Loading rate calculation device and loading rate calculation method

Abstract

A loading rate calculation device is provided that can easily and accurately measure the loading rate of luggage placed on a loading platform. [Solution] The loading rate calculation device 10 of the present invention measures a first distance to the door area of ​​the loading platform and a second distance to the luggage area in image information containing images of the loading platform and luggage, calculates the luggage length of the luggage on the loading platform using the difference between the first and second distances and the length of the loading platform, calculates the luggage area of ​​the luggage area using the area ratio between the door area of ​​the loading platform and the luggage area and the height and width of the loading platform, and calculates the loading rate of the luggage on the loading platform using the total luggage volume of the luggage calculated for each luggage area using the luggage length and luggage area and the luggage platform volume of the loading platform.

Description

[Technical field]

[0001] The present invention relates to a luggage loading rate calculation technique for calculating the loading rate of luggage loaded on a loading platform. [Background technology]

[0002] Conventionally, methods for calculating the load factor of a vehicle equipped with a loading platform have been proposed for the purpose of efficient transport of cargo. Recently, with the shortening of working hours of vehicle drivers, it is expected that the number of vehicles capable of transporting cargo will decrease, and there is a demand for further improvement of the load factor, and therefore there is a demand for a technology that can accurately grasp the load factor of cargo.

[0003] For example, Patent Document 1 proposes a loading rate estimation device that estimates the loading rate of luggage in a luggage compartment of a vehicle using a camera installed inside or outside the luggage compartment. The loading rate of luggage in the luggage compartment of a vehicle can be accurately estimated by detecting objects other than people and cargo using a camera installed inside or outside the luggage compartment. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2022-148169 A Summary of the Invention [Problem to be solved by the invention]

[0005] Here, in the technology for estimating the load factor of luggage in a luggage compartment of a vehicle using cameras installed inside or outside the loading platform as described above, it is necessary to install multiple cameras on the vehicle transporting the luggage and on the berth where the load factor of the luggage is estimated, etc., which makes the configuration of the device for estimating the load factor complicated, and since it is necessary to move the vehicle to the berth where the cameras are installed, there is a problem that the flexibility of the measurement location of the load factor is low. There is a demand for a technology that can easily and accurately measure the load factor of a vehicle transporting luggage.

[0006] The present invention has been made to solve the above problems, and has an object to provide a loading rate calculation device that can easily and accurately measure the loading rate of luggage placed on a loading platform. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems, the loading rate calculation device of the present invention is a loading rate calculation device that calculates a loading rate of a loading platform of luggage loaded on a loading platform having a predetermined height, width, and length, and includes an imaging unit that acquires first image information including an image of the loading platform and an image of the luggage, a distance measurement unit that extracts a door area of ​​the loading platform and at least one area of ​​the luggage from the first image information acquired by the imaging unit, and measures a first distance from the imaging unit to the door area of ​​the loading platform and a second distance from the imaging unit to the luggage area for each of the at least one area of ​​the luggage, and a distance measurement unit that measures the first distance from the imaging unit to the door area of ​​the loading platform and a second distance from the imaging unit to the luggage area for each of the areas of the luggage. The system includes a luggage length calculation unit that calculates the luggage length of the luggage on the loading platform using the difference between the first distance and the second distance and the length of the loading platform, a luggage area calculation unit that calculates the luggage area of ​​the luggage area for each of the luggage areas using the area ratio between the door area of ​​the loading platform and the luggage area in the first image information and the height and width of the loading platform, and a loading rate calculation unit that calculates the loading rate of the luggage on the loading platform using the total luggage volume of the luggage calculated for each of the luggage areas using the luggage length and the luggage area, and the loading platform volume of the loading platform calculated using the height, width, and length of the loading platform.

