Cargo handling systems and management programs

Abstract

To provide a cargo handling system capable of reducing waste of time by reducing excessive traveling of a manned conveyance vehicle.SOLUTION: A cargo handling system S comprises: an unmanned flight body 2 provided with a camera; a manned conveyance vehicle 1 provided with a monitor; and a management device 3 provided with a cargo storage part and a map storage part. The management device 3 transmits route information on a route from the manned conveyance vehicle 1 to a position to unload a cargo W, to the unmanned flight body 2, while transmitting a cargo command to the manned conveyance vehicle 1, based on a cargo schedule and map information. Upon receiving the route information, the unmanned flight body 2 flies along the route from the manned conveyance vehicle 1 to the position to unload the cargo W previously before the manned conveyance vehicle 1 arrives at the position to unload the cargo W; and images the route with the camera to produce a route image. The monitor displays the received route image.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a loading / unloading system and a management program for managing loading / unloading by a manned guided vehicle. [Background technology]

[0002] Conventionally, as disclosed in Patent Document 1, a loading / unloading system is disclosed that notifies a loading position and issues a loading instruction to a manned guided vehicle. In this type of loading / unloading system, the manned guided vehicle travels to the notified loading position and loads / unloads the cargo.

[0003] In warehouses where cargo is stored, the aisles are often narrow in order to secure storage space. In addition, in warehouses, cargo handling work is often performed by multiple manned guided vehicles. Therefore, in the case of the above-mentioned cargo handling system, if another manned guided vehicle is performing cargo handling on the route to the notified loading position of the manned guided vehicle, the manned guided vehicle must return to the route it came on and head to the loading position via another route. Also, if there is an obstacle on the route to the loading position, the manned guided vehicle must change its route. Forcing the manned guided vehicle to change its route is a problem because it wastes time. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2010-222121 A Summary of the Invention [Problem to be solved by the invention]

[0005] Therefore, an object of the present invention is to provide a loading and unloading system that can reduce unnecessary travel of manned guided vehicles and cut down on wasted time. [Means for solving the problem]

[0006] In order to solve the above problems, the loading and unloading system according to the present invention includes an unmanned aerial vehicle having a camera, a manned guided vehicle having a monitor and operated by an operator, and a management device. The management device is capable of communicating with the unmanned aerial vehicle and the manned guided vehicle, and includes a loading and unloading memory unit that stores a loading and unloading schedule, and a map memory unit that stores map information within a facility. The management device transmits a loading and unloading command to the manned guided vehicle based on the loading and unloading schedule and the map information, and transmits route information relating to a route from the manned guided vehicle to a loading and unloading position to the unmanned aerial vehicle. When the unmanned aerial vehicle receives the route information, it flies in advance the route from the manned guided vehicle to the loading and unloading position before the manned guided vehicle arrives at the loading and unloading position, and the camera captures the route and generates a route image. The monitor displays the route image.

[0007] The above-mentioned loading and unloading system is preferably configured so that when the unmanned aerial vehicle flies along a route, the camera is positioned substantially at head height of the operator, and the camera photographs the direction of flight and pre-photographs the operator's field of view as it travels along the route.

[0008] The cargo handling system is preferably configured so that the camera takes pictures below.

[0009] The loading and unloading system preferably further includes a facility image storage unit which pre-stores a facility image of the facility inside the facility in an obstacle-free state, and a score output unit which refers to the facility image and the route image and outputs a score representing the possibility that the manned guided vehicle will come into contact with an obstacle, and the monitor displays the output score.

[0010] The loading and unloading system preferably further includes a facility image storage unit which pre-stores a facility image of the facility inside the facility in an obstacle-free state, a score output unit which refers to the facility image and the route image and outputs a score representing the possibility that the manned guided vehicle will come into contact with an obstacle, and an alarm unit which alarms the operator of the score by voice.

[0011] The above-mentioned loading and unloading system preferably has a first neural network in which the score output unit is trained using teacher data that has facility images and route images as input data and a score as output data, and which outputs a score when a facility image and a route image are input.

[0012] The cargo handling system preferably has a plurality of routes from the manned guided vehicle to the loading and unloading position, a plurality of unmanned aerial vehicles, and the management device transmits separate route information to each unmanned aerial vehicle. Each camera captures the respective route to generate a route image, and the score output unit calculates a score for each route.

