of the plank 230 to be carried out in real space at the time of carry-out, based on, for example, the position P0 of the predetermined portion 331 (331a, 331b) of the marker object 330 in the carry-out captured image 400a of the first plank 230 to be carried out, and the position P0 of the predetermined portion 331 (331a, 331b) of the marker object 330 in the carry-out captured image 400a of the second or subsequent plank 230 to be carried out, the positions of the grid points in the pattern 510, and the distances in the x-axis direction and the y-axis direction in real space between the grid points of the pattern 510. Furthermore, as explained with reference to Figure 4(b), the second acquisition unit 122 may derive the relative position in real space of the thick plate 230 to be removed at the time of removal, for example, based on the position P0 of a predetermined portion 331 (331a, 331b) of the marker object 330 in each removal-use photographed image 400a, the position P1 of a predetermined portion 325 of the crane 320 in the removal-use photographed image 400a, the positions of the lattice points in the pattern 510, and the distances in the x-axis and y-axis directions in real space between the lattice points of the pattern 510.

[0075] As described above in the section <Method of deriving relative position>, this embodiment illustrates a case where the second acquisition unit 122 derives the relative position at the time of removal of the thick plate 230 to be removed, using the removal photographed image 400a taken by the removal photographing device 340a at the start of unloading.

[0076] In this case, the second acquisition unit 122 may acquire torque information of the motor that winds up and down the wire rope 323 from the input device 130b. When the second acquisition unit 122 determines, based on the torque information, that the lifting of the thick plate 230 by the hoist 324b has started, it may instruct the carry-out photography device 340a to take a photograph. The second acquisition unit 122 may acquire, based on the photography instruction, the carry-out photographed image 400a taken by the carry-out photographed device 340a from the input device 130b. The second acquisition unit 122 may also not issue the aforementioned photography instruction. For example, the operator of the delivery crane 320b may confirm that the thick plate 230 has been lifted and then instruct the carry-out photographed device 340a to take a photograph. In this case, the second acquisition unit 122 may acquire the carry-out photographed image 400a taken by the carry-out photographed device 340a at the start of unloading without issuing the aforementioned photography instruction.

[0077] <<Specific part 123>> The identification unit 123 identifies the identification information of the object to be removed based on the list information acquired by the first acquisition unit 121 and the relative position of the object to be removed at the time of removal acquired by the second acquisition unit 122. In this embodiment, an example is shown in which the identification unit 123 identifies the product ID of the thick plate 230 to be removed based on the stacking position list 610 acquired by the first acquisition unit 121 and the relative position of the thick plate 230 to be removed in real space at the time of removal acquired by the second acquisition unit 122.

[0078] For example, suppose that the loading position in real space stored in the loading position list 610 is not the relative position at the time of loading of the plank 230 to be carried in after the reference position conversion in real space, but the relative position at the time of loading in real space before the conversion. Also, suppose that the unloading marker object 330a and the unloading marker object 330b are the same, and that the cargo ship 210 berths in the same direction at the unloading quay 310a and the unloading quay 310b. In this case, the relative position at the time of unloading in real space of the plank 230 to be carried in corresponds to the loading position in real space stored in the loading position list 610 (the relative position at the time of loading in real space of the plank 230 to be carried in). Therefore, it is possible to identify the product ID of the first plank 230 to be shipped out, based on the relative position in real space at the time of shipment of the first plank 230 to be shipped out among the multiple planks 230 to be shipped out, and the stacking position in real space (the relative position of the plank 230 to be shipped in at the time of shipment) stored in the stacking position list 610. Also, even if there is only one pile stacked in the hold 220, it is possible to identify the product ID of the first plank 230 to be shipped out.

[0079] However, in most cases, there are multiple piles of planks in the hold 220. Furthermore, as in this embodiment, the unloading marker object 330a and the loading marker object 330b may not be the same. Even if the unloading marker object 330a and the loading marker object 330b are the same, the cargo ship 210 may approach the unloading quay 310a and the unloading quay 310b in opposite directions. In these cases, it is not easy to identify the product ID of the first unloading target plank 230 based solely on the loading position list 610 and the relative position of the unloading target plank 230 in real space.

[0080] Therefore, in this embodiment, a case is exemplified in which the identification unit 123 receives designation of identification information of the first object to be removed from among multiple objects to be removed. Specifically, in this embodiment, a case is exemplified in which the identification unit 123 receives designation of the product ID of the first plank 230 to be removed from among multiple planks 230 to be removed. In the following description, the product ID of the first plank 230 to be removed will be referred to as the first product ID as necessary. The identification unit 123 may obtain the first product ID from the input device 130b. Once the first product ID is known, the identification unit 123 can identify the product IDs of the second and subsequent planks 230 to be removed, for example, based on the stacking position list 610.

[0081] The product ID to be received is not limited to the first product ID. For example, in a case where, among the multiple planks 230 to be transported, it is not necessary to identify the product ID for the planks 230 placed in the first compartment in the hold 220, and it is necessary to identify the product ID only for the planks 230 placed in the second compartment in the hold 220, and when the planks 230 placed in the second compartment are transported after the transport of the planks 230 placed in the first compartment is completed, the identification unit 123 may receive the product ID of the first plank 230 to be transported among the planks 230 placed in the second compartment. Furthermore, when the correction amount (described later) is updated during transport, the identification unit 123 may receive the designation of the product ID of the second or subsequent planks 230 to be transported among the multiple planks 230 to be transported.

