Luggage location estimation system and luggage location estimation method

Abstract

This invention provides a luggage location estimation system and method that enable the simple determination of the location of luggage. [Solution] The luggage location estimation system 1 according to this disclosure is a luggage location estimation system comprising a terminal 100 and a server 10. The terminal 100 acquires an image containing luggage with identification information attached and transmits the image to the server. The server 10 estimates the relative position of the luggage to the terminal from the received image. The server 10 estimates the absolute position of the terminal with respect to any position in the environment containing the luggage as the origin. Based on the relative position of the luggage to the terminal and the absolute position of the terminal, the server 10 estimates the absolute position of the luggage from the origin. The server 10 generates placement data linking the absolute position of the luggage with the identification information of the luggage.

Description

Technical Field

[0001] The present disclosure relates to a luggage position estimation system and a luggage position estimation method.

Background Art

[0002] Patent Document 1 discloses a three-dimensional object recognition system for managing the position of luggage in a warehouse.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, the position of luggage in a warehouse is generally managed as follows. An operator reads a barcode attached to the luggage using a barcode reader. The operator inputs a number tag indicating the address information of the storage shelf attached to the storage shelf into the barcode reader in correspondence with the read barcode. Thereby, the position of the luggage is managed. Thus, since the number tag indicating the address information of the storage shelf is used to manage the position of the luggage in the warehouse, there has been a labor of attaching the number tag indicating the address information of the storage shelf.

[0005] An object of the present disclosure is to provide a luggage position estimation system and a luggage position estimation method capable of easily grasping the position of luggage in view of the above-described problems.

Means for Solving the Problems

[0006] The luggage position estimation system according to the present disclosure is a luggage position estimation system including a terminal and a server, wherein the terminal acquires an image including luggage to which identification information is attached, The aforementioned image is sent to the server, The aforementioned server, From the received image, the relative position of the package with respect to the terminal is estimated. The absolute position of the terminal is estimated with the origin being any location in the environment containing the aforementioned luggage. Based on the relative position of the package with respect to the terminal and the absolute position of the terminal, the absolute position of the package from the origin is estimated. This generates placement data that links the absolute position of the package with the identification information of the package.

[0007] The luggage location estimation system relating to this disclosure is An image acquisition unit that captures images of luggage, including identification information, taken by a terminal, A luggage relative position estimation unit estimates the relative position of the luggage with respect to the terminal from the aforementioned image, A terminal absolute position estimation unit that estimates the absolute position of the terminal when any location in the environment containing the aforementioned luggage is taken as the origin, A luggage absolute position estimation unit estimates the absolute position of the luggage from the origin based on the relative position of the luggage with respect to the terminal and the absolute position of the terminal, The system includes a placement data generation unit that generates placement data linking the absolute position of the package with the identification information of the package.

[0008] The method for estimating the location of luggage related to this disclosure is: The terminal captures images, including those of the package with identification information attached, and acquires images of the package. From the aforementioned image, the relative position of the package with respect to the terminal is estimated. The absolute position of the terminal is estimated with the origin being any location in the environment containing the aforementioned luggage. Based on the relative position of the package with respect to the terminal and the absolute position of the terminal, the absolute position of the package from the origin is estimated. This generates placement data that links the absolute position of the package with the identification information of the package. The computer performs the process. [Effects of the Invention]

[0009] According to the present disclosure, a luggage position estimation system and a luggage position estimation method capable of simply grasping the position of luggage can be provided.

Brief Description of the Drawings

[0010] [Figure 1] It is a block diagram illustrating the luggage position estimation system according to the present disclosure. [Figure 2] It is an explanatory diagram when generating arrangement data. [Figure 3] It is an explanatory diagram when generating arrangement data. [Figure 4] It is a diagram showing an example of the arrangement data generated by the server. [Figure 5] It is a diagram showing an example of the arrangement data generated by the server. [Figure 6] It is a flowchart showing the luggage position estimation method according to the present disclosure. [Figure 7] It is a block diagram illustrating the luggage position estimation system according to the present disclosure. [Figure 8] It is a diagram showing an example of overlapping a space map on a layout. [Figure 9] It is a diagram showing an example of a space map showing the states before and after shipment. [Figure 10] It is an explanatory diagram when generating a space map showing the state after shipment. [Figure 11] It is a diagram showing an example of a space map showing the states before and after shipment. [Figure 12] It is a block diagram illustrating the luggage position estimation system according to the present disclosure. [Figure 13] It is an explanatory diagram when generating a new space map. [Figure 14] It is an explanatory diagram when generating a new space map. [Figure 15] It is a diagram showing a space map and a new space map. [Figure 16]This diagram shows the original spatial map and a new spatial map. [Figure 17] This is an explanatory diagram for generating a new spatial map. [Figure 18] This diagram shows the original spatial map and a new spatial map. [Figure 19] This is a flowchart illustrating the method for estimating the location of luggage related to this disclosure. [Figure 20] This is a block diagram illustrating the luggage location estimation system related to this disclosure. [Figure 21] This is a flowchart illustrating the information processing method related to this disclosure. [Figure 22] This is a flowchart illustrating the information processing method related to this disclosure. [Figure 23] This is a flowchart illustrating the information processing method related to this disclosure. [Figure 24] This is a flowchart illustrating the information processing method related to this disclosure. [Figure 25] This is a flowchart illustrating the information processing method related to this disclosure. [Figure 26] This block diagram shows an example configuration of servers, etc., related to this disclosure. [Modes for carrying out the invention]

[0011] The present disclosure will be described below through embodiments, but the disclosure relating to the claims is not limited to the embodiments described below. Furthermore, not all of the configurations described in the embodiments are necessarily essential as means of solving the problem. Redundant explanations have been omitted where necessary.

[0012] <Embodiment 1> <Luggage Location Estimation System> The configuration of the package location estimation system according to this disclosure will be described below with reference to Figure 1. Figure 1 is a block diagram illustrating the package location estimation system according to this disclosure. As shown in Figure 1, the package location estimation system 1 comprises a terminal 100 and a server 10.

[0013] First, let's describe the overview of the luggage location estimation system 1. In the luggage location estimation system 1, the server 10 estimates the absolute position of each luggage based on images acquired from the terminal 100, with any location in the environment where the luggage is placed as the origin. The server 10 then generates placement data that links the absolute position of each luggage with the identification information of that luggage. The terminal 100 and the server 10 will be described in detail below.

[0014] <Terminal> As shown in Figure 1, the terminal 100 includes an imaging unit 101. The imaging unit 101 acquires an image including a package with identification information attached. The imaging unit 101 may be configured to acquire the package with identification information in response to a user's touch operation, or it may be configured to acquire the package with identification information automatically. The image may include one or more packages with identification information attached.

[0015] Identification information is unique to each package. There is a one-to-one correspondence between identification information and a package, and once the identification information is known, the package can be identified. Identification information includes, for example, a manufacturing number, a serial number, a number or symbol used for managing packages, and information linked to a barcode, for example. Terminal 100 transmits multiple images acquired by the imaging unit 101 to the server 10. Note that there is no limit to one terminal 100; there may be multiple terminals.

[0016] <server> As shown in Figure 1, the server 10 includes an image acquisition unit 11, a distance and direction determination unit 12, a luggage relative position estimation unit 13, a terminal absolute position estimation unit 14, a luggage absolute position estimation unit 15, and a placement data generation unit 16.

[0017] The image acquisition unit 11 acquires the image acquired by the imaging unit 101 from the terminal 100. The distance and direction determination unit 12 determines the distance between the terminal 100 and the luggage included in the image, and the direction of the luggage included in the image from the terminal 100, from the received image. The distance and direction determination unit 12 (see Figure 1) only needs to be able to determine the distance between the terminal 100 and the luggage included in the image, and the direction of the luggage included in the image from the terminal 100, using known techniques.

[0018] The luggage relative position estimation unit 13 estimates the relative position of the luggage to the terminal 100 based on the distance between the terminal 100 and the luggage included in the image, and the direction of the luggage included in the image from the terminal 100.

[0019] The terminal absolute position estimation unit 14 estimates the absolute position of the terminal with any of the following locations as the origin. Any of the following locations is any location in the environment where the luggage is placed, for example, the terminal position from which the very first image was acquired. Alternatively, any location in the image may be used as the origin. Any of the locations in the image is, for example, any location of luggage included in the image, or any location of an object other than luggage or a building included in the image.

[0020] The luggage absolute position estimation unit 15 estimates the absolute position of the luggage from the origin based on the relative position of the luggage with respect to the terminal 100 and the absolute position of the terminal 100.

[0021] The luggage absolute position estimation unit 15 may be configured not to perform any processing unless the terminal absolute position estimation unit 14 estimates the absolute position of the terminal. The placement data generation unit 16 then generates placement data that links the absolute position of the luggage with the luggage identification information.

[0022] When the image acquisition unit 11 acquires multiple images from the imaging unit 101, for example, the process is as follows: The image acquisition unit 11 acquires multiple images acquired by the imaging unit 101 from the terminal 100. The distance and direction determination unit 12 determines the distance between the terminal 100 and the luggage included in the image, and the direction of the luggage included in the image from the terminal 100, for each received image. The luggage relative position estimation unit 13 estimates the relative position of the luggage with respect to the terminal 100 for each image, based on the distance between the terminal 100 and the luggage included in the image, and the direction of the luggage included in the image from the terminal 100. The terminal absolute position estimation unit 14 estimates the absolute position of the terminal 100 at the time each image containing the luggage was taken, with the origin being one of the locations in the environment containing the luggage. The luggage absolute position estimation unit 15 estimates the absolute position of each luggage from the origin, based on each of the relative positions of the luggage with respect to the terminal 100 and the absolute position of the terminal 100 at the time the image containing the luggage was taken. The placement data generation unit 16 then generates placement data that links the absolute position of each package with the identification information of that package. In the package location estimation system 1, the same process is performed even if there are multiple terminals 100.