[0013] The cargo handling system is preferably configured such that the cargo loading / unloading position includes a plurality of storage spaces arranged on a shelf, and the camera captures the cargo loading / unloading position to generate a shelf image. The cargo handling system further includes a position memory unit that stores the position of each cargo corresponding to each storage space, and a cargo identification unit that identifies the position where the cargo was erroneously placed by referring to the generated shelf image and the position of each cargo based on cargo handling management.

[0014] The cargo handling system preferably further includes a replacement unit which, when the cargo identification unit identifies an incorrectly placed position of the cargo, replaces the incorrectly placed position with a correct position in the cargo handling information.

[0015] In the above-mentioned cargo handling system, the cargo identification unit preferably has a second neural network, and the second neural network is configured to learn an image of the storage space in which a cargo is placed as training data, and to output whether or not a cargo is placed in the storage space when an image of the storage space is input.

[0016] In order to solve the above problem, a management program according to the present invention causes a management device to execute the operations of the management device. Effect of the Invention

[0017] In the loading and unloading system of the present invention, the unmanned aerial vehicle images the route in advance and displays the route image on a monitor, allowing the operator to be aware in advance of any obstacles on the route, thereby reducing unnecessary travel of the manned transport vehicle and saving time. [Brief description of the drawings]

[0018] [Figure 1] 1 is a side view of a loading and unloading system according to an embodiment of the present invention. [Diagram 2] FIG. [Diagram 3] FIG. 2 is a functional block diagram of the loading and unloading system. [Figure 4] A front view showing a shelf and an unmanned aerial vehicle associated with the loading and unloading system. [Diagram 5] FIG. 13 is a diagram illustrating an operation of a score output unit. [Figure 6] FIG. 4 is a flow chart showing the operation of the loading and unloading system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] Hereinafter, an embodiment of a cargo handling system of the present invention will be described with reference to the accompanying drawings.

[0020] Fig. 1 is a side view of the cargo handling system S according to this embodiment, and Fig. 2 is a plan view of the cargo handling system S. Also, Fig. 3 is a functional block diagram of the cargo handling system S. As shown in Figs. 1 and 2, the cargo handling system S includes a shelf R, a manned guided vehicle 1, two unmanned aerial vehicles 2, and a management device 3. First, each component of the cargo handling system S will be described.

[0021] <Shelf> FIG. 4 is a front view showing a shelf R and an unmanned aerial vehicle 2 of the present invention. As shown in FIG. 4, the shelf R has a plurality of storage spaces SS. The plurality of storage spaces SS are configured to store cargo W related to loading and unloading. In this embodiment, the cargo W is stored in the storage space SS together with a pallet. FIG. 4 shows a planned position SP where the cargo W will be loaded and unloaded, and adjacent positions AP. The adjacent positions AP are positions adjacent to the planned position SP, and in the case of the planned position SP in FIG. 4, there are eight adjacent positions AP.

[0022] <Manned guided vehicle> As shown in FIGS. 1 to 3, the manned guided vehicle 1 includes wheels, a vehicle body 10, left and right masts, left and right forks 11, a head guard 12, and a monitor 13.

[0023] The manned guided vehicle 1 is configured to be able to communicate with the management device 3, and receives a loading / unloading command from the management device 3. The loading / unloading command includes a loading / unloading position of the load W. In addition, the manned guided vehicle 1 has a known device that recognizes its own position, and the position of the manned guided vehicle 1 is transmitted to the management device 3.

[0024] The left and right masts are disposed in front of the vehicle body 10, and the left and right forks 11 are configured to rise and fall along the masts. The manned guided vehicle 1 has the forks 11 raised and lowered by the operation of the operator O, whereby the forks 11 scoop up a load W, transport the scooped up load W to the shelf R, and unload it into the storage space SS.

[0025] The head guard 12 is positioned above the vehicle body 10 and extends horizontally, and is configured to enable two unmanned aerial vehicles 2 to take off and land.

[0026] When the monitor 13 receives the loading / unloading command, it displays the loading / unloading command including the route information. The monitor 13 may display the route, for example, together with the destination shown on a 2D map of the facility, or may display the route in sentences such as "Turn left at the next stop" or "Go straight", and the method of displaying the route directions is not particularly limited. The operator O drives the manned guided vehicle 1 to the loading / unloading position according to the displayed loading / unloading command. The monitor 13 also displays each image generated by the camera 21, which will be described later.

