Loading rate calculation device and loading rate calculation method

Abstract

A loading rate calculation device capable of easily and accurately measuring 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 including images of the loading platform and luggage, obtains image information which is a front-on image by geometrically transforming the shape of the image of the door area of ​​the loading platform in the image information, corrects the first and second distances to a third and fourth distance, respectively, in accordance with the geometric transformation of the image information, calculates the luggage length of the luggage on the loading platform using the difference between the corrected third and fourth 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 height and width of the loading platform in the image information after the geometric transformation, and calculates the loading rate of the luggage on the loading platform using the sum of the luggage volumes of the luggage calculated for each luggage area using the luggage length and luggage area and the loading 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, a 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, and 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, 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, acquires second image information which is a front-on image by geometrically transforming a shape of an image of the door area of ​​the loading platform in the first image information, and converts a shape of the image of the door area of ​​the loading platform in the first image information into a shape of a front-on image, and converts the shape of the image of the door area of ​​the loading platform in the first image information into a shape of a front-on image. The system includes a distance measuring unit that corrects the first distance and the second distance to a third distance and a fourth distance, respectively, in response to the geometric transformation; a luggage length calculation unit that calculates, for each luggage area, a luggage length of the luggage on the loading platform using the difference between the third distance and the fourth distance and the length of the loading platform; a luggage area calculation unit that calculates, for each luggage area in the second image information, a luggage area of ​​the luggage area using an area ratio between the loading platform area and the luggage area and the height and width of the loading platform; and a loading rate calculation unit that calculates a 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 the luggage area, and the loading platform volume of the loading platform calculated using the height, width, and length of the loading platform.

[0008] 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 platform, a distance measurement unit that extracts a door area of ​​the 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 platform and the luggage area, a luggage length calculation unit that calculates a luggage length of the luggage on the 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 platform using a luggage volume of the luggage calculated using the luggage length and the luggage area and a platform volume of the platform, the method including a step of the imaging unit acquiring first image information including an image of the platform and an image of the luggage, and a distance measurement unit that extracts the door area of ​​the 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 platform and a distance from the imaging unit to the door area of ​​the platform for each of the at least one area of ​​the luggage. the step of measuring a second distance from the door area of ​​the loading platform to the luggage area, obtaining second image information which is a front-on image by geometrically transforming a shape of an image of the door area of ​​the loading platform in the first image information, and correcting the first distance and the second distance to a third distance and a fourth distance, respectively, corresponding to the geometric transformation from the first image information to the second image information; the step of a 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 third distance and the fourth distance and the length of the loading platform; the step of a luggage area calculation unit calculating, for each of the luggage areas in the second image information, a luggage area of ​​the luggage area using an area ratio between the loading platform area and the luggage area and a height and width of the loading platform; and the step of a loading rate calculation unit calculating a loading rate of the luggage on the loading platform using the luggage length and the luggage area, a total luggage volume of the luggage calculated for each of the luggage areas, and the loading rate of the luggage on the loading platform calculated using the loading rate of the luggage on the loading platform. Effect of the Invention

[0009] 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]

[0010] [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 calculation of the luggage loading rate in the embodiment of the present invention. [Figure 4] FIG. 4 is a diagram for explaining the geometric transformation of an image in the embodiment of the present invention. [Diagram 5] FIG. 5 is an example of an operational flow of the loading rate calculation method according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] 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.

[0012] <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.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] <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.

[0017] 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.

[0018] The central processing unit 13 functions as a distance measurement unit 13-1 that measures the distance to the door area of ​​the loading platform 1 and the area of ​​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 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.

[0019] 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. Information on the height, width, and length of the vehicle's loading platform is stored in advance in the memory unit 14, and this information is used when calculating the loading platform volume, luggage length, luggage area, and luggage volume.

[0020] 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.

[0021] 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.

[0022] <Calculation of luggage loading rate> Fig. 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 luggage areas at different distances from a loading factor calculation device 10.

[0023] 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 area 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.

[0024] 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.

[0025] 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.

[0026] In FIG. 3, the luggage volume Vt can be calculated by the following formula. Vt=S1×(L-L1)+S2×(L-L2)+S3×(L-L3)

[0027] In FIG. 3, the volume V of the cargo bed can be calculated by the following formula. V=H×W×L

[0028] In FIG. 3, the loading rate can be calculated by the following formula. Loading rate = Vt / V

[0029] <Image geometric transformation and distance correction> As described above, the loading rate calculation device 10 of this embodiment measures the loading rate of the luggage 2 on the loading platform 1 by extracting the door area 3 of the loading platform 1 and the area of ​​the luggage 2 and measuring the distance to the door area of ​​the loading platform 1 and the area of ​​the luggage 2. Therefore, if an image cannot be taken from the front of the loading platform when taking an image of the loading platform 1 and the luggage 2, the distance between the door area 3 of the loading platform 1 and the area of ​​the luggage 2 cannot be accurately measured, and as a result, the loading rate of the luggage 2 loaded on the loading platform 1 cannot be accurately calculated.

