Package registration system

Abstract

To provide a technique for sharing a position of a cargo loaded on a cargo bed.SOLUTION: A package registration system includes a camera, an acquisition unit configured to cause the camera to image a specific package loaded on a cargo bed and acquire an image of the specific package loaded on the cargo bed, an extraction unit configured to extract an edge representing a part of the cargo bed from the image, an estimation unit configured to estimate a position at which the specific package is loaded on the cargo bed based on a shape of the edge, and a registration unit configured to register package information on the specific package in association with the estimated position.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The technology disclosed in this specification relates to a luggage registration system for registering luggage loaded on a loading platform. [Background technology]

[0002] Patent Document 1 discloses a system for allocating loading positions on a loading platform to luggage to be loaded onto the loading platform. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-075318 Summary of the Invention [Problem to be solved by the invention]

[0004] This specification provides a technique for sharing the location of cargo loaded on a loading platform. [Means for solving the problem]

[0005] The luggage registration system disclosed in this specification comprises a camera, an acquisition unit that causes the camera to capture an image of a specific luggage loaded on a loading platform and acquires an image of the specific luggage loaded on the loading platform, an extraction unit that extracts an edge representing a part of the loading platform from the image, an estimation unit that estimates the position on the loading platform where the specific luggage is loaded based on the shape of the edge, and a registration unit that registers luggage information regarding the specific luggage in association with the estimated position.

[0006] The shape of a portion of the loading platform surrounding a specific package varies depending on the location where the specific package is loaded. The location where the specific package is loaded can be estimated from the shape of the edge that represents that portion of the loading platform. Then, by registering package information in association with the estimated location, the location where the specific package is loaded related to the package information can be shared with others (for example, the delivery destination). In addition, the location of the specific package can be registered simply by capturing an image of the specific package with a camera. The location of the package loaded on the loading platform can be easily shared.

[0007] The estimation unit may estimate that the position where the specific luggage is loaded is one end of the longitudinal direction of the loading platform when the shape of the edge indicates a curved shape, and may estimate that the position where the specific luggage is loaded is a position other than the one end when the shape of the edge does not indicate the curved shape.

[0008] According to the above configuration, it is possible to estimate whether the position where a specific cargo is loaded is at one end or at a position other than one end.

[0009] The luggage is loaded on the loading platform in two tiers, and the estimation unit may estimate that the position where the specific luggage is loaded is one end of the lower tier if the shape of the edge indicates the bent shape, estimate that the position where the specific luggage is loaded is one end of the upper tier if the shape of the edge indicates a vertical line shape, estimate that the position where the specific luggage is loaded is a position other than the one end of the lower tier if the shape of the edge indicates a horizontal line shape, and estimate that the position where the specific luggage is loaded is a position other than the one end of the upper tier if the edge is not extracted from the image.

[0010] According to the above configuration, the positions of the cargoes loaded in two levels can be shared.

[0011] The luggage is loaded in two tiers, packed close together at one end, and the luggage registration system includes a determination unit that determines an upper tier candidate position and a lower tier candidate position based on the positions of one or more luggage items loaded on the loading platform before the specific luggage, wherein the upper tier candidate position is a position packed close to one end of the positions on the upper tier where the luggage has not yet been loaded, and the lower tier candidate position is a position packed close to one end of the positions on the lower tier where the luggage has not yet been loaded, and the estimation unit may estimate that the position where the specific luggage is loaded is the lower tier candidate position when the shape of the edge shows the horizontal line shape, and may estimate that the position where the specific luggage is loaded is the upper tier candidate position when the edge is not extracted from the image.

[0012] According to the above configuration, the exact position of a specific piece of luggage can be estimated in a situation where luggage is packed in two layers at one end of the loading platform in the longitudinal direction. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a schematic diagram of a parcel registration system. [Figure 2] FIG. 1 is a block diagram of a package registration system. [Figure 3] FIG. 10 is a flowchart showing processing of a reading terminal. [Figure 4] FIG. 10 is a diagram illustrating a specific case. [Figure 5] FIG. 10 is a diagram showing a modified example of an edge. DETAILED DESCRIPTION OF THE INVENTION

[0014] (Configuration of baggage registration system 2; Figures 1 and 2) The cargo registration system 2 is a system for registering cargo 200 to be loaded onto a truck bed 100. The bed 100 is equipped with wings 102. The cargo 200 is loaded onto the bed 100 using a forklift 10. In a modified example, the bed 100 does not have to be equipped with wings 102.

