Pallet Detection System

Abstract

To provide a pallet detection system capable of quickly and accurately detecting a pallet loaded on a loading platform in a simpler manner. [Solution] The pallet detection system of the present invention comprises a pallet detection device 10 that detects an image of a pallet 3 from image information including an image of a pallet 3 loaded on the loading platform of a transport vehicle 1, obtains pallet information including position information, type information and number information of the pallet 3 on the loading platform, and corrects the obtained pallet information, and a pallet management device 20 that manages the corrected pallet information.

Description

[Technical field]

[0001] The present invention relates to a pallet detection system that detects a pallet placed on a loading platform. [Background technology]

[0002] As a technology for managing luggage in a warehouse, a method has been proposed to manage the locations of luggage and pallets in the warehouse by reading the identification codes attached to the luggage and pallets.Recently, a technology has been proposed to reduce the burden of inspecting and inventorying luggage in the warehouse by acquiring image information of luggage and pallets in the warehouse using cameras mounted on transport vehicles or drones that move around the warehouse.

[0003] For example, Patent Documents 1 and 2 propose a pallet detection system that uses a robot or drone equipped with a camera that takes images of luggage in a warehouse. By reading barcodes on luggage or shelves with a camera mounted on the robot or drone, information on the type and number of luggage can be obtained. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-527172 A [Patent Document 2] JP 2019-167177 A Summary of the Invention [Problem to be solved by the invention]

[0005] Here, when detecting pallets when luggage placed on the loading platform of a transport vehicle or the like is being brought into or taken out of a warehouse, there are time and location constraints compared to detecting luggage and pallets placed in a warehouse, so it is necessary to grasp the luggage and pallets quickly and accurately.

[0006] In addition, the technology for detecting luggage and pallets as described above requires equipment to detect pallets, such as robots or drones equipped with cameras that take images of the luggage or pallets, which results in a problem of a heavy burden on workers when detecting luggage or pallets.

[0007] The present invention has been made to solve the above-mentioned problems, and has an object to provide a pallet detection system that can quickly and accurately detect pallets loaded on the loading platform of a transport vehicle in a simpler manner. [Means for solving the problem]

[0008] In order to solve the problems described above, the pallet detection system of the present invention is a pallet detection system comprising a pallet detection device that detects a pallet on a loading platform, and a pallet management device that manages information of the pallet using the detection result of the pallet detection device, wherein the pallet detection device comprises an imaging unit that acquires first image information including an image of the pallet loaded on the loading platform, a pallet detection unit that detects an image of the pallet from the first image information by comparing the first image information with second image information of the pallet that has been registered in advance, a pallet information acquisition unit that acquires first pallet information including image information of the pallet, position information of the pallet on the loading platform, type information of the pallet, and number information of the pallets based on the detection result of the pallet detection unit, a pallet information correction unit that corrects the first pallet information, and a transmission unit that transmits second pallet information obtained by correcting the first pallet information to the pallet management device.

[0009] In addition, the pallet information correction unit may detect misdetected pallets and / or missed detected pallets in the first pallet information based on specific position information of the pallet on the loading platform that has been registered in advance, and correct the first pallet information to the second pallet information.

[0010] In addition, the palette detection device may include a display unit that displays the first palette information and an input unit that inputs correction information for the first palette information, and the palette information correction unit may correct the first palette information to the second palette information based on the correction information in the input unit.

[0011] In addition, the pallet management device may generate the second image information of the pallet by learning image information of the pallet using the second pallet information, and provide the generated second image information to the pallet detection device.

[0012] The transmitting unit of the pallet detection device may transmit the first pallet information of the falsely detected pallet and / or the missed detection pallet to the pallet management device in the pallet information correction unit, and the pallet management device may generate the second image information of the pallet by learning the second pallet information and the first pallet information of the falsely detected pallet and / or the missed detection pallet, and provide the generated second image information to the pallet detection device. Effect of the Invention

[0013] According to the present invention, it is possible to provide a pallet detection system that can quickly and accurately detect a pallet loaded on the loading platform of a transport vehicle in a simpler manner. [Brief description of the drawings]

[0014] [Figure 1] FIG. 1 shows an example of a system configuration of a pallet detection system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is an example of a functional block diagram of a pallet detection device according to an embodiment of the present invention. [Diagram 3] FIG. 3 is a diagram for explaining palette information detected in the embodiment of the present invention. [Figure 4]FIG. 4 is a diagram for explaining the palette information after correction in the embodiment of the present invention. [Diagram 5] FIG. 5 shows an example of an operation sequence of the pallet detection system according to the embodiment of the present invention. [Figure 6] FIG. 6 shows an example of an operation flow of the pallet detection device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] 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.