[0027] <Unmanned Aerial Vehicle> Each of the two unmanned aerial vehicles 2 includes a main body, a propeller, a flight control unit 20, and a camera 21 (see FIG. 3). The unmanned aerial vehicles 2 are configured to be able to communicate with the management device 3, and receive route information from the management device 3. The route information is information about the route from the manned guided vehicle 1 to the loading and unloading position of the load W, and includes, for example, coordinate data.

[0028] The flight control unit 20 is configured to control the rotation of the propellers to hover the unmanned aerial vehicle 2, and to fly the unmanned aerial vehicle 2 while recognizing the position of the unmanned aerial vehicle 2. Upon receiving the route information, the flight control unit 20 causes the unmanned aerial vehicle 2 to fly in advance the route from the manned guided vehicle 1 to the unloading position of the load W in accordance with the route information, before the manned guided vehicle 1 arrives at the unloading position of the load W.

[0029] The flight control unit 20 is configured to fly the route so that the position of the camera 21 is substantially at the head height of the operator O riding on the drone. The head height of the operator O may be the average position of the operators O riding on the drone, or may be configured to fly according to the head height of each operator O, for example.

[0030] In this embodiment, since there are two unmanned aerial vehicles 2, separate route information is transmitted for each unmanned aerial vehicle 2. Then, based on the respective route information, each unmanned aerial vehicle 2 flies a route L1, L2 different from the other unmanned aerial vehicles 2, as shown in FIG.

[0031] The camera 21 is disposed on the side of the main body of the unmanned aerial vehicle 2. The camera 21 captures an image of the route while proceeding at head height of the operator O to generate a route image. In this embodiment, since the two unmanned aerial vehicles 2 fly different routes, route images on the two routes L1 and L2 are generated. The generated route image is transmitted to the management device 3 and also transmitted to the manned guided vehicle 1 via the management device 3 and displayed by the monitor 13. Since the route image is an image captured at head height of the operator O, the operator O can check the visibility while traveling on the route in advance on the monitor 13.

[0032] Furthermore, when the unmanned aerial vehicle 2 arrives at the planned position SP, the camera 21 captures the planned position SP and the adjacent position AP adjacent to the planned position SP in advance to generate a shelf image. Of the two unmanned aerial vehicles 2, the unmanned aerial vehicle 2 that arrives at the planned position SP first flies in front of the planned position SP and the adjacent position AP, as shown by the arrow in FIG. 4. This allows the camera 21 to capture the planned position SP and the adjacent position AP from the front. The generated shelf image is sent to the management device 3, and is also sent to the manned guided vehicle 1 via the management device 3 and displayed on the monitor. This allows the operator O to check in advance whether or not there is a load W at the planned position SP.

[0033] <Management device> The management device 3 includes a computer and is configured to be able to communicate with the manned guided vehicle 1 and the unmanned aerial vehicle 2. The computer may be, for example, a server computer, and is configured with a storage device, a calculation device, and a memory. A management program that causes the computer to operate as the management device 3 is stored in the storage device.

[0034] As shown in FIG. 3, the management device 3 includes a cargo handling storage unit 30, a map storage unit 31, a cargo handling management unit 32, a facility image storage unit 33, and a score output unit .

[0035] The loading / unloading memory unit 30 stores a loading / unloading schedule and the position of each load W corresponding to each storage space SS based on loading / unloading management. The loading / unloading schedule is a schedule related to loading / unloading, and the position of each load W based on loading / unloading management is the position of each storage space SS corresponding to each load W to be unloaded, and the position of each storage space SS in which each load W has already been loaded and placed.

[0036] The map storage unit 31 stores map information of the inside of the facility. The map information of the inside of the facility includes, for example, the positions of shelves R, the positions of aisles, the positions of shutters, the height of the ceiling, the size of the entrances and exits, the width of the aisles, and the like.

[0037] The cargo handling management unit 32 transmits a cargo handling command to the manned guided vehicle 1 and transmits route information to the unmanned aerial vehicle 2 based on the cargo handling schedule and map information stored in the cargo handling memory unit 30. The cargo handling command may include a route from the manned guided vehicle 1 to the loading and unloading position of the cargo W, and this route may be multiple. As described above, in this embodiment, since there are two unmanned aerial vehicles 2, the cargo handling management unit 32 transmits separate route information to each unmanned aerial vehicle 2.