[0008] The imaging unit further acquires two pieces of second image information including an image of the loading platform and an image of the luggage, the image information being captured at different positions relative to the loading platform, and the distance measurement unit further uses parallax information in the two pieces of second image information to measure a third distance from the imaging unit to a door area of ​​the loading platform and a fourth distance from the imaging unit to the luggage area for at least one of the luggage areas, and when at least one of the first distance and the second distance is longer than a predetermined measurement limit distance, the luggage length calculation unit calculates a difference between the third distance and the fourth distance for each of the luggage areas. The luggage area calculation unit may calculate a second luggage length of the luggage area using the door area of ​​the luggage area in the second image information and the length of the luggage area, and the luggage area calculation unit may calculate a second luggage area of ​​the luggage area for each of the luggage areas using the area ratio of the door area of ​​the luggage area to the luggage area in the second image information and the height and width of the luggage area, and the loading rate calculation unit may calculate the loading rate of the luggage in the luggage area using the second luggage length and the second luggage area, the sum of the luggage volumes of the luggage calculated for each of the luggage areas, and the loading rate of the luggage in the luggage area calculated using the height, width, and length of the luggage area.

[0009] In order to solve the above-mentioned problems, the loading rate calculation method of the present invention is a loading rate calculation method executed in a loading rate calculation device including an imaging unit that acquires image information including an image of luggage loaded on a loading platform, a distance measurement unit that extracts a door area of ​​the loading platform and an area of ​​the luggage from the image information and measures a distance from the imaging unit to the door area of ​​the loading platform and the area of ​​the luggage, a luggage length calculation unit that calculates a luggage length of the luggage on the loading platform, a luggage area calculation unit that calculates a luggage area of ​​the luggage area, and a loading rate calculation unit that calculates a loading rate of the luggage on the loading platform using a luggage volume of the luggage calculated using the luggage length and the luggage area and a loading platform volume of the loading platform, the method including the steps of: the imaging unit acquiring first image information including an image of the loading platform and an image of the luggage; the step of extracting one of the luggage areas and measuring a first distance from the imaging unit to a door area of ​​the loading platform and a second distance from the imaging unit to the luggage area for at least one of the luggage areas; the step of the luggage length calculation unit calculating, for each of the luggage areas, a luggage length of the luggage on the loading platform using a difference between the first distance and the second distance and the length of the loading platform; the step of the luggage area calculation unit calculating, for each of the luggage areas, a luggage area of ​​the luggage area using an area ratio between the door area of ​​the loading platform and the luggage area in the first image information and a height and width of the loading platform; and the step of the loading rate calculation unit calculating the loading rate of the luggage on the loading platform using a total luggage volume of the luggage calculated for each of the luggage areas using the luggage length and the luggage area and the loading platform volume of the loading platform calculated using the height, width and length of the loading platform.

[0010] The imaging unit further acquires two pieces of second image information having different shooting positions with respect to the platform, including an image of the platform and an image of the luggage, and the distance measurement unit further uses parallax information in the two pieces of second image information to measure a third distance from the imaging unit to a door area of ​​the platform and a fourth distance from the imaging unit to the luggage area for at least one of the luggage areas, and when at least one of the first distance and the second distance is longer than a predetermined measurement limit distance, the luggage length calculation unit calculates a difference between the third distance and the fourth distance and the distance of the platform for each of the luggage areas. The method may include a step of calculating a second luggage length of the loading platform area using the length of the loading platform; a step of the luggage area calculation unit calculating a second luggage area of ​​the luggage area for each of the luggage areas using an area ratio between the door area of ​​the loading platform and the luggage area in the second image information and the height and width of the loading platform; and a step of the loading rate calculation unit calculating the loading rate of the luggage in the loading platform using the second luggage length and the second luggage area, a total luggage volume of the luggage calculated for each of the luggage areas, and the loading platform volume of the loading platform calculated using the height, width, and length of the loading platform. Effect of the Invention

[0011] According to the present invention, it is possible to provide a loading rate calculation device that can simply and accurately measure the loading rate of luggage placed on a loading platform. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 shows an example of a system configuration including a loading rate calculation device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is an example of a functional block diagram of the loading rate calculation device according to the embodiment of the present invention. [Diagram 3] FIG. 3 is a diagram for explaining measurement of a load factor of luggage in the first embodiment of the present invention. [Figure 4] FIG. 4 is an example of an operational flow of the loading rate calculation method according to the first embodiment of the present invention. [Diagram 5] FIG. 5 is a diagram for explaining measurement of the distance of a package in the second embodiment of the present invention. [Figure 6] FIG. 6 is an example of an operational flow of the loading rate calculation method according to the second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Note that the present invention can be embodied in various forms and is not limited to the embodiment of the invention described below.