[0023] <Example of generating placement data> Referring to Figures 2 to 4, we will now explain in detail the image acquisition unit 11, distance direction determination unit 12, luggage relative position estimation unit 13, terminal absolute position estimation unit 14, luggage absolute position estimation unit 15, and placement data generation unit 16 shown in Figure 1. Figures 2 and 3 are explanatory diagrams for generating placement data. Figure 4 shows an example of placement data generated by the server 10. In the following, the placement data is shown in two-dimensional coordinates, but it is not limited to this and may also be in three-dimensional space. Also, in the following explanation, for the sake of simplicity, we will use the case where an image is acquired using one terminal owned by user U1 as an example, but images may be acquired using multiple terminals owned by different users.

[0024] Server 10 generates placement data, including the absolute positions of packages A to F, as shown in Figure 4, based on images acquired from a terminal owned by user U1 (not shown in Figures 2 and 3) shown in Figures 2 and 3. The following will provide a detailed explanation with reference to Figures 2 to 4.

[0025] First, as shown in Figure 2, user U1 walks near package A. As a result, user U1's terminal captures an image including package A. Next, the image acquisition unit 11 (see Figure 1) acquires an image including user U1's terminal A. User U1 is, for example, a worker in a warehouse. Subsequent users are similar.

[0026] Next, the distance and direction determination unit 12 (see Figure 1) estimates the distance between luggage A and user U1's terminal (not shown in Figures 2 and 3) and the direction of luggage A from user U1's terminal (not shown in Figures 2 and 3) based on the acquired image including luggage A.

[0027] Next, the luggage relative position estimation unit 13 (see Figure 1) estimates the relative position of luggage A with respect to user U1's terminal based on the distance between luggage A and user U1's terminal and the direction of luggage A from user U1's terminal. Here, as shown in Figure 2, the luggage relative position estimation unit 13 (see Figure 1) assumes that the relative position of luggage A with respect to user U1's terminal is (1,-1).

[0028] Next, the terminal absolute position estimation unit 14 estimates the absolute position of user U1's terminal when the image containing luggage A was taken, with the position of luggage A as the origin. Specifically, the terminal absolute position estimation unit 14 sets the position of luggage A as the origin (0,0). Then, since the relative position of luggage A to user U1's terminal is (1,-1), the terminal absolute position estimation unit 14 can estimate that the absolute position of user U1's terminal when the image containing luggage A was taken is (-1,1).

[0029] Next, as shown in Figure 3, user U1 walks near luggage B, and as a result, user U1's terminal takes an image including luggage B. Then, the image acquisition unit 11 (see Figure 1) acquires an image including user U1's terminal B.

[0030] Next, the distance and direction determination unit 12 (see Figure 1) estimates the distance between luggage B and user U1's terminal (not shown in Figures 2 and 3) and the direction of luggage B from user U1's terminal (not shown in Figures 2 and 3) based on the acquired image including luggage B.

[0031] Next, the luggage relative position estimation unit 13 (see Figure 1) estimates the relative position of luggage B with respect to user U1's terminal based on the distance between luggage B and user U1's terminal and the direction of luggage B from user U1's terminal. Here, as shown in Figure 3, the luggage relative position estimation unit 13 (see Figure 1) assumes that the relative position of luggage B with respect to user U1's terminal is (0,-1).

[0032] Here, the terminal absolute position estimation unit 14 can estimate the absolute position of the terminal when the image containing luggage B was taken by using the self-position estimation function of the user U1's terminal. Specifically, the terminal absolute position estimation unit 14 estimates that the absolute position of user U1's terminal when the image containing luggage A was taken is (-1,1). Since user U1's terminal estimates its own position moment by moment from the position (-1,1), it estimates that the absolute position of user U1's terminal when the image containing luggage B was taken is (2,1). In this way, the terminal absolute position estimation unit 14 can estimate the absolute position of user U1's terminal when luggage B was photographed, with the position of luggage A as the origin.

[0033] The method for estimating the absolute position of the terminal when taking the image containing luggage B, as described above, is just one example. It is not limited to this method, and for example, the terminal absolute position estimation unit 14 may estimate the absolute position of the terminal when taking the image containing luggage B from the absolute position of the user U1's terminal when taking the image containing luggage A, and the walking speed of the user U1.

[0034] If the device that took the image containing luggage B belongs to a user other than user U1, the absolute location of the other user's device is estimated as follows: The other user's device obtains information from user U1's device with the location of luggage A as the origin, and estimates its current location (absolute location) based on this information.

[0035] Next, the luggage absolute position estimation unit 15 (see Figure 1) estimates that the absolute position of luggage B is (2,0) based on the relative position of luggage B with respect to user U1's terminal (0,-1) and the absolute position of user U1's terminal when the image containing luggage B was taken (2,1). The absolute positions of luggage C, D, E, and F shown in Figure 3 are estimated using the same procedure.

[0036] Next, the placement data generation unit 16 (see Figure 1) associates the absolute positions of packages A, B, C, D, E, and F with the identification information of packages A, B, C, D, E, and F, respectively, and generates the placement data shown in Figure 4. In the placement data shown in Figure 4, package A is (0,0), package B is (2,0), package C is (0,2), package D is (2,2), package E is (0,4), and package F is (2,4). In the example shown in Figure 4, the identification information of packages A, B, C, D, E, and F is shown as packages A, B, C, D, E, and F. Also, in Figure 4, for the sake of ease of explanation, a 2D position, for example (0,0), is shown, but a 3D position, for example (0,0,0), could also be shown. The same applies to subsequent placement data and spatial maps.

[0037] In Figures 2 to 4, Server 10 (see Figure 1) acquires an image containing package A and estimates the absolute position of package A. Next, Server 10 (see Figure 1) acquires an image containing package B and estimates the absolute position of package B. An example of estimating the absolute positions of packages C to F in order using a similar procedure has been explained. However, Server 10 is not limited to this method and may be configured as follows.

[0038] Server 10 acquires multiple images containing luggage A through F. Each image contains each of luggage A through F. Server 10 then estimates the relative positions of luggage A through F with respect to user U1's terminal from each image. Server 10 estimates the absolute position of user U1's terminal at the time each image containing luggage A through F was taken, with one of the locations of luggage A through F as the origin. Server 10 may also estimate the absolute position of each luggage A through F from the origin based on the relative positions of luggage A through F with respect to user U1's terminal and the absolute position of user U1's terminal at the time each image was taken. In other words, Server 10 may be configured to estimate the absolute position of luggage contained in each image as it is acquired, or it may be configured to acquire all images first and then estimate the absolute position of luggage contained in each image.

[0039] Note that in Figure 4, for the sake of clarity, the layouts shown with dotted lines are superimposed to show the plots of packages A, B, C, D, E, and F. However, the placement data may also be as shown in Figure 5, without superimposing the layouts shown with dotted lines.

[0040] Figure 5 shows an example of placement data generated by the server. As shown in Figure 5, the placement data may simply represent packages A, B, C, D, E, and F as plots, with the absolute positions of packages A, B, C, D, E, and F linked to their identification information. For example, even without a layout as shown in Figure 5, if a worker knows the position of package A, they can determine the positions of packages B through F, whose absolute positions are indicated.

[0041] As described above, the luggage location estimation system according to Embodiment 1 acquires images from a terminal and estimates the absolute position of the luggage. With this configuration, it is possible to easily determine the location of luggage even without numbered tags indicating the address information of the luggage rack.

[0042] <Processing on terminals and servers> In Figure 1, an example is shown in which the server 10 includes an image acquisition unit 11, a distance and direction determination unit 12, a luggage relative position estimation unit 13, a terminal absolute position estimation unit 14, a luggage absolute position estimation unit 15, and a placement data generation unit 16.

[0043] However, in the luggage position estimation system 1, the terminal 100 may perform some or all of the processing of the image acquisition unit 11, distance direction determination unit 12, luggage relative position estimation unit 13, terminal absolute position estimation unit 14, luggage absolute position estimation unit 15, and placement data generation unit 16.

[0044] In other words, in the luggage position estimation system 1, the processing of the image acquisition unit 11, the distance and direction determination unit 12, the luggage relative position estimation unit 13, the terminal absolute position estimation unit 14, the luggage absolute position estimation unit 15, and the placement data generation unit 16 may be distributed and executed between the server 10 and the terminal 100.

[0045] <Method for estimating luggage location> Next, the method for estimating the location of luggage according to this disclosure will be explained. Figure 6 is a flowchart showing the method for estimating the location of luggage according to this disclosure. The main components of each step are the image acquisition unit 11, distance and direction identification unit 12, luggage relative position estimation unit 13, terminal absolute position estimation unit 14, luggage absolute position estimation unit 15, and placement data generation unit 16 shown in Figure 1.

[0046] First, the image acquisition unit 11 acquires an image of the luggage, which has been captured by the terminal and to which identification information has been attached (step ST1). Next, the distance and direction determination unit 12 determines the distance between the terminal and the luggage and the direction from the terminal to the luggage from the acquired image (step ST2).

[0047] The luggage relative position estimation unit 13 estimates the relative position of the luggage to the terminal based on the distance between the terminal and the luggage, and the direction of the luggage from the terminal (step ST3).

[0048] Next, the terminal absolute position estimation unit 14 estimates the absolute position of the terminal with respect to one of the locations in the environment containing the luggage as the origin (step ST4).

[0049] Next, the absolute position estimation unit 15 estimates the absolute position of the package from the origin based on the relative position of the package to the terminal and the absolute position of the terminal (step ST5). Next, the placement data generation unit 16 generates placement data that links the absolute position of the package with the identification information of the package (step ST6).

