Load amount calculation method, baggage identification method, and load amount calculation device

Abstract

To provide a load amount calculation method, a baggage identification method, and a load amount calculation device that can reliably grasp the load amount of a truck. [Solution] A method for calculating a load amount in a loading section 94 of a truck 92, comprising the steps of: A first loading image is obtained by capturing an image of the loading section 94 from the outside of the truck 92 and one side in the vehicle width direction, In the first loading image, the loading section 94 is compared with the bottom pallet 95 in the cargo pile 96 on which the cargo 90 is loaded, A method for calculating the amount of cargo in a truck 92, in which, when the pallet 95 is within a specified area of ​​the loading section 94, the cargo pile 96 is identified as a cargo amount calculation target, and the amount of cargo 90 contained in the cargo pile 96 is calculated.

Description

[Technical field]

[0001] The present invention relates to a technique for determining the amount of cargo actually loaded in the loading section of a truck. [Background technology]

[0002] Trucks for collecting and delivering various cargoes are provided with loading sections for loading the cargoes.

[0003] In recent years, attempts have been made to grasp the amount of cargo actually loaded in the loading section of a truck in order to manage schedules for collection and delivery of cargo by truck, to manage whether an appropriate amount of cargo is loaded in the loading section of a truck, or to manage whether cargo is loaded in an appropriate position in the loading section.

[0004] One method for reducing the involvement of workers in cargo volume management is to capture an image of the loading section of a truck and calculate the cargo volume and free space in the loading section based on the captured image of the cargo. Patent Documents 1 and 2 introduce techniques for imaging the loading section of a truck. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 3711839 [Patent Document 2] JP 2022-170260 A Summary of the Invention [Problem to be solved by the invention]

[0006] Patent Document 1 introduces a technology in which a loading section is imaged by a camera installed on the wing of a truck, and the amount of cargo loaded on the loading section is calculated based on the obtained loading image. Furthermore, Patent Document 2 introduces a technology for capturing images of trucks and containers, i.e., the loading area of ​​the truck, with a camera.

[0007] As with the technology introduced in the above-mentioned Patent Document 1 and Patent Document 2, if a camera is used to capture an image of the loading section, it is believed that the amount of cargo actually loaded in the loading section of the truck can be determined based on the obtained image.

[0008] However, in reality, it is difficult to accurately determine the amount of cargo actually loaded on the loading section simply by using a camera to take an image of the loading section, and it is particularly difficult to accurately determine the amount of cargo when automatically identifying the amount of cargo based on an image of the loading section.

[0009] For this reason, there is a demand for technology that can reliably grasp the amount of cargo on a truck in order to manage schedules for collection and delivery of cargo by truck, to manage whether an appropriate amount of cargo is loaded in the loading section of the truck, or to manage whether cargo is loaded in an appropriate position in the loading section.

[0010] The present invention has been made in consideration of the above circumstances, and an object of the present invention is to provide a load amount calculation method, a baggage identification method, and a load amount calculation device that can reliably grasp the load amount of a truck. [Means for solving the problem]

[0011] The load calculation method of the present invention that solves the above problems includes: A method for calculating a load amount in a loading section of a truck, comprising: A first loading image is obtained by capturing an image of the loading section from an outer side of the truck and one side in a vehicle width direction; In the first loading image, the loading section is compared with a bottom pallet in a pile of cargo, This is a method for calculating the amount of cargo in a truck, in which, when the pallet is within a specified area of ​​the loading section, the pile of cargo is identified as a target for cargo amount calculation, and the amount of cargo contained in the pile of cargo is calculated.

[0012] Further, the baggage identification method of the present invention which solves the above problems includes: A method for identifying whether a load loaded on a truck loading section is a load weight calculation target, comprising: A first loading image is obtained by capturing an image of the loading section from an outer side of the truck and one side in a vehicle width direction; In the first loading image, the loading section is compared with a bottom pallet in a pile of cargo, This is a method for identifying cargo in a truck, which identifies the cargo pile as a cargo volume calculation target when the pallet is within a specified area of ​​the loading section.

[0013] Furthermore, the load amount calculation device of the present invention that solves the above problems is A load amount calculation device for calculating a load amount in a loading section of a truck, A camera installed on an outer side of the truck and on one side in a vehicle width direction, which captures an image of the loading section to obtain a first loading image; A load weight calculation device for a truck comprising: a load weight management element that compares the loading section with the lowest pallet in a pile of cargo loaded with cargo in the first loading image, and, if the pallet is within a specified area of ​​the loading section, identifies the pile of cargo as a load weight calculation target and calculates the amount of cargo contained in the pile of cargo. Effect of the Invention

[0014] According to the load amount calculation method, the baggage identification method, and the load amount calculation device of the present invention, it is possible to grasp the load amount of a truck with high reliability. [Brief description of the drawings]

[0015] [Figure 1]FIG. 2 is an explanatory diagram for explaining a schematic positional relationship between a loading / unloading base, a truck, a loading section, and a cargo pile in the cargo amount calculation method, the cargo identification method, and the cargo amount calculation device of the first embodiment. [Diagram 2] 1 is an explanatory diagram illustrating a loading section viewed from one side in a load amount calculation method, a baggage identification method, and a load amount calculation device according to a first embodiment; FIG. [Diagram 3] 1 is an explanatory diagram that illustrates a first loaded image in a load amount calculation method, a baggage identification method, and a load amount calculation device according to a first embodiment; FIG. [Figure 4] 4 is a flowchart illustrating a load amount calculation method and a load identification method according to the first embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] The load amount calculation method, the baggage identification method, and the load amount calculation device of the present invention will be described below with specific examples.

[0017] In addition, unless otherwise specified, the numerical range "x to y" described in this specification includes the lower limit x and the upper limit y in the range. The numerical range can be formed by arbitrarily combining these upper and lower limit values, as well as the numerical values ​​listed in the embodiment. Furthermore, the numerical values ​​arbitrarily selected from within the numerical range can be the upper and lower limit numerical values.

[0018] As described above, simply taking an image of the loading section using a camera, as in the technology introduced in Patent Document 1 and the conventional technology introduced in Patent Document 2, makes it difficult to accurately grasp the amount of cargo actually loaded on the loading section.

[0019] The inventors of the present invention have come up with the idea that the above-mentioned problems are closely related to the environment in which the loading section of the truck is imaged.

[0020] In order to image the loading section for the purpose of grasping the amount of cargo loaded on the loading section, it is preferable to image the loading section immediately before the truck with the cargo loaded on the loading section departs during cargo collection, or immediately before the cargo is unloaded from the loading section of the truck during shipping. Considering this, a loading and unloading base for cargo collection and delivery is a suitable environment for imaging the loading section.