[0014] <Configuration of the luggage loading rate calculation system> Fig. 1 shows an example of a system configuration including a loading rate calculation device according to an embodiment of the present invention. The system in Fig. 1 includes a loading rate calculation device 10 that calculates the loading rate of the luggage 2 on the loading rate platform 1 using image information of the loading rate platform 1 on which the luggage 2 is loaded and distance information of the luggage 2 loaded on the loading rate platform 1, and a loading rate management server 20 that manages the loading rate information calculated by the loading rate calculation device 10.

[0015] In this embodiment, a loading rate calculation device 10 having a photographing function and a distance measurement function, such as a smartphone, is used to photograph an image of a loading platform 1 loaded with luggage 2 with a loading platform door 4 installed at the rear of a vehicle (box cart) open, and the distance between the door area 3 of the loading platform 1 and the area of ​​the luggage 2 is measured, and the loading rate of the luggage 2 on the loading platform 1 is calculated using the photographed image information and the measured distance information. The loading rate of the luggage 2 is calculated using the luggage length of the luggage 2 on the loading platform 1, the luggage volume calculated using the area of ​​the luggage 2 as viewed from the rear of the loading platform 1, and the loading platform volume of the loading platform 1 having a predetermined height, width, and length.

[0016] The length of the luggage on the loading platform 1 is the length of the luggage as seen from the side of the loading platform 1. In the case of a box car with a loading platform door 4 at the rear of the vehicle, the luggage 2 is loaded and unloaded from the rear of the loading platform 1. Therefore, when the luggage 2 is loaded onto the loading platform 1, the luggage 2 is loaded in order from the front to the rear of the loading platform 1, so that the length of the luggage as seen from the side of the loading platform 1 can be calculated using the distance between the loading rate calculation device 10 and the door area 3 of the loading platform 1, the distance between the loading rate calculation device 10 and the luggage 2, and the length of the loading platform 1. The area of ​​the luggage 2 as seen from the rear of the loading platform 1 can be calculated using the area ratio between the door area 3 of the loading platform 1 and the area of ​​the luggage 2 extracted from the image information of the captured loading platform 1, and the information on the height and width of the loading platform 1 that is known in advance.

[0017] The loading rate calculation device 10 extracts the door area 3 of the loading platform 1 and the area of ​​the luggage 2, and calculates the loading rate of the luggage 2 on the loading platform 1 by measuring the distance from the loading rate calculation device 10 to the door area 3 of the loading platform 1 and the area of ​​the luggage 2. Therefore, it is possible to easily and accurately measure the loading rate of the luggage 2 loaded on the loading platform 1 using a mobile terminal having a photographing function and a distance measuring function, such as a smartphone.

[0018] <Configuration of the Loading Rate Calculation Device> 2 is an example of a functional block diagram of a loading rate calculation device according to an embodiment of the present invention. The loading rate calculation device 10 is, for example, a mobile terminal such as a smartphone having a photographing function and a distance measuring function.

[0019] The loading rate calculation device 10 includes an imaging unit 11 for acquiring image information including images of the door area 3 of the loading platform 1 and the luggage 2, a distance sensor unit 12 for measuring the distance to the door area of ​​the loading platform 1 and the area of ​​the luggage 2, a central processing unit 13 for measuring the distance to the door area of ​​the loading platform 1 and the area of ​​the luggage 2 using the distance sensor unit 12 and calculating the loading rate of the luggage 2 on the loading platform 1 using the luggage length of the luggage 2 calculated using the measured distance information and the luggage area of ​​the area of ​​the luggage 2 calculated using the acquired image information, a memory unit 14 for storing various information such as the measured distance information and the calculated loading rate, an input unit 15 for the photographer to input information, a display unit 16 for displaying the calculation status of the luggage loading rate, and a wireless unit 17 for transmitting information to the loading rate management server 20.

