Judgment device, judgment method, and judgment program

Abstract

The present invention provides a determination device, determination method, and determination program that can detect objects that are not stored and managed by a computer from among the objects placed on it, and can prevent the placed objects from interfering with objects being transported above a predetermined area. [Solution] The determination device, determination method, and determination program use a controller that receives data from a sensor that measures an object placed in a predetermined area non-contact from above the predetermined area, and a database. The database stores object information relating to the position and size of the object, which is determined based on the data. The controller registers the objects related to the object information stored in the database as registered objects, and calculates the upper limit of the height of the registered objects for each region included in the predetermined area based on the object information. Based on the data, it extracts detection points related to objects located above the upper limit, and determines whether or not objects that are not registered objects exist in each region based on the aggregated results of the detection points.

Description

Technical Field

[0001] The present disclosure relates to a determination device, a determination method, and a determination program.

Background Art

[0002] Patent Document 1 discloses a technique related to a transport device that is installed in a location (predetermined area) where coils (objects) such as in a warehouse are arranged and is automatically controlled. This technique prevents accidents caused by contact and collision between high-weight metal strip coils and realizes safe loading and unloading.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] According to the technique described in Patent Document 1, the target positions where metal strip coils are placed in a matrix arrangement in a predetermined area and the actual presence or absence of metal strip coils at each target position in the predetermined area are stored and managed by a computer. However, when a coil that is not stored and managed by the computer is placed, and when the coil stored and managed is different from the actually placed coil, there is a problem that the placed coil may interfere with the coil being transported above the predetermined area.

[0005] The present disclosure has been made in view of the above problems. The object is to detect an object that is not stored and managed by a computer from the placed objects, and to provide a determination device, a determination method, and a determination program that can suppress the placed object from interfering with the object being transported above a predetermined area.

Means for Solving the Problems

[0006] The determination device, determination method, and determination program relating to this disclosure utilize a controller that receives data from a sensor that measures an object placed in a predetermined area non-contactually from above the predetermined area, and a database. The database stores object information relating to the position and size of the object, determined based on the data. The controller treats the objects related to the object information stored in the database as registered objects and calculates the upper limit of the height of the registered objects for each region included in the predetermined area based on the object information. Based on the data, it extracts detection points related to objects located above the upper limit and determines whether or not objects that are not registered objects exist in each region based on the aggregated results of the detection points.

[0007] Registered items may be cylindrical or cylindrical packages having a central axis parallel to the floor surface of the designated area.

[0008] The region may be a rectangular area that, when viewed from above a predetermined area, has a width direction along the central axis and a length direction perpendicular to the width direction.

[0009] The controller may set a predetermined length based on the radius of the registered object, and define the range within a predetermined length from the central axis as the range of the region along the length direction.

[0010] The controller may set at least one of the first range and the second range as a region along the length direction. Here, the first range is the range enclosed by two central axes relating to adjacent registered objects in the horizontal direction. The second range is the range enclosed by the central axis of the registered object and a member positioned next to the registered object in the horizontal direction.

[0011] The controller may define the range in which registered objects extend along the central axis as the range of the region along the width direction.

[0012] The controller may calculate the upper limit by adding the radius of the registered object related to the central axis to the height of the central axis included in the region.

[0013] The controller may calculate the height of the central axis based on the radius of one registered object related to the central axis, and the radii and positions of other registered objects adjacent to the first registered object below it.

[0014] The database may also store information relating to the installation locations of components placed on the bottom surface of the registered object. The controller may calculate the position of the central axis, which is geometrically determined by the positional relationship of the registered object, based on the radius and position of the registered object and the installation locations of the components.

[0015] Detection points extracted in areas where multiple regions overlap may be located above the maximum value among multiple upper limits relating to those regions.