[0050] As described above, the luggage location estimation method according to Embodiment 1 acquires images from a terminal and estimates the absolute position of the luggage. With this configuration, it is possible to easily determine the location of luggage even without numbered tags indicating the address information of the luggage rack.

[0051] <Embodiment 2> <Luggage Location Estimation System> The configuration of the package location estimation system according to this disclosure will be described below with reference to Figure 7. Figure 7 is a block diagram illustrating the package location estimation system according to this disclosure. As shown in Figure 7, the package location estimation system 2 comprises a terminal 100, a server 10, and a spatial map database 21. The spatial map database 21 may also be provided by the server 10.

[0052] Terminal 100 is the same as terminal 100 shown in Figure 1, so its explanation is omitted. Server 20 includes an image acquisition unit 11, a distance and direction determination unit 12, a luggage relative position estimation unit 13, a terminal absolute position estimation unit 14, a luggage absolute position estimation unit 15, a placement data generation unit 16, and a spatial map generation unit 17. The image acquisition unit 11, distance and direction determination unit 12, luggage relative position estimation unit 13, terminal absolute position estimation unit 14, luggage absolute position estimation unit 15, and placement data generation unit 16 are the same as those in Figure 1, so their explanation is omitted.

[0053] Here, the spatial map generation unit 17 and the spatial map database 21 will be described with reference to Figure 8. Figure 8 is a diagram showing an example of a spatial map being overlaid on a layout.

[0054] In Figure 8, it is assumed that the placement data D1 is generated by the processing of the image acquisition unit 11, distance direction determination unit 12, luggage relative position estimation unit 13, terminal absolute position estimation unit 14, luggage absolute position estimation unit 15, and placement data generation unit 16 shown in Figure 7. The placement data D1 is the same as in Figure 5. As shown in Figure 8, the spatial map generation unit 17 generates a spatial map M1 by superimposing the placement data D1 onto a predetermined area (layout L1).

[0055] The spatial map generation unit 17, for example, allows a user to move and overlay placement data D1 to a predetermined location on layout L1 by touching it. In Figure 8, the user touches the layout L1 so that the position of luggage A in placement data D1 is located to the left of the lower left shelf, and the spatial map generation unit 17 overlays placement data D1 onto layout L1. The spatial map generation unit 17 then stores the generated spatial map M1 in the spatial map database 21.

[0056] The spatial map generation unit 17 may also be configured to associate time information, such as the generation time of the spatial map M1 and the user's walking time, with the spatial map M1 and store it in the spatial map database 21. Alternatively, the spatial map generation unit 17 may be configured to overlay the spatial map M1 with the relative position of the luggage relative to the terminal estimated by the luggage relative position estimation unit 13 and the absolute position of the terminal estimated by the terminal absolute position estimation unit 14.

[0057] In this way, the spatial map generation unit 17 generates a spatial map by overlaying placement data onto a predetermined area. This configuration makes it easier to determine the location of the packages.

[0058] <Update luggage location> In warehouses and similar facilities, goods are shipped and received, and it is necessary to manage the location (absolute position) of goods within the warehouse after shipment and receipt at the appropriate time. Below, we will explain an example of how a user can manage the location of goods after shipment and receipt, referring to Figures 9 to 11. Figures 9 and 11 are examples of spatial maps showing the state before and after shipment. Figure 10 is an explanatory diagram for generating a spatial map showing the state after shipment.

[0059] <Example of items received> Here, as shown on the left side of Figure 9, we assume that user U1 (see Figure 10) possesses terminal 100 as shown in Figure 7, and that spatial map M1 has been generated. Then, as shown on the right side of Figure 9, we assume that either user U1 (see Figure 10) or another worker receives package J. Subsequently, we will explain the case where the location of package J is managed using user U1's terminal 100.

[0060] As shown on the left side of Figure 10, user U1 walks with luggage A, B, J, D, C, E, E, and F in that order. Accordingly, user U1's terminal 100 (see Figure 8) takes images including luggage A, B, J, D, C, E, E, and F.

[0061] Server 20 (see Figure 7) generates placement data containing the absolute positions of packages A-F and J based on the acquired image, and generates the spatial map M2 shown on the right side of Figure 10 by overlaying this placement data onto the layout. It is assumed that the absolute position of J is (8,2). The generation of placement data and the overlaying of placement data onto the layout are the same as described above, so an explanation is omitted here.

[0062] Server 20 stores the spatial map M2 shown on the right side of Figure 10 in the spatial map database 21, linking it with time information. This ensures that even when goods are shipped and received, spatial maps M1 and M2 are stored in the spatial map database 21, allowing for the management of the location of goods within the warehouse at each time point.

[0063] In Figure 10, user U1 walks through luggage A, B, J, D, C, E, E, and F in that order to generate spatial map M2. However, the method is not limited to this, and spatial map M2 may be generated by the following methods.

[0064] User U1 walks near luggage J, and as a result, User U1's terminal 100 (see Figure 7) takes an image including luggage J. Server 20 can estimate the relative position of luggage J to terminal 100 using the distance direction determination unit 12 (see Figure 7) and luggage relative position estimation unit 13 (see Figure 7). Here, the absolute position of User U1's terminal 100 (see Figure 7) is estimated when the spatial map M1 is generated. From this, Server 20 can estimate the absolute position of luggage J based on the relative position of luggage J to terminal 100 and the absolute position of User U1's terminal 100 (see Figure 7).

[0065] Server 20 (see Figure 7) overlays the placement data of luggage J onto the layout to generate a spatial map containing luggage J (a spatial map showing only the identification information and absolute position of luggage J). Then, Server 20 generates spatial map M2 by overlaying spatial map M1 and the spatial map containing luggage J.

[0066] When overlaying spatial map M1 with the spatial map containing luggage J, a location in the layout, such as a shelf, is used as a reference point. In this way, user U1 does not need to walk around to acquire images of all the luggage; by walking near luggage J, the absolute position of the received luggage J can be determined.

[0067] <Example of shipment> Furthermore, as shown in Figure 11, even if user U1 (see Figure 10) or an operator other than user U1 (see Figure 10) ships package D, the server 20 can generate the spatial map M3 using the same procedure.

[0068] <Embodiment 3> <Luggage Location Estimation System> The configuration of the package location estimation system according to this disclosure will be described below with reference to Figure 12. Figure 12 is a block diagram illustrating the package location estimation system according to this disclosure. As shown in Figure 12, the package location estimation system 3 comprises a first terminal 110, a second terminal 120, and a server 30.

[0069] In the package location estimation system 3, a spatial map is generated using the first terminal 110. A key feature of this system is that a new spatial map is generated using the second terminal 120 when managing the location of packages after shipment and arrival. The package location estimation system 3 allows for the generation of a new spatial map by another user's terminal using a spatial map generated by one user's terminal, thereby managing the location of packages after shipment and arrival. The following sections will describe the various components of the package location estimation system 3 and provide an example of generating a new spatial map.

[0070] <Terminal 1 and Terminal 2> The first terminal 110 shown in Figure 12 is the same as the terminal 100 shown in Figures 1 and 7. The second terminal 120 shown in Figure 12 is a different terminal from the first terminal 110. The second terminal 120 is equipped with an imaging unit 112 and has the same configuration as the first terminal 110. The first terminal 110 and the second terminal 120 are owned by different users.

[0071] Furthermore, the first terminal 110 and the second terminal 120 are not limited to one each, but may be multiple. That is, there may be one or more first terminals 110, which are terminals for generating spatial maps. There may be one or more second terminals 120, which are terminals for generating new spatial maps. Furthermore, the first terminal 110 may simply be referred to as "the terminal," and the second terminal 120 may be referred to as "another terminal."

[0072] For convenience, the image acquired by the first terminal 110 will be referred to as the first image, and the image acquired by the second terminal 120 will be referred to as the second image. Alternatively, the first image may simply be referred to as "the image," and the second image as "another image." For the sake of clarity, the following explanation will assume that there is one first terminal 100 and one second terminal 120.

[0073] <server> The server 30 shown in Figure 12 comprises a first terminal information processing unit 301, a second terminal information processing unit 302, a spatial map generation unit 18, and a spatial map database 33. The first terminal information processing unit 301 comprises an image acquisition unit 11, a distance and direction determination unit 12, a luggage relative position estimation unit 13, a terminal absolute position estimation unit 14, a luggage absolute position estimation unit 15, and a placement data generation unit 16.

[0074] The first terminal information processing unit 301 is the same as in Figure 1, so its explanation is omitted. The spatial map generation unit 18 is the same as the spatial map generation unit 17 shown in Figure 7, so its explanation is omitted. The spatial map database 33 is the same as the spatial map database 21 shown in Figure 7, so its explanation is omitted.

[0075] The second terminal information processing unit 302 includes an image acquisition unit 11, a distance and direction determination unit 12, a luggage relative position estimation unit 13, a terminal absolute position estimation unit 34, a luggage absolute position estimation unit 15, and a placement data generation unit 16. Except for the terminal absolute position estimation unit 34, each component is the same as that of the first terminal information processing unit 301, and the "first terminal" in each component becomes the "second terminal".

[0076] For example, the luggage relative position estimation unit 13 of the first terminal information processing unit 301 estimates the relative position of the luggage with respect to the first terminal. In contrast, the luggage relative position estimation unit 13 of the second terminal information processing unit 302 estimates the relative position of the luggage with respect to the second terminal.

[0077] Furthermore, the luggage absolute position estimation unit 15 of the second terminal information processing unit 302 estimates a new absolute position of the luggage. The "new absolute position of the luggage" is the absolute position of the luggage estimated based on the spatial map of the first terminal and the information of the second terminal, and indicates the absolute position of each luggage from the origin. In contrast, the "absolute position of the luggage" is the absolute position of the luggage estimated based on the information of the first terminal, and indicates the absolute position of each luggage from the origin. The "absolute position of the luggage" is, for example, the coordinates shown in Figure 4.