[0082] Furthermore, as described above, for example, if the unloading marker object 330a and the loading marker object 330b are not the same, the relative position of the plank 230 to be unloaded at the time of unloading does not correspond to the relative position of the plank 230 to be unloaded at the time of unloading. Even if the unloading marker object 330a and the loading marker object 330b are the same, for example, if the cargo ship 210 berths in opposite directions at the unloading quay 310a and the unloading quay 310b, the two do not correspond to each other. Furthermore, in the present embodiment, if the "loading position in real space" stored in the loading position list 610 is the relative position of the plank 230 to be unloaded at the time of unloading after the reference position conversion in real space, the loading position in real space stored in the loading position list 610 does not correspond to the relative position of the plank 230 to be unloaded at the time of unloading. Therefore, in this embodiment, a case will be exemplified in which the specifying unit 123 corrects the relative position at the time of removal of the thick plate 230 to be removed after the thick plate 230 for which the above-mentioned identification information is specified (in this embodiment, the thick plate 230 to be removed first) so that the two correspond to each other. In the following description, the amount of such correction (correction amount) will be referred to as the relative position correction amount as necessary.

[0083] The relative position correction amount is derived, for example, by subtracting the relative position at the time of removal in the real space acquired by the second acquisition unit 122 for the thick plate 230 for which the above-mentioned identification information is specified (in this embodiment, the thick plate 230 to be removed first) from the relative position at the time of removal after conversion to the reference position in the real space specified in the stacking position list 610 from the identification information (the "stacked position in the real space"), for both the vertical and horizontal directions.

[0084] In this case, the identifying unit 123 adds the relative position at the time of removal in the real space acquired by the second acquiring unit 122 for the planks 230 subsequent to the plank 230 for which the aforementioned identification information was specified (in this embodiment, the planks 230 to be removed second or later), to the relative position correction amount, thereby correcting the relative position at the time of removal to a value corresponding to the relative position at the time of removal after the reference position conversion in the real space (the "pile position in the real space") stored in the pile position list 610. In the following description, the relative position at the time of removal corrected in this manner will be referred to as the "corrected relative position at the time of removal in the real space" as necessary. Then, the identifying unit 123 identifies, from the pile position list 610, a record having a value corresponding to the corrected relative position at the time of removal in the real space, among the values ​​stored in the "pile position in the real space" in the pile position list 610 (the relative position at the time of removal after the reference position conversion in the real space), and reads out the product ID stored in the identified record. In this embodiment, an example is given of a case where the product ID is identified in this manner, thereby identifying the product ID of a plank 230 that comes after the plank 230 for which the above-mentioned identification information has been specified (in this embodiment, the plank 230 that is the second or subsequent plank to be transported).

[0085] In the present embodiment, the case where the identification unit 123 identifies the product ID of the thick board 230 to be carried out in the above manner will be exemplified. In addition, this embodiment illustrates an example in which the identification unit 123 identifies the lifting order (discharge order) of the thick planks 230 to be delivered that are included in the discharge photography device 340a based on the acquisition order of the discharge photography images 400a taken by the discharge photography device 340a at the start of unloading.

[0086] Furthermore, in this embodiment, a case is illustrated in which the identification unit 123 identifies a storage location (new storage location) to which the thick planks 230 to be removed are to be removed. The identification unit 123 may, for example, acquire information indicating the storage location (new storage location) to which the thick planks 230 to be removed are to be removed from the input device 130b. In this case, for example, an operator may input identification information of the new storage location to the input device 130b. Also, for example, the input device 130b may receive identification information of the new storage location from an external device. In this embodiment, the storage location (new storage location) to which the multiple thick planks 230 to be removed are to be removed is an example of a second storage location.

[0087] 6B is a diagram showing an example of the lifting list 620. The lifting list 620 is used, for example, to identify the location where each of the objects (in this embodiment, the planks 230) removed from the first storage area (in this embodiment, the hold 220) was placed. In FIG. 6B, the lifting list 620 stores information about the multiple planks 230 removed from the hold 220, including "lifting order," "product ID," "stack position in real space," "dimensions," and "new location."

[0088] 6B, the "Lifting Order" and "Product ID" columns store information identified as described above in this section. The "Dimensions" column stores dimensions stored in the loading position list 610 in association with the same product ID as the "Product ID" in question.

[0089] The "lifting position in real space" is the horizontal plane component of the corrected relative position of the object to be removed in real space at the time of removal. As described above, the corrected relative position of the object to be removed in real space is derived by adding the relative position of the object to be removed in real space to the relative position correction amount. Furthermore, for the plank 230 for which the above-mentioned identification information is specified (the plank 230 to be removed first in this embodiment), the relative position correction amount is 0, so the relative position of the object to be removed in real space at the time of removal and the corrected relative position of the object to be removed in real space are the same. In this embodiment, the "lifting position in real space" is, for example, the horizontal plane component of the corrected relative position of the object to be removed in real space at the time of removal.