[0016] <Pallet detection system configuration> Fig. 1 shows an example of the configuration of a pallet detection system according to an embodiment of the present invention. The pallet detection system in Fig. 1 is composed of a pallet detection device 10 that acquires an image of a pallet 3 on which luggage 2 is placed, which is placed on the loading platform of a transport vehicle 1, and detects the pallet 3 on the loading platform using the acquired image, and a pallet management device 20 that manages pallet information including the image, position, type, and number of pallets detected by the pallet detection device 10.

[0017] The pallet detection system in Fig. 1 is configured to detect a pallet 3 on which luggage 2 is placed that is loaded on the platform of a transport vehicle 1 by comparing image information acquired by an imaging unit mounted on a pallet detection device 10 with image information of a pallet registered in advance. An image of the detected pallet 3 and pallet information including the position, type and number of the detected pallet 3 are transmitted to a pallet management device 20. The pallet information is used for learning pallet images in the pallet management device 20.

[0018] When detecting luggage 2 and pallets 3 when luggage 2 placed on the loading platform of a transport vehicle 1 or the like is taken out or brought in, it is necessary to check the luggage 2 and pallets 3 being taken out or brought in while they are placed on the loading platform of a transport vehicle 1 or the like. Therefore, compared to checking luggage 2 and pallets 3 while they are placed in a warehouse, there are time and space constraints, and there is a demand for a simpler method to quickly and accurately grasp the number of luggage and pallets.

[0019] In the system configuration example of Fig. 1, as shown in the top view of Fig. 1, pallets 3 on which multiple packages 2 are placed are arranged in a state of being stacked in multiple layers on the loading platform of the transport vehicle 1. Since the type of pallets 3 on the loading platform of the transport vehicle 1 is not limited to one type, it is necessary to obtain an image of the entire loading platform of the transport vehicle 1 and grasp the types and number of multiple types of pallets 3.

[0020] The loading platform of the transport vehicle 1 in the system configuration example of Fig. 1 has a structure divided into two sections, left and right, as shown in the rear view of Fig. 1, and each of the left and right sections has a depth equivalent to one pallet. In a loading platform configured in this way, it is possible to ascertain the number of pallets 3 in the entire loading platform by detecting the pallets using images acquired from outside the loading platform on each of the left and right loading platforms.

[0021] The imaging unit of the pallet detection device 10 is an imaging element for acquiring image information of the pallet 3. Since the imaging unit of the pallet detection device 10 needs to acquire image information of the entire loading platform including the pallet 3, it acquires an image of the loading platform so that an image of the reference position (ABCD in FIG. 1) of the loading platform image is included.

[0022] A general-purpose RGB camera for detecting the color and shape of a pallet from image information of the entire loading platform can be used as the imaging unit of the pallet detection device 10. For example, a digital camera or a smartphone equipped with an RGB camera can be used as the pallet detection device 10 equipped with an imaging unit.

[0023] The pallet detection device 10 acquires image information of the entire loading platform, including an image of the pallet 3, and detects the image of the pallet 3 from the image information of the entire loading platform by comparing the acquired image information with image information of the pallet 3 stored in advance.

[0024] The image information of the palette 3 to be compared includes information representing the characteristics of the palette, such as the palette color, shape, etc. The type of palette may be determined based on the palette color or shape.

[0025] In addition, as the image information of the pallet 3 to be compared, a template image photographed for each type of pallet 3 may be used, or learned image information learned using the image information of the detected pallet 3 may be used.

[0026] In this embodiment, the system is configured to detect information representing the characteristics of the pallet, such as the color and shape of the pallet 3, from image information of the entire loading platform, including image information of the pallet 3, and to grasp the position of the pallet 3 on the loading platform, the type of pallet 3, and the number of each type of pallet 3.