[0078] As described above, the image acquisition unit 11, distance direction determination unit 12, luggage relative position estimation unit 13, luggage absolute position estimation unit 15, and placement data generation unit 16 in the second terminal information processing unit 302 are basically the same as those in the first terminal information processing unit 301, so their explanation will be omitted. Here, we will explain the terminal absolute position estimation unit 34.

[0079] <Terminal absolute position estimation unit in the second terminal> The terminal absolute position estimation unit 34 performs the following processing when it detects a package with the same identification information as the package included in the spatial map. Based on the position of the detected package in the spatial map and the relative position of the package to the second terminal, the terminal absolute position estimation unit 34 estimates the absolute position of the second terminal from the origin at the time the second image containing each package was taken. The origin is the origin in the spatial map.

[0080] <Estimation of the absolute position of the second terminal and generation of a new spatial map> Referring to Figure 13, we will specifically explain the absolute position of the second terminal and the generation of a new spatial map. Figure 13 is an explanatory diagram for the generation of a new spatial map. A new spatial map is a spatial map generated using the second terminal after the first terminal has generated a spatial map.

[0081] Here, we assume that user U1 owns the first terminal 110 and user U2 owns the second terminal 120. We also assume that user U1's first terminal 110 has generated the spatial map M1 shown in Figure 8. Furthermore, we will explain an example in which, after the generation of spatial map M1, a new package J arrives as shown in Figure 13, and user U2 uses the second terminal 120 to generate a new spatial map M2 that includes the location of package J.

[0082] <Estimation of the absolute position of the second terminal> First, as shown in Figure 13, user U2 walks in the order of luggage A, B, J, D, C, E, and F. Accordingly, user U2's second terminal 120 (see Figure 12) takes pictures including luggage A, B, J, D, C, E, and F. The second terminal 120 then transmits the captured images to the server 30.

[0083] Server 30 estimates the relative positions of packages A to F and J with respect to the second terminal 120 using the distance direction determination unit 12 and the package relative position estimation unit 13 in the second terminal information processing unit 302.

[0084] Here, the server 30 (terminal absolute position estimation unit 34) determines, based on the image from user U2's second terminal 120, whether or not the package contains the same identification information as the package included in the spatial map M1 (Figure 8).

[0085] In the example shown in Figure 13, the identification information of packages A to F is the same as that of the packages included in spatial map M1 (Figure 8). Therefore, server 30 (terminal absolute position estimation unit 34) determines that it has detected packages with the same identification information as those included in spatial map M1. Here, we focus on packages A and B among packages A to F.

[0086] The terminal absolute position estimation unit 34 obtains information regarding the absolute positions of luggage A and B from the spatial map M1. Specifically, the terminal absolute position estimation unit 34 identifies from the spatial map M1 that the absolute position of luggage A is (0,0) and the absolute position of luggage B is (2,0). Then, the distance direction determination unit 12 and the luggage relative position estimation unit 13 in the second terminal information processing unit 302 estimate the relative positions of luggage A and B with respect to the second terminal 120.

[0087] The terminal absolute position estimation unit 34 estimates the absolute position of the second terminal 120 when the second image containing luggage A and B was taken, based on the absolute positions of luggage A and B detected in the spatial map and the relative positions of luggage A and B with respect to the second terminal 120.

[0088] Here, since it is a two-dimensional map, we used luggage A and B as examples, but in a spatial map in three-dimensional coordinate space, information on the location of another luggage is required. In addition, the terminal absolute position estimation unit 34 may obtain information on the absolute position of any combination of luggage A to F included in the spatial map M1 and estimate the absolute position of the second terminal 120.

[0089] Furthermore, the terminal absolute position estimation unit 34 can estimate the absolute position of the terminal when an image containing luggage J is taken by using the self-position estimation function of the user U2's terminal. A detailed explanation is the same as that of the terminal absolute position estimation unit 14 in Embodiment 1, so the explanation is omitted.

[0090] <Generating a new spatial map> As shown in Figure 13, the luggage absolute position estimation unit 15 estimates that the absolute position of luggage J is (6,2) based on the relative position of luggage J with respect to user U2's second terminal 120 and the absolute position of user U2's second terminal when the image containing luggage J was taken.

[0091] In this way, the server 30 (spatial map generation unit 18) generates a new spatial map M2 including the received package J, based on the spatial map M1 generated by user U1's first terminal 110 and the information from user U2's second terminal 120. In both spatial map M1 and the new spatial map M2, the coordinates of the package are expressed using absolute coordinates with package A as the origin.

[0092] With this configuration, even when goods are shipped and received, the location of goods within the warehouse can be managed by referring to the new spatial map M2 shown in Figure 13. Furthermore, a new spatial map is generated each time multiple users enter or exit the warehouse, allowing for the management of the constantly changing location of goods within the warehouse. In other words, the constantly changing location of goods within the warehouse can be managed by multiple users with terminals walking around. Moreover, the new spatial map M2 generated based on information from the second terminal 120 can be considered an update of the spatial map M1 generated by the first terminal 110.

[0093] <Improved accuracy in estimating the absolute position of the second terminal> Here, with reference to Figure 14, we will explain an example of improving the accuracy of estimating the absolute position of the second terminal. Figure 14 is an explanatory diagram for generating a new spatial map. Here, we assume that user U1 owns the first terminal 110, and user U2 owns the second terminal 120.

[0094] Furthermore, the explanation will assume that the spatial map M11 shown on the left side of Figure 14 has been generated by user U1's first terminal 110. After the generation of the spatial map M11, a new package J is received, as shown on the right side of Figure 14, and the method for estimating the absolute position of user U2's second terminal 120 will be explained.

[0095] As shown on the right side of Figure 14, user U2 walks in the order of luggage A, B, C, J, A, B, and D. Accordingly, user U2's second terminal 120 (see Figure 12) takes images including luggage A, B, C, J, A, B, and D.

[0096] The server 30 (terminal absolute position estimation unit 34) determines, based on the image from user U2's second terminal 120, whether or not the package contains the same identification information as the package included in the spatial map M11 (Figure 8).

[0097] In the example shown in Figure 14, the identification information of packages A to F is the same as that of the packages included in spatial map M11. Therefore, the server 30 (terminal absolute position estimation unit 34) determines that it has detected packages with the same identification information as those included in spatial map M11. Here, we will focus on package A among packages A to F.

[0098] The terminal absolute position estimation unit 34 obtains information about the absolute position of luggage A from the spatial map M11. In this case, as shown in Figure 14, there are two luggage A's in the spatial map M11, and the unit obtains two coordinates for luggage A: (0,0) and (0,4).

[0099] Therefore, even if the relative position of package A with respect to the second terminal can be estimated, the absolute position of the second terminal 120 when the second image containing package A was taken cannot be estimated because the absolute position of the coordinates (0,0) and (0,4) of package A is unknown. The same applies to package B.

[0100] Let me explain in more detail. If the coordinates of luggage A are (0,0), then considering the relative position, the absolute position of the second terminal should be (0,1). In this case, if the coordinates of luggage A were (0,4), then considering the relative position, the absolute position of the second terminal should be (0,5).

[0101] Similarly, if the coordinates of package B are (2,0), then considering the relative position, the absolute position of the second terminal should be (2,1). In this case, if the coordinates of package B are (2,4), then considering the relative position, the absolute position of the second terminal should be (2,5).

[0102] In other words, when user U2 is walking near the coordinates (0,0) of luggage A and (2,0) of luggage B, the absolute position of the second terminal changes to (0,1) and (2,1). On the other hand, when user U2 is walking near the coordinates (0,4) of luggage A and (2,4) of luggage B, the absolute position of the second terminal changes to (0,5) and (2,5). Thus, because there are two of each of luggage A and B, the absolute position of the second terminal cannot be uniquely determined.

[0103] However, as shown in Figure 14, there is only one package C in the spatial map M11. Therefore, the absolute position of the second terminal 120 when the second image containing package C was taken can be estimated from the coordinates of package C. Based on this, the server 30 (terminal absolute position estimation unit 34) estimates that the absolute position of the second terminal 120 when the second image containing package C was taken is (4,1).

[0104] The server 30 (terminal absolute position estimation unit 34) compares the estimated absolute positions of the second terminal (0,1), (2,1) and the absolute positions of the second terminal (0,5), (2,5) with the absolute position of the second terminal 120 when the second image containing luggage C was taken, which was (4,1). By referring to the time when each absolute position was estimated, the server 30 (terminal absolute position estimation unit 34) can estimate that the absolute position of the second terminal changed moment by moment from (0,1), (2,1) to (4,1).

[0105] Let me explain in detail. Suppose the absolute positions of the second terminal were estimated at (0,1) and (0,5), and the absolute positions of the second terminal were estimated at 16:00 and 16:01, respectively. Then, let's assume that the absolute position of the second terminal 120 when the second image containing luggage C was taken was estimated at (4,1) at 16:02.

[0106] In this case, assuming that the absolute position of the second terminal changed from (0,5) to (2,5) to (4,1) as time progressed from 16:00 to 16:01 to 16:02, the absolute position of the second terminal changed to (2,5) to (4,1), indicating a sudden change in the absolute position of the second terminal.

[0107] On the other hand, assuming that the absolute position of the second terminal changed from (0,1) to (2,1) to (4,1) as time progressed from 16:00 to 16:01 to 16:02, the absolute position of the second terminal changed to (2,1) to (4,1), and the absolute position of the second terminal did not change abruptly. Therefore, the server 30 (terminal absolute position estimation unit 34) can estimate that the absolute position of the second terminal changed moment by moment from (0,1) to (2,1) to (4,1).