[0038] The facility image storage unit 33 pre-stores a facility image of the inside of the facility in a state where there are no obstacles. The facility image may be generated in advance, for example, by having the unmanned aerial vehicle 2 fly inside the facility and have the camera 21 capture an image of the inside of the facility in a state where there are no obstacles.

[0039] The score output unit 34 refers to the facility image and the route image and outputs the possibility that the manned guided vehicle 1 will come into contact with an obstacle as a score. Specifically, the score output unit 34 has a first neural network 340, which uses the facility image and the route image as input data and is made to learn in advance a correlation between the input data and the score using teacher data having the score as output data, and is configured to output a score when the facility image and the route image are input, as shown in FIG. 5. In this way, the score output unit 34 outputs the possibility that the manned guided vehicle 1 will come into contact with an obstacle as a score. The calculated score is transmitted to the manned guided vehicle 1 and displayed on the monitor 13.

[0040] In the cargo handling system S of this embodiment, the above configuration allows the operator O to refer to the route image before heading to the unloading position after receiving a cargo handling command. This allows the operator O to know before heading to the unloading position that there is an obstacle on the route and the route is impassable. In addition, the camera 21 can capture images of the route while traveling at head height of the operator O, and generate an image of the scenery where the operator O usually drives as a route image. This allows the operator O to visually and appropriately judge whether there is an obstacle that the manned guided vehicle 1 is likely to come into contact with by looking at the route image.

[0041] Moreover, in this embodiment, when there are multiple routes, the score output unit 34 calculates the score of the possibility that the manned guided vehicle 1 will come into contact with an obstacle and displays it on the monitor 13, so that the operator O can determine which of the multiple routes to take from the score.

[0042] Next, a description will be given of the configuration of the management device 3. As shown in Fig. 3, the management device 3 further includes a writing unit 35, a temporary storage unit 36, an exchanging unit 38, and a package identifying unit 39.

[0043] When the cargo handling management unit 32 transmits a cargo handling command, the writing unit 35 writes in advance in the temporary storage unit 36 ​​cargo handling information, such as whether or not a cargo W is placed at each adjacent position AP.

[0044] The item identification unit 39 has a second neural network. The second neural network is configured to learn in advance an image of the storage space SS in which the item W is placed as teacher data, and to output whether or not the item W is placed in the storage space SS when the image of the storage space SS is input.

[0045] When the load identification unit 39 receives the shelf image from the unmanned aerial vehicle 2, it inputs the shelf image into a second neural network to determine whether load W is placed in the planned position SP and the adjacent position AP, a total of nine storage spaces SS. The load identification unit 39 then identifies the position where the load W is erroneously placed by referring to the result of the determination and the position of each load W based on the cargo handling management stored in the temporary storage unit 36. The load W is erroneously placed refers to a state where the load W is not placed at the planned position SP when it should be, or a different load W is placed at the planned position SP when it should not be.

[0046] For example, as shown in Fig. 4, when the load W is not placed at the planned position SP where the load W should be placed, and the load W is placed at an adjacent position AP where the load W should not be placed, the load identification unit 39 determines that the load W is mistakenly placed at the adjacent position AP, and identifies the position where the load W is mistakenly placed (in this example, the adjacent position AP directly above the planned position SP). This identification is based on an analysis that when the load W is placed at a wrong position, it is often placed at an adjacent position.

[0047] In addition, since the cargo handling information of the adjacent position AP is written in advance in the temporary storage unit 36, the cargo identification unit 39 does not need to search for the cargo handling information of the adjacent position AP from the cargo handling storage unit 30 in which all cargo handling information is stored in order to refer to the cargo handling information of the adjacent position AP. Therefore, the cargo identification unit 39 can quickly determine that the cargo W is placed in an incorrect position and quickly identify the correct position of the cargo W by quickly referring to the cargo handling information of the adjacent position AP.

[0048] When the cargo identification unit 39 identifies a position where the cargo W has been erroneously placed, the replacement unit 38 replaces the position in the cargo handling schedule with the scheduled position SP. That is, the cargo identification unit 39 corrects the position where the cargo W is actually placed in the cargo handling schedule to the position where the cargo W is actually placed. Then, the replacement unit 38 transmits the corrected cargo handling information to the cargo handling management unit 32 and stores it in the cargo handling memory unit 30.