[0015] The cargo 200 is loaded in two layers, packed close to the forward direction of the truck. That is, the cargo 200 is loaded in two layers, packed close to one end of the loading platform 100 in the longitudinal direction. This is to prevent the cargo from shifting due to sudden braking of the truck, etc. Note that FIG. 1 shows the cargo 200 being loaded from one side in the width direction of the truck. The cargo 200 is loaded not only from one side in the width direction of the truck, but also from the other side in the width direction of the truck. The cargo 200 is loaded in two rows along the width direction of the truck. Note that, in a modified example, the cargo 200 may be loaded in a single row along the width direction of the truck.

[0016] The package registration system 2 includes a reading terminal 12 and a server 300. The reading terminal 12 is a terminal for reading information from a tag attached to the package 200. The tag is, for example, a Radio Frequency Identification (RFID) tag. The tag stores package information related to the package 200, such as an ID for identifying the package 200, a delivery address of the package 200, and a shipper of the package 200. In a modified example, information other than the ID for identifying the package 200 may be stored in a server on the Internet 6. The reading terminal 12 may then obtain information such as the delivery address of the package 200 from the server using the ID in the tag. The server 300 is a server installed on the Internet that stores information related to the package 200 loaded on the loading platform 100.

[0017] The reading terminal 12 is carried by the driver of the forklift 10. When loading the luggage 200 onto the loading platform 100, the driver causes the reading terminal 12 to read the luggage information in the tag of the luggage 200. The reading terminal 12 transmits the read luggage information to the server 300. As a result, the luggage information of the luggage 200 loaded on the loading platform 100 is registered in the server 300. In a modified example, the reading terminal 12 may be fixed to the forklift 10.

[0018] (Configuration of the reading terminal 12; Figure 2) The reading terminal 12 includes a camera 20, an RF antenna 22, a communication interface 24, and a control unit 30. Note that hereinafter, "interface" will be abbreviated as "I / F." The camera 20 is exposed from the housing of the reading terminal 12 and can capture images of the surroundings of the reading terminal 12. Note that in a modified example, the camera 20 may be provided separately from the reading terminal 12, and the camera 20 may be able to communicate with the reading terminal 12 via wired or wireless communication (e.g., Wi-Fi (registered trademark)). The RF antenna 22 transmits a carrier wave to the tag and receives a response wave from the tag. The communication I / F 24 is an I / F for communicating with a server 300 on the Internet. The communication I / F 24 can use, for example, wireless LAN, mobile communication (e.g., 4G), etc.

[0019] The control unit 30 controls the units 20, 22, and 24. The control unit 30 includes a CPU 32 and a memory 34. The memory 34 includes a volatile memory and a non-volatile memory. The CPU 32 executes various processes in accordance with a program 40 stored in the memory 34.

[0020] (Processing of the reading terminal 12; Figure 3) 3, a process executed by the CPU 32 of the reading terminal 12 in accordance with the program 40 will be described. The process of FIG. 3 is triggered by the power of the reading terminal 12 being turned on.

[0021] In S10, the CPU 32 determines whether or not a reading instruction has been received from the driver of the forklift 10. The reading instruction is an instruction to read luggage information from a tag attached to the luggage 200. For example, the driver inputs the reading instruction into the reading terminal 12 after loading the luggage 200 onto the loading platform 100. If the CPU 32 determines that a reading instruction has been received from the driver (YES in S10), the CPU 32 proceeds to S12.

[0022] In S12, the CPU 32 communicates with the tag via the RF antenna 22 and acquires baggage information from the tag. In S14, the CPU 32 activates the camera 20 and provides guidance to bring the baggage 200 loaded on the loading platform 100 into the angle of view of the camera 20. Then, the CPU 32 acquires a loaded image, which is an image of the baggage 200 loaded on the loading platform 100.

[0023] In S16, the CPU 32 performs image processing on the loading image acquired in S14 and extracts edges that represent parts of the loading platform 100 that appear in the loading image. The part of the loading platform 100 that appears in the loading image differs depending on the position at which the luggage 200 is loaded. As described above, the luggage 200 is loaded in two layers on the forward side of the truck, and a loading number is assigned to each loading position as shown in FIG. 3.

[0024] For example, in case C1 where the luggage 200 is loaded at the end position of the forward side of the lower level (i.e., the position of loading number "1"), a curved (so-called L-shaped) edge E1 representing the side of the front wall and bottom of the loading platform 100 is extracted. Also, for example, in case C2 where the luggage 200 is loaded at the end position of the forward side of the upper level (i.e., the position of loading number "2"), a vertical linear edge E2 representing the side of the front wall of the loading platform 100 is extracted. Also, for example, in case C3 where the luggage 200 is loaded at a position other than the position of loading number "1" on the lower level, a horizontal linear edge E3 representing the side of the bottom of the loading platform 100 is extracted. Also, for example, in case C4 where the luggage 200 is loaded at a position other than the position of loading number "2" on the upper level, no part of the loading platform 100 is visible in the loading image. For this reason, in case C4, no edges are extracted from the loading image.