[0027] When detecting pallets 3 when loading or unloading luggage 2 placed on the loading platform of a transport vehicle 1 or the like, there are time and location constraints compared to checking luggage placed in a warehouse, so it is necessary to accurately determine the number of luggage and pallets quickly and accurately using a simpler method.

[0028] The pallet detection device 10 of this embodiment is configured to be able to modify information about a detected pallet as required. In the pallet detection device 10 of this embodiment, the results of detecting a pallet using image information of the loading platform acquired by the imaging unit are displayed on the pallet detection device 10, and the worker performing the work of detecting the pallet 3 can modify the pallet detection results as required while displaying the pallet detection results on the pallet detection device 10.

[0029] The pallet detection device 10 displays the detection results of the pallet, while accepting correction input from the operator detecting the pallet 3, and corrects the detection results of the pallet. The pallet information of the pallet 3 detected by the pallet detection device 10 is transmitted to the pallet management device 20.

[0030] The pallet management device 20 is configured to manage the pallet information transmitted from the pallet detection device 10. The pallet management device 20 learns image information of the pallet using the pallet information transmitted from the pallet detection device 10, thereby generating image information to be used when detecting a pallet, and can provide the generated image information to the pallet detection device.

[0031] In the palette management device 20, learning is performed using the palette information corrected in the palette detection device 10, and the palette detection device 10 detects palettes using image information of the learned palette that has been learned using the corrected palette information, thereby enabling more accurate palette detection.

[0032] For example, if a palette detection operator refers to an image in which a palette has been detected and the palette detection results, and it is determined that an image that is not a palette has been detected as a palette (false detection), or conversely, an image that should have been detected as a palette has not been detected (missed detection), then the falsely detected image can be learned as an image other than a palette, and the missed detection image can be learned as an image of a palette, thereby improving the detection accuracy.

[0033] <Configuration of Pallet Detector> The configuration of the pallet detection device 10 will be described with reference to Fig. 2. Fig. 2 shows an example of a functional block of the pallet detection device in the embodiment of the present invention.

[0034] The pallet detection device 10 comprises an imaging unit 11 for acquiring image information of the loading platform including image information of the pallet, a central processing unit 12 for detecting pallets using the image acquired by the imaging unit 11, a wireless unit 19 for transmitting and receiving information with the pallet management device 20, a memory unit 16 for storing various data such as the detected pallet information and pallet images for comparison, an input unit 17 for the operator detecting the pallet to input correction information, and a display unit 18 for displaying the detection results of the pallet 3.

[0035] In the pallet detection device 10, the image information of the loading platform acquired by the imaging unit is used to detect the pallet, and the results are displayed on the pallet detection device 10. While the pallet detection result is displayed on the pallet detection device 10, correction input from the worker detecting the pallet 3 can be accepted to correct the pallet detection result.

[0036] The central processing unit 12 functions as a pallet detection unit 13 that detects pallets using the image acquired by the imaging unit 11, a pallet information acquisition unit 14 that acquires pallet information including pallet image information, pallet position information on the loading platform, pallet type information and number of pallets information based on the detection results of the pallet detection unit 13, and a pallet information correction unit 15 that corrects the pallet information acquired by the pallet information acquisition unit 14 based on the input results at the input unit 17.

[0037] The wireless unit 19 functions as a transmitter that transmits palette information to the palette management device 20 and as a receiver that receives the learned palette image from the palette management device 20 .

[0038] The pallet detection device 10 can be configured by a computer equipped with a CPU, a memory, and an interface for connecting to external devices.

[0039] The storage unit 16 stores the detection results of the pallets and image information of the pallets to be compared with the acquired image information of the loading platform. The image information of the pallets 3 includes information for expressing the characteristics of the pallets such as the color and shape of the pallets. As the image information of the pallets 3 to be compared, a template image photographed for each type of pallet 3 may be stored, or learned image information learned using the image information of the detected pallets may be stored.

[0040] <Pallet detection result> Fig. 3 is a diagram for explaining detected pallet information in an embodiment of the present invention. Fig. 3 shows an example of the result of detecting pallets 3 of three different colors (Red, Yellow, Blue) in images (A, B, C, D) of a reference position on a loading platform.