[0021] However, a loading and unloading base is a facility used by many trucks at the same time, and as shown in Fig. 1, a truck that is not a target for load calculation may be parked near a truck that is a target for load calculation. In this case, when an image of the loading section is to be captured at the loading and unloading base, the truck that is not a target for image capture overlaps with the truck that is a target for image capture in the imaging direction. As a result, as shown in Fig. 2, there is a risk that the truck that is not a target for load calculation, in other words the loading section of the truck that is not a target for image capture, and the luggage in the loading section, may be captured in the image obtained by capturing an image of the loading section.

[0022] The inventor of the present invention noticed that when the loading section of a truck not subject to load amount calculation is captured in the image of the loading section, it becomes difficult to accurately distinguish between the cargo loaded on the loading section of the truck subject to load amount calculation and the cargo loaded on the loading section of the truck not subject to load amount calculation.The inventor then came to the conclusion that, as a result, it becomes difficult to accurately grasp the amount of cargo actually loaded on the loading section.

[0023] The inventor of the present invention further developed the idea and conducted intensive research with the aim of accurately distinguishing between luggage loaded on the loading section of a truck that is the subject of load calculation and luggage loaded on the loading section of a truck that is not the subject of load calculation when the loading section of the truck that is not the subject of load calculation is captured in an image of the loading section. As a result, the inventor of the present invention invented the luggage identification method, the load calculation method, and the load calculation device of the present invention.

[0024] In the baggage identification method of the present invention, a first loading image is acquired by capturing an image of the loading section from the outside of the truck and one side in the vehicle width direction. If baggage is loaded on the loading section, the first loading image captures not only the loading section itself but also the baggage loaded on the loading section in the form of a pile of baggage stacked on a pallet.

[0025] In the luggage identification method of the present invention, it is identified whether the luggage shown in the above-mentioned first loading image is luggage loaded in the loading section of a truck for which the luggage volume is to be calculated, or luggage loaded in the loading section of a truck for which the luggage volume is not to be calculated.

[0026] Specifically, in the luggage identification method of the present invention, first, in the above-mentioned first loading image, the loading section is compared with the lowest pallet in the pile of luggage. Then, if the pallet is within a predetermined area of ​​the loading section, the pile of luggage is identified as being subject to luggage weight calculation. In other words, the luggage identification method of the present invention identifies whether or not the pile of luggage is subject to luggage weight calculation based on the positional relationship between the loading section in the first loading image and the lowest pallet in the pile of luggage.

[0027] The outer shape of the loading section is not related to the presence or absence of luggage. For this reason, it may be appropriate to use the loading section itself as a criterion for identifying whether the luggage shown in the first loading image is luggage loaded in the loading section of a truck that is the subject of load calculation or luggage loaded in the loading section of a truck that is not the subject of load calculation, that is, as an identification criterion in the first loading image.

[0028] On the other hand, the external shape of the cargo pile on which the cargo is loaded changes three-dimensionally as the cargo is loaded and unloaded from the loading section, so it is difficult to say that it is appropriate to use the external shape of the cargo pile itself as an identification criterion in the first loading image.

[0029] Here, the bottommost pallet in the pile of cargo simply appears and disappears, or changes its position two-dimensionally on the loading surface of the loading section, as cargo is loaded and unloaded onto the loading section. Therefore, the bottommost pallet in the pile of cargo can be said to be useful as an identification criterion in the first loading image.

[0030] For this reason, in the baggage identification method of the present invention, the positional relationship between the loading section and the bottommost pallet in the pile of cargo is adopted as an identification criterion in the first loading image. If the lowest pallet in a pile of cargo is within a specified area of ​​the loading section, the pile of cargo is identified as being subject to load weight calculation. In other words, if the lowest pallet in a pile of cargo is not within a specified area of ​​the loading section, the pile of cargo is identified as not being subject to load weight calculation. This makes it possible to accurately identify whether the cargo shown in the first loading image is cargo loaded in the loading section of a truck for which the load volume is to be calculated, or cargo loaded in the loading section of a truck for which the load volume is not to be calculated.

[0031] In addition, according to the load amount calculation method of the present invention, the amount of load contained in the load identified as the load amount calculation target by the load identification method of the present invention is calculated. In this manner, according to the load amount calculation method of the present invention using the load identification method of the present invention, it is possible to calculate the load amount of the truck that is the load amount calculation target with high accuracy.

[0032] The load amount calculation device of the present invention is a device equipped with a camera and a load amount management element capable of implementing the load amount calculation method of the present invention described above. In this manner, the load amount calculation device of the present invention can accurately calculate the load amount of a truck that is the load amount calculation target.

[0033] The baggage identification method, the load amount calculation method, and the load amount calculation device of the present invention will be described below for each of their components. Note that when the term "the present invention" is used without any particular explanation, it is taken to refer collectively to the baggage identification method, the load amount calculation method, and the load amount calculation device of the present invention.

[0034] In the following, as necessary, the truck that is the subject of the load calculation may be referred to as the subject truck, and the loading section of the subject truck may be referred to as the subject loading section. Also, the pallet at the bottom of the load may be referred to as the lower pallet. For reference, the term "pallet" as used in the present invention means a platform for simultaneously transporting a plurality of packages using a mobile lift device, such as a forklift.

[0035] In the present invention, first, a first loading image is obtained by capturing an image of the loading section from the outside of the target truck and one side in the vehicle width direction. The one side in the vehicle width direction referred to here may be a specific one side in the vehicle width direction, for example, the right side or left side when the traveling direction of the target truck is the front side, or a side including the right side or left side, for example, the right side and rear side, or the right side, rear side and upper side, etc.

[0036] In the present invention, the camera that captures the loading section is installed on the outer side of the target truck and on one side in the vehicle width direction in order to obtain the first loading image. The camera may be capable of capturing a moving image or a still image. In other words, the first loading image captured by the camera may be a moving image or a still image.

[0037] The loading section of a truck refers to the part of the truck where cargo is loaded, and can also be called the cargo compartment of the truck.

[0038] In the present invention, the loading section in the above-mentioned first loading image is compared with the pallet at the bottom of the pile of cargo in the first loading image, i.e., the lower pallet. Depending on the positional relationship between the target truck and the camera, it is possible that multiple loading sections are captured in the first loading image. In such a case, the largest loading section in the first loading image, i.e., the loading section closest to the camera, may be determined as the target loading section.

[0039] The number of cargo piles in the loading section changes depending on the collection and delivery status of the target truck and can take various values. Therefore, the number of cargo piles in the first loading image may be only one or may be multiple. Furthermore, there may be no cargo piles.