[0090] The "Vertical Position" field of "Lifting Position in Real Space" stores the vertical (y-axis) component of the corrected relative position in real space of the object to be removed (in this embodiment, the thick plate 230) at the time of removal. The "Horizontal position" field of "Lifting position in real space" stores the horizontal (x-axis) component of the corrected relative position in real space of the object to be removed (in this embodiment, the thick plate 230) at the time of removal. The "new storage location" field stores information about the storage location to which the object to be removed (in this embodiment, the thick board 230) is to be removed.

[0091] <<Output unit 124>> The output unit 124 outputs the fried food list 620 to the output device 140b. In this embodiment, the output device 140b is a device equipped with a computer display. However, instead of or in addition to the computer display, the output device 140b may be a device equipped with at least one of a transmission device and a storage medium, for example.

[0092] <Flowchart> <<Processing at the time of delivery>> An example of a processing method when an object to be carried in is carried into the first storage area (in this embodiment, when the thick plate 230 to be carried in is carried into the hold 220) will be described with reference to the flowchart in Figure 7. The flowchart in Figure 7 is realized, for example, by a processor included in the carrying-in processing device 110 executing a program stored in memory.

[0093] First, in step S701, the third acquisition unit 111 determines whether the current time is the end of unloading. The determination in step S701 is repeated until it is determined that the current time is the end of unloading. Then, when it is determined that the current time is the end of unloading (YES in step S701), the process of step S702 is performed.

[0094] In step S702, the third acquisition unit 111 acquires the carry-in photographed image 400b photographed by the carry-in photographing device 340b.

[0095] Next, in step S703, the creation unit 112 stores the stacking order and product ID of the planks 230 to be carried in the stacking position list 610. The stacking order of the planks 230 is identified, for example, based on the order of acquisition by the carry-in photography device 340b. In addition, the product ID of the plank 230 is, for example, previously set in association with the stacking order.

[0096] Next, in step S704, the creation unit 112 determines whether or not the delivery of all of the planks 230 to be delivered has been completed (i.e., whether or not the processing of step S703 has been completed). If the result of this determination is that the delivery of all of the planks 230 to be delivered has not been completed (NO in step S704), the processing of step S701 is performed again. Then, the processing from step S701 onwards is performed for the next plank 230 to be delivered. The processing of steps S701 to S704 is repeated until the delivery of all of the planks 230 to be delivered has been completed.

[0097] If the result of the determination in step S704 is that the delivery of all the planks 230 to be delivered has been completed (YES in step S704), the processing of step S705 is performed. In step S705, the creation unit 112 derives the relative positions at the time of delivery after the reference position conversion in real space for all the planks 230 to be delivered, based on the delivery camera 340b and the pattern 510 set on the delivery camera 340b, and stores the relative positions in the stacking position list 610 ("stacking positions in real space").

[0098] For example, as explained with reference to Figure 4(a), the creation unit 112 may derive the relative position of the thick board 230 to be delivered in real space at the time of delivery based on the positions of the lattice points in the pattern 510 of the position P0 of a predetermined portion 331 (331a, 331b) of the marker object 330 in the delivery-captured image 400b of the first thick board 230 among the delivery targets, and the positions P0 of the predetermined portions 331 (331a, 331b) of the marker object 330 in the delivery-captured image 400b of the second or subsequent thick boards 230 among the delivery targets, and the distances in the x-axis and y-axis directions in real space between the lattice points of the pattern 510. Furthermore, as explained with reference to Figure 4(b), the creation unit 112 may derive the relative position in real space of the thick plate 230 to be delivered at the time of removal, for example, based on the position P0 of a predetermined portion 331 (331a, 331b) of the marker object 330 in each delivery-use photographed image 400b, the position P1 of a predetermined portion 325 of the crane 320 in the delivery-use photographed image 400b, the positions of the lattice points in the pattern 510, and the distances in the x-axis direction and y-axis direction in real space between the lattice points of the pattern 510.

[0099] The creation unit 112 individually derives the relative positions at time of delivery in real space of the planks 230 to be delivered as described above for each of all planks 230 to be delivered. Then, the creation unit 112 derives a predetermined position within the hold 220 based on the relative positions at time of delivery in real space of all planks 230 to be delivered. Finally, the creation unit 112 individually converts the relative positions at time of delivery in real space into positions based on a predetermined position within the hold 220 for each of all planks 230 to be delivered, thereby individually deriving the relative positions at time of delivery after the reference position conversion in real space for each of all planks 230 to be delivered.

[0100] When the processing of step S705 is completed, the processing according to the flowchart of Fig. 7 is completed. The output unit 113 may output the stacking position list 610 created according to the flowchart of Fig. 7 to the unloading processing device 120 on its own initiative, or may output it to the unloading processing device 120 in response to a request from the unloading processing device 120.

[0101] <<Processing at the time of removal>> Next, an example of a processing method when an object to be removed is removed from the first storage area (in this embodiment, when the thick plate 230 to be removed is removed from the hold 220) will be described with reference to the flowcharts of Figures 8-1 and 8-2. The flowcharts of Figures 8-1 and 8-2 are realized, for example, by a processor included in the removal processing device 120 executing a program stored in memory. Furthermore, the processing according to the flowcharts of Figures 8-1 and 8-2 starts after the processing according to the flowchart of Figure 7 has ended.

[0102] First, in step S801 of FIG. 8-1, the first acquisition unit 121 acquires the stacking position list 610. Next, in step S802, the identifying unit 123 receives the designation of the product ID of the first thick board 230 to be carried out from among the plurality of thick boards 230 to be carried out.

