Luggage Management System

Abstract

To provide a cargo management system that can accurately grasp inventories of cargoes in a warehouse.SOLUTION: A cargo management system according to the present invention comprises a carrier 50 that moves in a warehouse, a flight vehicle 40 that flies while floating in the air from the carrier and obtains image information about cargoes arranged on pallets in the warehouse, and a cargo management device 60 that manages states of the cargoes in the warehouse. The flight vehicle 40 comprises a first photographing element 41 that can photograph the cargoes arranged on the pallets and obtain information about identification codes applied to the pellets and to the cargoes, and further comprises a cargo information calculating part that estimates arrangement positions of the pallets and arrangement positions of the cargoes in the pallets when viewed from the first photographing element, on the basis of size information about the pre-registered pallets and about the cargoes and the size information about the identification codes applied to the pallets and to the cargoes obtained by the first photographing element, and calculates the number of the cargoes for each pallet, by calculating the number of the cargoes for each arrangement position of the cargoes, using the number of the identification codes for each arrangement position of the cargoes.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a luggage management system for managing luggage in a warehouse.

Background Art

[0002] As a technology for managing luggage in a warehouse, a method has been proposed for managing the presence or absence and installation location of luggage in the warehouse by reading an identification code assigned to the luggage. Recently, a technology has also been proposed for reducing the load of luggage inspection and inventory work in the warehouse by using a flying object (drone) flying in the warehouse to acquire information on luggage stored on high racks in the warehouse.

[0003] For example, Patent Documents 1 and 2 propose a luggage management system including a drone equipped with a camera for photographing an image of luggage in a warehouse, and a moving machine connected to the drone by a cable and moving inside the warehouse. Information on the type and number of luggage can be obtained by reading the luggage and the barcode installed on the shelf with the camera mounted on the drone.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] Here, in Patent Documents 1 and 2, when a plurality of packages are stacked in multiple rows, there may be a case where the barcode installed on the package placed at the back of the shelf cannot be read. Further, as in Patent Document 2, although information on the type and number of packages can be written on the barcodes installed on the packages or the shelves, in a case where the loading and unloading of some of the packages are repeated, it may not be possible to accurately grasp the inventory quantity of the packages.

[0006] The present invention has been made to solve the above problems, and an object thereof is to provide a package management system capable of accurately grasping the inventory quantity of packages in a warehouse.

Means for Solving the Problems

[0007] In order to solve the above-described problems, the package management system of the present invention includes a transport vehicle that moves within a warehouse, a flying object that floats and flies into the air from the transport vehicle and acquires image information of packages arranged on pallets in the warehouse, and a package management device that manages the state of packages in the warehouse. The flying object includes a first imaging element that images the packages arranged on the pallets and is capable of acquiring information on identification codes attached to the pallets and the packages. Based on the size information of the pallets and the packages registered in advance and the size information of the identification codes of the pallets and the packages acquired by the first imaging element, the arrangement position of the pallets as seen from the first imaging element and the arrangement position of the packages on the pallets are estimated, and the number of packages for each arrangement position of the pallets is calculated by using the number of identification codes for each arrangement position of the packages, and the package management system is provided with a package information calculation unit that calculates the number of packages for each pallet.

[0008] In addition, the luggage management system of the present invention includes a transport vehicle that moves inside a warehouse, a flying object that floats and flies in the air from the transport vehicle and acquires image information of the luggage placed on a pallet inside the warehouse, and a luggage management device that manages the state of the luggage inside the warehouse. The flying object includes a first imaging element that images the luggage placed on the pallet and can acquire information on the identification codes assigned to the pallet and the luggage. Based on the size information of the pallet and the luggage registered in advance, and the size information of the identification codes of the pallet and the luggage acquired by the first imaging element, the luggage management device estimates the placement position of the pallet as seen from the first imaging element and the placement position of the luggage on the pallet, and calculates the number of luggage for each placement position of the pallet by using the number of identification codes for each placement position of the luggage to calculate the number of luggage for each placement position of the luggage. It is provided with a luggage information calculation unit.

Advantages of the Invention

[0009] According to the present invention, it is possible to provide a luggage management system that can accurately grasp the inventory quantity of luggage in a warehouse.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

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Figure 9

Embodiments for Carrying out the Invention

[0011] Hereinafter, embodiments of the present invention will be described with reference to the drawings. It should be noted that the present invention can be implemented in various embodiments and is not limited to the embodiments of the invention described below.

[0012] <Configuration of the Luggage Management System> Figure 1 is an example of the configuration of the luggage management system in the embodiment of the present invention. The luggage management system 10 in Figure 1 is composed of a transport vehicle 50 that moves inside Warehouse 1 along a predetermined route and a flying object 40 that flies inside Warehouse 1 while hovering above the transport vehicle 50.