[0040] If there are multiple loads in the first loading image, the lower pallet of each load can be compared with the target load portion.

[0041] As described above, by comparing the target load section with the lower pallet, it is possible to determine whether the lower pallet is within a predetermined area of ​​the target load section. If the lower pallet is within the predetermined area, it is possible to identify the cargo pile including the lower pallet as the cargo volume calculation target.

[0042] Here, even if the pile of cargo has the same positional relationship with the target loading section in the first loading image, it may or may not be identified as a load amount calculation target depending on the range of the specified area as the identification criterion. Therefore, the specified area as the identification criterion may be appropriately set based on what positional relationship with the target loading section the pile of cargo has to be identified as a load amount calculation target.

[0043] As an example, (a) in the first loading image, one side in the vehicle width direction is used as a reference, and the cargo pile on the side closer to the reference, in other words, the side closer to the camera, is the subject of the load amount calculation. According to (a), the cargo pile on the side farther from the reference, in other words, the side farther from the camera, with respect to the target loading section can be excluded from the load amount calculation.

[0044] In addition, when identifying the load amount calculation target by the above (a), it is preferable to use the first loading image obtained by imaging the loading part from an oblique direction including the one side, rather than simply imaging the loading part from one side of the target truck. Specifically, the one side and the rear side, the one side and the front side, the one side and the rear side and the upper side, the one side and the front side and the upper side, etc.

[0045] In the above (a), it is preferable that an end side on one side in the vehicle width direction of the floor surface of the target loading section is defined as the first reference line, and a range that is a predetermined distance or less from the first reference line is defined as the predetermined area.

[0046] For example, if the range in which the distance from the first reference line toward the other side in the vehicle width direction is less than the length of the target loading section in the vehicle width direction (in other words, the width of the target loading section) is defined as the specified area, then cargo piles on the other side of the target loading section in the vehicle width direction can be excluded from the cargo amount calculation, and other cargo piles can be included in the cargo amount calculation. Furthermore, for example, if the specified area is defined as the range where the distance from the first reference line toward the other side in the vehicle width direction is less than half the width of the target loading section, only the cargo pile on one side of the target loading section in the vehicle width direction can be subject to cargo volume calculation.

[0047] As another example, (b) in the first loading image, a cargo pile on the side closer to the reference point is set as the cargo weight calculation target, using a predetermined position in the vehicle travel direction as the reference point. In (b), a cargo pile on the side farther from the reference point with respect to the target loading part, in other words, on the front or rear side of the target loading part in the vehicle travel direction, can be excluded from the cargo weight calculation target.

[0048] In the above (b), (b-1) it is preferable to define the rear edge of the floor surface of the target loading area in the vehicle travel direction as the rear reference line, and define the specified area as a range where the distance from the rear reference line toward the front side in the vehicle travel direction is equal to or greater than a predetermined distance, or a range where the distance from the rear reference line toward the rear side in the vehicle travel direction is equal to or less than a predetermined distance. Alternatively, (b-2) it is also preferable to define the front edge of the floor surface of the target loading area in the vehicle travel direction as the front reference line, and define the specified area as a range in which the distance from the front reference line toward the rear side in the vehicle travel direction is greater than or equal to a predetermined distance, or a range in which the distance from the front reference line toward the front side in the vehicle travel direction is less than or equal to a predetermined distance.

[0049] In (b-1), for example, if the range where the distance from the rear reference line toward the front of the vehicle in the direction of travel exceeds 0 is defined as the specified area, cargo piles that are located rear of the target loading section in the direction of travel of the vehicle can be excluded, and other cargo piles can be used as the subject of cargo volume calculation.

[0050] In (b-2), for example, if the range where the distance from the above-mentioned front reference line toward the rear of the vehicle's travel direction exceeds 0 is defined as the specified area, cargo piles that are forward of the target loading section in the vehicle's travel direction can be excluded, and other cargo piles can be used as the subject of cargo volume calculation.

[0051] Furthermore, in the above (b-1), if the specified area is, for example, a range in which the distance from the rear reference line toward the front of the vehicle's travel direction is more than half the length of the target loading section in the vehicle's travel direction, the cargo pile on the rear side of the target loading section in the vehicle's travel direction can be excluded and the cargo pile on the front side of the target loading section in the vehicle's travel direction can be used as the target for cargo amount calculation.

[0052] Similarly, in (b-2) above, if the specified area is, for example, a range in which the distance from the front reference line toward the rear of the vehicle's travel direction is less than half the length of the target loading section in the vehicle's travel direction, the cargo pile on the rear side of the target loading section in the vehicle's travel direction can be excluded, and the cargo pile on the front side of the target loading section in the vehicle's travel direction can be used as the target for cargo volume calculation.

[0053] When the load on the loading section is small, for example, if the truck suddenly stops, the load may move forward on the loading section in the vehicle's travel direction. If the load moves too far, the load may collide with the front wall of the loading section, causing damage to the goods contained in the load.

[0054] In response to this, by locating the cargo pile on the front side of the loading section in the vehicle travel direction, the distance that the cargo pile can move forward in the vehicle travel direction can be shortened. This makes it possible to prevent the cargo pile from moving too far even when there are few cargo piles in the loading section and the truck suddenly stops, and ultimately to prevent damage to the goods contained in the cargo pile.

[0055] In the present invention, by setting the cargo piles located in front of the target loading section in the vehicle travel direction as the cargo weight calculation target by the above (b-1) or (b-2), when there are few or no cargo piles that are the cargo weight calculation target and there are cargo piles that are not the cargo weight calculation target, it is possible to alert the worker or to instruct the work robot to rearrange the cargo piles. As a result, when there is a cargo pile that is not the cargo weight calculation target in the target loading section, the cargo pile can be rearranged to the front of the loading section in the vehicle travel direction, and the movable distance of the cargo pile toward the front of the vehicle travel direction can be shortened. This has the advantage that even when there are few cargo piles in the target loading section and the truck suddenly stops, excessive movement of each cargo pile can be suppressed, and damage to the cargo included in the cargo pile can be suppressed.

[0056] The above (b-1) and (b-2) may be carried out alone or in combination with the above (a), and further, may be carried out in combination with the above (a) and (c) and / or (d) described below.

[0057] In the present invention, the object for calculating the load amount is identified based on a first loading image obtained by capturing an image of the loading section from one side in the vehicle width direction. In addition, the object for calculating the load amount may also be identified based on a second loading image obtained by capturing an image of the loading section from the other side in the vehicle width direction.