[0025] In S20, the CPU 32 determines whether the edge extracted in S16 has a curved shape. If the CPU 32 determines that the edge extracted in S16 has a curved shape (YES in S20), the process proceeds to S22. In S22, the CPU 32 estimates that the loading position of the currently loaded luggage 200 is the position of loading number "1", and the process proceeds to S50. In S50, the CPU 32 registers the luggage information acquired in S10 in association with the loading number estimated in S22 in the registration table 50. The registration table 50 stores the loading number and luggage information in association with each other. The registration table 50 is stored in the server 300. The registration table 50 is shared by the delivery destination of the luggage 200. When S50 ends, the CPU 32 returns to S10.

[0026] Furthermore, if the CPU 32 determines that the edge extracted in S16 is not curved (NO in S20), the process proceeds to S24. In S24, the CPU 32 determines whether the edge extracted in S14 is in a vertical line shape. If the CPU 32 determines that the edge extracted in S16 is in a vertical line shape (YES in S24), the process proceeds to S26. In S26, the CPU 32 estimates that the loading position of the currently loaded cargo 200 is the position of loading number "2," and the process proceeds to S50. In S50 after passing through S26, the loading number estimated in S26 is registered.

[0027] Furthermore, if the CPU 32 determines that the edge extracted in S16 is not a vertical line shape (NO in S24), the process proceeds to S40. In S40, the CPU 32 acquires, from the registration table 50, one or more loading numbers for which luggage information is currently registered. In S42, the CPU 32 determines upper tier candidate positions and lower tier candidate positions based on the one or more loading numbers acquired in S40. The upper tier candidate positions are positions on the forward side of the upper tier where luggage 200 has not yet been loaded. The lower tier candidate positions are positions on the forward side of the lower tier where luggage 200 has not yet been loaded.

[0028] In the following S44, the CPU 32 determines whether the edge extracted in S16 has a horizontal line shape. If the CPU 32 determines that the edge extracted in S16 has a horizontal line shape (YES in S44), the CPU 32 proceeds to S46. In S46, the CPU 32 estimates that the loading position of the currently loaded luggage 200 is the lower tier candidate position determined in S42, and proceeds to S50. In S50 after passing through S46, the loading number of the lower tier candidate position estimated in S46 is registered.

[0029] Furthermore, if the CPU 32 determines that no edge was extracted in S16 (NO in S44), the process proceeds to S48. In S48, the CPU 32 estimates that the loading position of the currently loaded baggage 200 is the upper tier candidate position determined in S42, and the process proceeds to S50. In S50 after S48, the loading number of the upper tier candidate position estimated in S48 is registered.

[0030] If it is determined that a reading instruction has not been received (NO in S10), the CPU 32 proceeds to S60. In S60, the CPU 32 determines whether or not an end instruction has been received from the driver of the forklift 10. The end instruction is an instruction to end the processing of FIG. 3. For example, the driver inputs an end instruction to the reading terminal 12 when loading of all the packages 200 is completed. If the CPU 32 determines that an end instruction has not been received from the driver (NO in S60), the CPU 32 returns to S10. On the other hand, if the CPU 32 determines that an end instruction has been received from the driver (YES in S60), the CPU 32 ends the processing of FIG. 3.

[0031] In the initial state of the processing in Fig. 3, no luggage 200 is loaded on the loading platform 100. In a modified example, in the initial state of the processing in Fig. 3, one or more luggage 200 may already be loaded on the loading platform 100. In this case, the loading numbers and luggage information of the one or more luggage 200 already loaded may be registered in the registration table 50 in the initial state of the processing in Fig. 3. For example, the information of the one or more luggage 200 already loaded may be registered in the registration table 50 by manual input, or may be registered in the registration table 50 by analyzing an image of the entire loading platform 100.

[0032] (Specific case: Figure 4) At T1, the luggage 200 is loaded at the position of loading number "1." The reading terminal 12 determines that the edge has a curved shape (YES in S20 of FIG. 3), and estimates that the loading position is the position of loading number "1" (S22). Then, the reading terminal 12 registers luggage information LI1 in association with loading number "1" (S50).