[0013] The luggage management system 10 in Figure 1 is configured to manage the luggage 4 stacked in multiple stages on the multi-stage rack 3 in Warehouse 1 using the image information acquired by the camera unit mounted on the flying object 40.

[0014] In the configuration example of Figure 1, the luggage 4 is arranged on the multi-stage rack 3 in Warehouse 1 in a state where it is stacked in multiple rows and columns on the pallet 2, and each piece of luggage 4 is assigned a unique identification code 5 for identifying the luggage 4. Since a plurality of the same type of luggage 4 are loaded on one pallet 2, the luggage 4 on each pallet 2 can be specified by the identification code 5 read from the image captured by the camera unit mounted on the transport vehicle 50 or the flying object 40.

[0015] In the multi-stage rack 3 in the configuration example of FIG. 1, the goods 4 are unloaded in order from the first stage. When all the goods 4 in the first stage have been unloaded, the goods are arranged so that the goods 4 in the second stage are moved to the first stage. Therefore, it is important to grasp the number of goods 4 in the first stage. In the case of such a goods arrangement form, the number of goods 4 in the stages above the second stage can be grasped by reading the identification code 5 assigned to the goods 4 installed at the very front.

[0016] The flying object 40 is provided with a camera unit 41 (first image pickup element). The camera unit 41 is an image pickup element for reading the identification code 5 assigned to the goods 4. The camera unit 41 of the flying object 40 is also used for hovering control by optical flow by acquiring an image of the ground including the carrier vehicle 50.

[0017] In the present embodiment, based on the size information of the pre-registered pallet 2 and goods 4, and the size information of the identification code 5 of the pallet 2 and goods 4 acquired by the camera unit 41, the arrangement position of the pallet 2 as seen from the camera unit 41 and the arrangement position of the goods 4 on the pallet 2 are estimated. By calculating the number of goods 4 for each arrangement position of the goods 4 using the number of identification codes 5 for each arrangement position of the goods 4, the number of goods 4 for each pallet 2 is calculated.

[0018] By reading the identification code 5 assigned to the goods 4, the type of the goods 4 can be specified, and the size of the loaded goods 4 can be specified from the information on the type and size of the goods 4 registered in advance. Regarding the pallet 2, the type and size of the pallet 2 used in the warehouse 1 may be specified in advance, or the type of the pallet 2 may be specified using the image information acquired by the camera unit 51, and the size of the pallet 2 on which the goods 4 are loaded may be specified from the information on the type and size of the pallet 2 registered in advance.

[0019] The size of the pallet 2 can also be specified, for example, by identifying the fork insertion port of the forklift on the pallet 2 or the color of the pallet.

[0020] If the sizes of the pallet 2 and the package 4 can be specified, the arrangement position of the pallet 2 as seen from the camera unit 41 and the arrangement position of the package 4 on the pallet 2, for example, the number of arranged rows of the packages 4 can be estimated using the size information of the identification codes of the pallet 2 and the package 4 acquired by the camera unit 41. By counting the number of identification codes of the packages 4, the number of packages 4 in each row of the arranged rows of the packages 4 can be calculated, and the number of packages 4 on the pallet 2 can be calculated by integrating the number of packages 4 in each arranged row of the packages 4.

[0021] <Configuration of the aircraft and the transport vehicle> FIG. 2 is an example of functional blocks of the aircraft and the transport vehicle that constitute the package management system according to the embodiment of the present invention.

[0022] The transport vehicle 50 includes a traveling function for self-running in the warehouse 1, a central processing unit 52 for performing processing such as control of the camera unit 51 and the drive unit 53 and transmission and reception of information, a drive unit 53 for traveling in the warehouse 1, a wireless unit 54 for transmitting and receiving signals to and from the aircraft 40 and the package management device 60, a memory 55 for storing various information, etc., a battery 56 for operating each unit, and a landing port 59 for the aircraft 40. If necessary, it may include a flight control unit 58 for controlling the hovering of the aircraft 40.

[0023] The aircraft 40 includes a camera unit 41 (first imaging element) for acquiring image information of the identification code 5 of the package 4, a central processing unit 42 for performing processing such as reading the identification code 5 from the image information, a drive unit 43 for driving the propeller 47, a wireless unit 44 that functions as a transmission unit for transmitting the captured image information, package information, etc., a memory 45 for storing various information, etc., a battery 46 for operating each unit, and a propeller 47 for flying the aircraft 40. Further, the central processing unit 42 includes a package information calculation unit that calculates the number of packages 4 based on the image information.