[0049] The cargo handling management unit 32 transmits the corrected cargo handling information to the manned guided vehicle 1. The monitor 13 displays the corrected cargo handling information.

[0050] As a result, even if the load W is stored in the wrong storage space SS, the operator O can recognize the correct position of the load W before it arrives at the scheduled position SP. As a result, the loading and unloading system S does not force the operator O to stop loading and unloading, thereby preventing time wasted by unnecessary travel of the manned guided vehicle 1. Moreover, the loading and unloading system S can reduce time wasted in correcting the loading and unloading schedule by inputting the location information of the load W at each adjacent position AP in the temporary storage unit 36 ​​in advance.

[0051] <Loading system operation> Next, a series of operations of the cargo handling system S will be explained again with reference to the flow chart of FIG.

[0052] (1) First, the cargo handling system S transmits cargo handling commands and route information to each unmanned aerial vehicle 2 and manned guided vehicle 1 via the cargo handling management unit 32 (S1 in FIG. 6).

[0053] (2) Next, the cargo handling system S moves each unmanned aerial vehicle 2 to the planned position SP via its respective route (S2 in FIG. 6).

[0054] (3) Furthermore, the cargo handling system S writes the cargo handling information of the adjacent position AP in the temporary storage unit 36 ​​by the writing unit 35 (S3 in FIG. 6).

[0055] (4) Furthermore, the cargo handling system S generates a route image while each unmanned aerial vehicle 2 travels along each route, transmits the route image to the manned guided vehicle 1 via the management device 3, and displays the route image on the monitor 13 (S4 in FIG. 6). This allows the operator O to check in advance whether there are any obstacles on the route.

[0056] (5) Next, the cargo handling system S calculates a score based on the route image and the facility image using the score output unit 34, transmits the score to the manned guided vehicle 1 using the management device 3, and displays the score on the monitor 13 (S5 in FIG. 6). This allows the operator O to travel along the route by checking which of the multiple routes is more suitable for passage.

[0057] (6) Next, when the unmanned aerial vehicle 2 arrives at the planned position SP, the loading and unloading system S captures images of the planned position SP and the adjacent position AP using the camera 21 to generate a shelf image, and displays the shelf image on the monitor 13 (S6 in Figure 6).

[0058] (7) Next, the cargo handling system S determines whether or not a cargo W is placed in each storage space SS based on the shelf image using the cargo identification unit 39 (S7 in FIG. 6).

[0059] (8) Next, if the cargo W is not placed in the correct storage space SS (No in S7 of FIG. 6), the cargo handling system S determines, via the cargo identification unit 39, that the cargo W is placed in an incorrect location and identifies the correct location of the cargo W (S8 of FIG. 6).

[0060] (9) Next, the cargo handling system S corrects the cargo handling information based on the position of the incorrectly placed cargo W by the replacement unit 38 (S9 in FIG. 6).

[0061] (10) Next, the cargo handling system S transmits the corrected cargo handling information to the manned guided vehicle 1, and notifies the operator O of the position corrected by the monitor 13 (S10 in FIG. 6). This allows the operator O to recognize the correct cargo handling position, so that even if the cargo handling is incorrect, the cargo handling can be continued without stopping the cargo handling.

[0062] Although one embodiment of the cargo handling system of the present invention has been described above, the cargo handling system and management program of the present invention are not limited to the above embodiment. For example, the cargo handling system S of the present invention may be embodied in the following modified examples.

[0063] <Modification>

[0064] The camera 21 may be configured to capture an image below the unmanned aerial vehicle 2. In this case, the route image is an image of the road surface captured from above, and the facility image is also an image of the road surface captured from above, and the score output unit 34 is trained in advance to output a score based on these images.

[0065] The manned guided vehicle 1 may be provided with a notification unit that notifies the received score by voice. In this case, the manned guided vehicle 1 may notify the score to the operator O only by the notification unit without displaying the score on the monitor 13.

[0066] The loading and unloading system S may be configured, for example, so that a label bearing an identifier for identifying the load W is affixed to the load W and the identifier can be recognized from a shelf image, and the load identification unit 39 may be configured to identify the location where the load W has been mistakenly placed by recognizing whether or not a specific load W corresponding to each storage space SS is placed using the identifier.