[0020] The central processing unit 13 functions as a distance measurement unit 13-1 that measures the distance between the loading platform 1 and the luggage 2 using the distance sensor unit 12, a luggage length calculation unit 13-2 that calculates the luggage length of the luggage 2 on the loading platform 1 using the measurement results of the distance measurement unit 13-1, a luggage area calculation unit 13-3 that calculates the luggage area of ​​the luggage 2 on the loading platform 1 using image information acquired by the imaging unit 11, and a loading rate calculation unit 13-4 that calculates the loading rate using the luggage length and luggage area.

[0021] The memory unit 14 stores information on the measured distance between the loading platform 1 and the luggage 2, the luggage length of the luggage 2 on the loading platform 1, the luggage area of ​​the area of ​​the luggage 2 on the loading platform 1, and information on the loading rate calculated using the luggage length and luggage area. The memory unit stores information on the height, width, and length of the loading platform of the vehicle in advance, and this information is used when calculating the loading platform volume, luggage length, luggage area, and luggage volume.

[0022] For example, a digital camera or a smartphone having a photographing function and a distance measuring function can be used as the loading rate calculation device 10. A general-purpose RGB camera can be used as the imaging unit 11. A general-purpose distance measuring sensor such as a TOF (Time of Flight) sensor or a LiDAR sensor can be used as the distance sensor unit 12.

[0023] The loading rate calculation device 10 can be configured by a computer having a CPU, a memory, and an interface for connecting to an external device.

[0024] <First embodiment> 3 is a diagram for explaining measurement of the load factor of luggage in the first embodiment of the present invention. In the example of Fig. 3, luggage 2 is loaded on a loading platform 1 so that there are three areas of luggage 2 at different distances from a loading factor calculation device 10.

[0025] In the loading rate calculation device 10 of this embodiment, the loading rate of the luggage 2 on the loading platform 1 is calculated using the luggage length as seen from the side of the loading platform 1 and the luggage volume calculated using the area of ​​the luggage 2 as seen from the rear of the loading platform 1, and the volume of the loading platform 1 having a specified height, width, and length.

[0026] In the example of Fig. 3, the luggage length in the area of ​​the three luggage 2 as viewed from the side of the loading platform 1 can be calculated using the difference (L1, L2, L3) between the distance (D0) between the loading rate calculation device 10 and the door area 3 of the loading platform 1 and the distance (D1, D2, D3) between the loading rate calculation device 10 and the area of ​​the luggage 2, and the length (L) of the loading platform 1. In the example of Fig. 3, the luggage lengths in the area of ​​the three luggage 2 are (L-L1), (L-L2), and (L-L3), respectively.

[0027] The area (S1, S2, S3) of the area of ​​the luggage 2 as viewed from the rear of the loading platform 1 can be calculated using the area ratio between the area of ​​the door area 3 of the loading platform 1 and the area of ​​the luggage 2 in the captured image information, and information on the height (H) and width (W) of the loading platform 1. In the example of Fig. 3, the area of ​​the door area 3 of the loading platform 1 is H x W, and the area (S1, S2, S3) of the area of ​​the luggage 2 can be calculated by multiplying this H x W by the area ratio.

[0028] In FIG. 3, the luggage volume Vt can be calculated by the following formula. Vt=S1×(L-L1)+S2×(L-L2)+S3×(L-L3)

[0029] In FIG. 3, the volume V of the cargo bed can be calculated by the following formula. V=H×W×L

[0030] In FIG. 3, the loading rate can be calculated by the following formula. Loading rate = Vt / V

[0031] <Operation flow of the loading rate calculation device> The operation of the loading rate calculation method executed in the loading rate calculation device 10 will be described with reference to Fig. 4. Fig. 4 shows an example of an operation flow of the loading rate calculation method according to the first embodiment of the present invention.