[0024] The drive control of the propeller 47 mounted on the flying object 40 is controlled by autonomous control using optical flow. If necessary, the flight control unit 58 of the carrier vehicle 50 may perform the drive control of the propeller 47.

[0025] <Method for calculating the inventory number of goods> Figs. 3 and 4 are diagrams for explaining the method for calculating the number of goods in the embodiment of the present invention. In the example of Fig. 3, goods 4 having a predetermined reference size (W×H) are arranged in 2 rows × 3 columns on a pallet 2 having a predetermined depth and width. In the first row, 2 goods 4 are arranged, and in the second row, 7 goods 4 are arranged.

[0026] In Fig. 3, using the image information acquired by the camera unit 41, the type and size of the loaded goods 4 and the type and size of the pallet 2 on which the goods 4 are loaded are specified. If the relationships between the type and size of the goods 4 and the relationships between the type and size of the pallet 2 are registered in advance, by specifying the types of the goods 4 and the pallet 2 using the image information acquired by the camera unit 41, the sizes of the goods 4 and the pallet 2 can be specified.

[0027] Fig. 4 is a schematic diagram of a captured image of the pallet 2 and the goods 4 in Fig. 3 taken by the camera unit 41. Since the camera unit 41 can acquire the information of the identification code 5 and the size information of the identification code 5, when the pallet 2 and the goods 4 in Fig. 3 are imaged, image information capable of identifying the arrangement positions of the pallet 2 and the goods 4 as shown in Fig. 4 can be obtained.

[0028] According to Fig. 4, the arrangement position of the goods 4 arranged on the frontmost side of the pallet 2 can be specified, and by comparing the depth of the pallet 2 as seen from the arrangement position of the goods 4 with the size (depth D) of the goods 4, the number of rows of the arrangement of the goods 4 can be estimated. In the examples of Figs. 3 and 4, the number of rows of the arrangement of the goods 4 on the pallet 2 can be estimated as "2 rows".

[0029] By counting the number of identification codes 5 in the image of FIG. 4, the number of packages 4 arranged in each row of the package array can be calculated. In FIG. 4, the number of identification codes in the first row is "2", and the number of identification codes 5 in the second row is "5". Therefore, the number of packages 4 in the first row is "2", and the number of packages 4 in the second row can be calculated as "7", including those arranged behind the packages 4 in the first row.

[0030] In FIG. 4, by identifying the magnitude relationship of the identification codes 5 of the pallet 2 and the package 4 in the camera image, the arrangement position of the package 4 on the pallet 2 is identified. Here, since the size of the identification code in the camera image changes according to the distance between the camera 51 and the pallet 2 and the package 4, when the size of the identification code 5 in the camera image is different for each captured image, it is desirable to compare the size of the identification code 5 based on a certain standard regardless of the size of the identification code 5 in the camera image.

[0031] For example, by multiplying the ratio (B / A) of the pallet width (A) in the camera image to the registered pallet width (B), the size of the identification code 5 in the camera image can be corrected, and the magnitude relationship of the identification code 5 can be identified using the corrected size. By correcting the size of the identification code 5 using the ratio of the pallet width, the magnitude relationship of the identification code 5 can be identified based on a certain standard regardless of the positional relationship between the camera 51 and the pallet 2 and the package 4. The ratio for the above correction is not limited to the width of the pallet 2, and can also be calculated using the width of the package 4.

[0032] By integrating the number of packages 4 in each array row, the number of packages 4 on the pallet 2 can be calculated. In the examples of FIGS. 3 and 4, the number of packages 4 on the pallet 2 is "9".

[0033] <Operation Sequence of Package Management System> Using FIG. 5, the operation sequence in the package management system will be described. FIG. 5 is an example of the operation sequence of the package management system in the embodiment of the present invention.

[0034] In the warehouse, a package 4 with an identification code 5 is carried into the warehouse 1 and placed on a predetermined multi-tier rack 3. In the package management device 60, the size information of the pallet 2 and the package 4 arranged in the warehouse 1 is registered in advance, and the sizes of the pallet 2 and the package 4 placed on the multi-tier rack 3 in the warehouse 1 can be grasped by using the image information of the pallet 2 and the package 4.

[0035] The aircraft 40 captures images of the pallet 2 and the package 4, identifies the types of the pallet 2 and the package 4 by using the captured images, and identifies the sizes of the pallet 2 and the package 4 by referring to the pre-registered pallet information and package information.

[0036] The aircraft 40 identifies the arrangement position of the package 4 placed on the pallet 2 by comparing the code sizes of the identification code 5, and estimates the number of arranged rows of the package 4 on the pallet 2 by comparing the depth of the pallet 2 as seen from the arrangement position of the package 4 with the size of the package 4.