[0103] Next, in step S803, the second acquisition unit 122 determines whether the current time is the start of unloading. The determination in step S803 is repeated until it is determined that the current time is the start of unloading. Then, when it is determined that the current time is the start of unloading (YES in step S803), the process of step S804 is performed.

[0104] In step S804, the second acquisition unit 122 acquires the carry-out photographed image 400a photographed by the carry-out photographing device 340a. Next, in step S805, the second acquisition unit 122 derives the relative position of the thick plate 230 to be removed in real space at the time of removal (lifting position in real space) based on the removed-photographed image 400a and the pattern 510 set on the removed-photographed image 400a.

[0105] For example, as described with reference to Fig. 4(a), the second acquisition unit 122 may derive the position P0 of the predetermined portion 331 (331a, 331b) of the marker object 330 in the carry-out captured image 400a of the first thick plank 230 among the thick planks 230 to be carried out as the origin (initial position). In step S811 described later, the origin is used to derive the relative positions at the time of carry-out in real space (lifting positions in real space) of the second and subsequent thick planks 230 to be transported among the thick planks 230 to be carried out. Furthermore, as explained with reference to Figure 4(b), the second acquisition unit 122 may derive the relative position of the thick plank 230 in real space at the time of removal, for example, based on the position P0 of a predetermined portion 331 (331a, 331b) of the marker object 330 in the removal-use photographed image 400a of the first thick plank 230 among the thick planks 230 to be removed, the position P1 of a predetermined portion 325 of the crane 320 in the removal-use photographed image 400a, the positions of the lattice points in the pattern 510, and the distances in the x-axis and y-axis directions in real space between the lattice points of the pattern 510.

[0106] Next, in step S806, the identification unit 123 reads out the value corresponding to the product ID received in step S802 from the values ​​(relative positions of the plate 230 to be carried in at the time of carrying in after the reference position conversion in real space) stored in the "Pile position in real space" column of the pile position list 610. Then, the identification unit 123 calculates the relative position correction amount by subtracting the relative position of the plate 230 to be carried in at the time of carrying out in real space from the relative position of the plate 230 to be carried in at the time of carrying in after the reference position conversion in real space.

[0107] Next, in step S807, the identification unit 123 determines whether the plank 230 with the product ID received in step S802 has been transported to the destination. In the following description, the transport of the plank 230 to the destination is referred to as "end of unloading." Whether unloading has been completed is determined based on, for example, the torque of a motor that winds up and down the wire rope 323. This determination may also be made based on, for example, the driving operation of an operator in the cab of the crane 320. Information required for this determination is acquired, for example, from the input device 130b.

[0108] The determination in step S807 is repeated until it is determined that the thick board 230 with the product ID received in step S802 has been transported to the destination. Then, when it is determined that the thick board 230 with the product ID received in step S802 has been transported to the destination (YES in step S807), the process in step S808 is performed.

[0109] In step S808, the identification unit 123 acquires, via the input device 130b, for example, information indicating the destination (new storage location) of the thick plate 230 with the product ID accepted in step S802. Then, the identification unit 123 stores in the lifting list 620 the "product ID" accepted in step S802, the "lifting order (=1)", the "relative position in real space of the thick plate 230 to be removed at the time of removal (lifting location in real space)" derived in step S805, the "dimensions" associated with the "product ID" accepted in step S802 and stored in the stacking location list 610, and the "destination (new storage location)" of the "product ID" accepted in step S802.

[0110] According to the flowchart of Fig. 8-1, information about the first plank 230 to be removed is stored in the lifting list 620. According to the flowchart of Fig. 8-2, which follows the flowchart of Fig. 8-1, information about the second and subsequent planks 230 to be transported is stored in the lifting list 620.

[0111] First, in step S809 of FIG. 8-2, the second acquisition unit 122 determines whether the current time is the start of unloading. The determination in step S810 is repeated until it is determined that the current time is the start of unloading. Then, when it is determined that the current time is the start of unloading (YES in step S809), the process of step S810 is performed.

[0112] In step S810, the second acquisition unit 122 acquires the carry-out photographed image 400a photographed by the carry-out photographing device 340a. Next, in step S811, the second acquisition unit 122 derives the relative position of the thick plate 230 to be removed in real space at the time of removal (lifting position in real space) based on the removal-use photographed image 400a of the thick plate 230 to be removed and the pattern 510 set on the removal-use photographed image 400a.

[0113] For example, as explained with reference to Figure 4(a), the second acquisition unit 122 may derive the relative position of the thick board 230 to be removed in real space at the time of removal based on the positions of the lattice points in the pattern 510 of the position P0 of a predetermined portion 331 (331a, 331b) of the marker object 330 in the removal-captured image 400a of the first thick board 230 among the thick boards 230 to be removed, and the position P0 of a predetermined portion 331 (331a, 331b) of the marker object 330 in the removal-captured image 400a of the second or subsequent thick boards 230 among the thick boards 230 to be removed, and the distances in the x-axis and y-axis directions in real space between the lattice points of the pattern 510. Furthermore, as explained with reference to Figure 4(b), the second acquisition unit 122 may derive the relative position in real space of the thick plate 230 to be removed at the time of removal, for example, based on the position P0 of a predetermined portion 331 (331a, 331b) of the marker object 330 in each removal-use photographed image 400a, the position P1 of a predetermined portion 325 of the crane 320 in the removal-use photographed image 400a, the positions of the lattice points in the pattern 510, and the distances in the x-axis and y-axis directions in real space between the lattice points of the pattern 510.