[0033] At the next T2, the luggage 200 is loaded at the position of loading number "3." The reading terminal 12 determines that the edge is neither curved nor vertically linear (NO in S24), and acquires the single luggage information registered at present, loading number "1," from the registration table 50 (S40). The reading terminal 12 determines the position of loading number "2," which is the end on the forward side, as the upper-level candidate position, and determines the position of loading number "3," which is adjacent to the position of loading number "1," as the lower-level candidate position (S42). The reading terminal 12 determines that the edge is horizontally linear (YES in S44), and estimates that the loading position is the lower-level candidate position, i.e., the position of loading number "3" (S46). The reading terminal 12 then registers luggage information LI2 in association with loading number "3" (S50).

[0034] In the next T3, the luggage 200 is loaded at the position of loading number "5." As in T2, the edge is determined to have a horizontal line shape, and the loading position is estimated to be the position of loading number "5" (S46). The reading terminal 12 registers luggage information LI3 in association with loading number "5" (S50).

[0035] At the next T4, the luggage 200 is loaded at the position of loading number "2." The reading terminal 12 determines that the edge has a vertical line shape (YES in S24) and estimates that the loading position is the position of loading number "2" (S26). Then, the reading terminal 12 registers luggage information LI4 in association with loading number "2" (S50).

[0036] At the next T5, the luggage 200 is loaded at the position of loading number "4." The reading terminal 12 determines that the edge is neither curved nor vertically linear (NO in S24), and acquires from the registration table 50 the four loading numbers "1," "2," "3," and "5" for which luggage information is currently registered (S40). The reading terminal 12 determines the position of loading number "4" adjacent to the position of loading number "2" as the upper candidate position, and determines the position of loading number "7" adjacent to the position of loading number "5" as the lower candidate position (S42). The reading terminal 12 determines that an edge has not been extracted (NO in S44), and estimates that the loading position is the upper candidate position, i.e., the position of loading number "4" (S48). The reading terminal 12 then registers luggage information LI5 in association with loading number "4" (S50).

[0037] (Effects of this embodiment) According to the configuration of this embodiment, the loading position of the luggage 200 can be estimated from the shape of the edges that represent a part of the loading platform 100 around the luggage 200. Then, by registering luggage information in association with the estimated loading position, the loading position of the luggage 200 can be shared with others (for example, the delivery destination). In addition, the loading position of the luggage 200 can be registered simply by capturing an image of the luggage 200 with the camera 20. The loading position of the luggage 200 can be easily shared.

[0038] Furthermore, when loading cargo 200 onto a truck, it is common for cargo 200 to be packed close to the forward moving side of the truck. In the process of FIG. 3, the loading position is estimated taking into consideration the above general rule in addition to the shape of the edge representing the part of the loading platform 100 near the loaded cargo 200. In a situation where cargo 200 is loaded in two layers according to the general rule, the accurate position of cargo 200 can be estimated.

[0039] (Variation of S44 in Figure 3; Figure 5) In a modification of S44 in FIG. 3 , the CPU 32 determines whether the edge extracted in S16 is a horizontal line shape and whether the edge is located on the upper or lower side of the loading image. For example, if the luggage 200 is loaded on the lower level, the side of the bottom of the loading platform 100 will be reflected in the loading image. Also, if the luggage 200 is loaded on the upper level, the side of the lower end of the wing 102 of the loading platform 100 may be reflected in the loading image. For example, this occurs when the height of the upper level is relatively high and the distance between the luggage 200 and the lower end of the wing 102 is short, or when the angle of view of the camera 20 is wide. In this modification, if the CPU 32 determines that the edge extracted in S16 is a horizontal line shape edge E3 located on the lower side of the loading image, the process proceeds to S46. On the other hand, if the CPU 32 determines that the edge extracted in S16 is a horizontal line shape edge E4 located on the upper side of the loading image, the process proceeds to S48. In this modification, the loading position of the luggage 200 can also be estimated from the shape of the edge that represents a part of the loading platform 100 around the luggage 200.

[0040] (Correspondence) The luggage registration system 2 is an example of a "luggage registration system." The camera 20 is an example of a "camera." The CPU 32 that executes the processing of Figure 3 is an example of an "acquisition unit," an "extraction unit," an "estimation unit," a "registration unit," and a "determination unit." The luggage carrier 100 and the luggage 200 are examples of a "luggage carrier" and a "specific luggage," respectively. The edge E1, etc. is an example of an "edge." The luggage information in the tag is an example of "luggage information."

[0041] 3 are examples of processing realized by an "acquisition unit" and an "extraction unit", respectively. S22, S26, S46, and S48 are examples of processing realized by an "estimation unit". S42 and S50 are examples of processing realized by a "determination unit" and a "registration unit", respectively.