[0032] The imaging unit 11 of the loading ratio calculation device 10 acquires image information (first image information) including an image of the door area 3 of the deck 1 and the baggage 2 (S1-1).

[0033] The distance measurement unit 13-1 of the loading ratio calculation device 10 extracts the door area 3 of the deck 1 and the area of ​​the baggage 2 from the first image information acquired by the imaging unit 11 (S1-2).

[0034] The distance measurement unit 13-1 of the loading rate calculation device 10 uses the distance sensor unit 12 to measure the distance (first distance) from the imaging unit 11 to the door area 3 of the loading platform 1, and the distance (second distance) from the imaging unit 11 to the area of ​​the luggage 2 for each area of ​​the luggage 2 (S1-3).

[0035] The luggage length calculation unit 13-2 of the loading rate calculation device 10 calculates the luggage length of the luggage 2 on the loading platform 1 for each area of ​​the luggage 2 using the difference between the distance (first distance) from the imaging unit 11 to the door area 3 of the loading platform 1 and the distance (second distance) from the imaging unit 11 to the area of ​​the luggage 2, and the length of the loading platform 1 (S1-4).

[0036] The luggage area calculation unit 13-3 of the loading rate calculation device 10 calculates the luggage area of ​​the luggage 2 area for each area of ​​the luggage 2 using the area ratio between the area of ​​the door area 3 of the loading platform 1 and the area of ​​the luggage 2 area, and information on the height and width of the loading platform 1 (S1-5).

[0037] The loading rate calculation unit 13-4 of the loading rate calculation device 10 calculates the loading rate of the luggage 2 on the loading platform 1 using the calculated luggage length and luggage area to calculate the total luggage volume of the luggage 2 for each area of ​​the luggage 2, and the loading platform volume of the loading platform 1 calculated using the height, width, and length of the loading platform 1 (S1-6).

[0038] In this embodiment, a loading rate calculation device 10 having a photographing function and a distance measurement function, such as a smartphone, is used to photograph an image of a loading platform 1 loaded with luggage 2 with a loading platform door 4 installed at the rear of a vehicle (box cart) open, and the distance between the door area 3 of the loading platform 1 and the area of ​​the luggage 2 is measured, and the loading rate of the luggage 2 on the loading platform 1 is calculated using the photographed image information and the measured distance information. The loading rate of the luggage 2 is calculated using the luggage length of the luggage 2 on the loading platform 1, the luggage volume calculated using the area of ​​the luggage 2 as viewed from the rear of the loading platform 1, and the loading platform volume of the loading platform 1 having a predetermined height, width, and length.

[0039] According to this embodiment, the loading rate calculation device 10 extracts the door area 3 of the loading platform 1 and the area of ​​the luggage 2, and calculates the loading rate of the luggage 2 on the loading platform 1 by measuring the distance between the loading platform area and the luggage area. Therefore, it is possible to easily and accurately measure the loading rate of the luggage 2 loaded on the loading platform 1 using a mobile terminal having a photographing function and a distance measuring function, such as a smartphone.

[0040] <Second embodiment> In the first embodiment, the length of the luggage 2 on the loading platform 1 is calculated using distance information measured by the distance sensor unit 12 included in the loading rate calculation device 10. A general-purpose distance sensor such as a LiDAR sensor has a measurement range of a predetermined length (measurement limit distance), and if the distance to the loading platform or luggage is greater than the predetermined measurement range, the accuracy of distance detection may decrease. To deal with such a case, in the second embodiment, the distance to the loading platform or luggage is measured using parallax in image information acquired by an imaging unit.

[0041] Fig. 5 is a diagram for explaining measurement of the distance to a baggage in the second embodiment of the present invention. In Fig. 5, the baggage 2 to be measured is photographed from different photographing positions on the left and right that are the same distance from the platform 1 and the distance between the photographing positions is known, and the distance Z to a point P on the baggage 2 to be measured is calculated using parallax information in the photographed images.