[0058] Hereinafter, as necessary, the load amount calculation target identified based on the first loading image may be referred to as the first load amount calculation target, and the load amount calculation target identified based on the second loading image may be referred to as the second load amount calculation target, to distinguish between the two. Also, as necessary, the camera for obtaining the first loading image may be referred to as the first camera, and the camera for obtaining the second loading image may be referred to as the second camera, to distinguish between the two. Furthermore, as necessary, the lower pallet of the load pile in the second loading image may be referred to as the second lower pallet.

[0059] To identify the second load calculation target, specifically, the second camera may capture an image of the target loading section from the other side of the target truck, opposite to the one side, to obtain a second loading image. Then, the loading section in the second loading image may be compared with the bottom pallet of the cargo pile in the second loading image. When a plurality of loading sections are captured in the second loading image, the largest loading section in the second loading image, that is, the loading section closest to the camera, may be determined as the target loading section.

[0060] As described above, in the second loading image, by comparing the target loading section with the second lower pallet, i.e., the lower pallet of the cargo pile in the second loading image, it is possible to determine whether the second lower pallet is within a predetermined area of ​​the target loading section. If the second lower pallet is within the second predetermined area, it is possible to identify the cargo pile including the second lower pallet as the second cargo amount calculation target.

[0061] In this case, the second predetermined area can be set in the same manner as the above-mentioned first predetermined area. As an example, (c) in the second loading image, the other side in the vehicle width direction is used as a reference, and the cargo pile on the side closer to the reference, in other words, the side closer to the second camera, is set as the second load amount calculation target. According to (c), the cargo pile on the side farther from the reference with respect to the target loading section, in other words, the side farther from the second camera, in other words, on one side in the vehicle width direction, can be excluded from the second load amount calculation target.

[0062] In addition, even when identifying the load amount calculation target by the above (c), it is preferable to use the second loading image obtained by imaging the loading part from an oblique direction including the other side, rather than simply imaging the loading part from the other side of the target truck. Specifically, the other side and rear side, the other side and front side, the other side and rear side and upper side, the other side and front side and upper side, etc.

[0063] In the above (c), the other end side in the vehicle width direction of the floor surface of the target loading section is set as the second reference line, and a range that is a predetermined distance or less from the second reference line is set as the second predetermined area.

[0064] For example, if the range in which the distance from the second reference line toward one side in the vehicle width direction is less than the width of the target loading section is defined as the second specified area, cargo piles on one side of the target loading section in the vehicle width direction can be excluded, and the other cargo piles can be used as the subject of the second load calculation. Furthermore, for example, if the second specified area is defined as a range in which the distance from the second reference line toward one side in the vehicle width direction is less than half the width of the target loading section, only the cargo pile on the other side of the target loading section in the vehicle width direction can be subject to cargo volume calculation.

[0065] As another example, similar to (b) above, (d) in the second loading image, a cargo pile on the side closer to the reference point is set as the target loading part, with a predetermined position in the vehicle travel direction as the reference point, can be cited. In (d), similar to (b) above, cargo piles on the side farther from the reference point with respect to the target loading part, in other words, on the front or rear side of the target loading part in the vehicle travel direction, can be excluded from the load amount calculation target.

[0066] It is reasonable to identify the above-mentioned second load quantity calculation object when it is determined that there is a load pile in the first loading image and there is no load pile that is the load quantity calculation object after identifying the first load quantity calculation object.

[0067] In addition, when identifying a second load amount calculation target in addition to identifying a first load amount calculation target, it is preferable to set the predetermined area in the above (a) to a range in which the distance from the first reference line toward the other side in the vehicle width direction is smaller than the width of the target load part. In this case, it is more preferable to set the predetermined area to a range in which the distance from the first reference line toward the other side in the vehicle width direction is equal to or less than half the width of the target load part. This is because a load pile identified as not being a first load amount calculation target in the above (a) can be identified as a second load amount calculation target in (c), and the load amount calculation target can be identified with high accuracy.

[0068] When identifying the second load amount calculation target in addition to identifying the first load amount calculation target, it is necessary to prevent the same load from being identified as both the first load amount calculation target and the second load amount calculation target. For this reason, it is preferable to set the first predetermined area small and the second predetermined area small. Specifically, it is preferable to set the distance Wa from the first reference line toward the other side in the vehicle width direction in (a) short, and to set the distance Wc from the second reference line toward one side in the vehicle width direction in (c) short.

[0069] More specifically, it is particularly preferable to define the range where Wa is 1 / 5 or less of the width of the target loading section as the first specified area and the range where Wc is 1 / 5 or less of the width of the target loading section as the second specified area, the range where Wa is 1 / 8 or less of the width of the target loading section as the first specified area and Wc is 1 / 8 or less of the width of the target loading section as the second specified area, or the range where Wa is 1 / 10 or less of the width of the target loading section as the first specified area and Wc is 1 / 10 or less of the width of the target loading section as the second specified area.

[0070] Alternatively, it is particularly preferable to define the range where Wa is 50 cm or less as the first specified region and the range where Wc is 50 cm or less as the second specified region, or to define the range where Wa is 30 cm or less as the first specified region and the range where Wc is 30 cm or less as the second specified region, or to define the range where Wa is 20 cm or less as the first specified region and the range where Wc is 20 cm or less as the second specified region.

[0071] The distance Wa and the distance Wc mentioned here may be calculated by a general method based on the associated loading image, that is, the first loading image or the second loading image.

[0072] As a specific example, first, the dimensions or positional relationship of each part of the actual target loading section are measured in advance and obtained as actual measured values. In addition, the target loading section is imaged in advance by a first camera installed at a predetermined position to obtain a first loading image. Then, the actual measured values ​​of the dimensions or positional relationship of each part in the actual target loading section are associated with the dimensions or positional relationship of each part on the first loading image. In this way, it becomes possible to calculate the distance Wa and the distance Wc based on the loading image. This also applies to the distance from the rear reference line toward the front side in the vehicle traveling direction, the distance from the rear reference line toward the rear side in the vehicle traveling direction, the distance from the front reference line toward the front side in the vehicle traveling direction, and the distance from the front reference line toward the rear side in the vehicle traveling direction.

[0073] In addition, as for the dimensions of each part on the first loading image described above, actual measured values ​​of the dimensions of each part on the first loading image may be used, or instead of the actual measured values, image information of each part on the first loading image, such as the number of pixels of each part (specifically, the number of pixels), etc. may be used.