[0114] Next, in step S812, the identification unit 123 derives the corrected relative position (lifting position) of the thick plate 230 to be transported in real space at the time of transport (lifting position in real space) by adding the relative position correction amount derived in step S806 of Figure 8-1.

[0115] Next, in step S813, the identification unit 123 identifies a record from the stacking position list 610 that has a value corresponding to the corrected relative position at the time of removal in real space among the values ​​(relative position at the time of removal in real space after conversion to the reference position in real space) stored in the "Stacking position in real space" in the stacking position list 610, and reads out the product ID stored in the identified record.

[0116] Next, in step S814, the identification unit 123 determines whether the thick plate 230 with the product ID read in step S813 has been transported to the destination (whether unloading has been completed). The method of determination in step S814 may be the same as the method of determination in step S807, for example.

[0117] The determination in step S814 is repeated until it is determined that the thick board 230 with the product ID read in step S813 has been transported to the destination. Then, when it is determined that the thick board 230 with the product ID read in step S813 has been transported to the destination (YES in step S814), the process in step S815 is performed.

[0118] In step S815, the identification unit 123 acquires, via the input device 130b, for example, information indicating the destination (new storage location) of the plank 230 with the product ID read out in step S813. The identification unit 123 then stores in the lifting list 620 the "product ID" and "lifting order" read out in step S813, the "corrected relative position in real space of the plank 230 to be removed at the time of removal (lifting location in real space)" derived in step S812, the "dimensions" associated with the "product ID" read out in step S813 and stored in the stacking location list 610, and the "destination (new storage location)" of the "product ID" read out in step S813. The "lifting order" may be, for example, the order in which the removed photographed images 400a were acquired. The "lifting order" may also be, for example, a value obtained by adding 1 to the number of repetitions of the flowchart in FIG. 8-2.

[0119] Next, in step S816, the identification unit 123 determines whether all of the planks 230 to be transported have been transported to the destination (whether unloading has been completed). The method of determination in step S816 may be the same as the method of determination in step S807, for example. Furthermore, the determination in step S816 may be made based on whether information on all of the planks 230 to be transported has been stored in the unloading list 620.

[0120] If the result of the determination in step S816 is that all of the planks 230 to be transported have not been transported to the destination (NO in step S816), the process of step S809 is performed again. Then, the process of step S810 and subsequent steps is performed for the next plank 230 to be transported. The processes of steps S809 to S816 are repeated until the transport of all of the planks 230 to be transported has been completed. Then, if the result of the determination in step S816 is that all of the planks 230 to be transported have been transported to the destination (YES in step S816), the process of step S817 is performed.

[0121] In step S817, the output unit 124 outputs the unloading list 620 to the output device 140b. Information indicating the unloading list 620 may be displayed on a computer display by the output device 140b, or may be transmitted to an external device. When the processing of step S817 ends, the processing according to the flowchart of FIG. 8-2 ends.

[0122] <Summary> As described above, in this embodiment, the processing system 100 identifies the product ID of the plank 230 to be transported based on the stacking position list 610, which includes the product IDs and stacking positions in real space of the multiple planks 230, and the relative position of the plank 230 to be transported in real space at the time of transport. Therefore, it is no longer necessary to sequentially set a starting position within the hold 220 to identify the position of each plank 230 to be transported. Furthermore, the product ID of each plank 230 to be transported can be identified without specifically identifying the position of each plank 230 to be transported within the hold 220. Therefore, it is possible to reduce both the workload when transporting the plank 230 to be transported and the occurrence of oversights or errors in the confirmation of the plank 230 to be transported. In addition, the product ID of the thick plate 230 to be transported is identified using the relative position of the thick plate 230 in real space at the time of transport, so that even if the thick plate 230 is in a movable storage location such as a ship's hold 220, the product ID of the thick plate 230 can be reliably identified at the destination.

[0123] Furthermore, in this embodiment, the processing system 100 regards the position of the predetermined portion 325a of the unloading crane as the position of the plate 230 to be unloaded, and derives the relative position in real space of the plate 230 to be unloaded at the time of unloading. Therefore, for example, even if it is not easy to identify the position of the plate 230 to be unloaded, it is possible to derive the relative position in real space of the plate 230 to be unloaded at the time of unloading.

[0124] Furthermore, in this embodiment, the processing system 100 regards the position of the predetermined portion 325a of the unloading crane at a predetermined timing within the period from when the plank 230 to be unloaded is held by the hoisting tool 324 until the horizontal movement of the hoisting tool 324 starts as the position of the plank 230 to be unloaded, and derives the relative position in real space of the plank 230 to be unloaded at the time of unloading. Therefore, the horizontal position of the plank 230 to be unloaded when deriving the relative position in real space of the plank 230 to be unloaded at the time of unloading can be set to a position close to (preferably the same as) the position where the plank 230 was placed.