[0016] The sensor may be installed on at least one of the following, when viewed from above a predetermined area: a girder moving in a first direction, and a trolley supported by the girder that moves in a second direction, different from the first direction, where the girder extends. [Effects of the Invention]

[0017] According to this disclosure, it is possible to detect objects that are not stored and managed by the computer from among the placed objects, and to prevent the placed objects from interfering with objects being transported above a predetermined area. [Brief explanation of the drawing]

[0018] [Figure 1] This is a block diagram showing the configuration of the determination device related to this disclosure. [Figure 2] This flowchart shows the processing procedure of the determination device related to this disclosure. [Figure 3A]It is a top view showing a first example of the location where the sensor is arranged. [Figure 3B] It is a front view showing a first example of the location where the sensor is arranged. [Figure 4] It is a top view showing a second example of the location where the sensor is arranged. [Figure 5A] It is a front view showing a first example of the area to be set. [Figure 5B] It is a front view showing a second example of the area to be set. [Figure 6] It is a schematic diagram showing an example of calculating the height of the central axis.

Embodiments for Carrying out the Invention

[0019] Hereinafter, some exemplary embodiments will be described with reference to the drawings. In each figure, the same reference numerals are assigned to common parts, and redundant explanations are omitted.

[0020] [Configuration of the Determination Device] FIG. 1 is a block diagram showing the configuration of the determination device according to the present disclosure. As shown in FIG. 1, the determination device 1 includes a controller 10 and a database 20. The controller 10 is connected so as to be communicable with the database 20. Further, the controller 10 is connected so as to be communicable with the sensor 50, and data from the sensor 50 is input to the controller 10.

[0021] [Examples of Sensors] The sensor 50 measures the object non - contact from above the object. For example, the sensor 50 may be a sensor that emits electromagnetic waves to the surroundings and measures the distance and direction to the object by detecting the position of the reflection point based on the reflected wave of the emitted electromagnetic waves. Such a sensor is, as an example, a LiDAR (Laser Imaging Detection and Ranging). A LiDAR is a sensor that emits light (laser light) from the emission point to the measurement range determined based on the position and orientation of the sensor 50, detects the position of the detection point which is the reflection point based on the reflected wave, and generates detection point data regarding the detection point.

[0022] Furthermore, the sensor 50 may be a three-dimensional camera capable of measuring the distance and direction to an object. For example, the three-dimensional camera may be a stereo camera. A stereo camera captures an object with multiple cameras and obtains the distance and direction to the object using a triangulation method.

[0023] Furthermore, the three-dimensional camera may also be a Time of Flight (ToF) type camera. A ToF type camera calculates depth from the time it takes for the emitted light to reflect off the object and return to the camera.

[0024] Furthermore, the three-dimensional camera may also be a structured illumination type camera. In a structured illumination type camera, the light source and camera are separate, and the depth dimension is calculated by the camera capturing the distortion of light reflected from the object. The light source is illumination with a pattern such as lines, grids, or dots, and when it hits the object, the pattern light distorts along the contours of the object.

[0025] Any sensor 50 capable of measuring an object non-contact and determining the distance and direction to the object is applicable in this disclosure. The sensor 50 is not limited to the examples given herein.

[0026] The sensor 50 may also be placed in a conveying device that grips and moves an object. The sensor 50 may also be installed in a movable part of the conveying device.

[0027] [Sensor placement location] Next, the placement of the sensor (first example) will be described. Figure 3A is a top view showing the first example of the placement of the sensor. Figure 3B is a front view showing the first example of the placement of the sensor. Figures 3A and 3B show an example in which the sensor 50 is installed on an overhead crane equipped with a girder GD and a trolley TR. The conveying device on which the sensor 50 is installed is not limited to the example given herein.

[0028] For example, the sensor 50 may be supported by a girder GD that moves in a first direction AR1 when viewed from above a predetermined area SP, and installed on a trolley TR that moves in a second direction AR2, where the girder GD extends, unlike the first direction AR1. Due to the movement of the girder GD and the trolley TR, the sensor 50 moves above the predetermined area SP. Here, the predetermined area SP is determined by the movement range of the girder GD and the movement range of the trolley TR.