[0074] In the present invention, by identifying each cargo pile as described above and calculating the amount of cargo contained in the cargo pile identified as the first cargo amount calculation target, it becomes possible to grasp the cargo amount of the target truck with high reliability. In addition, by calculating the amount of cargo contained in the cargo pile identified as the second cargo amount calculation target, it becomes possible to grasp the cargo amount of the target truck with even higher reliability.

[0075] In the present invention, the step of identifying the load as the first load amount calculation target based on the first loading image and the step of calculating the amount of luggage included in the load identified as the first load amount calculation target can be performed by a known load amount management element. The same is true for the step of identifying the load as the second load amount calculation target based on the second loading image and the step of calculating the amount of luggage included in the load identified as the second load amount calculation target.

[0076] The load management element may be any element capable of carrying out the above steps, and its structure and configuration are not particularly limited. For example, the load management element may be a computer having a calculation and control device such as a CPU, and a storage device such as a memory or a hard disk.

[0077] Incidentally, a typical loading section has a roughly rectangular shape when viewed from one or the other side in the width direction, but in the first loading image acquired by the first camera and the second loading image acquired by the second camera, the loading section often has a distorted rectangular shape. This is because it is difficult to install the first camera and the second camera right next to the loading section at the loading / unloading base, and because a camera with a wide angle of view that can capture the loading section as a rectangle in the first loading image and the second loading image is expensive.

[0078] In the present invention, in order to more reliably identify the first load amount calculation target and the second load amount calculation target based on the loading image, it is preferable to perform image processing to return the first loading image and the second loading image from a distorted quadrangular shape to a rectangle or a parallelogram, and calculate the distance Wa and the distance Wc based on the first loading image and the second loading image after the image processing. The image processing can be performed by a known method, and as a program, application, or software used for the image processing, it is sufficient to use one having a function required for the desired image processing.

[0079] The load amount calculation method, the baggage identification method, and the load amount calculation device of the present invention will be described below with specific examples.

[0080] Example 1 Fig. 1 is an explanatory diagram for explaining the positional relationship of a loading / unloading base, a truck, a loading section, and a pile of cargo in the load amount calculation method, the baggage identification method, and the load amount calculation device of the first embodiment. Fig. 2 is an explanatory diagram for explaining the loading section as viewed from one side in the load amount calculation method, the baggage identification method, and the load amount calculation device of the first embodiment. Fig. 3 is an explanatory diagram for explaining a first loading image in the load amount calculation method, the baggage identification method, and the load amount calculation device of the first embodiment. Fig. 4 is a flow chart for explaining the load amount calculation method and the baggage identification method of the first embodiment. Hereinafter, each direction given in the first embodiment means each direction shown in each drawing.

[0081] The load amount calculation device 1 of the first embodiment includes two cameras 2 and a load amount management element 3 connected to the cameras 2 .

[0082] Of these, the cameras 2 are installed outside a target truck 92t at a loading / unloading base 91 for loading / unloading luggage 90, on one side of a loading section 94 and on the other side of the loading section 94.

[0083] The load management element 3 is a computer equipped with AI and is wirelessly connected to the camera 2. The camera 2 is controlled by the load management element 3 and captures a loading image as a video. The loading image acquired by the camera 2 is transmitted to the load management element 3 and stored.

[0084] The loading / unloading base 91 is provided with many loading / unloading areas 93 for trucks 92. As shown in Fig. 1, each loading / unloading area 93 is an area where trucks 92 can park, and is surrounded by lines drawn on the floor of a building. When trucks 92 enter the warehouse, they are inside the loading / unloading area 93, and when they leave the warehouse, they leave the loading / unloading area 93.

[0085] Two cameras 2 are disposed in each loading / unloading area 93. One of the cameras 2, a first camera 21, is disposed on one side (left side), rear and upper side of the loading / unloading area 93, and the other camera 2, a second camera 22, is disposed on the other side (right side), rear and upper side of the loading / unloading area 93.

[0086] The first camera 21 captures a first loading image of the loading section 94 of the target truck 92t from one side (the passenger seat side in the first embodiment). The second camera 22 captures a second loading image of the loading section 94 of the target truck 92t from the other side (the driver seat side in the first embodiment).

[0087] Here, a large number of loading / unloading areas 93 are provided at the loading / unloading base 91, and adjacent loading / unloading areas 93 are located relatively close to each other. Therefore, other trucks 92o may be parked relatively close to a target truck 92t parked in a loading / unloading area 93. In FIG. 1, the other trucks 92o are adjacent to the other side of the target truck 92t.

[0088] In such an environment, when the loading section 94 of the target truck 92t is viewed from one side in the vehicle width direction outside the vehicle, other trucks 92o overlap on the other side of the target truck 92t in the vehicle width direction, as shown in Fig. 2, and the cargo 90 and pallets 95 loaded on the other trucks 92o are reflected in the loading section 94 of the target truck 92t as a cargo pile 96. Therefore, it is necessary to identify the cargo pile 96 actually loaded on the target truck 92t as a cargo amount calculation target CT, and to exclude the cargo pile 96 originating from the other trucks 92o as a cargo amount calculation target O.

[0089] In the load amount calculation method, the baggage identification method, and the load amount calculation device 1 of the first embodiment, the first camera 21 captures an image of the loading section 94 of the target truck 92t from one side in the vehicle width direction, the rear side, and the upper side outside the vehicle, to obtain a first loading image shown in Fig. 3. The obtained first loading image is transmitted to the load amount management element 3.

[0090] The load amount management element 3 obtains an outer shape 94OL of the loading section 94 in the first loading image. Then, the outer shape 94OL of the loading section 94 is compared with the outer shapes of other loading sections 94 to determine the loading section 94 of the target truck 92t, i.e., the target loading section 94t.

[0091] In the load amount management element 3, in the first loading image, one end side of the floor surface 94f of the target loading section 94t is set as a first reference line FS, and a range that is a predetermined distance or less from the first reference line FS is set as a first predetermined area FA. In the load amount calculation method, the baggage identification method, and the load amount calculation device 1 of the first embodiment, the area in which the distance from the first reference line FS toward the other side is 20 cm or less as an actual measured value in the actual target loading section 94t is defined as the first predetermined area FA.

[0092] Furthermore, the load amount management element 3 compares the lower pallet 95L of each load pile 96 with the target load section 94t in the first loading image. If the bottom edge SE of one side of the lower pallet 95L is within the first predetermined area FA of the target load section 94t, the load amount management element 3 identifies the load pile 96 as the first load amount calculation target. Based on this identification result, the load amount management element 3 calculates the amount of luggage 90 contained in the load pile 96.