[0125] Furthermore, in this embodiment, the processing system 100 derives the relative position in real space of the plank 230 to be unloaded based on the movement amount of the predetermined portion 325a of the unloading crane. Therefore, for example, it is possible to derive the relative position in real space of the plank 230 to be unloaded at the time of unloading without using a dedicated measuring device for measuring the relative position at the time of unloading.

[0126] Furthermore, in this embodiment, the processing system 100 derives the relative position in real space of the plank 230 to be carried out at the time of carrying out, based on the amount of movement of the predetermined portion 325a of the carrying crane from a predetermined timing within the period from when the plank 230 to be carried out last time is held by the hoist 324 to when the horizontal movement of the hoist 324 starts to when the plank 230 to be carried out this time is held by the hoist 324 to when the horizontal movement of the hoist 324 starts. Therefore, the relative position in real space of the plank 230 to be carried out at the time of carrying out can be derived at a position close to (preferably the same as) the position where the plank 230 was placed.

[0127] Furthermore, in this embodiment, the processing system 100 derives the relative position in real space of the plank 230 to be removed at the time of removal using measurements from measurement means including at least one of: an imaging device 340 that captures an image including the predetermined portion 325a of the removing crane and the removing marker object 330a; a rangefinder that measures the distance between the predetermined portion 325a of the removing crane and a reference position; and a GNSS (Global Navigation Satellite System) that measures the position of the predetermined portion 325a of the removing crane. Therefore, the relative position in real space of the plank 230 to be removed at the time of removal can be derived with higher accuracy.

[0128] Furthermore, in this embodiment, the processing system 100 derives a correction amount (relative position correction amount) between the relative position at the time of loading in the real space, which is identified at the stacking position in the real space from the product ID assigned to a specified thick plate 230 from among the multiple thick plates 230, and the relative position at the time of unloading in the real space of the thick plate 230 to be unloaded. Then, the processing system 100 identifies the product ID of the thick plate 230 to be transported after the specified thick plate 230 using the correction amount. Therefore, it is possible to correct a deviation in the relative position due to a difference in the positions of the reference object (loading marker object 330b) used when deriving the relative position at the time of loading and the reference object (unloading marker object 330a) used when deriving the relative position at the time of unloading. Therefore, it is possible to derive the relative position at the time of unloading in the real space of the thick plate 230 to be unloaded with higher accuracy. If the thick plate 230 specified at this time includes the thick plate 230 to be transported first, the deviation in the relative positions mentioned above can be corrected when deriving the relative positions in real space at the time of removal of all the thick plate 230 to be transported.

[0129] Furthermore, in this embodiment, the processing system 100 stores the product ID of the identified plank 230 and information specifying the storage location to which the object of the plank 230 is to be transported in the lifting list 620 in association with each other. Therefore, the destination of the plank 230 can be managed.

[0130] Furthermore, in this embodiment, the processing system 100 derives the stacking position in real space based on the relative position in real space of each of the planks 230 to be delivered at the time of delivery. Therefore, the stacking position in real space can be derived without specifically specifying the position in the hold 220 to which each of the planks 230 to be delivered has been delivered. This makes it possible to both reduce the workload when delivering the planks 230 to be delivered and reduce oversights and errors in checking the planks 230 to be delivered.

[0131] Furthermore, in this embodiment, the processing system 100 regards the position of the predetermined portion 325b of the loading crane as the position of the object of the plank 230 to be loaded, and derives the relative position in real space of the plank 230 to be loaded at the time of loading. Therefore, for example, even if it is not easy to identify the position of the plank 230 to be loaded, it is possible to derive the relative position in real space of the plank 230 to be loaded at the time of loading.

[0132] Furthermore, in this embodiment, the processing system 100 regards the position of the predetermined portion 325b of the loading crane at a predetermined timing within the period from when the hoisting tool 324 finishes holding the plank 230 to be loaded until the horizontal movement of the hoisting tool 324 starts as the position of the plank 230 to be loaded, and derives the relative position in real space of the plank 230 to be loaded. Therefore, when deriving the relative position in real space of the plank 230 to be loaded, the horizontal position of the plank 230 to be unloaded can be set to a position close to (preferably the same as) the position at which the plank 230 was placed.

[0133] (Other embodiments) The above-described embodiments of the present disclosure can be realized by a computer executing a program. A computer-readable recording medium having the program recorded thereon and a computer program product such as the program can also be applied as embodiments of the present disclosure. Examples of recording media that can be used include flexible disks, hard disks, optical disks, magneto-optical disks, CD-ROMs, magnetic tapes, non-volatile memory cards, and ROMs. The embodiments of the present disclosure can also be realized by a programmable logic controller (PLC) or dedicated hardware such as an application-specific integrated circuit (ASIC). Furthermore, the above-described embodiments of the present disclosure are merely examples of specific embodiments for carrying out the present disclosure, and the technical scope of the present disclosure should not be interpreted as being limited by these. In other words, the present disclosure can be embodied in various forms without departing from its technical concept or main features.