[0067] The cargo handling system S may not include, for example, the replacement unit 38. In this case, the cargo handling system S is configured to notify the operator O of the position where the cargo W was erroneously placed and the correct position. This allows the operator O to continue the cargo handling work by following this notification and repositioning the cargo W that was placed at the scheduled position SP to the correct position, or by picking up the cargo W that was not at the scheduled position SP from another position.

[0068] The cargo handling system S does not necessarily have to include the temporary memory unit 36 ​​and the writing unit 35. In this case, the cargo identification unit 39 refers to the position of each cargo W stored in the cargo handling memory unit 30 and identifies the position where the cargo W was erroneously placed. [Explanation of symbols]

[0069] S Cargo Handling System 1 Manned guided vehicle 10. Body 11. Fork 12 Head Guard 13 Monitor 2 Unmanned Aerial Vehicles 20 Flight Control Unit 21 Camera 3 Management device 30 Cargo handling memory section 31 Map memory section 32 Cargo Handling Management Department 33 Facility Image Storage Unit 34 Score output section 340 First Neural Net 35 Writing section 36 Temporary storage 38 Replacement Section 39 Cargo identification department SP planned position AP adjacent position W load O Operator R shelf SS Storage space

Claims

1. An unmanned aerial vehicle having a camera; a manned guided vehicle having a monitor and driven by an operator; a management device capable of communicating with the unmanned aerial vehicle and the manned transport vehicle, the management device having a loading / unloading memory unit that stores a loading schedule, and a map memory unit that stores map information within a facility; the management device transmits a loading / unloading command to the manned guided vehicle based on the loading / unloading schedule and the map information, and transmits route information regarding a route from the manned guided vehicle to a loading / unloading position to the unmanned aerial vehicle; When the unmanned aerial vehicle receives the route information, the unmanned aerial vehicle flies the route from the manned guided vehicle to the loading and unloading position of the load in advance before the manned guided vehicle arrives at the loading and unloading position of the load; The camera captures an image of the route and generates a route image; The monitor displays the route image.

2. the unmanned aerial vehicle flies such that the camera is positioned substantially at head height of the operator when flying the route; 2. The cargo handling system of claim 1, wherein the camera is configured to capture a direction of flight and a pre-capture of the operator's field of view while traveling the route.

3. The loading and unloading system according to claim 1 , wherein the camera is configured to capture an image below.

4. a facility image storage unit that stores in advance a facility image of the inside of the facility in a state where there are no obstacles; a score output unit that outputs a possibility of the manned guided vehicle coming into contact with an obstacle by referring to the facility image and the route image, The cargo handling system according to claim 1 , wherein the monitor displays the output score.

5. a facility image storage unit that stores in advance a facility image of the inside of the facility in a state where there are no obstacles; a score output unit that refers to the facility image and the route image and outputs a possibility that the manned guided vehicle will come into contact with an obstacle as a score; The loading and unloading system according to claim 1 , further comprising: a notification unit that notifies the operator of the score by voice.

6. The loading and unloading system according to claim 4 or 5, wherein the score output unit has a first neural network that is trained using teacher data having the facility image and the route image as input data and the score as output data, and that outputs the score when the facility image and the route image are input.

7. There are a plurality of routes from the manned guided vehicle to the loading and unloading position of the load, The unmanned aerial vehicle is a plurality of The management device transmits separate route information to each of the unmanned aerial vehicles; Each of the cameras captures an image of the respective route to generate a route image; The cargo handling system according to claim 4 or 5, wherein the score output unit calculates the score for each of the routes.

8. the loading and unloading location includes a plurality of storage spaces arranged on shelves; The camera is configured to capture an image of a loading / unloading position of the load to generate a shelf image; The loading and unloading system includes: a position storage unit that stores the position of each of the loads corresponding to each of the storage spaces; The loading and unloading system of claim 1, further comprising a load identification unit that identifies the location where the load has been erroneously placed by referring to the generated shelf image and the position of each load based on loading and unloading management.

9. 9. The cargo handling system according to claim 8, further comprising a replacement unit that, when the cargo identification unit identifies an incorrectly placed position of the cargo, replaces the incorrectly placed position with a correct position in the cargo handling information.

10. The package identification unit has a second neural network, The loading and unloading system according to claim 9, wherein the second neural network is configured to learn an image of the storage space in which the load is placed as training data, and when an image of the storage space is input, to output whether or not the load is placed in the storage space.

11. The management program according to claim 1 , causing the management device to execute the operation of the management device according to claim 1 .

Images