[0029] As shown in Figure 3A, the girder GD moves along the rail RL in the first direction AR1. The trolley TR also moves along the girder GD in the second direction AR2. In Figure 3A, the rail RL is shown positioned between a pair of walls WL, but the rail RL only needs to be fixed to the ground, and the walls WL may be omitted.

[0030] As the girder GD and trolley TR move to predetermined positions, the trolley TR is positioned above the object OBJ to be transported. Then, as shown in Figure 3B, the object OBJ may be grasped by a gripping unit HD suspended from the trolley TR in the direction of gravity AR3 and transported within a predetermined range.

[0031] For example, the gripping unit HD may grip the object OBJ and move the object OBJ in the direction of gravity AR3. In this case, the cable between the gripping unit HD and the trolley TR may be wound up by a motor (not shown), shortening the distance between the gripping unit HD and the trolley TR, causing the object OBJ to move upward. Conversely, the cable between the gripping unit HD and the trolley TR may be unwound from a wound state, lengthening the distance between the gripping unit HD and the trolley TR, causing the object OBJ to move downward.

[0032] The position of the sensor 50 is changed by moving the girder GD in the first direction AR1 and the trolley TR in the second direction AR2. Then, detection points are detected by the sensor 50 across the entire predetermined area SP. For example, the sensor may scan the entire predetermined area SP to fill it in, and detect detection points that are evenly distributed across the entire predetermined area SP at intervals of a predetermined density or greater. In this way, the sensor 50 measures the object OBJ placed in the predetermined area SP from above the predetermined area SP without contact. In Figure 3B, the measurement range by the sensor 50 is indicated by the measurement range DS.

[0033] Next, we will describe the placement of the sensors (second example). Figure 4 is a top view showing the second example of the placement of the sensors. Unlike the first example shown in Figures 3A and 3B, multiple sensors 50 are installed on the girder GD.

[0034] The sensor 50 may be installed on a girder GD that moves in a first direction AR1 when viewed from above a predetermined area SP. As the girder GD moves, the sensor 50 moves above the predetermined area SP. Here, when the girder GD moves, the multiple sensors 50 are arranged on the girder GD at predetermined intervals so that the measurement range DS formed by the multiple sensors 50 passes through the entire predetermined area SP.

[0035] By moving the girder GD in the first direction AR1, the positions of multiple sensors 50 are changed. Then, detection points are detected by the sensors 50 across the entire predetermined area SP. In this way, the sensors 50 measure the object OBJ placed in the predetermined area SP from above the object SP without contact.

[0036] [Example of a database] The database 20 stores object information related to the position and size of the object OBJ, which is determined based on data from the sensor 50. In addition, the database 20 may also store information related to the installation location of components placed on the bottom surface. These components will be described later.

[0037] The "position" of the object OBJ refers to the amount of displacement when moving along the first direction AR1 and the second direction AR2 from a reference point within a predetermined area SP to the location where the object OBJ is placed. Therefore, the "position" may be expressed as a combination of the amount of displacement along the first direction AR1 and the amount of displacement along the second direction AR2.

[0038] The location on which the object OBJ is placed may be determined by the center of gravity of the object OBJ, or by a reference point established on the object OBJ. For example, if the object OBJ is a cylindrical or cylindrical load having a central axis parallel to the floor surface FL of a designated area SP, a point on the central axis of the object OBJ may be used as the reference point.

[0039] Furthermore, the "size" of the object OBJ refers to the dimensions of the object OBJ. For example, if the object OBJ is a cylindrical or cylindrical package with a central axis parallel to the floor surface FL of a predetermined area SP, the "size" may be the radius of the cylindrical or cylindrical package.

[0040] In the following explanation, objects related to object information stored in database 20 are referred to as "registered objects." Furthermore, a "registered object" is defined as a cylindrical or cylindrical package having a central axis parallel to the floor surface FL of the designated area SP. The shape of a "registered object" is not limited to the examples given herein.