[0041] The top diagram in Figure 3 shows an image of the detected pallet 3 and the position of the pallet 3 on the loading platform. The position of the pallet 3 does not need to be an absolute position, and it is sufficient if it can express the relative position of the pallet 3 on the loading platform. For example, as shown in the top diagram in Figure 3, it can be expressed as an (X,Y) coordinate position with the position A in the reference position image (A, B, C, D) on the loading platform as the origin.

[0042] The upper image of Figure 3 shows palette 3 with three colors (Red, Yellow, Blue), as well as palettes that were detected when an image that should have been detected as a palette was not detected (missed detection palettes), and palettes that were detected as palettes when something that is not a palette was detected as such (false detection palettes).

[0043] In this embodiment, pallet information for the detected pallets is displayed on the display unit 18 of the pallet detection device 10, so that the operator detecting the pallets can identify any pallets that were missed or incorrectly detected from the pallet information displayed on the display unit 18 and make corrections as necessary.

[0044] The bottom diagram of Figure 3 shows the type and number of detected palettes. The number of palettes 3 with three colors (Red, Yellow, Blue) is "6", "5", and "4", respectively. The palette with the color "Yellow" contains three false positive palettes, and the number of missed detection palettes that should have been detected but were not is not counted.

[0045] <Correction of pallet detection results> In the pallet detection device 10 of this embodiment, the results of detecting the pallet are displayed on the pallet detection device 10 using image information of the loading platform acquired by the imaging unit, and while the pallet detection results are displayed on the pallet detection device 10, correction input from the worker detecting the pallet 3 can be accepted to correct the pallet detection results.

[0046] The pallet information of the detected pallet in Figure 3 is displayed on the display unit 18 of the pallet detection device 10. In the pallet detection device 10, the result of detecting the pallet using image information of the loading platform acquired by the imaging unit is displayed on the display unit 18, and while the detection result of the pallet is displayed on the display unit 18, correction input by the operator detecting the pallet 3 can be accepted to correct the detection result of the pallet.

[0047] Fig. 4 is a diagram for explaining palette information after correction in an embodiment of the present invention. In the example of Fig. 4, a missed detection palette that should have been detected but was not has been corrected to a palette of color "Blue", and three false positive palettes that were detected as palettes of color "Yellow" have been deleted. As a result of the correction, the number of palettes 3 of three colors (Red, Yellow, Blue) is "6", "2", and "6", respectively.

[0048] In this embodiment, the detection result of the pallet by the pallet detection device 10 is displayed, and if the detection result is incorrect, the pallet information is corrected as necessary. By quickly verifying the image in which the pallet is detected and the detection result of the pallet, and correcting the detection result as necessary, it is possible to quickly and accurately grasp the number of packages and pallets when packages 2 placed on the loading platform of the transport vehicle 1 or the like are taken out or brought in.

[0049] The corrected detection result may be used to train the palette image to improve the accuracy of detection. For example, if a user refers to an image in which a palette has been detected and the palette detection result, and it is determined that a non-palette has been detected as a palette (false detection), or conversely, an image that should have been detected as a palette has not been detected (missed detection), it is possible to improve the accuracy of detection by training the falsely detected image as an image other than a palette and the missed detection image as an image of a palette.

[0050] Here, the position information of the pallet on the loading platform is the subject of learning as information indicating the reliability of the detected image information, together with the image information of the detected pallet 3. For example, a falsely detected pallet in the pallet detection results in Fig. 3 is detected at an X coordinate position different from the X coordinate position of the correct pallet on the loading platform, or at a Y coordinate position where a pallet 3 would not normally be loaded, and the image of the falsely detected pallet detected in such a position is learned as an image other than a pallet.

[0051] On the other hand, in the pallet detection results in Figure 3, the missed detection pallet is loaded at the Y coordinate position where pallet 3 would normally be loaded, and the image of the missed detection detected at such a position is learned as the image of the pallet.

[0052] Note that in Figures 3 and 4, the case has been described in which the pallet detection results are displayed on the display unit 18 while correction input from the operator detecting the pallet 3 is accepted to correct missed and incorrectly detected pallets, but it is also possible to set specific positional information in advance, such as position information of the pallet on the loading platform, the correct X coordinate position of the pallet on the loading platform, the Y coordinate position where the pallet is loaded, and the Y coordinate position where the pallet is not loaded, and have the pallet information correction unit 15 of the pallet detection device 10 correct missed and incorrectly detected pallets.