[0108] Thus, if the spatial map M11 generated by the first terminal contains multiple packages with the same identification information, the server 30 (terminal absolute position estimation unit 34) may do the following: When the server 30 (terminal absolute position estimation unit 34) detects at least three or more packages with the same identification information as the packages included in the spatial map, it estimates the absolute position of the second terminal at the time the second image containing each package was taken, based on the position of the detected packages in the spatial map and the relative position of the packages with respect to the second terminal. Then, by comparing the estimated absolute positions of the second terminal at the time each image was taken, it estimates an appropriate absolute position of the second terminal.

[0109] This configuration allows for the reliable estimation of the absolute position of the second terminal, even if the spatial map M11 generated by the first terminal contains multiple packages with the same identification information. Furthermore, the accuracy of the server 30 (terminal absolute position estimation unit 34) in estimating the absolute position of the second terminal increases as the number of packages with the same identification information increases.

[0110] <Processing when the second terminal acquires images of all items included in the spatial map> Here, the spatial map generation unit 18 may delete the spatial map generated by the first terminal if the movement path of the first terminal and the movement path of the second terminal are the same. This will be explained with reference to Figure 15. Figure 15 is a diagram showing the spatial map and the new spatial map. As shown in Figure 15, the spatial map database 33 stores the spatial map M1 (see Figure 8) and the new spatial map M2 (see Figure 13) generated based on the spatial map M1 (see Figure 8), linked to time information.

[0111] As explained in Figure 13, a user with the second terminal 120 travels along the same route as the first terminal 110 (the travel route in Figure 2), and a new spatial map M2 is generated. In this case, the spatial map generation unit 18 deletes spatial map M1 from the spatial map database 33 shown in Figure 15. This configuration reduces the amount of data in the spatial map database 33.

[0112] In this explanation, we describe the case where the movement path of the user with the second terminal 120 is the same as the movement path of the first terminal 110 (the movement path in Figure 2). Even if the movement path of user U2 with the second terminal 120 is not the same as the movement path of the first terminal 110 (the movement path in Figure 2), if the user is walking near all of the luggage (luggage A to F in Figure 15) on the spatial map M1, the spatial map M1 generated by the first terminal may be deleted.

[0113] For example, in Figure 13, user U2 walks through luggage A, B, J, D, C, E, and F in the same order as the movement path of the first terminal 110 (the movement path in Figure 2). The spatial map M1 generated by the first terminal may also be deleted if user U2 walks through luggage F, E, C, D, J, B, and A, or if luggage E, F, J, D, C, A, and B.

[0114] In other words, the spatial map generation unit 18 may delete the spatial map M1 generated by the first terminal when the second terminal has acquired images of all the luggage included in the spatial map M1.

[0115] Of course, the server 30 may be configured not to delete spatial map M1 from the spatial map database 33. This allows the location of packages at each time point to be managed by performing a time search and referring to the spatial map information at each time point.

[0116] <Second Difference Identification Information (Identifying Incoming Shipments)> Here, the spatial map generation unit 18 may perform the following processing if the movement path of the first terminal and the movement path of the second terminal are the same, and if, after comparing spatial map M1 and the new spatial map M2, it finds that different luggage identification information is included. The server 30 generates the identification information of the different luggage and information regarding the absolute position or new absolute position associated with the identification information of the different luggage.

[0117] Refer to Figure 15 for a detailed explanation. The spatial map generation unit 18 compares the spatial map M1 in the spatial map database 33 with the new spatial map M2. It then recognizes that the new spatial map M2 contains luggage J that is not included in spatial map M1. In this case, the server 30 generates identification information for luggage J, its absolute position (6,2), and other related information.

[0118] The spatial map generation unit 18 transmits information regarding the identification information of package J and the absolute position (6,2) of package J to, for example, the first terminal, the second terminal, and the management terminal described later in Embodiment 4. This allows users and administrators to keep track of packages that have arrived in the warehouse. Time information may also be linked to the identification information of package J and the absolute position (6,2) of package J.

[0119] In this case, for convenience, the identification information of J will be referred to as the second difference identification information. The second difference identification information refers to the identification information of the new spatial map M2 that is different from the identification information included in spatial map M1.

[0120] <First Difference Identification Information (Identifying Shipped Packages)> Refer to Figure 16 to specifically explain an example of tracking shipped packages. Figure 16 shows a spatial map and a new spatial map. As shown in Figure 16, the spatial map database 33 stores the spatial map M111 generated by the first terminal and the new spatial map M222 generated by the second terminal, linked to time information.

[0121] The spatial map generation unit 18 compares the spatial map M111 in the spatial map database 33 with the new spatial map M222. It then recognizes that the spatial map M111 contains luggage J that is not included in the new spatial map M222. In this case, the server 30 generates information regarding the identification of luggage J and its absolute position (6,2).

[0122] The spatial map generation unit 18 transmits information regarding the identification information of package J and the absolute position (6,2) of package J to, for example, the first terminal, the second terminal, and the management terminal described later in Embodiment 4. This allows users and administrators to keep track of packages shipped from the warehouse. Time information may also be linked to the identification information of package J and the absolute position (6,2) of package J.

[0123] In this case, for convenience, the identification information of J will be referred to as the first difference identification information. The first difference identification information refers to the identification information of spatial map M1 that is different from the identification information included in the new spatial map M2.

[0124] <Handling cases where the travel path of the first terminal and the travel path of the second terminal are different> In Figure 13, the user with the second terminal 120 travels along the same route as the user with the first terminal 110 (the route in Figure 2), and a new spatial map M2 is generated. However, even if the travel route of the second terminal 120 differs from the travel route of the first terminal 110 (the route in Figure 2), a new spatial map can still be generated to manage the location of incoming and outgoing packages. This will be explained in detail with reference to Figure 17.

[0125] Figure 17 is an explanatory diagram for generating a new spatial map. Here, we assume that user U1 owns the first terminal 110 (see Figure 12), and user U2 owns the second terminal 120 (see Figure 12). Furthermore, we will explain this assuming that the spatial map M1 shown in Figure 8 has been generated by user U1's first terminal 110 (see Figure 12).

[0126] Furthermore, after the generation of spatial map M1, as shown in Figure 17, a new package J is received, and an example is described in which user U2 uses its second terminal 120 (see Figure 12) to generate a new spatial map that includes the location of package J.

[0127] As shown in Figure 17, user U2 walks with luggage A, B, and J in that order. Accordingly, user U2's second terminal 120 takes images including luggage A, B, and J. Based on these images, server 30 estimates the absolute positions of luggage A, B, and J to be (0,0), (2,0), and (6,2), respectively.

[0128] The server 30 (spatial map generation unit 18) then generates the spatial map M210 shown in Figure 17 by overlaying placement data, which is linked to the absolute positions of luggage A, B, and J and the identification information of luggage A, B, and J, onto the layout.

[0129] Figure 18 shows the spatial map and the new spatial map. As shown in Figure 18, the spatial map database 33 stores spatial map M1 (see Figure 8) and the new spatial map M210 (see Figure 17) linked to time information.

[0130] As shown in Figure 18, the new spatial map M210 contains information about the absolute positions of luggage A, B, and J, but does not contain information about luggage C, D, E, and F. In this case, the spatial map generation unit 18 superimposes spatial map M1 and the new spatial map M210. The spatial map generation unit 18 superimposes them using luggage A, which is included in both spatial map M1 and the new spatial map M210, as a reference. This generates spatial map M2 as shown on the right side of Figure 15.

[0131] Therefore, the server 30 (spatial map generation unit 18) generates a new spatial map M210 even if the movement path of the second terminal 120 is different from the movement path of the first terminal 110 (movement path in Figure 2). By superimposing spatial map M1 and the new spatial map M210, the server 30 (spatial map generation unit 18) generates spatial map M2 as shown on the right side of Figure 15.

[0132] As a result, the cargo location estimation system according to Embodiment 3 can manage the location of incoming and outgoing cargo. The spatial map generation unit 18 may overlay the spatial map M1 with a new spatial map M210 in response to touch operations or input operations by the user or administrator.

[0133] Alternatively, as shown in Figure 18, the spatial map generation unit 18 may delete portion M111 from the spatial map M1 that corresponds to a predetermined portion M280 of the new spatial map M210, and then superimpose the predetermined portion M280 of the new spatial map M210 onto the spatial map M1.

[0134] In other words, the spatial map generation unit 18 may replace a portion M111 of the spatial map M1 with a portion M280 of the new spatial map M210. Preferably, the predetermined portion M280 of the new spatial map M210 has a shape that includes the movement path walked by the user U2 as shown in Figure 17.

[0135] In this example, the spatial map generation unit 18 generates a new spatial map M210 (Figure 18) and overlays the new spatial map M210 onto the spatial map M1 (Figure 18) to generate the spatial map M2 shown on the right side of Figure 15. However, the method is not limited to this, and may be performed as follows.

[0136] The spatial map generation unit 18 may also be configured to update the spatial map M1 generated by U1 by overlaying the absolute positions of luggage A, B, and J in Figure 18, estimated by the second terminal 120, onto the spatial map M1, without generating a new spatial map M210 (Figure 18), thereby generating a spatial map M2 as shown on the right side of Figure 15. Alternatively, the spatial map generation unit 18 may be configured to update the spatial map M1 generated by U1 by overlaying the absolute positions of luggage A, B, and J in Figure 18, estimated by the second terminal 120, onto the spatial map M1, regardless of whether the movement paths of the first terminal and the second terminal are different.

[0137] <Method for estimating luggage location> Next, the method for estimating the location of luggage related to this disclosure will be explained. Figure 19 is a flowchart showing the method for estimating the location of luggage related to this disclosure. Figure 19 shows the processing of the second terminal information processing unit 302 shown in Figure 12, and shows the processing when a new spatial map is generated.