[0041] The database 20 may be stored on disk-based storage such as a hard disk or SSD (solid-state drive), or it may be stored directly in memory (not shown).

[0042] [Example of configured area] Next, the region set by the controller 10, which will be described later, will be explained. The "region" is a region included in a predetermined area SP, and is a region that extends along the first direction AR1 and the second direction AR2. The "region" may be set in correspondence with the position of a registered object or the position of a member TE. Member TE may be a railway sleeper. For each "region," an upper limit of the height of a registered object is calculated, and if a detection point located above the upper limit is obtained by the sensor 50, there is a possibility that an object that is not a registered object exists in that region. The calculation of the "upper limit" will be described later.

[0043] Figures 3A and 4 show the shape of the object OBJ when viewed from above the designated area SP. A cylindrical or cylindrical package having a central axis parallel to the floor surface FL of the designated area SP will have a rectangular shape when viewed from above the designated area SP.

[0044] Therefore, the "area" may be defined as a rectangular region having a width direction along the central axis and a length direction perpendicular to the width direction, as viewed from above a predetermined area SP. For example, the range in which registered objects extend along the central axis may be defined as the range of the area along the width direction. Note that the central axes of multiple packages are not necessarily aligned in the same direction. Therefore, the width direction does not necessarily have to be parallel to the central axis of the packages, and the width direction may be inclined with respect to the central axis. The width direction may also be parallel to the average orientation determined based on the central axes of multiple packages.

[0045] Figure 5A is a front view showing a first example of the area to be set. Figure 5B is a front view showing a second example of the area to be set.

[0046] Figure 5A shows how the area within a predetermined length from the central axis of the object OBJ is set as the area along the length direction. For example, for an object OBJ that is cylindrical or cylindrical in shape, area RA1 is set. As shown in area RA1, the area within a predetermined length from the central axis may be set as the area along the length direction. Here, the predetermined length may be set based on the radius of the registered object.

[0047] In addition, a region RA2 may be defined for a member TE placed between the object OBJ and the floor surface FL. The member TE may contact the bottom surface of the object OBJ to suppress the rolling of the object OBJ.

[0048] Figure 5B shows how the first range, which is enclosed by the two central axes of adjacent registered objects in the horizontal direction, is set as the range of the region along the length direction. For example, region RA3 is set as the range enclosed by the central axes of adjacent objects OBJ.

[0049] Furthermore, Figure 5B shows how a second range, enclosed by the central axis of a registered object and a member placed next to the registered object horizontally, is set as the range of a region along the length direction. For example, region RA4 is set as the range enclosed by the central axis of the object OBJ and the center of member TE placed next to the object OBJ. In this way, at least one of the first range and the second range may be set as the range of a region along the length direction.

[0050] In Figures 5A and 5B, the space above the upper limit set for each region is shown as the target space SF (the vertical striped region in the figure). If a detection point within the target space SF is obtained by the sensor 50, there is a possibility that an object other than a registered object exists in that region.

[0051] [Example of a controller] Controller 10 is a general-purpose computer equipped with a CPU (Central Processing Unit), memory, and input / output unit. Controller 10 has a computer program (decision program) installed on it for functioning as the decision device 1. By executing the computer program, Controller 10 functions as one of the multiple information processing circuits (11, 13, 15, 17, 19) provided by the decision device 1.

[0052] This disclosure provides an example of implementing multiple information processing circuits (11, 13, 15, 17, 19) using software. However, it is also possible to configure the information processing circuits (11, 13, 15, 17, 19) by preparing dedicated hardware for each of the information processing operations described below. Alternatively, the multiple information processing circuits (11, 13, 15, 17, 19) may be configured using separate hardware.

[0053] As shown in Figure 1, the controller 10 comprises multiple information processing circuits (11, 13, 15, 17, 19), including a region setting unit 11, an upper limit calculation unit 13, a detection point extraction unit 15, an aggregation unit 17, and a determination unit 19.