[0093] For example, among the many cargo piles 96 shown in Fig. 3, a cargo pile 96f whose end side SE is within the first predetermined area FA of the target loading section 94t is identified as a first cargo amount calculation target. On the other hand, a cargo pile 96s whose end side SE is outside the first predetermined area FA of the target loading section 94t is excluded from the first cargo amount calculation target. As for the cargo piles 96 originating from the other trucks 92o, since their end sides SE are outside the first predetermined area FA, they are naturally excluded from the first cargo amount calculation target.

[0094] As a result, according to the load calculation method, load identification method, and load calculation device 1 of Example 1, it is possible to accurately identify whether the load 90 shown in the first loading image is load 90 loaded in the target loading section 94t, or load 90 loaded in the loading section 94 of a truck 92o that is not a load calculation target, and ultimately to accurately calculate the load of the target truck 92t.

[0095] In addition, in the load amount calculation method, luggage identification method, and load amount calculation device 1 of Example 1, a second loading image is further obtained by using the second camera 22 to capture the loading section 94 of the target truck 92t from the other side (the driver's seat side in Example 1).

[0096] The load management element 3 determines the target loading section 94t based on the second loading image in the same manner as described above. Although not shown, the load management element 3 sets the other end side of the floor surface 94f of the target loading section 94t in the second loading image as a second reference line. Then, the range that is a predetermined distance or less from the second reference line is set as a second predetermined area. In the load amount calculation method, the baggage identification method, and the load amount calculation device 1 of the second embodiment, the second specified area is defined as an area in which the distance from the second reference line to one side is 20 cm or less as an actual measured value in the actual target loading section 94t.

[0097] Furthermore, the load amount management element 3 compares the lower pallet 95L of each cargo pile 96 with the target load section 94t in the second loading image. If the other end edge of the lowermost part of the lower pallet 95L is within the second predetermined area of ​​the target load section 94t, the cargo pile 96 is identified as a second cargo amount calculation target. The load amount management element 3 then calculates the amount of luggage 90 contained in the cargo pile 96 based on this identification result.

[0098] For example, among the many cargo piles 96 shown in Fig. 3, cargo pile 96f is excluded from the second cargo amount calculation target because the other end edge of the lowermost part of the lower pallet 95L is outside the second predetermined area of ​​the target loading section 94t. On the other hand, cargo pile 96s is identified as a second cargo amount calculation target because the other end edge of the lowermost part of the lower pallet 95L is within the second predetermined area of ​​the target loading section 94t. As for the cargo pile 96 originating from the other truck 92o shown in FIG. 1, since it is not captured in the second loaded image, it is naturally excluded from the second cargo amount calculation target.

[0099] According to the load amount calculation method, the baggage identification method, and the load amount calculation device 1 of the first embodiment, the load pile 96 on one side of the target loading section 94t is identified as the first load amount calculation target, and the other load piles 96 are excluded from the first load amount calculation target. Then, the load pile 96 on the other side of the target loading section 94t is identified as the second load amount calculation target, and the other load piles 96 are excluded from the second load amount calculation target.

[0100] As a result, according to the load amount calculation method, the load identification method, and the load amount calculation device 1 of the first embodiment, it is possible to accurately identify whether the load 90 shown in the first loading image is the load 90 loaded on the target loading section 94t or the load 90 loaded on the loading section 94 of the truck 92o that is not the load amount calculation target. In addition, it is possible to accurately identify whether the load 90 shown in the second loading image is the load 90 loaded on the target loading section 94t or the load 90 loaded on the loading section 94 of the truck 92 that is not the load amount calculation target.

[0101] As a result, according to the load amount calculation method, the baggage identification method, and the load amount calculation device 1 of the first embodiment, it is possible to calculate the load amount of the target truck 92t with a very high degree of accuracy.

[0102] Hereinafter, the load amount calculation method and the load identification method according to the first embodiment will be described in more detail with reference to the flowchart shown in FIG.

[0103] First, when a first loaded image obtained by the first camera 21 is transmitted to the load management element 3, the load management element 3 starts the entire process (S1).

[0104] The load management element 3 extracts an image resembling a truck 92 from the first loaded image in S1, and determines whether or not the image is a truck 92 (S2).

[0105] Next, the load amount in the target loading section 94t of the target truck 92t is calculated (A) (S3). In S3, after the load calculation (A) process starts (SA1), learning is performed to read the first loading image (SA2), and then inference is performed based on the learning content of SA2 (SA3). In addition, if a trained model that has undergone learning equivalent to SA2 prior to this overall process S1 is applied to the load management element 3, SA2 may be skipped.

[0106] Specifically, in SA3, the outer shape of the loading section 94 is obtained based on the coordinates of the four corners of the loading section 94 in the first loading image. If there is only one truck 92 in the first loading image, the truck 92 is determined to be a target truck 92t. If there are multiple trucks 92 in the first loading image, the outer shapes of the loading sections 94 of the trucks 92 are compared, the truck 92 with the largest loading section 94 is determined to be the target truck 92t, and the loading section 94 of the target truck 92 is determined to be the target loading section 94t. Furthermore, the pallet 95 in the target loading section 94 is extracted.

[0107] After the above SA3, a lower pallet determination (B) is performed on the pallet 95 in the target loading section 94 (SA4).

[0108] Specifically, in SA4, after the process of determining the lower palette (B) starts (SB1), first, a first reference line FS is detected in the first stacked image (SB2), and then the palette 95 is extracted in the first stacked image (SB3).

[0109] For each pallet 95 extracted in SB3, the outline of that pallet 95 is found based on the coordinates of its four corners. Then, the recognition frame coordinates (1) of that pallet 95, more specifically, the center coordinate in the up-down direction (i.e., height direction) of that pallet 95, are obtained (SB4). The four corners of the pallet 95 referred to here mean the four corners on the side of the pallet 95 that are captured in the first loading image captured from one side (the passenger seat side in the first embodiment) of the loading section 94. By determining the outer shape of the pallet 95 based on the four corners, the center coordinates in the height direction on the side of the pallet 95 can be obtained.

[0110] Next, the center coordinate (2) of the first reference line FS, more specifically, the center coordinate in the up-down direction on the first reference line FS is obtained (SB5).

[0111] Then, the recognition axis coordinate (1) of the pallet 95 obtained in SB4 is compared with the center coordinate (2) of the first reference line FS obtained in SB5, and it is determined whether or not (1)-(2)>0 and (1)-(2) is equal to or smaller than a threshold (SB6). As described above, in the first embodiment, the first predetermined area FA is defined as an area where the distance from the first reference line FS toward the other side is equal to or smaller than 20 cm in the actual measured value of the actual target loading section 94t. Therefore, the threshold value here is 20 cm in the actual measured value.