[0138] This explanation assumes that the second terminal has acquired a second image containing the luggage with identification information. The explanation will refer to the various functional blocks of the second terminal information processing unit 302 shown in Figure 12 as appropriate.

[0139] First, the image acquisition unit 11 of the second terminal information processing unit 302 acquires an image of the luggage captured by the second terminal and to which identification information has been attached (step ST11). Next, the distance and direction identification unit 12 identifies the distance between the second terminal and the luggage included in the second image, and the direction of the luggage included in the second image from the second terminal, based on the acquired second image (step ST12).

[0140] Next, the luggage relative position estimation unit 13 of the second terminal information processing unit 302 estimates the relative position of the luggage included in the second image with respect to the second terminal, based on the distance between the second terminal and the luggage included in the second image, and the direction of the luggage included in the second image from the second terminal (step ST13).

[0141] Next, the terminal absolute position estimation unit 14 of the second terminal information processing unit 302 performs the following processing when it detects that the luggage included in the spatial map and the luggage included in the second image are the same luggage with the same identification information. The terminal absolute position estimation unit 34 estimates the absolute position of the second terminal from the origin based on the position of the detected luggage in the spatial map and the relative position of the luggage to the second terminal (step ST14). Specifically, the terminal absolute position estimation unit 14 estimates the absolute position of the second terminal at the time the second image containing each luggage was taken.

[0142] Next, the luggage absolute position estimation unit 15 of the second terminal information processing unit 302 estimates a new absolute position of the luggage included in the second image from the origin based on the relative position of the luggage included in the second image with respect to the second terminal and the absolute position of the second terminal (step ST15). Specifically, the luggage absolute position estimation unit 15 estimates the absolute position of each luggage from the origin based on each of the relative positions of the luggage with respect to the second terminal and the absolute position of the second terminal when the image containing the luggage was taken.

[0143] Next, the placement data generation unit 16 of the second terminal information processing unit 302 generates placement data that links the absolute position of each package with the identification information of that package (step ST16). Next, the spatial map generation unit 18 generates a new spatial map by overlaying the placement data from step ST16 onto the layout (a predetermined area) (step ST17).

[0144] As described above, the cargo location estimation method according to Embodiment 3 acquires images from the second terminal and uses the spatial map created by the first terminal to estimate the new absolute position of the cargo. Then, in the cargo location estimation method according to Embodiment 3, the new absolute position is generated as a new spatial map or updated by overlaying it on the existing spatial map. With this configuration, even when cargo is shipped and received, the location of cargo in the warehouse can be managed by referring to the new spatial map. Furthermore, since a new spatial map is generated each time multiple users enter and exit the warehouse, the location of cargo in the warehouse, which changes moment by moment, can be managed.

[0145] <Embodiment 4> <Luggage Location Estimation System> The configuration of the package location estimation system according to this disclosure will be described below with reference to Figure 20. Figure 20 is a block diagram illustrating the package location estimation system according to this disclosure. As shown in Figure 20, the package location estimation system 4 includes a worker terminal 100, an administrator terminal 500, and a server 40.

[0146] <Worker terminal> The worker terminal 100 is a terminal held by the worker. It is the same as the terminal 100 shown in Figures 1 and 7, and the first terminal 110 and second terminal 120 shown in Figure 12, so no explanation is given. Although not shown in Figure 20, the worker terminal 100 is equipped with a display unit for displaying a spatial map. The display unit in the worker terminal 100 may also be configured to have the function of displaying the spatial map in AR (Augmented Reality) or MR (Mixed Reality). The worker terminal 100 may also be configured to acquire information about the package from the server 40 in the vicinity of the package's location and display information about the package. Information about the package may include, for example, package identification information, information about the number of packages, information about the consignor, information about the shipping destination, information about the receiving date and shipping date, information about handling precautions such as "fragile," and information indicating the condition of the package.

[0147] <Administrator terminal> The administrator terminal 500 includes a work instruction input unit 501, a layout input unit 502, and a cargo information input unit 503. The administrator terminal 500 is, for example, a terminal owned by a warehouse manager.

[0148] The manager inputs the work details and the workers into the work instruction input unit 501. The work details include, for example, the identification information of the packages, the number of packages, and the destination of the packages. The work instruction input unit 501 transmits the entered work details information to the work instruction unit 41.

[0149] The administrator inputs a layout (a predetermined area) indicating the location to be managed into the layout input unit 502. For example, architectural design drawing data or architectural CAD drawing data may be input into the layout input unit 502. The layout input unit 502 transmits the input layout information to the layout database 438 in the database 43.

[0150] The administrator inputs information about packages that have been received or shipped to the location under their management into the package information input unit 503. For example, the administrator inputs the following into the package information input unit 503: package identification information, information about the number of packages, information about the consignor, information about the shipping destination, information about the receiving and shipping dates, information about handling precautions such as "fragile," and information indicating the condition of the packages. For example, delivery slip data is entered into the package information input unit 503. The package information input unit 503 transmits the entered package information to the package information database 437 in the database 43.

[0151] <server> The server 40 comprises a work instruction unit 41, a terminal information processing unit 42, and a database 43. The work instruction unit 41 estimates routes and notifies workers of their tasks. The terminal information processing unit 42 estimates the absolute position of packages based on images acquired from terminals. The database 43 stores predetermined data. The following describes each process of the server 40 separately.

[0152] <Route estimation and work notification> The work instruction unit 41 includes a route estimation unit 411 and a work notification unit 412. When the route estimation unit 411 receives work details from the work instruction input unit 501, it estimates the route for the worker to move to the cargo of the work. The route estimation unit 411 estimates the route based, for example, on the layout of the layout database 438, the spatial map of the spatial map database 439, and the absolute positions of the first terminal 110 and the second terminal 120. The route estimation unit 411 only needs to estimate the route to the cargo of the work based on at least one of the spatial map and the new spatial map, and at least one of the absolute positions of the first terminal and the second terminal.

[0153] The route estimation unit 411 estimates a travel route, for example, to present the shortest route from the worker's terminal's current location to the cargo to be handled. The route estimation unit 411 may also detect situations such as other workers blocking a narrow passageway and estimate a detour route.

[0154] Furthermore, the route estimation unit 411 may estimate an efficient movement route from the group of items to be handled, based on factors such as weight, shape, and stacking order. The route estimation unit 411 may also update the route as needed in accordance with the real-time changes in the positions of other workers. In this way, the route estimation unit 411 estimates the movement routes of workers, enabling efficient work execution.

[0155] The work notification unit 412 transmits the work details from the work instruction input unit 501 and the travel route estimated by the route estimation unit 411 to the worker terminal 100.

[0156] <Data storage> Database 43 comprises a cargo information database 437, a layout database 438, and a spatial map database 439. The cargo information database 437 stores information about cargo entered into the cargo information input unit 503. The layout database 438 stores information about the entered layout entered into the layout input unit 502. The spatial map database 439 stores spatial maps generated by the spatial map generation unit 407, which will be described later. Database 43 may be updated in response to worker input, such as picking or receiving operations.

[0157] <Estimation of the absolute position of the luggage> The terminal information processing unit 42 includes an image acquisition unit 401, a distance and direction determination unit 402, a luggage relative position estimation unit 403, a worker terminal absolute position estimation unit 404, a luggage absolute position estimation unit 405, a placement data generation unit 406, and a spatial map generation unit 407.

[0158] The image acquisition unit 401, distance and direction determination unit 402, luggage relative position estimation unit 403, worker terminal absolute position estimation unit 404, luggage absolute position estimation unit 405, placement data generation unit 406, and spatial map generation unit 407 are the same as the functional blocks of the server 20 shown in Figure 7, so their explanation is omitted.

[0159] Furthermore, the terminal information processing unit 42 includes a luggage identification information search unit 421, an identification information acquisition unit 422, a luggage relative position determination unit 431, a worker terminal absolute position determination unit 441, and a luggage identification unit 451.

[0160] The package identification information search unit 421 detects the location of the barcode with identification information from the image acquired from the worker's terminal. The identification information acquisition unit 422 acquires the identification information from the barcode detected by the package identification information search unit 421.

[0161] The luggage relative position determination unit 431 determines whether the relative position of the luggage with respect to the worker terminal, estimated by the luggage relative position estimation unit 403, is accurately estimated. For example, the luggage relative position determination unit 431 determines whether the relative position is accurately estimated based on the relative position of the luggage with respect to the worker terminal estimated by the luggage relative position estimation unit 403 and the spatial map stored in the spatial map database 439.

[0162] The worker terminal absolute position determination unit 441 determines whether the absolute position of the worker terminal estimated by the worker terminal absolute position estimation unit 404 is accurately estimated. For example, the worker terminal absolute position determination unit 441 determines whether the absolute position is accurately estimated based on the absolute position of the worker terminal estimated by the worker terminal absolute position estimation unit 404 and the position of the worker terminal in the spatial map stored in the spatial map database 439.

[0163] The package identification unit 451 compares the package identification information obtained by the package identification information search unit 421 with the identification information in the package information database 437 and performs the following processing: The package identification unit 451 determines whether the package identification information obtained by the package identification information search unit 421 belongs to a package that has been received or shipped to a location managed by the unit.

[0164] <Information Processing Methods> Next, we will explain the information processing method related to this disclosure. Figures 21 to 25 are flowcharts showing the information processing method related to this disclosure. Figures 21 to 25 explain the entire process from work preparation and receiving work instructions from the manager to the worker completing the work. We will refer to the functional blocks shown in Figure 20 as appropriate during the explanation.

[0165] <Preparation for work> First, as shown in Figure 21, the administrator inputs information (package information) about packages that have been sent to and from the location to be managed via the package information input unit 503 (step ST101). The location to be managed is, for example, a logistics warehouse. Next, as shown in Figure 21, the administrator inputs a layout showing the location to be managed via the layout input unit 502 (step ST102). Steps ST101 and ST102 can be performed in any order.