[0054] The area setting unit 11 sets an area included in a predetermined area SP corresponding to the position of a registered object or the position of member TE. The "area" is an area included in the predetermined area SP and has an extent along the first direction AR1 and the second direction AR2.

[0055] Consider the case where the registered object is a cylindrical or cylindrical package having a central axis parallel to the floor surface of the predetermined area SP. In this case, the area setting unit 11 may set the area as a rectangular region having a width direction along the central axis and a length direction perpendicular to the width direction, as viewed from above the predetermined area SP. For example, the area setting unit 11 may set the range of the area along the width direction to be the range in which the registered object extends along the central axis.

[0056] For example, the area setting unit 11 may set a range within a predetermined length from the central axis of a registered object as the range of the area along the length direction. Here, the area setting unit 11 may set the predetermined length based on the radius of the registered object.

[0057] Furthermore, the region setting unit 11 may set at least one of the first range and the second range as a region along the length direction. Here, the first range is the range enclosed by two central axes relating to adjacent registered objects in the horizontal direction. The second range is the range enclosed by the central axis of a registered object and a member placed next to the registered object in the horizontal direction. The second range may also be the range enclosed by the central axis of a registered object and the center of a member.

[0058] The upper limit calculation unit 13 calculates the upper limit of the height of registered objects for each region included in a predetermined area SP, based on the object information.

[0059] More specifically, the upper limit calculation unit 13 may calculate the upper limit by adding the radius of the registered object related to the central axis to the height of the central axis included in the region.

[0060] Figure 6 is a schematic diagram showing an example of calculating the height of the central axis. For example, if the height H3 of the central axis of the object OBJ3 is known, the upper limit calculation unit 13 may add the radius R3 of the object OBJ3 to the height H3 to calculate the height HP from the floor surface FL to the highest point of the object OBJ3. The upper limit calculation unit 13 may then set the height HP as the upper limit of the area including the central axis of the object OBJ3.

[0061] Furthermore, the upper limit calculation unit 13 may calculate the height of the central axis based on the radius of one registered object related to the central axis, and the radius and position of other registered objects adjacent to the one registered object below it.

[0062] For example, the upper limit calculation unit 13 may calculate the height H3 of the central axis of object OBJ3 based on the radius of object OBJ3, and the radii and positions of object OBJ1 and object OBJ2 adjacent to object OBJ3 below object OBJ3.

[0063] According to Figure 6, the central axes of object OBJ1 and object OBJ2 are separated by a horizontal distance D12. Furthermore, the radii R1 of object OBJ1, R2 of object OBJ2, and R3 of object OBJ3 are assumed to be known. The height of the members is also assumed to be known.

[0064] Since objects OBJ1 and OBJ2 are placed on the floor surface FL of a predetermined area SP via a member, the upper limit calculation unit 13 can calculate the height H1 of object OBJ1 and the height H2 of object OBJ2. Then, using the distance D12, heights H1 and H2, and radii R1 to R3, the position of the central axis of object OBJ3 is determined geometrically. Therefore, the upper limit calculation unit 13 may calculate the height H3 of the central axis of object OBJ3 using the distance D12, heights H1 and H2, and radii R1 to R3.

[0065] In this way, the upper limit calculation unit 13 calculates the upper limit of the height of the registered object for each region included in the predetermined area SP. Figure 6 shows an example in which the registered objects are stacked up to two levels high, but the method of this disclosure is also applicable when there are more than two levels of stacking. Thus, the upper limit calculation unit 13 may calculate the position of the central axis which is geometrically determined by the positional relationship of the objects. In particular, the upper limit calculation unit 13 may focus on the triangle formed by the central axes of the objects and calculate the position of the central axis of the registered object by geometric calculation based on the lengths of the sides of the triangle. Alternatively, the upper limit calculation unit 13 may calculate the position of the central axis of a multi-level stack of registered objects by repeating geometric calculations.