[0053] The dotted line positions in Figure 3 are examples of specific positions of pallet 3 on the loading platform. Specific positions (1), (2), and (3) respectively represent the correct X coordinate position of the pallet on the loading platform, the Y coordinate position where the pallet is loaded, and the Y coordinate position where the pallet is not loaded. Even if a pallet is in a position that is shifted from specific position (1) or is in specific position (1), the pallet in specific position (3) can be determined to be a falsely detected pallet, and the image of specific position (2) is in a position that should actually be detected as a pallet, so it can be determined to be a missed-detection pallet.

[0054] By correcting the pallet information in the pallet information correction unit 15 of the pallet detection device 10 based on the specific position information of the pallet 3 on the loading platform, or by combining correction input by the worker detecting the pallet 3 with correction by the pallet information correction unit 15 of the pallet detection device 10, correction input by the worker correcting the pallet information is either unnecessary or the workload associated with corrective input can be reduced.

[0055] Also, it is possible to configure the system to detect erroneously detected pallets based on differences in their relative positions with other pallets, without having to register the correct X-coordinate position of the pallet on the loading platform in advance. For example, the X-coordinate positions of detected pallets 3 may be compared, and a pallet 3 with an X-coordinate position different from that of the majority of pallets 3 may be determined to be an erroneously detected pallet.

[0056] <Operation sequence of the pallet detection system> A palette detection operation in the palette detection system will be described with reference to Fig. 5. Fig. 5 shows an example of an operation sequence of the palette detection system in the embodiment of the present invention.

[0057] The pallet management device 20 acquires image information of the pallet, which includes information such as the type and shape of the detected pallet, and provides this information to the pallet detection device 10 (steps 100, 101).

[0058] The pallet detection device 10 acquires image information (first image information) including an image of the pallet loaded on a loading platform, and detects the image of the pallet from the image information acquired by the imaging unit by comparing the acquired image information with image information of the pallet (second image information) transmitted from the pallet management device 20 and registered in advance (steps 200, 201).

[0059] Based on the detection result of the pallet, the pallet detection device 10 acquires and displays pallet information (first pallet information) including pallet image information, pallet position information on the loading platform, pallet type information, and pallet number information (step 202).

[0060] The pallet detection device 10 modifies the pallet information based on the input results of the modification of the pallet information and the position information of the pallet 3, and transmits the modified pallet information (second pallet information) to the pallet management device 20 (steps 203, 204).

[0061] The palette management device 20 stores the palette information transmitted from the palette detection device 10, and generates image information for detecting the palette by learning the image information of the palette using the corrected palette information, and provides the generated learned palette image information to the palette detection device 10 (steps 300, 301, 302).

[0062] In the palette detection device 10, using the learned palette image information provided by the palette management device 20, palette 3 is detected, palette information of the detected palette 3 is displayed, and the palette information is corrected, and the corrected palette information is sent to the palette management device 20 and stored (steps 400-404, 500).

[0063] In this embodiment, the detection result of the pallet by the pallet detection device 10 is displayed, and if the detection result is incorrect, the pallet information is corrected as necessary, and the corrected result is sent to the pallet management device. By quickly verifying the image of the detected pallet and the detection result of the pallet, and correcting the detection result as necessary, it is possible to quickly and accurately grasp the number of packages and pallets when packages 2 placed on the loading platform of the transport vehicle 1 or the like are taken out or brought in.

[0064] The corrected palette detection result is used to learn the palette image, and palette detection is performed using the learned palette image, thereby improving the accuracy of palette detection. For example, if an operator refers to the image in which a palette is detected and the palette detection result on the spot, and it is determined that there is a palette (missed detection) in which an image that should have been detected as a palette was not detected, or a palette (false detection) in which a non-palette is detected as a palette, the image that was missed detection is learned as a palette image, and the image that was falsely detected is learned as an image other than a palette, and palette detection is performed using the learned result, thereby improving the accuracy of detection.

[0065] <Operation flow of the pallet detection device> The palette detection operation in palette detection device 10 will be described with reference to Fig. 6. Fig. 6 shows an example of the operation flow of the palette detection device in the embodiment of the present invention.