[0166] <Work Instructions (Administrator Terminal)> Next, as shown in Figure 22, the manager inputs the work details via the work instruction input unit 501 (step ST103). Next, as shown in Figure 22, the manager inputs the worker via the work instruction input unit 501 (step ST104).

[0167] Next, as shown in Figure 22, the work instruction input unit 501 transmits a route estimation instruction signal to the work instruction unit 41 of the server 40 (step ST105). Next, as shown in Figure 22, the administrator terminal 500 transmits the work content information entered in step ST103 to the work instruction unit 41 (step ST106).

[0168] <Work Instructions (Server)> Next, as shown in Figure 25, when the route estimation unit 411 receives the work instructions from the work instruction input unit 501, it determines whether or not it is possible to estimate the movement route for the worker to move to the cargo of the work instructions (step ST114).

[0169] As shown in Figure 25, if the route estimation unit 411 is able to estimate a travel route (step ST114YES), the route estimation unit 411 estimates the travel route (step ST115). The work notification unit 412 transmits the work details and the travel route estimated by the route estimation unit 411 from the work instruction input unit 501 to the worker terminal 100 (step ST116).

[0170] On the other hand, as shown in Figure 25, if the route estimation unit 411 is unable to estimate a travel route (step ST114NO), the work notification unit 412 transmits the work details from the work instruction input unit 501 to the worker terminal 100 (step ST117).

[0171] <Execution of work based on work instructions (worker terminal)> Next, as shown in Figure 23, the worker terminal 100 displays the work details (step ST107). Then, as shown in Figure 23, the worker terminal 100 determines whether the work is possible or not based on the worker's input (step ST108). Specifically, the worker terminal 100 displays, for example, a prompt to select whether the work is possible or not according to the work details, and the worker selects whether the work is possible or not.

[0172] Next, as shown in Figure 23, if the worker terminal 100 determines that the worker is unable to perform the task (step ST108NO), the worker terminal 100 notifies the administrator terminal to designate another worker (step ST109). As a result, as shown in Figure 22, the process from step ST104 is executed again.

[0173] On the other hand, as shown in Figure 23, if the worker terminal 100 determines that the worker is capable of performing the work (step ST108YES), the worker terminal 100 displays the movement path received from the work notification unit 412 (step ST110). If the movement path has not been received from the work notification unit 412, the process in step ST110 is not executed.

[0174] Next, as shown in Figure 23, the worker terminal 100 acquires multiple images, including luggage with identification information attached, as the worker moves, and transmits them to the server 10 (step ST111). Subsequent server processing (steps ST1 to ST9 in Figure 24) will be described later.

[0175] Next, as shown in Figure 23, the worker terminal 100 displays a message indicating that an image of the package to be worked on, which is included in the work content, has been acquired (step ST112). Upon seeing this message, the worker performs the work on the package according to the work content.

[0176] Next, as shown in Figure 23, when the worker completes the task, the worker terminal 100 sends a signal to the administrator terminal indicating that the task is complete, based on the worker's input (step ST113). Specifically, the worker terminal 100 displays a prompt, for example, to select whether the task is complete or not, and the worker selects and inputs "task completed".

[0177] <Estimation of the absolute position of cargo during work based on work instructions (server)> Referring to Figure 24, the server processing from step ST111 onwards, as shown in Figure 23, will be explained. In Figure 24, steps ST1 to ST6 are the same as those shown in Figure 5, so the explanation will be omitted. The explanation will begin from step ST77 shown in Figure 24.

[0178] The spatial map generation unit 407 generates a spatial map by overlaying layout data (step ST77). This configuration allows workers and managers to visually understand the location of the packages.

[0179] If server 40 is acquiring images from the second terminal, steps ST11 to ST16 and step ST7 shown in Figure 19 may be executed instead of steps ST1 to ST7 shown in Figure 24.

[0180] Next, the spatial map generation unit 407 records the absolute positions of the worker terminals in the spatial map (step ST78). Specifically, the spatial map generation unit 407 records all of the absolute positions of the worker terminals at the time each of the packages included in the spatial map was photographed. In other words, the spatial map includes the absolute positions of the packages and the absolute positions of the worker terminals at the time the packages were photographed.

[0181] Next, the spatial map generation unit 407 stores the spatial map in the spatial map database 439 (step ST79).

[0182] Thus, in the luggage location estimation system 4 described herein, the absolute location of the luggage is automatically estimated based on images captured by the worker's terminal while the worker performs the task in accordance with instructions from the manager.

[0183] By adopting this configuration, the luggage location estimation system 4 according to this disclosure generates a spatial map even without numbered tags indicating the address information of the luggage racks, thus eliminating the need for workers or managers to attach numbered tags indicating the address information of the luggage racks to designated locations. Furthermore, the luggage location estimation system 4 according to this disclosure can perform operations by referring to the spatial map even without numbered tags indicating the address information of the luggage racks, and the absolute position of the luggage can also be estimated in connection with these operations.

[0184] Furthermore, the cargo location estimation system disclosed herein will enable new workers unfamiliar with the arrangement of cargo and shelves in the warehouse to complete tasks in the same amount of time as experienced workers. In addition, the cargo location estimation system disclosed herein will enable seamless work execution, even if the worker is a foreign worker, because communication with foreign workers will be conducted not only through text information but also through spatial maps.

[0185] Furthermore, with shelf number-based inventory management, items are often placed at the back of shelves, resulting in blind spots that even experienced staff may overlook, making it difficult to locate items in such cases. However, the inventory location estimation system described in this disclosure uses a spatial map, making it easy to locate items.

[0186] Furthermore, the cargo location estimation system described in this disclosure can determine whether cargo marked "This side up" or "Do not place on top of other items" is placed correctly, or whether cargo that has expired is still being stored, by referring to a spatial map while the worker is performing their duties.

[0187] The cargo location estimation system described herein can be used, for example, in the following cases: The cargo location estimation system described herein can be used in warehouses where people patrol and work, such as logistics warehouses and raw material warehouses, to manage the location of cargo and materials, as well as the location of workers and robots.

[0188] Furthermore, the package location estimation system described herein can be used in retail stores, such as supermarkets, to manage the location of products and workers. It can also be used, for example, to manage backroom inventory and to retrieve inventory.

[0189] Furthermore, the package location estimation system described in this disclosure can be used in stores where store inventory types fluctuate frequently and where part-time and temporary staff frequently rotate in and out. In addition, the package location estimation system described in this disclosure can be used, for example, in a dispensing pharmacy when a pharmacist retrieves medication based on a prescription.

[0190] <Example Configuration> Figure 26 is a block diagram illustrating an example configuration of servers, etc., related to this disclosure. Figure 26 is a block diagram illustrating an example configuration of the servers 10, 20, 30, 40, terminal 100, first terminal 110, second terminal 120, and administrator terminal 500 (hereinafter referred to as server 30, etc.) described above. Referring to Figure 26, server 30, etc. includes a network interface 1201, a processor 1202, and memory 1203. The network interface 1201 may be used to communicate with network nodes. The network interface 1201 may include, for example, a network interface card (NIC) compliant with the IEEE 802.3 series. IEEE stands for Institute of Electrical and Electronics Engineers.

[0191] The processor 1202 reads and executes software (computer programs) from the memory 1203 to perform the processing of the server 30, etc., as described using a flowchart in the above embodiment. The processor 1202 may be, for example, a microprocessor, an MPU, or a CPU. The processor 1202 may include multiple processors.

[0192] Memory 1203 is composed of a combination of volatile and non-volatile memory. Memory 1203 may also include storage located away from the processor 1202. In this case, the processor 1202 may access memory 1203 via an I / O (Input / Output) interface, which is not shown.

[0193] In the example shown in Figure 26, memory 1203 is used to store a group of software modules. The processor 1202 can read these software modules from memory 1203 and execute them, thereby enabling the server 30 and other processes described in the above embodiment.

[0194] As explained using Figure 26, each processor in the server 30, etc., executes one or more programs that include a set of instructions for causing the computer to perform the algorithm described in the diagram.

[0195] In the examples described above, the program includes a set of instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more of the functions described in the embodiments. The program may be stored on a non-temporary computer-readable medium or a physical storage medium. Examples, but not limited to, include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray® disc or other optical disc storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices. The program may be transmitted over a temporary computer-readable medium or a communication medium. The program may also be included in a program product. Examples, but not limited to, include temporary computer-readable medium or a communication medium that includes electrically, optically, acoustically or otherwise propagating signals.

[0196] Although the present disclosure has been described in accordance with the above embodiments, the present disclosure is not limited to the configuration of the above embodiments, and of course includes various modifications, alterations, and combinations that a person skilled in the art could make within the scope of the claims of the present patent application.

[0197] Each drawing is merely illustrative to illustrate one or more embodiments. Each drawing may be associated with one or more other embodiments rather than with only one specific embodiment. As those skilled in the art will understand, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings, for example, to create embodiments not explicitly shown or described. Not all features or steps shown in any one drawing to illustrate an exemplary embodiment are necessarily required, and some features or steps may be omitted. The order of steps shown in any of the drawings may be changed as appropriate.