[0030] Therefore, the loading rate calculation device 10 of this embodiment is configured to correct the distance information by geometrically transforming the shape of the image of the door area 3 of the loading platform 1, and calculate the loading rate using the corrected distance information. Fig. 4 is a diagram for explaining the geometric transformation of the image in the embodiment of the present invention.

[0031] In this embodiment, if the extracted image of the door area 3 is not a front-facing image, the shape of the image of the door area is geometrically transformed to convert the image of the door area 3 into a front-facing image. The upper diagram in Fig. 4 shows the extracted image before the geometric transformation, and the lower diagram in Fig. 4 shows the front-facing image after the extracted image has been geometrically transformed.

[0032] 4, if the extracted image of the door area is not a front-on image, accurate measurement results are not obtained for the distance of the area of ​​the luggage 2. Therefore, the distance from the imaging unit 11 to the door area 3 and the area of ​​the luggage 2 is corrected in accordance with the geometric transformation of the image of the door area, and the luggage length of the luggage 2 on the platform 1 is calculated for each area of ​​the luggage 2 using the corrected distance information.

[0033] A known projective transformation technique can be used as a method for geometrically transforming the shape of the extracted image into a front-facing image. The correction amount of the distance information can also be calculated based on the amount of movement in the transformation coordinates of the projective transformation.

[0034] Regarding the luggage area of ​​the luggage 2 region, the luggage area of ​​the luggage 2 region as viewed from the rear of the loading platform is 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 region in the image information geometrically transformed into a front-on image, and information on the height (H) and width (W) of the loading platform 1, and the loading rate of the luggage 2 on the loading platform 1 is calculated using the calculated luggage length and luggage area.

[0035] <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. 5. Fig. 5 shows an example of an operation flow of the loading rate calculation method according to the first embodiment of the present invention.

[0036] 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).

[0037] 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).

[0038] 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).

[0039] If the extracted image of the door area 3 of the loading platform 1 is not a front-on image, the distance measurement unit 13-1 of the loading rate calculation device 10 converts the extracted image into a front-on image (second image information) by geometrically transforming the image of the door area 3 (S1-4).

[0040] The distance measurement unit 13-1 of the loading rate calculation device 10 further corrects 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 in response to the geometric transformation of the image of the door area 3 (S1-5).

[0041] 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 corrected 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, and the length of the loading platform 1 (S1-6).

[0042] 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 in the geometrically transformed second image information 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 (S1-7).

[0043] 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 sum of the luggage volumes 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 (S1-8).

[0044] 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.

[0045] According to this embodiment, the loading rate calculation device 10 extracts the area 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 area of ​​the loading platform and the area of ​​the luggage. 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.

[0046] Furthermore, since the loading rate calculation device 10 is configured to calculate the loading rate using distance information corrected by geometrically transforming the image information, even if it is not possible to capture an image in front of the loading platform 1 when photographing an image of the loading platform 1 and the luggage 2, it is possible to easily and accurately measure the loading rate of the luggage 2 loaded on the loading platform 1. [Explanation of symbols]

[0047] 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; extracting 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, measuring 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 distance measurement unit that acquires second image information, which is a front-facing image, by geometrically transforming a shape of an image of the door area of ​​the loading platform in the first image information, and corrects the first distance and the second distance to a third distance and a fourth distance, respectively, in response to the geometric transformation from the first image information to the second image information; a luggage length calculation unit that calculates a luggage length of the luggage on the loading platform by using a difference between the third distance and the fourth distance and a 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 for each of the luggage areas in the second image information by using an area ratio between the loading platform area and the luggage area and the height and width of the loading platform; a loading rate calculation unit that calculates a 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 a height, width, and length of the loading platform; A loading rate calculation device comprising:

2. 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; The distance measurement unit, extracting a door area of ​​the loading platform and at least one of the luggage areas from first image information acquired by the imaging unit, measuring 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 luggage area, acquiring second image information which is a front-on image by geometrically transforming a shape of an image of the door area of ​​the loading platform in the first image information, and correcting the first distance and the second distance to a third distance and a fourth distance, respectively, in accordance with the geometric transformation from the first image information to the second image information; a 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 third distance and the fourth distance and a length of the loading platform; a step of the luggage area calculation unit calculating, for each of the luggage areas in the second image information, a luggage area of ​​the luggage area by using an area ratio between the loading platform area and the luggage area and a height and a width of the loading platform; a step of the loading rate calculation unit calculating a 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 a height, width, and length of the loading platform; A loading rate calculation method having the following formula:

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