[0066] The pallet detection device 10 acquires image information of the pallet including information such as the type and shape of the pallet to be detected (step S1-1).

[0067] The pallet detection device 10 acquires a reference position of the loading platform, and acquires image information (first image information) including an image of the pallet loaded on the loading platform (steps 1-2 and 1-3).

[0068] The pallet detection device 10 detects an image of the pallet from the image information acquired by the imaging unit by comparing the image information acquired by the imaging unit with image information of the pallet (second image information) transmitted from the pallet management device 20 and registered in advance (step S1-4).

[0069] Based on the detection result of the pallet, the pallet detection device 10 acquires pallet information (first pallet information) including image information of the pallet, position information of the pallet on the loading platform, type information of the pallet, and information on the number of pallets, and displays the acquired results (step S1-5).

[0070] The pallet detection device 10 corrects the pallet information based on the input results of the correction of the pallet information and the position information of the pallet 3, and transmits the corrected pallet information (second pallet information) to the pallet management device 20 (steps S1-6, S1-7).

[0071] In palette management device 20, palette image learning is performed based on the corrected palette information. In palette detection device 10, palette image information learned based on the corrected palette information is received from palette management device 20, and palette detection is performed using the learned palette image information in a flow similar to the above-mentioned operation flow (steps S1-1 to S1-7).

[0072] In this way, the pallet detection system of this embodiment makes it possible to quickly and accurately identify pallets loaded on the platform of a transport vehicle in a simpler manner, even when there are time or location constraints. Also, by quickly verifying the image of the detected pallet and the pallet detection results, and correcting the detection results as necessary, the number of pallets can be quickly and accurately identified. Furthermore, the pallet detection accuracy can be improved by learning the pallet image using the corrected pallet detection results, and performing pallet detection using the learned pallet image. [Explanation of symbols]

[0073] 1...transport vehicle, 2...baggage, 3...pallet, 10...pallet detection device, 11...imaging unit, 12...central processing unit, 13...pallet detection unit, 14...pallet information acquisition unit, 15...pallet information correction unit, 16...memory unit, 17...input unit, 18...display unit, 20...pallet management device.

Claims

1. A pallet detection system including a pallet detection device that detects a pallet on a loading platform, and a pallet management device that manages information about the pallet using a detection result from the pallet detection device, The pallet detection device is an imaging unit that acquires first image information including an image of a pallet loaded on a loading platform; a palette detection unit that detects an image of the palette from the first image information by comparing the first image information with second image information of the palette that has been registered in advance; a pallet information acquisition unit that acquires first pallet information including image information of the pallet, position information of the pallet on the loading platform, type information of the pallet, and information on the number of the pallets based on a detection result of the pallet detection unit; a pallet information correction unit that detects erroneously detected pallets and / or undetected pallets in the first pallet information based on specific position information of the pallet on the loading platform that has been registered in advance, and corrects the first pallet information to second pallet information; a transmission unit that transmits the second pallet information obtained by correcting the first pallet information to the pallet management device, A pallet detection system, wherein the specific position information of the pallet is position information of the correct pallet position, the position where the pallet is loaded, and the position where the pallet is not loaded.

2. The correct pallet position is the X coordinate position of the correct pallet, the position where the pallet is loaded is the Y coordinate position where the pallet is loaded, and the position where the pallet is not loaded is the Y coordinate position where the pallet is not loaded. The pallet detection system of claim 1 .

3. The pallet detection device is a display unit that displays the first palette information, and an input unit that inputs correction information for the first palette information, The palette information correction unit The first palette information is modified to the second palette information based on the modification information in the input unit. A pallet detection system according to claim 1 or 2.

4. The pallet management device includes: The second image information of the palette is generated by learning image information of the palette using the second palette information, and the generated second image information is provided to the palette detection device. A pallet detection system according to claim 1 or 2.

5. The transmission unit of the pallet detection device The pallet information correction unit transmits the first pallet information of the erroneously detected pallet and / or the undetected pallet to the pallet management device; The pallet management device includes: generating the second image information of the palette by learning the second palette information and the first palette information of the false positive palette and / or the missed detection palette; The generated second image information is provided to the palette detection device.

5. The pallet detection system of claim 4.

Images