[0037] The aircraft 40 calculates the number of packages 4 arranged in each arranged row of the package 4 by counting the number of the identification codes 5 of the package 4. By integrating the number of packages 4 in each arranged row, the number of packages 4 on the pallet 2 can be calculated.

[0038] The aircraft 40 transmits the package information (the information of the identified pallet 2 and package 4 and the calculated number of packages 4) to the transport vehicle 50.

[0039] The transport vehicle 50 hovers the installed aircraft 40 and controls the hovering as needed. Also, it receives the package information from the hovering aircraft 40 and transmits it to the package management device 60.

[0040] The package management device 60 registers the package information received from the transport vehicle 50.

[0041] <Effect of the package management system> In a luggage management system including an aircraft and a luggage management device as described above, a configuration example is conceivable in which the aircraft acquires images of a pallet and luggage, and after image acquisition, transmits the image information to the luggage management device all at once, and the luggage management device identifies the pallet and luggage and calculates the number of luggage. In this case, when the luggage management device identifies the pallet and luggage and calculates the number of luggage, if there is a defect in the image, the pallet and luggage cannot be identified and the number of luggage cannot be calculated unless the aircraft is hovered again for imaging.

[0042] On the other hand, according to the luggage management system in the embodiment of the present invention, since the aircraft 40 identifies the pallet and luggage and calculates the number of luggage based on the luggage image in the hovering state, when there is a defect in the image during the identification and calculation of the luggage or the like, the image can be quickly retaken, so that the inventory number of the luggage in the warehouse can be accurately and more efficiently grasped.

[0043] <Pallet and Luggage Management Data> FIG. 6 is an example of pallet management data in the embodiment of the present invention, and FIG. 7 is an example of luggage management data in the embodiment of the present invention. These pallet management data and luggage management data are stored in the luggage management device 60 and are referred to when specifying the sizes of the luggage 4 and the pallet 2. Information on the calculated number of the luggage 4 is registered for each piece of luggage information.

[0044] <Other Embodiments> In the above, a configuration example in which the aircraft 40 identifies the pallet and luggage and calculates the number of luggage based on the luggage image in the hovering state has been described, but the present invention is not limited to this. As shown in FIG. 8, the aircraft 40 may only acquire images of the luggage or the like in the hovering state, and identify the pallet and luggage and calculate the number of luggage after landing. In this case, the hovering time can be shortened, so the power consumption can be reduced.

[0045] Also, as shown in FIG. 9, the flying object 40 may only acquire an image of luggage or the like in a hovering state, and after landing, transmit the image information to the luggage management device 60 via the transport vehicle 50, and the luggage management device 60 may identify the pallet and the luggage and calculate the number of luggage. Also in this case, the hovering time can be shortened, so the power consumption can be reduced.

[0046] As described above, according to the present embodiment, it is possible to provide a luggage management system that can accurately grasp the inventory quantity of luggage in a warehouse.

Explanation of Reference Numerals

[0047] 1... Warehouse, 2... Pallet, 3... Multi-tier rack, 4... Luggage, 5... Identification code, 10... Luggage management system, 40... Flying object, 41... Camera unit (first imaging element), 42... Central processing unit, 43... Driving unit, 44... Wireless unit, 45... Memory, 46... Battery, 47... Propeller, 50... Transport vehicle, 51... Camera unit, 52... Central processing unit, 53... Driving unit, 54... Wireless unit, 55... Memory, 56... Battery, 58... Flight control unit, 59... Landing port, 60... Luggage management device.

Claims

1. A transport vehicle that moves inside a warehouse, an aircraft that floats and flies into the air from the transport vehicle and acquires image information of the goods placed on the pallets inside the warehouse, and a goods management device that manages the state of the goods inside the warehouse. The aircraft is equipped with a first imaging element that images the goods placed on the pallet and can acquire information on the identification codes assigned to the pallet and the goods. Based on the size information of the pallet and the goods registered in advance, and the size information of the identification codes of the pallet and the goods acquired by the first imaging element, the arrangement position of the pallet as seen from the first imaging element and the arrangement position of the goods on the pallet are estimated, and by calculating the number of the goods for each arrangement position of the goods using the number of the identification codes for each arrangement position of the goods, a goods information calculation unit that calculates the number of the goods for each pallet is provided. A goods management system.

2. The aircraft is provided with the goods information calculation unit. The goods information calculation unit transmits the information on the number of the goods for each pallet to the goods management device. The goods management system according to Claim 1.

3. The goods information calculation unit performs the calculation process of the number of the goods for each pallet in a state where the aircraft has landed on the transport vehicle. The goods management system according to Claim 2.

4. The goods management device is provided with the goods information calculation unit. The goods management system according to Claim 1.

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