[0042] Although specific examples of the technology disclosed in this specification have been described above, these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and variations of the specific examples exemplified above. For example, the following modifications may be adopted.

[0043] (Variation 1) The cargo 200 may be loaded in a single layer on the forward side of the truck. In this variation, the reading terminal 12 executes the determination of S20, and if the edge is curved, executes the process of S22. If the edge is not curved but, for example, has a horizontal line shape, the reading terminal 12 may estimate that the loading position is somewhere other than the end of the forward side.

[0044] (Variation 2) The processes of S40 and S42 in Fig. 3 do not have to be executed. If the edge is a horizontal line shape, the reading terminal 12 may estimate that the loading position is somewhere in the lower tier other than the loading number "1". If no edge is extracted, the reading terminal 12 may estimate that the loading position is somewhere in the upper tier other than the loading number "2". In this variation, the "lower tier candidate position" and the "upper tier candidate position" can be omitted.

[0045] (Modification 3) The cargo 200 may be packed and loaded at one end of the truck on the reverse side. In this modification, the one end of the truck on the reverse side is an example of "one end."

[0046] (Variant 4) "Luggage information" is not limited to information in a tag, but may also be, for example, information in an information code (e.g., a barcode, a two-dimensional code) displayed on the surface of the luggage 200, or information obtained by character recognition of characters displayed on the surface of the luggage 200.

[0047] (Variation 5) The "camera" is not limited to a camera built into the reading terminal 12, but may be, for example, a fixed camera fixed to the forklift 10. The fixed camera may be fixed to, for example, a pillar of the forklift 10. The reading terminal 12 may then acquire a loading image by communicating with the fixed camera.

[0048] (Variation 6) The "bent shape" is not limited to a shape in which vertical and horizontal lines are continuous as shown in Figure 3, but may also be a shape in which the vertical and horizontal lines are partially interrupted. The "bent shape" may also be made up of discontinuous lines.

[0049] The technical elements described in this specification or drawings exhibit technical utility either alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. Furthermore, the technologies illustrated in this specification or drawings simultaneously achieve multiple objectives, and achieving one of those objectives is itself technically useful. [Explanation of symbols]

[0050] 2: Luggage registration system 6: Internet 10: Forklift 12: Reading terminal 20: Camera 22: RF antenna 24: Communication I / F 30: Control section 32 :CPU 34: Memory 40: Program 50: Registration table 100: Cargo bed 102: Wing 200: Luggage 300: Server E1~E4: Edge LI1~LI5: Baggage information

Claims

1. A baggage registration system, comprising: A camera and an acquisition unit that causes the camera to capture an image of a specific item loaded on the loading platform and acquires an image of the specific item loaded on the loading platform; an extraction unit that extracts an edge representing a part of the loading platform from the image; an estimation unit that estimates the position of the loading platform where the specific cargo is loaded based on the shape of the edge; a registration unit that registers package information related to the specific package in association with the estimated location; A luggage registration system comprising:

2. The estimation unit If the shape of the edge indicates a curved shape, it is estimated that the position where the specific cargo is loaded is one end of the loading platform in the longitudinal direction, The luggage registration system according to claim 1 , wherein when the shape of the edge does not show the bent shape, it is estimated that the position where the specific luggage is loaded is a position other than the one end.

3. The luggage is loaded onto the platform in two stages, The estimation unit If the shape of the edge indicates the bent shape, it is estimated that the position where the specific cargo is loaded is the one end of the lower tier of the two tiers, If the shape of the edge indicates a vertical line shape, it is estimated that the position where the specific cargo is loaded is the one end of the upper tier of the two tiers, If the shape of the edge indicates a horizontal line shape, it is estimated that the position where the specific cargo is loaded is a position other than the one end of the lower level, The luggage registration system according to claim 2 , wherein if the edge is not extracted from the image, it is estimated that the position where the specific luggage is loaded is a position on the upper level other than the one end.

4. The cargo is packed at the one end and loaded in the two levels, The luggage registration system includes: a determination unit that determines an upper tier candidate position and a lower tier candidate position based on the positions of one or more pieces of luggage loaded on the loading platform before the specific piece of luggage, the upper tier candidate position being a position at one end of the upper tier among positions at which the luggage has not yet been loaded, and the lower tier candidate position being a position at one end of the lower tier among positions at which the luggage has not yet been loaded, The estimation unit If the shape of the edge indicates the horizontal line shape, it is estimated that the position where the specific baggage is loaded is the lower tier candidate position; The baggage registration system according to claim 3 , wherein if the edge is not extracted from the image, the position where the specific baggage is loaded is estimated to be the upper tier candidate position.

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