[0066] The detection point extraction unit 15 extracts detection points related to the object that are located above the calculated upper limit, based on the data from the sensor 50. More specifically, the detection point extraction unit 15 determines whether the height of the detection point of interest is greater than the upper limit set for each region. If the height of the detection point of interest is greater than the upper limit, the upper limit calculation unit 13 extracts the detection point of interest.

[0067] Furthermore, in areas where multiple regions overlap, the detection point extraction unit 15 extracts detection points that are located above the maximum value among the multiple upper limits relating to the multiple regions.

[0068] The aggregation unit 17 aggregates the detection points extracted by the detection point extraction unit 15. Specifically, the aggregation unit 17 counts the number of detection points located above the upper limit for each region.

[0069] Furthermore, the aggregation unit 17 may calculate the ratio of the number of detection points located above the upper limit to the total number of detection points in each region.

[0070] The determination unit 19 determines, based on the aggregated results of the detection points, whether or not objects that are not registered (unregistered objects) exist in each region. For example, the determination unit 19 may determine that objects that are not registered exist in a region if the number of detection points located above the upper limit is greater than or equal to a predetermined number.

[0071] Furthermore, the determination unit 19 may determine that an object that is not a registered object exists in the area if the proportion of detection points located above the upper limit is equal to or greater than a predetermined threshold.

[0072] Note that the "predetermined number" and "predetermined threshold" are set in advance. The "predetermined number" and "predetermined threshold" may be set according to the performance of the sensor 50 in acquiring detection points.

[0073] [Processing procedure of the judgment device] Figure 2 is a flowchart showing the processing procedure of the determination device relating to this disclosure. At the start of the flowchart shown in Figure 2, it is assumed that the database 20 has stored object information relating to registered objects.

[0074] In step S101, the sensor 50 acquires detection points related to the object over the entire predetermined area. At this time, the girder GD and trolley TR may be moved so that the sensor 50 moves over the entire predetermined area.

[0075] In step S103, the area setting unit 11 sets an area in a predetermined area SP corresponding to the position of the registered object or the position of member TE.

[0076] In step S105, the upper limit calculation unit 13 calculates the upper limit of the height of the registered object for each region included in the predetermined area SP, based on the object information.

[0077] In step S107, the detection point extraction unit 15 extracts detection points above the calculated upper limit based on the data from the sensor 50.

[0078] In step S109, the aggregation unit 17 aggregates the extracted detection points.

[0079] In step S111, the determination unit 19 determines, based on the aggregated results of the detection points, whether or not there are any objects that are not registered objects (unregistered objects).

[0080] In step S113, the controller 10 may output the determination result via an external output device (not shown).

[0081] [Effects of the Embodiment] As described in detail above, the determination device, determination method, and determination program relating to this disclosure use a controller that receives data from a sensor that measures an object placed in a predetermined area non-contact from above the predetermined area, and a database. The database stores object information relating to the position and size of the object, which is determined based on the data. The controller treats the objects related to the object information stored in the database as registered objects, and calculates the upper limit of the height of the registered objects for each region included in the predetermined area based on the object information. Based on the data, it extracts detection points related to objects located above the upper limit, and determines whether or not objects that are not registered objects exist in each region based on the aggregated results of the detection points.

[0082] This allows for the detection of objects that are not stored and managed by the computer from among the placed objects, and prevents the placed objects from interfering with objects being transported above the designated area. In particular, before starting the operation of transporting objects above the designated area, the entire designated area can be measured to detect the presence of objects that are not registered. As a result, it is possible to prevent objects that are not registered from coming into contact with the transported objects.

[0083] Furthermore, when transporting objects above a designated area, it becomes unnecessary to station supervisors or other personnel in that area. This allows for increased automation and improved worker productivity. Moreover, the process of detecting unregistered objects during transport can be eliminated. As a result, the processing load and costs associated with transporting objects can be reduced.