[0134] The disclosure of the above embodiments can be summarized as follows, for example. [Disclosure 1] A processing system that performs processing to identify a plurality of objects that are carried out from a first storage location using a carrying-out means, a first acquisition means for acquiring list information including identification information of the plurality of objects and relative position specifying information that is information indicating a relative positional relationship between the plurality of objects; a second acquisition means for acquiring a relative position of an object to be carried out from among the plurality of objects, from a first reference object that is a reference object; an identification means for identifying the identification information of the object to be removed based on the list information acquired by the first acquisition means and the relative position of the object to be removed from the first reference object acquired by the second acquisition means; A processing system comprising: [Disclosure 2] The processing system described in Disclosure 1, wherein the second acquisition means considers the position of a predetermined part of the removal means as the position of the object to be removed, and derives the relative position of the object to be removed from the first reference object. [Disclosure 3] the carrying-out means includes a holding unit that holds the object in order to carry out the object; The processing system described in Disclosure 2, wherein the second acquisition means regards the position of a predetermined part of the transport means at a predetermined timing within a period from when the object to be transported is held by the holding unit to when the holding unit starts moving horizontally as the position of the object to be transported, and derives the relative position of the object to be transported from the first reference object. [Disclosure 4] The processing system according to any one of Disclosures 1 to 3, wherein the second acquisition means derives the relative position of the object to be carried out from the first reference object based on the amount of movement of a predetermined portion of the carrying-out means. [Disclosure 5] the carrying-out means includes a holding unit that holds the object in order to carry out the object; The processing system described in Disclosure 4, wherein the second acquisition means derives the relative position of the object to be removed from the first reference object based on the amount of movement of the removal means from a predetermined timing within a period from when the previous object to be removed was held by the holding unit until the horizontal movement of the holding unit begins, to a predetermined timing within a period from when the current object to be removed is held by the holding unit until the horizontal movement of the holding unit begins. [Disclosure 6] the second acquisition means derives a relative position of the object to be removed from the first reference object using the measurement value of the measurement means; The processing system described in any one of Disclosures 1 to 5, wherein the measurement means includes at least one of an imaging device that captures an image including the first reference object, a rangefinder that measures the distance between the position of a predetermined part of the transport means and a predetermined reference position, and a GNSS (Global Navigation Satellite System) that measures the position of the predetermined part of the transport means. [Disclosure 7] The processing system according to any one of Disclosures 1 to 6, wherein the first reference object is a mark placed at a predetermined position or an object to be carried out first among the objects to be carried out. [Disclosure 8] The identification means deriving a correction amount between the relative position specified in the relative position specifying information from identification information assigned to an object specified from among the plurality of objects and the relative position acquired for the specified object by the second acquisition means; The processing system according to any one of Disclosures 1 to 7, wherein the identification information of an object to be transported after the designated object is specified using the correction amount. [Disclosure 9] The processing system of Disclosure 8, wherein the designated object includes the object that is first transported from the first storage location. [Disclosure 10] The processing system described in any one of Disclosures 1 to 9 further includes a storage means for storing in a storage medium, in association with each other, the identification information of the object identified by the identification means and information identifying a second storage location to which the object is to be transported. [Disclosure 11] The processing system according to any one of Disclosures 1 to 10, wherein the first storage location is a mobile storage location. [Disclosure 12] the first storage location is a storage location within a transportation means that transports the object, 12. The processing system according to claim 10, wherein the object is carried into the first storage location using a carrying-in means. [Disclosure 13] a third acquisition means for acquiring a relative position of an object to be carried in from among the plurality of objects, from a second reference object that is a reference object; a creating means for creating the list information, The processing system according to any one of Disclosures 1 to 12, wherein the creation means derives the relative position identification information based on the relative position of the object to be carried in from the second reference object acquired by the third acquisition means. [Disclosure 14] The processing system described in Disclosure 13, wherein the third acquisition means considers the position of a predetermined part of the delivery means used to deliver the object to be delivered as the position of the object to be delivered, and derives the relative position of the object to be delivered from the second reference object. [Disclosure 15] the carrying-in means includes a holding unit that holds the object in order to carry the object out; The processing system described in Disclosure 14, wherein the creation means regards the position of a predetermined part of the loading means at a predetermined timing within a period from when the object to be loaded is no longer held by the holding unit to when the horizontal movement of the holding unit begins as the position of the object to be loaded, and derives the relative position of the object to be loaded from the second reference object. [Disclosure 16] The processing system according to any one of Disclosures 1 to 15, wherein the carrying-out means includes a crane. [Disclosure 17] A processing method for performing processing to identify a plurality of objects to be carried out from a first storage location using a carrying-out means, a first acquisition step of acquiring list information including identification information of the plurality of objects and relative position specifying information that is information indicating a relative positional relationship between the plurality of objects; a second acquisition step of acquiring a relative position of an object to be carried out from among the plurality of objects, from a first reference object that serves as a reference object; an identifying step of identifying the identification information of the object to be carried out based on the list information acquired in the first acquiring step and the relative position of the object to be carried out from the first reference object acquired in the second acquiring step; A processing method comprising: [Disclosure 18] A program for causing a computer to function as each means of the processing system according to any one of Disclosures 1 to 16. [Explanation of symbols]