[0112] If "(1)-(2)>0 and equal to or less than the threshold" in SB6 (Y in SB6), the pallet 95 is determined to be the bottom pallet 95L in the cargo pile 96 that is the target of the first cargo amount calculation (SB7). Then, it is determined whether the determination SB7 of the bottom pallet 95L has been completed for all pallets 95 (SB8). If SB7 has been completed for all pallets 95, the process for the lower pallet determination (B) ends (SB9). If SB7 has not been completed for all pallets 95, the process returns to SB3.

[0113] If "(1)-(2)>0 and not equal to or less than the threshold" is not true in SB6 (N in SB6), proceed to SB8, and if SB7 has been completed for all pallets 95, end the processing of the lower pallet determination (B) (SB9). If SB7 has not been completed for all pallets 95, return to SB3.

[0114] After the lower pallet determination (B) process is completed (SB9), the cargo pile 96 containing the lower pallet 95L is detected (SA5). As described above, since the cargo pile 96 is the first cargo amount calculation target, the cargo amount contained in the cargo pile 96 is then calculated (SA6). After SA6 is completed, the cargo amount calculation (A) process is completed (SA7), the result is registered in the database (S4), and the entire process is terminated (S5).

[0115] In the load amount calculation method, the baggage identification method and the load amount calculation device 1 of the embodiment 1, it is further possible to use a predetermined position in the vehicle travel direction as a reference in the first loading image shown in FIG. 3, for example, and to treat the load pile 96 on the side closer to the reference as the load amount calculation target.

[0116] For example, the front edge of the floor surface 94f of the target loading section 94t in the vehicle travel direction can be set as the front reference line FRS. The third predetermined area TA can be set as a range in which the distance from the front reference line FRS toward the rear side in the vehicle travel direction is equal to or less than half the length of the target loading section 94t in the vehicle travel direction.

[0117] In this case, the cargo pile 96 at the bottom of the lower pallet 95L, whose rear edge is within the third predetermined area TA, can be identified as the third cargo amount calculation target, and the other cargo piles 96 can be excluded from the third cargo amount calculation target. This makes it possible to accurately identify whether the cargo 90 shown in the first loading image is cargo 90 loaded on the target loading section 94t or cargo 90 loaded on the loading section 94 of the truck 92 that is not a cargo amount calculation target, and makes it possible to accurately calculate the cargo amount of the target truck 92t.

[0118] In addition, in this case, when there are few or no cargo piles 96 that are the subject of the third cargo amount calculation and there is a cargo pile 96 that is not the subject of the third cargo amount calculation, it is possible to alert the worker or to instruct the work robot to rearrange the cargo pile 96. As a result, when there is a cargo pile 96 that is not the subject of the third cargo amount calculation in the target loading section 94t, the cargo pile 96 can be rearranged to the front side in the vehicle travel direction in the target loading section 94t. As a result, the movable distance of the cargo pile 96 toward the front side in the vehicle travel direction can be shortened, and even when there are few cargo piles 96 in the target loading section 94t and the truck 92 suddenly stops, it is possible to suppress excessive movement of each cargo pile 96 and suppress damage to the baggage 90 contained in the cargo pile 96.

[0119] Although the present invention has been described above, the present invention is not limited to the above-described embodiments, and it is possible to implement the present invention by appropriately extracting and combining elements described in the embodiments, and to make various modifications without departing from the spirit of the present invention. Furthermore, the specification of the present invention discloses not only the citation relationships of each claim at the time of the initial application, but also a technical idea that appropriately combines the matters described in each claim. [Explanation of symbols]

[0120] 1: Truck load calculation device 2: Camera 3: Load management element 90: Luggage 92: Truck 94: Loading section 94f: Loading area floor 95: Palette 95L: The pallet at the bottom of the pile 96: Mt. FS: 1st reference line

Claims

1. A load amount calculation method for calculating a load amount in a loading section of a truck by a load amount calculation device, comprising: By the load calculation device, A first loading image is obtained by capturing an image of the loading section from an outer side of the truck and one side in a vehicle width direction; In the first loading image, the loading section is compared with a bottom pallet in a pile of cargo on which luggage is loaded, A method for calculating the amount of cargo in a truck, which identifies the pile of cargo as a target for cargo volume calculation when the pallet is within a specified area of ​​the loading section based on <1> or <2> below, and calculates the amount of cargo contained in the pile of cargo. <1> The edge on one side of the floor surface of the loading section is defined as a first reference line, and the range in which the distance from the first reference line toward the other side in the vehicle width direction is equal to or less than the width of the loading section is defined as the predetermined area, and the load pile in which the pallet is located in the predetermined area is the load amount calculation target. <2> The end edge on one side of the floor surface is defined as the first reference line, and the range where the distance from the first reference line toward the other side is less than half the width of the loading section is defined as the specified area, and the pile of cargo where the pallet is in the specified area is the subject of the cargo volume calculation.

2. A load amount calculation method for calculating a load amount in a loading section of a truck by a load amount calculation device, comprising: By the load calculation device, A first loading image is obtained by capturing an image of the loading section from an outer side of the truck and one side in a vehicle width direction; In the first loading image, the loading section is compared with a bottom pallet in a pile of cargo on which luggage is loaded, A method for calculating the amount of cargo in a truck, which identifies the pile of cargo as a target for cargo volume calculation when the pallet is within a specified area of ​​the loading section based on any of <3> to <6> below, and calculates the amount of cargo contained in the pile of cargo. <3> The rear edge of the floor surface of the loading section in the vehicle travel direction is defined as a rear reference line, and a range in which the distance from the rear reference line toward the front side in the vehicle travel direction exceeds 0 is defined as a predetermined area, and the load pile in which the pallet is located in the predetermined area is the load amount calculation target. <4> The rear end edge of the floor surface is defined as a rear reference line, and the range in which the distance from the rear reference line toward the front side is equal to or greater than half the length of the loading section in the vehicle travel direction is defined as the predetermined area, and the load pile in which the pallet is located in the predetermined area is the load amount calculation target. <5> The front edge of the floor surface is defined as a front reference line, and a range in which the distance from the front reference line toward the rear side exceeds 0 is defined as a predetermined area, and the load pile in which the pallet is located in the predetermined area is a load amount calculation target. <6> The front edge of the floor surface is defined as the front reference line, and the range from the front reference line toward the rear is defined as a specified area where the distance from the front reference line to the rear is less than half the length of the loading section in the vehicle travel direction, and the pile of cargo where the pallet is in the specified area is the subject of the cargo volume calculation.