[0084] Furthermore, if unregistered objects may be present, it is necessary to make an abrupt stop to prevent contact, which prevents increasing the transport speed when transporting the objects. On the other hand, according to this disclosure, it is possible to confirm that there are no unregistered objects in a predetermined area. After confirming that there are no unregistered objects, the transport speed when transporting the objects can be increased, thereby improving the efficiency of transporting the objects.

[0085] Registered objects may be cylindrical or cylindrical packages having a central axis parallel to the floor surface of the designated area. This makes it possible to prevent interference between coiled packages and objects being transported above the designated area when the coiled packages are placed in the designated area.

[0086] The region may be a rectangular area having a width direction along the central axis and a length direction perpendicular to the width direction when viewed from above the predetermined area. This allows for the setting of regions corresponding to objects placed in the predetermined area, and enables the calculation of upper limits for each region. Furthermore, by dividing the predetermined area into rectangular regions and calculating upper limits for each, computational cost can be reduced.

[0087] The controller may set a predetermined length based on the radius of the registered object, and define the range within that predetermined length from the central axis as the range of the region along the length direction. This allows for the setting of a region corresponding to an object placed in a predetermined area, and the calculation of an upper limit for each region. Furthermore, it is possible to set a region of a size corresponding to the size of the object.

[0088] The controller may set at least one of the first and second ranges as a region along the length direction. Here, the first range is the range enclosed by two central axes relating to adjacent registered objects in the horizontal direction. The second range is the range enclosed by the central axis of a registered object and a member positioned next to the registered object in the horizontal direction. This allows regions to be set in accordance with the position of an object or member, and an upper limit can be calculated for each region.

[0089] The controller may define the range along the width direction as the area where registered objects extend along the central axis. This allows the area to be defined in accordance with the objects.

[0090] The controller may calculate the upper limit by adding the radius of the registered object related to the central axis to the height of the central axis included in the area. This makes it possible to calculate an upper limit according to the size of the object for each area corresponding to the object placed in the predetermined area.

[0091] The controller may calculate the height of the central axis based on the radius of one registered object related to the central axis, and the radii and positions of other registered objects adjacent to that registered object below it. This allows for the calculation of an upper limit according to the position and size of the objects, even when objects are stacked in multiple layers.

[0092] The database may also store information regarding the installation locations of components placed on the bottom surface of registered objects. The controller may calculate the position of the central axis, which is geometrically determined by the positional relationship of the registered objects, based on the radius and position of the registered objects and the installation locations of the components. This makes it possible to calculate the position of the central axis of the registered objects even when objects are stacked in multiple layers.

[0093] The detection points extracted in areas where multiple regions overlap may be located above the maximum value among multiple upper limits relating to those regions. This allows for the calculation of the upper limit corresponding to the topmost object in a stack of objects.

[0094] The sensor may be installed on at least one of the following, viewed from above a predetermined area: a girder moving in a first direction, and a trolley supported by the girder that moves in a second direction different from the first direction, where the girder extends. This allows the sensor to acquire detection points across the entire predetermined area that is movable by the girder or trolley.

[0095] Each of the functions described in the embodiments above may be implemented by one or more processing circuits. These processing circuits may include programmed processors, electrical circuits, and other devices such as application-specific integrated circuits (ASICs), or circuit components arranged to perform the described functions.

[0096] According to this disclosure, it is possible to detect objects that are not stored and managed by the computer from among the placed objects, and to prevent the placed objects from interfering with objects being transported above a designated area. As a result, it becomes unnecessary to station monitors or other personnel in the designated area, and automation can be advanced to improve the labor productivity of workers. Therefore, for example, it can contribute to Goal 8 of the United Nations Sustainable Development Goals (SDGs), "Promote inclusive and sustainable economic growth and full and productive employment and decent work for all."