[0042] In the example of Figure 5, if the focal length of the imaging unit 11 is F, the distance between the left and right shooting positions is B, and the parallax of the luggage 2 in the images taken at the left and right shooting positions is D, the distance Z from the loading rate calculation device 10 to the point P of the luggage 2 to be measured can be calculated by the following formula. Z=F×B / D

[0043] The parallax D is detected as the number of pixels on the imaging surface of the imaging unit 11, but the number of pixels can be converted into distance information by multiplying it by the known pixel spacing of the imaging unit 11, so that the distance Z from the loading rate calculation device 10 to point P of the luggage 2 to be measured can be calculated using the above formula. The distance B between the left and right shooting positions does not need to be measured every time the luggage is photographed, as long as the shooting positions are determined in advance. For example, if the shooting positions are determined to be on the left and right side positions of the loading platform 1, the distance B between the left and right shooting positions will be approximately the same length as the width of the loading platform 1.

[0044] Similarly, the distance between the door area of ​​the loading platform 1 and the area of ​​other luggage 2 can be calculated using parallax information in the image information at the two shooting positions. The luggage length of the luggage 2 on the loading platform 1 can be calculated using a calculation method similar to the calculation method in the first embodiment described with reference to FIG.

[0045] The luggage area of ​​the luggage 2 region can be calculated using any one of a plurality of pieces of image information captured at different photographing positions on the left and right sides in the same manner as in the first embodiment. Even if the loading platform 1 is not photographed from the front, the area ratio between the door area 3 of the loading platform 1 and the luggage 2 region will be approximately the same as when the loading platform 1 is photographed from the front, so the luggage area of ​​the luggage 2 region can be calculated using this area ratio and information on the height and width of the loading platform 1 that is known in advance.

[0046] <Operation flow of the loading rate calculation device> Fig. 6 is an example of an operation flow of the loading rate calculation method according to the second embodiment of the present invention. Compared to the operation flow of Fig. 5, it differs in that it includes an additional step (S2-2) in which the imaging unit 11 captures images of luggage including the platform and luggage at different imaging positions, and additional steps (S2-8 to S2-11) in which, when the distance (image #1) measured by the distance sensor is greater than a predetermined measurement range (S2-5), the images captured at the different imaging positions are used to calculate the luggage length and luggage area.

[0047] The imaging unit 11 of the loading rate calculation device 10 acquires image information (first image information) including an image of the door area 3 of the loading platform 1 and the luggage 2 at an imaging position in front of the loading platform 1 on which the luggage 2 is loaded (S2-1).

[0048] The imaging unit 11 of the loading rate calculation device 10 acquires image information (second image information) including images of the door area 3 of the loading platform 1 and the luggage 2 at different imaging positions to the left and right of the imaging position in front of the loading platform 1 on which the luggage 2 is loaded (S2-2).

[0049] The distance measurement unit 13-1 of the loading ratio calculation device 10 extracts the door area 3 of the loading platform 1 and the area of ​​the baggage 2 from the first image information acquired by the imaging unit 11 (S2-3).

[0050] The distance measurement unit 13-1 of the loading rate calculation device 10 uses the distance sensor unit 12 to measure the distance (first distance) from the imaging unit 11 to the door area 3 of the loading platform 1, and the distance (second distance) from the imaging unit 11 to the area of ​​the luggage 2 for each area of ​​the luggage 2 (S2-4).

[0051] If at least one of the distances measured by the distance sensor unit 12 is less than or equal to a predetermined value (S2-5: NO), the luggage length calculation unit 13-2 of the loading rate calculation device 10 calculates the luggage length of the luggage 2 on the loading platform 1 using the difference between the distance (first distance) from the imaging unit 11 to the door area 3 of the loading platform 1 and the distance (second distance) from the imaging unit 11 to the area of ​​the luggage 2, and the length of the loading platform 1, for each area of ​​the luggage 2 (S2-6).

[0052] The luggage area calculation unit 13-3 of the loading rate calculation device 10 calculates the luggage area of ​​the luggage 2 area for each area of ​​the luggage 2 using the area ratio between the area of ​​the door area 3 of the loading platform 1 and the area of ​​the luggage 2 area, and information on the height and width of the loading platform 1 (S2-7).