[0135] 100 Processing Systems 110 Carry-in processing equipment 111 Third Acquisition Department 112 Creation Department 113 Output section 120 Carry-in processing equipment 121 First acquisition part 122 Second acquisition part 123 Specific part 124 Output section 130a~130b Input device 140a~140b Output device 210 Cargo ship 220 Hold 230 Plank 240 Dunnage 320 Crane 320a Loading crane 320b Loading crane 321 Guarda 322 Cart 323 Wire Rope 324 Hanging equipment 325 Crane designated parts 325a Prescribed parts of a loading crane 325b Prescribed parts of loading cranes 330 Landmark Object 330a Marker for removal 330b Marker for loading 340 Imaging Device 340a Portable photography equipment 340b Imported photography equipment 400 images 400a Carry-out photograph 400b Photographed for loading 510 Pattern 520 captured images 530 Images taken with a pinhole model camera 610 Loading Location List 620 Fried List

Claims

1. A processing system for performing processing to identify a plurality of objects to be carried out from a first storage location using a carrying-out means, a first acquisition means for acquiring list information including identification information of the plurality of objects and relative position specifying information that is information indicating a relative positional relationship between the plurality of objects; a second acquisition means for acquiring a relative position of an object to be carried out from among the plurality of objects, from a first reference object that is a reference object; an identification means for identifying the identification information of the object to be removed based on the list information acquired by the first acquisition means and the relative position of the object to be removed from the first reference object acquired by the second acquisition means; A processing system comprising:

2. The processing system according to claim 1 , wherein the second acquisition means regards the position of a predetermined portion of the transport means as the position of the object to be transported, and derives the relative position of the object to be transported from the first reference object.

3. the carrying-out means includes a holding unit that holds the object in order to carry out the object; 3. The processing system of claim 2, wherein the second acquisition means regards the position of a predetermined part of the ejection means at a predetermined timing within a period from when the object to be ejected is held by the holding unit until the horizontal movement of the holding unit begins as the position of the object to be ejected, and derives the relative position of the object to be ejected from the first reference object.

4. The processing system according to any one of claims 1 to 3, wherein the second acquisition means derives the relative position of the object to be removed from the first reference object based on the amount of movement of a predetermined part of the removal means.

5. the carrying-out means includes a holding unit that holds the object in order to carry out the object; The processing system described in claim 4, wherein the second acquisition means derives the relative position of the object to be removed from the first reference object based on the amount of movement of the removal means from a predetermined timing within a period from when the previous object to be removed was held by the holding unit until the horizontal movement of the holding unit begins to a predetermined timing within a period from when the current object to be removed is held by the holding unit until the horizontal movement of the holding unit begins.

6. the second acquisition means derives a relative position of the object to be removed from the first reference object using the measurement value of the measurement means; The processing system according to any one of claims 1 to 3, wherein the measurement means includes at least one of an imaging device that captures an image including the first reference object, a rangefinder that measures the distance between the position of a predetermined part of the transport means and a predetermined reference position, and a GNSS (Global Navigation Satellite System) that measures the position of the predetermined part of the transport means.

7. 4. The processing system according to claim 1, wherein the first reference object is a mark placed at a predetermined position or an object to be carried out first among the objects to be carried out.

8. The identification means deriving a correction amount between the relative position specified in the relative position specifying information and the relative position acquired for the specified object by the second acquisition means, based on identification information assigned to the specified object from among the plurality of objects; 4. The processing system according to claim 1, wherein the identification information of an object to be transported after the designated object is specified using the correction amount.

9. The processing system according to claim 8 , wherein the designated object includes the object that is first transported from the first storage location.

10. The processing system according to any one of claims 1 to 3, further comprising a storage means for storing in a storage medium, in association with each other, the identification information of the object identified by the identification means and information identifying the second storage location to which the object is to be transported.

11. 4. The processing system according to claim 1, wherein the first storage location is a mobile storage location.

12. the first storage location is a storage location within a transportation means that transports the object, The processing system according to claim 10 , wherein the object is carried into the first storage location using a carrying-in device.

13. a third acquisition means for acquiring a relative position of an object to be carried in from among the plurality of objects, the relative position being determined from a second reference object that serves as a reference object; a creating means for creating the list information, The processing system according to any one of claims 1 to 3, wherein the creation means derives the relative position identification information based on the relative position of the object to be transported from the second reference object acquired by the third acquisition means.

14. The processing system of claim 13, wherein the third acquisition means regards the position of a predetermined portion of the loading means used to load the object to be loaded as the position of the object to be loaded, and derives the relative position of the object to be loaded from the second reference object.

15. the carrying-in means includes a holding unit that holds the object in order to carry the object out; The processing system described in claim 14, wherein the creation means regards the position of a predetermined part of the loading means at a predetermined timing within a period from when the object to be loaded is no longer held by the holding unit to when the horizontal movement of the holding unit begins as the position of the object to be loaded, and derives the relative position of the object to be loaded from the second reference object.

16. 4. The processing system according to claim 1, wherein the unloading means includes a crane.

17. A processing method for performing processing to identify a plurality of objects to be carried out from a first storage location using a carrying-out means, a first acquisition step of acquiring list information including identification information of the plurality of objects and relative position specifying information that is information indicating a relative positional relationship between the plurality of objects; a second acquisition step of acquiring a relative position of an object to be carried out from among the plurality of objects, from a first reference object that serves as a reference object; an identifying step of identifying the identification information of the object to be carried out based on the list information acquired in the first acquiring step and a relative position of the object to be carried out from the first reference object acquired in the second acquiring step; A processing method comprising:

18. A program for causing a computer to function as each of the means of the processing system according to any one of claims 1 to 3.

Images