3. By the load calculation device, The method for calculating the amount of cargo for a truck according to claim 1 further comprises identifying the pile of cargo as a target for cargo amount calculation when the pallet is within a specified area of ​​the loading section based on any of the following items <3> to <6>, and calculating the amount of the cargo contained in the pile of cargo. <3> The rear edge of the floor surface in the vehicle travel direction is defined as a rear reference line, and a range in which the distance from the rear reference line toward the front side in the vehicle travel direction exceeds 0 is defined as a predetermined area, and the cargo pile in which the pallet is located in the predetermined area is defined as the cargo amount calculation target. <4> The rear end edge of the floor surface is defined as a rear reference line, and the range in which the distance from the rear reference line toward the front side is equal to or greater than half the length of the loading section in the vehicle travel direction is defined as the predetermined area, and the load pile in which the pallet is located in the predetermined area is the load amount calculation target. <5> The front edge of the floor surface is defined as a front reference line, and a range in which the distance from the front reference line toward the rear side exceeds 0 is defined as a predetermined area, and the load pile in which the pallet is located in the predetermined area is a load amount calculation target. <6> The front edge of the floor surface is defined as the front reference line, and the range from the front reference line toward the rear is defined as a specified area where the distance from the front reference line to the rear is less than half the length of the loading section in the vehicle travel direction, and the pile of cargo where the pallet is in the specified area is the subject of the cargo volume calculation.

4. By the load calculation device, Further, a second loading image is acquired by capturing an image of the loading section from the other side opposite to the one side with respect to the truck, In the second loading image, the loading section is compared with the bottom pallet in the pile of cargo, 2. A method for calculating the amount of cargo in a truck as described in claim 1, further comprising the steps of: identifying the pile of cargo as a target for cargo amount calculation when the pallet is within a second specified area of ​​the loading section based on <7> or <8> below; and calculating the amount of cargo contained in the pile of cargo. <7> The end edge on the other side of the floor surface is set as a second reference line, and the range in which the distance from the second reference line toward the one side is equal to or less than the width of the loading section is set as the second specified area, and the load pile in which the pallet is in the second specified area is the load amount calculation target. <8> The other end edge of the floor surface is defined as a second reference line, and the range where the distance from the second reference line toward the one side is less than half the width of the loading section is defined as the second specified area, and the pile of cargo where the pallet is in the second specified area is the subject of the cargo volume calculation.

5. A method for identifying whether a load loaded on a loading section of a truck is a load calculation target by a load calculation device, comprising: By the load calculation device, A first loading image is obtained by capturing an image of the loading section from an outer side of the truck and one side in a vehicle width direction; In the first loading image, the loading section is compared with a bottom pallet in a pile of cargo on which luggage is loaded, A method for identifying cargo for a truck, which identifies the cargo pile as a cargo volume calculation target when the pallet is within a specified area of ​​the loading section based on the following <1> or <2>. <1> The edge on one side of the floor surface of the loading section is defined as a first reference line, and the range in which the distance from the first reference line toward the other side in the vehicle width direction is equal to or less than the width of the loading section is defined as the predetermined area, and the load pile in which the pallet is located in the predetermined area is the load amount calculation target. <2> The end edge on one side of the floor surface is defined as the first reference line, and the range where the distance from the first reference line toward the other side is less than half the width of the loading section is defined as the specified area, and the pile of cargo where the pallet is in the specified area is the subject of the cargo volume calculation.

6. A method for identifying whether a load loaded on a loading section of a truck is a load calculation target by a load calculation device, comprising: By the load calculation device, A first loading image is obtained by capturing an image of the loading section from an outer side of the truck and one side in a vehicle width direction; In the first loading image, the loading section is compared with a bottom pallet in a pile of cargo on which luggage is loaded, A method for identifying cargo for a truck, comprising: identifying the cargo pile as a cargo volume calculation target when the pallet is within a specified area of ​​the loading section, based on any one of the following items <3> to <6>. <3> The rear edge of the floor surface of the loading section in the vehicle travel direction is defined as a rear reference line, and a range in which the distance from the rear reference line toward the front side in the vehicle travel direction exceeds 0 is defined as a predetermined area, and the load pile in which the pallet is located in the predetermined area is the load amount calculation target. <4> The rear end edge of the floor surface is defined as a rear reference line, and the range in which the distance from the rear reference line toward the front side is equal to or greater than half the length of the loading section in the vehicle travel direction is defined as the predetermined area, and the load pile in which the pallet is located in the predetermined area is the load amount calculation target. <5> The front edge of the floor surface is defined as a front reference line, and a range in which the distance from the front reference line toward the rear side exceeds 0 is defined as a predetermined area, and the load pile in which the pallet is located in the predetermined area is a load amount calculation target. <6> The front edge of the floor surface is defined as the front reference line, and the range from the front reference line toward the rear is defined as a specified area where the distance from the front reference line to the rear is less than half the length of the loading section in the vehicle travel direction, and the pile of cargo where the pallet is in the specified area is the subject of the cargo volume calculation.

7. By the load calculation device, The method for identifying cargo for a truck according to claim 5 further comprises identifying the cargo pile as a cargo volume calculation target when the pallet is within a specified area of ​​the loading section based on any one of the following items <3> to <6>. <3> The rear edge of the floor surface in the vehicle travel direction is defined as a rear reference line, and a range in which the distance from the rear reference line toward the front side in the vehicle travel direction exceeds 0 is defined as a predetermined area, and the cargo pile in which the pallet is located in the predetermined area is defined as the cargo amount calculation target. <4> The rear end edge of the floor surface is defined as a rear reference line, and the range in which the distance from the rear reference line toward the front side is equal to or greater than half the length of the loading section in the vehicle travel direction is defined as the predetermined area, and the load pile in which the pallet is located in the predetermined area is the load amount calculation target. <5> The front edge of the floor surface is defined as a front reference line, and a range in which the distance from the front reference line toward the rear side exceeds 0 is defined as a predetermined area, and the load pile in which the pallet is located in the predetermined area is a load amount calculation target. <6> The front edge of the floor surface is defined as the front reference line, and the range from the front reference line toward the rear is defined as a specified area where the distance from the front reference line to the rear is less than half the length of the loading section in the vehicle travel direction, and the pile of cargo where the pallet is in the specified area is the subject of the cargo volume calculation.

8. A load amount calculation device for calculating a load amount in a loading section of a truck, a camera installed on an outer side of the truck and on one side in a vehicle width direction, the camera capturing an image of the loading section to obtain a first loading image; A load amount calculation device for a truck comprising: a load amount management element that calculates the amount of the load by the load amount calculation method according to any one of claims 1 to 4.

Images