[0053] If at least one of the distances measured by the distance sensor unit 12 is greater than a predetermined value (S2-5: YES), the distance measurement unit 13-1 of the loading rate calculation device 10 extracts the door area 3 of the loading platform 1 and the area of ​​the luggage 2 from the second image information captured by the imaging unit 11 at a different shooting position (S2-8).

[0054] The distance measurement unit 13-1 of the loading rate calculation device 10 uses the parallax in images (second image information) taken at different shooting positions to measure the distance (third distance) from the imaging unit 11 to the door area 3 of the loading platform 1 and the distance (fourth distance) from the imaging unit 11 to the area of ​​the luggage 2 for each area of ​​the luggage 2 (S2-9).

[0055] The luggage length calculation unit 13-2 of the loading rate calculation device 10 calculates, for each area of ​​luggage 2, the luggage length (second luggage length) of the luggage 2 on the loading platform 1 using the difference between the distance (third distance) from the imaging unit 11 to the door area 3 of the loading platform 1 and the distance (fourth distance) from the imaging unit 11 to the area of ​​luggage 2, and the length of the loading platform 1 (S2-10).

[0056] The luggage area calculation unit 13-3 of the loading rate calculation device 10 uses any one of a plurality of second image information images taken at different shooting positions to calculate the luggage area (second luggage area) of the luggage 2 area for each area of ​​the luggage 2 using the area ratio between the area of ​​the door area 3 of the loading platform 1 and the area of ​​the luggage 2 area, and information on the height and width of the loading platform 1 (S2-11).

[0057] The loading rate calculation unit 13-4 of the loading rate calculation device 10 calculates the loading rate of the luggage 2 on the loading platform 1 using the calculated luggage length (second luggage length) and luggage area (second luggage area) to calculate the sum of the luggage volumes of the luggage 2 calculated for each area of ​​the luggage 2, and the loading platform volume of the loading platform 1 calculated using the height, width, and length of the loading platform 1 (S2-12).

[0058] In this embodiment, in addition to measuring distance using a general-purpose distance sensor such as a LiDAR sensor, distance is also measured using parallax in multiple images taken at different shooting positions to calculate the distance to the door area 3 of the loading platform 1 and the luggage 2, and the loading rate of the luggage 2 on the loading platform 1 is calculated using the calculated distance.

[0059] According to this embodiment, even if the distance to the platform 1 or the luggage 2 is greater than the measurement range of the distance sensor, it is possible to simply and accurately measure the loading rate of the luggage 2 loaded on the platform 1. [Explanation of symbols]

[0060] 1...loading platform, 2...luggage, 3...door area, 4...loading platform door, 10...loading rate calculation device, 11...imaging unit, 12...distance sensor unit, 13...central processing unit, 13-1...distance measurement unit, 13-2...luggage length calculation unit, 13-3...luggage area calculation unit, 13-4...loading rate calculation unit, 14...memory unit, 15...input unit, 16...display unit, 17...wireless unit, 20...loading rate management server.

Claims

1. A loading rate calculation device for calculating a loading rate of a load placed on a loading platform having a predetermined height, width, and length, comprising: an imaging unit that acquires first image information including an image of the loading platform and an image of the luggage; a distance measuring unit that extracts a door area of ​​the loading platform and at least one area of ​​the luggage from the first image information acquired by the imaging unit, and measures a first distance from the imaging unit to the door area of ​​the loading platform and a second distance from the imaging unit to the luggage area for each of the at least one area of ​​the luggage; a luggage length calculation unit that calculates a luggage length of the luggage on the loading platform by using a difference between the first distance and the second distance and the length of the loading platform for each area of ​​the luggage; a luggage area calculation unit that calculates a luggage area of ​​the luggage area by using an area ratio between the door area of ​​the loading platform and the luggage area in the first image information and the height and width of the loading platform; a loading rate calculation unit that calculates the loading rate of the luggage on the loading platform by using a total luggage volume of the luggage calculated for each area of ​​the luggage using the luggage length and the luggage area, and a loading platform volume of the loading platform calculated using the height, width, and length of the loading platform; A loading rate calculation device comprising:

2. The imaging unit further acquires two pieces of second image information including an image of the loading platform and an image of the luggage, the second image information being captured at different positions relative to the loading platform, The distance measurement unit further measures a third distance from the imaging unit to a door area of ​​the platform and a fourth distance from the imaging unit to the luggage area for at least one of the luggage areas, using parallax information between the two pieces of second image information; When at least one of the first distance and the second distance is greater than a predetermined measurement limit distance, The luggage length calculation unit calculating, for each of the luggage regions, a second luggage length for the luggage bed region using the difference between the third distance and the fourth distance and the length of the luggage bed; The luggage area calculation unit is calculating a second luggage area of ​​the luggage area using an area ratio between the door area of ​​the loading platform and the luggage area in the second image information and the height and width of the loading platform; The loading rate calculation unit is Calculating the loading rate of the luggage on the loading platform using a total luggage volume of the luggage calculated for each area of ​​the luggage using the second luggage length and the second luggage area, and a loading platform volume of the loading platform calculated using the height, width, and length of the loading platform. The loading ratio calculation device according to claim 1 .

3. a distance measuring unit that extracts a door area of ​​the loading platform and an area of ​​the luggage from the image information and measures a distance from the imaging unit to the door area of ​​the loading platform and the luggage area; a luggage length calculating unit that calculates a luggage length of the luggage on the loading platform; a luggage area calculating unit that calculates a luggage area of ​​the luggage area; and a loading rate calculating unit that calculates a loading rate of the luggage on the loading platform using a luggage volume of the luggage calculated using the luggage length and the luggage area and a loading platform volume of the loading platform, The imaging unit acquires first image information including an image of the loading platform and an image of the luggage; a step in which the distance measurement unit extracts a door area of ​​the loading platform and at least one area of ​​the luggage from the first image information acquired by the imaging unit, and measures a first distance from the imaging unit to the door area of ​​the loading platform and a second distance from the imaging unit to the luggage area for each of the at least one area of ​​the luggage; a step of the luggage length calculation unit calculating, for each area of ​​the luggage, a luggage length of the luggage on the loading platform by using a difference between the first distance and the second distance and a length of the loading platform; a step of the luggage area calculation unit calculating, for each of the luggage areas, a luggage area of ​​the luggage area by using an area ratio between the door area of ​​the loading platform and the luggage area in the first image information, and a height and a width of the loading platform; a step of the loading rate calculation unit calculating the loading rate of the luggage on the loading platform by using a total luggage volume of the luggage calculated for each area of ​​the luggage using the luggage length and the luggage area, and a loading platform volume of the loading platform calculated using the height, width, and length of the loading platform; A loading rate calculation method having the following formula:

4. The imaging unit further acquires two pieces of second image information including an image of the loading platform and an image of the luggage, the second image information being captured at different positions relative to the loading platform, The distance measurement unit further measures a third distance from the imaging unit to a door area of ​​the platform and a fourth distance from the imaging unit to the luggage area for at least one of the luggage areas, using parallax information between the two pieces of second image information; When at least one of the first distance and the second distance is greater than a predetermined measurement limit distance, The luggage length calculation unit, calculating, for each of the luggage areas, a second luggage length for the luggage area using a difference between the third distance and the fourth distance and the length of the luggage area; The luggage area calculation unit, calculating, for each of the luggage regions, a second luggage area of ​​the luggage region using an area ratio between the door region of the loading platform and the luggage region in the second image information and the height and width of the loading platform; The loading rate calculation unit, calculating the loading rate of the luggage on the loading platform by using a total luggage volume of the luggage calculated for each area of ​​the luggage using the second luggage length and the second luggage area, and a loading platform volume of the loading platform calculated using the height, width, and length of the loading platform; have The method for calculating a loading ratio according to claim 3.

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