[0198] Some or all of the above embodiments may also be described as follows, but are not limited to the following: (Note 1) A luggage location estimation system comprising a terminal and a server, The aforementioned terminal is We obtain images of packages that have identification information attached, The aforementioned image is sent to the server, The aforementioned server, From the received image, the relative position of the package with respect to the terminal is estimated. The absolute position of the terminal is estimated with the origin being any location in the environment containing the aforementioned luggage. Based on the relative position of the package with respect to the terminal and the absolute position of the terminal, the absolute position of the package from the origin is estimated. This generates placement data that links the absolute position of the package with the identification information of the package. Luggage location estimation system. (Note 2) A spatial map is generated by superimposing the aforementioned placement data onto a predetermined area. The luggage location estimation system described in Appendix 1. (Note 3) The device further includes a different terminal from the aforementioned terminal, The aforementioned separate terminal is, Obtain another image including the package with identification information, The aforementioned separate image is sent to the server, The aforementioned server, From the received separate image, the relative position of the package included in the separate image with respect to the separate terminal is estimated. When it is detected that the luggage included in the spatial map and the luggage included in the separate image are the same luggage with the same identification information, the absolute position of the separate terminal from the origin is estimated based on the absolute position of the detected luggage in the spatial map and the relative position of the luggage with respect to the separate terminal. Based on the relative position of the luggage included in the separate image with respect to the separate terminal and the absolute position of the separate terminal, a new absolute position of the luggage included in the separate image is estimated from the origin. New placement data is generated by linking the new absolute position of the aforementioned package with the identification information of the package. A new spatial map is generated by superimposing the new arrangement data onto the predetermined area. The luggage location estimation system described in Appendix 2. (Note 4) The spatial map and the new spatial map are superimposed based on the location of the cargo which is included in both the spatial map and the new spatial map. The luggage location estimation system described in Appendix 3. (Note 5) In response to the input operation, the spatial map and the new spatial map are superimposed. The luggage location estimation system described in Appendix 3. (Note 6) A portion of the spatial map corresponding to a predetermined portion of the new spatial map is replaced with a predetermined portion of the new spatial map. The luggage location estimation system described in Appendix 3. (Note 7) Based on at least one of the aforementioned spatial map and the new spatial map, and at least one of the absolute positions of the terminal and another terminal, the route to the cargo to be worked on is estimated. A luggage location estimation system as described in any one of the items 3 to 6 of the appendix. (Note 8) At least one of the aforementioned terminal and the other terminal obtains information about the package from the server and displays information about the package in the vicinity of the package's location. A luggage location estimation system as described in any one of the items 3 to 6 of the appendix. (Note 9) If the travel path of the aforementioned terminal and the travel path of the other terminal are different, The aforementioned spatial map and the new spatial map are superimposed. The luggage location estimation system described in Appendix 3. (Note 10) When the aforementioned other terminal acquires images of all the luggage included in the spatial map, Delete the aforementioned spatial map. The luggage location estimation system described in Appendix 3. (Note 11) If the movement path of the aforementioned terminal and the movement path of the aforementioned other terminal are the same, and the spatial map and the new spatial map are compared to include different package identification information, The system generates the identification information of the different packages and the absolute position of the package linked to the identification information of the different packages, or the new absolute position of the package. The luggage location estimation system described in Appendix 3. (Note 12) If the spatial map includes first difference identification information that is different from the identification information included in the new spatial map, The first difference identification information and information relating to the absolute position of the package to which the first difference identification information is attached are generated. The luggage location estimation system described in Appendix 9. (Note 13) If the new spatial map includes a second difference identification information that is different from the identification information included in the spatial map, The second difference identification information and new absolute position information of the package to which the second difference identification information is attached are generated. The luggage location estimation system described in Appendix 9. (Note 14) An image acquisition unit that captures images of luggage, including identification information, taken by a terminal, A luggage relative position estimation unit estimates the relative position of the luggage with respect to the terminal from the aforementioned image, A terminal absolute position estimation unit that estimates the absolute position of the terminal when any location in the environment containing the aforementioned luggage is taken as the origin, A luggage absolute position estimation unit estimates the absolute position of the luggage from the origin based on the relative position of the luggage with respect to the terminal and the absolute position of the terminal. A placement data generation unit generates placement data that links the absolute position of the package with the identification information of the package, A luggage location estimation system equipped with the following features. (Note 15) The terminal captures images, including those of the package with identification information attached, and acquires images of the package. From the aforementioned image, the relative position of the package with respect to the terminal is estimated. The absolute position of the terminal is estimated with the origin being any location in the environment containing the aforementioned luggage. Based on the relative position of the package with respect to the terminal and the absolute position of the terminal, the absolute position of the package from the origin is estimated. This generates placement data that links the absolute position of the package with the identification information of the package. The computer performs the process. A method for estimating the location of luggage. (Note 16) The terminal captures images, including those of the package with identification information attached, and acquires images of the package. From the aforementioned image, the relative position of the package with respect to the terminal is estimated. The absolute position of the terminal is estimated with the origin being any location in the environment containing the aforementioned luggage. Based on the relative position of the package with respect to the terminal and the absolute position of the terminal, the absolute position of the package from the origin is estimated. This generates placement data that links the absolute position of the package with the identification information of the package. To have the computer perform the process. program.

[0199] Some or all of the elements (e.g., configuration and function) described in Appendices 2 to 13 that are dependent on Appendice 1 may also be dependent on Appendices 14 to 16 in the same manner as those described in Appendices 2 to 13. Some or all of the elements described in any appendice may be applicable to various hardware, software, recording means, systems, and methods for recording software. [Explanation of symbols]

[0200] 1, 2, 3, 4 Luggage Location Estimation System Servers 10, 20, 30, and 40 11 Image acquisition unit 12 Distance direction identification part 13. Luggage relative position estimation unit 14, 34 Terminal absolute position estimation unit 15. Luggage absolute position estimation unit 16. Layout data generation unit 17, 18 Spatial Map Generation Unit 21, 33 Spatial Map Database 41 Work instruction department 42 Terminal Information Processing Unit 43 Databases 100 terminals (worker terminals) 101, 112 Imaging Unit 110 Terminal 1 120 Second Terminal 301 First Terminal Information Processing Unit 302 Second Terminal Information Processing Unit 401 Image acquisition unit 402 Distance direction identification part 403 Luggage relative position estimation unit 404 Worker terminal absolute position estimation unit 405 Luggage absolute position estimation unit 406 Layout Data Generation Unit 407 Spatial Map Generation Unit 411 Path Estimation Unit 412 Work Notification Department 421 Package Identification Information Search Unit 422 Identification Information Acquisition Unit 431 Luggage relative position determination unit 437 Package Information Database 438 Layout Database 439 Spatial Map Database 441 Worker terminal absolute position determination unit 451 Baggage Identification Section 500 Administrator terminals 501 Work Instruction Input Section 502 Layout Input Section 503 Luggage Information Input Section 1201 Network Interface 1202 processors 1203 memory

Claims

1. A luggage location estimation system comprising a terminal and a server, The aforementioned terminal is We obtain images of packages that have identification information attached, The aforementioned image is sent to the server, The aforementioned server, From the received image, the relative position of the package with respect to the terminal is estimated. The absolute position of the terminal is estimated with the origin being any location in the environment containing the aforementioned luggage. Based on the relative position of the package with respect to the terminal and the absolute position of the terminal, the absolute position of the package from the origin is estimated. This generates placement data that links the absolute position of the package with the identification information of the package. Luggage location estimation system.

2. A spatial map is generated by superimposing the aforementioned placement data onto a predetermined area. The luggage location estimation system according to claim 1.

3. The device further includes a different terminal from the aforementioned terminal, The aforementioned separate terminal is, Obtain another image including the package with identification information, The aforementioned separate image is sent to the server, The aforementioned server, From the received separate image, the relative position of the package included in the separate image with respect to the separate terminal is estimated. When it is detected that the luggage included in the spatial map and the luggage included in the separate image are the same luggage with the same identification information, the absolute position of the separate terminal from the origin is estimated based on the absolute position of the detected luggage in the spatial map and the relative position of the luggage with respect to the separate terminal. Based on the relative position of the luggage included in the separate image with respect to the separate terminal and the absolute position of the separate terminal, a new absolute position of the luggage included in the separate image is estimated from the origin. New placement data is generated by linking the new absolute position of the aforementioned package with the identification information of the package. A new spatial map is generated by superimposing the new arrangement data onto the predetermined area. The luggage location estimation system according to claim 2.

4. The spatial map and the new spatial map are superimposed based on the location of the cargo which is included in both the spatial map and the new spatial map. The luggage location estimation system according to claim 3.

5. In response to an input operation, the spatial map and the new spatial map are superimposed. The luggage location estimation system according to claim 3.

6. A portion of the spatial map corresponding to a predetermined portion of the new spatial map is replaced with a predetermined portion of the new spatial map. The luggage location estimation system according to claim 3.

7. Based on at least one of the aforementioned spatial map and the new spatial map, and at least one of the absolute positions of the terminal and another terminal, the route to the cargo to be worked on is estimated. A luggage location estimation system according to any one of claims 3 to 6.

8. At least one of the aforementioned terminal and the other terminal obtains information about the package from the server and displays information about the package in the vicinity of the package's location. A luggage location estimation system according to any one of claims 3 to 6.

9. An image acquisition unit that captures images of luggage, including identification information, taken by a terminal, A luggage relative position estimation unit estimates the relative position of the luggage with respect to the terminal from the aforementioned image, A terminal absolute position estimation unit that estimates the absolute position of the terminal when any location in the environment containing the aforementioned luggage is taken as the origin, A luggage absolute position estimation unit estimates the absolute position of the luggage from the origin based on the relative position of the luggage with respect to the terminal and the absolute position of the terminal. A placement data generation unit generates placement data that links the absolute position of the package with the identification information of the package, A luggage location estimation system equipped with the following features.

10. The terminal captures images, including those of the package with identification information attached, and acquires images of the package. From the aforementioned image, the relative position of the package with respect to the terminal is estimated. The absolute position of the terminal is estimated with the origin being any location in the environment containing the aforementioned luggage. Based on the relative position of the package with respect to the terminal and the absolute position of the terminal, the absolute position of the package from the origin is estimated. This generates placement data that links the absolute position of the package with the identification information of the package. The computer performs the process. A method for estimating the location of luggage.

Images