[0097] Although several embodiments have been described, it is possible to modify or transform the embodiments based on the above disclosure. All components of the above embodiments, and all features described in the claims, may be taken individually and combined, provided that they do not conflict with each other. [Explanation of Symbols]

[0098] 1 Judgment device 10 Controllers 11 Area setting section 13 Upper Limit Calculation Unit 15 Detection point extraction unit 17. Aggregation Department 19 Judgment section 20 Databases 50 sensors AR1 1st direction AR2 2nd direction AR3 gravity direction DS measurement range FL floor surface GD Garda HD grip part OBJ, OBJ1~OBJ3 Objects RA1~RA4 area SF Object Space SP designated area TE component TR Trolley RL Rail WL Wall

Claims

1. A determination device comprising a controller that receives data from a sensor that measures an object placed in a predetermined area non-contact from above the predetermined area, and a database, The aforementioned database is Based on the aforementioned data, object information relating to the position and size of the object is stored. The aforementioned controller, The object related to the object information stored in the database is registered as a registered object. Based on the object information, the upper limit of the height of the registered object is calculated for each region included in the predetermined area. Based on the above data, detection points related to the object that are located above the upper limit are extracted. Based on the aggregated results of the detection points, it is determined whether or not an object other than the registered object exists in each region. Judgment device.

2. The determination device according to claim 1, wherein the registered object is a cylindrical or cylindrical package having a central axis parallel to the floor surface of the predetermined area.

3. The determination device according to claim 2, wherein the region is a rectangular region having a width direction along the central axis and a length direction perpendicular to the width direction when viewed from above the predetermined area.

4. The aforementioned controller, A predetermined length is set based on the radius of the registered object. The range within the predetermined length from the central axis is set as the range of the region along the length direction. The determination device according to claim 3.

5. The aforementioned controller, A first range enclosed by the two central axes relating to adjacent registered objects in the horizontal direction, and A second range enclosed by the central axis of the registered object and a member positioned horizontally next to the registered object. The determination device according to claim 3, wherein at least one of the above is set as the range of the region along the longitudinal direction.

6. The determination device according to claim 3, wherein the controller sets the range in which the registered object extends along the central axis as the range of the region along the width direction.

7. The determination device according to claim 2, wherein the controller calculates the upper limit by adding the radius of the registered object relating to the central axis to the height of the central axis included in the region.

8. The determination device according to claim 7, wherein the controller calculates the height of the central axis based on the radius of one of the registered objects relating to the central axis, and the radius and position of another registered object adjacent below the one of the registered objects.

9. The database further stores information relating to the installation location of the component placed on the bottom surface of the registered object, The aforementioned controller, The radius and position of the registered object, and, Installation location of the aforementioned member The determination device according to claim 2, which calculates the position of the central axis that is geometrically determined by the positional relationship of the registered objects based on the above.

10. The determination device according to any one of claims 1 to 9, wherein the detection point extracted in the portion where the multiple regions overlap is located above the maximum value of the multiple upper limits relating to the multiple regions.

11. A determination method for controlling a controller that receives data from a sensor that measures an object placed in a predetermined area in a non-contact manner from above the predetermined area, The database connected to the aforementioned controller, Based on the aforementioned data, object information relating to the position and size of the object is stored. The aforementioned controller, The object related to the object information stored in the database is registered as a registered object. Based on the object information, the upper limit of the height of the registered object is calculated for each region included in the predetermined area. Based on the above data, detection points related to the object that are located above the upper limit are extracted. Based on the aggregated results of the detection points, it is determined whether or not an object other than the registered object exists in each region. Judgment method.

12. A determination program to be executed in a controller that receives data from a sensor that measures an object placed in a predetermined area in a non-contact manner from above the predetermined area, The database connected to the aforementioned controller, A step of storing object information relating to the position and size of the object, determined based on the aforementioned data, The aforementioned controller, The object related to the object information stored in the database is registered as a registered object. Based on the object information, the steps include calculating the upper limit of the height of the registered object for each region included in the predetermined area, Based on the aforementioned data, the step of extracting detection points related to the object that are located above the upper limit, Based on the aggregated results of the detection points, the step of determining whether or not an object other than the registered object exists in each region, A determination program equipped with the following features.

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